One-driving-two unmanned wiring system of distribution transformer

Abstract

The utility model discloses a one-to-two unmanned wiring system for a distribution transformer, which comprises a bottom plate, an intelligent man-machine interaction control terminal, a low-voltage side wiring device, a test object transportation automatic AGV (Automatic Guided Vehicle), a robot, a high-voltage side wiring portal frame and a high-voltage side wiring device, the intelligent man-machine interaction control terminal, the low-voltage side wiring devices, the test object transportation automatic AGVs, the robot and the high-voltage side wiring portal frame are all installed on the top of the bottom plate, the low-voltage side wiring devices are located on the front sides of the test object transportation automatic AGVs, the robot is located between the test object transportation automatic AGVs, and the high-voltage side wiring portal frame is located on the rear sides of the test object transportation automatic AGVs. And a group of high-voltage side wiring devices are arranged at the top end in the high-voltage side wiring portal frame. The device can reduce the labor cost, shorten the test time, improve the detection efficiency, reduce the safety risk, and improve the authenticity and fairness of the detection data.

Description

Technical Field

[0001] The utility model relates to the technical field of distribution transformers, in particular to a distribution transformer one - to - two unmanned wiring system. Background Technique

[0002] With the continuous increase of the detection intensity of distribution network materials by the State Grid, the situation of a large number of detection equipment, various varieties and high labor intensity has gradually emerged. At present, although the 3 sets of distribution transformer intelligent detection workstations equipped in the Yunan Detection Center of Henan Electric Power Research Institute already have certain automatic detection functions, they still cannot be separated from the links of manual connection and disconnection of wires, and cannot truly achieve the goal of unmanned batch detection throughout the detection process.

[0003] The existing distribution transformer detection tooling has the following defects;

[0004] At present, all distribution transformer detection tooling uses one robot to detect one transformer, resulting in problems such as increased transformer detection costs and a relatively large occupied installation area. Therefore, a solution needs to be given. Content of the Utility Model

[0005] The purpose of the utility model is to provide a distribution transformer one - to - two unmanned wiring system to solve the problems raised in the above background technique.

[0006] To achieve the above - mentioned purpose, the utility model provides the following technical solutions:

[0007] A distribution transformer one - to - two unmanned wiring system includes a bottom plate, an intelligent human - machine interaction control terminal, a low - voltage side wiring device, a test sample transportation automatic AGV, a robot, a high - voltage side wiring gantry and a high - voltage side wiring device. The intelligent human - machine interaction control terminal, the low - voltage side wiring device, the test sample transportation automatic AGV, the robot and the high - voltage side wiring gantry are all installed on the top of the bottom plate. There is a set of the low - voltage side wiring device and the test sample transportation automatic AGV. A set of the low - voltage side wiring device is located in front of a set of the test sample transportation automatic AGV. The robot is located between a set of the test sample transportation automatic AGV. The high - voltage side wiring gantry is located behind a set of the test sample transportation automatic AGV. There is a set of the high - voltage side wiring device, and a set of the high - voltage side wiring devices are all installed at the inner top of the high - voltage side wiring gantry.

[0008] As a preferred embodiment of the present utility model, the robot includes a base, a rotating disk, a driving manipulator, a mechanical operation head, and a rotating motor. The rotating disk is installed on the top of the base, the rotating motor is installed at the bottom of the base, the driving end at the top of the rotating motor is connected to the bottom of the rotating disk, a driving mounting block is provided on the side of the top of the rotating disk, a second motor is provided at the right end of the driving mounting block, one end of the driving manipulator is installed at the driving end of the second motor and is located at the left end of the driving mounting block, and the mechanical operation head is installed at the other end of the driving manipulator.

[0009] As a preferred embodiment of the present utility model, the base includes a lower stabilizing plate, support columns, and an upper mounting plate. Both the lower stabilizing plate and the upper mounting plate are square-shaped structures. There are two groups of support columns, and the two groups of support columns are installed between the lower stabilizing plate and the upper mounting plate. The support columns are rectangular structures. A number of groups of reinforcing connection pieces are provided at the connections between the lower stabilizing plate and the support columns and between the upper mounting plate and the support columns, and are distributed at equal intervals in a circular shape. The reinforcing connection pieces are trapezoidal structures.

[0010] As a preferred embodiment of the present utility model, fixing holes are provided at the four corners of the lower stabilizing plate, and locking bolts are installed in the fixing holes.

[0011] As a preferred embodiment of the present utility model, the automatic AGV for transporting test samples includes a transport base vehicle, a load-bearing platform, and a transformer. The load-bearing platform is installed on the top of the transport base vehicle, the transformer is placed on the top of the load-bearing platform. The load-bearing platform is rectangular in shape and is a hollow structure inside. A number of groups of reinforcing plates are provided inside the load-bearing platform and are distributed at equal intervals horizontally. The reinforcing plates are rectangular structures.

[0012] As a preferred embodiment of the present utility model, a protective guardrail is provided on the outer side of the top of the bottom plate. The protective guardrail is rectangular in shape and is composed of a number of groups of guardrail plates. The guardrail plates are rectangular in shape.

[0013] As a preferred embodiment of the present utility model, the high-voltage side wiring gantry is in a concave shape. A bracket is provided in the middle section inside the high-voltage side wiring gantry. The bracket is in a rectangular frame shape. The bottom of the bracket is connected to the bottom of the bottom plate. A number of groups of reinforcing columns are provided inside the bracket and are distributed at equal intervals in a column shape.

[0014] Compared with the prior art, the beneficial effects of the present utility model are:

[0015] In the one-to-two unmanned wiring system of the distribution transformer of the utility model, under the coordinated control of the matching measurement and control software, the functions of unmanned operation of the whole process of automatic test wiring, automatic switching of test items, automatic detection, and automatic evaluation of test results can be realized by using one set of robots between two distribution transformer stations in a time-sharing manner, thereby reducing labor costs, shortening test time, improving detection efficiency, reducing safety risks, and improving the authenticity and fairness of detection data.

[0016] A six-axis industrial robot is used to realize the automatic test wiring, wire removal and tap switch switching functions of the electrical test of 10kV 630kVA oil-immersed distribution transformer;

[0017] An industrial robot is installed between two distribution transformer inspection stations to cover the automatic line of the two stations. The 180-degree rotation reduces the site requirements and improves the utilization efficiency of the robot. Compared with the traditional one-to-two layout mode using slide rails to shuttle, it saves rail investment, reduces floor space, simplifies the operation process, and further improves the inspection efficiency.

[0018] The image recognition system is used to automatically identify and locate the characteristic positions of each terminal and tap changer of distribution transformers of different specifications and sizes;

[0019] Intelligent testing equipment has the ability to complete all electrical test items with one connection, which reduces the number of connections and improves testing efficiency.

[0020] Professional matching wiring fixtures can not only meet the needs of high voltage and high current of electrical test projects, but also take into account the requirements of insulation and withstand voltage, avoiding affecting the test data.

[0021] In order to enable industrial robots to perform assembly operations while ensuring safety and prevent the industrial robots from being stuck and unable to operate due to excessive force, it is necessary to add a force-position hybrid control strategy to the industrial robot body.

[0022] The force / position hybrid control method adopted by this system is a control method based on speed loop and position loop. Figure 4 This is a block diagram of a force / position hybrid control system based on speed control, which is divided into a force / torque control loop and a position / posture control loop, and the force and position loops are intersected to ultimately achieve control. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall internal structure of the utility model;

[0024] Figure 2 This is a schematic diagram of the robot structure of the utility model;

[0025] Figure 3Schematic diagram of the automatic AGV structure for transporting test samples of the present utility model;

[0026] Figure 4 Force / position hybrid control block diagram of the base and end force / torque sensor of the present utility model.

[0027] In the figure: 1, bottom plate; 2, intelligent human-machine interaction control terminal; 3, low-voltage side wiring device; 4, automatic AGV for transporting test samples; 5, robot; 6, high-voltage side wiring gantry; 7, high-voltage side wiring device; 8, base; 9, rotating disk; 10, driving manipulator; 11, mechanical operation head; 12, rotating motor; 13, driving mounting block; 14, second motor; 15, lower stabilizing plate; 16, support column; 17, upper mounting plate; 18, strengthening connecting piece; 19, fixing hole; 20, locking bolt; 21, transportation base vehicle; 22, load-bearing platform; 23, strengthening plate; 24, transformer; 25, protective guardrail; 26, guardrail plate; 27, bracket; 28, strengthening column. Specific implementation manners

[0028] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0029] Please refer to Figures 1-4 , the present utility model provides a technical solution:

[0030] A one - to - two unmanned wiring system for distribution transformers, including a base plate 1, an intelligent human - machine interaction control terminal 2, a low - voltage side wiring device 3, an automatic AGV for test sample transportation 4, a robot 5, a high - voltage side wiring gantry 6, and a high - voltage side wiring device 7. The intelligent human - machine interaction control terminal 2, the low - voltage side wiring device 3, the automatic AGV for test sample transportation 4, the robot 5, and the high - voltage side wiring gantry 6 are all installed on the top of the base plate 1. There is a set of the low - voltage side wiring device 3 and a set of the automatic AGV for test sample transportation 4. A set of the low - voltage side wiring device 3 is located in front of a set of the automatic AGV for test sample transportation 4. The robot 5 is located between a set of the automatic AGV for test sample transportation 4. The high - voltage side wiring gantry 6 is located behind a set of the automatic AGV for test sample transportation 4. There is a set of the high - voltage side wiring device 7, and a set of the high - voltage side wiring device 7 is installed at the inner top of the high - voltage side wiring gantry 6. To meet the wiring requirements of the industrial robot 5, high - voltage side wiring cabinets and low - voltage side wiring cabinets are designed on both sides of the test object, which are respectively used for wiring the wiring terminals of the high - voltage side and the low - voltage side of the test object and fixing special tooling, etc. The control system of the industrial robot 5 controls the motors of each degree of freedom of the industrial robot to complete specific actions, and at the same time receives the information fed back by the sensors to form a stable closed - loop control. The hand F completes various rotations (swings), movements or compound movements to achieve the specified actions, changing the position and posture of the grasped object, and supporting a variety of structural toolings and fixture forms according to the operation requirements. Through the coordinated work of the control system and the industrial robot 5, automatic operations such as high - voltage side wiring and disconnection, low - voltage side wiring and disconnection, and tap - changer switching of the distribution transformer are realized, and the design goal of unmanned participation in the full - automatic detection station of the transformer is completed. The industrial robot uses a medium - strength load - carrying industrial robot provided by ABB Company, with a maximum arm span of more than 2.5 meters, meeting the wiring requirements of the vast majority of test samples to be inspected, and the end - point load is not less than 40 kg, which can meet the installation of large - current test lines. The main technical parameters of the industrial robot are as follows:

[0031] Number of control axes: 6 axes;

[0032] Working radius: ≥2500 mm;

[0033] Installation method: Floor - mounted;

[0034] Load: ≥40 kg;

[0035] Repeat positioning accuracy: ≤0.06 mm;

[0036] Repeat path accuracy: ≤0.3 mm;

[0037] Protection level: IP67;

[0038] Collision protection is available;

[0039] Electric control system: Components should use internationally well - known brands.

[0040] As a preferred embodiment of the present utility model, the robot 5 includes a base 8, a rotating disk 9, a driving manipulator 10, a mechanical operation head 11 and a rotating motor 12. The rotating disk 9 is installed on the top of the base 8, and the rotating motor 12 is installed at the bottom of the base 8. The top driving end of the rotating motor 12 is connected to the bottom of the rotating disk 9. A driving mounting block 13 is provided on the side of the top of the rotating disk 9. A second motor 14 is provided at the right end of the driving mounting block 13. One end of the driving manipulator 10 is installed at the driving end of the second motor 14 and is located at the left end of the driving mounting block 13. The mechanical operation head 11 is installed at the other end of the driving manipulator 10. When in use, the rotating motor 12 drives the rotating disk 9 to rotate, thereby driving the robot 5 to rotate and adjust the direction. Then, when the second motor 14 drives, it drives the driving manipulator 10 to rotate up and down, so as to achieve the adjustment purpose. Finally, the working purpose can be achieved through the driving manipulator 10 and the mechanical operation head 11 at the working end of the driving manipulator 10.

[0041] As a preferred embodiment of the present utility model, the base 8 includes a lower stabilizing plate 15, support columns 16 and an upper mounting plate 17. Both the lower stabilizing plate 15 and the upper mounting plate 17 are square-shaped structures. There are two groups of support columns 16, and the two groups of support columns 16 are installed between the lower stabilizing plate 15 and the upper mounting plate 17. The support columns 16 are rectangular structures. A number of reinforcing connecting pieces 18 are provided at the joints between the lower stabilizing plate 15 and the support columns 16 and at the joints between the upper mounting plate 17 and the support columns 16, and they are distributed in an annular equidistant manner. The reinforcing connecting pieces 18 are trapezoidal structures. The base 8 can support the top components, and the support columns 16 can connect the lower stabilizing plate 15 and the upper mounting plate 17, thereby improving the stability between the two. Moreover, the reinforcing connecting pieces 18 at the joints between the support columns 16 and the lower stabilizing plate 15 and the upper mounting plate 17 can improve the connection tightness.

[0042] As a preferred embodiment of the present utility model, fixing holes 19 are opened at the four corners of the lower stabilizing plate 15, and locking bolts 20 are installed in the fixing holes 19. When fixing the lower stabilizing plate 15, the staff inserts the locking bolts 20 in the fixing holes 19, and then the bottom of the locking bolts 20 will contact the ground, and further the lower stabilizing plate 15 can be fixed.

[0043] As a preferred embodiment of the present utility model, the automatic AGV 4 for transporting samples includes a transport base vehicle 21, a load-bearing platform 22, and a transformer 24. The load-bearing platform 22 is installed on the top of the transport base vehicle 21, and the transformer 24 is placed on the top of the load-bearing platform 22. The load-bearing platform 22 has a rectangular structure and is a hollow structure inside. A number of groups of reinforcing plates 23 are arranged horizontally and equidistantly inside the load-bearing platform 22. The reinforcing plates 23 have a rectangular structure. The automatic AGV 4 for transporting samples is used to transfer and support the transformer 24, so as to facilitate the detection of the transformer 24.

[0044] As a preferred embodiment of the present utility model, a protective guardrail 25 is provided on the outer side of the top of the bottom plate 1. The protective guardrail 25 has a rectangular structure and is composed of a number of groups of guardrail plates 26. The guardrail plates 26 have a rectangular structure. The protective guardrail 25 is used to seal the working environment and prevent unauthorized personnel from entering the work site.

[0045] As a preferred embodiment of the present utility model, the high-voltage side wiring gantry 6 has a concave-shaped structure. A bracket 27 is provided in the middle section inside the high-voltage side wiring gantry 6. The bracket 27 has a rectangular frame structure. The bottom of the bracket 27 is connected to the bottom of the bottom plate 1. A number of groups of reinforcing columns 28 are arranged vertically and equidistantly inside the bracket 27. The bracket 27 inside the high-voltage side wiring gantry 6 can effectively support the high-voltage side wiring gantry 6, thereby preventing the high-voltage side wiring gantry 6 from being fixed unstably. The number of groups of reinforcing columns 28 inside the bracket 27 is also used to strengthen the structure of the bracket 27.

[0046] Working principle: The central control system is connected to the inspection, storage and distribution system, receives the scheduling tasks and inspection tasks of the test samples. The central control system automatically generates scheduling tasks and inspection task sheets, and sends the scheduling instructions to the AGV scheduling system, and sends the inspection task sheets to the intelligent human-computer interaction control terminal 2. The automatic AGV 4 for transporting test samples in the inspection center goes to the designated docking position. The intelligent automated storage and retrieval system retrieves the test samples from the warehouse and places the test samples with pallets on the automatic AGV 4 for transporting test samples. The automatic AGV 4 for transporting test samples transports the test samples to the area to be inspected. The inspection personnel preprocess the test samples. After the inspection station receives the inspection task sheet, the inspection station automatically opens the equipment access door. The automatic AGV 4 for transporting test samples transports the test samples to the test area of the inspection station. The unmanned wiring system automatically identifies the type of test sample and the wiring terminals. Based on the three-dimensional vision positioning system, the full-automatic robotic arm of the robot 5 accurately wires. The intelligent human-computer interaction control terminal 2 uses the test program to judge whether the wiring is correct. If there is no problem, it starts the measurement. After completing the first test, the full-automatic robotic arm of the robot 5 automatically switches the wires and switches the tap and then continues to automatically conduct the next test until all items at this station are completed. The intelligent human-computer interaction control terminal 2 automatically generates test data and sends it to the central control system, and prompts the completion of the test. After the test is completed, the unmanned wiring system removes the test wires, and the intelligent human-computer interaction control terminal 2 system opens the equipment door. The automatic AGV 4 for transporting test samples transports the test samples to the docking position. The intelligent automated storage and retrieval system retrieves the test samples from the automatic AGV 4 for transporting test samples and returns them to the warehouse. The central control system receives the test data and automatically generates a test report.

[0047] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A one-to-two unmanned wiring system for distribution transformers, characterized in that: The invention comprises a base plate (1), an intelligent human-machine interactive control terminal (2), a low-voltage side wiring device (3), a sample transport automatic AGV (4), a robot (5), a high-voltage side wiring gantry (6) and a high-voltage side wiring device (7). The intelligent human-machine interactive control terminal (2), the low-voltage side wiring device (3), the sample transport automatic AGV (4), the robot (5) and the high-voltage side wiring gantry (6) are all installed on the top of the base plate (1). The low-voltage side wiring device (3) and the sample transport automatic AGV (4) are each provided with a group. A group of the low-voltage side wiring devices (3) is located in front of a group of the sample transport automatic AGV (4). The robot (5) is located between a group of the sample transport automatic AGV (4). The high-voltage side wiring gantry (6) is located in the rear of a group of the sample transport automatic AGV (4). The high-voltage side wiring device (7) is provided with a group. A group of the high-voltage side wiring devices (7) are all installed on the top of the high-voltage side wiring gantry (6).

2. The one-to-two unmanned wiring system for distribution transformers according to claim 1 is characterized by: The robot (5) comprises a base (8), a rotating disk (9), a driving manipulator (10), a mechanical operating head (11) and a rotating motor (12); the rotating disk (9) is mounted on the top of the base (8); the rotating motor (12) is mounted on the bottom of the base (8); the top driving end of the rotating motor (12) is connected to the bottom of the rotating disk (9); a driving mounting block (13) is provided on the top side of the rotating disk (9); a second motor (14) is provided at the right end of the driving mounting block (13); one end of the driving manipulator (10) is mounted on the driving end of the second motor (14) and is located at the left end of the driving mounting block (13); and the mechanical operating head (11) is mounted on the other end of the driving manipulator (10).

3. The one-to-two unmanned wiring system for distribution transformers according to claim 2 is characterized in that: The base (8) comprises a lower stabilizing plate (15), a support column (16) and an upper mounting plate (17); the lower stabilizing plate (15) and the upper mounting plate (17) are both square-shaped structures; two groups of support columns (16) are provided, and the two groups of support columns (16) are installed between the lower stabilizing plate (15) and the upper mounting plate (17); the support columns (16) are rectangular-shaped structures; the connection between the lower stabilizing plate (15) and the support column (16) and the connection between the upper mounting plate (17) and the support column (16) are both provided with a plurality of groups of reinforcing connecting pieces (18) distributed in an annular equidistant manner; the reinforcing connecting pieces (18) are trapezoidal-shaped structures.

4. The one-to-two unmanned wiring system for distribution transformers according to claim 3 is characterized by: The lower stabilizing plate (15) is provided with fixing holes (19) at four corners, and locking bolts (20) are installed in the fixing holes (19).

5. The one-to-two unmanned wiring system for distribution transformers according to claim 1 is characterized by: The sample transport automatic AGV (4) comprises a transport base vehicle (21), a load-bearing platform (22) and a transformer (24), wherein the load-bearing platform (22) is installed on the top of the transport base vehicle (21), and the transformer (24) is placed on the top of the load-bearing platform (22), wherein the load-bearing platform (22) is a rectangular structure and has a hollow structure inside, and wherein a plurality of groups of reinforcing plates (23) distributed in a transversely equidistant manner are arranged inside the load-bearing platform (22), and wherein the reinforcing plates (23) are a rectangular structure.

6. The one-to-two unmanned wiring system for distribution transformers according to claim 1 is characterized by: A protective guardrail (25) is provided on the outer side of the top of the bottom plate (1); the protective guardrail (25) is in a rectangular structure; the protective guardrail (25) is composed of a plurality of groups of guardrail panels (26); and the guardrail panels (26) are in a rectangular structure.

7. The one-to-two unmanned wiring system for distribution transformers according to claim 1 is characterized by: The high-voltage side connection gantry (6) is in a concave-shaped structure. A bracket (27) is provided at the middle section of the high-voltage side connection gantry (6). The bracket (27) is in a rectangular frame structure. The bottom of the bracket (27) is connected to the bottom of the base plate (1). A plurality of groups of reinforcement columns (28) are arranged in a column-shaped manner and are equidistantly distributed.

Images