A switching cabinet handcart circuit breaker operation and maintenance transfer device and operation control method

Abstract

The application belongs to the field of intelligent power control, and discloses a switch cabinet handcart circuit breaker operation and maintenance transfer device and an operation control method. The method comprises the following steps: according to different field scenes, self-tracking optimization navigation operation control is used to reach a target working position, then self-adjusting optimization docking control is used to realize precise docking of a parallel four-wheel drive height adjustment structure and a height circuit breaker, and self-learning adjustment of a circuit breaker working position is used to adjust and control the circuit breaker operation and maintenance transfer device to reach a maintenance position; then self-learning adjustment of a circuit breaker transfer linkage unlocking is used to control a double-degree-of-freedom working gripper to complete unlocking and pull to an integrated circuit breaker supporting position, and then tracking optimization navigation operation control is used to control the circuit breaker operation and maintenance transfer device to carry the circuit breaker to reach a designated maintenance position, and circuit breaker maintenance transfer is completed. The application realizes accurate control and transfer of the circuit breaker, thereby improving the overall efficiency of operation and maintenance, and realizing intelligent unattended operation of a substation.

Description

Technical Field

[0001] This invention belongs to the field of intelligent power control, and in particular to a switchgear trolley circuit breaker operation, maintenance, and transfer device and operation control method. Background Technology

[0002] Electricity is the fundamental energy source for social and economic development. As the core switching equipment in the power supply and distribution system, the high-voltage circuit breaker in the substation operates in a high-voltage, high-current environment and requires regular maintenance. The circuit breaker itself is large in size and weight. Currently, the maintenance, replacement, and transfer of circuit breakers all require the cooperation of several people. The precise alignment of the circuit breaker transfer trolley with the cabinet, the loading and unloading of the circuit breaker, and the transfer of the circuit breaker all require human judgment and operation. The slightest carelessness can easily lead to a major accident and cause irreversible serious consequences.

[0003] Currently, research on control methods for high-voltage circuit breaker transfer devices with self-learning and adaptive capabilities is lacking. Automating traditional circuit breaker transfer vehicles is costly, inflexible, and still relies on manual intervention, resulting in high safety risks and labor costs. Therefore, researching an intelligent control method that can adapt to different working scenarios and enable rapid deployment in various field environments is of great significance for the development of new power systems. Summary of the Invention

[0004] The purpose of this invention is to provide a switchgear trolley circuit breaker operation, maintenance, and transfer device and operation control method, which solves the problem that the existing technology relies on manual intervention, resulting in a low level of intelligent control and a low safety factor.

[0005] To achieve the above objectives, the present invention employs the following technical solution: A switchgear trolley circuit breaker maintenance and transfer device includes a dual-drive load-bearing chassis, a parallel four-drive height adjustment structure, an integrated circuit breaker support and a circuit breaker transfer work compartment. The parallel four-wheel drive height adjustment structure is installed on the dual-drive load-bearing chassis, the integrated circuit breaker bracket is installed on the parallel four-wheel drive height adjustment structure, and the circuit breaker transfer work compartment is installed on the integrated circuit breaker bracket.

[0006] Furthermore, the dual-drive chassis is equipped with a path sensor, a dual-drive servo hub motor, a closed-loop controller, a system power supply, a power management system, a core controller, a gigabit industrial router, and a human-machine interface unit. The path sensor is used to monitor the target location of the path in real time, and the dual-drive servo hub motor is used to drive the circuit breaker maintenance and repair transfer device to run along the target path.

[0007] Furthermore, the parallel four-wheel drive height adjustment structure is equipped with a self-sensing height measurement sensor, a first limit position locking micro switch, a height positioning sensor, a four-linkage drive motor, and a first drive controller. The height positioning sensor is used to monitor the working position height node in real time.

[0008] Furthermore, the integrated circuit breaker support is equipped with a dual-balanced stroke drive bar, a displacement sensor, a second limit position locking micro switch, a dual-drive parallel motor, and a second drive controller.

[0009] Furthermore, the circuit breaker transfer work chamber is equipped with a dual-degree-of-freedom working gripper, a parallel drive motor, a motor driver, a circuit breaker position adjustment unit, a first drive motor, and a controller. The dual-degree-of-freedom working gripper is used to grasp the circuit breaker unlocking handle, and the first drive motor is used to drive the dual-degree-of-freedom working gripper. The circuit breaker position adjustment unit is equipped with a torque sensor, a position controller, and a second drive motor, the second drive motor being used to drive the circuit breaker position adjustment unit.

[0010] A method for operating and controlling the maintenance and transfer device of the switchgear trolley circuit breaker, comprising: Depending on the different field scenarios, the dual-drive chassis reaches the target working position through self-tracking optimized navigation operation control; Precise docking is achieved through a self-adjusting optimization docking control parallel four-wheel drive height adjustment structure and height circuit breaker; The circuit breaker's operating position is adjusted by self-learning, and the circuit breaker's maintenance and repair transfer device is then moved to the maintenance position. The circuit breaker transfer linkage unlocking control, through self-learning adjustment, allows the dual-degree-of-freedom working gripper of the circuit breaker transfer work chamber to grasp the circuit breaker handle and unlock it, then pull it to the integrated circuit breaker support position. Finally, through self-tracking optimized navigation operation control, the circuit breaker maintenance and transfer device carries the circuit breaker to the designated maintenance position, completing the circuit breaker maintenance and transfer.

[0011] Furthermore, the method for self-tracking optimized navigation operation control includes: Perform initial self-test on the circuit breaker operation, maintenance and transfer device, select the scenario-guided self-learning tracking mode, set the initial position and target working position, and reset the left turn control weight fill factor, right turn control weight fill factor, control flag bit and tracking statistics clock. Start the manual guidance forward command, start the self-learning tracking optimization heartbeat packet, enable the dual-drive servo hub motor, the circuit breaker maintenance and repair transfer device moves forward in a straight line, start the tracking statistics clock, and automatically calculate the running speed. The self-learning tracking optimization heartbeat packet starts the continuous loop of the left turn control flag and right turn control flag self-learning command. When the path sensor detects the target working position of the path, the dual drive servo hub motor runs forward synchronously and stops and locks. The tracking statistics clock, left turn control weight fill factor, right turn control weight fill factor and control flag complete one learning cycle. The self-learning tracking optimization heartbeat packet starts continuous loop reverse learning, and the dual-drive servo hub motors run synchronously in reverse. When the path sensor detects a reverse node, the control flag position starts the node parameter self-learning. The tracking statistics clock, left turn control weight fill factor, right turn control weight fill factor and control flag position complete one learning cycle. When the path sensor detects the initial position of the path, the dual-drive servo hub motor stops and locks, and the tracking statistics clock, left turn control weight fill factor, right turn control weight fill factor and control flag bit complete one learning cycle; Repeatedly perform self-learning and reverse learning of the left turn control flag and the right turn control flag, and perform cyclic optimization and verification of the tracking statistics clock, the left turn control weight fill factor, the right turn control weight fill factor and the control flag, to complete the scene-based tracking optimization navigation operation control learning.

[0012] Furthermore, the self-adjusting optimization docking control method includes: Perform initial self-test on the circuit breaker operation, maintenance and transfer device, select the scenario-guided self-learning tracking mode, reset the height control weight fill factor, reset the self-learning heartbeat packet and reset the learning statistics clock; Start the learning guide command, start the self-learning tracking optimization heartbeat packet, when the road height positioning sensor detects the working position height node, start the node parameter self-learning of the control flag bit, automatically load the control flag parameters with the height control weight fill factor, and automatically load the control flag parameters with the learning statistics clock; The working position height is repeatedly adjusted, and the control flag, height control weight fill factor, and learning statistics clock are cyclically optimized and verified to complete the scenario-based self-adjusting optimization docking control learning.

[0013] Furthermore, the method for adjusting and controlling the operating position of the self-learning circuit breaker includes: The circuit breaker operation, maintenance and transfer device is initialized and self-tested, the torque control interlock control threshold and control statistics clock are reset, and the second drive motor is started to drive the circuit breaker position adjustment unit. When the circuit breaker reaches the working position, the second drive motor stalls, the torque control lockout control threshold automatically loads the control flag parameters, and the control statistics clock automatically loads the control flag parameters. The circuit breaker position is repeatedly adjusted, and the torque control interlocking threshold and control statistics clock are cyclically optimized and verified to complete the self-learning adjustment control of the circuit breaker operating position.

[0014] Furthermore, the method for controlling the self-learning adjustable circuit breaker transfer linkage unlocking includes: The circuit breaker operation and maintenance transfer device is initialized and self-tested, the torque control interlock control threshold and control statistics clock are reset, the first drive motor is started, the dual-degree-of-freedom working gripper is driven, the dual-degree-of-freedom working gripper synchronously grabs the circuit breaker unlocking handle, and when it is in place, the torque control interlock control threshold is automatically loaded with control flag parameters, the control statistics clock is automatically loaded with control flag parameters, and the dual-degree-of-freedom working gripper begins to automatically change the degree of freedom to unlock. Once unlocked, the first drive motor stalls, the torque control interlock control threshold automatically loads the control flag parameters, the control statistics clock automatically loads the control flag parameters, and the dual-degree-of-freedom working gripper unlocks. Repeatedly capture the circuit breaker unlocking, perform cyclic optimization and verification of the torque control lockout threshold and control statistics clock, and complete the circuit breaker transfer linkage unlocking self-learning adjustment control.

[0015] Compared with the prior art, the present invention has the following beneficial effects: This invention provides a switchgear trolley circuit breaker operation, maintenance, and transfer device. It involves mounting a parallel four-wheel drive height-adjustable structure on a dual-drive chassis, installing an integrated circuit breaker support on the parallel four-wheel drive height-adjustable structure, and then installing the circuit breaker transfer work compartment on the integrated circuit breaker support. Through the coordinated operation of the mechanical structures, the circuit breaker is transferred for operation, maintenance, and repair, filling a gap in the research of circuit breaker usage and transfer control systems.

[0016] This invention also provides an operation control method for a switchgear trolley circuit breaker maintenance and transfer device. During the circuit breaker maintenance and transfer process, based on the circuit breaker to be transferred, and according to different site scenarios, the dual-drive chassis is controlled to reach the target working position through self-tracking optimized navigation operation control. Then, through self-adjusting optimized docking control, the parallel four-wheel drive height adjustment structure achieves precise docking with the height circuit breaker. The circuit breaker maintenance and transfer device is then controlled to reach the maintenance position through self-learning adjustment of the circuit breaker working position. Next, through self-learning adjustment of the circuit breaker transfer linkage unlocking control, the dual-degree-of-freedom working gripper of the circuit breaker transfer work compartment grasps the circuit breaker handle and unlocks it, pulling it to the integrated circuit breaker support position. Finally, through tracking optimized navigation operation control, the circuit breaker maintenance and transfer device carries the circuit breaker to the designated maintenance position, completing the circuit breaker maintenance and transfer. The implementation of the control method of this invention integrates comprehensive adaptive intelligent control methods such as self-tracking optimized navigation operation control, self-adjusting optimized docking control, self-adjusting circuit breaker transfer linkage unlocking control, and circuit breaker working position adjustment control. This enables the autonomous completion of circuit breaker transfer and maintenance tasks, achieving comprehensive intelligent control of the circuit breaker operation, maintenance, and transfer process. It improves the automation level of operation, maintenance, and transfer, effectively enhancing the safety factor during circuit breaker maintenance and transfer, thereby reducing manual intervention, lowering labor costs, improving the operating efficiency and safety of substations, and providing strong support for the intelligent upgrading of substations. This invention achieves precise control and transfer of circuit breakers, greatly reducing the complexity and time cost of manual operation, thus improving the overall efficiency of operation and maintenance, enhancing the safety factor during switchgear circuit breaker maintenance and transfer, and realizing intelligent unmanned operation of substations. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the circuit breaker operation, maintenance, and transfer device of the present invention.

[0019] Figure 2 This is a flowchart of the operation control method for the switchgear trolley circuit breaker maintenance and repair transfer device of the present invention.

[0020] Figure 3 This is a flowchart of the self-tracking optimized navigation operation control method of the present invention.

[0021] Figure 4This is a flowchart of the self-adjusting optimal docking control method of the present invention.

[0022] Figure 5 This is a flowchart of the self-learning regulating circuit breaker transfer linkage unlocking control method of the present invention.

[0023] Figure 6 This is a flowchart of the self-learning adjustable circuit breaker operating position adjustment control method of the present invention.

[0024] Among them: 1-Dual drive load-bearing chassis, 2-Parallel four-drive height adjustment structure, 3-Integrated circuit breaker support, 4-Circuit breaker transfer work compartment. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0028] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0029] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0030] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0031] The present invention will now be described in further detail with reference to the accompanying drawings: See Figure 1 The present invention provides a switchgear handcart circuit breaker operation, maintenance and transfer device, including a dual-drive bearing chassis 1, a parallel four-wheel drive height adjustment structure 2 placed on the dual-drive bearing chassis, an integrated circuit breaker support 3 placed on the parallel four-wheel drive height adjustment device, and a circuit breaker transfer work compartment 4 placed on the integrated circuit breaker support.

[0032] The dual-drive chassis 1 is equipped with a path sensor, a dual-drive servo hub motor, a closed-loop controller, a system power supply, a power management system, a core controller, a gigabit industrial router, and a human-machine interface unit. The path sensor is used to monitor the target position on the path in real time, and the dual-drive servo hub motor is used to drive the circuit breaker maintenance and repair transfer device to run along the target path. The operation of the dual-drive servo hub motor can be controlled according to the target position on the path monitored by the path sensor.

[0033] The parallel four-wheel drive height adjustment structure 2 is equipped with a self-sensing height measurement sensor, a first limit position locking micro switch, a height positioning sensor, a four-linkage drive motor, and a first drive controller. The height positioning sensor is used to monitor the working position height node in real time, and can control the operation of the four-linkage drive motor according to the position height monitored by the self-sensing height measurement sensor and the height positioning sensor.

[0034] The integrated circuit breaker support 3 is equipped with a double-balanced stroke drive bar, a displacement sensor, a second limit position locking micro switch, a dual-drive parallel motor, and a second drive controller. The double-balanced stroke drive bar and the dual-drive parallel motor are controlled according to the displacement changes monitored by the displacement sensor.

[0035] The circuit breaker transfer work compartment 4 is equipped with a dual-degree-of-freedom working gripper, a parallel drive motor, a motor driver, a circuit breaker position adjustment unit, a first drive motor, and a controller. The dual-degree-of-freedom working gripper is used to grasp the circuit breaker unlocking handle, and the first drive motor is used to drive the dual-degree-of-freedom working gripper. The circuit breaker position adjustment unit is equipped with a torque sensor, a position controller, and a second drive motor. The second drive motor is used to control the circuit breaker position adjustment unit to adjust the position of the circuit breaker maintenance and repair transfer device based on the torque sensor and the position controller.

[0036] like Figure 2 As shown, the present invention also provides an operation control method for a switchgear trolley circuit breaker maintenance and repair transfer device, specifically including the following steps: Step 1: Based on different site scenarios, the dual-drive load-bearing chassis 1 of the circuit breaker maintenance and transfer device is controlled to reach the target working position through self-tracking optimized navigation operation control.

[0037] like Figure 3 As shown, the self-tracking optimized navigation operation control method includes the following steps: S1001 performs an initial self-test on the circuit breaker operation, maintenance, and transfer device.

[0038] S1002, refresh weights: select scenario-guided self-learning tracking mode EO for control mode, set initial position S0, set target working position Sx, reset left turn control weight fill factor CLx and right turn control weight fill factor CRx, reset control flag MZx, and reset tracking statistics clock Tcx.

[0039] S1003, based on the working scenario, self-learns control weights: Starts the manual guidance forward START command, self-learns the tracking optimization heartbeat packet to start STx, enables the dual-drive servo hub motors MsL and MsR, and the circuit breaker maintenance and repair transfer device KDs moves forward in a straight line; starts the tracking statistics clock Tcx, and automatically calculates the running rate Vx according to the formula Vx=(Sx-S0) / Tcx.

[0040] S1004, Left turn control flag weight self-learning: When the path sensor Zx detects the left turn node Lx, the control flag MZx is set to start the node parameter self-learning, the tracking statistics clock Tcx automatically loads the flag parameter Tc(x+1), the left turn control weight fill factor CLx automatically loads the control flag parameter CL(x+1), and the dual drive servo hub motors MsL reverse at the same speed.

[0041] S1005, when the angle sensor is at 90º, the dual-drive servo hub motors MsL and MsR run synchronously in the same direction, and the tracking statistics clock Tcx, the left turn control weight fill factor CLx, and the control flag MZx complete one learning cycle.

[0042] S1006, Right turn control flag weight self-learning: When the path sensor Zx detects the right turn node Rx, the control flag MZx is set to start the node parameter self-learning, the tracking statistics clock Tcx automatically loads the flag parameter Tc(x+1), the right turn control weight fill factor CRx automatically loads the control flag parameter CL(x+1), and the dual drive servo hub motor MsR reverses at the same speed.

[0043] S1007, when the angle sensor is -90º, the dual-drive servo hub motors MsL and MsR run synchronously in the same direction, and the tracking statistics clock Tcx, the right turn control weight fill factor CRx, and the control flag MZx complete one learning cycle.

[0044] S1008, self-learning tracking optimization heartbeat packet STx starts continuous loop S1004, S1005, S1006 and S1007 flags self-learning command.

[0045] S1009, when the path sensor Zx detects the path target working position Sx, the dual drive servo hub motors MsL and MsR run synchronously in the forward direction and stop and lock. The tracking statistics clock Tcx, the left turn control weight fill factor CLx, the right turn control weight fill factor CRx and the control flag MZx complete one learning cycle.

[0046] S1010, the self-learning tracking optimization heartbeat packet STx is started. Upon detecting the Back command, reverse learning is initiated. The dual-drive servo hub motors MsL and MsR run synchronously in reverse. When the path sensor Zx detects the reverse node Bax, the control flag MZx is set to start node parameter self-learning. The tracking statistics clock Tcx automatically loads the flag parameter Tc(x+1). The left turn control weight fill factor CLx automatically loads the control flag parameter. The right turn control weight fill factor CRx automatically loads the control flag parameter CR(x+1). The dual-drive servo hub motors MsL and MsR run in reverse at the same speed.

[0047] S1011, when the angle sensor is at 180º, the servo hub motors MsL and MsR run synchronously in opposite directions; the tracking statistics clock Tcx, the left turn control weight fill factor CLx, the right turn control weight fill factor CRx, and the control flag MZx complete one learning cycle.

[0048] S1012, self-learning tracking optimization heartbeat packet STx starts continuous loop S1004, S1005, S1006 and S1007 flags self-learning command.

[0049] S1013, when the path sensor Zx detects the initial position S0 of the path, the dual-drive servo hub motors MsL and MsR move in opposite directions at the same speed, and the tracking statistics clock Tcx, the left turn control weight fill factor CLx, the right turn control weight fill factor CRx, and the control flag MZx complete one learning cycle.

[0050] S1014, when the angle sensor value is 180º, the dual-drive servo hub motors MsL and MsR stop and lock; the tracking statistics clock Tcx, the left turn control weight fill factor CLx, the right turn control weight fill factor CRx, and the control flag MZx complete one learning cycle.

[0051] S1015, repeat S1001 to S1014 until the tracking statistics clock Tcx = Tc(x-1), the left turn control weight fill factor CLx = CL(x-1), the right turn control weight fill factor CRx = CR(x-1), and the control flag MZx = MZ(x-1), thus completing the scene-based self-tracking optimized navigation operation control learning.

[0052] Step 2: Achieve precise docking between the parallel four-wheel drive height adjustment structure 2 and the height circuit breaker through self-adjusting optimization docking control.

[0053] like Figure 4 As shown, the self-adjusting optimal docking control method includes the following steps: S1101 performs an initial self-test on the circuit breaker operation, maintenance, and transfer device.

[0054] S1102, Refresh Weights: Control mode selection scenario guided self-learning tracking mode HEO, reset height control weight fill factor HLx, reset self-learning heartbeat packet HSTx, reset learning statistics clock HTx.

[0055] S1103, self-learning control weights based on working scenario: Start the running learning guidance START command, start the self-learning tracking optimization heartbeat packet HSTx, when the road height positioning sensor HZx detects the working position height node HLx, the control flag HMZx is set to start node parameter self-learning, the height control weight fill factor HLx automatically loads the control flag parameters, and the learning statistics clock HTx automatically loads the control flag parameters.

[0056] S1104, repeat S1103 until the control flag HMZx = HMZ(x-1), the height control weight fill factor HL(x-1), and the learning statistical clock HT(x-1) are completed, thus completing the scenario-based self-adjusting optimization docking control learning.

[0057] Step 3: Adjust the circuit breaker's operating position through self-learning to control the short circuit and reach the maintenance position.

[0058] like Figure 6 As shown, the self-learning circuit breaker operating position adjustment control method includes the following steps: S1301 performs an initial self-test on the circuit breaker operation, maintenance, and transfer device.

[0059] S1302, reset torque control lockout control threshold TKn, reset control statistical clock TTn.

[0060] S1303, start the second drive motor M1 to drive the circuit breaker position adjustment unit.

[0061] S1304, when the circuit breaker reaches the working position, the second drive motor M1 is stalled, the torque control interlock control threshold TKn automatically loads the control flag parameter, and the control statistics clock TTn automatically loads the control flag parameter.

[0062] S1305, repeat S1301~S1304, when the torque control lockout control threshold TKn+1=TKn and the control statistics clock TTn+1=TTn, the circuit breaker working position self-learning adjustment control is completed.

[0063] Step 4: Through self-learning adjustment, the circuit breaker transfer linkage unlocking control of the circuit breaker transfer work chamber 4's dual-degree-of-freedom working gripper grabs the circuit breaker handle and completes the unlocking, then pulls it to the integrated circuit breaker support 3. Then, through self-tracking optimized navigation operation control, the circuit breaker maintenance and repair transfer device carries the circuit breaker to the designated maintenance position, completing the circuit breaker maintenance and transfer.

[0064] like Figure 5 As shown, the self-learning regulating circuit breaker transfer linkage unlocking control method includes the following steps: S1201 performs an initial self-test on the circuit breaker operation, maintenance, and transfer device.

[0065] S1202, reset torque control lockout control threshold TK0, reset control statistical clock TTO.

[0066] S1203, start the first drive motor M0, drive the dual-degree-of-freedom working gripper self-balancing chain mechanism, the dual-degree-of-freedom working gripper synchronously grabs the circuit breaker unlocking handle, when the gripper is in place, the torque control lockout control threshold TK0 automatically loads the control flag parameters, the control statistics clock TTO automatically loads the control flag parameters, and the dual-degree-of-freedom working gripper begins to automatically change the degree of freedom to unlock.

[0067] S1204, once unlocked, the first drive motor M0 stalls, the torque control lockout control threshold TK0 automatically loads the control flag parameters, the control statistics clock TTO automatically loads the control flag parameters, and the dual-degree-of-freedom working gripper unlocks.

[0068] S1205, repeat S1201~S1204, when the torque control interlock control threshold TK0+1=TK0 and the control statistics clock TTO+1=TTO, the circuit breaker transfer linkage unlocking self-learning adjustment control is completed.

[0069] The technical solution of the present invention will be further described below through specific embodiments: Example 1: The operation control method of the switchgear trolley circuit breaker maintenance and transfer device in this embodiment includes the following steps: Step 1: Based on the scene, the dual-drive chassis 1 of the circuit breaker maintenance and transfer device is controlled to reach the target working position by using self-tracking optimized navigation operation control.

[0070] S1001 contains basic parameters of the feedback-type automatic detection system, including power supply, servo driver, servo motor, core control, and switch position.

[0071] S1002, control mode selection scenario guided self-learning tracking mode EO, set initial position S0=0, set target working position Sx=1, reset left turn control weight fill factor CLx=0 and right turn control weight fill factor CRx=0, reset control flag MZx=0, reset tracking statistics clock Tcx=0.

[0072] S1003, based on the working scenario, self-learning control weights: When the forward START command switch is pressed, the self-learning tracking optimization heartbeat packet starts STx to run monitoring at a frequency of 0.01 seconds. The dual-drive servo hub motors MsL=5 and MsR=5 start forward rotation, and the circuit breaker maintenance and repair transfer device KDs moves forward in a straight line. The tracking statistics clock Tcx performs time statistics storage calculation. According to the formula Vx=(Sx-S0) / Tcx, the running rate Vx is automatically calculated to perform subsequent automatic operation T and V dual loading data calculation.

[0073] S1004, when the path sensor Zx detects the left turn node Lx--1#, the control flag MZx=1 is set, the tracking statistics clock Tcx is automatically loaded and stored, and the statistics time Tcx=20 seconds is stored. The left turn control weight fill factor CLx is automatically loaded, and the control flag parameter CLx=-500 is loaded. The dual-drive servo hub motor MsL=-5, and the left wheel motor runs in reverse.

[0074] S1005, when the angle sensor is 90º, the dual-drive servo hub motors MsL=5 and MsR=5, and the dual-drive servo hub motors run synchronously in the forward direction; the tracking statistics clock Tcx=20 seconds + 2 seconds, the left turn control weight fill factor CLx=500, and the control flag MZx=2 to complete one learning cycle.

[0075] S1006, when the path sensor Zx detects the right turn node Rx--1#, the control flag MZx=3 is set, the tracking statistics clock Tcx is automatically loaded and stored, and the statistics time Tcx=20 seconds + 2 seconds + 10 seconds is automatically loaded. The right turn control weight fill factor CRx is automatically loaded, and the control flag parameter CRx=-500 is loaded. The dual-drive servo hub motor MsR=-5, and the right wheel motor runs in reverse.

[0076] S1007, when the angle sensor is -90º, the dual-drive servo hub motors MsL=5 and MsR=5, and the dual-drive servo hub motors run synchronously in the forward direction; the tracking statistics clock Tcx=20 seconds + 2 seconds + 10 seconds + 2 seconds, the right turn control weight fill factor CRx=500, and the control flag MZx=3 to complete one learning cycle.

[0077] S1008, self-learning tracking optimization heartbeat packet STx starts continuous loop S1004, S1005, S1006 and S1007 flags self-learning command.

[0078] S1009, when the path sensor Zx detects that the path target working position Sx=1, the dual-drive servo hub motors MsL=0 and MsR=0, and stop and lock; the tracking statistics clock Tcx=20 seconds + 2 seconds + 10 seconds + 2 seconds + 12 seconds, the left turn control weight fill factor CLx=0, the right turn control weight fill factor CRx=0, and the control flag MZx=4 to complete one learning cycle.

[0079] S1010, the self-learning tracking optimization heartbeat packet STx is started. Upon detecting the Back command, reverse learning is initiated. The dual-drive servo hub motors MsL=-5 and MsR=-5 run in reverse synchronously. When the path sensor Zx detects the reverse node Bax, the control flag MZx=5 is set to start node parameter self-learning. The tracking statistics clock Tcx automatically loads the flag parameters Tcx=20 seconds + 2 seconds + 10 seconds + 2 seconds + 12 seconds + 4 seconds. The left turn control weight fill factor CLx automatically loads the control flag parameter CLx=-500, and the right turn control weight fill factor CRx automatically loads the control flag parameter CRx=500. The dual-drive servo hub motors MsL=5 and MsR=-6 run in reverse at the same speed. S1011, when the angle sensor is at 180º, the servo hub motors MsL=5 and MsR=5 run synchronously in the forward direction; the tracking statistics clock Tcx=20 seconds + 2 seconds + 10 seconds + 2 seconds + 12 seconds + 4 seconds, the left turn control weight fill factor CLx=500, the right turn control weight fill factor CRx=500, and the control flag MZx=6 completes one learning cycle.

[0080] S1012, self-learning tracking optimization heartbeat packet STx starts continuous loop S1004, S1005, S1006 and S1007 flags self-learning command.

[0081] S1013, when the path sensor Zx detects the initial path position S0=1, the dual-drive servo hub motors MsL=5, MsR=-5 reverse at the same speed, the tracking statistics clock Tcx=20 seconds+2 seconds+10 seconds+2 seconds+12 seconds+4 seconds+4 seconds, the left turn control weight fill factor CLx=500, the right turn control weight fill factor CRx=-500, and the control flag MZx=7 to complete one learning cycle.

[0082] S1014, when the angle sensor is at 180º, the dual-drive servo hub motors MsL=0 and MsR=0 are stopped and locked; the tracking statistics clock Tcx=20 seconds + 2 seconds + 10 seconds + 2 seconds + 12 seconds + 4 seconds + 4 seconds, the left turn control weight fill factor CLx=0, the right turn control weight fill factor CRx=0, and the control flag MZx=8 to complete one learning cycle.

[0083] S1015, learn and record data latch, repeat S1001~S1014 until the tracking statistics clock Tcx=Tc(x-1), the left turn control weight fill factor CLx=CL(x-1), the right turn control weight fill factor CRx=CR(x-1), and the control flag MZx=MZ(x-1), completing the scene-based self-tracking optimized navigation operation control learning.

[0084] Step 2: Achieve precise docking between the parallel four-wheel drive height adjustment structure 2 and the height circuit breaker through self-adjusting optimization docking control.

[0085] S1101 contains basic parameters of the feedback-type automatic detection system, including power supply, servo driver, servo motor, core control, and switch position.

[0086] S1102, refresh weights: control mode selection scene guided self-learning tracking mode HEO=0, reset height control weight fill factor HLx=0, reset self-learning heartbeat packet HSTx to run monitoring at a frequency of 0.01 seconds, reset learning statistics clock HTx=0.

[0087] S1103, self-learning control weights based on working scenario: Start the running learning guidance START command, start the self-learning tracking optimization heartbeat packet HSTx, when the road height positioning sensor HZx detects the working position height node HLx=1, the control flag HMZx=1 is set to start the node parameter self-learning, the height control weight fill factor HLx=100 automatically loads the control flag parameters, and the learning statistics clock HTx=300 automatically loads the control flag parameters.

[0088] S1104, learn and record data latch, repeat S1103 until control flag HMZx = HMZ(x-1), height control weight fill factor HL(x-1); learn statistical clock HT(x-1), complete scenario-based self-adjusting optimization docking control learning.

[0089] Step 3: Adjust the circuit breaker's operating position through self-learning to control the short circuit and reach the maintenance position.

[0090] S1301 contains basic parameters of the feedback-type automatic detection system, including power supply, servo driver, servo motor, core control, and switch position.

[0091] S1302, reset torque control lockout control threshold TKn=0, reset control statistical clock TTn=0.

[0092] S1303, start the second drive motor M1 to drive the self-unlocking circuit breaker position adjustment unit.

[0093] S1304, when the circuit breaker reaches the working position, the second drive motor M1 is stalled, the torque control interlock control threshold TKn=20 automatically loads the control flag parameters, and the control statistics clock TTn=60 automatically loads the control flag parameters.

[0094] S1305, learn and record data latch, repeat S1301~S1304, when the torque control lockout control threshold TKn+1=TKn and the control statistics clock TTn+1=TTn, the circuit breaker working position self-learning adjustment control is completed.

[0095] Step 4: Through self-learning adjustment, the circuit breaker transfer linkage unlocking control of the circuit breaker transfer work chamber 4's dual-degree-of-freedom working gripper grabs the circuit breaker handle and completes the unlocking, then pulls it to the integrated circuit breaker support 3. Then, through self-tracking optimized navigation operation control, the circuit breaker maintenance and repair transfer device carries the circuit breaker to the designated maintenance position, completing the circuit breaker maintenance and transfer.

[0096] S1201 contains basic parameters of the feedback-type automatic detection system, including power supply, servo driver, servo motor, core control, and switch position.

[0097] S1202, reset torque control lockout control threshold TK0=0, reset control statistical clock TTO=0.

[0098] S1203, start the first drive motor M0, drive the dual-degree-of-freedom working gripper self-balancing chain mechanism, the dual-degree-of-freedom working gripper synchronously grabs the circuit breaker unlocking handle, when the gripper is in place, the torque control lockout control threshold TK0=20 automatically loads the control flag parameters, the control statistics clock TTO=50 automatically loads the control flag parameters, and the dual-degree-of-freedom working gripper begins to automatically change the degree of freedom to unlock.

[0099] S1204, when unlocked, the first drive motor M0 stalls, the torque control lockout control threshold TK0=20+10 automatically loads the control flag parameters, the control statistics clock TTO=50+15 automatically loads the control flag parameters, and the dual-degree-of-freedom working gripper unlocks.

[0100] S1205, learn and record data latch, repeat S1201~S1204, when the torque control lockout control threshold TK0+1=TK0 and the control statistics clock TTO+1=TTO, complete the circuit breaker transfer linkage unlocking self-learning adjustment control.

[0101] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A switchgear trolley circuit breaker maintenance and repair transfer device, characterized in that, It includes a dual-drive load-bearing chassis (1), a parallel four-wheel drive height adjustment structure (2), an integrated circuit breaker support (3), and a circuit breaker transfer work compartment (4). The parallel four-wheel drive height adjustment structure (2) is installed on the dual-drive load-bearing chassis (1), the integrated circuit breaker bracket (3) is installed on the parallel four-wheel drive height adjustment structure (2), and the circuit breaker transfer work compartment (4) is installed on the integrated circuit breaker bracket (3).

2. The switchgear trolley circuit breaker maintenance and repair transfer device according to claim 1, characterized in that, The dual-drive chassis (1) is equipped with a path sensor, a dual-drive servo hub motor, a closed-loop controller, a system power supply, a power management system, a core controller, a gigabit industrial router, and a human-machine interaction unit. The path sensor is used to monitor the target location of the path in real time, and the dual-drive servo hub motor is used to drive the circuit breaker maintenance and repair transfer device to run along the target path.

3. The switchgear trolley circuit breaker maintenance and repair transfer device according to claim 1, characterized in that, The parallel four-wheel drive height adjustment structure (2) is equipped with a self-sensing height measurement sensor, a first limit position locking micro switch, a height positioning sensor, a four-linkage drive motor and a first drive controller. The height positioning sensor is used to monitor the working position height node in real time.

4. The switchgear trolley circuit breaker maintenance and repair transfer device according to claim 1, characterized in that, The integrated circuit breaker support (3) is equipped with a dual-balance stroke drive bar, a displacement sensor, a second limit position locking micro switch, a dual-drive parallel motor, and a second drive controller.

5. The switchgear trolley circuit breaker maintenance and repair transfer device according to claim 1, characterized in that, The circuit breaker transfer work chamber (4) is equipped with a dual-degree-of-freedom working gripper, a parallel drive motor, a motor driver, a circuit breaker position adjustment unit, a first drive motor, and a controller. The dual-degree-of-freedom working gripper is used to grab the circuit breaker unlocking handle, and the first drive motor is used to drive the dual-degree-of-freedom working gripper. The circuit breaker position adjustment unit is equipped with a torque sensor, a position controller, and a second drive motor, the second drive motor being used to drive the circuit breaker position adjustment unit.

6. A method for operating and controlling the switchgear trolley circuit breaker maintenance and repair transfer device as described in any one of claims 1 to 5, characterized in that, include: According to different field scenarios, the dual-drive load-bearing chassis (1) reaches the target working position through self-tracking optimized navigation operation control; Precise docking is achieved by controlling the parallel four-wheel drive height adjustment structure (2) and the height circuit breaker through self-adjusting optimization docking control; The circuit breaker's operating position is adjusted by self-learning, and the circuit breaker's maintenance and repair transfer device is then moved to the maintenance position. The circuit breaker transfer linkage unlocking control of the circuit breaker transfer work chamber (4) with two degrees of freedom grippers grabs the circuit breaker handle and unlocks it, and pulls it to the integrated circuit breaker support (3). Then, the circuit breaker maintenance and transfer device carries the circuit breaker to the designated maintenance position through self-tracking optimized navigation operation control, and completes the circuit breaker maintenance and transfer.

7. The operation control method for the switchgear trolley circuit breaker maintenance and repair transfer device according to claim 6, characterized in that, The method for self-tracking optimized navigation operation control includes: Perform initial self-test on the circuit breaker operation, maintenance and transfer device, select the scenario-guided self-learning tracking mode, set the initial position and target working position, and reset the left turn control weight fill factor, right turn control weight fill factor, control flag bit and tracking statistics clock. Start the manual guidance forward command, start the self-learning tracking optimization heartbeat packet, enable the dual-drive servo hub motor, the circuit breaker maintenance and repair transfer device moves forward in a straight line, start the tracking statistics clock, and automatically calculate the running speed. The self-learning tracking optimization heartbeat packet starts the continuous loop of the left turn control flag and right turn control flag self-learning command. When the path sensor detects the target working position of the path, the dual drive servo hub motor runs forward synchronously and stops and locks. The tracking statistics clock, left turn control weight fill factor, right turn control weight fill factor and control flag complete one learning cycle. The self-learning tracking optimization heartbeat packet starts continuous loop reverse learning, and the dual-drive servo hub motors run synchronously in reverse. When the path sensor detects a reverse node, the control flag position starts the node parameter self-learning. The tracking statistics clock, left turn control weight fill factor, right turn control weight fill factor and control flag position complete one learning cycle. When the path sensor detects the initial position of the path, the dual-drive servo hub motor stops and locks, and the tracking statistics clock, left turn control weight fill factor, right turn control weight fill factor and control flag bit complete one learning cycle; Repeatedly perform self-learning and reverse learning of the left turn control flag and the right turn control flag, and perform cyclic optimization and verification of the tracking statistics clock, the left turn control weight fill factor, the right turn control weight fill factor and the control flag, to complete the scene-based tracking optimization navigation operation control learning.

8. The operation control method for the switchgear trolley circuit breaker maintenance and repair transfer device according to claim 6, characterized in that, The self-adjusting optimization docking control method includes: Perform initial self-test on the circuit breaker operation, maintenance and transfer device, select the scenario-guided self-learning tracking mode, reset the height control weight fill factor, reset the self-learning heartbeat packet and reset the learning statistics clock; Start the learning guide command, start the self-learning tracking optimization heartbeat packet, when the road height positioning sensor detects the working position height node, start the node parameter self-learning of the control flag bit, automatically load the control flag parameters with the height control weight fill factor, and automatically load the control flag parameters with the learning statistics clock; The working position height is repeatedly adjusted, and the control flag, height control weight fill factor, and learning statistics clock are cyclically optimized and verified to complete the scenario-based self-adjusting optimization docking control learning.

9. The operation control method for the switchgear trolley circuit breaker maintenance and repair transfer device according to claim 6, characterized in that, The method for adjusting and controlling the operating position of the self-learning circuit breaker includes: The circuit breaker operation, maintenance and transfer device is initialized and self-tested, the torque control interlock control threshold and control statistics clock are reset, and the second drive motor is started to drive the circuit breaker position adjustment unit. When the circuit breaker reaches the working position, the second drive motor stalls, the torque control lockout control threshold automatically loads the control flag parameters, and the control statistics clock automatically loads the control flag parameters. The circuit breaker position is repeatedly adjusted, and the torque control interlocking threshold and control statistics clock are cyclically optimized and verified to complete the self-learning adjustment control of the circuit breaker operating position.

10. The operation control method for the switchgear trolley circuit breaker maintenance and repair transfer device according to claim 6, characterized in that, The method for controlling the self-learning adjustable circuit breaker transfer linkage unlocking includes: The circuit breaker operation and maintenance transfer device is initialized and self-tested, the torque control interlock control threshold and control statistics clock are reset, the first drive motor is started, the dual-degree-of-freedom working gripper is driven, the dual-degree-of-freedom working gripper synchronously grabs the circuit breaker unlocking handle, and when it is in place, the torque control interlock control threshold is automatically loaded with control flag parameters, the control statistics clock is automatically loaded with control flag parameters, and the dual-degree-of-freedom working gripper begins to automatically change the degree of freedom to unlock. Once unlocked, the first drive motor stalls, the torque control interlock control threshold automatically loads the control flag parameters, the control statistics clock automatically loads the control flag parameters, and the dual-degree-of-freedom working gripper unlocks. Repeatedly capture the circuit breaker unlocking, perform cyclic optimization and verification of the torque control lockout threshold and control statistics clock, and complete the circuit breaker transfer linkage unlocking self-learning adjustment control.

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