Ground cutter combined with opening and closing three-shaft robot

Abstract

The utility model provides a kind of ground knife opening and closing three-axis robot, belong to electric power operation and maintenance technical field, comprising: three-axis module and screwing execution mechanism, three-axis module has the first linear module of along X direction movement, the second linear module of along Y direction movement and the third linear module of along Z direction movement;Screwing execution mechanism includes rotary drive motor and through coupling connection on the ground knife sleeve of rotary drive motor main shaft;Rotary drive motor is installed on the third linear module by motor support, along XYZ three directions with three-axis module moves, to align ground knife switch on switchgear.The above-mentioned technical scheme is through the collaborative action of three-axis module and screwing execution mechanism, operator does not need to be close to switchgear, fundamentally avoids the safety hazard such as electric shock, mechanical injury possibly caused by close-range operation, greatly improves the safety of ground knife operation;Robot realizes the opening and closing of ground knife operation simultaneously, and operation is time-saving and labor-saving.

Description

Technical Field

[0001] This utility model belongs to the field of power maintenance technology, specifically relating to a three-axis robot for closing and opening ground switches. Background Technology

[0002] A grounding switch, also known as a grounding circuit breaker, is a safety interlocking mechanism installed in high-voltage switchgear to replace a grounding wire. According to the five-prevention requirements, the grounding switch can only close when equipment is under maintenance or when the circuit breaker and disconnector are open, essentially functioning as a grounding wire. During normal operation, the grounding switch must be open, and the equipment is usually equipped with a mechanical interlocking device. The grounding switch is linked to the circuit breaker and disconnector via mechanical or electrical interlocking. When the grounding switch is closed, the circuit breaker cannot close, ensuring maintenance safety; conversely, when the circuit breaker is closed, the grounding switch cannot close, preventing the grounding wire from being connected while the circuit breaker is energized.

[0003] Therefore, when the switchgear is under maintenance, the grounding switch needs to be closed; when the switchgear is running again after maintenance, the grounding switch needs to be disconnected. However, operators using specialized tools to approach the switchgear to close and open the grounding switch is not only physically demanding but also poses safety hazards. Utility Model Content

[0004] This utility model provides a three-axis robot for closing and opening the grounding switch, which aims to solve the problems of high labor intensity and safety hazards caused by operators closing and opening the grounding switch at close range.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is: to provide a three-axis robot for closing and opening the grounding switch, comprising: The three-axis module has a first linear module that moves along the X direction, a second linear module that moves along the Y direction, and a third linear module that moves along the Z direction. The rotary actuator includes a rotary drive motor and a grounding sleeve connected to the main shaft of the rotary drive motor via a coupling; the rotary drive motor is mounted on the third linear module via a motor bracket and moves along the XYZ directions with the three-axis module to align with the grounding switch on the switch cabinet.

[0006] In one possible implementation, the robot further includes a ground blade pressing mechanism mounted on the motor bracket and located below the ground blade sleeve; The grounding switch pressing mechanism includes a lower pressing plate mounted on the motor bracket. The lower pressing plate moves with the three-axis module to press down and open the protective pressing plate covering the grounding switch, exposing the grounding switch. At this time, the grounding switch sleeve is aligned with the grounding switch.

[0007] In one possible implementation, the grounding plate pressing mechanism further includes a fourth linear module mounted on the motor bracket, the fourth linear module driving the lower pressure plate closer to or away from the switch cabinet along the X direction.

[0008] In one possible implementation, the lower pressure plate has a Z-shaped structure, with one end mounted on the fourth linear module and the other end extending out in a tongue shape to contact the protective pressure plate.

[0009] In one possible implementation, the robot further includes a camera mounted on the motor bracket, the camera being used to capture the position of the floor switch on the switch cabinet to guide the movement of the three-axis module.

[0010] In one possible implementation, the robot further includes a fill light mounted on the motor bracket; wherein the fill light is ring-shaped and fitted around the front end of the camera.

[0011] In one possible implementation, the first linear module includes two parallel first guide rails, a first slider slidably engaged on each of the first guide rails, a first slide plate connected to the two first sliders, and a first drive assembly for driving the first slide plate to move in the X direction; the second linear module is mounted on the first slide plate.

[0012] In one possible implementation, the first drive assembly includes a first drive motor, a first lead screw mounted on a base plate, and a first lead screw nut threadedly connected to the first lead screw. The spindle of the first drive motor is connected to the first lead screw via a transmission connection, so that the rotation of the first lead screw drives the first lead screw nut to move along the X direction, thereby driving the first slider and the first slide plate connected to the first lead screw nut to move along the X direction; wherein, the first guide rail is mounted on the base plate.

[0013] In one possible implementation, the transmission connection includes a first master synchronous pulley mounted on the main shaft of the first drive motor, a first slave synchronous pulley mounted on the first lead screw, and a first synchronous belt wound around the first master synchronous pulley and the first slave synchronous pulley.

[0014] In one possible implementation, a support plate is vertically mounted on the first skateboard, and a second guide rail in the second linear module is mounted on the support plate, the second guide rail being perpendicular to the first guide rail; The third linear module is mounted on the second slide plate in the second linear module; the motor bracket is mounted on the third slide plate in the third linear module.

[0015] The three-axis robot for closing and opening the grounding switch provided by this utility model has the following advantages compared with the prior art: The above technical solution, through the coordinated action of the three-axis module and the rotary actuator, allows operators to move the three-axis module precisely along the X, Y, and Z directions without approaching the switch cabinet. This is achieved through remote control or program settings, until the grounding switch sleeve is fully aligned with the grounding switch on the switch cabinet, completing the closing and opening action. During this process, the operator maintains a safe distance from the high-voltage equipment, fundamentally avoiding safety hazards such as electric shock and mechanical injury that may be caused by close-range operation, and significantly improving the safety of grounding switch operation.

[0016] The automated movement of the three-axis module replaces the manual adjustment of tool positions. Operators only need to perform simple operations such as starting the equipment and setting parameters, without having to engage in strenuous physical labor. This design significantly reduces the labor intensity of operators, reduces the risk of errors caused by fatigue, and saves manpower in batch operation scenarios, thereby improving overall work efficiency.

[0017] Meanwhile, the accuracy of the grounding switch's closing and opening directly affects the safety of equipment operation. Traditional manual operation is prone to misalignment between the tool and the grounding switch due to visual bias, hand tremors, and other factors, potentially leading to problems such as incomplete closing / opening and poor equipment contact. This technical solution's three-axis module enables independent movement in the X (lateral), Y (longitudinal), and Z (vertical) directions, respectively. Precision motor control (such as stepper motors or servo motors) allows for millimeter-level or even higher precision position adjustments, ensuring accurate alignment between the grounding sleeve and the grounding switch. Simultaneously, the rotary drive motor precisely controls the rotation angle and speed, guaranteeing consistency and accuracy of closing and opening actions, avoiding random deviations inherent in manual operation. This multi-dimensional precision positioning design significantly improves the reliability of the grounding switch's closing and opening, reducing the risk of equipment failure due to operational errors. Attached Figure Description

[0018] Figure 1 A three-dimensional structural diagram of the three-axis robot for closing and opening the circuit breaker provided in this embodiment of the utility model. Figure 1 ; Figure 2 A three-dimensional structural diagram of the three-axis robot for closing and opening the circuit breaker provided in this embodiment of the utility model. Figure 2 ; Figure 3 A three-dimensional structural diagram of the three-axis robot for closing and opening the circuit breaker provided in this embodiment of the utility model. Figure 3 ; Figure 4 An exploded structural diagram of the three-axis robot for closing and opening the circuit breaker provided in an embodiment of this utility model; Figure 5A three-dimensional structural diagram of the first linear module provided in this embodiment of the utility model; Figure 6 A three-dimensional structural diagram of the second linear module provided in an embodiment of this utility model; Figure 7 A three-dimensional structural diagram of the third linear module provided in this embodiment of the utility model (including the ground knife sleeve and the lower pressure plate).

[0019] Explanation of reference numerals in the attached figures: 1. First linear module; 11. First guide rail; 12. First drive motor; 13. First master synchronous pulley; 14. First slave synchronous pulley; 15. First lead screw block; 16. First slider; 17. First slide plate; 18. First lead screw; 19. Slide rail bellows cover; 2. Second linear module; 21. Second guide rail; 22. Second slider; 23. Second slide plate; 3. Third linear module; 31. Third guide rail; 32. Third slider; 33. Third slide plate; 4. Twisting actuator; 41. Rotary drive motor; 42. Motor bracket; 43. Ground knife sleeve; 5. Ground knife pressing mechanism; 51. Lower pressure plate; 52. Fourth linear module; 6. Fill light; 7. Camera; 8. Support plate; 9. Base plate. Detailed Implementation

[0020] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0021] Unless otherwise expressly defined, the use of terms such as "first," "second," or "third" in the claims, description, and drawings of this utility model is for distinguishing different objects and not for describing a specific order.

[0022] Please see Figures 1 to 7 The present invention provides a description of the three-axis robot for closing and opening the grounding switch. The three-axis robot includes a three-axis module and a rotating actuator 4. The three-axis module has a first linear module 1 that moves along the X direction, a second linear module 2 that moves along the Y direction, and a third linear module 3 that moves along the Z direction. The rotating actuator 4 includes a rotary drive motor 41 and a grounding switch sleeve 43 connected to the main shaft of the rotary drive motor 41 via a coupling. The rotary drive motor 41 is mounted on the third linear module 3 via a motor bracket 42 and moves with the three-axis module along the X, Y, and Z directions to align with the grounding switch on the switch cabinet.

[0023] The three-axis robot for closing and opening the grounding switch provided by this utility model has the following advantages compared with the prior art: The above technical solution, through the coordinated action of the three-axis module and the rotating actuator 4, allows the operator to move the three-axis module precisely in the X, Y, and Z directions via remote control or program setting, without needing to approach the switch cabinet, until the grounding switch sleeve 43 is fully aligned with the grounding switch on the switch cabinet and the closing / opening action is completed. During this process, the operator maintains a safe distance from the high-voltage equipment, fundamentally avoiding safety hazards such as electric shock and mechanical injury that may be caused by close-range operation, and significantly improving the safety of grounding switch operation.

[0024] The automated movement of the three-axis module replaces the manual adjustment of tool positions. Operators only need to perform simple operations such as starting the equipment and setting parameters, without having to engage in strenuous physical labor. This design significantly reduces the labor intensity of operators, reduces the risk of errors caused by fatigue, and saves manpower in batch operation scenarios, thereby improving overall work efficiency.

[0025] Meanwhile, the accuracy of the grounding switch's closing and opening directly affects the safety of equipment operation. Traditional manual operation is prone to misalignment between the tool and the grounding switch due to visual bias, hand tremors, and other factors, potentially leading to problems such as incomplete closing / opening and poor equipment contact. This technical solution's three-axis module enables independent movement in the X (lateral), Y (longitudinal), and Z (vertical) directions, respectively. Precision motor control (such as stepper motors or servo motors) allows for millimeter-level or even higher precision position adjustments, ensuring accurate alignment between the grounding sleeve 43 and the grounding switch. Simultaneously, the rotary drive motor 41 precisely controls the rotation angle and speed, guaranteeing consistency and accuracy of the closing and opening actions, avoiding random deviations inherent in manual operation. This multi-dimensional precision positioning design significantly improves the reliability of the grounding switch's closing and opening, reducing the risk of equipment failure due to operational errors.

[0026] In some embodiments, see Figures 1 to 4 The robot also includes a grounding blade pressing mechanism 5 mounted on the motor bracket 42 and located below the grounding blade sleeve 43; the grounding blade pressing mechanism 5 includes a lower pressing plate 51 mounted on the motor bracket 42, the lower pressing plate 51 moves with the three-axis module to press down and open the protective pressing plate covering the grounding blade switch, exposing the grounding blade switch; at this time, the grounding blade sleeve 43 is aligned with the grounding blade switch.

[0027] In traditional grounding switch closing and opening operations, the grounding switch in the switchgear is usually equipped with a protective pressure plate (to prevent dust, foreign objects from entering or being accidentally touched). The operator must first manually press down and open the protective pressure plate before the subsequent grounding switch closing and opening operations can be carried out. This not only prolongs the operation process, but also requires the operator to approach the switchgear again, increasing the safety risk.

[0028] The newly added grounding switch pressing mechanism 5 in this technical solution works in synergy with the three-axis module and the rotating actuator 4. When the three-axis module moves the entire mechanism to the target grounding switch position, the lower pressure plate 51 moves synchronously with the three-axis module, directly pressing down and opening the protective pressing plate covering the grounding switch. This exposes the grounding switch without manual intervention, allowing the grounding switch sleeve 43 to accurately align with the switch and complete the closing / opening operation. This design completely eliminates the manual pressing of the protective pressing plate, significantly reducing the operation time of a single device. Especially in scenarios involving batch maintenance of multiple switchgear units, it can significantly improve overall work efficiency, further reduce the frequency of personnel-equipment interaction, and lower potential risks.

[0029] In some embodiments, see Figures 1 to 4 The grounding knife pressing mechanism 5 also includes a fourth linear module 52 mounted on the motor bracket 42. The fourth linear module 52 drives the lower pressing plate 51 to move closer to or away from the switch cabinet along the X direction. The fourth linear module 52 can independently drive the lower pressing plate 51 to move along the X direction, adjusting the distance between it and the grounding knife sleeve 43 along the X direction. Thus, when the whole machine approaches the switch cabinet, it can first extend along the X direction and contact the lower pressing plate 51.

[0030] The direction closer to the switch cabinet is the front, and the direction farther from the switch cabinet is the rear. The front-to-back direction is consistent with the X direction.

[0031] In some embodiments, see Figures 1 to 4 The lower pressure plate 51 has a Z-shaped structure, with one end mounted on the fourth linear module 52 and the other end extending out in a tongue shape to contact the protective pressure plate. The Z-shaped lower pressure plate 51 ensures that the working surface of the tongue-shaped end remains parallel to the surface of the protective pressure plate. When the fourth linear module 52 drives the lower pressure plate 51 to approach the protective pressure plate, the fixed end and the working end of the Z-shaped structure form a rigid connection, limiting the downward pressure to be transmitted only in the vertical direction to the tongue-shaped end, thus avoiding the deviation of the force direction caused by deformation of the lower pressure plate 51 itself or installation deviation.

[0032] In some embodiments, see Figures 1 to 4 The robot also includes a camera 7 mounted on the motor bracket 42. The camera 7 is used to capture the position of the floor switch on the switch cabinet to guide the movement of the three-axis module. This camera 7 accurately captures the position information of the floor switch and feeds it back to the robot control system. Based on this information, the robot control system can quickly and accurately guide the three-axis module to move, enabling the robot to operate the switch cabinet more efficiently and precisely.

[0033] For example, when inspecting or maintaining switchgear, the robot can use the position of the grounding switch captured by camera 7 to move precisely to the designated location, avoiding misoperation caused by human error, greatly improving the accuracy and safety of the operation, while also improving the efficiency and quality of the entire switchgear inspection and maintenance work, reducing labor and time costs, and providing a strong guarantee for the stable operation of the power system.

[0034] In some embodiments, see Figures 1 to 4 The robot also includes a fill light 6 mounted on a motor bracket 42; the fill light 6 is ring-shaped and is fitted on the front end of the camera 7.

[0035] The supplementary light 6 can provide uniform and sufficient light for the camera 7, effectively avoiding problems such as blurriness and shadows in images taken in low-light environments. This greatly improves the imaging quality of the robot's vision system, enabling the robot to accurately move to a designated position by using the location of the ground knife switch captured by the camera 7, thereby improving the robot's work efficiency and reliability.

[0036] In some embodiments, see Figures 1 to 5 The first linear module 1 includes two parallel first guide rails 11, a first slider 16 slidably fitted on each of the first guide rails 11, a first slide plate 17 connected to the two first sliders 16, and a first drive assembly that drives the first slide plate 17 to move in the X direction; the second linear module 2 is mounted on the first slide plate 17.

[0037] In some embodiments, see Figures 1 to 5 The first linear module 1 includes two parallel first guide rails 11, first sliders 16 slidably fitted on each of the first guide rails 11, first slide plates 17 connected to the two first sliders 16, and a first drive assembly that drives the first slide plates 17 to move along the X direction; the second linear module 2 is mounted on the first slide plate 17. The first linear module 1 can precisely drive the first slide plate 17 to move smoothly along the X direction, providing a stable X-axis motion foundation for the entire device. The second linear module 2, mounted on the first slide plate 17, can further realize movement along the Y direction by means of the movement of the first slide plate 17 in the X direction, thereby expanding the motion dimension of the device and enabling the device to perform more flexible and diverse actions in the plane, meeting the operational needs of various complex working conditions.

[0038] Optionally, a slide rail accordion cover 19 is provided on the first guide rail 11. It has a folding structure to protect the first guide rail 11 and prevent tools or foreign objects that fall during maintenance from getting stuck on the first guide rail 11, causing problems with smooth movement.

[0039] In some embodiments, see Figures 1 to 5The first drive assembly includes a first drive motor 12, a first lead screw 18 mounted on the base plate 9, and a first lead screw block 15 threadedly connected to the first lead screw 18. The main shaft of the first drive motor 12 is connected to the first lead screw 18 through a transmission connection, so that the rotation of the first lead screw 18 drives the first lead screw block 15 to move in the X direction, thereby driving the first slider 16 and the first slide plate 17 connected to the first lead screw block 15 to move in the X direction; wherein, the first guide rail 11 is mounted on the base plate 9.

[0040] By driving the first lead screw 18 to rotate via the first drive motor 12, the first lead screw block 15, the first slider 16 and the first slide plate 17 can be moved precisely in the X direction, thereby driving the second linear module 2, the third linear module 3 and the ground knife sleeve 43 to move precisely.

[0041] In some embodiments, see Figures 1 to 5 The transmission connection includes a first main synchronous pulley 13 mounted on the main shaft of the first drive motor 12, a first driven synchronous pulley 14 mounted on the first lead screw 18, and a first synchronous belt wound around the first main synchronous pulley 13 and the first driven synchronous pulley 14. This application transmits power via a synchronous belt; as a parallel embodiment, the transmission connection can also employ gear transmission or chain transmission.

[0042] In some embodiments, see Figures 1 to 4 A support plate 8 is vertically mounted on the first slide plate 17. The second linear module 2 includes a second guide rail 21, a second slider 22, and a second slide plate 23. The second guide rail 21 in the second linear module 2 is mounted on the support plate 8 and is perpendicular to the first guide rail 11. The third linear module 3 is mounted on the second slide plate 23 in the second linear module 2. The third linear module 3 includes a third guide rail 31, a third slider 32, and a third slide plate 33. The motor bracket 42 is mounted on the third slide plate 33 in the third linear module 3.

[0043] In the above technical solution, the structure of the first linear module 1 has been described in detail. The second linear module 2 and the third linear module 3 have the same structure and function as the first linear module 1. Other linear modules will not be described in detail here.

[0044] The working process of using the robot provided in this application to close and open the grounding switch in the switchgear is as follows: First, the robot uses camera 7 to report the position of the grounding switch. The three-axis module moves along the XYZ directions to pre-align the grounding sleeve 43 and the lower pressure plate 51 with the grounding switch position. Then, the fourth linear module 52 drives the lower pressure plate 51 to extend forward until it contacts the protective pressure plate on the switch cabinet. At this time, the third linear module 3 drives the lower pressure plate 51 to move downward, pressing down the protective pressure plate and exposing the grounding switch. At this time, the first linear module 1 drives the grounding sleeve 43 to move forward along the X direction to contact the grounding switch. Simultaneously, the fourth linear module 52 can fine-tune the lower pressure plate 51 so that while keeping the lower pressure plate pressing down on the protective pressure plate, it moves backward relative to the grounding sleeve 43 to avoid interfering with the grounding sleeve 43. When the grounding sleeve 43 is inserted into the grounding switch, the rotary drive motor 41 drives the grounding sleeve 43 to rotate clockwise to close the grounding switch. When it is necessary to open the switch, the rotary drive motor 41 drives the grounding sleeve 43 to rotate counterclockwise.

[0045] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A three-axis robot for closing and opening circuit breakers, characterized in that, include: The three-axis module has a first linear module (1) that moves along the X direction, a second linear module (2) that moves along the Y direction, and a third linear module (3) that moves along the Z direction. The rotating actuator (4) includes a rotary drive motor (41) and a grounding sleeve (43) connected to the main shaft of the rotary drive motor (41) via a coupling; the rotary drive motor (41) is mounted on the third linear module (3) via a motor bracket (42) and moves along the XYZ directions with the three-axis module to align with the grounding switch on the switch cabinet.

2. The three-axis robot for closing and opening the circuit breaker as described in claim 1, characterized in that, The robot also includes a ground blade pressing mechanism (5) mounted on the motor bracket (42) and located below the ground blade sleeve (43); The grounding knife pressing mechanism (5) includes a lower pressing plate (51) mounted on the motor bracket (42). The lower pressing plate (51) moves with the three-axis module to press down and open the protective pressing plate covering the grounding knife switch, exposing the grounding knife switch. At this time, the grounding knife sleeve (43) is aligned with the grounding knife switch.

3. The three-axis robot for closing and opening the circuit breaker as described in claim 2, characterized in that, The ground knife pressing mechanism (5) also includes a fourth linear module (52) mounted on the motor bracket (42), and the fourth linear module (52) drives the lower pressure plate (51) to move closer to or away from the switch cabinet along the X direction.

4. The three-axis robot for closing and opening the circuit breaker as described in claim 3, characterized in that, The lower pressure plate (51) has a Z-shaped structure, with one end mounted on the fourth linear module (52) and the other end extending out in a tongue shape to contact the protective pressure plate.

5. The three-axis robot for closing and opening the circuit breaker as described in claim 1, characterized in that, The robot also includes a camera (7) mounted on the motor bracket (42), the camera (7) being used to capture the position of the floor switch on the switch cabinet in order to guide the movement of the three-axis module.

6. The three-axis robot for closing and opening the circuit breaker as described in claim 5, characterized in that, The robot also includes a fill light (6) mounted on the motor bracket (42); wherein the fill light (6) is ring-shaped and is fitted onto the front end of the camera (7).

7. The three-axis robot for closing and opening the circuit breaker as described in claim 1, characterized in that, The first linear module (1) includes two parallel first guide rails (11), a first slider (16) slidably fitted on each of the first guide rails (11), a first slide plate (17) connected to the two first sliders (16), and a first drive assembly that drives the first slide plate (17) to move in the X direction; the second linear module (2) is mounted on the first slide plate (17).

8. The three-axis robot for closing and opening the circuit breaker as described in claim 7, characterized in that, The first drive assembly includes a first drive motor (12), a first lead screw (18) mounted on a base plate (9), and a first lead screw block (15) threadedly connected to the first lead screw (18). The main shaft of the first drive motor (12) is connected to the first lead screw (18) through a transmission connection, so that the rotation of the first lead screw (18) drives the first lead screw block (15) to move in the X direction, thereby driving the first slider (16) and the first slide plate (17) connected to the first lead screw block (15) to move in the X direction; wherein, the first guide rail (11) is mounted on the base plate (9).

9. The three-axis robot for closing and opening the circuit breaker as described in claim 8, characterized in that, The transmission connection includes a first main synchronous pulley (13) mounted on the main shaft of the first drive motor (12), a first driven synchronous pulley (14) mounted on the first lead screw (18), and a first synchronous belt wound around the first main synchronous pulley (13) and the first driven synchronous pulley (14).

10. The three-axis robot for closing and opening the circuit breaker as described in claim 7, characterized in that, A support plate (8) is vertically mounted on the first slide plate (17), and a second guide rail (21) in the second linear module (2) is mounted on the support plate (8), and the second guide rail (21) is perpendicular to the first guide rail (11); The third linear module (3) is mounted on the second slide plate (23) in the second linear module (2); the motor bracket (42) is mounted on the third slide plate (33) in the third linear module (3).

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