Indoor totally-enclosed combined electric appliance in-place robot

Abstract

The invention relates to an indoor totally-enclosed combined electric appliance in-place robot. The device comprises a base, a swing mechanism, a rotary table and a suspension arm mechanism, and is characterized in that the base comprises a base body, a driving wheel, a thrust wheel, a tensioning wheel, a crawler belt, a walking speed reducer and supporting legs, the driving wheel, the thrust wheel, the crawler belt wheel and the tensioning wheel are all installed on the base body, the rotary table is installed on the base, and the bottom of the suspension arm mechanism is installed on the rotary table through the swing mechanism; the suspension arm mechanism comprises a vertical telescopic arm and a horizontal telescopic arm, the lower end of the vertical telescopic arm is installed on the swing mechanism, the upper end of the vertical telescopic arm is hinged to one end of the horizontal telescopic arm, one end of a vertical arm connecting rod is hinged to the upper end of the vertical telescopic arm, and the other end of the vertical arm connecting rod is hinged to one end of a horizontal arm supporting hydraulic cylinder. One end of the horizontal arm connecting rod is hinged to one end of the horizontal telescopic arm, the other end of the horizontal arm connecting rod is hinged to one end of the horizontal arm supporting hydraulic cylinder, and the other end of the horizontal arm supporting hydraulic cylinder is hinged to the horizontal telescopic arm. The structure design is reasonable.

Description

Technical Field

[0001] The invention relates to an indoor fully enclosed combined electrical appliance positioning robot, which is mainly used for hoisting and moving the indoor fully enclosed combined electrical appliance. Background Art

[0002] With the development of economy and society, land resources in urban center areas are becoming increasingly scarce, and integrated and miniaturized equipment has become the first choice for substation construction. Fully enclosed combined electrical appliances (GIS) have the advantages of small footprint, high reliability, and low maintenance workload, and are widely used in indoor power distribution devices.

[0003] The installation process of GIS equipment covers equipment placement, gas chamber docking, accessory installation, vacuum treatment, gas injection, SF6 gas recovery and other links. Since it contains multiple electrical components and is relatively large in size, it brings certain difficulties to the overall transportation and installation of the equipment. For indoor GIS equipment, due to the tight working space, conventional cranes cannot directly enter the site for operation. At present, the hook installation method is generally used in engineering. In the implementation of new construction projects, construction units usually use the "steel pipe + crowbar" method to complete the main equipment placement of the interval, and the accessories and busbars are completed with the help of the "hook + manpower" method; when the prospect interval is expanded, especially when the expanded interval is located on the inside of the previous interval, since the existing hook may not meet the design lifting weight, the construction unit usually takes the approach of dismantling the wallboard to ensure the smooth installation of the equipment. This method is mainly manpower and supplemented by machinery. The mechanization rate is not high, the busbar splicing relies more on manual confirmation, and the construction period is long. In addition, this method uses roof hooks or slide rails, which has high requirements on the load-bearing capacity of the roof structure, the safety distance of the pressure test is easily affected by the hook, and the room height optimization is limited.

[0004] There is currently no robot suitable for placing indoor fully enclosed combined electrical appliances in place. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art and to provide an indoor fully enclosed combined electrical appliance positioning robot with a reasonable structural design.

[0006] The technical solution adopted by the present invention to solve the above-mentioned problem is: the indoor fully enclosed combined electrical appliance positioning robot includes a base, a slewing mechanism, a turntable, an arm mechanism, a hydraulic system and an electrical system, the base, slewing mechanism, turntable and arm mechanism are all connected to the hydraulic system, the base, slewing mechanism, turntable and arm mechanism are all connected to the electrical system, and its structural characteristics are: the base includes a base body, a driving wheel, a supporting roller, a track roller, a tensioning wheel, a crawler, a travel reducer and an outrigger, the driving wheel, the supporting roller, the track roller and the tensioning wheel are all installed on the base body, the crawler is installed on the driving wheel and the tensioning wheel, and the gears on the driving wheel are meshed with the crawler, the supporting roller and the track roller are both located between the driving wheel and the tensioning wheel, the supporting roller is pressed on the lower part of the crawler, the track roller supports the upper part of the crawler, the travel reducer is connected to the driving wheel, and the outrigger is installed on the base body; the turntable is installed on the base, the bottom of the arm mechanism is installed on the turntable through the slewing mechanism, The boom mechanism comprises a vertical telescopic arm, a horizontal telescopic arm, a pulley block, a winch structure, a wire rope and a horizontal arm supporting structure, the lower end of the vertical telescopic arm is installed on the slewing mechanism, the upper end of the vertical telescopic arm is hinged with one end of the horizontal telescopic arm, and the horizontal arm supporting structure comprises a vertical arm connecting rod, a horizontal arm connecting rod and a horizontal arm supporting hydraulic cylinder, one end of the vertical arm connecting rod is hinged to the upper end of the vertical telescopic arm, the other end of the vertical arm connecting rod is hinged to one end of the horizontal arm supporting hydraulic cylinder, one end of the horizontal arm connecting rod is hinged to one end of the horizontal telescopic arm, the other end of the horizontal arm connecting rod is hinged to one end of the horizontal arm supporting hydraulic cylinder, and the other end of the horizontal arm supporting hydraulic cylinder is hinged to the tail of the first section of the horizontal telescopic arm, the pulley block is installed on the vertical telescopic arm and the horizontal telescopic arm, the winch structure is installed at the lower part of the vertical telescopic arm, the wire rope is wound around the winch structure, and part of the wire rope extends along the pulley block to the other end of the horizontal telescopic arm, and a hook is connected to the end of the wire rope.

[0007] Preferably, the number of the legs in the present invention is three.

[0008] Preferably, the slewing mechanism of the present invention is a slewing support structure.

[0009] Preferably, the vertical telescopic arm of the present invention is a four-section structure.

[0010] Preferably, the horizontal telescopic arm of the present invention is a two-section structure.

[0011] Preferably, the vertical telescopic arm and the horizontal telescopic arm of the present invention are both made of BS600 steel.

[0012] Preferably, the weight of the indoor fully enclosed combined electrical appliance positioning robot described in the present invention is within 3 tons.

[0013] Preferably, the length of the indoor fully enclosed combination electrical appliance positioning robot of the present invention is within 3m.

[0014] Preferably, the base of the present invention is provided with an expansion mechanism, which includes an expansion cylinder, a telescopic square tube and a square tube fixing piece. The base is divided into two left and right parts, and the two parts are both equipped with an expansion cylinder and a telescopic square tube on the side close to each other. The telescopic square tubes on the left and right parts of the base are fixed by square tube fixing pieces.

[0015] Preferably, the base of the present invention is provided with a forklift hole to facilitate transfer and transportation.

[0016] A walking method for an indoor fully enclosed combined electrical appliance placement robot, which is characterized by the following steps: the crawler track contacts the ground, and the driving wheel does not contact the ground; the driving wheel, under the action of the reducer driving torque of the walking reducer, continuously rolls up the crawler track from the rear through the meshing between the gear teeth on the driving wheel and the crawler chain on the crawler track; the part of the crawler track that is grounded exerts a backward force on the ground, and the ground correspondingly exerts a forward reaction force on the crawler track, and this reaction force is the driving force that pushes the indoor fully enclosed combined electrical appliance placement robot forward; when the driving force is sufficient to overcome the walking resistance, the supporting wheel rolls forward on the inner surface of the lower part of the crawler track, thereby causing the indoor fully enclosed combined electrical appliance placement robot to move forward.

[0017] Compared with the prior art, the present invention has the following advantages and effects: small transportation space, meeting the weight requirements of the accessory components, and small operating space for mechanized equipment for installing GIS accessory components to solve the problem of existing GIS hoisting difficulties. It effectively solves the technical difficulties in the construction of GIS maintenance and interval expansion. During the accessory maintenance and interval expansion process, if the initial hook lifting weight cannot be guaranteed, the construction unit usually does not use the hoisting method to put the components in place. The overall positioning process is complicated and safety cannot be guaranteed. The present invention helps to break the technical barriers of traditional construction methods, effectively reduce human resource investment, save labor costs, and improve the safety of construction operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention and / or the technical solutions in the prior art, the drawings required for use in the embodiments and / or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a structural schematic diagram of an indoor fully enclosed combined electrical appliance positioning robot in an embodiment of the present invention.

[0020] Figure 2It is a structural schematic diagram of an indoor fully enclosed combined electrical appliance positioning robot in an embodiment of the present invention, and a load is hung on the hook.

[0021] Figure 3 It is a schematic diagram of the main structure of the base in an embodiment of the present invention.

[0022] Figure 4 2 is a schematic diagram of a top view of the base in an embodiment of the present invention.

[0023] Figure 5 It is a schematic diagram of the three-dimensional structure of the base in an embodiment of the present invention.

[0024] In the figure: 1-base; 2-extension mechanism; 3-turntable; 4-arm mechanism; 11-base body; 12-driving wheel; 13-roller; 14-track roller; 15-tensioning wheel; 16-track; 17-travel reducer; 18-outrigger; 19-forklift hole; 21-extension cylinder; 22-telescopic square tube; 23-square tube fixing; 41-vertical telescopic arm; 42-horizontal telescopic arm; 43-pulley block; 44-winch structure; 45-wire rope; 46-horizontal arm support structure; 461-vertical arm connecting rod; 462-horizontal arm connecting rod; 463-horizontal arm support hydraulic cylinder. DETAILED DESCRIPTION

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and by way of examples. The following examples are intended to explain the present invention but the present invention is not limited to the following examples.

[0026] Example

[0027] See also Figures 1 to 5 The indoor fully enclosed combined electrical appliance positioning robot in this embodiment includes a base 1, a slewing mechanism, a turntable 3, a boom mechanism 4, a hydraulic system and an electrical system, wherein the slewing mechanism is a slewing support structure. The base 1, the slewing mechanism, the turntable 3 and the boom mechanism 4 are all connected to the hydraulic system, and the base 1, the slewing mechanism, the turntable 3 and the boom mechanism 4 are all connected to the electrical system.

[0028] The base 1 in this embodiment includes a base body 11, a driving wheel 12, a supporting roller 13, a track roller 14, a tensioning wheel 15, a crawler track 16, a travel reducer 17 and an outrigger 18. The driving wheel 12, the supporting roller 13, the track roller 14 and the tensioning wheel 15 are all installed on the base body 11, the crawler track 16 is installed on the driving wheel 12 and the tensioning wheel 15, and the gears on the driving wheel 12 are meshed with the crawler track 16, the supporting roller 13 and the track roller 14 are both located between the driving wheel 12 and the tensioning wheel 15, the supporting roller 13 is pressed on the lower part of the crawler track 16, the track roller 14 supports the upper part of the crawler track 16, the travel reducer 17 is connected to the driving wheel 12, and the outrigger 18 is installed on the base body 11.

[0029] The turntable 3 in this embodiment is installed on the base 1, and the bottom of the arm mechanism 4 is installed on the turntable 3 through a slewing mechanism. The slewing mechanism connects the turntable 3 and the arm mechanism 4 and can rotate left and right, so that the indoor fully enclosed combination electrical appliance positioning robot can adapt to different operating requirements.

[0030] The arm mechanism 4 in this embodiment is used to hoist GIS equipment, and can be extended and rotated to achieve accurate positioning and installation of the equipment. The arm mechanism 4 includes a vertical telescopic arm 41, a horizontal telescopic arm 42, a pulley block 43, a winch structure 44, a wire rope 45 and a horizontal arm support structure 46, wherein the vertical telescopic arm 41 is a four-stage structure, and the horizontal telescopic arm 42 is a two-stage structure. The lower end of the vertical telescopic arm 41 is installed on the rotating mechanism, the upper end of the vertical telescopic arm 41 is hinged to one end of the horizontal telescopic arm 42, and the horizontal arm support structure 46 includes a vertical arm connecting rod 461, a horizontal arm connecting rod 462 and a horizontal arm supporting hydraulic cylinder 463. One end of the vertical arm connecting rod 461 is hinged to the upper end of the vertical telescopic arm 41, the other end of the vertical arm connecting rod 461 is hinged to one end of the horizontal arm supporting hydraulic cylinder 463, one end of the horizontal arm connecting rod 462 is hinged to one end of the horizontal telescopic arm 42, the other end of the horizontal arm connecting rod 462 is hinged to one end of the horizontal arm supporting hydraulic cylinder 463, and the other end of the horizontal arm supporting hydraulic cylinder 463 is hinged to the tail of the first section of the horizontal telescopic arm 42.

[0031] The vertical telescopic arm 41 and the horizontal telescopic arm 42 in this embodiment are both made of BS600 steel. BS600 material is a high-strength steel. Due to its excellent performance and reliability, BS600 material has high yield strength and tensile strength. Usually, the yield strength is between 650-820 MPa, and the tensile strength is greater than or equal to 600 MPa. This high-strength characteristic enables it to withstand the huge load that the GIS in-place robot may encounter during work. In addition, the surface quality of BS600 material is good. The surface oxide scale is removed by pickling treatment, which improves the surface quality of the steel and is convenient for welding, oiling and painting. At the same time, its dimensional accuracy is high. After flattening treatment, the accuracy of the plate type can be ensured, which is conducive to subsequent processing and assembly. BS600 material is suitable for manufacturing the boom of the GIS in-place robot. The boom is one of the key components of the GIS in-place robot. Its safety, reliability and advancement directly affect the safety performance of the GIS in-place robot. The high strength and good weldability of BS600 material make it an ideal material for manufacturing the vertical telescopic arm 41 and the horizontal telescopic arm 42.

[0032] The pulley block 43 in this embodiment is installed on the vertical telescopic arm 41 and the horizontal telescopic arm 42, the winch structure 44 is installed at the lower part of the vertical telescopic arm 41, the wire rope 45 is wound around the winch structure 44, and part of the wire rope 45 extends along the pulley block 43 to the other end of the horizontal telescopic arm 42, and a hook is connected to the end of the wire rope 45.

[0033] The number of legs 18 in this embodiment is three, the weight of the indoor fully enclosed combined electrical appliance in place robot is within 3 tons, and the length of the indoor fully enclosed combined electrical appliance in place robot is within 3 meters. A forklift hole 19 is provided in the base 1, and the structure of the forklift hole 19 is added to facilitate transfer and transportation.

[0034] The base 1 in this embodiment is provided with an expansion mechanism 2, which includes an expansion cylinder 21, a telescopic square tube 22 and a square tube fixing piece 23. The base 1 is divided into two left and right parts, both of which are equipped with crawlers 16. Both parts are equipped with an expansion cylinder 21 and two telescopic square tubes 22 on the side close to each other, and the telescopic square tubes 22 located on the left and right parts of the base 1 are fixed by square tube fixing pieces 23. With the addition of the expansion mechanism 2, the width of the base 1 can be expanded from 800mm to about 1000mm, which can increase the walking stability of the GIS in-place robot and is suitable for walking on uneven outdoor roads. When the width of the base 1 needs to be increased, the left and right parts of the base 1 are pushed open to the required width by the expansion cylinder 21, and then the square tubes in the telescopic square tubes 22 are extended to the required length, and the telescopic square tubes 22 located on the left and right parts of the base 1 in the same group are fixed by square tube fixing pieces 23.

[0035] The steps of the walking method of the indoor fully enclosed combination electrical appliance in place robot in this embodiment are as follows: the crawler 16 is in contact with the ground, and the driving wheel 12 is not in contact with the ground; under the action of the reducer driving torque of the walking reducer 17, the driving wheel 12 continuously rolls up the crawler 16 from the rear through the meshing between the gear teeth on the driving wheel 12 and the crawler chain on the crawler 16; the part of the crawler 16 that is in contact with the ground gives a backward force to the ground, and the ground correspondingly gives the crawler 16 a forward reaction force, and this reaction force is the driving force that pushes the indoor fully enclosed combination electrical appliance in place robot forward; when the driving force is sufficient to overcome the walking resistance, the supporting wheel 13 rolls forward on the inner surface of the lower part of the crawler 16, thereby making the indoor fully enclosed combination electrical appliance in place robot move forward.

[0036] In addition, it should be noted that the shapes and names of the parts and components of the specific embodiments described in this specification may be different, and the above content described in this specification is only an example of the structure of the present invention. All equivalent changes or simple changes made based on the structure, features and principles described in the patent concept of the present invention are included in the protection scope of the patent of the present invention. Technicians in the technical field of the present invention can make various modifications or supplements to the specific embodiments described or replace them in a similar manner, as long as they do not deviate from the structure of the present invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. An indoor fully enclosed combined electrical appliance positioning robot, comprising a base (1), a slewing mechanism, a turntable (3), a boom mechanism (4), a hydraulic system and an electrical system, wherein the base (1), the slewing mechanism, the turntable (3) and the boom mechanism (4) are all connected to the hydraulic system, and the base (1), the slewing mechanism, the turntable (3) and the boom mechanism (4) are all connected to the electrical system, and characterized in that: The base (1) comprises a base body (11), a driving wheel (12), a supporting roller (13), a track roller (14), a tensioning wheel (15), a crawler track (16), a travel reducer (17) and a support leg (18); the driving wheel (12), the supporting roller (13), the track roller (14) and the tensioning wheel (15) are all mounted on the base body (11); the track roller (16) is mounted on the driving wheel (12) and the tensioning wheel (15); the gear teeth on the driving wheel (12) are meshed with the crawler track (16); the supporting roller (13) and the track roller (14) are both located between the driving wheel (12) and the tensioning wheel (15); 5), the supporting wheel (13) is pressed on the lower part of the crawler (16), the supporting wheel (14) supports the upper part of the crawler (16), the travel reducer (17) is connected to the driving wheel (12), and the support leg (18) is installed on the base body (11); the turntable (3) is installed on the base (1), and the bottom of the boom mechanism (4) is installed on the turntable (3) through a slewing mechanism, and the boom mechanism (4) includes a vertical telescopic arm (41), a horizontal telescopic arm (42), a pulley block (43), a winch structure (44), a wire rope (45) and a horizontal arm support structure (46), and the The lower end of the vertical telescopic arm (41) is mounted on the slewing mechanism, the upper end of the vertical telescopic arm (41) is hinged to one end of the horizontal telescopic arm (42), the horizontal arm support structure (46) comprises a vertical arm connecting rod (461), a horizontal arm connecting rod (462) and a horizontal arm support hydraulic cylinder (463), one end of the vertical arm connecting rod (461) is hinged to the upper end of the vertical telescopic arm (41), the other end of the vertical arm connecting rod (461) is hinged to one end of the horizontal arm support hydraulic cylinder (463), one end of the horizontal arm connecting rod (462) is hinged to one end of the horizontal telescopic arm (42), and ...). The other end of the arm connecting rod (462) is hinged to one end of the horizontal arm supporting hydraulic cylinder (463), and the other end of the horizontal arm supporting hydraulic cylinder (463) is hinged to the tail of the first section of the horizontal telescopic arm (42). The pulley block (43) is installed on the vertical telescopic arm (41) and the horizontal telescopic arm (42). The hoisting structure (44) is installed at the lower part of the vertical telescopic arm (41). The wire rope (45) is wound around the hoisting structure (44), and part of the wire rope (45) extends along the pulley block (43) to the other end of the horizontal telescopic arm (42), and a hook is connected to the end of the wire rope (45).

2. The indoor fully enclosed combined electrical appliance positioning robot according to claim 1, characterized in that: The number of the supporting legs (18) is three.

3. The indoor fully enclosed combined electrical appliance positioning robot according to claim 1, characterized in that: The slewing mechanism is a slewing support structure.

4. The indoor fully enclosed combined electrical appliance positioning robot according to claim 1, characterized in that: The vertical telescopic arm (41) is a four-section structure.

5. The indoor fully enclosed combined electrical appliance positioning robot according to claim 1, characterized in that: The horizontal telescopic arm (42) is a two-section structure.

6. The indoor fully enclosed combined electrical appliance positioning robot according to claim 1, characterized in that: The vertical telescopic arm (41) and the horizontal telescopic arm (42) are both made of BS600 steel.

7. The indoor fully enclosed combined electrical appliance positioning robot according to claim 1, characterized in that: The weight of the indoor fully enclosed combination electrical appliance positioning robot is within 3 tons, and the length of the indoor fully enclosed combination electrical appliance positioning robot is within 3 meters.

8. The indoor fully enclosed combined electrical appliance positioning robot according to claim 1, characterized in that: The base (1) is provided with an expansion mechanism (2), the expansion mechanism (2) comprising an expansion cylinder (21), a telescopic square tube (22) and a square tube fixing piece (23), the base (1) is divided into two left and right parts, the two parts are both equipped with an expansion cylinder (21) and a telescopic square tube (22) on one side close to each other, and the telescopic square tubes (22) located on the left and right parts of the base (1) are fixed by the square tube fixing piece (23).

9. The indoor fully enclosed combined electrical appliance positioning robot according to claim 1, characterized in that: The base (1) is provided with a forklift hole (19).

10. A walking method for an indoor fully enclosed combination electrical appliance in-place robot as claimed in any one of claims 1 to 9, characterized in that: The steps are as follows: the crawler (16) is in contact with the ground, and the driving wheel (12) is not in contact with the ground; the driving wheel (12) is meshed with the gear teeth on the driving wheel (12) and the crawler chain on the crawler (16) under the action of the reducer driving torque of the travel reducer (17), and the crawler (16) is continuously rolled up from the rear; the part of the crawler (16) that is in contact with the ground exerts a backward force on the ground, and the ground correspondingly exerts a forward reaction force on the crawler (16), and this reaction force is the driving force that drives the indoor fully enclosed combination electrical appliance placement robot to move forward; when the driving force is sufficient to overcome the walking resistance, the supporting wheel (13) rolls forward on the inner surface of the lower part of the crawler (16), thereby causing the indoor fully enclosed combination electrical appliance placement robot to move forward.

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