A GIS intelligent transport device and transport method

Abstract

The present invention discloses a GIS intelligent transport device and a transport method, wherein the transport device comprises a transport trolley, a control unit and a remote control unit; the control unit is communicatively connected with the transport trolley and the remote control unit; the transport trolley comprises a main assembly and a fixture; the main assembly comprises a support assembly, a lifting assembly, a walking assembly, a steering assembly, a walking wheel assembly and a base; the fixture is used to clamp the base on a channel steel bottom beam; the support assembly is lifted and installed on the base; the lifting assembly is installed between the base and the support assembly, and is used to realize the up and down lifting movement of the support assembly; the walking wheel assembly is installed on the support assembly and is lifted and lowered with the support assembly; the walking assembly is installed on the support assembly and is connected to the walking wheel assembly, and is used to drive the walking wheel assembly to automatically travel; the steering assembly is installed on the support assembly and is connected to the walking wheel assembly, and is used to adjust the travel direction of the walking wheel assembly. The present invention has the advantages of high transport efficiency.

Description

Technical Field

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

[0002] Compared with traditional open high-voltage equipment, gas-insulated switchgear (GIS) has obvious advantages, is used more and more, and occupies an increasingly important position in the power transmission and transformation system. In the power system, GIS switchgear accounts for an increasing proportion. In order to improve the reliability and service life of GIS equipment, the use of GIS is gradually shifting from outdoor to indoor.

[0003] GIS unit intervals are large in size and heavy in weight. Electric cranes are usually not equipped indoors, and large cranes cannot enter the room for lifting. Special transportation equipment is required when transporting products to the installation site and transferring them from outdoor to indoor installation. However, the industry currently lacks special and applicable transportation equipment, which leads to a series of problems such as high labor intensity, low efficiency, and damage to products during transportation from outdoor to indoor. At the same time, when the unit intervals are docked and installed, in order to ensure the precise docking of the flange holes of the connected tanks, the transportation equipment is required to have multi-degree-of-freedom precision movement capabilities. The industry currently lacks specialized high-precision transportation equipment with this function.

[0004] Therefore, in order to solve the problem of GIS transportation and precise docking during indoor installation, it is an urgent problem to develop a special automated and intelligent transport vehicle suitable for GIS indoor installation. The transport vehicle is required to be easy to install and disassemble, and be able to carry the large load weight of GIS unit intervals of about 5 tons for 110kV and about 12 tons for 220kV. The installation position and installation quantity can be adjusted arbitrarily according to needs, and the dual functions of rapid movement of GIS indoors and precise movement of unit interval docking can be completed at one time. Furthermore, in order to ensure that the transport vehicle has higher work efficiency and safety, the transport vehicle is required to have intelligent functions such as automatic walking, automatic obstacle avoidance, automatic height compensation to prevent the uneven force on each wheel during transportation of the vehicle due to potholes in the road, and automatic braking alarm for faults.

[0005] At present, the following construction methods are mainly adopted in the process of GIS outdoor to indoor installation:

[0006] Roller + crowbar method: Rollers are placed between the steel bottom beams of the GIS units, and crowbars are inserted into the bottom of the bottom beams. Multiple people work together to pry the bottom beams to gradually move or adjust them. The disadvantages of this method are: low efficiency, high labor intensity, and damage to the equipment itself.

[0007] Manual forklift method: A crane or hydraulic jack first lifts the GIS unit to a certain height, and then puts the bottom beam into the manual forklift. Then multiple people work together to push and pull to move or adjust the direction. The disadvantages of this method are: if the product is too heavy, it cannot be moved manually, the labor intensity is high, and there is a risk of rollover during transportation.

[0008] Air cushion transportation method: Use a crane or hydraulic jack to lift the GIS unit interval to a certain height, place the air cushion device under the bottom beam, connect the air pump to the air cushion to inflate, and after confirming that it bears the weight of the GIS unit interval and is in a suspended state, manually push the GIS unit interval to move or adjust. The disadvantages of this method are: the air cushion equipment has high requirements for the flatness of the ground, and needs a flat and pit-free ground. The actual on-site ground conditions are difficult to guarantee, and the place of use is limited. In addition, the air pipe is dragged when walking, and a large number of people are required to follow and drag the air pipe, which is poor in practicality.

[0009] Electric transport tank method: Use a crane or hydraulic jack to lift the GIS unit interval to a certain height, place the electric transport tank under the bottom beam, operate the electric transport tank remote control device, and the equipment will move or turn automatically. Disadvantages: The equipment has weak climbing ability and is prone to getting stuck when there are embedded parts or pits on the ground; the GIS unit interval is large in size and long in length. A single electric transport tank can only move longitudinally and turn with a large radius, but cannot move horizontally in parallel, which is not conducive to the precise docking of the unit interval, and two tanks cannot be used for coordinated control.

[0010] In addition, according to national standards, the installation height deviation of all GIS intervals should not exceed 3mm, and the installation foundation should be considered as the same plane. Therefore, when connecting the pipe mothers between GIS unit intervals, the bottom beams of all intervals must be attached to or close to the installation foundation surface. At present, most of the GIS installation vehicles are located at the bottom of the product bottom beam, which makes the bottom beam have a high height from the ground. After moving to the approximate installation position, the bottom beam equipment must be pulled out first, and then the position correction movement must be performed using a crowbar or manual hoist. It is impossible to complete the rapid movement of the unit interval and the precise calibration movement when each group of intervals are connected at one time, which is time-consuming and labor-intensive, and has low work efficiency.

[0011] In the prior art, a patent application with application publication number CN114105042A discloses a GIS equipment transport device, which relates to the field of power grid construction transport tools, and includes a universal wheel mechanism, a drive wheel mechanism and a beam inclination sensor. The universal wheel mechanism includes a first clamping seat, an integrated hydraulic jack and a universal wheel device. The drive wheel mechanism includes a second clamping seat, an integrated through-core hydraulic jack, a through-core shaft, a steering operating handle and a drive wheel device. The integrated hydraulic jack, the integrated through-core hydraulic jack and the drive wheel device are all remotely controlled and driven by a remote control operating device.

[0012] This patent application uses hydraulic jacks for lifting and lowering, and electric motors for traveling. It must be equipped with a hydraulic pump station power system and a power supply power system. The two power systems are inconvenient to use and difficult to coordinate. The steering uses a steering handle integrated with the electric drive wheel and is manually operated. Due to the large size of the GIS equipment and limited vision, the operator cannot see the installation target position clearly. This design structure makes it difficult to accurately control the equipment for position calibration. The structural layout of the drive wheel device, if it is to meet the GIS interval large load carrying of about 5 tons for 110kV and about 12 tons for 220kV and have good climbing ability, the current power motor plus the reduction gear will definitely not be too small. The small volume presented in the design is difficult to achieve in reality, or the actual volume is relatively large. However, since the minimum gap distance between the GIS bottom beam groups is ≤200mm, the large volume of this design layout will inevitably make some places unusable.

[0013] In the prior art, a patent application with application publication number CN117383460A discloses a fully electrically controlled lifting and transporting platform for GIS equipment installation, which relates to the field of electrical equipment transportation technology. The lifting and transporting platform includes a chassis, a longitudinal assembly and a transverse assembly. The chassis is used to support GIS equipment. The longitudinal assembly includes a moving device and a lifting device. The lifting device is connected to the moving device. A transfer wheel is arranged at the bottom of the moving device. The transfer device is used to transport the chassis. The lifting device is used to lift the chassis. The transverse assembly includes a tray device and a clamping device. The clamping device is arranged on the tray device. The tray device is used to support the chassis. The clamping device is used to provide a clamping force for clamping the chassis. A universal wheel is arranged at the bottom of the tray device. The lifting and transporting platform also includes a controller. A control system is arranged in the controller. The control system is used to control the longitudinal assembly and the transverse assembly for transport. The lifting and transporting platform of the invention has transverse and longitudinal adjustment functions to achieve stable transport control and stable lifting of GIS equipment.

[0014] The longitudinal assembly structure of this patent application is too complicated, large in size, and inconvenient to install and use; the support seat used to lift the GIS H-shaped steel bottom beam in the longitudinal assembly does not have a locking unit to lock the bottom beam, which lacks safety; the transverse assembly is placed at the bottom of the GIS bottom beam for stable lifting, which does not meet the actual use of the work scene and installation process requirements on site. On the one hand, the minimum gap between GIS bottom beam groups is only 200mm, and the width extension dimension of the transverse assembly under the bottom beam cannot exceed this dimension, otherwise it will interfere. If the extension dimension is too small ≤200mm, it will not be of much significance to the lifting stability; on the other hand, when calibrating the position of the pipe mother between the GIS unit intervals, all the intervals of the bottom beam must be attached to or close to the installation foundation surface before it can be carried out. The installation height adjustment amount is usually only a few millimeters. Placing the transverse assembly at the bottom of the GIS bottom beam makes the bottom beam have a higher height from the installation ground, and it is impossible to perform calibration installation when the pipe mother is connected. When connecting the pipe mother between the GIS unit intervals, all the intervals of the bottom beam must be attached to or close to the same installation foundation surface before it can be carried out. Summary of the invention

[0015] In view of the technical problems existing in the prior art, the present invention provides a GIS intelligent transportation device and transportation method with high working efficiency.

[0016] In order to solve the above technical problems, the technical solution proposed by the present invention is:

[0017] A GIS intelligent transport device comprises a transport vehicle, a control unit and a remote control unit; the control unit is respectively connected to the transport vehicle and the remote control unit for communication;

[0018] The transport trolley comprises a main body assembly and a fixture;

[0019] The main body assembly includes a support assembly, a lifting assembly, a walking assembly, a steering assembly, a walking wheel assembly and a base;

[0020] The clamp is used to clamp the base on the channel steel bottom beam of the GIS unit; the support assembly is lifted and installed on the base;

[0021] The lifting assembly is installed between the base and the support assembly, and is used to realize the up and down lifting movement of the support assembly relative to the base;

[0022] The walking wheel assembly is installed on the supporting assembly and rises and falls with the supporting assembly;

[0023] The walking assembly is installed on the supporting assembly and connected to the walking wheel assembly, and is used to drive the walking wheel assembly to walk automatically;

[0024] The steering assembly is mounted on the supporting assembly and connected to the running wheel assembly, and is used to adjust the running direction of the running wheel assembly;

[0025] It also includes a calibration unit installed on the GIS unit, which is connected to the control unit and is used to achieve automatic movement calibration of the transport vehicle when the GIS units are docked.

[0026] As a further improvement of the above technical solution:

[0027] The support assembly includes a fixing plate, a ball guide sleeve, a plurality of guide pillars, a transverse connecting plate, a longitudinal connecting plate and a carrying handle;

[0028] The ball guide sleeves are all installed on the base; one end of each guide column passes through the ball guide sleeve and is connected to the fixed plate; the transverse connecting plate and the longitudinal connecting plate are installed on the other end of each guide column, and the carrying handle is installed on the longitudinal connecting plate.

[0029] The lifting assembly includes a lifting servo motor, a first mounting support, a first bevel gear, a second bevel gear, a first lead screw support seat, a lead screw nut, a lead screw and a second lead screw support seat;

[0030] The lifting servo motor is installed on the base; the screw nut is fixed on the fixed plate; the screw rod is threadedly connected to the screw nut; one end of the screw rod is installed on the upper part of the base through the first screw support seat, and the other end is fixed on the lower part of the base through the second screw support seat; the first bevel gear is installed on the output end of the lifting servo motor, and the second bevel gear is fixed on one end of the screw rod and meshes with the first bevel gear.

[0031] The walking assembly includes a walking servo motor, a second mounting support, a walking motor driving gear, a walking motor transition gear, a mounting plate, a bearing, a gear connecting shaft, and a first bevel gear;

[0032] The walking servo motor is installed on the fixed plate through a second mounting bracket, the walking motor driving gear is installed on the output end of the walking servo motor, the bearing is installed on the fixed plate through a mounting plate, one end of the gear connecting shaft passes through the bearing and is connected to the walking motor transition gear, and the walking motor transition gear is meshed with the walking motor driving gear; the first bevel gear is located at the other end of the gear connecting shaft and is connected to the walking wheel assembly.

[0033] The travel wheel assembly includes a steering gear, a second bevel gear, a third bevel gear, a first shaft assembly, a fourth helical gear, a fifth helical gear, a travel wheel, and a third shaft assembly; the steering gear is rotatably mounted on the fixed plate;

[0034] The second bevel gear is meshed with the first bevel gear and is meshed with the third bevel gear through the first shaft assembly. A fifth bevel gear is provided on the traveling wheel, and the third bevel gear is meshed with the fifth bevel gear through the fourth bevel gear.

[0035] The steering assembly includes a steering servo motor, a third mounting support, and a first spur gear;

[0036] The steering servo motor is mounted on the fixed plate through a third mounting bracket; the first spur gear is mounted on the main shaft end face of the steering servo motor and meshes with the steering gear.

[0037] The clamp comprises a C-shaped block, the open end of which is inserted into the square hole of the base and the inner side of the channel steel bottom beam.

[0038] It also includes a locking unit, which includes a locking pin, a locking spring, a sliding seat and a sliding shaft; the sliding seat is fixed on the base, one end of the sliding shaft passes through the sliding seat and is connected to the locking pin, and the locking spring is located on the sliding shaft between the locking pin and the sliding seat.

[0039] An inclination sensor is installed on the side wall of the base, and the inclination sensor is connected to the control unit;

[0040] It also includes a calibration unit, which is installed on the GIS unit and is used to achieve docking between GIS units.

[0041] The present invention also discloses a transportation method based on the GIS intelligent transportation device as described above, comprising the steps of:

[0042] The base of the transport trolley is clamped on the channel steel bottom beam of the GIS unit by the clamp;

[0043] The support assembly is raised upward relative to the base by the lifting assembly to lift the GIS unit;

[0044] The walking wheel assembly is driven to walk by the walking assembly;

[0045] During the traveling of the traveling wheel assembly, the traveling direction of the traveling wheel assembly is adjusted by the steering assembly.

[0046] Compared with the prior art, the advantages of the present invention are:

[0047] The present invention has an automated carrying capacity, which can significantly reduce the labor intensity of personnel carrying GIS unit intervals; the present invention is easy to install and disassemble, and can carry a large load weight of GIS unit intervals of about 5 tons for 110kV and about 12 tons for 220kV; it has good versatility, and can adjust the installation position and installation quantity as needed to meet the needs of different products, and has good versatility; the clamp clamps the side of the GIS bottom beam, and the extended width size is less than 200mm, which effectively avoids the interference of the main structure of the carrying equipment on the installation and docking of the product; the present invention can realize longitudinal forward and backward driving, horizontal left and right driving, 360-degree on-the-spot turning, up and down lifting and other multi-degree-of-freedom movement capabilities, and can complete the dual functions of rapid movement in place and precise movement of unit interval docking at one time; it has intelligent functions such as automatic obstacle avoidance, automatic height compensation for tilting, and automatic braking alarm for faults; it is equipped with an intelligent calibration unit, which is wirelessly connected to the control unit to realize automatic movement and calibration of the carrying trolley when the equipment is docked, reduce the docking position error of manual operation, greatly improve work efficiency and improve product installation quality; it has a simple structure and good controllability and practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a diagram showing an embodiment of the GIS intelligent transport device of the present invention in a specific application.

[0049] Figure 2The diagram is a structural diagram of the GIS intelligent transport device of the present invention in an embodiment; (a) is one of the three-dimensional diagrams; (b) is the second three-dimensional diagram.

[0050] Figure 3 The present invention is a structural diagram of the main body assembly of the transport vehicle in an embodiment; (a) is one of the three-dimensional diagrams; (b) is the second three-dimensional diagram.

[0051] Figure 4 It is a structural diagram of a supporting assembly of the present invention in an embodiment.

[0052] Figure 5 It is a structural diagram of the lifting component of the present invention in an embodiment.

[0053] Figure 6 It is a structural diagram of the base of the present invention in an embodiment.

[0054] Figure 7 The present invention is a structural diagram of a walking assembly in an embodiment; (a) is a stereoscopic diagram; (b) is a cross-sectional diagram.

[0055] Figure 8 It is a structural diagram of a steering assembly in an embodiment of the present invention.

[0056] Fig. 9 The present invention is a structural diagram of a traveling wheel assembly in an embodiment; (a) is one of the three-dimensional diagrams; (b) is the second three-dimensional diagram.

[0057] Fig.10 The figures are structural diagrams of the locking unit of the present invention in an embodiment; (a) is a stereoscopic diagram; and (b) is a cross-sectional diagram.

[0058] Fig.11 It is a three-dimensional structural diagram of the calibration unit of the present invention in a specific application.

[0059] Fig.12 It is a main structural diagram of the calibration unit of the present invention in a specific application.

[0060] Fig.13 The figure is a flow chart of an embodiment of the transport method of the present invention.

[0061] Fig.14 The present invention is a flowchart of the GIS interval docking method in an embodiment.

[0062] Legend: 1. GIS unit; 101. Tank; 102. Channel steel bottom beam; 2. Carrying trolley; 201. Main assembly; 2011. Support assembly; 20111. Fixing plate; 20112. Ball guide bushing; 20113. Guide column; 20114. Horizontal connecting plate; 20115. Longitudinal connecting plate; 20116. Carrying handle; 2012. Lifting assembly; 20121. Lifting servo motor; 20122. First mounting bracket; 20123. First A helical gear; 20124, a second helical gear; 20125, a first screw support seat; 20126, a screw nut; 20127, a screw rod; 20128, a second screw support seat; 2013, a travel assembly; 20131, a travel servo motor; 20132, a second mounting support; 20133, a travel motor driving gear; 20134, a travel motor transition gear; 20135, a mounting plate; 20136, a bearing; 20137, a gear connecting shaft; 2 0138, first bevel gear; 2014, steering assembly; 20141, steering servo motor; 20142, third mounting bracket; 20143, first straight gear; 2015, travel wheel assembly; 20151, steering gear; 20152, second bevel gear; 20153, third bevel gear; 20154, first shaft assembly; 20155, fourth helical gear; 20156, second shaft assembly; 20157, fifth helical gear; 20158, travel wheel; 20159, third axis assembly; 201510, walking wheel truss; 201511, connecting plate; 2016, base; 202, clamp; 203, locking unit; 2031, locking pin; 2032, locking spring; 2033, sliding seat; 2034, sliding shaft; 204, cover; 205, warning light; 3, control unit; 4, remote control unit; 5, calibration unit; 501, first calibration module; 502, second calibration module; 6, power supply unit. DETAILED DESCRIPTION

[0063] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0064] like Figure 1 As shown, the GIS intelligent transport device provided by the embodiment of the present invention includes a transport vehicle 2, a control unit 3 and a remote control unit 4; the control unit 3 is respectively connected to the transport vehicle 2 and the remote control unit 4 for communication;

[0065] like Figure 2As shown, the transport trolley 2 includes a main body assembly 201, a C-type clamp 202, a locking unit 203, a cover 204 and an alarm light 205; the main body assembly 201 is the main structural part of the transport trolley 2 and is the load-bearing body of the transport trolley 2; the C-type clamp 202 and the locking unit 203 are used to achieve the connection and locking of the transport trolley 2 and the channel steel bottom beam 102 of the GIS unit 1; the cover 204 is used for equipment protection; and the alarm light 205 is used for equipment obstacle and fault alarm;

[0066] like Figure 3 As shown, the main body assembly 201 includes a support assembly 2011, a lifting assembly 2012, a walking assembly 2013, a steering assembly 2014, a walking wheel assembly 2015 and a base 2016;

[0067] The clamp 202 is used to clamp the base 2016 on the channel steel bottom beam 102 of the GIS unit 1;

[0068] The support assembly 2011 is installed on the base 2016 in a lifting manner; wherein the support assembly 2011 is a frame member of the transport vehicle 2, used for supporting the main body of the equipment and fixing the components;

[0069] The lifting assembly 2012 is installed between the base 2016 and the support assembly 2011, and is used to realize the up and down lifting movement of the support assembly 2011 relative to the base 2016; the walking wheel assembly 2015 is installed on the support assembly 2011, and is lifted and lowered with the support assembly 2011;

[0070] The walking assembly 2013 is installed on the supporting assembly 2011 and connected to the walking wheel assembly 2015, and is used to drive the walking wheel assembly 2015 to move automatically;

[0071] The steering assembly 2014 is installed on the supporting assembly 2011 and connected to the running wheel assembly 2015, and is used to adjust the driving direction of the running wheel assembly 2015;

[0072] It also includes a calibration unit 5 installed on the GIS unit 1, which is connected to the control unit 3 and is used to achieve automatic movement calibration of the transport vehicle 2 when the GIS units 1 are docked.

[0073] Specifically, the channel steel bottom beam 102 is a component of the GIS unit 1 and is a spaced installation platform for the GIS unit 1; the transport trolley 2 is installed on the side of the channel steel bottom beam 102 through a clamp 202, and is used for lifting and transporting the GIS unit 1. Usually, 4 transport trolleys 2 are installed for 110kV GIS, and 6 transport trolleys 2 are installed for 220kV GIS. The number and location of installation can be adjusted according to needs;

[0074] In addition, the transport trolley 2 is equipped with an independent power supply unit 6 (such as a battery), and the power supply unit 6 and the control unit 3 are placed in the same box, and then placed as a whole in any gap on the channel steel bottom beam 102, and connected to the transport trolley 2 through a quick-plug power cable and a data cable to provide driving power and execution control for the transport trolley 2;

[0075] The remote control unit 4 and the control unit 3 are wirelessly connected, and the wireless operation control of the trolley can be performed by operating the remote control unit 4; specifically, the calibration unit 5 is installed on the tank body 101 of the GIS unit 1, and is used to calibrate the position of the installation hole when the pipe mother is connected between the compartments of the GIS unit 1.

[0076] like Figure 4 As shown, the support assembly 2011 includes a fixing plate 20111, a ball guide sleeve 20112, a guide column 20113, a transverse connecting plate 20114, a longitudinal connecting plate 20115 and a carrying handle 20116;

[0077] The ball guide bushings 20112 are all installed on the base 2016; one end of each guide column 20113 passes through the ball guide bushing 20112 and is connected to the fixed plate 20111; the transverse connecting plate 20114 and the longitudinal connecting plate 20115 are installed on the other end of each guide column 20113, and the carrying handle 20116 is installed on the longitudinal connecting plate 20115;

[0078] Specifically, the fixed plate 20111 is used for the installation of the walking assembly 2013 and the steering assembly 2014; there are four guide columns 20113, all of which are installed on the fixed plate 20111; the ball guide sleeve 20112 and the guide column 20113 are used for the linear lifting of the lifting assembly 2012; the horizontal connecting plate 20114, the longitudinal connecting plate 20115 and the carrying handle 20116 are installed on the top of the guide column 20113 to enhance the overall structural strength of the support assembly 2011; the carrying handle 20116 is also used for the overall carrying of the carrying trolley 2 when the GIS equipment is installed, which is convenient for installation and use.

[0079] like Figure 5 As shown, the lifting assembly 2012 includes a lifting servo motor 20121, a first mounting support 20122, a first bevel gear 20123, a second bevel gear 20124, a first screw support seat 20125, a screw nut 20126, a screw 20127, and a second screw support seat 20128;

[0080] The lifting servo motor 20121 is installed on the base 2016; the screw nut 20126 is fixed on the fixed plate 20111; the screw rod 20127 is threadedly connected to the screw nut 20126; one end of the screw rod 20127 is installed on the upper part of the base 2016 through the first screw support seat 20125, and the other end is fixed on the lower part of the base 2016 through the second screw support seat 20128; the first bevel gear 20123 is installed on the output end of the lifting servo motor 20121, and the second bevel gear 20124 is fixed on one end of the screw rod 20127 and meshes with the first bevel gear 20123.

[0081] When working, the lifting servo motor 20121 rotates clockwise or counterclockwise, and drives the screw rod 20127 to rotate clockwise or counterclockwise through the first bevel gear 20123 and the second bevel gear 20124. The screw nut 20126 is installed on the fixed plate 20111 and is fixed in position. When the screw rod 20127 rotates clockwise or counterclockwise, the screw rod 20127 moves up and down. The screw rod 20127 is fixedly connected to the base 2016 through the first screw support seat 20125 and the second screw support seat 20128, and finally drives the base 2016 to move up and down.

[0082] like Figure 6 As shown, the base 2016 is made entirely of high-strength aviation aluminum 7075, which has good strength and light weight, and is assembled into an integral frame structure using bolts.

[0083] like Figure 7 As shown, the walking assembly 2013 includes a walking servo motor 20131, a second mounting support 20132, a walking motor driving gear 20133, a walking motor transition gear 20134, a mounting plate 20135, a bearing 20136, a gear connecting shaft 20137 and a first bevel gear 20138;

[0084] The walking servo motor 20131 is installed on the fixed plate 20111 through the second mounting support 20132, the walking motor driving gear 20133 is installed on the output end of the walking servo motor 20131, the bearing 20136 is installed on the fixed plate 20111 through the mounting plate 20135, one end of the gear connecting shaft 20137 passes through the bearing 20136 and is connected to the walking motor transition gear 20134, and the walking motor transition gear 20134 is meshed with the walking motor driving gear 20133; the first bevel gear 20138 is located at the other end of the gear connecting shaft 20137 and is connected to the walking wheel assembly 2015.

[0085] Specifically, the walking servo motor 20131 is used to provide walking power for the carrying vehicle 2; the second mounting bracket 20132 is used to fix the walking servo motor 20131 on the lifting platform plate 201271; the walking motor driving gear 20133 is installed on the front end face of the main shaft of the walking servo motor 20131 for power output; the walking motor transition gear 20134, the gear connecting shaft 20137, and the first bevel gear 20138 are installed on the lifting platform plate 201271 through the mounting plate 20135 and the bearing 20136 for power transmission.

[0086] like Fig. 9 As shown, the travel wheel assembly 2015 includes a steering gear 20151, a second bevel gear 20152, a third bevel gear 20153, a first shaft assembly 20154, a fourth helical gear 20155, a second shaft assembly 20156, a fifth helical gear 20157, a travel wheel 20158, a third shaft assembly 20159, a travel wheel truss 201510 and a connecting plate 201511;

[0087] A cylindrical bearing is embedded inside the steering gear 20151, and its central fixed part is installed on the lower end of the fixed plate 20111 by bolts, and the outer tooth rotating part can rotate through the cylindrical bearing;

[0088] The second bevel gear 20152 is meshed with the first bevel gear 20138 and is meshed with the third bevel gear 20153 through the first shaft assembly 20154 . A fifth bevel gear 20157 is provided on the traveling wheel 20158 . The third bevel gear 20153 is meshed with the fifth bevel gear 20157 through the fourth bevel gear 20155 .

[0089] When the equipment is moving, the travel servo motor 20131 transmits the power to the first bevel gear 20138 through the gear set, and the first bevel gear 20138 meshes with the second bevel gear 20152 in the travel wheel assembly 2015, and then transmits the power through the first shaft assembly 20154, the fourth bevel gear 20155, the second shaft assembly 20156, the fifth bevel gear 20157, and the third shaft assembly 20159, and the fifth bevel gear 20157 is connected to the travel wheel 20158 as a whole, and finally drives the travel wheel 20158 to move.

[0090] like Figure 8 As shown, the steering assembly 2014 includes a steering servo motor 20141, a third mounting support 20142 and a first spur gear 20143;

[0091] The steering servo motor 20141 is installed on the fixed plate 20111 through the third mounting bracket 20142, and is used to provide the walking wheel angle deflection power for the carrying vehicle 2; the first spur gear 20143 is installed on the main shaft end face of the steering servo motor 20141 and meshes with the steering gear 20151 for angle deflection power output.

[0092] When the equipment turns, the steering servo motor 20141 transmits the power to the steering gear 20151 through the gear assembly. The steering gear 20151 is fixedly connected to the travel wheel truss 201510 by bolts, driving the travel wheel assembly 2015 to perform the steering action as a whole.

[0093] like Fig.10 As shown, the locking unit 203 includes a locking pin 2031, a locking spring 2032, a sliding seat 2033 and a sliding shaft 2034; the sliding seat 2033 is fixed on the base 2016, one end of the sliding shaft 2034 passes through the sliding seat 2033 and is connected to the locking pin 2031, and the locking spring 2032 is located on the sliding shaft 2034 between the locking pin 2031 and the sliding seat 2033.

[0094] When in use, first lift up the locking pin 2031 by hand, then insert the open end of the C-type clamp 202 into the bottom square hole of the base 2016 and the inner side of the channel steel bottom beam 102. After it is in place, release the locking pin 2031. Under the elastic force of the locking spring 2032, the locking pin 2031 is inserted into the upper slot of the C-type clamp 202 to connect and tighten the base 2016 in the transport trolley 2 and the channel steel bottom beam 102 in the GIS unit 1.

[0095] The embodiment of the present invention further discloses a transportation method based on the GIS intelligent transportation device as described above, comprising the steps of:

[0096] The base 2016 of the transport trolley 2 is clamped on the channel steel bottom beam 102 of the GIS unit 1 by the clamp 202;

[0097] The support assembly 2011 is lifted upward relative to the base 2016 by the lifting assembly 2012 to lift the GIS unit 1;

[0098] The walking wheel assembly 2015 is driven to walk by the walking assembly 2013;

[0099] When the traveling wheel assembly 2015 is moving, the traveling direction of the traveling wheel assembly 2015 is adjusted by the steering assembly 2014 .

[0100] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0101] like Fig.11 As shown, the operator first places the transport trolley 2 on the upper end of the GIS channel steel beam, with the convex edge of the bottom plate of the base 2016 close to the side of the channel steel bottom beam 102, and then connects the transport trolley 2 to the channel steel bottom beam 102 with a C-type clamp 202, and then fastens it with a locking unit 203. The number of transport trolleys 2 installed is determined according to the product weight, and a single unit has a load capacity of 2 tons. Usually, 4 transport trolleys 2 are installed for 110kV and 6 transport trolleys 2 are installed for 220kV.

[0102] Place the power supply unit 6 and the control unit 3 at any gap on the GIS channel steel beam, and connect the power line and the control line to the transport trolley 2 through quick-plug plugs.

[0103] Start the trolley remote control unit 4, and the trolley working status is displayed on the display screen of the trolley remote control unit 4; first press the reset button to automatically restore the sides of the running wheels 20158 in all the trolley running wheel assemblies 2015 to a reset state parallel to the sides of the channel steel bottom beam 102.

[0104] By operating the lifting button in the trolley remote control unit 4, the lifting servo motors 20121 of the four or six transport trolleys 2 operate synchronously, driving the lifting assembly 2012 to move upward as a whole. Under the clamping action of the C-type clamp 202, the channel steel bottom beam 102 is synchronously lifted and moved upward as a whole, and the lifting height can be 0-80mm.

[0105] After being lifted to a certain height, the travel and steering buttons in the remote control unit 4 of the trolley are operated to control the longitudinal movement of the travel component 2013 and the steering action of the steering component 2014.

[0106] When the transport trolley 2 is carrying the GIS, in order to avoid the danger of the GIS equipment tipping over due to the presence of pits on the ground, Figure 5 As shown, an inclination sensor 206 is installed on the side wall of the base 2016 of each trolley. When a tilt occurs, the inclination sensor 206 will promptly transmit the horizontal angle deviation data to the control unit 3. The control unit 3 automatically calculates and outputs an electrical signal to control the servo motor 20121 to lift the lower position for height compensation. All trolley states are uniformly controlled by the control unit 3, and height compensation is automatically performed to ensure stability during walking.

[0107] Laser radars are installed on the four corners of the bottom beam of the GIS equipment. They are electromagnetically adsorbed, have independent power supplies, and transmit data wirelessly. An alarm light 205 is installed on the transport trolley 2. The laser radar is wirelessly connected to the control unit 3. When a large groove such as a cable trench or a collision hazard is found during the journey, the alarm light 205 of the transport trolley 2 flashes and automatically determines that there is a danger somewhere based on the source of danger and generates an alarm sound, raising the possibility of safety risks. At the same time, the transport trolley 2 self-locks and stops running. After the danger is removed or manually unlocked, the trolley remote control unit 4 can continue to be controlled to control the transport trolley 2 to continue moving.

[0108] When the servo motor is overloaded due to abnormal working conditions such as the carrying weight of the transport trolley 2 is overweight, the ground walking slope is too large, or the transport trolley 2 body has a mechanical failure, the servo motor will generate a gain current. When it exceeds the set threshold, the transport trolley 2 will automatically lock and alarm to ensure the safe operation of the equipment.

[0109] Usually the first GIS unit 1 interval is used as the docking reference for other intervals. Therefore, the installation position of the first unit interval must be strictly calibrated before it is fixed. To ensure that it is not affected by the height deviation of the ground foundation, the first unit interval is higher than the foundation ground by a certain height.

[0110] In order to improve the docking accuracy of the GIS unit 1 and improve the docking efficiency, calibration units 5 are installed on the flange holes of the connecting pipes of the intervals, namely the first calibration module 501 and the second calibration module 502, and three pieces are installed on each docking flange. The calibration unit 5 uses high-precision sensors, including laser radar, position sensor and video monitor, etc. The detection data of the calibration unit 5 is connected to the control unit 3 through a wireless network, and through data processing, an electric control signal is generated and fed back to the transport trolley 2 to control the trolley to dock accurately.

[0111] like Fig.11 and Fig.13 As shown, after the A-interval GIS equipment is transported to the installation position and welded and fixed, the first calibration module 501 is installed on the flange hole of the connecting pipe mother of the A-interval GIS equipment, and the second calibration module 502 is installed on the flange hole of the connecting pipe mother of the B-interval GIS equipment. According to the above method, the B-interval GIS equipment is transported by the transport trolley 2 and quickly moved to the adjacent parallel position of the A-interval GIS equipment and maintaining a certain distance, thereby completing the rapid transportation of the A-interval GIS equipment and the B-interval GIS equipment.

[0112] Specifically, Fig.12 and Fig.14As shown, after the B interval GIS equipment is transported to the adjacent parallel position of the A interval GIS equipment and maintains a certain distance, each calibration unit 5 captures the mutual position information and prompts that it has entered the docking area, and the display unit of the remote control unit 4 displays the position information of the female flange hole of the connecting pipe; the transport trolley 2 enters the automatic walking mode, and the operator stops the manual remote control operation; each calibration unit 5 generates the Z phase distance data and the parallelism data of the two flange surfaces through the laser radar; at the same time, each calibration unit 5 generates the X, Y coordinate data of the two flange holes and the coordinate deviation data of the two flange holes through the position sensor; the above data is transmitted to the control unit 3 through the wireless transmission module, and the control unit 3 performs data processing and generates a servo electrical signal, and the transport trolley 2 first performs longitudinal precise walking and calibrates the Y coordinate position; judges whether the position is calibrated; if the calibration is completed, the transport trolley 2 performs up and down precise lifting and then calibrates the X coordinate position; then judges whether the position is calibrated; if the calibration is completed, the transport trolley 2 performs lateral precise walking and calibrates the Z coordinate position; judges whether the position is calibrated; if the calibration is completed, the docking installation of the connecting flange holes between the GIS equipment compartments is completed.

[0113] The present invention has an automated carrying capacity, which can significantly reduce the labor intensity of personnel carrying the GIS unit 1 interval; the present invention is easy to install and disassemble, and can carry a large load weight of about 5 tons for 110kV and about 12 tons for 220kV for the GIS unit 1 interval; it has good versatility, and can adjust the installation position and installation quantity as needed to meet the needs of different products, and has good versatility; the clamp 202 clamps the side of the GIS bottom beam, and the extended width size is less than 200mm, which effectively avoids the interference of the main structure of the carrying equipment on the installation and docking of the product; the present invention can realize longitudinal forward and backward driving, horizontal left and right driving, 360-degree on-the-spot turning, up and down lifting and other multi-degree-of-freedom movement capabilities, and can complete the dual functions of rapid movement in place and precise movement of unit interval docking at one time; it has intelligent functions such as automatic obstacle avoidance, automatic height compensation for tilting, and automatic braking alarm for faults; it is equipped with an intelligent calibration unit 5, which is wirelessly connected to the control unit 3 to realize automatic movement and calibration of the carrying trolley 2 when the equipment is docked, reduce the docking position error of manual operation, greatly improve work efficiency and improve product installation quality; it has a simple structure and good controllability and practicality.

[0114] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0115] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0116] In the present invention, unless otherwise clearly specified and limited, the terms "assemble", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0117] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A GIS intelligent transport device, characterized in that: It comprises a transport vehicle (2), a control unit (3) and a remote control unit (4); the control unit (3) is communicatively connected to the transport vehicle (2) and the remote control unit (4) respectively; The transport trolley (2) comprises a main body assembly (201) and a clamp (202); The main body assembly (201) comprises a support assembly (2011), a lifting assembly (2012), a walking assembly (2013), a steering assembly (2014), a walking wheel assembly (2015) and a base (2016); The clamp (202) is used to clamp the base (2016) on the channel steel bottom beam (102) of the GIS unit (1); the support assembly (2011) is lifted and installed on the base (2016); The lifting component (2012) is installed between the base (2016) and the support component (2011), and is used to realize the up and down lifting movement of the support component (2011) relative to the base (2016); The walking wheel assembly (2015) is mounted on the supporting assembly (2011) and rises and falls along with the supporting assembly (2011); The walking assembly (2013) is installed on the supporting assembly (2011) and is connected to the walking wheel assembly (2015), and is used to drive the walking wheel assembly (2015) to move automatically; The steering assembly (2014) is mounted on the support assembly (2011) and connected to the running wheel assembly (2015), and is used to adjust the travel direction of the running wheel assembly (2015); It also includes a calibration unit (5) installed on the GIS unit (1), the calibration unit (5) being connected to the control unit (3) and used to realize automatic movement calibration of the transport vehicle (2) when the GIS units (1) are docked; The calibration unit (5) comprises a first calibration module (501) and a second calibration module (502), and the calibration unit (5) uses a high-precision sensor, including a laser radar, a position sensor and a video monitor; After the A-interval GIS equipment is transported to the installation position and welded and fixed, the first calibration module (501) is installed on the flange hole of the connecting pipe mother of the A-interval GIS equipment, and the second calibration module (502) is installed on the flange hole of the connecting pipe mother of the B-interval GIS equipment; after the B-interval GIS equipment is transported to the adjacent parallel position of the A-interval GIS equipment and maintains a certain distance, each calibration unit (5) captures the mutual position information and prompts that it has entered the docking area, and the display unit of the remote control unit (4) displays the position information of the connecting pipe mother flange hole; the transport trolley (2) enters the automatic walking mode, and the operator stops the manual remote control operation; each calibration unit (5) generates the Z-direction distance data of the two flange surfaces and the two flange surfaces through the laser radar. parallelism data; at the same time, each calibration unit (5) generates X- and Y-axis coordinate data of the two flange holes and coordinate deviation data of the two flange holes through a position sensor; the above data is transmitted to the control unit (3) through a wireless transmission module, and the control unit (3) performs data processing and generates a servo electrical signal, and the transport trolley (2) first performs longitudinal precise walking and calibrates the Y-axis coordinate position; determines whether the position is calibrated; if the calibration is completed, the transport trolley (2) then performs up and down precise lifting and then calibrates the X-axis coordinate position; then determines whether the position is calibrated; if the calibration is completed, the transport trolley (2) performs lateral precise walking and calibrates the Z-axis coordinate position; determines whether the position is calibrated; if the calibration is completed, the connection flange hole docking installation between the GIS equipment compartments is completed.

2. The GIS intelligent transport device according to claim 1, characterized in that: The support assembly (2011) comprises a fixing plate (20111), a ball guide sleeve (20112), a plurality of guide pillars (20113), a transverse connecting plate (20114), a longitudinal connecting plate (20115) and a carrying handle (20116); The ball guide sleeves (20112) are all installed on the base (2016); one end of each guide column (20113) passes through the ball guide sleeve (20112) and is connected to the fixed plate (20111); the transverse connecting plate (20114) and the longitudinal connecting plate (20115) are installed on the other end of each guide column (20113), and the carrying handle (20116) is installed on the longitudinal connecting plate (20115).

3. The GIS intelligent transport device according to claim 2, characterized in that: The lifting assembly (2012) comprises a lifting servo motor (20121), a first mounting support (20122), a first bevel gear (20123), a second bevel gear (20124), a first lead screw support seat (20125), a lead screw nut (20126), a lead screw (20127) and a second lead screw support seat (20128); The lifting servo motor (20121) is installed on the base (2016); the lead screw nut (20126) is fixed on the fixing plate (20111); the lead screw (20127) is threadedly connected to the lead screw nut (20126); one end of the lead screw (20127) is installed on the upper part of the base (2016) through a first lead screw support seat (20125), and the other end is fixed to the lower part of the base (2016) through a second lead screw support seat (20128); the first bevel gear (20123) is installed on the output end of the lifting servo motor (20121), and the second bevel gear (20124) is fixed on one end of the lead screw (20127) and meshes with the first bevel gear (20123).

4. The GIS intelligent transport device according to claim 3, characterized in that: The walking assembly (2013) comprises a walking servo motor (20131), a second mounting support (20132), a walking motor driving gear (20133), a walking motor transition gear (20134), a mounting plate (20135), a bearing (20136), a gear connecting shaft (20137), and a first bevel gear (20138); The walking servo motor (20131) is mounted on the fixed plate (20111) via a second mounting support (20132); the walking motor driving gear (20133) is mounted on the output end of the walking servo motor (20131); the bearing (20136) is mounted on the fixed plate (20111) via a mounting plate (20135); one end of the gear connecting shaft (20137) passes through the bearing (20136) and is connected to the walking motor transition gear (20134); the walking motor transition gear (20134) is meshed with the walking motor driving gear (20133); the first bevel gear (20138) is located at the other end of the gear connecting shaft (20137) and is connected to the walking wheel assembly (2015).

5. The GIS intelligent transport device according to claim 4, characterized in that: The walking wheel assembly (2015) comprises a steering gear (20151), a second bevel gear (20152), a third bevel gear (20153), a first shaft assembly (20154), a fourth helical gear (20155), a fifth helical gear (20157), a walking wheel (20158), and a third shaft assembly (20159); the steering gear (20151) is rotatably mounted on the fixing plate (20111); The second bevel gear (20152) meshes with the first bevel gear (20138), and meshes with the third bevel gear (20153) via the first shaft assembly (20154); a fifth bevel gear (20157) is provided on the walking wheel (20158); and the third bevel gear (20153) meshes with the fifth bevel gear (20157) via the fourth bevel gear (20155).

6. The GIS intelligent transport device according to claim 5, characterized in that: The steering assembly (2014) comprises a steering servo motor (20141), a third mounting support (20142), and a first spur gear (20143); The steering servo motor (20141) is mounted on the fixing plate (20111) via a third mounting support (20142); the first spur gear (20143) is mounted on the main shaft end face of the steering servo motor (20141) and meshes with the steering gear (20151).

7. The GIS intelligent transport device according to any one of claims 1 to 6, characterized in that: The clamp (202) comprises a C-shaped block, the open end of which is inserted into the square hole of the base (2016) and the inner side of the channel steel bottom beam (102).

8. The GIS intelligent transport device according to claim 7, characterized in that: The invention also comprises a locking unit (203), wherein the locking unit (203) comprises a locking latch (2031), a locking spring (2032), a sliding seat (2033) and a sliding shaft (2034); the sliding seat (2033) is fixed on the base (2016); one end of the sliding shaft (2034) passes through the sliding seat (2033) and is connected to the locking latch (2031); and the locking spring (2032) is located on the sliding shaft (2034) between the locking latch (2031) and the sliding seat (2033).

9. The GIS intelligent transport device according to any one of claims 1 to 6, characterized in that: An inclination sensor (206) is mounted on the side wall of the base (2016), and the inclination sensor (206) is connected to the control unit (3).

10. A transportation method based on the GIS intelligent transportation device according to any one of claims 1 to 9, characterized in that: Includes steps: The base (216) of the transport trolley (2) is clamped on the channel steel bottom beam (102) of the GIS unit (1) by means of the clamp (202); The support assembly (211) is lifted upward relative to the base (2016) by the lifting assembly (2012) to lift the GIS unit (1); The walking wheel assembly (2015) is driven to walk by the walking assembly (2013); During the movement of the walking wheel assembly (2015), the moving direction of the walking wheel assembly (2015) is adjusted by means of the steering assembly (2014).

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