Centrally installed switchgear intelligent maintenance trolley convenient for pose adjustment of bionic operation robot

Abstract

The invention relates to the technical field of high-voltage power distribution equipment, in particular to a centrally installed switchgear intelligent maintenance trolley convenient for pose adjustment of a bionic operation robot, which comprises a chassis and a support frame, the support frame is vertically mounted on the rear side of the chassis, the front side of the bottom of the chassis is provided with a first pair of universal wheels, and the rear side of the bottom of the chassis is provided with a second pair of universal wheels; a pair of differential wheels is arranged in the middle of the bottom of the chassis and connected with a driving device, the driving device comprises a driving motor, a driving shaft, a driving gear, a driven gear and a transmission shaft, the driving motor is connected with the driving shaft, the driving gear is installed on the driving shaft and connected with the driven gear in an engaged mode, and the transmission shaft is installed in the driven gear in a sleeved mode. The transmission shaft is sleeved with a differential wheel. A moving device of an original intelligent maintenance trolley is changed, the purposes of turning in situ and passing through a space with a large turning radius can be achieved, and the problems that the intelligent maintenance trolley is difficult in posture adjustment, long in maintenance time and the like are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of high-voltage power distribution equipment, and particularly to an intelligent maintenance trolley for a medium-voltage switchgear cabinet with convenient pose adjustment for a bionic operation robot. Technical Field

[0002] The present invention relates to the technical field of high-voltage power distribution equipment, and particularly to an intelligent maintenance trolley for a medium-voltage switchgear cabinet with convenient pose adjustment for a bionic operation robot. Background Art

[0003] With the rapid development of the power grid, the number of 10 kV devices has increased significantly. Many 10 kV devices in old substations have also been gradually renovated, and medium-voltage switchgear cabinets are used more and more widely. When overhauling the circuit breaker in the medium-voltage switchgear cabinet, the circuit breaker needs to be pulled out of the cabinet body and placed on a special trolley for overhaul and test work.

[0004] The current bionic operation robot is also equipped with a split-type intelligent maintenance trolley for a medium-voltage switchgear cabinet. Among them, the operation robot body is used as the main robot, and the split-type intelligent maintenance trolley for a medium-voltage switchgear cabinet is used as the slave robot. The master and slave cooperate. The intelligent maintenance trolley for a medium-voltage switchgear cabinet mainly simulates the manual operation behavior to safely and reliably move the switch body onto the trolley platform. First, the operation robot assists in controlling the trolley to walk in front of the medium-voltage switchgear cabinet, and the operation robot finely adjusts the locking device to link the trolley and the medium-voltage switchgear cabinet together. Then, by using the function of the trolley to automatically adjust the platform height and levelness, the requirements of different cabinet bodies, factors such as cabinet installation deviation, etc. are met. By using the visual positioning system (VLS) technology on the operation robot, the accurate identification of the operation object by the operation robot system is realized, so that the trolley system has better flexibility as a whole. The automatically lifting maintenance platform of the intelligent maintenance trolley for a medium-voltage switchgear cabinet can realize the intelligent maintenance operation of the switch, and the movement is more accurate and reliable, providing enough maintenance space for manual maintenance operation.

[0005] A vehicle body of an intelligent maintenance trolley for a medium-voltage switchgear cabinet with the patent number 201620177136.4 includes a chassis, a gantry support frame, a lifting servo motor and a lifting frame. The chassis has a chassis frame, a pair of driving wheels and a pair of universal wheels respectively connected to the front side and the rear side of the chassis frame. Each driving wheel is driven by a driving servo motor through a gear transmission pair. The gantry support frame includes two columns fixed to the rear side of the chassis, a top plate fixed to the tops of the two columns, and a motor support frame fixed to the top plate. The walking chassis of the intelligent maintenance trolley for a medium-voltage switchgear cabinet of the above patent is composed of two universal wheels in the front and two differential wheels in the rear, which has problems such as inability to turn in place and large turning radius, and it is difficult to adjust the pose of the trolley and the overhaul time is long when overhauling the medium-voltage switchgear cabinet.

[0006] In view of this, the present application proposes an intelligent maintenance trolley for a medium-voltage switchgear cabinet with convenient pose adjustment for a bionic operation robot. Summary of the Invention

[0007] The object of the present invention is to provide an intelligent maintenance trolley for a medium-voltage switchgear cabinet with convenient pose adjustment for a bionic operation robot in view of the deficiencies of the prior art.

[0008] To solve the above technical problems, the following technical solutions are adopted: An intelligent maintenance trolley for a medium-voltage switchgear cabinet with convenient pose adjustment for a bionic operation robot, comprising a chassis and a support frame. The support frame is vertically installed at the rear side of the chassis. A first pair of universal wheels is provided at the front side of the bottom of the chassis, a second pair of universal wheels is provided at the rear side of the bottom of the chassis, and a pair of differential wheels is provided in the middle of the bottom of the chassis. Both of the pair of differential wheels are connected with a driving device. The driving device includes a driving motor, a driving shaft, a driving gear, a driven gear and a transmission shaft. The driving motor is fixedly installed in the middle of the bottom of the chassis. The driving motor is connected with the driving shaft. The driving gear is installed on the driving shaft. The driving gear is meshed with the driven gear. The transmission shaft is sleeved and installed inside the driven gear, and the differential wheel is sleeved and installed on the transmission shaft.

[0009] Further, the driving device further includes a driving controller. The driving controller is connected with the driving motor, and the driving controller is connected with a main controller. The main controller is connected with a control switch.

[0010] Further, the driving device further includes a coupling. One end of the coupling is connected with the output shaft of the driving motor, and the other end of the coupling is connected with the driving shaft.

[0011] Further, the driving device further includes a driving bearing mount. The driving bearing mount includes a first driving bearing mount and a second driving bearing mount. The first driving bearing mount is installed on one side of the driving shaft, the second driving bearing mount is installed on the other side of the driving shaft, and bearings are provided in both the first driving bearing mount and the second driving bearing mount.

[0012] Further, the driving device further includes a driven bearing mount. The driven bearing mount includes a first driven bearing mount and a second driven bearing mount. The first driven bearing mount is installed on one side of the transmission shaft, the second driven bearing mount is installed on the other side of the transmission shaft, and bearings are provided in both the first driven bearing mount and the second driven bearing mount.

[0013] Further, the chassis includes a left chassis plate, a right chassis plate, a rear chassis plate and a middle chassis plate. The left chassis plate is located on the left side of the chassis, and a universal wheel and a differential wheel on the left side of the maintenance trolley are installed on the left chassis plate. The right chassis plate is located on the right side of the chassis, and a universal wheel and a differential wheel located on the right side of the maintenance trolley are installed on the right chassis plate; The rear chassis plate is arranged between the rear sides of the left chassis plate and the right chassis plate, and a support frame is installed on the rear chassis plate; The middle chassis plate is arranged between the middle parts of the left chassis plate and the right chassis plate, and the driving device is installed on the middle chassis plate.

[0014] Furthermore, the vertical cross-sections of the left chassis plate, the right chassis plate and the middle chassis plate are all in a U shape.

[0015] Furthermore, support ribs are arranged inside the left chassis plate and the right chassis plate.

[0016] Furthermore, armrests are arranged on both sides of the upper part of the support frame, and the control switches are arranged on the armrests.

[0017] Furthermore, the support frame includes two columns fixed to the rear side of the chassis and a top plate fixed to the tops of the two columns, and the armrests are installed on the upper side surfaces of the two columns.

[0018] Due to the adoption of the above technical solutions, the following beneficial effects are achieved: The present invention is a central cabinet intelligent maintenance trolley for convenient pose adjustment of a bionic operation robot. Based on the original movement device with two universal wheels at the front and two differential wheels at the rear, a first pair of universal wheels is arranged at the front side of the bottom of the chassis, a second pair of universal wheels is arranged at the rear side of the bottom of the chassis, and a pair of differential wheels is arranged in the middle of the bottom of the chassis. Both of the pair of differential wheels are connected with a driving device. Thus, by changing the original movement device of the intelligent maintenance trolley, the purpose of turning in place and passing through a space with a large turning radius can be achieved, and the problems of difficult pose adjustment and long maintenance time of the intelligent maintenance trolley are solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings: Figure 1 FIG. is a three-dimensional structural schematic diagram of the central cabinet intelligent maintenance trolley for convenient pose adjustment of the bionic operation robot according to the embodiment of the present invention.

[0020] Figure 2 FIG. is a front view structural schematic diagram of the central cabinet intelligent maintenance trolley for convenient pose adjustment of the bionic operation robot according to the embodiment of the present invention.

[0021] Figure 3 FIG. is a rear view structural schematic diagram of the central cabinet intelligent maintenance trolley for convenient pose adjustment of the bionic operation robot according to the embodiment of the present invention.

[0022] Figure 4It is a top view structural schematic diagram of the intelligent maintenance trolley for the central cabinet with convenient pose adjustment of the bionic operation robot in the embodiment of the present invention.

[0023] Figure 5 It is a bottom view structural schematic diagram of the intelligent maintenance trolley for the central cabinet with convenient pose adjustment of the bionic operation robot in the embodiment of the present invention.

[0024] Figure 6 It is a structural schematic diagram of the driving device installed on the chassis in the embodiment of the present invention.

[0025] Figure 7 It is a control schematic diagram of the intelligent maintenance trolley for the central cabinet with convenient pose adjustment of the bionic operation robot in the embodiment of the present invention.

[0026] In the figure: 1 - chassis; 2 - support frame; 3 - first pair of universal wheels; 4 - second pair of universal wheels; 5 - differential wheel; 6 - driving device; 7 - handrail; 8 - control switch.

[0027] 11 - left chassis plate; 12 - right chassis plate; 13 - rear chassis plate; 14 - middle chassis plate; 15 - support rib plate.

[0028] 21 - two support columns; 22 - top plate.

[0029] 61 - driving motor; 62 - driving shaft; 63 - driving gear; 64 - driven gear; 65 - transmission shaft; 66 - driving controller; 67 - coupling; 68 - driving bearing mount; 681 - first driving bearing mount; 682 - second driving bearing mount; 69 - driven bearing mount; 691 - first driven bearing mount; 692 - second driven bearing mount. Detailed implementation manners

[0030] To make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of the present invention. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0031] Such as Figures 1 to 7As shown in the figure, a smart maintenance trolley for a mid-mounted cabinet with convenient pose adjustment of a bionic operation robot according to an embodiment of the present invention includes a chassis 1 and a support frame 2. The support frame 2 is vertically installed at the rear side of the chassis 1. A first pair of universal wheels 3 is provided at the front side of the bottom of the chassis 1, a second pair of universal wheels 4 is provided at the rear side of the bottom of the chassis 1, and a pair of differential wheels 5 is provided in the middle of the bottom of the chassis 1. Both of the pair of differential wheels 5 are connected to a driving device 6. The driving device 6 includes a driving motor 61, a driving shaft 62, a driving gear 63, a driven gear 64, and a transmission shaft 65. The driving motor 61 is fixedly installed in the middle of the bottom of the chassis 1. The driving motor 61 is connected to the driving shaft 62. The driving gear 63 is installed on the driving shaft 62. The driving gear 63 is meshed with the driven gear 64. The transmission shaft 65 is sleeved and installed inside the driven gear 64. The differential wheel 5 is sleeved and installed on the transmission shaft 65. Since the circuit breaker of the mid-mounted cabinet door weighs several hundred catties, when simply pushing the small trolley by the handrail to make a U-turn or passing through a space with a large turning radius, it often takes multiple adjustments of the trolley to complete. Therefore, based on the original moving device with two universal wheels at the front and two differential wheels at the rear, a first pair of universal wheels 3 is provided at the front side of the bottom of the chassis 1, a second pair of universal wheels 4 is provided at the rear side of the bottom of the chassis 1, and a pair of differential wheels 5 is provided in the middle of the bottom of the chassis 1. Both of the pair of differential wheels 5 are connected to the driving device 6. Thus, the moving device of the original smart maintenance trolley is changed. When a U-turn or passing through a space with a large turning radius is required, since both the front and rear sides of the trolley are set as universal wheels and a pair of differential wheels 5 is provided in the middle and connected to the driving device 6 to form the driving force for the movement of the trolley, when the operator controls the switch 8, the differential wheels 5 and the driving device 6 start to work. Furthermore, when the operator operates the handrail 7 and under the action of the four universal wheels, compared with the original moving device, the direction of the trolley can be adjusted faster, facilitating the trolley to complete the turning work faster and perform pose adjustment. Thus, the purpose of making a U-turn in place and passing through a space with a large turning radius can be achieved, and the problems of difficult pose adjustment and long maintenance time of the smart maintenance trolley are solved.

[0032] See Figure 5 and Figure 6, as a further illustration of this embodiment, the driving device 6 further includes a driving controller 66. The driving controller 66 is connected to the driving motor 61, and the driving controller 66 is connected to a main controller. The main controller is arranged inside the trolley and is not marked in the drawings. The main controller is connected to a control switch 8. By setting the main controller and the control switch 8, when the operator operates the control switch 8, the main controller controls the driving controller 66 to work, and then the driving motor 61 drives the driving shaft 62 to rotate. Under the meshing action of the driving gear 63 and the driven gear 64, the transmission shaft 65 drives the differential wheel 5 to start working. On the one hand, as a power source, it can better push the trolley forward. On the other hand, when the trolley makes a U-turn or turns around in place or passes through a space with a large turning radius, the operator operates the handrail 7, and under the action of the four universal wheels, compared with the original moving device, the direction of the trolley can be adjusted faster, facilitating the trolley to complete the turning work faster and perform pose adjustment.

[0033] See Figure 5 and Figure 6 , as a further illustration of this embodiment, the driving device 6 further includes a coupling 67. One end of the coupling 67 is connected to the output shaft of the driving motor 61, and the other end of the coupling 67 is connected to the driving shaft 62. The coupling 67 is arranged between the output shaft of the driving motor 61 and the driving shaft 62, and has functions of buffering, vibration reduction and improving the dynamic performance of the shafting. It rotates together during the transmission of motion and power and does not disengage under normal circumstances.

[0034] See Figure 5 and Figure 6 , as a further illustration of this embodiment, the driving device 6 further includes a driving bearing mount 68. The driving bearing mount 68 includes a first driving bearing mount 681 and a second driving bearing mount 682. The first driving bearing mount 681 is installed on one side of the driving shaft 62, and the second driving bearing mount 682 is installed on the other side of the driving shaft 62. Bearings are provided in both the first driving bearing mount 681 and the second driving bearing mount 682. By installing bearing mounts at both ends of the driving shaft 62 respectively, it is convenient for the bearings to better support the driving shaft 62, reduce the friction coefficient during the movement of the driving shaft 62, and ensure the rotational accuracy of the driving shaft 62.

[0035] See Figure 5 and Figure 6, as a further illustration of this embodiment, the driving device 6 further includes a driven bearing mount 69. The driven bearing mount 69 includes a first driven bearing mount 691 and a second driven bearing mount 692. The first driven bearing mount 691 is installed on one side of the transmission shaft 65, and the second driven bearing mount 692 is installed on the other side of the transmission shaft 65. Bearings are provided in both the first driven bearing mount 691 and the second driven bearing mount 692. By installing bearing mounts at both ends of the transmission shaft 65, it is convenient for the bearings to better support the transmission shaft 65, reduce the friction coefficient during the movement of the drive shaft 62, and ensure the rotational accuracy of the drive shaft 62.

[0036] See Figure 5 and Figure 6 , as a further illustration of this embodiment, the chassis 1 includes a left chassis plate 11, a right chassis plate 12, a rear chassis plate 13, and a middle chassis plate 14.

[0037] The left chassis plate 11 is located on the left side of the chassis 1, and universal wheels and differential wheels 5 located on the left side of the maintenance cart are installed on the left chassis plate 11. The right chassis plate 12 is located on the right side of the chassis 1, and universal wheels and differential wheels 5 located on the right side of the maintenance cart are installed on the right chassis plate 12.

[0038] The rear chassis plate 13 is disposed between the rear sides of the left chassis plate 11 and the right chassis plate 12, and a support frame 2 is installed on the rear chassis plate 13. The middle chassis plate 14 is disposed between the middle parts of the left chassis plate 11 and the right chassis plate 12, and the driving device 6 is installed on the middle chassis plate 14.

[0039] As a further illustration of this embodiment, the vertical cross-sections of the left chassis plate 11, the right chassis plate 12, and the middle chassis plate 14 are all U-shaped. A space for installing universal wheels, differential wheels 5, and the driving device 6 is formed in the inner grooves of the U-shaped left chassis plate 11, right chassis plate 12, and middle chassis plate 14, which is convenient for better layout design of the universal wheels, differential wheels 5, and the driving device 6.

[0040] See Figure 5 and Figure 6 , as a further illustration of this embodiment, support rib plates 15 are provided in the left chassis plate 11 and the right chassis plate 12. By providing the support rib plates 15, the support strength of the chassis 1 is improved.

[0041] See Figure 1 and Figure 2, As a further illustration of this embodiment, handrails 7 are provided on both sides of the upper part of the support frame 2, and the control switches 8 are provided on the handrails 7. By designing the control switches 8 on the handrails 7 and arranging a control switch 8 on each handrail 7, it is convenient for the operator to operate. In addition, each control switch 8 includes a switch button for controlling the opening and closing of the driving motor 61 and an adjustment button for adjusting the rotation speed of the differential wheel 5, so that the operator can better complete the work of transporting the circuit breaker.

[0042] As a further illustration of this embodiment, the support frame 2 includes two struts 21 fixed to the rear side of the chassis 1 and a top plate 22 fixed to the tops of the two struts 21, and the handrails 7 are installed on the upper side surfaces of the two struts 21.

[0043] The working principle of the present invention: A first pair of universal wheels 3 are provided on the front side of the bottom of the chassis 1, a second pair of universal wheels 4 are provided on the rear side of the bottom of the chassis 1, and a pair of differential wheels 5 are provided in the middle of the bottom of the chassis 1. Both of the pair of differential wheels 5 are connected to a driving device 6. Thus, the original movement device of the intelligent maintenance trolley is changed. When it is necessary to turn in place, turn around or pass through a space with a large turning radius, since the front and rear sides of the trolley are both provided with universal wheels, and a pair of differential wheels 5 are arranged in the middle and connected to the driving device 6 to form the driving force for the movement of the trolley. When the operator operates the control switch 8, the differential wheels 5 and the driving device 6 start to work. Furthermore, when the operator operates the handrail 7 and under the action of the four universal wheels, compared with the original movement device, the direction of the trolley can be adjusted faster, which is convenient for the trolley to complete the turning work faster and perform pose adjustment. Thus, the purpose of turning in place and passing through a space with a large turning radius can be achieved, and the problems of difficult pose adjustment and long maintenance time of the intelligent maintenance trolley are solved.

[0044] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent replacements or modifications made based on the present invention to solve basically the same technical problems and achieve basically the same technical effects are all covered by the protection scope of the present invention.

Claims

1. A central cabinet intelligent maintenance trolley with convenient posture adjustment for a bionic operating robot, comprising a chassis and a support frame, wherein the support frame is vertically mounted on the rear side of the chassis, and is characterized in that: A first pair of universal wheels is provided on the front side of the bottom of the chassis, a second pair of universal wheels is provided on the rear side of the bottom of the chassis, a pair of differential wheels is provided in the middle of the bottom of the chassis, and both of the differential wheels are connected with a driving device, the driving device comprises a driving motor, a driving shaft, a driving gear, a driven gear and a transmission shaft, the driving motor is fixedly installed in the middle of the bottom of the chassis, the driving motor is connected with a driving shaft, a driving gear is installed on the driving shaft, the driving gear is meshed with the driven gear, a transmission shaft is sleeved and installed in the driven gear, and the differential wheel is sleeved and installed on the transmission shaft.

2. The intelligent maintenance vehicle for central cabinets with convenient posture adjustment of the bionic operating robot according to claim 1 is characterized by: The driving device further comprises a driving controller, wherein the driving controller is connected to the driving motor, and the driving controller is connected to a main controller, and the main controller is connected to a control switch.

3. The intelligent maintenance vehicle for central cabinets with convenient posture adjustment of the bionic operating robot according to claim 1 or 2, characterized in that: The driving device further comprises a coupling, one end of which is connected to the output shaft of the driving motor, and the other end of which is connected to the driving shaft.

4. The central cabinet intelligent maintenance trolley with convenient posture adjustment of the bionic operating robot according to claim 3 is characterized by: The driving device also includes an active bearing mounting seat, which includes a first active bearing mounting seat and a second active bearing mounting seat. The first active bearing mounting seat is installed on one side of the driving shaft, and the second active bearing mounting seat is installed on the other side of the driving shaft. Bearings are provided in both the first active bearing mounting seat and the second active bearing mounting seat.

5. The central cabinet intelligent maintenance trolley with convenient posture adjustment of the bionic operating robot according to claim 3 is characterized by: The driving device also includes a driven bearing mounting seat, which includes a first driven bearing mounting seat and a second driven bearing mounting seat. The first driven bearing mounting seat is installed on one side of the transmission shaft, and the second driven bearing mounting seat is installed on the other side of the transmission shaft. Bearings are provided in both the first driven bearing mounting seat and the second driven bearing mounting seat.

6. The intelligent maintenance vehicle for central cabinets with convenient posture adjustment of the bionic operating robot according to claim 1 or 2, characterized in that: The chassis comprises a left chassis plate, a right chassis plate, a rear chassis plate and a middle chassis plate. The left chassis plate is located on the left side of the chassis, and the left chassis plate is equipped with a universal wheel and a differential wheel located on the left side of the maintenance trolley; The right chassis plate is located on the right side of the chassis, and the universal wheel and the differential wheel located on the right side of the maintenance trolley are installed on the right chassis plate; The rear chassis plate is arranged between the rear sides of the left chassis plate and the right chassis plate, and a support frame is installed on the rear chassis plate; The middle chassis plate is arranged between the middle parts of the left chassis plate and the right chassis plate, and the driving device is installed on the middle chassis plate.

7. The intelligent maintenance vehicle for central cabinets with convenient posture adjustment of the bionic operating robot according to claim 6 is characterized by: The vertical cross-sections of the left chassis plate, the right chassis plate and the middle chassis plate are all U-shaped.

8. The central cabinet intelligent maintenance trolley with convenient posture adjustment of the bionic operating robot according to claim 6 is characterized by: Support ribs are arranged inside the left chassis plate and the right chassis plate.

9. The intelligent maintenance vehicle for central cabinets with convenient posture adjustment of the bionic operating robot according to claim 2 is characterized by: Both sides of the upper part of the support frame are provided with handrails, and the control switches are provided on the handrails.

10. The intelligent maintenance vehicle for central cabinets with convenient posture adjustment of the bionic operating robot according to claim 9 is characterized in that: The support frame comprises two pillars fixed on the rear side of the chassis and a top plate fixed on the top ends of the two pillars, and the handrails are installed on the upper side surfaces of the two pillars.

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