An agv type GIS interval carrying device

Abstract

The application relates to an AGV type GIS interval carrying device, which comprises two AGV carrying trolleys and two sets of remote control devices. The AGV carrying trolleys are installed on the left and right end faces of the channel steel chassis of the GIS interval, can directly lift, carry and lower the GIS interval from the ground, and complete the carrying of the GIS interval. The AGV carrying trolley comprises a cover shell, a connecting clamp, a control unit, a lifting device, a bearing platform, a walking rudder, a first auxiliary wheel set, a laser radar and a battery assembly. The cover shell is used for protecting the equipment, and the connecting clamp is used for connecting the channel steel chassis of the GIS interval unit. The application adopts two AGV trolleys, each of which can independently walk and cooperatively walk, is convenient to install and disassemble, and can adapt to the capacity of carrying the large weight and long size of the GIS interval.

Description

Technical Field

[0001] This application relates to the field of GIS combined electrical appliances mobility, specifically to an AGV-type GIS interval transport device. Background Technology

[0002] Compared with traditional open-type high-voltage equipment, gas-insulated switchgear (GIS) has significant advantages and is being used more and more widely, playing an increasingly important role in power transmission and transformation systems. GIS switchgear accounts for a growing proportion of power system equipment. To improve the reliability and service life of GIS equipment, its application is gradually shifting from outdoor to indoor locations.

[0003] GIS compartments are large and heavy, and are not typically equipped with electric cranes indoors. Large cranes cannot enter the room for hoisting. During the transportation of the products to the installation site and the transfer from outdoor to indoor installation, special transport equipment is required. However, the industry currently lacks special and suitable transport equipment, which leads to a series of problems such as high labor intensity, low efficiency, and damage to the products during indoor transportation.

[0004] During the indoor transport of GIS bays, the transport equipment is required to have the ability to move in straight lines forward and backward and to turn with a small radius; during the docking and installation of GIS bays, the transport equipment is required to have the ability to move laterally.

[0005] Therefore, in order to solve the problem of indoor GIS installation, it is urgent to develop a special automated and intelligent transport device suitable for indoor GIS installation.

[0006] The transport vehicle is required to have automated walking capability, be able to carry the heavy load of GIS bays (approximately 5 tons for 110kV and approximately 12 tons for 220kV), and be able to complete the dual functions of rapid indoor positioning and lateral movement of GIS bays in one go.

[0007] Currently, the following construction methods are mainly adopted during the outdoor to indoor installation of GIS:

[0008] 1. Roller + crowbar method:

[0009] Rollers are placed under the steel base beam of the GIS (Gas-Insulated Gate Equipment) system, and pry bars are inserted into the bottom of the beam. Multiple people work together to pry the beam to gradually move or adjust its direction. The disadvantages of this method are: low efficiency, high labor intensity, and damage to the equipment itself.

[0010] 2. Manual forklift method:

[0011] The GIS compartments are first lifted to a certain height using a crane or hydraulic jacks, then the bottom beams are placed in a forklift, and multiple people work together to push, pull, or adjust them. The disadvantages of this method are: it is impossible to move the heavy products manually, the labor intensity is high, and there is a risk of the GIS compartments tipping over during transportation.

[0012] 3. Air cushion transportation method:

[0013] First, use a crane or hydraulic jack to lift the GIS compartment to a certain height, then place the air cushion device under the base beam. Connect the air pump to the air cushion and inflate it. Once it is confirmed to be in a suspended state under load, manually move or adjust the GIS compartment. The disadvantages of this method are: the air cushion equipment requires a highly flat and uneven surface, which is difficult to guarantee on actual sites, limiting its application. Furthermore, the air hoses are dragged along during movement, requiring a large number of personnel to follow and pull them, making it impractical.

[0014] 4. Electric transport toy tank method:

[0015] First, use a crane or hydraulic jack to lift the GIS compartment to a certain height. Then, place the electric transport tank under the base beam and operate the remote control device of the electric transport tank to automatically move or turn the equipment. Disadvantages: The climbing ability of a single unit is weak, and it is easy to get stuck when there are embedded parts or pits in the ground; the GIS compartment is large in volume and long in length, and a single electric transport tank can only move longitudinally and turn with a large radius, but cannot move laterally in parallel, which is not conducive to the docking and installation of unit compartments.

[0016] According to national standards, the dimensional deviation of the installation height of all GIS bays in the area must not exceed 3mm, and the installation foundations are considered to be on the same plane. Therefore, when connecting the pipes between GIS bays, the bottom beam surface of all bays must be attached to or close to the installation foundation surface. Currently, most GIS positioning and transportation vehicles are located under the bottom beam of the product, making the bottom beam quite high above the ground. After moving it to the approximate installation position, the bottom beam equipment must be pulled out first, and then pry bars or manual hoists must be used for positional correction. This makes it impossible to complete the rapid movement of unit bays in one go and the precise calibration movement when docking different groups of bays, which is time-consuming, labor-intensive, and inefficient.

[0017] In the prior art, patent application CN114105042A discloses a GIS equipment handling device, which relates to the field of power grid construction handling tools. It includes a caster wheel mechanism, a drive wheel mechanism, and a beam tilt sensor. The caster wheel mechanism includes a first clamping seat, an integrated hydraulic jack, and a caster wheel assembly. The drive wheel mechanism includes a second clamping seat, an integrated through-hole hydraulic jack, a through-hole shaft, a steering operating handle, and a drive wheel assembly. The integrated hydraulic jack, the integrated through-hole hydraulic jack, and the drive wheel assembly are all remotely driven by a remote control operating device.

[0018] This patent application uses hydraulic jacks for vertical lifting and an electric motor for movement, requiring both a hydraulic pump station and a power supply system. These two systems are inconvenient to use and difficult to coordinate. Steering uses a steering handle integrated with the electric drive wheels, requiring manual operation. Due to the large size of the GIS equipment and limited visibility, operators cannot clearly see the installation target position, making precise control and position calibration difficult. Regarding the drive wheel device's structural layout, to meet the requirements of carrying large loads (approximately 5 tons for 110kV and 12 tons for 220kV) with good climbing ability, the current power motor plus reduction gears would inevitably be quite large. The small size presented in the design is difficult to achieve in reality, or the actual size would be quite large. However, since the minimum gap between GIS bottom beams is ≤200mm, the large size of this design would inevitably render it unusable in some locations.

[0019] In the prior art, patent application CN117383460A discloses a fully electrically controlled lifting and transporting platform for installing GIS equipment, relating to the field of electrical equipment transportation technology. It includes a chassis, a longitudinal assembly, and a transverse assembly. The chassis supports the GIS equipment. The longitudinal assembly includes a moving device and a lifting device connected to the moving device. The moving device has transfer wheels at its bottom. The transfer device is used to transfer the chassis, and the lifting device is used to lift the chassis. The transverse assembly includes a pallet device and a clamping device. The clamping device is mounted on the pallet device, which supports the chassis. The clamping device provides clamping force to hold the chassis. The pallet device has casters at its bottom. The platform also includes a controller with a control system for controlling the longitudinal and transverse assemblies during transport. This invention's lifting and transporting platform has lateral and longitudinal adjustment functions, enabling stable transport control and lifting of the GIS equipment.

[0020] The longitudinal assembly structure in this patent application is overly complex, bulky, and inconvenient to install and use. The support for lifting the GIS H-beam steel base beam in the longitudinal assembly lacks a locking unit to secure the base beam, resulting in a lack of safety. The transverse assembly, placed under the GIS base beam for stable lifting, does not meet the requirements of actual on-site working scenarios and installation processes. Firstly, the minimum gap between GIS base beam groups is only 200mm, and the transverse assembly's width extension under the base beam cannot exceed this dimension, otherwise interference will occur. If the extension is too small (≤200mm), it has little effect on improving stability. Secondly, when calibrating the position of the GIS bay's main pipe, all bay base beams must be attached to or close to the installation foundation surface. The installation height adjustment is typically only a few millimeters. Placing the transverse assembly under the GIS base beam, resulting in a high distance between the base beam and the installation ground, makes it impossible to calibrate the main pipe connection during installation. (Note: The last sentence about GIS bay base beams being attached to or close to the same installation foundation surface is unrelated and appears to be a separate, incomplete thought.)

[0021] In the prior art, patent application CN119370774A discloses a GIS intelligent transport device and transport method. The transport device includes a transport trolley, a control unit, and a remote control unit. The control unit is communicatively connected to the transport trolley and the remote control unit. The transport trolley includes a main assembly and a clamp. The main assembly includes a support component, a lifting component, a walking component, a steering component, a walking wheel assembly, and a base. The clamp is used to clamp the base onto a channel steel bottom beam. The support component is jacked up and down on the base. The lifting component is installed between the base and the support component to realize the up and down movement of the support component. The walking wheel assembly is installed on the support component and moves up and down with the support component. The walking component is installed on the support component and connected to the walking wheel assembly to drive the automatic movement of the walking wheel assembly. The steering component is installed on the support component and connected to the walking wheel assembly to adjust the traveling direction of the walking wheel assembly. This invention has the advantages of high transport efficiency.

[0022] This patented transport trolley is installed on the side of the bottom beam at any position on the channel steel of the GIS partition frame, and then fixed with C-type clamps and locking units. However, this patented device has several problems in practical use: First, the transport trolley uses a single-wheel design, requiring manual lifting and installation. The drive motor and reduction gears make it too heavy, hindering manual installation. Second, the four independent wheel sets are installed at arbitrary positions on the channel steel without fixed connections or defined positional relationships, making coordinated control difficult and prone to jamming during operation. Third, the power supply and power mechanism are separate, requiring on-site wiring connections, which is cumbersome.

[0023] To address the existing problems, a new GIS interval transport device needs to be developed. Summary of the Invention

[0024] The purpose of this application is to provide an AGV-type GIS interval transport device. The device can realize straight-line walking, lateral walking, turning, turning on the spot, and vertical lifting and lowering functions. It can complete the dual functions of rapid GIS interval transfer and precise lateral docking in one go.

[0025] To achieve the above objectives, this application provides the following technical solution:

[0026] This application provides an AGV-type GIS compartment transport device, including two AGV transport trolleys and two sets of remote control devices. The AGV transport trolleys are installed on the left and right ends of the channel steel base of the GIS compartment, and can directly lift, transport, and lower the GIS compartment from the ground to complete the transport of the GIS compartment. The AGV transport trolley includes a cover, a connecting clamp, a control unit, a lifting device, a carrying platform, a traveling steering wheel, a first auxiliary wheel set, a laser radar, and a battery assembly. The cover is used for the protection of the equipment, and the connecting clamp is used for the connection with the GIS compartment unit base.

[0027] The upper end of the connecting clamp is mounted on the lifting device, allowing it to move up and down synchronously with the lifting device. The lower end is supported by a second auxiliary wheel set and is used to connect the AGV transport trolley to the GIS interval unit during operation. The connecting clamp structure consists of a left side plate assembly, a right side plate assembly, an upper connecting rod, a middle connecting plate, a sleeve, a lead screw, a nut, a lower connecting rod, an L-shaped connecting block, a lower connecting plate, a second auxiliary wheel set, and a locking nut.

[0028] The left and right side plate assemblies are made of 7035 aviation aluminum and are located on the left and right sides respectively. The upper connecting rod, lower connecting rod, and lower connecting plate are installed in the middle of the left and right side plate assemblies to form an overall frame unit. The middle connecting plate is installed between the upper and lower connecting rods for structural reinforcement. The central hole of the sleeve passes through the lower connecting rod and is bolted into the screw hole of the left and right side plate assemblies. The threaded rod is installed in the middle of the left and right side plate assemblies, with a matching nut, for fixing the position of the L-shaped connecting block. The through holes of the L-shaped connecting block pass through the sleeve and the threaded rod respectively for connection with the GIS bay unit base frame.

[0029] The control unit adopts an independent box structure and is installed in the middle of the upper surface of the base plate of the support platform. It is used for the operation control of the GIS transport device. The control unit box panel is equipped with an LCD human-machine touch screen, a power display window, a start / stop switch, a voice alarm device, and an emergency stop switch.

[0030] The lifting device is mounted on the lifting mechanism mounting plate and consists of a servo motor, a wireless signal receiver, a reduction mechanism, a worm gear reducer, a lifting screw, and a position sensor.

[0031] The servo motor provides the lifting power source for the device, the wireless signal receiver box is used to receive signals from the lifting device, the reduction mechanism provides a suitable reduction ratio for the servo motor, the worm gear reducer is used for further reduction of the device and conversion of the rotational driving force into the vertical lifting force, the lifting screw is part of the reduction mechanism, the upper flange is connected to the connecting clamp, and the lower end is equipped with a position contact piece. One position sensor is installed on the upper surface of the base plate of the bearing platform and one on the lower surface of the lifting mechanism mounting plate, which are used to limit the vertical working range of the lifting screw.

[0032] The carrying platform is the main structure of the AGV-type GIS interval transport device. The carrying platform consists of a carrying platform base plate, a lifting mechanism mounting plate, a carrying platform support column, and a battery mounting slot. The carrying platform base plate, the lifting mechanism mounting plate, and the carrying platform support column are made of aviation aluminum profile 7035.

[0033] The traveling steering wheel is the traveling power unit of this device. The traveling steering wheel consists of a suspension damping assembly, a brake assembly, a steering motor assembly, a rubber-coated wheel, a traveling motor assembly, a steering encoder assembly, a slewing gear, and a support. The traveling steering wheel adopts a double-spring suspension buffer. One AGV transport trolley uses two sets of traveling steering wheels. The traveling steering wheel is installed on the lower plane of the bearing platform with fastening bolts.

[0034] The first and second auxiliary wheel sets are not equipped with a power unit and are used to assist the GIS interval transport device in its movement and as a backup. When the travel steering wheel fails and cannot move, it can be manually pushed to replace the travel steering wheel. The auxiliary wheel set consists of casters, mounting plates, sliding seats, lead screws, guide columns, handwheel assemblies, and mounting brackets.

[0035] The casters are mounted under the mounting plate for movement; four sliding seats are evenly distributed in the mounting bracket holes for guiding the guide column when it moves up and down; the lower end of the lead screw is mounted on the mounting plate; the handwheel assembly includes its handwheel and lead screw rod, which is screwed into the lead screw. Rotating the handwheel assembly in both directions can adjust the height of the casters.

[0036] The lidar is installed in the middle of the base plate of the support platform to detect the distance between external objects and the vehicle body, preventing equipment collisions. The safety distance can be flexibly set, and the equipment will automatically stop moving forward when it encounters an obstacle.

[0037] The battery assembly is installed in the battery mounting slot, and uses lithium iron phosphate batteries with a capacity of 100AH ​​and a DC output of 48V to provide power to the transport vehicle.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] 1) It has fully automated transportation capabilities, which can significantly reduce the labor intensity of personnel handling GIS intervals;

[0040] 2) Two AGV trolleys are used. Each trolley can move independently or in coordination. They are easy to install and disassemble and can adapt to the large weight and long size of GIS compartments.

[0041] 3) The transport device is installed at both ends of the GIS bay base frame, which can effectively avoid interference from the embedded parts in the middle of the base frame when the equipment moves, and at the same time prevent positional interference caused by the small spacing between the two units;

[0042] 5) The device can perform actions such as straight-line walking, lateral walking, turning, turning on the spot, and lifting up and down. It can complete the dual functions of rapid GIS interval transfer and precise lateral docking in one go.

[0043] 6) The AGV uses the steering wheel as the power unit for walking, which has good climbing ability and obstacle crossing ability. The AGV steering wheel is equipped with double spring buffer suspension, which can adapt to uneven ground.

[0044] 7) The AGV control unit can set relevant parameters according to different structural dimensions of GIS to meet the transportation of GIS intervals of different lengths and widths, ensuring that the wheel system can work together effectively when transporting different products, and has excellent scene adaptability;

[0045] 8) The connecting clamp adopts an innovative structural design and is integrated with the AGV trolley lifting platform, which has the characteristics of high strength and easy use. Attached Figure Description

[0046] 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.

[0047] Figure 1 This is a schematic diagram illustrating the installation and use of the AGV-type GIS interval transport device according to an embodiment of this application;

[0048] Figure 2 This is a schematic diagram of the AGV transport vehicle structure according to an embodiment of this application. Figure 1 ;

[0049] Figure 3 This is a schematic diagram of the AGV transport vehicle structure in an embodiment of the application. Figure 2 ;

[0050] Figure 4 This is a schematic diagram of the AGV transport vehicle structure according to an embodiment of this application. Figure 3 ;

[0051] Figure 5 This is a schematic diagram of the connecting clamp structure according to an embodiment of this application;

[0052] Figure 6 This is a schematic diagram of the working principle of the device according to an embodiment of this application;

[0053] Figure 7 This is a schematic diagram of the lifting device structure according to an embodiment of this application;

[0054] Figure 8This is a schematic diagram of the carrier platform structure according to an embodiment of this application;

[0055] Figure 9 This is a schematic diagram of the walking steering wheel structure according to an embodiment of this application;

[0056] Figure 10 This is a schematic diagram of the auxiliary wheel assembly structure according to an embodiment of this application;

[0057] Figure 11 This is a schematic diagram illustrating the working principle of the device in an embodiment of this application;

[0058] Figure 12 This is a flowchart illustrating the device operation process of an embodiment of this application. Detailed Implementation

[0059] 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.

[0060] 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.

[0061] like Figures 1 to 12 As shown in the figure, this application provides an AGV-type GIS interval transport device, which consists of two AGV transport vehicles 2 and two sets of remote control devices 3. Its installation and use are as follows. Figure 1 As shown, the equipment is installed on the left and right ends of the channel steel base frame 101 of GIS bay 1, and can directly lift, transport and lower GIS bay 1 from the ground to complete the transportation of GIS bay.

[0062] The structure of the AGV transport vehicle is as follows: Figures 2 to 4 As shown, it mainly consists of a cover 201, a connecting clamp 202, a control unit 203, a lifting device 204, a carrying platform 205, a traveling steering wheel 206, a first auxiliary wheel set 207, a lidar 208, and a battery assembly 209.

[0063] The housing 201 is made of 2mm thin sheet metal and is used for equipment protection.

[0064] The structure of the connecting clamp 202 is as follows Figure 5 As shown, its upper end is mounted on the lifting device 204, and can move up and down synchronously with the lifting device 204. The lower end is supported by the second auxiliary wheel set 20211, which is used to connect the AGV transport trolley to the GIS interval unit when it is working. Its structure consists of a left side plate assembly 20201, a right side plate assembly 20202, an upper connecting rod 20203, a middle connecting plate 20204, a sleeve 20205, a lead screw 20206, a nut 20207, a lower connecting rod 20208, an L-shaped connecting block 20209, a lower connecting plate 20210, an auxiliary wheel set 2, and a locking nut 20212.

[0065] The left side panel assembly 20201 and the right side panel assembly 20202 are made of 7035 aviation aluminum, which is lightweight and high-strength, and are located on the left and right sides respectively. The upper connecting rod 20203, the lower connecting rod 20208, and the lower connecting plate 20210 are installed between the left side panel assembly 20201 and the right side panel assembly 20202, forming an overall frame unit. The middle connecting plate 20204 is installed between the upper connecting rod 20203 and the lower connecting rod 20208 for structural reinforcement. (Sleeve) The center hole of 20205 passes through the lower connecting rod 20208 and is bolted and installed in the screw holes of the left side plate assembly 20201 and the right side plate assembly 20202; the lead screw 20206 is installed in the middle of the left side plate assembly 20201 and the right side plate assembly 20202, and is matched with nut 20207 for fixing the position of L-shaped connecting block 20209; the through hole of L-shaped connecting block 20209 passes through sleeve 20205 and lead screw 20206 respectively, for connecting with GIS bay unit base frame.

[0066] Control unit 203 adopts an independent enclosure structure and is installed in the middle of the upper surface of the base plate of the support platform 20501. It is used for the operation control of the GIS transport device. The control unit 203 enclosure panel is equipped with an LCD human-machine touch screen, a power display window, a start / stop switch, a voice alarm device, an emergency stop switch, etc. The working principle of the equipment is as follows: Figure 6 As shown.

[0067] The overall structure of the lifting device 204 is as follows: Figure 7 As shown, it is installed on the 20502 lifting mechanism mounting plate and mainly consists of a servo motor 20401, a wireless signal receiver box 20402, a reduction mechanism 20403, a worm gear reducer 20404, a lifting screw 20405, and a position sensor 20406.

[0068] Servo motor 20401 provides the lifting power source for the device; wireless signal receiver box 20402 is used for receiving signals from the lifting device; reduction mechanism 20403 provides a suitable reduction ratio for servo motor 20401; worm gear reducer 20404 is used for further reduction of the device and to convert the rotational driving force into vertical lifting force; lifting screw 20405 is part of the reduction mechanism, with its upper flange connected to the connecting clamp 202 and its lower end equipped with a position contact piece; position sensor 20406 is installed on the upper plane of the bearing platform base plate 20501 and the lower plane of the lifting mechanism mounting plate 20502, respectively, for limiting the vertical working range of lifting screw 20405.

[0069] Platform 205 is the main structure of the AGV-type GIS interval transport device, and its design structure is as follows: Figure 8 As shown, it mainly consists of a base plate 20501 for the bearing platform, a lifting mechanism mounting plate 20502, a bearing platform support column 20503, and a battery mounting slot.

[0070] The base plate 20501 of the bearing platform, the mounting plate 20502 of the lifting mechanism, and the support column 20503 of the bearing platform are made of aviation aluminum profile 7035, which is lightweight and has good strength.

[0071] The traveling steering wheel 206 is the traveling power unit of this device. Its overall structure is shown in Figure 9. It mainly consists of a suspension damping assembly 20601, a brake assembly 20602, a steering motor assembly 20303, a rubber-coated wheel 20604, a traveling motor assembly 20605, a steering encoder assembly 20606, a rotary gear, and a support 20607.

[0072] The traveling steering wheel 206 adopts a double spring suspension buffer. One AGV transport trolley uses two sets of traveling steering wheels, and two trolleys use a total of four sets, which are installed on the lower plane of the bearing platform 205 with fastening bolts.

[0073] The first auxiliary wheel set 207 and the second auxiliary wheel set 20211 have the same structure and do not have a power unit. They are used to assist the GIS interval transport device in its movement and as a backup. When the traveling steering wheel 206 fails and cannot move, it is manually pushed to replace the traveling steering wheel 206, preventing the GIS interval transport device from blocking project construction due to failure. The structure of this device is as follows. Figure 10 As shown, it mainly consists of casters 20701, mounting plate 20702, sliding seat 20703, lead screw 20704, guide post 20705, handwheel assembly 20706, and mounting bracket 20707.

[0074] The caster wheel 20701 is installed under the mounting plate 20702 for movement; the sliding seat 20703 is installed in the hole of the mounting bracket 20707, with 4 pieces evenly distributed, for guiding the guide column 20705 when it moves up and down; the lower end of the lead screw 20704 is installed on the mounting plate 20702; the handwheel assembly 20706 includes its handwheel and lead screw rod, which is screwed into the lead screw 20704. Rotating the handwheel assembly 20706 in both directions can adjust the height of the caster wheel 20701.

[0075] The lidar 208 is installed in the middle of the base plate 20501 of the support platform. It is used to detect the distance between external objects and the vehicle body to prevent equipment collisions. The safety distance can be flexibly set. When it encounters an obstacle, the equipment will automatically stop moving forward.

[0076] The battery assembly 209 is installed in the battery mounting slot 20504. It uses a lithium iron phosphate battery with a capacity of 100AH ​​and an output of DC 48V to provide power to the transport vehicle.

[0077] Each AGV transport vehicle is an independent power unit and can be remotely operated by an operator. Due to the long volume of the GIS interval, two AGV transport vehicles are used for coordinated transport.

[0078] like Figure 11 and Figure 12 First, operators 1 and 2 adjust the second auxiliary wheel set 20211 of the two trolleys respectively, so that the second auxiliary wheel set moves downward and is adjusted to be level after contacting the ground.

[0079] Operators 1 and 2 respectively turn on the power switches of AGV transport vehicle 1 and AGV transport vehicle 2, and remotely control the movement of the vehicles. The vehicles can move in multiple degrees of freedom, including straight lines, turns, lateral movements, U-turns, forward movements, and backward movements. When the AGV transport vehicle automatically moves to the end face of the GIS base frame, the L-shaped connecting block 20209 is manually moved left and right to make the hole spacing at its end face the same as that at the end face of the GIS base frame. Then, the connecting clamp 202 is raised and lowered to make the L-shaped connecting block 20209 basically coaxial with the end face of the GIS base frame. The connecting bolts are inserted and tightened to connect and fix the transport vehicle 1 and transport vehicle 2 to the left and right end faces of the GIS base frame to be transported, respectively.

[0080] After the two transport trolleys and the GIS base frame are installed, the data cables of transport trolley 1 and transport trolley 2 are connected, and then the system is switched to the main remote control for centralized control. At this time, the equipment is controlled by one operator.

[0081] During operation, the equipment can perform functions such as speed adjustment, lifting adjustment, and omnidirectional transport. It can detect obstacles through lidar, provide timely warnings through a voice system, and indicate the operating status through warning lights.

[0082] After the transport trolley transports the GIS bay to the installation position, the lifting system is controlled to lower the GIS bay unit into place. After completion, the data cable between the two trolleys is disconnected, and the remote control device is switched to separate control. At this time, operator 1 and operator 2 control trolley 1 and trolley 2 respectively through remote control 1 and remote control 2 to remove the bolts connecting the trolley to the GIS base frame, and control transport trolley 1 and transport trolley 2 to return and transport other GIS bay units.

[0083] 1) It has fully automated transportation capabilities, which can significantly reduce the labor intensity of personnel handling GIS intervals;

[0084] 2) Two AGV trolleys are used. Each trolley can move independently or in coordination. They are easy to install and disassemble and can adapt to the large weight and long size of GIS compartments.

[0085] 3) The transport device is installed at both ends of the GIS bay base frame, which can effectively avoid interference from the embedded parts in the middle of the base frame when the equipment moves, and at the same time prevent positional interference caused by the small spacing between the two units;

[0086] 5) The device can perform actions such as straight-line walking, lateral walking, turning, turning on the spot, and lifting up and down. It can complete the dual functions of rapid GIS interval transfer and precise lateral docking in one go.

[0087] 6) The AGV uses the steering wheel as the power unit for walking, which has good climbing ability and obstacle crossing ability. The AGV steering wheel is equipped with double spring buffer suspension, which can adapt to uneven ground.

[0088] 7) The AGV control unit can set relevant parameters according to different structural dimensions of GIS to meet the transportation of GIS intervals of different lengths and widths, ensuring that the wheel system can work together effectively when transporting different products, and has excellent scene adaptability;

[0089] 8) The connecting clamp adopts an innovative structural design and is integrated with the AGV trolley lifting platform, which has the characteristics of high strength and easy use.

[0090] 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. An AGV-type GIS interval transport device, characterized in that, It includes two AGV transport vehicles and two sets of remote control devices. The AGV transport vehicles are installed on the left and right ends of the channel steel base of the GIS compartment. They can directly lift, transport, and lower the GIS compartment from the ground to complete the transport of the GIS compartment. The AGV transport vehicle includes a cover, connecting clamps, control unit, lifting device, carrying platform, traveling steering wheel, first auxiliary wheel set, lidar and battery assembly. The cover is used for equipment protection and the connecting clamps are used for connection with the GIS compartment unit base.

2. The AGV-type GIS interval transport device according to claim 1, characterized in that, The upper end of the connecting clamp is mounted on the lifting device, allowing it to move up and down synchronously with the lifting device. The lower end is supported by a second auxiliary wheel set and is used to connect the AGV transport trolley to the GIS interval unit during operation. The connecting clamp structure consists of a left side plate assembly, a right side plate assembly, an upper connecting rod, a middle connecting plate, a sleeve, a lead screw, a nut, a lower connecting rod, an L-shaped connecting block, a lower connecting plate, a second auxiliary wheel set, and a locking nut. The left and right side plate assemblies are made of 7035 aviation aluminum and are located on the left and right sides respectively. The upper connecting rod, lower connecting rod, and lower connecting plate are installed in the middle of the left and right side plate assemblies to form an overall frame unit. The middle connecting plate is installed between the upper and lower connecting rods for structural reinforcement. The central hole of the sleeve passes through the lower connecting rod and is bolted into the screw hole of the left and right side plate assemblies. The threaded rod is installed in the middle of the left and right side plate assemblies, with a matching nut, for fixing the position of the L-shaped connecting block. The through holes of the L-shaped connecting block pass through the sleeve and the threaded rod respectively for connection with the GIS bay unit base frame.

3. The AGV-type GIS interval transport device according to claim 2, characterized in that, The control unit adopts an independent box structure and is installed in the middle of the upper surface of the base plate of the support platform. It is used for the operation control of the GIS transport device. The control unit box panel is equipped with an LCD human-machine touch screen, a power display window, a start / stop switch, a voice alarm device, and an emergency stop switch.

4. The AGV-type GIS interval transport device according to claim 3, characterized in that, The lifting device is mounted on the lifting mechanism mounting plate and consists of a servo motor, a wireless signal receiver, a reduction mechanism, a worm gear reducer, a lifting screw, and a position sensor. The servo motor provides the lifting power source for the device, the wireless signal receiver box is used to receive signals from the lifting device, the reduction mechanism provides a suitable reduction ratio for the servo motor, the worm gear reducer is used for further reduction of the device and conversion of the rotational driving force into the vertical lifting force, the lifting screw is part of the reduction mechanism, the upper flange is connected to the connecting clamp, and the lower end is equipped with a position contact piece. One position sensor is installed on the upper surface of the base plate of the bearing platform and one on the lower surface of the lifting mechanism mounting plate, which are used to limit the vertical working range of the lifting screw.

5. An AGV-type GIS interval transport device according to claim 4, characterized in that, The carrying platform is the main structure of the AGV-type GIS interval transport device. The carrying platform consists of a carrying platform base plate, a lifting mechanism mounting plate, a carrying platform support column, and a battery mounting slot. The carrying platform base plate, the lifting mechanism mounting plate, and the carrying platform support column are made of aviation aluminum profile 7035.

6. The AGV-type GIS interval transport device according to claim 5, characterized in that, The traveling steering wheel is the traveling power unit of this device. The traveling steering wheel consists of a suspension damping assembly, a brake assembly, a steering motor assembly, a rubber-coated wheel, a traveling motor assembly, a steering encoder assembly, a slewing gear, and a support. The traveling steering wheel adopts a double-spring suspension buffer. One AGV transport trolley uses two sets of traveling steering wheels. The traveling steering wheel is installed on the lower plane of the bearing platform with fastening bolts.

7. The AGV-type GIS interval transport device according to claim 5, characterized in that, The first and second auxiliary wheel sets are not equipped with a power unit and are used to assist the GIS interval transport device in its movement and as a backup. When the travel steering wheel fails and cannot move, it can be manually pushed to replace the travel steering wheel. The auxiliary wheel set consists of casters, mounting plates, sliding seats, lead screws, guide columns, handwheel assemblies, and mounting brackets. The casters are mounted under the mounting plate for movement; four sliding seats are evenly distributed in the mounting bracket holes for guiding the guide column when it moves up and down; the lower end of the lead screw is mounted on the mounting plate; the handwheel assembly includes its handwheel and lead screw rod, which is screwed into the lead screw. Rotating the handwheel assembly in both directions can adjust the height of the casters.

8. An AGV-type GIS interval transport device according to claim 5, characterized in that, The lidar is installed in the middle of the base plate of the support platform to detect the distance between external objects and the vehicle body, preventing equipment collisions. The safety distance can be flexibly set, and the equipment will automatically stop moving forward when it encounters an obstacle.

9. An AGV-type GIS interval transport device according to claim 5, characterized in that, The battery assembly is installed in the battery mounting slot, and uses lithium iron phosphate batteries with a capacity of 100AH ​​and a DC output of 48V to provide power to the transport vehicle.

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