Movable intelligent platform for mounting GIS (Gas Insulated Switchgear) tubular bus flange

Abstract

The invention relates to a movable intelligent platform for mounting a GIS (Gas Insulated Switchgear) tubular bus flange. A gripper is mounted above a top plate of the movable platform; the visual docking system is clamped on the fixed end cylinder to cooperate with the whole equipment to realize intellectualization; the movable platform top plate is used for transition connection between the top of the equipment and the mounting surface of the clamping part; a guide rail is mounted on a middle plate of the moving device for controlling Y-axis movement of the device; a guide rail is mounted on a bottom plate of the moving device for controlling X-axis movement of the device; the disc steering device is located above the bearing plate, connected with the movable platform bottom plate and used for overall steering. The tilt angle sensor is used for monitoring the horizontal tilt angle of the moving assembly during working; and when deviation occurs, the to-be-installed barrel rotates around the axis through the rotating arm, and accurate butt joint is achieved. Intelligent functions of automatic angle and position calibration, automatic butt joint and the like can be achieved, the installation precision and the working efficiency are greatly improved, the installation quality is improved, the labor intensity is reduced, and the operation risk is reduced.

Description

TECHNICAL FIELD

[0001] The application relates to the field of GIS pipe mother flange installation, in particular to a movable intelligent platform for GIS pipe mother flange installation. BACKGROUND

[0002] In high-voltage electrical equipment, gas insulated switchgear (GIS) occupies an important position, is a key core equipment for power transmission and transformation, has the advantages of compact structure, small occupation space, no influence from the outside environment, high operation reliability, long maintenance period and the like, since its appearance in the 1960s, the use of GIS has been increasing, but there are many problems in the butt joint installation of the GIS pipe mother flange.

[0003] 1. High labor intensity of personnel and safety risks

[0004] In the butt joint installation process of the GIS pipe mother flange, the indoor narrow space is usually manually carried on the shoulder and lifted by hand due to the lack of automatic installation equipment, since the equipment is large in size and heavy in weight, the labor intensity of personnel is high, and sometimes temporary scaffolding and the like are used for assistance, and safety risks exist.

[0005] 2. Existing installation methods affect product installation quality

[0006] In the case of sufficient space, installation mainly depends on lifting by a lifting tool, and manual moving, aligning, pulling a rope or prying a rod. This manual operation method has a large error, and the flange bolt hole is prone to misalignment that is not easy to detect. When the two flanges are butted and contacted, the problem is found when the bolts are installed, and at this time, adjusting the flange alignment will cause friction of the contacted surface, and even damage, and further cause dust and impurities to enter the sealing surface into the cylinder, resulting in insulation failure and the like, and affecting the product operation quality.

[0007] 3. Problems existing in existing installation equipment

[0008] In recent years, some companies have developed devices for the butt joint installation of the GIS pipe mother flange, but in actual application, there are a series of problems such as insufficient stability, insufficient positioning accuracy and imperfect functions.

[0009] 4. Existing equipment lacks complete automation and intelligent functions

[0010] The existing devices have imperfect functions, low automation degree, and still need manual intervention in the installation process, and lack full-automatic intelligent butt joint functions. SUMMARY

[0011] The purpose of this application is to provide a mobile intelligent platform for installing GIS pipe flanges. The device can realize intelligent functions such as automatic angle and position calibration and automatic docking, which can greatly improve installation accuracy and work efficiency, improve installation quality, reduce labor intensity and reduce operation risks.

[0012] To achieve the above objectives, this application provides the following technical solution:

[0013] This application provides a mobile intelligent platform for installing GIS pipe flanges, including a gripper, a vision system, a fixed-end cylinder, a rotating arm, a tilt sensor, a middle plate of the mobile platform, a bottom plate of the mobile platform, a disc steering device, a top plate of the mobile platform, and a load-bearing plate.

[0014] The gripper is installed above the top plate of the mobile platform to clamp and lock the pipe nut; the vision docking system is clamped on the fixed end cylinder to achieve intelligent operation of the whole equipment; the top plate of the mobile platform is used for the transition connection between the top of the equipment and the mounting surface of the clamping part; the guide rail is installed on the middle plate of the mobile device to control the movement of the device along the Y-axis; the guide rail is installed on the bottom plate of the mobile device to control the movement of the device along the X-axis; the disc steering device is located above the bearing plate and connected to the bottom plate of the mobile platform for overall steering; the tilt sensor is used to monitor the horizontal tilt angle of the mobile component during operation; the vision docking system is directly installed on the flange face of the cylinder, in sets of three, for monitoring the angle after the clamping device grabs the pipe nut. When a deviation occurs, the rotating arm rotates the cylinder to be installed around the axis to achieve precise docking.

[0015] It also includes hydraulic outriggers, a set of wheels, an environmental monitoring device, and a remote control device. The wheels are used to support the movement and steering of the entire equipment, and can move to a suitable position according to the on-site construction scenario. The hydraulic outriggers are used to lift the equipment as a whole before it starts working. The environmental monitoring device is placed at the edge of the top plate of the mobile device to provide a good installation environment for the pipe docking installation. The tilt sensor transmits the monitoring data synchronously to the control system, and then the control system controls the lifting and lowering of the hydraulic outriggers to ensure that the top plate components are level and do not tilt. The remote control device is used for the operation control of the equipment, including the movement and lifting of the equipment.

[0016] It also includes a hydraulic lifting device, a servo motor, a central data processor, a main control device, a toolbox, and lifting rings. The hydraulic lifting device is installed below the support plate to support the support plate and realize the lifting of the support plate. The servo motor is installed below the rotating arm to drive the rotating arm. The central data processor is installed on the top plate of the mobile platform. A base assembly for supporting the hydraulic lifting device is also provided below the support plate. The main control device and toolbox are provided on the base assembly. The hydraulic outriggers are installed at the bottom of the base assembly. Lifting rings for facilitating the hoisting of the platform are also provided on the side wall of the base assembly.

[0017] The main control device is equipped with a lithium power supply to provide power to the entire platform, and a hydraulic pump station is also installed in the main control device to provide power to the hydraulic outriggers of the hydraulic lifting device.

[0018] The visual docking system includes a laser rangefinder receiving plate, a receiving base, a camera module, a laser distance sensor, a visual support plate, and positioning holes. Two sets of camera modules are installed, and three sets of laser distance sensors are provided. The receiving base is installed on the fixed end of the cylinder near the cylinder to be installed. The laser rangefinder receiving plate is located above the receiving base. The visual support plate is installed on the end of the cylinder to be installed near the fixed end of the cylinder. The laser distance sensor and the camera module are installed on the visual support plate.

[0019] The gripper includes a mechanical gripper assembly, a clamping motor, and a mounting bracket assembly.

[0020] The clamping motor is used for clamping power output; the mechanical gripper assembly is mounted on the mounting bracket assembly and is used for clamping action driven by the clamping motor.

[0021] The middle plate of the mobile platform includes a mobile platform servo motor, a mounting plate, a mobile slide rail, a transmission screw, and a limit block. The mobile platform servo motor provides power output for the Y-axis movement of the plate surface. The mounting plate is used to connect with the top plate of the upper part of the mobile platform, and the transmission screw is used to transmit power. The mounting plate is located above the mobile slide rail and connected to it. It can push the push plate to realize the Y-axis movement of the mobile component.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1. Intelligent platforms reduce the labor intensity of personnel.

[0024] A dedicated intelligent docking device has been designed for GIS pipe installation to meet the intelligent docking installation requirements of GIS flanges. This makes the GIS flange docking installation more specialized, automated, and intelligent, requiring only one person to complete the docking operation, greatly reducing costs and alleviating the labor intensity of personnel.

[0025] 2. Improve product integration efficiency and quality

[0026] The device is equipped with environmental monitoring capabilities, ensuring a favorable docking environment before docking; it can achieve height adjustment to meet the needs of operations at different heights; it can achieve high-precision movement with multiple degrees of freedom to meet the installation requirements of different positions; it greatly shortens the docking and installation time and improves docking efficiency.

[0027] 3. This structural design offers higher safety.

[0028] This design uses a hydraulic column lifting system equipped with a tilt sensor. It automatically compensates for tilting or uneven ground to ensure a level surface, making it more stable than existing devices. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application;

[0031] Figure 2 This is a schematic diagram of the vision system according to an embodiment of this application;

[0032] Figure 3 This is a schematic diagram of the gripper structure in an embodiment of the application;

[0033] Figure 4 This is a schematic diagram of the mobile platform intermediate board structure according to an embodiment of this application;

[0034] Figure 5 This is a schematic diagram of the operation of the gripper and rotating arm in an embodiment of this application;

[0035] Figure 6 This is a schematic diagram of the overall structure of an embodiment of this application. Detailed Implementation

[0036] The technical solutions of the embodiments of this application will now be described with reference to the accompanying drawings. It should be noted that similar reference numerals and letters in the following drawings indicate similar items; therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0037] The terms “comprising,” “including,” or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0038] like Figures 1 to 6As shown in the figure, this application provides a mobile intelligent platform for installing GIS pipe flanges, including a gripper 21, a vision system 1, a fixed end cylinder 2, a rotating arm 3, a tilt sensor 4, a mobile platform middle plate 5, a mobile platform bottom plate 6, a disc steering device 7, a mobile platform top plate 11, and a support plate 12.

[0039] The gripper 21 is installed above the top plate 11 of the mobile platform to clamp and lock the pipe nut; the vision docking system 1 is clamped on the fixed end cylinder 2 to achieve intelligent operation of the whole equipment; the top plate 11 of the mobile platform is used for the transition connection between the top of the equipment and the mounting surface of the clamping part; the guide rail is installed on the middle plate 5 of the mobile device to control the movement of the device along the Y axis; the guide rail is installed on the bottom plate 6 of the mobile device to control the movement of the device along the X axis; the disc steering device 7 is located above the bearing plate 12 and connected to the bottom plate 6 of the mobile platform for overall steering; the tilt sensor 4 is used to monitor the horizontal tilt angle of the mobile component during operation; the vision docking system 1 is directly installed on the flange surface of the cylinder, in sets of three, for monitoring the angle after the clamping device grabs the pipe nut. When a deviation occurs, the rotating arm 3 rotates the cylinder 20 to be installed around the axis to achieve precise docking.

[0040] The entire system uses a lithium-ion power supply to provide power to the servo motors in the lifting servo motor 9 and the walking wheel set 17, as well as the control system and various sensors. The hydraulic pump station provides lifting power to the hydraulic outriggers 15. The walking wheel set 17 supports the movement and steering of the entire device and can move autonomously to a suitable position according to the on-site construction scenario under human control. The hydraulic outriggers 15 are used to lift the equipment before operation to prevent tilting due to uneven ground. When using them, pads must be added under the outriggers to increase the bearing area. The environmental monitoring device 18 is located at the edge of the top plate of the mobile device to monitor the temperature during installation. Environmental parameters such as humidity and dust particles are uploaded to the display screen in a timely manner to provide a good installation environment for the pipe and socket connection installation; the tilt sensor 4 is used to monitor the horizontal tilt angle of the moving component during operation, and can transmit the monitoring data synchronously to the control system, which then controls the lifting and lowering of the hydraulic outrigger 15 to ensure that the top plate component is level and does not tilt; the remote control device 19 is used for the operation control of the equipment, including the movement and lifting of the equipment; the display panel of the remote control device 19 can display walking data, lifting data, plane level data, and angle deflection data, allowing the operator to keep abreast of the equipment's working status.

[0041] It also includes hydraulic outriggers 15, a set of traveling wheels 17, an environmental monitoring device 18, and a remote control device 19. The set of traveling wheels 17 is used to support the movement and steering of the entire equipment and can move to a suitable position according to the on-site construction scenario. The hydraulic outriggers 15 are used to lift the equipment as a whole before it is put into operation. The environmental monitoring device 18 is placed at the edge of the top plate of the mobile device to provide a good installation environment for the pipe docking installation. The tilt sensor 4 transmits the monitoring data synchronously to the control system, and then the control system controls the lifting and lowering of the hydraulic outriggers 15 to ensure that the top plate assembly is level and does not tilt. The remote control device 19 is used for the operation control of the equipment, including the movement and lifting of the equipment.

[0042] It also includes a hydraulic lifting device 8, a servo motor 9, a central data processor 10, a main control device 13, a toolbox 14, and lifting rings 16. The hydraulic lifting device 8 is installed below the support plate 12 to support the support plate 12 and realize the lifting of the support plate 12. The servo motor 9 is installed below the rotating arm 3 to drive the rotating arm 3. The central data processor 10 is installed on the top plate 11 of the mobile platform. A base assembly for supporting the hydraulic lifting device 8 is also provided below the support plate 12. The main control device 13 and the toolbox 14 are provided on the base assembly. The hydraulic outriggers 15 are installed at the bottom of the base assembly. Lifting rings 16 are also provided on the side wall of the base assembly to facilitate the hoisting of the platform.

[0043] The main control device 13 is equipped with a lithium power supply to provide power to the entire platform, and a hydraulic pump station is also equipped in the main control device 13 to provide power to the hydraulic outriggers 15 of the hydraulic lifting device 8.

[0044] The visual docking system 1 includes a laser ranging receiver 101, a receiving base 102, a camera module 103, a laser distance sensor 104, a visual support plate 105, and positioning holes 106. Two sets of camera modules 103 are installed, and three sets of laser distance sensors 104 are provided. The receiving base 102 is installed on the end of the fixed end cylinder 2 near the cylinder 20 to be installed. The laser ranging receiver 101 is located above the receiving base 102. The visual support plate 105 is installed on the end of the cylinder 20 to be installed near the fixed end cylinder 2. The laser distance sensor 104 and the camera module 103 are installed on the visual support plate 105.

[0045] The gripper 21 includes a mechanical gripper assembly 2101, a clamping motor 2102, and a mounting bracket assembly 2103.

[0046] The clamping motor 2102 is used for clamping power output; the mechanical gripper assembly 2101 is mounted on the mounting bracket assembly 2103 and is used for clamping action under the drive of the clamping motor 2102.

[0047] The intermediate plate 5 of the mobile platform includes a mobile platform servo motor 501, a mounting plate 502, a mobile slide rail 503, a transmission screw 504, and a limit block 505. The mobile platform servo motor 501 provides power output for the Y-axis movement of the plate surface. The mounting plate 502 is used to connect with the upper part of the mobile platform top plate 11. The transmission screw 504 is used to transmit power. The mounting plate 502 is located above the mobile slide rail 503 and connected to it. It can push the push plate to realize the Y-axis movement of the mobile component.

[0048] Working principle:

[0049] First, operate the remote control device 19 to move the walking wheel set 17 to a suitable position and then stop. Then, operate the remote control device 19 to start the hydraulic pump station motor and raise the hydraulic outriggers 15 to lift the entire equipment upwards until the hydraulic outriggers 15 provide overall support for the equipment.

[0050] Control the remote control device 19 to start the lifting device. The entire equipment is raised through the hydraulic lifting device 8. Stop when the flange of the supporting component pipe and the connecting flange are basically at the same level.

[0051] The tilt sensor 4 and vision docking system 1 monitor the working status online and feed the data back to the control system. When a deviation occurs, an alarm is triggered in real time. When the bearing surface tilts, the tilt sensor 4 controls the hydraulic outrigger 15 through the control system to automatically adjust the working surface to be horizontal.

[0052] When preparing to connect the GIS main unit, such as Figure 6 As shown, after the mechanical gripper assembly clamps the remote control device 19 and clamps the mechanical gripper assembly, the data fed back by the vision docking system 1 is used to automatically align the holes around the axis via the rotating arm.

[0053] Advantages of this invention: 1. The intelligent platform reduces the labor intensity of personnel.

[0054] A dedicated intelligent docking device has been designed for GIS pipe installation to meet the intelligent docking installation requirements of GIS flanges. This makes the GIS flange docking installation more specialized, automated, and intelligent, requiring only one person to complete the docking operation, greatly reducing costs and alleviating the labor intensity of personnel.

[0055] Improve product integration efficiency and quality

[0056] The device is equipped with environmental monitoring capabilities, ensuring a favorable docking environment before docking; it can achieve height adjustment to meet the needs of operations at different heights; it can achieve high-precision movement with multiple degrees of freedom to meet the installation requirements of different positions; it greatly shortens the docking and installation time and improves docking efficiency.

[0057] 3. This structural design offers higher safety.

[0058] This design uses a hydraulic column lifting system equipped with a tilt sensor. It automatically compensates for tilting or uneven ground to ensure a level surface, making it more stable than existing devices.

[0059] 4. Achieve fully intelligent and automated integration.

[0060] This design is equipped with a vision docking system. It continuously reads video from two network cameras to maintain network data connections with the cameras, as well as with the motor, TOF ranging, and remote control. It receives status data from the motor and TOF ranging, receives button commands from the remote control, sends control commands to the motor, sends system status information to the remote control, acquires real-time video from the camera service, detects circles in the target, calculates the center of the circle in real-time, and deduces the rotation angle and x, y coordinate difference of the moving workpiece. It obtains TOF ranging status from the IoT service, calculates the parallelism of the workpiece flange surface in real-time, and sends commands to the motor and status information to the remote control based on the motor and button status information obtained from the IoT service and the vision algorithm output. This system manages the docking process, controls docking steps, and prevents unexpected button commands from the remote control, further improving the safety of the pipe assembly.

[0061] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A movable intelligent platform for GIS tube mother flange installation, characterized in that, It includes a gripper (21), a vision system (1), a fixed end cylinder (2), a rotating arm (3), an inclination sensor (4), a mobile platform middle plate (5), a mobile platform bottom plate (6), a disc steering device (7), a mobile platform top plate (11), and a bearing plate (12), The gripper (21) is installed above the mobile platform top plate (11) and is used to complete the clamping and locking of the pipe mother; the vision docking system (1) is clamped on the fixed end cylinder (2) to realize intelligentization of the overall equipment; the mobile platform top plate (11) is used for the transition connection of the top and clamping part mounting surface of the device; the guide rails installed on the mobile device middle plate (5) are used to control the Y-axis movement of the device; the guide rails installed on the mobile device bottom plate (6) are used to control the X-axis movement of the device; the disc steering device (7) is located above the bearing plate (12) and is connected with the mobile platform bottom plate (6) and is used for overall steering; the inclination sensor (4) is used to monitor the horizontal inclination angle when the mobile assembly is working; the vision docking system (1) is directly installed on the cylinder flange surface, three sets in one group, used for angle monitoring after the clamping device grabs the pipe mother, when deviation occurs, the to-be-installed cylinder (20) is rotated around the axis by the rotating arm (3), to achieve precise docking.

2. The movable intelligent platform for GIS tube mother flange installation according to claim 1, characterized in that, It also includes a hydraulic leg (15), a walking wheel set (17), an environmental monitoring device (18), and a remote control device (19), the walking wheel set (17) is used to bear the walking and steering of the whole equipment, and can move to a suitable position according to the on-site construction scene; the hydraulic leg (15) is used for overall lifting before the device works; the environmental monitoring device (18) is placed at the edge of the mobile device top plate to provide a good installation environment for pipe mother docking and installation; the inclination sensor (4) synchronously transmits monitoring data to the control system, and then the control system controls the lifting action of the hydraulic leg (15) to ensure that the top plate assembly is horizontal and does not tilt; the remote control device (19) is used for the operation control of the device, including the movement and lifting of the device.

3. The movable intelligent platform for GIS tube mother flange installation according to claim 2, characterized in that, It also includes a hydraulic lifting device (8), a servo motor (9), a central data processor (10), a main control device (13), a tool box (14), and a lifting ring (16), the hydraulic lifting device (8) is installed below the bearing plate (12) to support and realize the lifting of the bearing plate (12), the servo motor (9) is installed below the rotating arm (3) to drive the rotating arm (3), the central data processor (10) is installed on the mobile platform top plate (11), the bottom of the bearing plate (12) is also provided with a base assembly for supporting the hydraulic lifting device (8), the base assembly is provided with the main control device (13) and the tool box (14), the hydraulic leg (15) is installed at the bottom of the base assembly, and the sidewall of the base assembly is also provided with a lifting ring (16) for facilitating the lifting of the platform.

4. The movable intelligent platform for GIS tube mother flange installation according to claim 3, characterized in that, The main control device (13) is provided with a lithium power supply to provide power for the whole platform, and the main control device (13) is also provided with a hydraulic pump station to provide power for the hydraulic lifting device (8) and the hydraulic leg (15).

5. The mobile intelligent platform for GIS tube mother flange installation according to claim 3, characterized in that, The visual docking system (1) includes a laser ranging receiving plate (101), a receiving base (102), a camera module (103), a laser distance sensor (104), a visual bearing plate (105), and a positioning hole (106). The camera module (103) is installed in two groups, and the laser distance sensor (104) is provided in three groups. The receiving base (102) is installed on one end of the fixed end cylinder (2) close to the to-be-installed cylinder (20). The laser ranging receiving plate (101) is arranged above the receiving base (102). The visual bearing plate (105) is installed on one end of the to-be-installed cylinder (20) close to the fixed end cylinder (2). The laser distance sensor (104) and the camera module (103) are installed on the visual bearing plate (105).

6. The mobile intelligent platform for GIS tube mother flange installation according to claim 1, characterized in that, The gripper (21) includes a mechanical gripper assembly (2101), a clamping motor (2102), and a mounting bracket assembly (2103), The clamping motor (2102) is used for clamping power output; the mechanical gripper assembly (2101) is installed on the mounting bracket assembly (2103) and is used for clamping action under the driving of the clamping motor (2102).

7. The mobile intelligent platform for GIS tube mother flange installation according to claim 1, characterized in that, The mobile platform middle plate (5) includes a mobile platform servo motor (501), a mounting plate (502), a mobile slide rail (503), a transmission screw rod (504), and a limiting block (505). The mobile platform servo motor (501) provides power output for Y-axis movement of the plate surface. The mounting plate (502) is used for connection with the upper part of the mobile platform top plate (11). The transmission screw rod (504) is used for transmission power. The mounting plate (502) is located above the mobile slide rail (503) and is connected therewith. The mounting plate (502) can push the push plate to realize Y-axis movement of the mobile assembly.

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