High-voltage transformer substation tubular bus lap joint robot

Abstract

The utility model provides a high-voltage transformer station tubular bus bar lap joint robot, which relates to the technical field of lap joint robots and comprises a base, a four-axis mechanical arm is arranged at the top of the base, a notch is formed in the top of the base close to the center position, and fixing assemblies are symmetrically arranged at the top of the base. A treatment assembly is arranged at the inner bottom of the base; and the fixing assembly comprises a fixing plate, the bottom of the fixing plate is fixedly connected with the top of the base, and the inner surface of the fixing plate is fixedly connected with a first electric push rod. According to the tubular bus bar welding device, the tubular bus bar can be conveniently clamped and moved through the first electric push rod, the second electric push rod, the clamping block and the fixing base, the end face of the tubular bus bar can be conveniently in butt joint, under the action of the multi-stage electric push rod, the double-shaft motor, the grinding wheel, the supporting frame, the four-shaft mechanical arm and the welding head, the end face of the tubular bus bar is polished before welding, and then welding is conducted; and the welding quality is guaranteed, and automation is high.

Description

Technical Field

[0001] The utility model relates to the technical field of splicing robots, in particular to a high-voltage substation busbar splicing robot. Background Art

[0002] As an important part of the power system, high-voltage substations undertake the key tasks of power transmission and distribution. As a key equipment in the substation, the connection technology of tubular busbars is of great significance to ensure the stable operation of the power system. With the continuous growth of power demand and the continuous expansion of the power grid, the requirements for high-voltage substation tubular busbar connection technology are also getting higher and higher.

[0003] In the prior art, welding or bolting is usually used to overlap the busbars in a high-voltage substation. When welding is used, workers usually align the two busbars and then weld them using welding tools. However, the busbars are usually placed on the ground before being overlapped, which makes the end faces of the busbars easily contaminated with dust or rust, affecting the density and strength of the subsequent weld overlap. Utility Model Content

[0004] The purpose of the utility model is to solve the problem that in the prior art, welding or bolting is usually used for overlapping the busbars of a high-voltage substation. When welding is used, the staff usually aligns the two busbars and then welds them with welding tools. However, the busbars are usually placed on the ground before overlapping, which makes the end faces of the busbars easily adhered to dust or rust, affecting the density and strength of the subsequent welding overlap. A high-voltage substation busbar overlapping robot is proposed.

[0005] To achieve the above-mentioned object, the present invention adopts the following technical solution: a high-voltage substation busbar splicing robot, comprising: a base, a four-axis robotic arm disposed on the top of the base, a notch formed near the center of the top of the base, fixing components symmetrically disposed on the top of the base, and a processing component disposed on the inner bottom of the base;

[0006] The fixing assembly includes a fixing plate, the bottom of the fixing plate is fixedly connected to the top of the base, the inner surface of the fixing plate is fixedly connected to the first electric push rod, and the output end of the first electric push rod is fixedly connected to the fixing seat;

[0007] The processing component includes a multi-stage electric push rod, the output end of the multi-stage electric push rod is fixedly connected to a support frame, the inner surface of the support frame is fixedly connected to a dual-axis motor, and both ends of the dual-axis motor are fixedly connected to a grinding wheel.

[0008] Preferably, a support rod is fixedly connected to the top of the support frame, and a protective plate is fixedly connected to the top of the support rod.

[0009] Preferably, the position of the protective plate matches the position of the notch, and the outer surfaces of the support frame and the protective plate match the inner surface of the notch.

[0010] Preferably, a second electric push rod is fixedly connected to the top of the fixing seat, an output end of the second electric push rod movably penetrates the top of the fixing seat, and a clamping block is fixedly connected to the output end of the second electric push rod.

[0011] Preferably, guide rods are symmetrically and movably passed through the outer surface of the fixing plate, and one end of the two guide rods is fixedly connected to the outer surface of the fixing seat.

[0012] Preferably, a visual camera is fixedly connected to the top of the base near the four-axis robotic arm, and a welding head is fixedly connected to the driving end of the four-axis robotic arm.

[0013] Preferably, the bottom of each clamping block is provided with a V-shaped groove.

[0014] Compared with the prior art, the advantages and positive effects of the present invention are:

[0015] 1. In the utility model, the first electric push rod, the second electric push rod, the clamping block and the fixing seat are used to facilitate the clamping and movement of the tube busbar, so as to facilitate the end-face connection of the tube busbar. In addition, under the action of the multi-stage electric push rod, the dual-axis motor, the grinding wheel, the support frame, the four-axis robot arm and the welding head, the end face of the tube busbar is polished before welding, and then welding is carried out, thereby ensuring the welding quality and having a high degree of automation.

[0016] 2. In the present invention, when welding or grinding the busbar, the support rod and the protective plate keep the notch in a closed state during grinding or welding, thus preventing debris or impurities from entering the interior of the base, which would make cleaning difficult. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The utility model proposes a three-dimensional diagram of a high-voltage substation busbar splicing robot;

[0018] Figure 2 The utility model proposes a schematic diagram of the fixed component structure of a high-voltage substation busbar splicing robot;

[0019] Figure 3 The utility model proposes a schematic diagram of the processing component structure of a high-voltage substation busbar splicing robot;

[0020] Figure 4 The utility model provides a partial structural diagram of a high-voltage substation busbar splicing robot.

[0021] Legend: 1. Base; 2. Fixing assembly; 201. Fixing plate; 202. Guide rod; 203. First electric push rod; 204. Second electric push rod; 205. Clamp; 206. Fixing seat; 3. Four-axis robotic arm; 4. Vision camera; 5. Processing assembly; 501. Support frame; 502. Dual-axis motor; 503. Protective plate; 504. Grinding wheel; 505. Support rod; 506. Multi-stage electric push rod; 6. Welding head; 7. Notch. DETAILED DESCRIPTION

[0022] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0023] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0024] Example 1, as Figures 1-4 As shown, the utility model provides a high-voltage substation busbar splicing robot, comprising: a base 1, a four-axis robotic arm 3 is provided on the top of the base 1, a notch 7 is provided on the top of the base 1 near the center, a fixing assembly 2 is symmetrically provided on the top of the base 1, and a processing assembly 5 is provided on the inner bottom of the base 1; the fixing assembly 2 comprises a fixing plate 201, the bottom of the fixing plate 201 is fixedly connected to the top of the base 1, the inner surface of the fixing plate 201 is fixedly connected to a first electric push rod 203, and the output end of the first electric push rod 203 is fixedly connected to a fixing seat 206; the processing assembly 5 comprises a multi-stage electric push rod 506, the output end of the multi-stage electric push rod 506 is fixedly connected to a support frame 501, and the support frame 5 The inner surface of 01 is fixedly connected to a dual-axis motor 502, and both ends of the dual-axis motor 502 are fixedly connected to a grinding wheel 504. The top of the fixed seat 206 is fixedly connected to a second electric push rod 204, and the output end of the second electric push rod 204 is movably penetrated by the top of the fixed seat 206. The output end of the second electric push rod 204 is fixedly connected to a clamping block 205. The outer surface of the fixed plate 201 is symmetrically penetrated by a guide rod 202, and one end of the two guide rods 202 is fixedly connected to the outer surface of the fixed seat 206. The top of the base 1 is fixedly connected to a visual camera 4 near the four-axis robot arm 3, the driving end of the four-axis robot arm 3 is fixedly connected to a welding head 6, and the bottom of the clamping block 205 is provided with a V-shaped groove.

[0025] The effect achieved by the entire embodiment 1 is that when it is necessary to overlap the end faces of two tubular busbars, the two tubular busbars are placed on the two fixing seats 206 respectively, and the clamping block 205 is driven to move downward by starting the second electric push rod 204, so that the tubular busbar is clamped and fixed under the cooperation of the clamping block 205 and the fixing seat 206. After the fixation is completed, the support frame 501 is driven to move upward by starting the multi-stage electric push rod 506, so that the axis of the grinding wheel 504 and the axis of the tubular busbar are on the same horizontal plane, and then the first electric push rods 203 on both sides are started to drive the fixing seat 206 to move inward. At the same time, the guide rod 202 ensures stability, so that the end face of the tubular busbar is aligned with the corresponding grinding wheel 504, and real-time monitoring is performed through the visual camera 4, and then the signal is transmitted to the external PLC. The controller receives and processes the information, controls the opening and closing of the first electric push rod 203, ensures the moving distance of the tube busbar, and then starts the dual-axis motor 502, so that the two grinding wheels 504 grind the end faces of the two tube busbars at the same time to remove the rust on the end faces, and then starts the first electric push rod 203 again to reset, and then resets the multi-stage electric push rod 506, drives the grinding wheel 504 to move to the inside of the base 1 to avoid affecting subsequent operations, and then starts the first electric push rod 203 again to move inward, so that the end faces of the two tube busbars are connected, and then welded by the four-axis robot arm 3 and the welding head 6, with high automation. At the same time, the end faces of the tube busbars can be cleaned before welding to ensure the quality of subsequent welding. The model of the four-axis robot arm 3 is the Radium Jeming series, and the model of the visual camera 4 is the Cognex In-Sight series, and the electrical components in the device are all electrically connected to the external PLC controller.

[0026] Example 2, as Figures 1-4 As shown, the top of the support frame 501 is fixedly connected to the support rod 505, and the top of the support rod 505 is fixedly connected to the protective plate 503. The position of the protective plate 503 matches the position of the slot 7, and the outer surfaces of the support frame 501 and the protective plate 503 both match the inner surface of the slot 7.

[0027] The effect achieved by the entire embodiment 2 is that when the end face of the busbar is polished, the support frame 501 will seal the slot 7. When the polishing is completed, the support frame 501 moves downward, which will drive the support rod 505 and the protective plate 503 to move downward, and the slot 7 is sealed by the protective plate 503, so that the slot 7 is always in a closed state during polishing or welding, preventing debris or impurities from entering the interior of the base 1, causing the problem of difficulty in cleaning.

[0028] Working principle: When two tubular busbars need to be overlapped at the end face, the two tubular busbars are placed on two fixing seats 206 respectively, and the clamping block 205 is driven to move downward by starting the second electric push rod 204, so that the tubular busbar is clamped and fixed with the cooperation of the clamping block 205 and the fixing seat 206. After the fixation is completed, the support frame 501 is driven to move upward by starting the multi-stage electric push rod 506, so that the axis of the grinding wheel 504 and the axis of the tubular busbar are on the same horizontal plane, and then the first electric push rods 203 on both sides are started to drive the fixing seat 206 to move inward, so that the end face of the tubular busbar is aligned with the corresponding grinding wheel 504, and the visual camera 4 is used for real-time monitoring, and then the signal is transmitted to the external PLC controller. , the PLC controller receives and processes, controls the opening and closing of the first electric push rod 203 to ensure the moving distance of the pipe busbar, and then starts the dual-axis motor 502, so that the two grinding wheels 504 grind the end faces of the two pipe busbars at the same time to remove the rust on the end faces, and then starts the first electric push rod 203 to reset again, and then resets the multi-stage electric push rod 506, drives the grinding wheel 504 to move to the inside of the base 1 to avoid affecting subsequent operations, and then starts the first electric push rod 203 to move inward again, so that the end faces of the two pipe busbars are connected, and then welded by the four-axis robot arm 3 and the welding head 6, and during welding or grinding, under the action of the support rod 505 and the protective plate 503, the slot 7 is always in a closed state during grinding or welding.

[0029] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any other form. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes for application in other fields. However, any simple modification, equivalent change and modification of the above embodiment made according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A high-voltage substation busbar splicing robot, characterized in that: include: A base (1), a four-axis robotic arm (3) is provided on the top of the base (1), a notch (7) is provided near the center of the top of the base (1), a fixing component (2) is symmetrically provided on the top of the base (1), and a processing component (5) is provided on the inner bottom of the base (1); The fixing assembly (2) comprises a fixing plate (201), the bottom of the fixing plate (201) is fixedly connected to the top of the base (1), the inner surface of the fixing plate (201) is fixedly connected to a first electric push rod (203), and the output end of the first electric push rod (203) is fixedly connected to a fixing seat (206); The processing assembly (5) comprises a multi-stage electric push rod (506), the output end of the multi-stage electric push rod (506) is fixedly connected to a support frame (501), the inner surface of the support frame (501) is fixedly connected to a dual-axis motor (502), and both ends of the dual-axis motor (502) are fixedly connected to a grinding wheel (504).

2. The high-voltage substation busbar splicing robot according to claim 1, characterized in that: The top of the support frame (501) is fixedly connected to a support rod (505), and the top of the support rod (505) is fixedly connected to a protective plate (503).

3. The high-voltage substation busbar splicing robot according to claim 2, characterized in that: The position of the protective plate (503) matches the position of the notch (7), and the outer surfaces of the support frame (501) and the protective plate (503) match the inner surface of the notch (7).

4. The high-voltage substation busbar splicing robot according to claim 3 is characterized by: The top of the fixing seat (206) is fixedly connected to a second electric push rod (204), the output end of the second electric push rod (204) movably penetrates the top of the fixing seat (206), and the output end of the second electric push rod (204) is fixedly connected to a clamping block (205).

5. The high-voltage substation busbar splicing robot according to claim 4, characterized in that: The outer surface of the fixing plate (201) is symmetrically and movably penetrated by guide rods (202), and one end of the two guide rods (202) is fixedly connected to the outer surface of the fixing seat (206).

6. The high-voltage substation busbar splicing robot according to claim 5, characterized in that: A visual camera (4) is fixedly connected to the top of the base (1) near the four-axis robotic arm (3), and a welding head (6) is fixedly connected to the driving end of the four-axis robotic arm (3).

7. The high-voltage substation busbar splicing robot according to claim 6, characterized in that: The bottoms of the clamping blocks (205) are each provided with a V-shaped groove.

Images