Three-phase mechanical arm for insulation monitoring of 6KV switch cabinet and operation method of three-phase mechanical arm

Abstract

The invention discloses a three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet and an operation method thereof.The three-phase mechanical arm comprises a translation mechanism, an angle adjusting mechanism, a distance adjusting mechanism and a three-phase mechanical arm body, the translation mechanism is fixed to a carrying vehicle, and the angle adjusting mechanism is installed on the translation mechanism and driven by the translation mechanism to move horizontally; the distance adjusting mechanism is vertically installed at the end of the angle adjusting mechanism and is driven by the angle adjusting mechanism to adjust the height and the angle, the three-phase mechanical arm is correspondingly installed on the distance adjusting mechanism, the distance between the corresponding detection arms is adjusted by the distance adjusting mechanism, and the three-phase mechanical arm is driven by the angle adjusting mechanism to adjust the height and the angle. According to the invention, the angle of the three-phase mechanical arm is adjusted through the horizontal driving of the translation mechanism, the angle adjusting mechanism, and the spacing of the three-phase mechanical arm is adjusted through the spacing adjusting mechanism, so that the three-phase mechanical arm can be in butt joint with the contact of the 6KV switch cabinet through control, a probe does not need to be manually sent to the contact part, the safety is improved, and the working efficiency is improved. And the detection is more efficient and convenient than manual detection.

Description

Technical Field

[0001] The present invention relates to the technical field of insulation detection, in particular to a three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet and an operating method thereof. Background Art

[0002] The significance of 6KV switchgear insulation testing is to ensure the safe and stable operation of the power plant power system, prevent electrical fires, improve the reliability of important motor equipment in the power plant, and save energy. Insulation testing monitors and diagnoses the insulation status of electrical equipment, promptly discovers insulation defects in the equipment, and takes corresponding measures to avoid equipment failure, thereby ensuring the safe and stable operation of the power plant power system.

[0003] The insulation test of 6KV switch cabinet has two modes: online monitoring and offline testing. Currently, most power plants use the offline testing mode. When testing the insulation of 6KV switch cabinet, the operator is usually required to wear insulating gloves and send the probe to the contact part. This operation mode has a certain risk of high-voltage electric shock. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] Therefore, the purpose of the present invention is to provide a three-phase robotic arm for insulation monitoring of a 6KV switch cabinet and an operating method thereof, so that the three-phase robotic arm can be connected with the contacts of the 6KV switch cabinet through control, without the need to manually send the probe to the contact part, thereby improving safety and making the detection more efficient and convenient than manual.

[0006] To solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solutions:

[0007] A three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet, comprising:

[0008] A translation mechanism, fixed on the carrying vehicle;

[0009] An angle adjustment mechanism, mounted on the translation mechanism and driven by the translation mechanism to move horizontally;

[0010] A spacing adjustment mechanism is vertically mounted at the end of the angle adjustment mechanism and is driven by the angle adjustment mechanism to adjust the height and angle;

[0011] The three-phase mechanical arms are correspondingly mounted on the spacing adjustment mechanism, and the spacing adjustment mechanism is used to adjust the distance between the corresponding detection arms.

[0012] As a preferred solution of the three-phase robotic arm for insulation monitoring of a 6KV switch cabinet described in the present invention, the translation mechanism includes a first guide seat, a horizontal drive motor installed at one end of the first guide seat, a drive screw coaxially connected to the output end of the horizontal drive motor and extending to the other end of the first guide seat, and a sliding seat connected to the drive screw and which can be rotated by the drive screw to move along the first guide seat.

[0013] As a preferred solution of the three-phase robotic arm for insulation monitoring of a 6KV switch cabinet described in the present invention, the angle adjustment mechanism includes a first rotational drive motor, a first support rod with one end vertically connected to the output end of the first rotational drive motor, a second rotational drive motor installed on the side wall of the first support rod and close to the other end of the first support rod, and a second support rod with an end vertically connected to the output end of the second rotational drive motor.

[0014] As a preferred solution of the three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet described in the present invention, the first rotary drive motor and the second rotary drive motor are both self-locking drive motors.

[0015] As a preferred solution of the three-phase robotic arm for insulation monitoring of a 6KV switch cabinet described in the present invention, the spacing adjustment mechanism includes a second guide seat, a spacing adjustment drive motor installed at one end of the second guide seat, a bidirectional threaded drive screw coaxially connected to the output end of the spacing adjustment drive motor and passing through the other end of the second guide seat, a bearing seat installed in the middle of the second guide seat, and a first bearing slide and a second bearing slide connected to the bidirectional threaded drive screw and which can be rotated and driven by the bidirectional threaded drive screw to move toward or relative to each other along the first guide seat.

[0016] As a preferred solution of the three-phase robotic arm for insulation monitoring of a 6KV switch cabinet described in the present invention, the bidirectional threaded drive screw is provided with a first external thread and a second external thread with opposite threads on both sides symmetrically centered on the bearing seat, the first bearing slide is provided with a first internal thread matched with the first external thread, and the second bearing slide is provided with a second internal thread matched with the second external thread.

[0017] As a preferred solution of the three-phase robotic arm for insulation monitoring of a 6KV switch cabinet described in the present invention, the three-phase robotic arm includes an A-phase inspection arm vertically fixed on the first bearing slide, a C-phase inspection arm vertically installed on the second bearing slide, and a B-phase inspection arm vertically installed on the bearing seat.

[0018] As a preferred solution of the three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet described in the present invention, three-phase limit switches are provided on the A-phase inspection arm, the C-phase inspection arm and the B-phase inspection arm.

[0019] An operating method of a three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet, the specific steps are as follows:

[0020] S1. The carrying vehicle drives the three-phase mechanical arm for insulation monitoring of the 6KV switch cabinet of the present invention to move as a whole to the detection pre-stop position;

[0021] S2. After the carrier vehicle reaches the detection pre-stop position, the translation mechanism drives the angle adjustment mechanism to move left and right to adjust the overall approximate horizontal movement position of the three-phase robotic arm;

[0022] S3, then the angle adjustment mechanism adjusts the angle and height of the three-phase mechanical arm so that the three-phase mechanical arm is flush with the contact of the 6KV switch cabinet to be tested;

[0023] S4. After the three-phase mechanical arm is flush with the contact of the 6KV switch cabinet to be detected, the spacing adjustment mechanism adjusts the distance between the three detection arms of the three-phase mechanical arm so that the distances between the three detection arms and the three contacts of the 6KV switch cabinet to be detected correspond one to one;

[0024] S5. Then, the three-phase mechanical arm for insulation monitoring of the 6KV switch cabinet is driven again by the translation mechanism to slowly approach the contact direction as a whole, so that the three detection arms are in one-to-one contact with the three contacts of the 6KV switch cabinet to be detected.

[0025] Compared with the prior art, the present invention has the following beneficial effects: the present invention innovatively uses the horizontal driving of the translation mechanism, the angle adjustment mechanism to adjust the angle of the three-phase robotic arm, and the spacing adjustment mechanism to adjust the spacing of the three-phase robotic arm, so that the three-phase robotic arm can be controlled to connect with the contacts of the 6KV switch cabinet, without the need to manually send the probe to the contact part, thereby improving safety and making the detection more efficient and convenient than manual detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below in combination with the accompanying drawings and detailed embodiments. 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 creative labor. Among them:

[0027] Figure 1 This is a schematic diagram of the overall structure of a three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet according to the present invention;

[0028] Figure 2It is a structural schematic diagram of a translation mechanism of a three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet according to the present invention;

[0029] Figure 3 This is a structural schematic diagram of an angle adjustment mechanism of a three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet according to the present invention;

[0030] Figure 4 The present invention is a schematic structural diagram of a spacing adjustment mechanism of a three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet and an assembly of the three-phase mechanical arm. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0032] Secondly, the present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0033] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0034] The present invention provides a three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet and an operating method thereof, so that the three-phase mechanical arm can be connected with the contacts of the 6KV switch cabinet through control, without the need to manually send the probe to the contact part, thereby improving safety and making the detection more efficient and convenient than manual detection.

[0035] Figure 1-Figure 4 The structure diagram of a three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet according to the present invention is shown. Figure 1-Figure 4 In this embodiment, a three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet is provided, and its main body includes a translation mechanism 100, an angle adjustment mechanism 200, a spacing adjustment mechanism 300 and a three-phase mechanical arm 400.

[0036] The translation mechanism 100 is fixed on the carrying vehicle H and is used to adjust the horizontal movement distance of the three-phase robotic arm 400. In the present embodiment, the translation mechanism 100 includes a first guide seat 110, a horizontal driving motor 120 installed at one end of the first guide seat 110, a driving screw 130 coaxially connected to the output end of the horizontal driving motor 120 and extending through the other end of the first guide seat 110, and a sliding seat 140 connected to the driving screw 130 and driven by the driving screw 130 to move along the first guide seat 110. In specific use, the driving motor 120 drives the driving screw 130 to rotate. When the driving screw 130 rotates, the driving sliding seat 140 moves along the first guide seat 110, thereby adjusting the movement distance of the three-phase robotic arm 400. In the present embodiment, the carrying vehicle H can be a manual cart or an automatically positioned self-propelled chassis as a loading platform for the robotic arm.

[0037] The angle adjustment mechanism 200 is installed on the translation mechanism 100, and is driven by the translation mechanism 100 to move horizontally and adjust the angle and height of the three-phase mechanical arm 400 so that the three-phase mechanical arm 400 is flush with the contacts of the 6KV switch cabinet to be detected. In this embodiment, the angle adjustment mechanism 200 includes a first rotary drive motor 210, a first support rod 220 with one end vertically connected to the output end of the first rotary drive motor 210, a second rotary drive motor 230 installed on the side wall of the first support rod 220 and close to the other end of the first support rod 220, and a second support rod 240 with an end vertically connected to the output end of the second rotary drive motor 230. In specific use, the first rotary drive motor 210 rotates to drive the first support rod 220 to rotate, and the second rotary drive motor 230 rotates to drive the second support rod 240 to rotate, so that the first support rod 220 and the second support rod 240 form a two-link mechanism, which can adjust the angle and height of the three-phase mechanical arm 400. Preferably, in the present embodiment, both the first rotary drive motor 210 and the second rotary drive motor 230 are self-locking drive motors, which can be locked and prevented from rotating when the power is off.

[0038] The spacing adjustment mechanism 300 is vertically installed at the end of the angle adjustment mechanism 200, and is driven by the angle adjustment mechanism 200 to adjust the height and angle, and is used to adjust the distance between the detection arms of the three-phase robot 400. Specifically, in this embodiment, the spacing adjustment mechanism 300 includes a second guide seat 310, a spacing adjustment drive motor 320 installed at one end of the second guide seat 310, a bidirectional threaded drive screw 330 coaxially connected to the output end of the spacing adjustment drive motor 320 and extending through the other end of the second guide seat 310, a bearing seat 340 installed in the middle of the second guide seat 310, and a first bearing seat 340 connected to the bidirectional threaded drive screw 330 and capable of being rotationally driven by the bidirectional threaded drive screw 330 to move toward or relative to the first guide seat 110. The carrier slide 350 and the second carrier slide 360, when in specific use, the carrier seat 340 is stationary, and the driving motor 320 works to drive the bidirectional threaded driving screw 330 to rotate, thereby driving the first carrier slide 350 and the second carrier slide 360 ​​to move symmetrically toward each other or relative to each other with the carrier seat 340 as the center. Preferably, in order to realize the symmetrical movement of the first carrier slide 350 and the second carrier slide 360 ​​toward each other or relative to each other with the carrier seat 340 as the center, the bidirectional threaded driving screw 330 is provided with a first external thread and a second external thread with opposite threads on both sides symmetrically with the carrier seat 340 as the center, the first carrier slide 540 is provided with a first internal thread matched with the first external thread, and the second carrier slide 360 ​​is provided with a second internal thread matched with the second external thread.

[0039] The three-phase robotic arm 400 includes an A-phase inspection arm 410 vertically fixed on the first bearing slide 350, a C-phase inspection arm 420 vertically mounted on the second bearing slide 360, and a B-phase inspection arm 430 vertically mounted on the bearing seat 340. The distance between the corresponding detection arms is adjusted by the spacing adjustment mechanism 300. The A-phase inspection arm 410, the C-phase inspection arm 420 and the B-phase inspection arm 430 are all provided with three-phase limit switches L, which are used to detect the contact status between the robotic arm and the contact.

[0040] Combination Figure 1-Figure 4 , a three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet in this embodiment, the specific operation steps are as follows:

[0041] S1. The carrier vehicle H drives the three-phase mechanical arm for insulation monitoring of the 6KV switch cabinet of the present invention to move as a whole to the detection pre-stop position;

[0042] S2, after the carrier H reaches the detection pre-stop position, the translation mechanism 100 drives the angle adjustment mechanism 200 to move left and right to adjust the overall approximate horizontal movement position of the three-phase robot arm 400;

[0043] S3, then the angle adjustment mechanism 200 adjusts the angle and height of the three-phase mechanical arm 400 so that the three-phase mechanical arm 400 is flush with the contact of the 6KV switch cabinet to be tested;

[0044] S4. After the three-phase mechanical arm 400 is aligned with the contact of the 6KV switch cabinet to be inspected, the spacing adjustment mechanism 300 adjusts the distance between the three detection arms of the three-phase mechanical arm 400 so that the distances between the three detection arms and the three contacts of the 6KV switch cabinet to be inspected correspond one to one;

[0045] S5. Then, the three-phase mechanical arm for insulation monitoring of the 6KV switch cabinet is driven again by the translation mechanism 100 to slowly approach the contact direction as a whole, so that the three detection arms are in one-to-one contact with the three contacts of the 6KV switch cabinet to be detected.

[0046] Although the present invention has been described above with reference to the embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the embodiments disclosed in the present invention may be used in combination with each other in any manner, and the fact that these combinations are not exhaustively described in this specification is only for the sake of omitting space and saving resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A three-phase mechanical arm for 6KV switch cabinet insulation monitoring, characterized in that: include: A translation mechanism (100) is fixed on the carrying vehicle (H); An angle adjustment mechanism (200) is mounted on the translation mechanism (100) and driven by the translation mechanism (100) to move horizontally; A spacing adjustment mechanism (300) is vertically mounted on the end of the angle adjustment mechanism (200) and is driven by the angle adjustment mechanism (200) to adjust the height and angle; The three-phase mechanical arm (400) is correspondingly mounted on the spacing adjustment mechanism (300), and the spacing adjustment mechanism (300) adjusts the distance between the corresponding detection arms.

2. A three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet according to claim 1, characterized in that: The translation mechanism (100) comprises a first guide seat (110), a horizontal drive motor (120) mounted on one end of the first guide seat (110), a drive screw (130) coaxially connected to the output end of the horizontal drive motor (120) and extending through the other end of the first guide seat (110), and a sliding seat (140) connected to the drive screw (130) and rotatably driven by the drive screw (130) to move along the first guide seat (110).

3. A three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet according to claim 1, characterized in that: The angle adjustment mechanism (200) comprises a first rotation drive motor (210), a first support rod (220) having one end perpendicularly connected to an output end of the first rotation drive motor (210), a second rotation drive motor (230) mounted on a side wall of the first support rod (220) and close to the other end of the first support rod (220), and a second support rod (240) having an end perpendicularly connected to the output end of the second rotation drive motor (230).

4. A three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet according to claim 3, characterized in that: The first rotary drive motor (210) and the second rotary drive motor (230) are both self-locking drive motors.

5. The three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet according to claim 1 is characterized in that: The spacing adjustment mechanism (300) comprises a second guide seat (310), a spacing adjustment drive motor (320) mounted on one end of the second guide seat (310), a bidirectional threaded drive screw (330) coaxially connected to the output end of the spacing adjustment drive motor (320) and extending through the other end of the second guide seat (310), a bearing seat (340) mounted in the middle of the second guide seat (310), and a first bearing slide (350) and a second bearing slide (360) connected to the bidirectional threaded drive screw (330) and capable of being rotationally driven by the bidirectional threaded drive screw (330) to move toward or relative to each other along the first guide seat (110).

6. A three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet according to claim 5, characterized in that: The bidirectional threaded drive screw (330) is provided with a first external thread and a second external thread with opposite threads on two sides symmetrically centered on the bearing seat (340); the first bearing slide (540) is provided with a first internal thread that is compatible with the first external thread; and the second bearing slide (360) is provided with a second internal thread that is compatible with the second external thread.

7. A three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet according to claim 5, characterized in that: The three-phase mechanical arm (400) comprises an A-phase inspection arm (410) vertically fixed on the first bearing slide (350), a C-phase inspection arm (420) vertically mounted on the second bearing slide (360), and a B-phase inspection arm (430) vertically mounted on the bearing seat (340).

8. A three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet according to claim 7, characterized in that: The A-phase inspection arm (410), the C-phase inspection arm (420) and the B-phase inspection arm (430) are all provided with a three-phase limit switch (L).

9. An operating method of a three-phase mechanical arm for insulation monitoring of a 6KV switch cabinet as claimed in any one of claims 1 to 8, characterized in that: The specific steps are as follows: S1. The carrying vehicle (H) drives the three-phase mechanical arm for insulation monitoring of the 6KV switch cabinet of the present invention to move as a whole to the detection pre-stop position; S2, after the carrier vehicle (H) reaches the detection pre-stop position, the translation mechanism (100) drives the angle adjustment mechanism (200) to move left and right, so as to adjust the overall approximate horizontal movement position of the three-phase mechanical arm (400); S3, then the angle adjustment mechanism (200) adjusts the angle and height of the three-phase mechanical arm (400) so that the three-phase mechanical arm (400) is flush with the contact of the 6KV switch cabinet to be tested; S4. After the three-phase mechanical arm (400) is aligned with the contact of the 6KV switch cabinet to be inspected, the spacing adjustment mechanism (300) adjusts the distance between the three detection arms of the three-phase mechanical arm (400) so that the distances between the three detection arms and the three contacts of the 6KV switch cabinet to be inspected correspond one to one; S5. Then, the three-phase mechanical arm for insulation monitoring of the 6KV switch cabinet is driven again by the translation mechanism (100) to slowly approach the contact direction as a whole, so that the three detection arms are in one-to-one contact with the three contacts of the 6KV switch cabinet to be detected.

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