UWB centrally installed switchgear self-following intelligent maintenance trolley based on bionic operation robot

Abstract

The invention relates to the technical field of high-voltage power distribution equipment, in particular to a UWB centrally installed switchgear self-following intelligent maintenance trolley based on a bionic operation robot, which comprises a trolley body, a UWB wireless intelligent following system is installed on the trolley body, and the UWB wireless intelligent following system comprises a first UWB base station, a second UWB base station and a positioning tag. The first UWB base station and the second UWB base station are both arranged at the top of the vehicle body, the positioning tag is arranged on a target operator needing to be positioned, and the first UWB base station and the second UWB base station are both in wireless communication connection with the positioning tag; the first UWB base station and the second UWB base station are both connected with a main controller, the main controller is arranged in the vehicle body and connected with a driving device, the driving device comprises a motor driver, and the main controller is connected with the motor driver. The trolley can automatically follow a target operator to carry out automatic operation such as advancing, retreating and turning, a user can conveniently use and transfer the trolley, and then the automation degree of the centrally installed switchgear intelligent maintenance trolley is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of high-voltage power distribution equipment, and particularly to an ultra-wideband (UWB) medium-voltage switchgear self-following intelligent maintenance trolley based on a bionic operation robot. Background Art

[0002] With the rapid development of the power grid, the number of 10 kV devices has increased significantly. The 10 kV devices in many old substations are gradually being renovated, and medium-voltage switchgear is used more and more widely. When maintaining the circuit breaker in the medium-voltage switchgear, the circuit breaker needs to be pulled out of the cabinet body and placed on a special trolley for maintenance and test work.

[0003] The current bionic operation robot is also equipped with a split-type medium-voltage switchgear intelligent maintenance trolley. The operation robot body is used as the main robot, and the split-type medium-voltage switchgear intelligent maintenance trolley is used as the slave robot. The master and slave cooperate with each other. The medium-voltage switchgear intelligent maintenance trolley mainly simulates 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 move in front of the medium-voltage switchgear. The operation robot finely adjusts the locking device to link the trolley and the medium-voltage switchgear 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. can be met. By using the visual positioning system (VLS) technology on the operation robot, the operation robot system can accurately identify the operation object, making the trolley system have better flexibility as a whole. The automatically lifting maintenance platform of the medium-voltage switchgear intelligent maintenance trolley can realize intelligent maintenance operation of the switch, and the movement is more accurate and reliable, providing sufficient maintenance space for manual maintenance operation.

[0004] A medium-voltage switchgear intelligent maintenance trolley body with the patent number 201620177136.4. The medium-voltage switchgear intelligent maintenance trolley body includes a chassis, a gantry support frame, a lifting servo motor and a lifting frame. The chassis has a chassis frame, a pair of drive wheels and a pair of universal wheels respectively connected to the front side and the rear side of the chassis frame. Each drive wheel is driven by a drive 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 fixed to the top plate. The above-mentioned lifting servo motor is fixed to the motor support. Each rear side of the two columns is provided with a lifting guide rail. The above-mentioned lifting frame is composed of a front plate on the front side of the two columns, a rear plate on the rear side of the two columns, and a connecting frame fixed between the front and rear plates. Each side of the rear plate is provided with two sliders. The lifting frame is movably connected to the two side lifting guide rails by using the two sliders on the rear plate. Each inner side of the two columns is provided with a ball screw group. Each ball screw of the ball screw group is supported by upper and lower bearing seats fixed to the column. The front plate of the lifting frame is fixed to the nut of the ball screw group. The lifting servo motor drives the two ball screw groups to run synchronously through a chain drive, and the two ball screw groups jointly drive the lifting frame to lift along the two side lifting guide rails.

[0005] The in - cabinet intelligent maintenance trolley of the above - mentioned patent is manually operated to move forward, backward, turn, etc. during the transfer process, which is not convenient to use, has a low degree of automation, and inaccurate positioning.

[0006] In view of this, the present application proposes a UWB in - cabinet self - following intelligent maintenance trolley based on a bionic operation robot. Summary of the Invention

[0007] The purpose of the present invention is to provide a UWB in - cabinet self - following intelligent maintenance trolley based on a bionic operation robot in view of the deficiencies of the prior art.

[0008] To solve the above - mentioned technical problems, the following technical solutions are adopted: The UWB in - cabinet self - following intelligent maintenance trolley based on a bionic operation robot includes a vehicle body. An UWB wireless intelligent following system is installed on the vehicle body. The UWB wireless intelligent following system includes a first UWB base station, a second UWB base station and a positioning tag. The first UWB base station and the second UWB base station are both arranged on the top of the vehicle body. The first UWB base station is arranged on the left side of the vehicle body, and the second UWB base station is arranged on the right side of the vehicle body. The positioning tag is set on the target operator to be positioned. The first UWB base station, the second UWB base station and the positioning tag are all connected by wireless communication. Both the first UWB base station and the second UWB base station are connected to a main controller. The main controller is arranged inside the vehicle body. The main controller is connected to a driving device. The driving device includes a motor driver, and the main controller is connected to the motor driver.

[0009] Further, a chassis is provided at the bottom of the vehicle body. A pair of differential wheels are provided at the front side of the bottom of the chassis, and a pair of universal wheels are provided at the rear side of the bottom of the chassis. Both of the pair of differential wheels are connected to the driving device.

[0010] Further, the driving device further includes a driving motor, a driving shaft, a driving gear, a driven gear and a transmission shaft. The driving motor is fixedly installed at the bottom of the chassis. The driving motor is connected to the driving shaft. The driving gear is installed on the driving shaft. The driving gear meshes with the driven gear. The transmission shaft is sleeved inside the driven gear, and the differential wheel is sleeved on the transmission shaft.

[0011] Further, the driving device further includes a coupling. One end of the coupling is connected to the output shaft of the driving motor, and the other end of the coupling is connected to the driving shaft.

[0012] Furthermore, the driving device further includes a driving bearing mount, which 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, and the second driving bearing mount is installed on the other side of the driving shaft. Bearings are provided in both the first driving bearing mount and the second driving bearing mount.

[0013] Furthermore, the driving device further includes a driven bearing mount, which 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, and the second driven bearing mount is installed on the other side of the transmission shaft. Bearings are provided in both the first driven bearing mount and the second driven bearing mount.

[0014] Furthermore, the chassis includes a left chassis plate and a right chassis plate. The left chassis plate is located on the left side of the chassis, and universal wheels and differential wheels located 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 universal wheels and differential wheels located on the right side of the maintenance trolley are installed on the right chassis plate.

[0015] Furthermore, the chassis further includes a rear chassis plate and a middle 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.

[0016] 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.

[0017] Furthermore, support rib plates are provided in the left chassis plate and the right chassis plate.

[0018] Due to the adoption of the above technical solutions, the following beneficial effects are achieved: The present invention relates to a UWB medium-voltage switchgear self-following intelligent maintenance trolley based on a bionic operation robot. A set of UWB wireless intelligent following system is provided on the vehicle body of the trolley. The first UWB base station and the second UWB base station of the UWB wireless intelligent following system are both wirelessly communicatively connected to the positioning tag, and both the first UWB base station and the second UWB base station are connected to a main controller, and the main controller is connected to a motor driver of a driving device. Wireless signal receivers and transmitters are installed on both the first UWB base station and the second UWB base station, and wire signal receivers and transmitters are also installed on the positioning tag. Through the first UWB base station, the second UWB base station and the positioning tag, the distance between the first UWB base station and the positioning tag can be determined, and the distance between the second UWB base station and the positioning tag can also be determined. The first UWB base station, the second UWB base station and the positioning tag form a triangle, so as to determine the position of the positioning tag. Furthermore, a distance threshold between the first UWB base station, the second UWB base station and the positioning tag is set through the main controller, so that the distances among the first UWB base station, the second UWB base station and the positioning tag are controlled within the distance threshold. Once the distance threshold is exceeded, the main controller controls the motor driver of the driving device to start working, driving the trolley to move in the direction of the positioning tag, so as to realize that the trolley can automatically follow the target operator for forward, backward, turning and other automated operations, which is convenient for users to use and transfer, and further improves the automation degree of the medium-voltage switchgear intelligent maintenance trolley. 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 schematic structural diagram of a UWB medium-voltage switchgear self-following intelligent maintenance trolley based on a bionic operation robot according to an embodiment of the present invention.

[0020] Figure 2 FIG. is a front view structural schematic diagram of a UWB medium-voltage switchgear self-following intelligent maintenance trolley based on a bionic operation robot according to an embodiment of the present invention.

[0021] Figure 3 FIG. is a rear view structural schematic diagram of a UWB medium-voltage switchgear self-following intelligent maintenance trolley based on a bionic operation robot according to an embodiment of the present invention.

[0022] Figure 4 FIG. is a bottom view structural schematic diagram of a UWB medium-voltage switchgear self-following intelligent maintenance trolley based on a bionic operation robot according to an embodiment of the present invention.

[0023] Figure 5 FIG. is a structural schematic diagram of a driving device according to an embodiment of the present invention.

[0024] Figure 6 FIG. is a schematic diagram of the control principle of a UWB wireless intelligent following system according to an embodiment of the present invention.

[0025] In the figure: 1 - vehicle body; 2 - UWB wireless intelligent following system; 3 - chassis; 4 - differential wheel; 5 - omnidirectional wheel; 6 - drive device; 21 - first UWB base station; 22 - second UWB base station; 23 - positioning tag; 61 - drive motor; 62 - drive shaft; 63 - driving gear; 64 - driven gear; 65 - transmission shaft; 66 - motor driver; 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 mode

[0026] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying 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 description of well-known structures and technologies is omitted to avoid unnecessarily confusing the concepts of the present invention.

[0027] As Figures 1 to 6 As shown, the UWB medium-voltage switchgear self-following intelligent maintenance trolley based on a bionic operation robot according to an embodiment of the present invention includes a vehicle body 1, and a UWB wireless intelligent following system 2 is installed on the vehicle body 1. The UWB wireless intelligent following system 2 includes a first UWB base station 21, a second UWB base station 22 and a positioning tag 23. The first UWB base station 21 and the second UWB base station 22 are both arranged on the top of the vehicle body 1, and the first UWB base station 21 is arranged on the left side of the vehicle body 1, and the second UWB base station 22 is arranged on the right side of the vehicle body 1. The positioning tag 23 is arranged on the target operator to be positioned. The first UWB base station 21 and the second UWB base station 22 are both wirelessly communicatively connected to the positioning tag 23. Both the first UWB base station 21 and the second UWB base station 22 are connected to a main controller. The main controller is arranged inside the vehicle body 1. The main controller is connected to a drive device 6. The drive device 6 includes a motor driver 66. The main controller is connected to the motor driver 66.

[0028] A set of UWB wireless intelligent following system 2 is installed on the vehicle body 1 of the trolley. The first UWB base station 21 and the second UWB base station 22 of the UWB wireless intelligent following system 2 are both wirelessly connected to the positioning tag 23. Both the first UWB base station 21 and the second UWB base station 22 are connected to a main controller, and the main controller is connected to the motor driver 66 of the driving device 6. Wireless signal receivers and transmitters are installed on both the first UWB base station 21 and the second UWB base station 22, and wire signal receivers and transmitters are also installed on the positioning tag 23. Through the first UWB base station 21, the second UWB base station 22, and the positioning tag 23, the distance between the first UWB base station 21 and the positioning tag 23 can be determined, and the distance between the second UWB base station 22 and the positioning tag 23 can also be determined. The first UWB base station 21, the second UWB base station 22, and the positioning tag 23 form a triangle, thereby determining the position of the positioning tag 23. Furthermore, by setting the distance threshold between the first UWB base station 21, the second UWB base station 22, and the positioning tag 23 through the main controller, the distances among the first UWB base station 21, the second UWB base station 22, and the positioning tag 23 are controlled within the distance threshold. In this embodiment, the threshold is set to 0.5m - 1m. Once the distance threshold is exceeded, the main controller controls the motor driver 66 of the driving device 6 to start working, driving the trolley to move in the direction of the positioning tag 23, so as to realize the automatic operations of the trolley such as moving forward, backward, and turning following the target operator autonomously, which is convenient for users to use and transfer, and further improves the automation degree of the intelligent maintenance trolley for medium-voltage switchgear cabinets.

[0029] See Figure 4 and Figure 5 As a further description of this embodiment, a chassis 3 is provided at the bottom of the vehicle body 1. A pair of differential wheels 4 are provided at the front side of the bottom of the chassis 3, and a pair of universal wheels 5 are provided at the rear side of the bottom of the chassis 3. Both of the pair of differential wheels 4 are connected to the driving device 6.

[0030] See Figure 4 and Figure 5 As a further description of this embodiment, the driving device 6 further 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 at the bottom of the chassis 3. The driving motor 61 is connected to the driving shaft 62. A driving gear 63 is installed on the driving shaft 62. The driving gear 63 is meshed and connected with a driven gear 64. A transmission shaft 65 is sleeved and installed inside the driven gear 64, and a differential wheel 4 is sleeved and installed on the transmission shaft 65.

[0031] See Figure 4 and Figure 5, As a further description 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 the functions of buffering, damping 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.

[0032] See Figure 4 and Figure 5 , As a further description of this embodiment, the driving device 6 further includes a driving bearing mounting seat 68. The driving bearing mounting seat 68 includes a first driving bearing mounting seat 681 and a second driving bearing mounting seat 682. The first driving bearing mounting seat 681 is installed on one side of the driving shaft 62, and the second driving bearing mounting seat 682 is installed on the other side of the driving shaft 62. Bearings are provided in both the first driving bearing mounting seat 681 and the second driving bearing mounting seat 682. By installing bearing mounting seats 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 rotation accuracy of the driving shaft 62.

[0033] See Figure 4 and Figure 5 , As a further description of this embodiment, the driving device 6 further includes a driven bearing mounting seat 69. The driven bearing mounting seat 69 includes a first driven bearing mounting seat 691 and a second driven bearing mounting seat 692. The first driven bearing mounting seat 691 is installed on one side of the transmission shaft 65, and the second driven bearing mounting seat 692 is installed on the other side of the transmission shaft 65. Bearings are provided in both the first driven bearing mounting seat 691 and the second driven bearing mounting seat 692. By installing bearing mounting seats at both ends of the transmission shaft 65 respectively, it is convenient for the bearings to better support the transmission shaft 65, reduce the friction coefficient during the movement of the driving shaft 62, and ensure the rotation accuracy of the driving shaft 62.

[0034] Furthermore, the chassis includes a left chassis plate and a right chassis plate. The left chassis plate is located on the left side of the chassis, and universal wheels and differential wheels located on the left side of the maintenance cart are installed on the left chassis plate; the right chassis plate is located on the right side of the chassis, and universal wheels and differential wheels located on the right side of the maintenance cart are installed on the right chassis plate.

[0035] Further, the chassis further includes a rear chassis plate and an intermediate chassis plate. The rear chassis plate is disposed 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 intermediate chassis plate is disposed between the middle portions of the left chassis plate and the right chassis plate, and the driving device is installed on the intermediate chassis plate.

[0036] Further, the vertical cross-sections of the left chassis plate, the right chassis plate, and the intermediate chassis plate are all U-shaped. Spaces for installing universal wheels, differential wheels, and the driving device are formed in the inner grooves of the U-shaped left chassis plate, right chassis plate, and intermediate chassis plate, which is convenient for better layout and design of the universal wheels, differential wheels, and the driving device.

[0037] Further, support rib plates are provided inside the left chassis plate and the right chassis plate. The support strength of the chassis is improved by setting the support rib plates.

[0038] Working principle of the present invention: A set of UWB wireless intelligent following system 2 is provided on the vehicle body 1 of the trolley. The first UWB base station 21 and the second UWB base station 22 of the UWB wireless intelligent following system 2 are both wirelessly communicatively connected to the positioning tag 23, and the first UWB base station 21 and the second UWB base station 22 are both connected to a main controller, and the main controller is connected to the motor driver 66 of the driving device 6. Wireless signal receivers and transmitters are installed on both the first UWB base station 21 and the second UWB base station 22, and wire signal receivers and transmitters are also installed on the positioning tag 23. Through the first UWB base station 21, the second UWB base station 22, and the positioning tag 23, the distance between the first UWB base station 21 and the positioning tag 23 can be determined, and the distance between the second UWB base station 22 and the positioning tag 23 can also be determined. The first UWB base station 21, the second UWB base station 22, and the positioning tag 23 form a triangle, thereby determining the position of the positioning tag 23. Furthermore, by setting the distance threshold between the first UWB base station 21, the second UWB base station 22, and the positioning tag 23 through the main controller, the distances among the first UWB base station 21, the second UWB base station 22, and the positioning tag 23 are controlled within the distance threshold. Once the distance threshold is exceeded, the main controller controls the motor driver 66 of the driving device 6 to start working, driving the trolley to move in the direction of the positioning tag 23. Since the differential wheel 4 connected to the driving device 6 has both steering function and power output, the trolley can easily perform movements such as forward, backward, and turning. Thus, the trolley can autonomously follow the target operator to perform automated operations such as forward, backward, and turning, which is convenient for users to use and transfer, and further improves the automation degree of the intelligent maintenance trolley for medium-voltage switchgear.

[0039] 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 substantially the same technical problems and achieve substantially the same technical effects are all covered by the protection scope of the present invention.

Claims

1. A UWB self-following intelligent maintenance vehicle for a central cabinet based on a bionic operating robot, including a vehicle body, characterized in that: The vehicle body is equipped with a UWB wireless intelligent following system, which includes a first UWB base station, a second UWB base station and a positioning tag. The first UWB base station and the second UWB base station are both arranged on the top of the vehicle body, and the first UWB base station is arranged on the left side of the vehicle body, and the second UWB base station is arranged on the right side of the vehicle body. The positioning tag is arranged on the target operator to be located, and the first UWB base station and the second UWB base station are connected to the positioning tag through wireless communication; The first UWB base station and the second UWB base station are both connected to a main controller, the main controller is arranged in the vehicle body, the main controller is connected to a driving device, the driving device includes a motor driver, and the main controller is connected to the motor driver.

2. The UWB self-following intelligent maintenance vehicle for central cabinet based on bionic operating robot according to claim 1 is characterized by: A chassis is provided at the bottom of the vehicle body, a pair of differential wheels is provided at the front side of the bottom of the chassis, a pair of universal wheels is provided at the rear side of the bottom of the chassis, and both of the pair of differential wheels are connected to the driving device.

3. The UWB self-following intelligent maintenance vehicle for central cabinet based on bionic operating robot according to claim 2 is characterized by: The driving device also includes a driving motor, a driving shaft, a driving gear, a driven gear and a transmission shaft. The driving motor is fixedly installed at the bottom of the chassis, the driving motor is connected to the driving shaft, the driving shaft is equipped with a driving gear, the driving gear is meshingly connected with the driven gear, the driven gear is sleeved with a transmission shaft, and the transmission shaft is sleeved with a differential wheel.

4. The UWB self-following intelligent maintenance vehicle for central cabinet based on bionic operating robot according to claim 3 is characterized by: 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.

5. The UWB self-following intelligent maintenance vehicle for central cabinets based on a bionic operating robot according to claim 4 is characterized in that: 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.

6. The UWB self-following intelligent maintenance vehicle for central cabinet based on bionic operating robot according to claim 4 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.

7. The UWB self-following intelligent maintenance vehicle for central cabinet based on bionic operating robot according to claim 2 is characterized by: The chassis comprises a left chassis plate and a right 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 a universal wheel and a differential wheel located on the right side of the maintenance trolley are installed on the right chassis plate.

8. The UWB self-following intelligent maintenance vehicle for central cabinet based on bionic operating robot according to claim 7 is characterized by: The chassis also includes a rear chassis plate and a middle 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.

9. The UWB self-following intelligent maintenance vehicle for central cabinet based on bionic operating robot according to claim 8 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.

10. The UWB self-following intelligent maintenance vehicle for central cabinet based on bionic operating robot according to claim 7 is characterized by: Support ribs are arranged inside the left chassis plate and the right chassis plate.

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