Switch cabinet operation robot

Abstract

The utility model discloses a switch cabinet operation robot which comprises a wheel type chassis, a robot shell installed on the wheel type chassis, mechanical arms installed on the robot shell and a tail end execution tool, and the mechanical arms comprise the first mechanical arm and the second mechanical arm. The five-prevention lock opening and closing device is installed on the first mechanical arm, the clamping jaw and the key operation mechanism are installed on the second mechanical arm, the handcart screw-in and screw-out mechanism is installed on the robot shell, the robot shell is of an upper-middle-lower three-step structure, the first mechanical arm is arranged on a lower step, and the second mechanical arm is arranged on a lower step. The handcart screw-in and screw-out mechanism is arranged on the middle step, and the second mechanical arm is arranged on the upper step. According to the switch cabinet operation robot, the autonomous operation capability of the robot can be greatly improved, and the operation of the switch cabinet can be really completed instead of manual work in cooperation with a specially-designed end execution tool.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of robot, concretely relates to a switch cabinet operating robot. BACKGROUND

[0002] The electricization, remote and intelligence of substation switching operation is an important part of "digital substation" construction, and is also a key link to realize the quality and efficiency of substation management. At present, the electricization rate of 110kV and above voltage level equipment in Guangzhou substation has reached 95%, and it is expected that the intelligent operation of electric equipment will be basically covered by 2024. In contrast, the 10kV switch cabinet equipment occupies a large proportion, but the electricization rate is less than 20%. In addition, the safety distance between 10kV switch cabinet operators and live parts is small, and when the switch is abnormal and needs to be urgently tripped on site, the personal safety risk of personnel operation is prominent, so the switch cabinet operating robot is used to operate the switch cabinet.

[0003] At present, most of the 10kV switch cabinet operating robots in the industry adopt the form of single mechanical arm, and the end operation tool is highly integrated, but the functions that can be realized are relatively simple, and the switch cabinet emergency tripping, trolley in and out, and ground knife opening and closing operation can be completed, but the opening and closing of five-proof lock need to be assisted by artificial, and the robot cannot complete the complex task of mutual cooperation and the whole process of switching operation, so the robot cannot really play the role of machine instead of man.

[0004] Therefore, it is of great significance to study the key technology of intelligent operation robot for 10kV switch cabinet switching operation, realize the machine instead of man for 10kV switch cabinet switching operation, and realize the remote and intelligent operation of substation equipment. Utility model content

[0005] In order to overcome the defects of prior art, the utility model provides a switch cabinet operating robot, which can greatly improve the autonomous operation ability of robot, cooperate with the specially designed end execution tool, and really realize the substitution of manual switch cabinet operation.

[0006] The technical scheme adopted by the utility model to solve its technical problems is:

[0007] The switch cabinet operating robot comprises a wheeled chassis, a robot shell mounted on the wheeled chassis, a mechanical arm mounted on the robot shell, and an end execution tool, the mechanical arm comprises a first mechanical arm and a second mechanical arm, the end execution tool comprises a five-proof lock opening and closing device mounted on the first mechanical arm, a jaw and key operation mechanism mounted on the second mechanical arm, and a handcart rotating in and out mechanism mounted on the robot shell, the robot shell is arranged in an upper-middle-lower three-step structure, the first mechanical arm is arranged in the lower step, the handcart rotating in and out mechanism is arranged in the middle step, and the second mechanical arm is arranged in the upper step.

[0008] As a further improvement of the above technical solution, the five-proof lock opening and closing device comprises a key clamping block, a key detachably connected to the key clamping block, and a push piece connected to the side wall of the key clamping block, and the key clamping block is connected to the execution end of the first mechanical arm.

[0009] As a further improvement of the above technical solution, a first depth camera is further arranged on the key clamping block.

[0010] As a further improvement of the above technical solution, the key operation mechanism comprises a mounting plate, a fixed seat, a key device and a knob device, the mounting plate is fixedly connected with the second mechanical arm, and the key device and the knob device are mounted on the fixed seat and connected with the mounting plate.

[0011] As a further improvement of the above technical solution, the knob device comprises a rotating shaft and a knob groove arranged at the end of the rotating shaft, the rotating shaft is rotationally connected to the fixed seat and the mounting plate, and the rotating shaft is connected with a driving member for driving the rotation thereof.

[0012] As a further improvement of the above technical solution, the key device comprises a key rod, the key rod is fixedly connected to the fixed seat and the mounting plate, and the key rod is arranged in parallel with the rotating shaft.

[0013] As a further improvement of the above technical solution, a second depth camera is arranged on the fixed seat, and the second depth camera is located between the key device and the knob device.

[0014] As a further improvement of the above technical solution, the handcart rotating in and out mechanism comprises an operating rod, a clamping groove arranged at the end of the operating rod, a rotating module for driving the rotation of the operating rod, and a lifting module for driving the lifting of the operating rod, the operating rod is connected to the driving end of the rotating module, and the rotating module is connected to the driving end of the lifting module.

[0015] As a further improvement of the above technical solution, the lifting module comprises a lead screw module, a guide rod and a servo motor, the lead screw of the lead screw module is rotatably connected to the robot shell, the lead screw nut of the lead screw module is fixedly connected to the rotating module, and the rotating module is slidably connected to the guide rod, and the servo motor is used for driving the lead screw to rotate.

[0016] As a further improvement of the above technical solution, the robot shell is provided with a double-eye inspection camera.

[0017] The utility model discloses beneficial effect is: through the double -arm cooperation formula scheme, can greatly improve the robot autonomous operation ability, and cooperate specially designed end execution tool, can realize the replacement manual complete switchgear operation. In addition, the first mechanical arm and the second mechanical arm of switchgear operation robot are arranged on the robot shell of the ladder structure setting, and are arranged staggeredly up and down, so that the operation of the bottom and the top of switchgear can be considered. BRIEF DESCRIPTION OF DRAWINGS

[0018] The utility model is further illustrated below in connection with the drawings and examples.

[0019] Figure 1 It is the assembly schematic drawing of a switch cabinet operation robot of the utility model embodiment;

[0020] Figure 2 It is the structure schematic drawing of five -proof lock opening and closing device in a switch cabinet operation robot of the utility model embodiment;

[0021] Figure 3 It is the structure schematic drawing of key operation mechanism and clamping jaw in a switch cabinet operation robot of the utility model embodiment;

[0022] Figure 4 It is the structure schematic drawing of key operation mechanism in a switch cabinet operation robot of the utility model embodiment;

[0023] Figure 5 It is the structure schematic drawing of handcart rotation in and rotation out mechanism in a switch cabinet operation robot of the utility model embodiment;

[0024] Figure 6 It is the use state schematic drawing of a switch cabinet operation robot of the utility model embodiment;

[0025] Figure 7 It is the local schematic drawing of switch cabinet.

[0026] Reference signs: 100, switch cabinet;110, five -proof lock;120, baffle;130, handcart operation hole;140, button;150, knob;

[0027] 200, switch cabinet operating robot; 210, robot housing; 220, wheeled chassis; 230, first mechanical arm; 240, five-proof lock opening and closing device; 241, key clamping block; 242, key; 243, dial piece; 244, first depth camera; 250, handcart rotating in and out mechanism; 251, operating rod; 252, clamping groove; 253, rotating module; 254, seat plate; 255, guide rod; 256, screw module; 260, inspection binocular camera; 261, support rod; 270, second mechanical arm; 280, key operating mechanism; 281, mounting plate; 282, fixing seat; 283, rotating shaft; 284, knob groove; 285, key rod; 286, second depth camera; 290, clamping jaw; 291, third depth camera. DETAILED DESCRIPTION

[0028] The concept, specific structure and generated technical effects of the utility model will be described clearly and completely in combination with the embodiments and drawings, so as to fully understand the purpose, features and effects of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments, and other embodiments obtained by the skilled in the art without creative labor based on the embodiments of the utility model all belong to the protection scope of the utility model. In addition, all the coupling / connection relations involved in the patent are not single component direct connection, but can form a better coupling structure by adding or reducing coupling auxiliary components according to the specific implementation situation, such as fixed connection / fixed installation, which can be selected according to the needs, such as screw connection, bolt connection, pin connection, key connection, bonding, mortise and tenon connection, welding, riveting and the like, such as detachable connection, which can be selected according to the needs, such as screw connection, bolt connection, threaded connection, buckle connection, mortise and tenon connection, magic tape connection and the like. The various technical features in the utility model creation can be interactively combined without mutual contradiction and conflict.

[0029] REFERENCE Figures 1-7 An embodiment of the utility model provides a kind of switch cabinet operating robot 200, including wheeled chassis 220, robot housing 210 installed on wheeled chassis 220, mechanical arm installed on robot housing 210, and end execution tool, the mechanical arm includes first mechanical arm 230 and second mechanical arm 270, the end execution tool includes five-proof lock opening and closing device 240 installed on first mechanical arm 230, clamping jaw 290 and key operating mechanism 280 installed on second mechanical arm 270, and handcart rotating in and out mechanism 250 installed on robot housing 210, the robot housing 210 is arranged in upper middle lower three-step ladder structure, the first mechanical arm 230 is arranged in lower step, the handcart rotating in and out mechanism 250 is arranged in middle step, and the second mechanical arm 270 is arranged in upper step.

[0030] The robot shell 210 is provided with a patrol binocular camera 260, which is fixedly connected to the middle step of the robot shell 210 through a support rod 261. The robot patrol camera is a prior art, which can rotate 360° for observation and has a pitch function. The artificial intelligence program built-in the robot can identify the indicator light state and instrument reading of the switch cabinet 100, record the patrol state, and alarm to the on-duty staff through a wireless network when the state of the switch cabinet 100 is found to be abnormal, and perform emergency switch cabinet 100 operation.

[0031] It can be understood that the switch cabinet operating robot 200 of the embodiment moves through the wheeled chassis 220. When performing the patrol work, the robot can be driven by the wheeled chassis 220 to patrol the switch cabinet 100 according to the specified path or the autonomously planned path. The wheeled chassis 220 is provided with an obstacle avoidance sensor for avoiding obstacles on the patrol path.

[0032] In addition, since the robot shell 210 is arranged in a three-level step structure of upper, middle and lower levels, and the first mechanical arm 230, the handcart rotating in and out mechanism 250 and the second mechanical arm 270 are arranged on the lower, middle and upper steps respectively, they are arranged in an upper and lower staggered manner, so that the bottom and top of the switch cabinet 100 can be operated, and collaborative operation in most of the middle part of the switch cabinet 100 can be conveniently realized.

[0033] In the embodiment, with reference to Figure 2 The five-proof lock opening and closing device 240 includes a key clamping block 241, a key 242 detachably connected to the key clamping block 241, and a push piece 243 connected to the side wall of the key clamping block 241. The key clamping block 241 is connected to the execution end of the first mechanical arm 230. The key 242 and the push piece 243 on the key clamping block 241 are driven to act by the first mechanical arm 230. The key 242 can be inserted into the five-proof lock 110 on the switch cabinet 100, so as to realize the unlocking of the five-proof lock 110. Then the bolt of the five-proof lock 110 is pushed open by the push piece 243, and the bolt is separated from the lock hole on the blocking piece 120 connected to the hinge of the switch cabinet 100. Then the clamping jaw 290 driven by the second mechanical arm 270 acts. The clamping jaw 290 can be an electric clamping jaw 290 or a pneumatic clamping jaw 290. The blocking piece 120 is clamped and opened by the clamping jaw 290, and the handcart operation hole 130 is exposed. The handcart rotating shaft of the switch cabinet 100 is connected to the handcart operation hole 130 through the handcart rotating in and out mechanism 250, and the handcart rotating shaft is rotated to rotate the handcart of the switch cabinet 100 out and in.

[0034] Further, the key clamping block 241 is further provided with a first depth camera 244, which can provide image and distance information during operation of the five-proof lock opening and closing device 240, so as to facilitate accurate operation of each action of the key 242 and the switch piece 243.

[0035] The second mechanical arm 270 is provided with a third depth camera 291, which can provide image and distance information during operation of the clamping jaw 290, so as to facilitate accurate operation of each action of the clamping jaw 290.

[0036] In the embodiment, referring to Figure 3 and Figure 4 , the key operation mechanism 280 comprises a mounting plate 281, a fixed seat 282, a key device and a knob device, the mounting plate 281 is fixedly connected with the second mechanical arm 270, the key device and the knob device are installed on the fixed seat 282 and connected with the mounting plate 281, specifically, the knob device comprises a rotating shaft 283 and a knob groove 284 arranged at the end of the rotating shaft 283, the rotating shaft 283 is rotationally connected with the fixed seat 282 and the mounting plate 281, and the rotating shaft 283 is connected with a driving member for driving the rotation thereof, the driving member can adopt a stepping motor, when the mounting plate 281 is driven to move by the second mechanical arm 270, the knob groove 284 on the rotating shaft 283 can be aligned with and clamped with the knob 150 on the switch cabinet 100, and then the rotation is driven by the driving member, so that the operation of the knob 150 on the switch cabinet 100 can be realized. The key device comprises a key rod 285, the key rod 285 is fixedly connected with the fixed seat 282 and the mounting plate 281, and the key rod 285 is arranged in parallel with the rotating shaft 283, when the mounting plate 281 is driven to move by the second mechanical arm 270, the key rod 285 can be driven to move to press the button 140 on the switch cabinet 100, so that the operation of the button 140 on the switch cabinet 100 can be realized.

[0037] Further, the fixed seat 282 is provided with a second depth camera 286, and the second depth camera 286 is located between the key device and the knob device.

[0038] In the embodiment, referring to Figure 5 , the handcart rotating in and out mechanism 250 comprises an operating rod 251, a clamping groove 252 arranged at the end of the operating rod 251, a rotating module 253 for driving the operating rod 251 to rotate, and a lifting module for driving the operating rod 251 to lift, the operating rod 251 is connected with the driving end of the rotating module 253, the rotating module 253 is connected with the driving end of the lifting module, and the rotating module 253 can adopt a motor.

[0039] It can be understood that the height of the operating rod 251 can be adjusted by the lifting module to adapt to the trolley rotating shaft of different heights, and when the operating rod 251 is docked with the trolley rotating shaft, the operating rod 251 is rotated by the rotating module 253 to drive the trolley rotating shaft to rotate, so that the switch cabinet 100 trolley can be rotated out and in.

[0040] Further, the lifting module comprises a seat plate 254, a lead screw module 256, a guide rod 255 and a servo motor, the seat plate 254 is fixed on the support rod 261, the guide rod 255 is fixedly connected between the robot shell 210 and the seat plate 254, the screw rod of the lead screw module 256 is rotatably connected between the robot shell 210 and the seat plate 254, the screw rod nut of the lead screw module 256 is fixedly connected with the rotating module 253, and the rotating module 253 is slidably connected on the guide rod 255, and the servo motor is used for driving the screw rod to rotate, and the screw rod nut moves when the screw rod rotates, thereby driving the rotating module 253 and the operating rod 251 to lift.

[0041] The above is a specific description of the preferred embodiment of the utility model, but the utility model is not limited to the embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the utility model, and these equivalent modifications or replacements are all included in the range defined by the claims of the present application.

Claims

1. A switchgear operating robot comprising a wheeled chassis, a robot housing mounted on the wheeled chassis, a robotic arm mounted on the robot housing, and an end effector, characterized in that: The mechanical arm comprises a first mechanical arm and a second mechanical arm, the end execution tool comprises a five-proof lock opening and closing device mounted on the first mechanical arm, a clamping jaw and a button operation mechanism mounted on the second mechanical arm, and a handcart rotating in and out mechanism mounted on the robot shell, the robot shell is arranged in an upper-middle-lower three-step ladder structure, the first mechanical arm is arranged on the lower step, the handcart rotating in and out mechanism is arranged on the middle step, and the second mechanical arm is arranged on the upper step.

2. A switchgear operating robot according to claim 1, characterized in that The five-proof lock opening and closing device comprises a key clamping block, a key detachably connected to the key clamping block, and a push piece connected to the side wall of the key clamping block, and the key clamping block is connected to the execution end of the first mechanical arm.

3. A switchgear operating robot according to claim 2, characterized in that: A first depth camera is further arranged on the key clamping block.

4. A switchgear operating robot according to claim 3, characterized in that: The button operation mechanism comprises a mounting plate, a fixing seat, a button device and a knob device, the mounting plate is fixedly connected with the second mechanical arm, the button device and the knob device are mounted on the fixing seat and connected with the mounting plate.

5. A switchgear operating robot according to claim 4, characterized in that: The knob device comprises a rotating shaft and a knob groove arranged at the end of the rotating shaft, the rotating shaft is rotationally connected to the fixing seat and the mounting plate, and the rotating shaft is connected with a driving member for driving the rotation thereof.

6. A switchgear operating robot according to claim 5, characterized in that: The button device comprises a button rod, the button rod is fixedly connected to the fixing seat and the mounting plate, and the button rod is arranged in parallel with the rotating shaft.

7. A switchgear operating robot according to claim 4, characterized in that: A second depth camera is arranged on the fixing seat, and the second depth camera is located between the button device and the knob device.

8. A switchgear operating robot according to claim 1, characterized in that: The handcart rotating in and out mechanism comprises an operating rod, a clamping groove arranged at the end of the operating rod, a rotating module for driving the rotation of the operating rod, and a lifting module for driving the lifting of the operating rod, the operating rod is connected to the driving end of the rotating module, and the rotating module is connected to the driving end of the lifting module.

9. A switchgear operating robot according to claim 8, characterized in that: The lifting module comprises a lead screw module, a guide rod and a servo motor, the screw rod of the lead screw module is rotationally connected to the robot shell, the screw rod nut of the lead screw module is fixedly connected with the rotating module, and the rotating module is slidingly connected to the guide rod, and the servo motor is used for driving the rotation of the screw rod.

10. Switchgear operating robot according to any of claims 1-9, characterized in that: A patrol binocular camera is arranged on the robot shell.

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