Circuit breaker arc extinguish chamber centering assembly method

Abstract

The invention relates to the technical field of power system control, in particular to a centering assembly method for an arc extinguish chamber of a circuit breaker, which comprises the following steps of: establishing a coordinate system and a coordinate system fitting technology by using 3D vision, and detecting the axes of a movable end and a static end, the axis of a static arc contact and actual deviations of a porcelain bushing by using a high-precision 3D vision technology; and fitting and centering the axis after calculation, automatically calculating the coaxiality deviation value, automatically judging whether the matching meets the requirements of a product assembly process or not, and enabling the assembly result to reach the optimal assembly by rotating the porcelain sleeve and the static end assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of power system control, and specifically to a centering assembly method for the arc extinguishing chamber of a circuit breaker. Background Art

[0002] A high-voltage circuit breaker is an electrical equipment used for control and protection in a power system. It is a mechanical switching device that can close, carry, and interrupt current under normal circuit conditions and can close, carry, and interrupt current within a specified time under specified abnormal circuit conditions (such as circuit conditions in the case of a short circuit). Its performance and reliability are directly related to the overall efficiency and safety of the power system.

[0003] The arc extinguishing chamber of a circuit breaker is the core component of a high-voltage circuit breaker, usually composed of a moving contact part, a static contact part, and a porcelain bushing. For the integrated assembly of the moving contact part and the static contact part of a high-voltage circuit breaker, the upright state is generally adopted at present, and the artificial stacking method is used to layer by layer. After the assembly is completed, a crane is required to install the moving contact part and the static contact part at both ends of the porcelain bushing and fasten them with bolts.

[0004] To ensure the coaxiality requirement between the moving contact and the static contact, the coaxiality adjustment, that is, "centering", needs to be completed before fastening. For the vertical porcelain bushing assembly centering, since it is not visible through the inside of the porcelain bushing, it is necessary to move the moving contact part and the static contact part to be connected and closed for deviation correction, thereby indirectly ensuring their coaxiality. However, the centering effect completely depends on the machining and assembly accuracy of the centering tooling, and this centering method has high requirements for the operator's skills and poor operation stability. Summary of the Invention

[0005] Aiming at the problem that it is not easy to center the moving and static contacts of a high-voltage circuit breaker during manual assembly in the prior art, the present invention provides a centering assembly method for the arc extinguishing chamber of a circuit breaker.

[0006] The present invention is realized through the following technical solutions: A centering assembly method for the arc extinguishing chamber of a circuit breaker includes the following steps: Step 1, use a 3D vision system to respectively perform center detection on the moving side, bushing, and static contact parts of the arc extinguishing chamber of the circuit breaker, and obtain the corresponding moving end coordinate system 12, bushing coordinate system 34, and static end coordinate system 56; Step 2, fit the moving end coordinate system 12 and the bushing coordinate system 34, and perform the first assembly under the condition of meeting the minimum deviation to obtain a first combination including the moving side and the bushing of the arc extinguishing chamber of the circuit breaker; Step 3, on the first combination, fit the moving end coordinate system 12 and the static end coordinate system 56, and perform the second assembly under the condition of meeting the minimum deviation to obtain the finished product.

[0007] Preferably, in step 1, the process of establishing the moving-end coordinate system 12 is as follows: First, establish the first coordinate system 1 at the moving-end flange and the second coordinate system 2 at the detection nozzle throat diameter. Then, establish the X-Y axis plane coordinate with the upper end face of the moving-end flange, and use the connection line between the inner hole axis of the upper end face of the moving-end flange and the axis at the nozzle throat diameter as the Z axis to fit and form the moving-end coordinate system 12.

[0008] Preferably, in step 1, the process of establishing the bushing coordinate system 34 is as follows: First, establish the third coordinate system 3 at the lower flange of the bushing and the fourth coordinate system 4 at the upper flange of the bushing. Then, establish the X-Y axis plane coordinate with the end face of the lower flange of the bushing, and use the connection line between the inner hole axis of the lower end face of the bushing flange and the inner hole axis of the lower end face of the bushing flange as the Z axis to fit and form the bushing coordinate system 34.

[0009] Preferably, in step 1, the process of establishing the static-end coordinate system 56 is as follows: First, establish the fifth coordinate system 5 at the static-end flange and the sixth coordinate system 6 at the static arc contact. Then, establish the X-Y axis plane coordinate with the upper end face of the static-end flange, and use the connection line between the inner hole axis of the lower end face of the static-end flange and the axis of the end face of the static arc contact as the Z axis to fit and form the static-end coordinate system 56.

[0010] Preferably, in step 2, the specific operation of fitting the moving-end coordinate system 12 and the bushing coordinate system 34 is as follows: Coincide the Z axis of the moving-end coordinate system 12 with the Z axis of the bushing coordinate system 34 to ensure that the nozzle is coincident with the central axis of the bushing.

[0011] Preferably, in step 3, the operation of fitting the moving-end coordinate system 12 and the static-end coordinate system 56 is as follows: Coincide the Z axis of the moving-end coordinate system 12 with the Z axis of the static-end coordinate system 56 to ensure that the nozzle is coincident with the axis of the static arc contact.

[0012] Preferably, in steps 2 and 3, the minimum deviation when the Z axes coincide is at least 0.2 mm.

[0013] A centering assembly system for a circuit breaker arc extinguishing chamber includes a 3D vision system, a coordinate system establishment module, a coordinate system fitting module, and a robotic arm control module. The 3D vision system is used to obtain the image information of the moving end, static end, and bushing of the circuit breaker. The coordinate system establishment module is used to establish the coordinate systems of the moving end, static end, and bushing of the circuit breaker. The coordinate system fitting module is used to fit the moving-end coordinate system, static-end coordinate system, and bushing coordinate system. The robotic arm control module is used to move the corresponding components for centering assembly according to the fitting result.

[0014] An electronic device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the centering assembly method for the circuit breaker arc extinguishing chamber are implemented.

[0015] A storage medium stores a computer program which, when executed by a processor, implements the steps of the centering assembly method for the circuit breaker arc extinguishing chamber described above.

[0016] Compared with the prior art, the present invention has the following beneficial effects: A centering assembly method for a circuit breaker arc extinguishing chamber of the present invention detects the dynamic and static end axles, the static arc contact axle, the bushing and the theoretical deviation through 3D vision technology, then fits the centering axle through calculation, and finally rotates the dynamic side and the static end components to make the assembly result reach the optimal assembly. Under the premise that there are inherent errors in the components, it is an assembly method to find the minimum coaxiality deviation between the dynamic side, the bushing and the static end. This method has advantages such as high precision and repeatability, and can ensure the assembly requirements of the minimum error coaxiality of the two components of the dynamic side contact and the static end contact. At the same time, it realizes the cooperation between a special machine and a robot to automatically complete the centering assembly of the arc extinguishing chamber, replaces manual operation, improves the technical content of the assembly operation, and realizes the consistency of the assembly and the stability of the product quality.

[0017] Further, a coordinate system of the dynamic side component is established by applying 3D vision, a coordinate system is established at the position of the nozzle and the dynamic side flange, and the coordinate system of the dynamic side component is fitted.

[0018] Further, a coordinate system is established at the positions of the upper and lower flange bolt holes of the porcelain bushing by applying 3D vision, the coordinate system of the bushing component is fitted, and the dynamic side component is adjusted by rotating the component to maximize the coincidence of the axle center of the nozzle throat diameter part and the axle center of the bushing.

[0019] Further, a coordinate system of the static end component is established by applying 3D vision, a coordinate system is established at the position of the static contact and the static end flange, and the coordinate system of the static end component is fitted. The static end component is adjusted by rotating the component to maximize the coincidence of the static contact axle center and the bushing axle center. Description of the Drawings

[0020] Figure 1 is a flow chart of a centering assembly method for a circuit breaker arc extinguishing chamber of the present invention; Figure 2 is a specific flow chart of a centering assembly method for a circuit breaker arc extinguishing chamber of the present invention; Figure 3 is a model diagram of the dynamic end on the assembly equipment during the execution of a centering assembly method for a circuit breaker arc extinguishing chamber of the present invention; Figure 4 is a model diagram of the dynamic end and the bushing during the execution of a centering assembly method for a circuit breaker arc extinguishing chamber of the present invention; Figure 5 is a model diagram of the dynamic end and the bushing during the execution of a centering assembly method for a circuit breaker arc extinguishing chamber of the present invention.

[0021] In the figure, 1 is the base; 2 is the static end positioning platform; 3 is the vision manipulator; 4 is the auxiliary pawl; 5 is the fastening manipulator; 6 is the 3D vision system; 7 is the moving end; 8 is the sleeve; 9 is the static end. Specific embodiments

[0022] The following further elaborates on the present invention in conjunction with specific embodiments, which is an explanation rather than a limitation of the present invention.

[0023] The present invention discloses a method for centering and assembling the arc extinguishing chamber of a circuit breaker. Referring to Figure 1 、 2 , it includes the following steps: Step 1: Use the 3D vision system to respectively perform center detection on the moving side, sleeve, and static side contact components of the circuit breaker arc extinguishing chamber, and obtain the corresponding moving end coordinate system 12, sleeve coordinate system 34, and static end coordinate system 56. Specifically: The establishment process of the moving end coordinate system 12 is as follows: First, establish the first coordinate system 1 at the moving end flange and the second coordinate system 2 at the detected nozzle throat diameter; then, establish the X - Y axis plane coordinate with the upper end face of the moving end flange, and use the connection line between the inner hole axis of the upper end face of the moving end flange and the axis of the nozzle throat diameter as the Z axis to fit and form the moving end coordinate system 12.

[0024] The establishment process of the sleeve coordinate system 34 is as follows: First, establish the third coordinate system 3 at the lower flange of the sleeve and the fourth coordinate system 4 at the upper flange of the sleeve; then, establish the X - Y axis plane coordinate with the lower end face of the sleeve flange, and use the connection line between the inner hole axis of the lower end face of the sleeve flange and the inner hole axis of the lower end face of the sleeve flange as the Z axis to fit and form the sleeve coordinate system 34.

[0025] The establishment process of the static end coordinate system 56 is as follows: First, establish the fifth coordinate system 5 at the static end flange and the sixth coordinate system 6 at the static arc contact; then, establish the X - Y axis plane coordinate with the upper end face of the static end flange, and use the connection line between the inner hole axis of the lower end face of the static end flange and the axis of the end face of the static arc contact as the Z axis to fit and form the static end coordinate system 56.

[0026] Step 2: Fit the moving end coordinate system 12 and the sleeve coordinate system 34, that is, make the Z axis of the moving end coordinate system 12 coincide with the Z axis of the sleeve coordinate system 34, ensure that the nozzle is aligned with the central axis of the sleeve, and perform the first assembly under the condition of meeting the minimum deviation to obtain the first combination including the moving side of the circuit breaker arc extinguishing chamber and the sleeve. Specifically, Step 3: On the first combination, fit the moving end coordinate system 12 and the static end coordinate system 56, that is, make the Z axis of the moving end coordinate system 12 coincide with the Z axis of the static end coordinate system 56, ensure that the nozzle is aligned with the axis of the static arc contact, and perform the second assembly under the condition of meeting the minimum deviation to obtain the finished product.

[0027] Among them, in Steps 2 and 3, the minimum deviation when the Z - axes coincide is at least 0.2 mm. Due to product processing or assembly errors, it can be adjusted to the minimum deviation position for assembly by rotating the platform of the base servo motor.

[0028] A centering assembly method for a circuit breaker arc extinguishing chamber according to the present invention uses 3D vision to establish a coordinate system and coordinate system fitting technology, and adopts high - precision 3D vision technology to detect the axles of the moving and static ends, the axle of the static arc contactor and the porcelain bushing, as well as the actual deviation; then, the centering axle is fitted through calculation, the coaxiality deviation amount is automatically calculated, and it is automatically determined whether the fit meets the product assembly process requirements. The assembly result is optimized by rotating the porcelain bushing and the static end assembly.

[0029] Taking a certain circuit breaker arc extinguishing chamber as an example, referring to Figure 3 、 4 、5, the specific implementation steps of a centering assembly method for a circuit breaker arc extinguishing chamber according to the present invention are as follows: (1) The vision manipulator 3 with the 3D vision system 6 identifies the hole positions of the moving - side flange. The vision manipulator 3 grabs the moving end 7 and places it on the moving - end installation platform. The vision shares the data with the moving - end platform, and the moving - end platform rotates the platform through the servo motor to the positioning pin - hole to fix the moving - side flange.

[0030] (2) The vision manipulator 3 with the 3D vision system 6 identifies the position of the axis of the moving - side nozzle throat diameter and records the coordinates of the axis of the moving - end nozzle throat diameter.

[0031] (3) The truss manipulator grabs the porcelain bushing 8, identifies the position information of the porcelain bottle screw holes through the 3D vision system 6, and then transmits the information to the moving - side assembly platform 2. After the moving - side assembly platform 2 rotates to the position where the sleeve holes are aligned, the porcelain bushing is lowered, and the auxiliary pawl 4 holds the porcelain bushing tightly. The fastening manipulator 5 uses screws to fasten the screws of the moving - side flange one by one according to the process requirements. During the process, it is tightened according to the required torque value, and the torque value is uploaded to the system.

[0032] (4) The vision manipulator 3 with the 3D vision system 6 identifies the hole positions of the upper - end - face flange of the porcelain bushing 8 and records the coordinates of the upper - end - face flange holes of the porcelain bushing.

[0033] (5) The vision manipulator 3 with the 3D vision system 6 identifies the static arc contactor at the static end and records the coordinates of the axis of the static arc contactor at the static end.

[0034] (6) The manipulator 3 grabs the static end 9 and places it on the auxiliary pawl 4. The visual manipulator 3 with a 3D vision system 6 identifies the hole positions of the static end flange. The manipulator changes its gripper and clamps it on the outer circle of the static end flange. According to the recorded axial coordinates of the dynamic end nozzle throat diameter, the manipulator 3 fits the axis of the static arc contact with the axis of the nozzle throat diameter. After the axis fitting is aligned, the information is transmitted to the dynamic side assembly platform 2. After the dynamic side assembly platform 2 rotates to the position where the holes of the static end flange are aligned, the static end 9 is lowered, and the fastening manipulator 5 uses screws to fasten the static end flange one by one according to the process requirements. During the process, it is tightened according to the required torque value, and the torque value is uploaded to the system.

[0035] A centering assembly method for the arc extinguishing chamber of a circuit breaker according to the present invention uses 3D vision to establish a coordinate system and coordinate system fitting technology, and adopts high-precision 3D vision technology to detect the axes of the dynamic and static ends, the axis of the static arc contact, the porcelain bushing, and the actual deviation. That is, a coordinate system is established at the position of the nozzle and the dynamic side flange, the coordinate system of the dynamic side components is fitted, a coordinate system is established at the positions of the upper and lower flange bolt holes of the porcelain bushing, the coordinate system of the bushing component is fitted, and the dynamic side components are adjusted by rotating the components to maximize the coincidence of the axis of the nozzle throat diameter part and the axis of the bushing. A coordinate system is established at the position of the static contact and the static side flange, and the coordinate system of the static side components is fitted. The static side components are adjusted by rotating the components to maximize the coincidence of the axis of the static contact and the axis of the bushing. Then, the centering axis is fitted after calculation, the coaxiality deviation amount is automatically calculated, and it is automatically determined whether the fit meets the product assembly process requirements. The assembly result is optimized by rotating the porcelain bushing and the static side components. This method has advantages such as high precision and repeatability, and can ensure the assembly requirements of the minimum error coaxiality of the two components of the dynamic side contact and the static side contact. At the same time, it can realize the cooperative operation of a special machine and a robot, automatically complete the centering assembly of the arc extinguishing chamber, replace manual operation, improve the technical content of the assembly operation, and realize the consistency of the assembly and the stability of the product quality.

[0036] The present invention also discloses a centering assembly system for the arc extinguishing chamber of a circuit breaker, including a 3D vision system, a coordinate system establishment module, a coordinate system fitting module, and a robotic arm control module. The 3D vision system is used to obtain the image information of the dynamic end, static end, and bushing of the circuit breaker. The coordinate system establishment module is used to establish the coordinate systems of the dynamic end, static end, and bushing of the circuit breaker. The coordinate system fitting module is used to fit the coordinate systems of the dynamic end, static end, and bushing. The robotic arm control module is used to move the corresponding components according to the fitting result for centering assembly.

[0037] The present invention also discloses an electronic device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the centering assembly method for the arc extinguishing chamber of the circuit breaker are implemented.

[0038] The present invention also discloses a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the centering assembly method of the circuit breaker arc extinguishing chamber are realized.

[0039] The above are only the preferred embodiments of the present invention, and are not used to limit the technical solutions of the present invention in any way. Those skilled in the art should understand that without departing from the spirit and principles of the present invention, the technical solutions can also be subject to several simple modifications and substitutions, and these modifications and substitutions also fall within the protection scope covered by the claims.

Claims

1. A centering assembly method for the arc extinguishing chamber of a circuit breaker, characterized in that, Including the following steps: Step 1: Use a 3D vision system to respectively perform center detection on the moving side of the circuit breaker arc extinguishing chamber, the bushing, and the static side contact component, and obtain the corresponding moving end coordinate system 12, bushing coordinate system 34, and static end coordinate system 56; Step 2: Fit the moving end coordinate system 12 and the bushing coordinate system 34, and perform the first assembly under the condition of meeting the minimum deviation to obtain the first assembly including the moving side of the circuit breaker arc extinguishing chamber and the bushing; Step 3: On the first assembly, fit the moving end coordinate system 12 and the static end coordinate system 56, and perform the second assembly under the condition of meeting the minimum deviation to obtain the finished product and complete the assembly.

2. The centering assembly method of the circuit breaker arc extinguishing chamber according to claim 1, characterized in that, In Step 1, the process of establishing the moving end coordinate system 12 is as follows: First, establish the first coordinate system 1 at the moving end flange, and establish the second coordinate system 2 at the detected nozzle throat diameter; then, establish the X - Y axis plane coordinate with the upper end face of the moving end flange, and use the connection line between the inner hole axis of the upper end face of the moving end flange and the axis of the nozzle throat diameter as the Z axis to fit and form the moving end coordinate system 12.

3. The centering and assembling method of the arc extinguishing chamber of the circuit breaker according to claim 1, characterized in that, In Step 1, the process of establishing the bushing coordinate system 34 is as follows: First, establish the third coordinate system 3 at the lower flange of the bushing, and establish the fourth coordinate system 4 at the upper flange of the bushing; then, establish the X - Y axis plane coordinate with the end face of the lower flange of the bushing, and use the connection line between the inner hole axis of the lower end face of the bushing flange and the inner hole axis of the lower end face of the bushing flange as the Z axis to fit and form the bushing coordinate system 34.

4. The method for centering and assembling the arc extinguishing chamber of the circuit breaker according to claim 1, characterized in that, In Step 1, the process of establishing the static end coordinate system 56 is as follows: First, establish the fifth coordinate system 5 at the static end flange, and establish the sixth coordinate system 6 at the static arc contact; then, establish the X - Y axis plane coordinate with the upper end face of the static end flange, and use the connection line between the inner hole axis of the lower end face of the static end flange and the axis of the end face of the static arc contact as the Z axis to fit and form the static end coordinate system 56.

5. The centering and assembling method of the arc extinguishing chamber of the circuit breaker according to claim 1, characterized in that, Step 2: The specific operation of fitting the moving end coordinate system 12 and the bushing coordinate system 34 is: Coincide the Z axis of the moving end coordinate system 12 with the Z axis of the bushing coordinate system 34 to ensure that the nozzle is coincident with the central axis of the bushing.

6. The method for centering and assembling the arc extinguishing chamber of a circuit breaker according to claim 1, wherein, Step 3: The operation of fitting the moving end coordinate system 12 and the static end coordinate system 56 is: Coincide the Z axis of the moving end coordinate system 12 with the Z axis of the static end coordinate system 56 to ensure that the nozzle is coincident with the axis of the static arc contact.

7. The method for centering and assembling the arc extinguishing chamber of a circuit breaker according to claim 1, characterized in that In Step 2 and Step 3, the minimum deviation when the Z axes coincide is at least 0.2 mm.

8. An alignment and assembly system for the arc extinguishing chamber of a circuit breaker, characterized in that, Including a 3D vision system, a coordinate system establishment module, a coordinate system fitting module, and a robotic arm control module. The 3D vision system is used to obtain the image information of the moving end, static end, and bushing of the circuit breaker. The coordinate system establishment module is used to establish the coordinate systems of the moving end, static end, and bushing of the circuit breaker. The coordinate system fitting module is used to fit the moving end coordinate system, static end coordinate system, and bushing coordinate system. The robotic arm control module is used to move the corresponding components according to the fitting result for centering assembly.

9. An electronic device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the circuit breaker arc extinguishing chamber centering assembly method according to any one of claims 1 to 7.

10. A storage medium, on which a computer program is stored, characterized in that, When the computer program is executed by the processor, it implements the steps of the circuit breaker arc extinguishing chamber centering assembly method according to any one of claims 1 to 7.

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