High-voltage circuit breaker transfer robot

Abstract

The invention relates to the technical field of electrical equipment operation and maintenance operation, in particular to a high-voltage circuit breaker transfer robot which mainly comprises a recognition device, a clamping mechanism, a dragging mechanism, an anti-roll mechanism, a lifting rotating mechanism, a movable vehicle body and an XY adjusting platform. Through space structure design and function adaptation of all the mechanisms, the positioning precision reaches 0.1-0.5 mm, the robot autonomously completes precise pulling-out, scene transferring, automatic pushing-in and returning and other operations of the high-voltage circuit breaker, automation and unmanned operation and maintenance of the circuit breaker are improved, the maintenance efficiency is improved, and operation safety is guaranteed. The robot is compact in structure, the dragging mechanism can automatically correct the dragging width according to the sizes of different high-voltage switch cabinets and can adapt to the high-voltage switch cabinets of different specifications, two depth cameras are arranged on the top and the dragging mechanism, and the depth cameras are used for controlling accurate positioning of the dragging mechanism. The device is suitable for replacing manpower to inspect the high-voltage switch cabinet in a narrow space.

Description

Technical Field

[0001] The present invention relates to the technical field of power equipment operation and maintenance, and in particular to a high-voltage circuit breaker transport robot. Background Art

[0002] The high-voltage switchgear in the substation needs to be inspected, tested, replaced and other maintenance operations regularly. Currently, manual operation is the main method, which requires the cooperation of the maintenance team, protection team and test team. A large number of test equipment needs to be carried each time, which is time-consuming and labor-intensive, and the degree of automation is very low. Among the maintenance projects of high-voltage switchgear, the maintenance of trolley-type high-voltage circuit breakers with large size and weight is included, which often requires live operation. Traditionally, maintenance personnel manually touch to inspect and replace, and transport to a specific location for maintenance. Although there is a relatively standardized maintenance process, there is a risk of electric shock due to inadequate safety measures during operation. Some models of high-voltage circuit breakers weigh more than 300 kilograms. During maintenance operations, it is necessary to perform dangerous operations such as turning the lead screw to pull out, push in, and plug in and out aviation plugs in the narrow space of the high-voltage switchgear. In addition, the sizes of high-voltage switchgear produced by different manufacturers vary significantly. During maintenance, the operating tools need to be frequently replaced, and the width of the dragging mechanism needs to be manually adjusted to the matching size. There is a risk of equipment jamming caused by adaptation errors.

[0003] In order to solve the above technical problems, a high-voltage circuit breaker transfer robot is designed. The robot can walk autonomously, navigate and operate accurately. The robot is equipped with a lifting and rotating mechanism and an XY adjustment platform to achieve accurate docking between the dragging mechanism and the high-voltage switch cabinet, thereby completing the operation and maintenance operations such as accurate pulling out, scene transfer, and automatic pushing of the high-voltage circuit breaker. The robot of the present invention has a positioning accuracy of 0.1-0.5mm through comprehensive structural joint innovation. The dragging mechanism can autonomously correct the dragging width according to the size of different high-voltage switch cabinets, so as to adapt to high-voltage switch cabinets of different specifications; two depth cameras are set on the top of the robot and the dragging mechanism. The depth camera on the top is used to identify the cabinet status before operation to ensure the safety of the operation; the depth camera on the dragging mechanism is used to control the precise positioning of the dragging mechanism to achieve docking control with the high-voltage switch cabinet. Summary of the invention

[0004] The technical problem to be solved by the present invention is to develop a high-voltage circuit breaker transfer robot in view of the deficiencies in the prior art, so as to realize precise operation and maintenance of the high-voltage circuit breaker in the narrow box of the high-voltage switch cabinet.

[0005] A high-voltage circuit breaker transport robot comprises: an identification device, a clamping mechanism, a dragging mechanism, an anti-rolling mechanism, a lifting and rotating mechanism, a mobile body, and an XY adjustment platform; the mobile body is arranged on the ground, the upper surface of the lifting and rotating mechanism is a plane, and the lower part is installed on the mobile body, the XY adjustment platform and the anti-rolling mechanism are respectively arranged at the left and right ends of the upper surface of the lifting and rotating mechanism, the dragging mechanism is arranged above the XY adjustment platform and the anti-rolling mechanism and is connected to each other, the clamping mechanism is arranged above the right end of the dragging mechanism, and the identification device is arranged in the middle of the top of the clamping mechanism.

[0006] A further solution is that the clamping mechanism includes: a clamping mechanism mounting plate, a clamping motor, a clamping slide, a grabbing tower seat, a clamping guide rail, a clamping forward lead screw, a clamping reverse lead screw, a connecting block, a grabbing motor, a grabbing motor bracket, a clamping jaw pressing plate, a pressing plate guide bearing, a baffle, a clamping jaw guide shaft, a clamping jaw, a pressing plate guide shaft, a clamping jaw guide bearing, a ball plunger, and a sliding guide rail; The clamping mechanism mounting plate is a rectangular flat plate with a notch in the middle of the right end. The clamping motor is fixedly mounted at the notch at the right end of the clamping mechanism mounting plate through a motor mounting seat. The motor shaft output end is horizontally facing left and connected to the right end of the clamping forward lead screw; the clamping reverse lead screw is connected to the clamping forward lead screw through a coupling, and a plurality of support seats are provided to stably support the lead screw lever and the motor shaft. Four clamping guide rails are provided and fixed on the clamping mechanism mounting plate, with two on the left and right arranged in a line, and the four on the left and right are symmetrical with the lead screw lever as the center line; the grabbing tower seat is arranged at the clamping One is provided on each of the left and right parts of the mechanism mounting plate. The grab tower seat is a single-bevel trapezoidal frame plate structure. The bottoms of the front and rear sides are bent inwards respectively. Two clamping sliders are fixed on each bent bottom surface. The clamping sliders are respectively installed on the clamping guide rails at the corresponding positions to maintain left and right sliding connection; the two lead screw moving nuts are respectively arranged at the right end of the clamping forward lead screw and the left end of the clamping reverse lead screw. The connecting block is an arch bridge shape, and two are provided. They are respectively pressed and fixed on the two lead screw moving nuts, and the lower part of the connecting block is fixed on the bent bottom surface of the grab tower seat. A grab motor bracket with a rectangular frame plate structure is installed in the middle position of the front side of the clamping mechanism mounting plate. The grab motor is vertically installed on the grab motor bracket, and the output shaft is vertically downward. The output end of the grab motor adopts a lead screw shaft, and a lead screw moving nut is installed on the shaft.

[0007] The clamping jaw pressing piece is in the shape of a rectangular horizontal strip, and a vertical circular through hole is respectively arranged on the left, middle and right planes of the horizontal strip, and a long slot through hole is respectively arranged between the through holes on the left and middle, and between the through holes on the middle and right sides. The output shaft of the grabbing motor passes downward through the circular through hole in the middle of the clamping jaw pressing piece, and the lead screw moving nut on the output shaft is arranged below the clamping jaw pressing piece; a pressing piece guide shaft is respectively arranged in the through holes on the left and right sides of the clamping jaw pressing piece, and the pressing piece guide shaft is located above the clamping jaw pressing piece, and each is equipped with a pressing piece guide bearing, the lower end of the pressing piece guide shaft is fixed on the clamping mechanism mounting plate, and a baffle is arranged on the upper end, and a compression spring is respectively arranged between the pressing piece guide bearing and the baffle; two clamping jaw guide shafts are arranged inside each grabbing tower seat The jaws are arranged in a pair on the left and right, with the front end being an L-shaped hook and the rear end being a horizontal plane. Two vertical circular holes are arranged on the horizontal plane. The jaw guide shaft passes through the jaw guide bearing and the circular holes of the jaw in turn, and is fixed on the bottom surface of the grab tower seat. Compression springs are respectively arranged between the rear end of the jaw and the bottom surface of the grab tower seat. Two mounting holes are arranged on the left and right sides of the jaw guide bearing for connecting the bearing and the jaw, and two mounting holes are arranged at the front and rear sides for installing a ball plunger, and the upper end of the ball plunger protrudes from the upper surface of the jaw guide bearing. Two parallel sliding guide rails are respectively arranged on the left and right sides of the bottom of the clamping mechanism mounting plate.

[0008] A further solution is that the XY adjustment platform includes: an X adjustment platform mounting plate, an X platform moving slide rail, an X platform moving module, an X platform moving slide table, an X platform moving slider, a Y adjustment platform mounting plate, a Y platform moving slide rail, a Y platform moving slider, a Y platform moving module, and a Y platform moving slide table; the X adjustment platform mounting plate is arranged on the lifting and rotating mechanism, the X platform moving module is longitudinally arranged at the left position of the X adjustment platform mounting plate, the X platform moving slide rail is arranged in two groups, which are parallel and symmetrically arranged on both sides of the X platform moving module, and two X platform moving sliders are arranged on each X platform moving slide rail; the Y adjustment platform mounting plate is arranged on the X platform moving slider and the X platform moving slide table, the Y platform moving module is transversely arranged in the middle of the Y adjustment platform mounting plate, the Y platform moving slide rail is arranged in two groups, which are symmetrically arranged on both sides of the Y platform moving module and close to the two side edges of the Y adjustment platform mounting plate, two Y platform moving sliders are arranged on each Y platform moving slide rail, and the X platform moving module is perpendicular to the Y platform moving module.

[0009] A further solution is that the dragging mechanism includes: a dragging mechanism mounting plate, an adjustment drive motor, a dragging module bracket, an adjustment mechanism transmission screw, a connecting pin, a transmission connecting rod, an adjustable mechanism moving slide rail, an adjustable mechanism moving slider, a connecting bracket, a depth camera, a laser rangefinder, a dragging support plate, a positioning pin, a dragging module mounting plate, a dragging module, a guide plate, a supporting profile, a dragging slide rail, a clamping mechanism bracket, a clamping mechanism slider, a dragging slider, and a dragging moving slide; the dragging mechanism mounting plate is a rigid plane plate structure, which is installed on the Y platform moving slider and the Y platform moving slider. On the movable sliding table, the adjusting drive motor is fixed at the middle of the right end of the dragging mechanism mounting plate, the right end of the adjusting mechanism transmission screw is connected to the output shaft of the adjusting drive motor, and the left end is installed on the screw support seat, the screw support seat is fixed on the dragging mechanism mounting plate, and two screw moving nuts are installed on the adjusting mechanism transmission screw, and the front and rear side surfaces of the screw moving nut are respectively connected to the inner ends of the transmission connecting rods on the front and rear sides, and the outer end of the transmission connecting rod is provided with a connecting pin, and the upper end of the connecting pin is provided with a thread, a depth camera is installed in the middle of the left end of the dragging mechanism mounting plate, and a laser rangefinder is installed above the depth camera.

[0010] The drag module bracket is provided with three in the left and right directions, respectively located above the adjustment drive motor at the right end, the adjustment mechanism transmission screw in the middle, and the laser rangefinder at the left end; the four adjustable mechanism movable slide rails are divided into two left and right columns, and are symmetrically installed on the drag mechanism mounting plate with the adjustment mechanism transmission screw as the center line, and each adjustable mechanism movable slide rail is provided with two adjustable mechanism movable sliders, and each adjustable mechanism movable slider is provided with a connecting bracket on the upper part; the drag support plate is a rigid rectangular flat plate structure, and two pieces are provided, which are symmetrically installed on the four connecting brackets front and back, and are connected to the upper ends of the two connecting pins at the same time, and a positioning pin is provided on the front and rear outer ends of the left side of the drag support plate; the drag module The mounting plate is stably fixed on the dragging module bracket, and the dragging module is installed directly above the dragging module mounting plate. The dragging module is a linear motion linear module, and a dragging moving slide is installed on the top; two supporting profiles are provided, one of which is installed at the front and rear edge positions of the two dragging support plates respectively, and a guide plate is installed directly above the supporting profile, and a dragging slide rail parallel to the dragging module is installed in the middle of each dragging support plate, and a dragging slider is arranged on each dragging slide rail, and a clamping mechanism bracket is respectively installed on the front and rear sides of the upper end of each dragging slider, and a clamping mechanism slider is respectively installed on the left and right sides of the upper end of the clamping mechanism bracket, and the clamping mechanism slider is connected to the sliding guide rail at the bottom of the clamping mechanism to realize the connection between the clamping mechanism and the dragging mechanism.

[0011] A further solution is that the anti-roll mechanism includes: an anti-roll mechanism driving motor, a seat bearing, a transmission gear, a support rack, a power shaft, a support plate, and an electromagnetic suction cup; the anti-roll mechanism driving motor is fixed to one side of the lateral edge of the X-adjustment platform mounting plate, the output shaft of the anti-roll mechanism driving motor is connected to the power shaft through a coupling, two seat bearings are fixed to the X-adjustment platform mounting plate and are located at both side ends of the power shaft, two transmission gears are installed on the power shaft, two support racks are installed on the right side of the power shaft and mesh with the transmission gear, and the axis of the support rack is perpendicular to the upper surface of the X-adjustment platform mounting plate; the support plate is installed at the bottom of the support rack, and the electromagnetic suction cup is installed on the mobile body, and its upper side is directly opposite to the support plate, which is used to adsorb the support plate dropped thereto.

[0012] A further solution is that the mobile body includes: a mobile body bottom plate, reinforced support ribs, a steering wheel, a shock-absorbing wheel, a laser radar, a power supply, a lifting mechanism mounting plate, a mobile body shell, and a mobile body top plate; four shock-absorbing wheels are provided, which are divided into two left and right groups and are respectively arranged at the four corners of the mobile body bottom plate, and the two steering wheels are respectively arranged between each group of shock-absorbing wheels, and the shock-absorbing wheel and the steering wheel are fixed to the lower surface of the mobile body bottom plate, the laser radar is arranged on the diagonal of the mobile body bottom plate, the reinforced support ribs are arranged on the left and right sides of the mobile body bottom plate, the lifting mechanism mounting plate is arranged directly above the two reinforced support ribs, and the power supply is arranged on the left side of the mobile body bottom plate; the mobile body shell is rigidly fixed on the mobile body bottom plate, the mobile body top plate is arranged on the top of the mobile body shell, an electromagnetic suction cup is installed near the right edge of the mobile body top plate, and the middle of the mobile body top plate is connected to the lifting mechanism mounting plate.

[0013] A further solution is that the lifting and rotating mechanism includes: a lifting mechanism, a rotating mechanism; the lifting mechanism includes: a lifting mechanism bottom plate, a lifting drive mechanism, and a lifting mechanism top plate; the rotating mechanism includes: a rotating mechanism mounting plate, a rotating drive motor, a power gear, a driven gear, and a slewing bearing; the lifting mechanism bottom plate is fixed on the lifting mechanism mounting plate, and the lifting drive mechanism is a scissor-type drive mechanism; the rotating mechanism mounting plate is arranged on the lifting mechanism top plate, the rotating drive motor is arranged at the lower left side of the rotating mechanism mounting plate, the power gear is arranged on the rotating drive motor driving shaft, the slewing bearing is arranged at the center of the rotating mechanism mounting plate, and is connected to the rotating mechanism mounting plate through the slewing bearing inner ring mounting hole, the driven gear is arranged on the slewing bearing, and is connected to the slewing bearing through the driven gear inner ring mounting hole, and the driven gear is connected to the X adjustment platform mounting plate through the driven gear outer ring mounting hole.

[0014] A further solution is that the identification device is a bracket mechanism with a fixing clip, the lower end of which is fixed to the clamping mechanism housing by the fixing clip, and a depth camera is installed at the upper end. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 1. It is a schematic diagram of the external structure of the clamping mechanism; Figure 3 It is a schematic diagram of the internal structure of the clamping mechanism; Figure 4 This is a schematic diagram of the X-axis adjustment structure of the XY adjustment platform; Figure 5 It is a schematic diagram of the overall structure of the XY adjustment platform; Figure 6 It is a schematic diagram of the internal structure of the dragging mechanism; Figure 7 It is a schematic diagram of the installation of the drag mechanism assembly; Figure 8 is a schematic diagram of the anti-roll mechanism; Fig. 9 It is a schematic diagram of the internal structure of the mobile vehicle; Fig.10 It is a schematic diagram of the external structure of the mobile vehicle body; Fig.11 It is a schematic diagram of the lifting mechanism; Fig.12 It is a schematic diagram of the rotating mechanism. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0017] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0018] A high voltage circuit breaker transport robot, such as Figure 1As shown, it includes: an identification device 1, a clamping mechanism 2, a dragging mechanism 3, an anti-roll mechanism 4, a lifting and rotating mechanism 5, a mobile body 6, and an XY adjustment platform 7; the mobile body 6 is arranged on the ground, the upper surface of the lifting and rotating mechanism 5 is a plane, and the lower part is installed on the mobile body 6, the XY adjustment platform 7 and the anti-roll mechanism 4 are respectively arranged on the left and right ends of the upper surface of the lifting and rotating mechanism 5, the dragging mechanism 3 is arranged above the XY adjustment platform 7 and the anti-roll mechanism 4 and are connected to each other, the clamping mechanism 2 is arranged above the right end of the dragging mechanism 3, and the identification device 1 is arranged in the middle of the top of the clamping mechanism 2.

[0019] The clamping mechanism 2 is as follows Figure 2 and Figure 3 As shown, it includes: a clamping mechanism mounting plate 2-1, a clamping motor 2-2, a clamping slide block 2-3, a grabbing tower seat 2-4, a clamping guide rail 2-5, a clamping forward screw 2-6, a clamping reverse screw 2-7, a connecting block 2-8, a grabbing motor 2-9, a grabbing motor bracket 2-10, a clamping claw pressure plate 2-11, a pressure plate guide bearing 2-12, a baffle 2-13, a clamping claw guide shaft 2-14, a clamping claw 2-15, a pressure plate guide shaft 2-16, a clamping claw guide bearing 2-17, a ball plunger 2-18, and a sliding guide rail 2-19; ​​as shown Figure 2As shown, the clamping mechanism mounting plate 2-1 is a rectangular flat plate with a notch in the middle of the right end. The clamping motor 2-2 is fixedly mounted at the notch at the right end of the clamping mechanism mounting plate 2-1 through a motor mounting seat, and the motor shaft output end is horizontally facing left and connected to the right end of the clamping forward lead screw 2-6; the clamping reverse lead screw 2-7 is connected to the clamping forward lead screw 2-6 through a coupling, and a plurality of support seats are provided to stably support the lead screw and the motor shaft. Four clamping guide rails 2-5 are provided and fixed on the clamping mechanism mounting plate 2-1, with two on the left and right arranged in a line, and the four on the left and right are symmetrical with the lead screw as the center line; the grabbing tower seat 2-4 is at the clamping One is set on each of the left and right parts of the mechanism mounting plate 2-1, and the grabbing tower seat 2-4 is a single-bevel trapezoidal frame plate structure. The bottoms of the front and rear side surfaces are respectively bent inwards, and two clamping slides 2-3 are fixedly set on each bent bottom surface. The clamping slides 2-3 are respectively installed on the clamping guide rails 2-5 at the corresponding positions to maintain left and right sliding connection; the two lead screw moving nuts are respectively set on the right end of the clamping forward lead screw 2-6 and the left end of the clamping reverse lead screw 2-7, and the connecting block 2-8 is an arch bridge shape, and two are set, which are respectively pressed and fixed on the two lead screw moving nuts, and the lower part of the connecting block 2-8 is fixed on the bent bottom surface of the grabbing tower seat 2-4. The spiral lines of the clamping forward screw 2-6 and the clamping reverse screw 2-7 are opposite. When the clamping motor 2-2 drives the clamping forward screw 2-6 to rotate forward, the clamping reverse screw 2-7 rotates synchronously, that is, the two screws respectively drive the two screw moving nuts to move toward the center synchronously, and the two screw moving nuts respectively drive the two connecting blocks 2-8, and then drive the two grabbing tower seats 2-4 to move toward the center synchronously; conversely, the two grabbing tower seats 2-4 move synchronously to the left and right ends. The clamping motor 2-2 drives the clamping forward screw 2-6 and the clamping reverse screw 2-7 connected to the output shaft of the clamping motor 2-2 to rotate, thereby driving the two grabbing tower seats 2-4 connected to the screw moving nut by means of the connecting block 2-8 to move toward or away from each other on the clamping guide rail 2-5, and then drives the two clamping jaws 2-15 sleeved on the clamping jaw guide shaft 2-14 to move toward or away from each other, completing the clamping unlocking or releasing locking operation of the high-voltage circuit breaker handle; a grabbing motor bracket 2-10 with a rectangular frame plate structure is installed in the middle position on the front side of the clamping mechanism mounting plate 2-1, and the grabbing motor 2-9 is vertically installed on the grabbing motor bracket 2-10, with the output shaft vertically downward, and the output end of the grabbing motor 2-9 adopts a screw shaft, and a screw moving nut is installed on the shaft.

[0020] like Figure 3As shown, the clamping jaw pressing plate 2-11 is in the shape of a rectangular horizontal strip, and a vertical circular through hole is respectively arranged on the left, middle and right planes of the horizontal strip, and a long slot through hole is respectively arranged between the left and middle through holes and between the middle and right through holes, and the output shaft of the grasping motor 2-9 passes downward through the circular through hole in the middle of the clamping jaw pressing plate 2-11, and the lead screw moving nut on the output shaft is arranged below the clamping jaw pressing plate 2-11; a pressing plate guide shaft 2-16 is respectively arranged in the through holes on the left and right sides of the clamping jaw pressing plate 2-11, and the pressing plate guide shaft 2-16 is located above the clamping jaw pressing plate 2-11, and each is equipped with a pressing plate guide bearing 2-12, and the lower end of the pressing plate guide shaft 2-16 is fixed on the clamping mechanism mounting plate 2-1, and a baffle 2-13 is installed on the upper end, and a compression spring is respectively installed between the pressing plate guide bearing 2-12 and the baffle 2-13; each grasping tower seat 2 -4 is equipped with two jaw guide shafts 2-14, both of which are arranged in the long slot through hole of the jaw pressure plate 2-11. The jaw guide shafts 2-14 are located below the jaw pressure plate 2-11, and each has a jaw guide bearing 2-17; the jaws 2-15 are arranged in a pair on the left and right, with the front end being an L-shaped hook vertically downward and the rear end being a horizontal plane, and two vertical circular through holes are arranged on the horizontal plane. The jaw guide shaft 2-14 passes through the jaw guide bearing 2-17 and the circular through holes of the jaw 2-15 in turn, and is fixed on the bottom surface of the grab tower seat 2-4, and compression springs are respectively arranged between the rear end of the jaw 2-15 and the bottom surface of the grab tower seat 2-4; two mounting holes are arranged on the left and right sides of the jaw guide bearing 2-17 for connecting the bearing and the jaw 2-15, and two mounting holes are arranged at the front and back to install the ball plunger 2-18, and the upper end of the ball plunger 2-18 protrudes from the upper surface of the jaw guide bearing 2-17. Two parallel sliding guide rails 2-19 are respectively installed on the left and right sides of the bottom of the clamping mechanism mounting plate 2-1. The grabbing motor 2-9 drives the clamping claw pressing plate 2-11 connected to the lead screw moving nut on the output shaft of the grabbing motor 2-9 to move downward or upward on the pressing plate guide shaft 2-16, thereby driving the clamping claw 2-15 installed below the clamping claw pressing plate 2-11 to move downward or upward on the clamping claw guide shaft 2-14 synchronously with the clamping claw pressing plate 2-11 under the pressure of the clamping claw pressing plate 2-11 or the elastic force of the compression spring on the clamping claw guide shaft 2-14, thereby completing the grabbing or releasing operation of the high-voltage circuit breaker handle.

[0021] The XY adjustment platform 7 is as follows Figure 4 and Figure 5 As shown, it includes: an X adjustment platform mounting plate 7-1, an X platform moving slide rail 7-2, an X platform moving module 7-3, an X platform moving slide 7-4, an X platform moving slider 7-5, a Y adjustment platform mounting plate 7-6, a Y platform moving slide rail 7-7, a Y platform moving slider 7-8, a Y platform moving module 7-9, and a Y platform moving slide 7-10; Figure 4As shown, the X-adjustment platform mounting plate 7-1 is arranged on the lifting and rotating mechanism 5, the X-platform moving module 7-3 is longitudinally arranged at the left position of the X-adjustment platform mounting plate 7-1, the X-platform moving slide rails 7-2 are arranged in two groups, which are arranged in parallel and symmetrically on both sides of the X-platform moving module 7-3, and two X-platform moving sliders 7-5 are arranged on each X-platform moving slide rail 7-2. The X-platform moving module 7-3 drives the X-platform moving slide 7-4 to move, thereby driving the Y-adjustment platform mounting plate 7-6 connected to the X-platform moving slide 7-4 and the four X-platform moving sliders 7-5 to move in the X-axis direction on the two parallel X-platform moving slide rails 7-2.

[0022] like Figure 5 As shown, the Y adjustment platform mounting plate 7-6 is arranged on the X platform moving slider 7-5 and the X platform moving slide 7-4, the Y platform moving module 7-9 is arranged horizontally in the middle of the Y adjustment platform mounting plate 7-6, two groups of Y platform moving rails 7-7 are arranged, symmetrically arranged on both sides of the Y platform moving module 7-9, and close to the two side edges of the Y adjustment platform mounting plate 7-6, two Y platform moving sliders 7-8 are arranged on each Y platform moving slide 7-7, and the X platform moving module 7-3 is perpendicular to the Y platform moving module 7-9. The Y platform moving module 7-9 drives the Y platform moving slide 7-10 to move, thereby driving the dragging mechanism 3 connected to the Y platform moving slide 7-10 and the four Y platform moving sliders 7-8 to move in the Y-axis direction on the two parallel Y platform moving slides 7-7.

[0023] The dragging mechanism 3 is as follows Figure 6 and Figure 7 As shown, it includes: a dragging mechanism mounting plate 3-1, an adjustment drive motor 3-2, a dragging module bracket 3-3, an adjustment mechanism transmission screw 3-4, a connecting pin 3-5, a transmission connecting rod 3-6, an adjustable mechanism moving slide rail 3-7, an adjustable mechanism moving slider 3-8, a connecting bracket 3-9, a depth camera 3-10, a laser rangefinder 3-11, a dragging support plate 3-12, a positioning pin 3-13, a dragging module mounting plate 3-14, a dragging module 3-15, a guide plate 3-16, a supporting profile 3-17, a dragging slide rail 3-18, a clamping mechanism bracket 3-19, a clamping mechanism slider 3-20, a dragging slider 3-21, and a dragging moving slide 3-22.

[0024] like Figure 6As shown, the dragging mechanism mounting plate 3-1 is a rigid plane plate structure, which is installed on the Y platform moving slider 7-8 and the Y platform moving slide 7-10. The adjusting drive motor 3-2 is fixed at the middle of the right end of the dragging mechanism mounting plate 3-1. The right end of the adjusting mechanism transmission screw 3-4 is connected to the output shaft of the adjusting drive motor 3-2, and the left end is installed on the screw support seat, and the screw support seat is fixed on the dragging mechanism mounting plate 3-1. Two screw moving nuts are installed on the adjusting mechanism transmission screw 3-4, and the front and rear side surfaces of the screw moving nut are respectively connected to the inner ends of the transmission connecting rod 3-6 on the front and rear sides. The outer end of the transmission connecting rod 3-6 is equipped with a connecting pin 3-5, and the upper end of the connecting pin 3-5 is provided with a thread. The depth camera 3-10 is installed in the middle of the left end of the dragging mechanism mounting plate 3-1. The depth camera 3-10 is preferably the Daheng Image ME2C-503-23GM. The camera has a compact structure and a small appearance. It can work stably in various harsh environments and can meet the control requirements in complex industrial scenarios. The laser rangefinder 3-11 is installed above the depth camera 3-10. The laser rangefinder 3-11 is preferably the Shenpu Electric LM-Q300T. The laser rangefinder has high precision and strong interference resistance, and is compatible with various control systems such as industrial computers and PLCs, which is convenient for integrated control.

[0025] The drag module bracket 3-3 is provided with three in the left and right directions, respectively located above the adjustment drive motor 3-2 at the right end, the adjustment mechanism transmission screw 3-4 in the middle, and the laser rangefinder 3-11 at the left end; the four adjustable mechanism movable slide rails 3-7 are divided into two left and right columns, and are symmetrically installed on the drag mechanism mounting plate 3-1 with the adjustment mechanism transmission screw 3-4 as the center line, and each adjustable mechanism movable slide rail 3-7 is provided with two adjustable mechanism movable sliders 3-8, and each adjustable mechanism movable slider 3-8 is provided with a connecting bracket 3-9 on the upper part; the drag support plate 3-12 is a rigid rectangular flat plate structure, and two pieces are provided, which are symmetrically installed on the four connecting brackets 3-9 in the front and rear directions, respectively. In order to clearly show the mechanism under the drag support plate 3-12, Figure 6 Only the front drag support plate 3-12 is marked, and it is connected to the upper ends of the two connecting pins 3-5. A positioning pin 3-13 is installed at the front and rear outer ends of the left side of the drag support plate 3-12; Figure 7As shown, the drag module mounting plate 3-14 is stably fixed on the drag module bracket 3-3, and the drag module 3-15 is installed directly above the drag module mounting plate 3-14. The drag module 3-15 is a linear motion linear module, and a drag moving slide 3-22 is installed on the top; the support profile 3-17 is provided with two, one is installed at the front and rear edge positions of the two drag support plates 3-12 respectively, and a guide plate 3-16 is installed directly above the support profile 3-17. A dragging rail 3-18 parallel to the dragging module 3-15 is installed in the middle, and a dragging slider 3-21 is set on each dragging rail 3-18. A clamping mechanism bracket 3-19 is installed on the front and rear sides of the upper end of each dragging slider 3-21, and a clamping mechanism slider 3-20 is installed on the left and right sides of the upper end of the clamping mechanism bracket 3-19. The clamping mechanism slider 3-20 is connected to the sliding guide rail 2-19 at the bottom of the clamping mechanism 2 to realize the connection between the clamping mechanism 2 and the dragging mechanism 3. The adjusting drive motor 3-2 drives the adjusting mechanism transmission screw 3-4 to rotate, driving the two screw moving nuts installed on the screw to make left and right linear motions. The dragging support plate 3-12 is driven by the transmission connecting rod 3-6 connected to the screw moving nut to move toward or away from each other on the four adjustable mechanism moving slide rails 3-7, thereby changing the width of the dragging mechanism 3; the dragging module 3-15 drives the dragging moving slide 3-22 to move, thereby driving the clamping mechanism 2 connected to the dragging moving slide 3-22 and the clamping mechanism slider 3-20 on the clamping mechanism bracket 3-19 to move left and right on the dragging slide rail 3-18.

[0026] The anti-roll mechanism 4 is as follows Figure 8 As shown, it includes: an anti-roll mechanism driving motor 4-1, a seat bearing 4-2, a transmission gear 4-3, a support rack 4-4, a power shaft 4-5, a support plate 4-6, and an electromagnetic suction cup 4-7; the anti-roll mechanism driving motor 4-1 is fixed to one side of the lateral edge of the X-adjustment platform mounting plate 7-1, and the output shaft of the anti-roll mechanism driving motor 4-1 is connected to the power shaft 4-5 through a coupling, two seat bearings 4-2 are fixed on the X-adjustment platform mounting plate 7-1 and are located at both side ends of the power shaft 4-5, two transmission gears 4-3 are installed on the power shaft 4-5, and two support racks 4-4 are installed on the right side of the power shaft 4-5 and mesh with the transmission gear 4-3, and the axis of the support rack 4-4 is perpendicular to the upper surface of the X-adjustment platform mounting plate 7-1; the support plate 4-6 is installed at the bottom of the support rack 4-4, and the electromagnetic suction cup 4-7 is installed on the mobile vehicle body 6, as shown in FIG. Fig.10As shown, the upper side of the support plate 4-6 is directly opposite to the support plate 4-6, and is used to absorb the support plate 4-6 that has descended thereto. The anti-roll mechanism driving motor 4-1 drives the two transmission gears 4-3 on the power shaft 4-5 to rotate, thereby driving the support rack 4-4 meshing with the transmission gear 4-3 to make a linear motion, so that the support plate 4-6 installed at the bottom of the support rack 4-4 falls and is attracted by the electromagnetic suction cup 4-7 installed on the mobile vehicle body 6.

[0027] The mobile vehicle body 6 is as follows Fig. 9 and Fig.10 As shown, it includes: a moving vehicle body bottom plate 6-1, a reinforcing support rib 6-2, a steering wheel 6-3, a shock-absorbing wheel 6-4, a laser radar 6-5, a power supply 6-6, a lifting mechanism mounting plate 6-7, a moving vehicle body shell 6-8, and a moving vehicle body top plate 6-9; Fig. 9 As shown, four shock-absorbing wheels 6-4 are provided, which are divided into two groups on the left and right and are respectively provided at the four corners of the mobile body bottom plate 6-1. The two steering wheels 6-3 are respectively provided between each group of shock-absorbing wheels 6-4. The shock-absorbing wheels 6-4 and the steering wheels 6-3 are both fixed to the lower surface of the mobile body bottom plate 6-1. The laser radar 6-5 is provided at the diagonal of the mobile body bottom plate 6-1. The reinforcing support ribs 6-2 are provided on the left and right sides of the mobile body bottom plate 6-1. The lifting mechanism mounting plate 6-7 is provided directly above the two reinforcing support ribs 6-2. The power supply 6-6 is provided on the left side of the mobile body bottom plate 6-1. Fig.10 As shown, the mobile body shell 6-8 is rigidly fixed on the mobile body bottom plate 6-1, the mobile body top plate 6-9 is arranged on the top of the mobile body shell 6-8, an electromagnetic suction cup 4-7 is installed near the right edge of the mobile body top plate 6-9, and the middle of the mobile body top plate 6-9 is connected to the lifting mechanism mounting plate 6-7, the laser radar 6-5 is used to scan the spatial layout and map establishment inside the substation, and to navigate and avoid obstacles for the movement of the robot, and the steering wheel 6-3 is used for the robot's straight-line walking and rotation operations.

[0028] The lifting and rotating mechanism 5 comprises: a lifting mechanism and a rotating mechanism; the lifting mechanism is as follows Fig.11 As shown, it includes: a lifting mechanism bottom plate 5-1, a lifting drive mechanism 5-2, and a lifting mechanism top plate 5-3; the rotating mechanism is as shown in Fig.12As shown, it includes: a rotating mechanism mounting plate 5-4, a rotating drive motor 5-5, a power gear 5-6, a driven gear 5-7, and a slewing support bearing 5-8; the lifting mechanism bottom plate 5-1 is fixed on the lifting mechanism mounting plate 6-7, and the lifting drive mechanism 5-2 is a scissor-type drive mechanism; the rotating mechanism mounting plate 5-4 is arranged on the lifting mechanism top plate 5-3, the rotating drive motor 5-5 is arranged at the lower left side of the rotating mechanism mounting plate 5-4, the power gear 5-6 is arranged on the driving shaft of the rotating drive motor 5-5, the slewing support bearing 5-8 is arranged at the center of the rotating mechanism mounting plate 5-4, and is connected to the rotating mechanism mounting plate 5-4 through the inner ring mounting hole of the slewing support bearing 5-8, and the driven gear 5-7 is arranged on the slewing support bearing 5-8, and is connected to the slewing support bearing 5-8 through the inner ring mounting hole of the driven gear 5-7. The driven gear 5-7 is connected to the X-adjustment platform mounting plate 7-1 through the driven gear outer ring mounting hole. The power gear 5-6 drives the driven gear 5-7 to rotate under the drive of the rotation drive motor 5-5, thereby driving the X-adjustment platform mounting plate 7-1 connected to the driven gear 5-7 outer ring mounting hole to rotate, thereby realizing the relative rotation of the X-adjustment platform mounting plate 7-1 and the mobile body 6.

[0029] The identification device 1 is a bracket mechanism with a fixing clip, the lower end of which is fixed to the outer shell of the clamping mechanism 2 by the fixing clip, and a depth camera is installed on the upper end. The camera is preferably an Intel RealSense D435i depth camera, which is used to take pictures to obtain images of the instrument panel of the high-voltage switch cabinet. The camera uses an infrared optical system and stereo vision technology to capture three-dimensional information of the environment, can work under different lighting conditions, and can provide accurate position and motion data, which is used to judge the state of the high-voltage switch cabinet before taking out and returning the high-voltage circuit breaker to ensure operation safety.

[0030] Embodiment 1, when the robot enters the substation to be maintained, first control the mobile robot, scan the spatial layout inside the substation through the laser radar 6-5 set at the diagonal position on the mobile body bottom plate 6-1, build a two-dimensional map inside the substation with the help of the controller inside the mobile body 6, and plan the robot's moving route and working point on this map, complete the establishment of the two-dimensional map in the substation, and prepare for the subsequent autonomous navigation movement of the robot. Due to the differences in the model and size of the high-voltage switch cabinet in the substation, it is necessary to indicate the width information of the dragging mechanism 3 required for the current working point at each working point, so as to facilitate the subsequent accurate docking of the dragging mechanism 3 with the high-voltage switch cabinet. After the map is constructed, the robot can realize the straight-line walking and rotation of the robot by controlling the steering wheel 6-3, and complete the navigation movement before the robot works. In addition, during the movement of the robot, when the laser radar 6-5 scans an obstacle in the moving route, it will automatically decelerate and brake to realize the obstacle avoidance function and ensure the safety of the operation. The map construction, mobile navigation, obstacle avoidance, and controller technology in the embodiment are well-known technologies.

[0031] Embodiment 2: After the robot moves to the working point, the drive motor 3-2 is adjusted to drive the adjustment mechanism transmission screw 3-4 to rotate and drive the two screw moving nuts installed on the screw to make left and right linear motions. The drag support plate 3-12 moves toward or away from each other on the adjustable mechanism moving slide rail 3-7 through the transmission connecting rod 3-6 connected to the screw moving nut, and the width of the drag mechanism 3 is adjusted to the width corresponding to the current high-voltage switch cabinet. With the help of the depth camera 3-10 and the laser rangefinder 3-11 on the drag mechanism 3, the rectangular box on the high-voltage switch cabinet is photographed and the distance is measured, and the obtained information is uploaded to the industrial computer for analysis and processing, and the deviation between the current drag mechanism 3 and the cabinet is calculated, and then the height and angle deviations are compensated by the lifting and rotating mechanism 5, and the X-axis direction offset of the drag mechanism 3 is compensated by the X-platform moving module 7-3 of the XY adjustment platform 7, so as to achieve the precise alignment of the drag mechanism 3 and the high-voltage switch cabinet before taking out and returning the circuit breaker; after the alignment is completed, the XY The Y-platform moving module 7-9 of the adjustment platform 7 drives the dragging mechanism mounting plate 3-1 to move in the Y-axis direction on the Y-platform moving slide rail 7-7 to realize the precise docking of the dragging mechanism 3 with the high-voltage switch cabinet body, and insert the positioning pin 3-13 installed on the front and rear outer ends of the left side of the dragging support plate 3-12 into the positioning hole on the high-voltage switch cabinet to complete the precise docking of the dragging mechanism 3 with the high-voltage switch cabinet body before the high-voltage circuit breaker is removed and returned to its original position. The image recognition technology, position correction technology, and control technology in the embodiments are well-known technologies.

[0032] Embodiment 3, after completing the precise docking of the dragging mechanism 3 and the high-voltage switch cabinet body, the recognition device 1 obtains the image of the instrument panel of the high-voltage switch cabinet by taking a photo with the Intel RealSense D435i depth camera, and uploads the image to the industrial computer for analysis and processing, to determine whether the current state of the high-voltage switch cabinet meets the operating conditions. If the operating conditions are not met, the subsequent operation is suspended and the information is reported to the staff; if the subsequent operating conditions are met, the anti-roll mechanism drives the motor 4-1 to drive the two transmission gears 4-3 on the power shaft 4-5 to rotate, thereby driving the support rack 4-4 meshing with the transmission gear 4-3 to make a linear motion, so that the support plate 4-6 installed at the bottom of the support rack 4-4 falls, and engages with the electromagnetic suction cup 4-7 installed on the top plate 6-9 of the mobile body, so as to remove and return the high-voltage circuit breaker. The process plays an auxiliary supporting role to prevent the X-adjustment platform mounting plate 7-1 from tilting during the process of taking out and returning the high-voltage circuit breaker; after the support plate 4-6 is attracted to the electromagnetic suction cup 4-7, the driving drag module 3-15 drives the clamping mechanism 2 to move leftward on the dragging slide rail 3-18 to grab the high-voltage circuit breaker handle position. After the clamping mechanism 2 reaches the position of grabbing the high-voltage circuit breaker handle, the grabbing motor 2-9 drives the clamping claw pressure plate 2-11 connected to the lead screw moving nut on the output shaft of the grabbing motor 2-9 to perform a downward or upward movement on the pressure plate guide shaft 2-16, thereby driving the clamping claw 2-15 installed under the clamping claw pressure plate 2-11 to press the clamping claw pressure plate 2-11 or the clamping claw guide shaft 2-1 Under the action of the elastic force of the compression spring 4, the clamping claw pressure piece 2-11 and the clamping claw guide shaft 2-14 perform a downward or upward movement synchronously, thereby completing the grasping or releasing operation of the high-voltage circuit breaker handle; after completing the grasping of the high-voltage circuit breaker handle, the clamping motor 2-2 drives the clamping forward lead screw 2-6 and the clamping reverse lead screw 2-7 connected to the output shaft of the clamping motor 2-2 to rotate, thereby driving the two grasping tower seats 2-4 connected to the lead screw moving nut by means of the connecting block 2-8 to move toward or away from each other on the clamping guide rail 2-5, thereby driving the two clamping claws 2-15 sleeved on the clamping claw guide shaft 2-14 to move toward or away from each other, thereby completing the clamping unlocking or releasing locking operation of the high-voltage circuit breaker handle. After completing the unlocking operation of the high-voltage circuit breaker handle, the clamping mechanism 2 is driven to move to the right on the dragging slide rail 3-18 by driving the dragging module 3-15 to pull the high-voltage circuit breaker onto the robot body. After the high-voltage circuit breaker is completely pulled out of the high-voltage switch cabinet, the two clamping claws 2-15 are moved in opposite directions by the clamping motor 2-2 to complete the release and locking operation of the high-voltage circuit breaker handle, so that the lock tongue on the high-voltage circuit breaker equipment extends into the lock hole on the front and rear side facades of the guide plate 3-16 to ensure that the high-voltage circuit breaker and the robot will not move relative to each other during the subsequent transportation process. After completing the locking, the robot transfers the high-voltage circuit breaker to the maintenance station to complete the removal and handling operations of the high-voltage circuit breaker;The return operation of the high-voltage circuit breaker is the reverse operation of the removal of the high-voltage circuit breaker. The control and control system of each motor and module in the embodiment are well-known technologies. ;

[0033] Finally, it should be noted that the above 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, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0034] Advantages: The invention has an ingenious structure and precise operation, and can be applied to the transportation operation of high-voltage circuit breakers of various high-voltage switch cabinets, and can replace power workers to complete the transportation task of high-voltage circuit breakers.

Claims

1. A high voltage circuit breaker transport robot, It is characterized in that include: An identification device (1), a clamping mechanism (2), a dragging mechanism (3), an anti-roll mechanism (4), a lifting and rotating mechanism (5), a mobile body (6), and an XY adjustment platform (7); the mobile body (6) is arranged on the ground, the upper surface of the lifting and rotating mechanism (5) is a plane, and the lower part is installed on the mobile body (6), the XY adjustment platform (7) and the anti-roll mechanism (4) are respectively arranged at the left and right ends of the upper surface of the lifting and rotating mechanism (5), the dragging mechanism (3) is arranged above the XY adjustment platform (7) and the anti-roll mechanism (4) and are connected to each other, the clamping mechanism (2) is arranged above the right end of the dragging mechanism (3), and the identification device (1) is arranged in the middle of the top of the clamping mechanism (2).

2. A high-voltage circuit breaker transport robot according to claim 1, It is characterized in that The clamping mechanism (2) comprises: a clamping mechanism mounting plate (2-1), a clamping motor (2-2), a clamping slide block (2-3), a grabbing tower seat (2-4), a clamping guide rail (2-5), a clamping forward lead screw (2-6), a clamping reverse lead screw (2-7), a connecting block (2-8), a grabbing motor (2-9), a grabbing motor bracket (2-10), a clamping claw pressure plate (2-11), a pressure plate guide bearing (2-12), a baffle (2-13), a clamping claw guide shaft (2-14), a clamping claw (2-15), a pressure plate guide shaft (2-16), and a clamping claw guide bearing (2-17), a ball plunger (2-18), and a sliding guide rail (2-19); the clamping mechanism mounting plate (2-1) is a rectangular flat plate with a notch in the middle of the right end; the clamping motor (2-2) is fixedly mounted at the notch at the right end of the clamping mechanism mounting plate (2-1) through a motor mounting seat, the motor shaft output end is horizontally facing left and connected to the right end of the clamping forward lead screw (2-6); the clamping reverse lead screw (2-7) is connected to the clamping forward lead screw (2-6) through a coupling; four clamping guide rails (2-5) are provided and fixed to the clamping mechanism mounting plate (2- 1), two on the left and right are arranged in a line, and the four are symmetrical with the screw lever as the center line; the grab tower seat (2-4) is respectively arranged on the left and right parts of the clamping mechanism mounting plate (2-1), the grab tower seat (2-4) is a single-bevel trapezoidal frame plate structure, the bottoms of the front and rear side surfaces are respectively bent inwards, and two clamping slide blocks (2-3) are respectively fixed on each bent bottom surface, and the clamping slide blocks (2-3) are respectively installed on the clamping guide rails (2-5) at the corresponding positions to maintain left and right sliding connection; the two screw moving nuts are respectively arranged at the right end of the clamping forward screw (2-6) and the clamping reverse screw The left end of (2-7), the connecting block (2-8) is in the shape of an arch bridge, two of which are respectively pressed and fixed on two screw moving nuts, and the lower part of the connecting block (2-8) is fixed on the bent bottom surface of the grabbing tower seat (2-4); a grabbing motor bracket (2-10) with a rectangular frame plate structure is installed in the middle position of the front side of the clamping mechanism mounting plate (2-1), the grabbing motor (2-9) is vertically installed on the grabbing motor bracket (2-10), and the output shaft is vertically downward, and the output end of the grabbing motor (2-9) adopts a screw shaft, and a screw moving nut is installed on the shaft; The clamping jaw pressing plate (2-11) is in the shape of a rectangular horizontal strip, and a vertical circular through hole is respectively arranged on the left, middle and right planes of the horizontal strip, and a long slot through hole is respectively arranged between the left and middle through holes and between the middle and right through holes. The output shaft of the grabbing motor (2-9) passes downward through the circular through hole in the middle of the clamping jaw pressing plate (2-11), and the lead screw moving nut on the output shaft is arranged below the clamping jaw pressing plate (2-11); a through hole is respectively arranged on the left and right sides of the clamping jaw pressing plate (2-11). The tablet pressing guide shaft (2-16) is located above the clamping claw tablet pressing (2-11), and each is provided with a tablet pressing guide bearing (2-12). The lower end of the tablet pressing guide shaft (2-16) is fixed on the clamping mechanism mounting plate (2-1), and the upper end is provided with a baffle (2-13). A compression spring is provided between the tablet pressing guide bearing (2-12) and the baffle (2-13). Two clamping claw guide shafts (2-14) are provided inside each grabbing tower seat (2-4). The jaw guide shaft (2-14) is located below the jaw pressing plate (2-11) in the long slot through hole of the jaw pressing plate (2-11), and each has a jaw guide bearing (2-17); a pair of jaws (2-15) are arranged on the left and right, the front end of which is an L-shaped hook with a vertical downward direction, and the rear end is a horizontal plane, and two vertical round through holes are arranged on the horizontal plane. The jaw guide shaft (2-14) passes through the jaw guide bearing (2-17) and the round through hole of the jaw (2-15) in sequence, and is fixed to the bottom surface of the grab tower seat (2-4). A compression spring is arranged between the rear end of the clamping claw (2-15) and the bottom surface of the grab tower seat (2-4); two mounting holes are arranged on the left and right sides of the clamping claw guide bearing (2-17) for connecting the bearing and the clamping claw (2-15), and two mounting holes are arranged at the front and rear sides for installing the ball plunger (2-18), and the upper end of the ball plunger (2-18) protrudes from the upper surface of the clamping claw guide bearing (2-17); two parallel sliding guide rails (2-19) are respectively arranged on the left and right sides of the bottom of the clamping mechanism mounting plate (2-1).

3. A high-voltage circuit breaker transport robot according to claim 1, It is characterized in that The XY adjustment platform (7) comprises: an X adjustment platform mounting plate (7-1), an X platform moving slide rail (7-2), an X platform moving module (7-3), an X platform moving slide table (7-4), an X platform moving slider (7-5), a Y adjustment platform mounting plate (7-6), a Y platform moving slide rail (7-7), a Y platform moving slider (7-8), a Y platform moving module (7-9), and a Y platform moving slide table (7-10); the X adjustment platform mounting plate (7-1) is arranged on the lifting and rotating mechanism (5); the X platform moving module (7-3) is longitudinally arranged at a left position of the X adjustment platform mounting plate (7-1); two groups of X platform moving slide rails (7-2) are arranged in parallel and symmetrically on both sides of the X platform moving module (7-3); and two X platform moving sliders (7-5) are arranged on each X platform moving slide rail (7-2); The Y adjustment platform mounting plate (7-6) is arranged on the X platform moving slider (7-5) and the X platform moving slide (7-4); the Y platform moving module (7-9) is arranged horizontally in the middle of the Y adjustment platform mounting plate (7-6); two groups of Y platform moving rails (7-7) are arranged symmetrically on both sides of the Y platform moving module (7-9) and close to the edges of both sides of the Y adjustment platform mounting plate (7-6); two Y platform moving sliders (7-8) are arranged on each Y platform moving rail (7-7); and the X platform moving module (7-3) is perpendicular to the Y platform moving module (7-9).

4. A high-voltage circuit breaker transport robot according to claim 1, It is characterized in that The dragging mechanism (3) comprises: a dragging mechanism mounting plate (3-1), an adjustment drive motor (3-2), a dragging module bracket (3-3), an adjustment mechanism transmission screw (3-4), a connecting pin (3-5), a transmission connecting rod (3-6), an adjustable mechanism movable slide rail (3-7), an adjustable mechanism movable slider (3-8), a connecting bracket (3-9), a depth camera (3-10), a laser rangefinder (3-11), a dragging support plate (3-12), a positioning pin (3-13), a dragging module mounting plate (3-14), a dragging module (3-15), a guide plate (3-16), a supporting profile (3-17), a dragging slide rail (3-18), a clamping mechanism bracket (3-19), a clamping mechanism slider (3-20), a dragging slider (3-21), and a dragging movable slide table (3-22); the dragging mechanism mounting plate (3-1) is a rigid flat plate. The panel structure is installed on the Y platform moving slider (7-8) and the Y platform moving slide (7-10); the adjusting drive motor (3-2) is fixed to the middle of the right end of the drag mechanism mounting plate (3-1); the right end of the adjusting mechanism transmission lead screw (3-4) is connected to the output shaft of the adjusting drive motor (3-2); the left end is installed on the lead screw support seat; the lead screw support seat is fixed on the drag mechanism mounting plate (3-1); two lead screw moving nuts are installed on the adjusting mechanism transmission lead screw (3-4); the front and rear side surfaces of the lead screw moving nut are respectively connected to the inner ends of the transmission connecting rods (3-6) on the front and rear sides; the outer end of the transmission connecting rod (3-6) is equipped with a connecting pin (3-5); the upper end of the connecting pin (3-5) is provided with a thread; the depth camera (3-10) is installed in the middle of the left end of the drag mechanism mounting plate (3-1); and the laser rangefinder (3-11) is installed above the depth camera (3-10); The drag module bracket (3-3) is provided with three brackets in the left and right directions, and is respectively located above the adjustment drive motor (3-2) at the right end, the adjustment mechanism transmission screw (3-4) in the middle, and the laser rangefinder (3-11) at the left end; the four adjustable mechanism movable slide rails (3-7) are divided into two left and right columns, and are symmetrically installed on the drag mechanism mounting plate (3-1) with the adjustment mechanism transmission screw (3-4) as the center line, and each adjustable mechanism movable slide rail (3-7) is provided with two adjustable mechanism movable sliders (3-8 ), each adjustable mechanism moving slider (3-8) is provided with a connecting bracket (3-9) on its upper part; the dragging support plate (3-12) is a rigid rectangular flat plate structure, two of which are provided, symmetrically mounted on the four connecting brackets (3-9) front and back, and connected to the upper ends of the two connecting pins (3-5) at the same time; a positioning pin (3-13) is provided on the front and rear outer ends of the left side of the dragging support plate (3-12); the dragging module mounting plate (3-14) is stably fixed on the dragging module bracket (3-3) A drag module (3-15) is installed just above the drag module installation plate (3-14), the drag module (3-15) is a linear motion linear module, and a drag moving slide (3-22) is installed above it; two support profiles (3-17) are provided, one of which is installed at the front and rear edge positions of the two drag support plates (3-12), a guide plate (3-16) is installed just above the support profile (3-17), and one is installed in the middle of each drag support plate (3-12) and is parallel to the drag module (3-15). A dragging slide rail (3-18) is arranged on each dragging slide rail (3-18), a dragging slider (3-21) is arranged on each dragging slide rail (3-18), a clamping mechanism bracket (3-19) is arranged on the front and rear sides of the upper end of each dragging slider (3-21), a clamping mechanism slider (3-20) is arranged on the left and right sides of the upper end of the clamping mechanism bracket (3-19), and the clamping mechanism slider (3-20) is connected to the sliding guide rail (2-19) at the bottom of the clamping mechanism (2), so as to realize the connection between the clamping mechanism (2) and the dragging mechanism (3).

5. A high-voltage circuit breaker transport robot according to claim 1, It is characterized in that The anti-roll mechanism (4) comprises: an anti-roll mechanism driving motor (4-1), a seat bearing (4-2), a transmission gear (4-3), a support rack (4-4), a power shaft (4-5), a support plate (4-6), and an electromagnetic suction cup (4-7); the anti-roll mechanism driving motor (4-1) is fixed to one side of a lateral edge of an X-adjustment platform mounting plate (7-1); an output shaft of the anti-roll mechanism driving motor (4-1) is connected to the power shaft (4-5) via a coupling; two seat bearings (4-2) are fixed to the X-adjustment platform mounting plate (7-1); Located at both side ends of a power shaft (4-5), two transmission gears (4-3) are mounted on the power shaft (4-5), two support racks (4-4) are mounted on the right side of the power shaft (4-5) and mesh with the transmission gears (4-3), and the axes of the support racks (4-4) are perpendicular to the upper surface of the X-adjustment platform mounting plate (7-1); the support plate (4-6) is mounted at the bottom of the support racks (4-4), and the electromagnetic suction cup (4-7) is mounted on the mobile vehicle (6), with its upper portion facing the support plate (4-6) and used to absorb the support plate (4-6) that has descended thereto.

6. The high-voltage circuit breaker transport robot according to claim 1, wherein the mobile vehicle body (6) include: A mobile body bottom plate (6-1), a reinforcing support rib (6-2), a steering wheel (6-3), a shock absorbing wheel (6-4), a laser radar (6-5), a power supply (6-6), a lifting mechanism mounting plate (6-7), a mobile body shell (6-8), and a mobile body top plate (6-9); four shock absorbing wheels (6-4) are provided, divided into two left and right groups and respectively provided at the four corners of the mobile body bottom plate (6-1); the two steering wheels (6-3) are respectively provided between each group of shock absorbing wheels (6-4); the shock absorbing wheel (6-4) and the steering wheel (6-3) are both fixed to the lower surface of the mobile body bottom plate (6-1); the laser radar (6-5) is provided on the mobile body The reinforcing support ribs (6-2) are arranged on the left and right sides of the mobile body bottom plate (6-1) at the diagonal sides of the bottom plate (6-1), the lifting mechanism mounting plate (6-7) is arranged directly above the two reinforcing support ribs (6-2), and the power supply (6-6) is arranged on the left side of the mobile body bottom plate (6-1); the mobile body shell (6-8) is rigidly fixed on the mobile body bottom plate (6-1), the mobile body top plate (6-9) is arranged on the top of the mobile body shell (6-8), an electromagnetic suction cup (4-7) is installed near the edge of the right side of the mobile body top plate (6-9), and the middle of the mobile body top plate (6-9) is connected to the lifting mechanism mounting plate (6-7).

7. The high-voltage circuit breaker transport robot according to claim 1, wherein the lifting and rotating mechanism (5) include: Lifting mechanism, rotating mechanism; The lifting mechanism comprises: a lifting mechanism bottom plate (5-1), a lifting drive mechanism (5-2), and a lifting mechanism top plate (5-3); the rotating mechanism comprises: a rotating mechanism mounting plate (5-4), a rotating drive motor (5-5), a power gear (5-6), a driven gear (5-7), and a slewing bearing (5-8); the lifting mechanism bottom plate (5-1) is fixed on the lifting mechanism mounting plate (6-7), and the lifting drive mechanism (5-2) is a scissor-type drive mechanism; the rotating mechanism mounting plate (5-4) is arranged on the lifting mechanism top plate (5-3), and the rotating drive motor (5-5) is arranged At the lower left side of the rotating mechanism mounting plate (5-4), the power gear (5-6) is arranged on the driving shaft of the rotating driving motor (5-5); the slewing bearing (5-8) is arranged at the center of the rotating mechanism mounting plate (5-4) and is connected to the rotating mechanism mounting plate (5-4) via the inner ring mounting hole of the slewing bearing (5-8); the driven gear (5-7) is arranged on the slewing bearing (5-8) and is connected to the slewing bearing (5-8) via the inner ring mounting hole of the driven gear (5-7); and the driven gear (5-7) is connected to the X adjustment platform mounting plate (7-1) via the outer ring mounting hole of the driven gear.

8. According to the high-voltage circuit breaker transport robot of claim 1, the identification device (1) is a bracket mechanism with a fixing clamp, the lower end of which is fixed to the outer shell of the clamping mechanism (2) by the fixing clamp, and a depth camera is installed at the upper end.

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