High-voltage switch test device and test method

Abstract

The invention discloses a high-voltage switch testing device and method, and the device comprises a test object transportation automatic AGV which is provided with a test object high-voltage switch, the side surface of the test object transportation automatic AGV is provided with a six-axis industrial robot, and the two sides of the six-axis industrial robot are respectively provided with a low-voltage side wiring device and a high-voltage side wiring device. And an intelligent man-machine interaction control end is arranged on the other side of the six-axis industrial robot. Under the coordination control of matched measurement and control software, the system can realize the functions of automatic test wiring, automatic test item switching, automatic detection and unmanned operation in the whole process of automatic research and judgment of test results between two distribution transformer stations by using a set of robot in a time-sharing manner, so that the labor cost is reduced, the test time is shortened, the detection efficiency is improved, and the working efficiency is improved. The safety risk is reduced, and the authenticity of detection data is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of stress testing devices, and more specifically to a high voltage switch testing device and a testing method. Background Art

[0002] As the State Grid continues to increase its efforts in testing distribution network materials, the situation of a large number of testing equipment, a wide variety of testing equipment, and high labor intensity has gradually become apparent.

[0003] At present, although the existing intelligent inspection stations of distribution transformers have certain automatic inspection functions, they are still unable to break away from the manual connection and removal of wires, and cannot truly achieve the goal of unmanned batch inspection throughout the inspection process. Therefore, a new technical solution is needed to solve this problem. Summary of the invention

[0004] The purpose of the present invention is to provide a high-voltage switch test device and test method, which solves the problems of existing switch equipment, such as pole-mounted switches and disconnectors, many test items, large manual workload for line connection and replacement, complex test process, and large manual workload for test result recording and analysis.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a high-voltage switch testing device and a testing method, comprising: an automatic AGV for sample transport, a high-voltage switch for a sample is installed on the automatic AGV for sample transport, a six-axis industrial robot is arranged on the side of the automatic AGV for sample transport, and a low-voltage side wiring device and a high-voltage side wiring device are arranged on both sides of the six-axis industrial robot, respectively, and an intelligent human-computer interaction control terminal is arranged on the other side of the six-axis industrial robot.

[0006] As a preferred embodiment of the present invention, a central control system is arranged inside the intelligent human-computer interaction control terminal, and the central control system is connected to a detection module, an industrial robot control module, a high-voltage side wiring module and a low-voltage side wiring module, an automatic wiring visual recognition system, and a test product terminal wiring module.

[0007] As a preferred embodiment of the present invention, the detection module includes mechanical operation, mechanical property test, insulation test of auxiliary and control circuits, electric shock protection and protection circuit integrity, main circuit resistance test and power frequency withstand voltage test.

[0008] As a preferred embodiment of the present invention, the industrial robot control module completes specific actions by controlling the motors of each degree of freedom of the industrial robot, and at the same time receives information fed back by the sensor to form a stable closed-loop control, thereby realizing automatic operations such as wiring and disconnecting of the high-voltage side of the high-voltage switch, wiring and disconnecting of the low-voltage side, and completing the design goal of unmanned fully automatic detection of the high-voltage switch.

[0009] As a preferred embodiment of the present invention, the high-voltage side wiring module and the low-voltage side wiring module are used for wiring the wiring terminals on the high-voltage side and the low-voltage side of the test product and fixing the special tooling.

[0010] As a preferred embodiment of the present invention, the automatic wiring visual recognition system realizes the appearance measurement of the high-voltage switch and the accurate recognition and capture of the wiring position, and cooperates with the high-speed image processing engine to perform image recognition and data matching to achieve precise positioning.

[0011] As a preferred embodiment of the present invention, the terminal wiring module of the test product adopts a method of adding a universal adapter module. Through unified processing of the wiring terminals, the wiring terminals are standardized and adapted in advance so that standardized cables can be connected to the terminal posts by industrial robots. By introducing a universal conversion module, the functional requirements of the wiring operations of power detection materials can be unified.

[0012] As a preferred embodiment of the present invention, the high voltage switch test method comprises the following steps:

[0013] Step 1: The central control system connects to the inspection, storage and distribution system to accept the dispatching and testing tasks of the tested products;

[0014] Step 2: The central control system automatically generates scheduling tasks and inspection task lists, and sends the scheduling instructions to the AGV scheduling system, and the inspection task list to the intelligent human-machine interaction control terminal;

[0015] Step 3: The AGV flatbed truck of the testing center arrives at the designated docking position, the intelligent vertical warehouse takes out the tested products, and places the tested products with pallets on the AGV flatbed truck;

[0016] Step 4: The AGV flatbed transports the test sample to the inspection area, and the inspectors pre-treat the test sample;

[0017] Step 5: After the inspection station receives the inspection task order, the inspection station automatically opens the equipment channel door;

[0018] Step 6: The AGV flatbed truck transports the test product to the test area of ​​the inspection station;

[0019] Step 7: The unmanned wiring system automatically identifies the type of test product and the wiring terminals, and the fully automatic robotic arm accurately connects the wires based on the 3D visual positioning system;

[0020] Step 8: The intelligent human-computer interaction control terminal uses the test program to determine whether the wiring is correct. If there is no problem, start the measurement;

[0021] Step 9: After completing the first test, the fully automatic robot arm automatically changes the line and then continues to automatically carry out the next test until all projects at this station are completed;

[0022] Step 10: The intelligent human-machine interactive control terminal automatically generates test data and sends it to the central control system, and prompts that the test is completed;

[0023] Step 11: After the test is completed, the unmanned wiring system removes the test line;

[0024] Step 12: The intelligent human-machine interactive control terminal system opens the equipment door, and the AGV flatbed transports the test product to the docking position;

[0025] Step 13: The intelligent vertical warehouse takes the test product from the AGV flatbed truck back to the vertical warehouse;

[0026] Step 14: The central control system receives the test data and automatically generates a test report.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The unmanned wiring system for high-voltage switches of the present invention is composed of a six-axis industrial robot, an automatic test industrial robot central control system, a visual camera, a high-voltage switch automatic wiring visual system, a high-voltage side wiring cabinet, a low-voltage side wiring cabinet, and a flexible end fixture tooling supporting the industrial robot. Combined with two sets of distribution transformer intelligent detection stations, it meets the detection capability of carrying out electrical test projects for high-voltage switches with a rated voltage of 10kV. Under the coordinated control of the supporting measurement and control software, the system can realize the functions of unmanned operation of the whole process of automatic test wiring, automatic switching of test items, automatic detection, and automatic analysis of test results by using a set of robots in time-sharing between the two distribution transformer stations, thereby reducing labor costs, shortening test time, improving detection efficiency, reducing safety risks, and improving the authenticity of detection data. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the structure of the control system of the present invention;

[0031] Figure 3 It is a schematic diagram of the detection module flow of the present invention;

[0032] Figure 4 It is a schematic diagram of the test process of the present invention.

[0033] In the figure: 1. Automatic AGV for sample transport; 2. High-voltage switch for sample; 3. Wiring device on the low-voltage side; 4. Wiring device on the high-voltage side; 5. Six-axis industrial robot; 6. Intelligent human-machine interaction control terminal. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] See also Figure 1-4 The present invention provides a technical solution: a high-voltage switch test device and a test method, comprising: a sample transport automatic AGV 1, a sample high-voltage switch 2 is installed on the sample transport automatic AGV 1, a six-axis industrial robot 5 is arranged on the side of the sample transport automatic AGV 1, and a low-voltage side wiring device 3 and a high-voltage side wiring device 4 are arranged on both sides of the six-axis industrial robot 5, and an intelligent human-computer interaction control terminal 6 is arranged on the other side of the six-axis industrial robot 5. The unmanned wiring system of the high-voltage switch consists of the six-axis industrial robot 5, the automatic test industrial robot central control system, the visual camera, and the high-voltage switch automatic The system consists of a wiring vision system, a high-voltage side wiring cabinet, a low-voltage side wiring cabinet, and a flexible end fixture tooling for industrial robots. Combined with two sets of distribution transformer intelligent detection stations, it can meet the detection capabilities of electrical test projects for high-voltage switches with a rated voltage of 10kV. Under the coordinated control of the matching measurement and control software, the system can realize the functions of unmanned operation of the entire process of automatic test wiring, automatic switching of test items, automatic detection, and automatic evaluation of test results by using a set of robots between the two distribution transformer stations in a time-sharing manner, thereby reducing labor costs, shortening test time, improving detection efficiency, reducing safety risks, and improving the authenticity of detection data.

[0036] Further improvements, such as Figure 2 As shown: the intelligent human-machine interaction control terminal 6 is internally provided with a central control system, and the central control system is connected with a detection module, an industrial robot control module, a high-voltage side wiring module and a low-voltage side wiring module, an automatic wiring visual recognition system, a test product terminal wiring module and a test product tap switch automatic shift module.

[0037] Further improvements, such as Figure 3 As shown: the detection module includes mechanical operation, mechanical characteristics test, insulation test of auxiliary and control circuits, electric shock protection and protection circuit integrity, main circuit resistance test and power frequency withstand voltage test.

[0038] Further improvements, such as Figure 2As shown: the industrial robot control module completes specific actions by controlling the motors of each degree of freedom of the industrial robot, and receives information fed back by the sensor to form a stable closed-loop control, thereby realizing automatic operations such as wiring and disconnecting of the high-voltage side of the high-voltage switch, wiring and disconnecting of the low-voltage side, and switching of the tap switch, thereby completing the design goal of unmanned full-automatic inspection of the high-voltage switch. The industrial robot body incorporates a force-position hybrid control strategy, and the force / position hybrid control method adopted is a control method based on the speed loop and the position loop. At the same time, in order to accurately control the torque of the wiring assembly, a high-precision servo motor with torque control is integrated on the wiring tooling. The servo motor has a built-in torque sensor, and the sensor data is collected by the RCS. When the RCS detects that the torque reaches the set threshold, it controls the industrial robot to stop moving, thereby ensuring reliable wiring assembly.

[0039] Further improvements, such as Figure 2 As shown: the high-voltage side wiring and low-voltage side wiring modules are used for wiring the wiring terminals on the high-voltage side and low-voltage side of the test product and fixing the special tooling.

[0040] Further improvements, such as Figure 2 As shown: the automatic wiring visual recognition system can realize the appearance measurement of the high-voltage switch and the accurate recognition and capture of the wiring position, and cooperate with the high-speed image processing engine to perform image recognition and data matching to achieve precise positioning.

[0041] Further improvements, such as Figure 2 As shown: the terminal wiring module of the test product adopts the method of adding a universal adapter module. Through the unified processing of the wiring terminals, the wiring terminals are standardized and adapted in advance so that standardized cables can be connected to the terminal posts by industrial robots. By introducing the universal conversion module, the functional requirements of the wiring operations of power detection materials can be unified.

[0042] Further improvements, such as Figure 4 As shown: The high voltage switch test method comprises the following steps:

[0043] Step 1: The central control system connects to the inspection, storage and distribution system to accept the dispatching and testing tasks of the tested products;

[0044] Step 2: The central control system automatically generates scheduling tasks and inspection task lists, and sends the scheduling instructions to the AGV scheduling system, and the inspection task list to the intelligent human-machine interaction control terminal;

[0045] Step 3: The AGV flatbed truck of the testing center arrives at the designated docking position, the intelligent vertical warehouse takes out the tested products, and places the tested products with pallets on the AGV flatbed truck;

[0046] Step 4: The AGV flatbed transports the test sample to the inspection area, and the inspectors pre-treat the test sample;

[0047] Step 5: After the inspection station receives the inspection task order, the inspection station automatically opens the equipment channel door;

[0048] Step 6: The AGV flatbed truck transports the test product to the test area of ​​the inspection station;

[0049] Step 7: The unmanned wiring system automatically identifies the type of test product and the wiring terminals, and the fully automatic robotic arm accurately connects the wires based on the 3D visual positioning system;

[0050] Step 8: The intelligent human-computer interaction control terminal uses the test program to determine whether the wiring is correct. If there is no problem, start the measurement;

[0051] Step 9: After completing the first test, the fully automatic robot arm automatically changes the line and then continues to automatically carry out the next test until all projects at this station are completed;

[0052] Step 10: The intelligent human-machine interactive control terminal automatically generates test data and sends it to the central control system, and prompts that the test is completed;

[0053] Step 11: After the test is completed, the unmanned wiring system removes the test line;

[0054] Step 12: The intelligent human-machine interactive control terminal system opens the equipment door, and the AGV flatbed transports the test product to the docking position;

[0055] Step 13: The intelligent vertical warehouse takes the test product from the AGV flatbed truck back to the vertical warehouse;

[0056] Step 14: The central control system receives the test data and automatically generates a test report.

[0057] Working principle: The unmanned wiring system of high-voltage switch consists of a six-axis industrial robot 8, an automatic test industrial robot central control system, a visual camera, a high-voltage switch automatic wiring visual system, a high-voltage side wiring cabinet, a low-voltage side wiring cabinet, and a flexible end fixture tooling supporting the industrial robot. Combined with two sets of distribution transformer intelligent detection stations, it meets the detection capabilities of electrical test projects for high-voltage switches with a rated voltage of 10kV. Under the coordinated control of the supporting measurement and control software, the system can realize the functions of unmanned operation of the entire process of automatic test wiring, automatic switching of test items, automatic detection, and automatic evaluation of test results by using a set of robots between the two distribution transformer stations in a time-sharing manner, thereby reducing labor costs, shortening test time, improving detection efficiency, reducing safety risks, and improving the authenticity of detection data.

[0058] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0059] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, and can be mechanical or electrical connections, or internal connectivity between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may change.

[0060] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A high voltage switch test device, characterized in that: include: A sample transport automatic AGV (1), wherein a sample high voltage switch (2) is installed on the sample transport automatic AGV (1), a six-axis industrial robot (5) is arranged on the side of the sample transport automatic AGV (1), and a low-voltage side wiring device (3) and a high-voltage side wiring device (4) are arranged on both sides of the six-axis industrial robot (5), and an intelligent human-machine interaction control terminal (6) is arranged on the other side of the six-axis industrial robot (5).

2. A high voltage switch testing device according to claim 1, characterized in that: The intelligent human-machine interaction control terminal (6) is internally provided with a central control system, and the central control system is connected to a detection module, an industrial robot control module, high-voltage side wiring and low-voltage side wiring modules, an automatic wiring visual recognition system, and a test product terminal wiring module.

3. A high voltage switch testing device according to claim 2, characterized in that: The detection module includes mechanical operation, mechanical property test, insulation test of auxiliary and control circuits, electric shock protection and protection circuit integrity, main circuit resistance test and power frequency withstand voltage test.

4. A high voltage switch testing device according to claim 2, characterized in that: The industrial robot control module completes specific actions by controlling the motors of each degree of freedom of the industrial robot, and at the same time receives information fed back by the sensors to form a stable closed-loop control, thereby realizing automatic operations such as wiring and disconnecting of the high-voltage side of the high-voltage switch and wiring and disconnecting of the low-voltage side, thereby achieving the design goal of unmanned full-automatic inspection of the high-voltage switch.

5. A high voltage switch testing device according to claim 2, characterized in that: The high-voltage side wiring module and the low-voltage side wiring module are used for wiring the wiring terminals on the high-voltage side and the low-voltage side of the test product and fixing the special tooling.

6. A high voltage switch testing device according to claim 2, characterized in that: The automatic wiring visual recognition system can realize the appearance measurement of the high-voltage switch and the accurate recognition and capture of the wiring position, and cooperate with the high-speed image processing engine to perform image recognition and data matching to achieve precise positioning.

7. A high voltage switch testing device according to claim 2, characterized in that: The terminal wiring module of the test product adopts the method of adding a universal adapter module. Through unified processing of the wiring terminals, the wiring terminals are standardized and adapted in advance so that standardized cables can be connected to the terminal posts by industrial robots. By introducing the universal conversion module, the functional requirements of the wiring operations of power detection materials can be unified.

8. A high voltage switch testing method according to claim 1, characterized in that: The high voltage switch test method comprises the following steps: Step 1: The central control system connects to the inspection, storage and distribution system to accept the dispatching and testing tasks of the tested products; Step 2: The central control system automatically generates scheduling tasks and inspection task lists, and sends the scheduling instructions to the AGV scheduling system, and the inspection task list to the intelligent human-machine interaction control terminal; Step 3: The AGV flatbed truck of the testing center arrives at the designated docking position, the intelligent vertical warehouse takes out the tested products, and places the tested products with pallets on the AGV flatbed truck; Step 4: The AGV flatbed transports the test sample to the inspection area, and the inspectors pre-treat the test sample; Step 5: After the inspection station receives the inspection task order, the inspection station automatically opens the equipment channel door; Step 6: The AGV flatbed truck transports the test product to the test area of ​​the inspection station; Step 7: The unmanned wiring system automatically identifies the type of test product and the wiring terminals, and the fully automatic robotic arm accurately connects the wires based on the 3D visual positioning system; Step 8: The intelligent human-computer interaction control terminal uses the test program to determine whether the wiring is correct. If there is no problem, start the measurement; Step 9: After completing the first test, the fully automatic robot arm automatically changes the line and then continues to automatically carry out the next test until all projects at this station are completed; Step 10: The intelligent human-machine interactive control terminal automatically generates test data and sends it to the central control system, and prompts that the test is completed; Step 11: After the test is completed, the unmanned wiring system removes the test line; Step 12: The intelligent human-machine interactive control terminal system opens the equipment door, and the AGV flatbed transports the test product to the docking position; Step 13: The intelligent vertical warehouse takes the test product from the AGV flatbed truck back to the vertical warehouse; Step 14: The central control system receives the test data and automatically generates a test report.

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