End-Effector for Withdrawing Drawer-Type Circuit Breaker and Drawer-Type Circuit Breaker Withdrawal System Comprising the Same

Abstract

The present invention relates to an end-effector for withdrawing a drawer-type circuit breaker, comprising: a pair of grip modules for gripping a first withdrawal handle and a second withdrawal handle formed on the circuit breaker body; an interlock release member for releasing an interlock by operating an interlock release part installed on each of the first withdrawal handle and the second withdrawal handle; and a control unit for controlling the operation of the grip modules and the interlock release member. The control unit controls the grip modules to grip the first withdrawal handle and the second withdrawal handle, respectively, controls the interlock release member to release the interlock by pressing, rotating, or displacing the interlock release part, and controls the grip modules to move in the withdrawal direction of the circuit breaker body when the interlock is released, thereby withdrawing the circuit breaker body from the circuit breaker body. According to the present invention, by providing an end effector capable of stably gripping a plurality of withdrawal handles equipped in a drawer-type circuit breaker and simultaneously operating an interlock release mechanism, there is an advantage in that the automatic withdrawal operation of a drawer-type circuit breaker using an unmanned robot can be performed more safely and reliably.

Description

Technology Field

[0001] The present invention relates to the field of control and automation system technology for power facilities, and more particularly to an end effector for safely and automatically withdrawing a drawer-type circuit breaker mounted inside a switchboard, and a circuit breaker withdrawal system including the same.

[0002] Specifically, the present invention relates to a structure for firmly gripping a plurality of pull-out handles provided in a drawer-type circuit breaker installed inside a switchboard enclosure, and a structure for mechanically displacing an interlock release device formed integrally with or linked to the pull-out handles to release the mechanical locking state of the circuit breaker.

[0003] In addition, the present invention relates to an end effector and a control system thereof that enables a drawer-type circuit breaker body to be pulled out of a switchboard along a stable trajectory by linking with an unmanned mobile device or a robot arm when the interlock is released. Background Technology

[0005] Generally, switchgear equipment for receiving, transforming, and distributing extra-high or high voltage power is used as core equipment responsible for power supply to various industrial infrastructures, such as industrial plants, buildings, and power plants.

[0006] Inside these switchboards, circuit breakers such as air circuit breakers (ACB) or vacuum circuit breakers (VCB) are installed to protect electrical equipment by quickly interrupting the circuit in the event of abnormal current or overload in the system.

[0007] Recently, drawer-type circuit breakers are widely used to improve maintenance convenience and power supply continuity, featuring a body configured in a drawer shape that can be inserted into or pulled out of the switchgear enclosure as needed.

[0008] These drawer-type circuit breakers are configured to move between the connected position, test position, disconnected position, or withdrawn position.

[0009] Meanwhile, since drawer-type circuit breakers are frequently applied to high-voltage facilities, they are equipped with various mechanical interlock structures to prevent electric shock or arc accidents.

[0010] Therefore, to withdraw the circuit breaker, simply pulling the breaker body is not sufficient; the mechanical lock must first be released by properly operating the interlock release device while gripping the withdrawal handle.

[0011] In this regard, conventional methods generally used a method in which an operator directly grasps a pull-out handle formed on the front of the circuit breaker, manually operates an interlock release device, and then pulls the circuit breaker out.

[0012] However, since drawer-type circuit breakers often weigh tens to hundreds of kilograms, they place a heavy physical burden on workers, and there is a risk that they could lead to safety accidents if they become stuck or unbalanced.

[0013] In addition, there is a problem that the risk of electric shock or arc exposure exists because workers must work directly in close proximity to high-voltage equipment.

[0014] To address these issues, attempts have been made to perform maintenance work on switchboards using unmanned vehicles or robotic arms; however, regarding the extraction of drawer-type circuit breakers, a dedicated device capable of integrally performing a series of operations—such as stably gripping the extraction handle formed on the breaker, operating an interlock release device to unlock the mechanical lock, and then extracting the breaker to the outside—has not yet been proposed.

[0015] In particular, since the shape of the withdrawal handle and the interlock structure vary depending on the circuit breaker manufacturer or model, it is difficult to securely grip the circuit breaker with a simple grip structure alone, and there is a risk of damage to the circuit breaker or the working device if withdrawal force is applied while the interlock is not fully released.

[0016] In addition, if positional errors of the robot arm or alignment errors with the circuit breaker occur, gripping failure or excessive stress concentration may result; furthermore, if the change in withdrawal resistance that occurs during the process of the circuit breaker separating from the power connection is not properly responded to, problems such as impact, tilting, or falling may occur.

[0018] Therefore, there is a need for the development of a dedicated end effector and an automation system using it that can integrally perform a series of operations, such as stably gripping the pull-out handle of a drawer-type circuit breaker, performing an interlock release operation, and then safely pulling out the circuit breaker. Prior art literature

[0020] Republic of Korea Patent Registration No. 10-2302897 Smart Safety System for Electrical Rooms Republic of Korea Patent Registration No. 10-2940835 Smart Safety System for Electrical Rooms Using Image Mirroring Method The problem to be solved

[0021] The present invention aims to solve the aforementioned technical problems by providing an end effector for withdrawing a drawer-type circuit breaker and a system including the same, which can firmly grip both withdrawal handles of the drawer-type circuit breaker and simultaneously mechanically and reliably pressurize and displace an interlock structure embedded in the handles to release it. means of solving the problem

[0023] To achieve the above objective, the present invention provides an end-effector for withdrawing a drawer-type circuit breaker installed in a switchboard enclosure, comprising: a pair of grip modules for gripping a first withdrawal handle and a second withdrawal handle formed on the circuit breaker body; an interlock release member for releasing an interlock by operating an interlock release part installed on each of the first withdrawal handle and the second withdrawal handle; and a control unit for controlling the operation of the grip modules and the interlock release member; wherein the control unit controls the grip modules to grip the first withdrawal handle and the second withdrawal handle, respectively, controls the interlock release member to release the interlock by pressing, rotating, or displacing the interlock release part, and controls the grip modules to move in the withdrawal direction of the circuit breaker body in a state where the interlock is released, thereby withdrawing the circuit breaker body from the switchboard enclosure.

[0024] In the present invention, it is preferable that the interlock release member be an end effector for drawing out a drawer-type circuit breaker, characterized by being integrally formed on at least a part of the grip module.

[0025] In addition, it is preferable that the above interlock release member be an end effector for drawing out a drawer-type circuit breaker, characterized in that it is disposed inside or on one side of the grip module so as to come into contact with the interlock release part while the grip module is gripping the drawer handle.

[0026] In addition, it is preferable that the above interlock release member be an end effector for drawing out a drawer-type circuit breaker, characterized by being formed as a separate member separated from the grip module.

[0027] In addition, it is preferable that the above interlock release member be an end effector for withdrawing a drawer-type circuit breaker, characterized by being installed to be movable relative to the grip module.

[0028] In addition, it is preferable that the above end effector be an end effector for withdrawing a drawer-type circuit breaker, characterized by being mounted on a movable platform.

[0029] In addition, it is preferable that the above-mentioned mobile platform be an end effector for withdrawing a drawer-type circuit breaker, characterized as being an Automated Guided Vehicle (AGV) or an Autonomous Mobile Robot (AMR).

[0030] In addition, it is preferable that the above end effector be an end effector for withdrawing a drawer-type circuit breaker, characterized by being coupled to the tip of a robot arm installed on the mobile platform.

[0031] In addition, it is preferable that the above-mentioned robot arm be an end effector for extracting a drawer-type circuit breaker, characterized as being one of a multi-joint robot arm, a Cartesian robot arm, or a collaborative robot.

[0032] In addition, it is preferable that the above-mentioned mobile platform be an end effector for withdrawing a drawer-type circuit breaker, characterized by being configured to travel along a passage where a switchboard is installed.

[0033] In addition, it is preferable that the above-described mobile platform be an end effector for withdrawing a drawer-type circuit breaker, characterized by including at least one of a vision sensor, LiDAR, or distance sensor so as to be aligned with respect to the position of the drawer-type circuit breaker.

[0034] In addition, it is preferable that the control unit be an end effector for withdrawing a drawer-type circuit breaker, characterized by performing position control of the moving platform and operation control of the end effector in conjunction.

[0035] In addition, it is preferable that the grip module be an end effector for drawing out a drawer-type circuit breaker, characterized by forming a receiving space that accommodates at least a portion of the drawing handle.

[0036] In addition, it is preferable that the above interlock release member be an end effector for drawing out a drawer-type circuit breaker, characterized by being formed to protrude into the interior of the receiving space.

[0037] In addition, it is preferable that the above-mentioned pair of grip modules be an end effector for drawing out a drawer-type circuit breaker, characterized by being installed such that the mutual spacing between them is adjustable.

[0038] In addition, it is preferable that the control unit be an end effector for drawing out a drawer-type circuit breaker, characterized by automatically adjusting the separation distance according to the circuit breaker specifications.

[0039] In addition, it is preferable that the above grip module be an end effector for drawing out a drawer-type circuit breaker, characterized by including a floating structure capable of floating movement to correct a positional error with respect to the drawing handle.

[0040] In addition, it is preferable that the grip module be an end effector for withdrawing a drawer-type circuit breaker, characterized by including a force sensor, a torque sensor, or a pressure sensor that detects gripping force.

[0041] In addition, the control unit is preferably an end effector for withdrawing a drawer-type circuit breaker, characterized by adjusting the gripping force based on the detected gripping force.

[0042] In addition, it is preferable that the control unit be an end effector for withdrawing a drawer-type circuit breaker, characterized by determining whether the withdrawal of the circuit breaker is completed using travel distance, output, or position information.

[0043] In addition, it is preferable that the above grip module be an end effector for withdrawing a drawer-type circuit breaker, characterized by further including a support member formed to support the lower part of the circuit breaker and supporting the load of the circuit breaker during the withdrawal process.

[0044] In addition, it is preferable that the above grip module be an end effector for drawing out a drawer-type circuit breaker, characterized by including a replaceable grip adapter to correspond to drawing handles of different shapes.

[0045] The present invention also provides a drawer-type circuit breaker withdrawal system for withdrawing a drawer-type circuit breaker from a switchboard enclosure, comprising: a movable platform; a robot arm installed on the movable platform; and an end effector according to any one of claims 1 to 22 coupled to the tip of the robot arm; wherein the movable platform is configured to move to the front of the switchboard, the robot arm is configured to move the end effector to the positions of a first withdrawal handle and a second withdrawal handle formed on the drawer-type circuit breaker, and the end effector is configured to grip the first withdrawal handle and the second withdrawal handle, release the interlock, and then withdraw the drawer-type circuit breaker from the switchboard enclosure.

[0046] In addition, it is preferable that the above-described mobile platform recognizes the location of the switchboard or the drawer-type circuit breaker using at least one of a vision sensor, LiDAR, or distance sensor, and the robot arm aligns the end effector to the positions of the first and second pull-out handles based on the recognized location information, thereby constituting a drawer-type circuit breaker pull-out system.

[0047] In addition, the mobile platform, the robot arm, and the end effector are controlled by a single integrated control unit or a plurality of mutually communicable control units, and the integrated control unit performs the driving of the mobile platform, the position control of the robot arm, and the circuit breaker withdrawal operation of the end effector in conjunction with each other, thereby constituting a drawer-type circuit breaker withdrawal system. Effects of the invention

[0049] According to the present invention described above, by providing an end effector capable of stably gripping a plurality of withdrawal handles equipped in a drawer-type circuit breaker while simultaneously operating an interlock release mechanism, the automatic withdrawal operation of a drawer-type circuit breaker using an unmanned robot can be performed more safely and reliably, and the end effector for withdrawing a drawer-type circuit breaker and a system including the same can automate the withdrawal operation of the circuit breaker through control linkage with a mobile platform and a robot arm, thereby providing the advantage of providing an end effector for withdrawing a drawer-type circuit breaker and a system including the same. Brief explanation of the drawing

[0051] FIG. 1 is a perspective view of a mobile robot equipped with an embodiment of the present invention. FIG. 2 is an operating plan view of an embodiment of the present invention. FIG. 3 is an operational side view of an embodiment of the present invention. FIG. 4 is a side view of another embodiment of the present invention. FIG. 5 is a state diagram of use of an embodiment of the present invention. FIG. 6 is a state diagram of use of another embodiment of the present invention. FIG. 7 is a front view of a circuit breaker body of another embodiment. FIG. 8 is a diagram showing the usage state of the present invention for the embodiment of FIG. 7. Specific details for implementing the invention

[0052] The present invention will be examined below with reference to the drawings. In describing the present invention, if it is determined that a detailed description of related known technologies or configurations may unnecessarily obscure the essence of the invention, such detailed description will be omitted.

[0053] Furthermore, the terms described below are defined in consideration of their functions in the present invention; since these may vary depending on the intentions or practices of the user or operator, their definitions should be based on the content throughout this specification describing the present invention.

[0055] With reference to the drawings below, we will examine in detail the drawer-type circuit breaker withdrawal end effector of the present invention (hereinafter abbreviated as 'end effector (200)') and the drawer-type circuit breaker withdrawal system including the same.

[0056] As illustrated in FIGS. 1 to 6, the end effector (200) for drawing out a drawer-type circuit breaker of the present invention is a device for drawing out a drawer-type circuit breaker (100) from a switchboard enclosure and may include a pair of grip modules (210), an interlock release member (220), a driving unit (not shown), and a control unit (230).

[0058] Hereinafter, for the purpose of explaining the present invention, we will first examine the structure of the drawer-type circuit breaker.

[0059] As shown in FIG. 5, the drawer-type circuit breaker (100) is a device installed inside the enclosure (10) of a power distribution board to open and close power, and is a power switching device configured such that the circuit breaker body (30) can move forward and backward in a sliding manner.

[0060] To this end, the drawer-type circuit breaker (100) may be configured to include a circuit breaker body (30), a chassis part (20), a guide rail (70), a main circuit connection part (not shown), a control circuit connection part (not shown), and a first withdrawal handle (41) and a second withdrawal handle (42) (hereinafter withdrawal handle (40)).

[0061] The above-mentioned chassis (20) is formed of a metal material and performs the function of accommodating the internal circuit breaker body (30) and protecting it from the external environment, and a guide rail (70) with a slide structure is formed inside to guide the movement of the circuit breaker body (30).

[0062] The above circuit breaker body (30) is installed to be able to move forward or backward along the guide rail (70) and can be selectively moved to an operating position, a test position, and an extraction position.

[0063] The above main circuit connection part (not shown) is a part that forms a power connection between the circuit breaker body (30) and the busbar, and is mainly installed on the back of the circuit breaker body (30) and configured to be connected or disconnected depending on the position of the circuit breaker body (30).

[0064] In addition, the control circuit connection part (not shown) is also mainly installed on the back of the circuit breaker body (30) and is a connection structure for transmitting a protective relay, control signal, or auxiliary power, and can be connected or disconnected independently from the main circuit connection part (not shown).

[0066] The above-mentioned withdrawal handle (40) is an operating part for mechanically moving the circuit breaker body (30) from the enclosure (10), and in the conventional method, it is provided for the user to manually move the circuit breaker body (30) forward and backward.

[0067] Due to the structural characteristics of the above drawer-type circuit breaker (100) that allow it to operate in a high-voltage state, there is a risk that if the circuit breaker body (30) is pulled out in an improper state, an arc may occur, an electric shock accident may occur, or a malfunction of the power system may occur.

[0068] In particular, if the circuit breaker body (30) is pulled out while the main circuit connection part (not shown) is not completely separated, a serious electrical accident may occur.

[0069] Accordingly, the drawer-type circuit breaker (100) is necessarily equipped with an interlock, and the interlock is configured to mechanically restrict the operation of the withdrawal handle (40) or the movement of the circuit breaker body (30) when the circuit breaker body does not satisfy a specific safety condition.

[0070] In FIGS. 1 to 5 of the present invention, the withdrawal handle (40) is illustrated as being installed vertically on both sides of the front of the circuit breaker body (30) for the purpose of explaining the invention, but in reality, it is implemented in various forms such as on both sides of the lower side and both sides of the circuit breaker body (30).

[0071] That is, the above-mentioned withdrawal handle (40) is generally installed horizontally on the lower sides of the front of the circuit breaker body (30) as shown in FIGS. 7 and 8, and there are various variations such as being installed horizontally on the lower sides of the circuit breaker body (30).

[0073] The interlock release part (50) of the drawer-type circuit breaker is a mechanical or electromechanical component for selectively releasing the movable state of the circuit breaker body (30) restricted by the interlock, and can be formed integrally with the pull-out handle (40) of the circuit breaker body (30) as shown in FIG. 7 or installed to be linked with the pull-out handle (40) as shown in FIG. 2, and can be implemented in various forms such as a button type, lever type, cam structure, sliding latch structure or rotary unlock structure.

[0074] The above interlock release unit (50) is configured so that the interlock state is released only when physically pressed, rotated, or displaced at a specific location, and accordingly, the circuit breaker body (30) can be withdrawn only when safety conditions are met.

[0075] In addition, the interlock release unit (50) may be configured to operate in conjunction with the state of the circuit breaker body (30), the disconnection state of the main circuit connection unit (not shown), or control conditions, thereby preventing withdrawal due to erroneous operation.

[0076] According to the above interlock release unit (50), when the circuit breaker body (30) is in an operating state or a dangerous state, the withdrawal operation is mechanically blocked, and the interlock is released only when safety conditions are satisfied, so that withdrawal is possible, thereby preventing misoperation, arc generation, and electric shock accidents in a high voltage state, and improving the safety of the drawer-type circuit breaker.

[0077] In the case of the present invention, the interlock release unit (50) can be automatically operated in conjunction with the gripping operation of the grip module (210) described later, so safe removal of the circuit breaker is possible even in an unmanned automation environment.

[0078] In particular, as shown in FIG. 8, the grip module (210) can also be operated by an action performed in conjunction with a gripping action.

[0080] As described above, the circuit breaker body (30) is provided with a first withdrawal handle (41) and a second withdrawal handle (42) in a portion accessible from the front, and an interlock release portion (50) for preventing misoperation is formed on each or integrally with the withdrawal handle (40).

[0081] The present invention is characterized by being configured such that, as shown in FIG. 5, the first withdrawal handle (41) and the second withdrawal handle (42) are each grasped, and the interlock release unit (50) is mechanically operated, and then the circuit breaker body (30) is withdrawn from the switchboard enclosure (10) in a state where the interlock is released.

[0083] Hereinafter, the present invention will be described against the background of the above description.

[0084] The grip module (210) of the present invention is a pair of gripping devices that grip a withdrawal handle (40) formed on a circuit breaker body (30) and transmit the circuit breaker withdrawal output.

[0085] The above grip module (210) is formed to be mechanically coupled with the withdrawal handle (40) to transmit the withdrawal output, and can grip or release the withdrawal handle (40) according to the control of the control unit (230).

[0086] The above grip module (210) can be implemented in various forms corresponding to the shape of the pull-out handle (40), for example, a clamp structure in which a pair of jaws move closer and further apart to press the pull-out handle (40) from both sides, a pocket structure that accommodates at least a part of the pull-out handle (40), a hook structure that partially wraps the outer circumference of the pull-out handle (40), or a glove structure that holds the pull-out handle (40) in an internal space as shown in FIGS. 2 and 3, and may be composed of a combination thereof.

[0087] In addition, it goes without saying that it can be formed at various angles corresponding to the position of the withdrawal handle (40).

[0088] Additionally, the grip module (210) may include a high-friction pad, an elastic member, a support member, or a rotation-prevention member so as to stably transmit the load generated during the withdrawal process.

[0090] Accordingly, the grip module (210) enters the narrow clearance space of the chassis part (20) from the front of the switchboard enclosure (10) and firmly grips and fixes the pull-out handle (40), which is respectively positioned on the front or left and right sides of the circuit breaker body (30), by physical friction and mechanical restraint.

[0091] That is, the grip module (210) is a core physical mechanical mechanism corresponding to a human 'hand' or 'finger' in robotics and factory automation systems. Just as a human uses finger strength to grasp an object to pick it up or move it, the grip module (210) mounted on the tip of the end effector (200) in the robot system physically fixes the target object.

[0093] The above grip module (210) may be provided with a three-dimensional structure capable of accommodating the size or shape of the pull-out handle (40).

[0094] More specifically, the gripping portion of the pull-out handle (40) may have a square cross-section or a circular cross-section, and corresponding to such a shape, it may have a housing structure that accommodates at least a part of the gripping portion of the pull-out handle (40) to prevent external detachment.

[0095] The grip module (210) may also have a grip portion (210a) that enters the gripping portion of the pull-out handle (40) as in the embodiment of FIGS. 2 and FIGS. 3, and a finger block (210b) that moves back and forth by the driving force of a servo motor or linear actuator and presses the surface of the pull-out handle (40), thereby allowing the gripping force to be variably controlled according to an electrical command.

[0097] Additionally, a pair of grip modules (210) may be mounted on frames independent of each other or positioned opposite each other on an electric slide rail mechanism that can adjust the linear distance between them.

[0098] Through this variable spacing structure, it is possible to flexibly adapt to various types of drawer-type circuit breakers (100) in which the spacing between the left and right pull-out handles (40) is designed differently depending on the capacity of the circuit breaker body (30) or the manufacturer's specifications, thereby ensuring wide compatibility without replacing the entire end effector (200).

[0100] The above interlock release member (220) is a component for mechanically operating the interlock release part (50) of the circuit breaker body (30), and may be formed integrally with the grip module (210) as shown in FIG. 2 and FIG. 3, or configured as a separate actuator as shown in FIG. 4.

[0101] However, the above interlock release unit (50) may be configured to be built into the circuit breaker body (30) so as not to be exposed to the outside, as shown in FIG. 8.

[0102] In such a case, as shown in FIG. 8, the grip module (210) can pull out the circuit breaker by performing an operation a of advancing toward the pull-out handle (40), a pull-out handle grip operation b, a horizontal movement operation c to release the interlock, and a pulling operation d to pull out the circuit breaker, thereby mechanically operating the interlock release unit (50).

[0103] In the present invention, when the interlock release operation is performed as part of the control operation of the grip module (210), it is also represented by an interlock release member (220) formed integrally with the grip module (210).

[0104] Therefore, the above interlock release member (220) should be interpreted as including not only a mechanical configuration but also a control configuration.

[0106] The above interlock release member (220) is composed of a mechanical operating element that is integrally integrated into the interior or peripheral area of ​​the grip module (210) or mounted as a separate movable member to physically release the malfunction prevention locking mechanism of the circuit breaker body (30) itself.

[0107] A general drawer-type circuit breaker (100) has a push-button type interlock release part (50) formed in the center of the pull-out handle (40) itself or formed on the side of the pull-out handle (40) and is equipped with a mechanical deadman switch structure that is unlocked only when rotated or pulled at a specific angle.

[0108] As an example, as shown in FIGS. 2 and 3, the interlock release member (220) of the present invention is formed in the form of a pin or a pressure pad so as to protrude a certain length toward the installation space of the interlock release member from the grip module (210), and thus has positional flexibility so that it can strongly press the interlock release part (50) from the front without any additional action in conjunction with the operation of the grip module (210) gripping the extraction handle (40).

[0110] As another embodiment, the interlock release member (220) may be installed to be relatively movable so as to receive an independent electrical signal from the control unit (230) and individually press, rotate, or planarly displace the interlock release member (50) by being separated from the main frame of the grip module (210) as shown in FIG. 4 and connected to a separate small cylinder or rotary servo motor, so as to maintain a state in which the grip module (210) firmly grips the pull-out handle (40) and is fixed.

[0111] The grip modules of FIGS. 2 to 5 are structures for specific models, and it goes without saying that they can be made in various shapes and structures, such as the grip module of FIG. 7, in order to achieve the purpose of the present invention described above.

[0113] A driving unit (not shown) that provides driving force to the above grip module (210) and interlock release member (220) serves as a core power source for the mechanical operation of the end effector according to the present invention and is organically coupled and arranged to each of the pair of grip modules (210).

[0114] The above drive unit is installed in a sealed manner inside the rear housing of the grip module (210) so as to stably maintain the overall center of gravity of the end effector and prevent interference when entering the narrow space around the handle inside the switchboard enclosure.

[0115] Through this arrangement, a mechanical coupling structure is formed so that rotational torque and linear compression driving force generated from the driving unit (not shown) are directly transmitted to the finger portion inside the receiving space of the grip module (210) without mechanical play or loss.

[0116] To this end, the driving unit is fixed in a position that is physically directly connected to the movable finger block of the grip module (210) through a ball screw or a linear guide mechanism.

[0117] The above drive unit may include at least one of a robot servo motor, a brushless DC motor (BLDC), a permanent magnet synchronous motor (PMSM), a linear motor, or an electric cylinder, and may be configured to be combined with a reduction gear, a ball screw, a rack and pinion, or a linear guide to convert rotational motion into linear motion or increase driving torque.

[0118] Additionally, the driving unit (not shown) may include an encoder or a resolver to detect position and speed, and the control unit (230) may perform closed-loop position control, speed control, or torque control based on this.

[0119] The control unit (230) described below can use motor current to estimate the gripping force applied by the grip module (210) to the withdrawal handle (40) and control it so that it is maintained within a set range.

[0120] In addition, the above-mentioned drive unit (not shown) may be configured to perform impedance control or force limit control in response to load changes occurring during the extraction process.

[0122] The control unit (230) of the present invention includes a microprocessor or an industrial control computer and receives encoder signals, current information, and sensor information in real time to control the overall operation of the end effector.

[0123] In addition, the control unit (230) is configured to communicate with the mobile platform and the robot arm, and may use industrial communication protocols such as CAN, EtherCAT, PROFINET, Ethernet / IP, or OPC-UA.

[0125] The end effector (200) of the present invention is configured to optionally further include a force sensor, a torque sensor, or a pressure sensor in the form of a load cell that directly and precisely detects gripping force inside the grip module (210) or on the tip surface of the finger in order to further increase mechanical reliability.

[0126] The control unit (230) can calculate the actual gripping force based on the sensor data and limit the output of the drive unit when an excessive load occurs.

[0127] More specifically, the control unit (230) monitors the fluctuation trend of real-time gripping pressure data input from the sensors, and if excessive pressure exceeding the set appropriate gripping force range is detected, it immediately controls the current command of the driving unit downward to prevent damage to the plastic cover of the handle, etc.

[0128] Conversely, when the robot arm (300) detects signs that the handle is slipping due to resistance during the process of pulling out the circuit breaker body (30), and the measurement value of the force sensor decreases rapidly, the control unit (230) can control the gripping force to maintain a stable gripping state by dynamically increasing the motor torque of the drive unit to scale upwards and adjusting the gripping force upwards in real time.

[0130] The grip module (210) may include a floating structure for absorbing positional errors of the robot arm, and the floating structure (230) may be implemented by including a spring, an elastic body, a slide structure, or a flexure structure.

[0131] For example, the grip module (210) may include a floating structure at the frame joint portion that has a fine gap in at least one of the x-axis, y-axis, and z-axis and has the property of returning to a central position by means of a spring or rubber damper so as to flexibly absorb spatial mechanical errors that occur when the robot arm (300) moves the end effector (200) into the handle position.

[0132] This floating structure effectively disperses and blocks lateral impact stress at the moment of handle connection by inducing the grip module (210) to slide along the pull-out handle (40) and center itself even if the robot arm (300) deviates from the perfect alignment position.

[0133] In addition, a support member (500) may be further formed in the lower region of the grip module (210) to mechanically support the lower plate or lower part of the guide frame of a medium-to-large circuit breaker that sags downward due to its own weight during the extraction process, as shown in FIG. 6.

[0134] The above support member (500) simultaneously performs the principle of a lever and the role of a sagging prevention support when the end effector pulls the circuit breaker body (30) out of the outer casing (10), thereby significantly reducing the inherent vertical static operating load burden of the robot arm (300) and preventing the circuit breaker body (30) from falling forward.

[0136] Meanwhile, to accommodate various modified pull-out handles (40), the front end of the grip module (210) may have a bolt fixing method or a one-touch quick change structure, and thereby a grip adapter that can be quickly separated and replaced to accommodate pull-out handles of different shapes may be provided.

[0138] Hereinafter, the drawer-type circuit breaker withdrawal system of the present invention will be described.

[0139] The drawer-type circuit breaker withdrawal system of the present invention is formed by organically combining physical components that securely grip and pull a first withdrawal handle (41) and a second withdrawal handle (42) provided on both sides of the front of a circuit breaker body (30) that moves back and forth along an internal guide rail (70) of a switchboard enclosure (10).

[0140] The system of the present invention can be constructed to include a mobile platform (400) that moves autonomously through space by forming a complete unmanned automated line including the end effector (200) described above as shown in FIG. 1, and a robot arm (300) that is firmly bolted onto the upper slab of the mobile platform (400).

[0142] The above-mentioned mobile platform (400) may be configured as an unmanned mobile platform (AGV) that travels along magnetic tape or laser markers embedded in the floor surface, or as an autonomous mobile robot (AMR) that travels along an optimal path while avoiding obstacles by utilizing an upper lidar sensor and a SLAM artificial intelligence algorithm.

[0143] Additionally, the mobile platform (400) may include a driving drive motor and a suspension device that control the steering angle of the wheels so that it can travel stably while maintaining a narrow width between passages where power distribution panels are arranged in rows.

[0145] The robot arm (300) may be composed of a fixed arm placed on the mobile platform (400).

[0146] In one embodiment, when the fixed arm is applied, the frame of the end effector (200) is mechanically connected to the fixed arm, and the control line and driving power line inside the end effector (200) can be formed to pass through the cable guide inside the fixed arm and be fed into the main control box.

[0148] In another embodiment, the robot arm (300) is a device that is positioned on the moving platform (400) as shown in FIG. 1 or FIG. 6 to extend the spatial working radius of the end effector to multiple degrees of freedom, and can be selected and applied as a multi-joint robot arm, an orthogonal robot arm, or a collaborative robot with a built-in collision detection safety function with a worker.

[0149] The frame of the end effector (200) of the present invention is mechanically connected to the front flange portion of the robot arm (300), and the control line and driving power line inside the end effector (200) pass through the cable guide inside the robot arm and are fed into the main control box.

[0150] A group of alignment sensors including at least one of a vision sensor, LiDAR, or ultrasonic and infrared-based distance sensor is disposed on the front of the above-mentioned mobile platform (400) or on one side of the leading edge of the robot arm (300) to identify the precise spatial coordinates of the target blocker.

[0151] The vision sensor captures a 2D barcode or QR code printed on the front of the circuit breaker, or the unique external contour of the withdrawal handle itself, and transmits it to a central image processor. The control system analyzes this using a geometric template matching algorithm to calculate the current 3D relative spatial pose of the circuit breaker in real time with a resolution of less than a millimeter.

[0153] Hereinafter, regarding the operation of the system of the present invention, when the system is operated, the mobile platform (400) receives a command from the integrated control unit and moves to the target switchboard location.

[0154] Afterwards, the operation of opening the door (11) of the switchboard can be performed by means of another control device and operation.

[0155] Afterwards, the robot arm (300) aligns the end effector to the extraction handle (40) position.

[0156] More specifically, the individual control units of the mobile platform (400), robot arm (300), and end effector (200) can be centrally controlled by an integrated control unit integrated within a single physical housing to achieve real-time synchronization without mutual delay, or can perform organic control operations in the form of a combination of multiple control units distributed to each unit and connected by a high-speed industrial fieldbus.

[0157] When the above integrated control unit receives a withdrawal command for the target circuit breaker body (30) from the scheduler system, it first drives the driving motor of the moving platform (400) to drive unmanned to the front alignment position of the corresponding switchgear enclosure (10).

[0158] After arrival is complete, the integrated control unit activates the alignment sensor group to obtain the accurate reference spatial coordinates of the extraction handle (40) and derives the trajectory of each joint of the robot arm (300) through inverse geometric operation based on this information, thereby linearly controlling the manipulation operation of the robot arm (300) so that a pair of grip modules (210) of the end effector enter the front receiving area of ​​the first extraction handle (41) and the second extraction handle (42) without error.

[0159] When entry is completed and the withdrawal handle (40) is received inside the grip module (210), the control unit (230) inside the end effector (200) controls the withdrawal handle (40) to be firmly gripped by operating the motor of the drive unit to move the finger unit in the closing direction.

[0160] At the point when the gripping is completed, the control unit (230) controls the release of the interlock by varying the electrical signal into a mechanical stroke to drive the interlock release member (220), thereby physically pressing the interlock release unit (50) mounted on the withdrawal handle (40) deeply or rotating it at a set angle so that the mechanical restraint latch inside the circuit breaker body (30) completely detaches from the guide rail (70) of the enclosure (10).

[0161] When the interlock release completion signal is confirmed through the sensing control loop, the integrated control unit controls the base end of the robot arm (300) or the micro-travel axis of the moving platform (400) to move backward while maintaining a constant speed profile in the withdrawal direction, thereby safely pulling out the circuit breaker body from inside the switchboard enclosure (10).

[0163] At this time, the control unit (230) continuously collects and analyzes torque feedback applied to the joints of the robot arm (300), ground movement distance data from the built-in sensor inside the end effector, changes in the intensity of the actual output, or current linear position information based on the encoder.

[0164] During the normal withdrawal process, after the peak resistance at the initial power terminal separation point is relieved, when the circuit breaker body (30) reaches the end of the withdrawal trajectory completely, it hits a physical stopper or enters the free section of the guide rail (70), causing the withdrawal output value to drop rapidly below the normal state threshold or the travel distance to reach the circuit breaker's inherent withdrawal stroke rated length.

[0165] The above control unit (230) detects such physical numerical fluctuations and precisely determines in real time whether the final withdrawal of the circuit breaker body (30) is completed, and when the withdrawal is confirmed, immediately stops the movement of the robot arm (300) and completes the control linkage to safely proceed to the next transfer process step.

[0167] The drawings illustrated above for the purpose of explaining the present invention are one embodiment in which the present invention is embodied, and it can be seen that various combinations are possible to realize the gist of the present invention as illustrated in the drawings.

[0168] Therefore, the present invention is not limited to the embodiments described above, and the technical spirit of the present invention extends to the scope in which various modifications can be made by anyone with ordinary knowledge in the field to which the invention belongs, without departing from the essence of the invention as claimed in the following patent claims. Explanation of the symbols

[0169] 10: Outer casing 11: Door 20: New Year's Department 30: Circuit breaker body 40: Withdrawal handle 41: 1st withdrawal handle 42: Second withdrawal handle 50: Interlock release section 70: Guide rail 100: Drawer-type circuit breaker 200: Drawer-type circuit breaker withdrawal end effector (end effector) 210: Grip Module 210a: Grip section 210b: Finger block 220: Interlock release component 230: Control unit 300: Robotic Arm 400: Mobile Platform 500: Support Midoshi: Main circuit connection part, control circuit connection part, driving part

Claims

Claim 1 An end-efector for withdrawing a circuit breaker body of a drawer-type circuit breaker installed in a switchboard enclosure, comprising: a pair of grip modules that grip a first withdrawal handle and a second withdrawal handle formed on the circuit breaker body; an interlock release member that releases an interlock by operating an interlock release part installed on each of the first withdrawal handle and the second withdrawal handle; and a control unit that controls the operation of the grip modules and the interlock release member; wherein the control unit controls the grip modules to grip the first withdrawal handle and the second withdrawal handle, respectively, controls the interlock release member to release the interlock by pressing, rotating, or displacing the interlock release part, and controls the grip modules to move in the withdrawal direction of the circuit breaker body when the interlock is released, thereby withdrawing the circuit breaker body from the switchboard enclosure. Claim 2 An end effector for drawing out a drawer-type circuit breaker, characterized in that, in claim 1, the interlock release member is integrally formed on at least a part of the grip module. Claim 3 In paragraph 2, the end effector for drawing out a drawer-type circuit breaker is characterized in that the interlock release member is disposed inside or on one side of the grip module so as to come into contact with the interlock release part while the grip module is gripping the drawer handle. Claim 4 An end effector for drawing out a drawer-type circuit breaker, characterized in that, in claim 1, the interlock release member is formed as a separate member separated from the grip module. Claim 5 In claim 4, the end effector for drawing out a drawer-type circuit breaker is characterized in that the interlock release member is installed to be movable relative to the grip module. Claim 6 In claim 1, the end effector for drawing out a drawer-type circuit breaker is characterized by being mounted on a movable platform. Claim 7 An end effector for withdrawing a drawer-type circuit breaker, characterized in that, in claim 6, the mobile platform is an Automated Guided Vehicle (AGV) or an Autonomous Mobile Robot (AMR). Claim 8 In claim 6, the end effector for drawing out a drawer-type circuit breaker is characterized by being coupled to the tip of a robot arm installed on the mobile platform. Claim 9 In claim 8, the robot arm is characterized as being one of a multi-joint robot arm, an orthogonal coordinate robot arm, or a collaborative robot. Claim 10 In claim 6, the drawer-type circuit breaker withdrawal end effector is characterized in that the mobile platform is configured to travel along a passage where a switchboard is installed. Claim 11 In claim 6, the end effector for withdrawing a drawer-type circuit breaker is characterized in that the mobile platform includes at least one of a vision sensor, LiDAR, or distance sensor so as to be aligned with respect to the position of the drawer-type circuit breaker. Claim 12 In claim 6, the drawer-type circuit breaker withdrawal end effector is characterized in that the control unit performs position control of the moving platform and operation control of the end effector in conjunction. Claim 13 An end effector for drawing out a drawer-type circuit breaker, characterized in that, in claim 1, the grip module forms a receiving space that accommodates at least a portion of the drawing handle. Claim 14 In claim 13, the end effector for drawing out a drawer-type circuit breaker is characterized in that the interlock release member is formed to protrude into the receiving space. Claim 15 An end effector for drawing out a drawer-type circuit breaker, characterized in that, in claim 1, the pair of grip modules are installed such that their mutual spacing can be adjusted. Claim 16 In claim 15, the drawer-type circuit breaker withdrawal end effector is characterized by the control unit automatically adjusting the separation distance according to the specifications of the circuit breaker body. Claim 17 An end effector for drawing out a drawer-type circuit breaker, characterized in that, in claim 1, the grip module includes a floating structure capable of floating movement to correct a positional error with respect to the drawing handle. Claim 18 An end effector for drawing out a drawer-type circuit breaker, characterized in that, in claim 1, the grip module includes a force sensor, a torque sensor, or a pressure sensor for detecting gripping force. Claim 19 In claim 18, the drawer-type circuit breaker withdrawal end effector is characterized in that the control unit adjusts the gripping force based on the detected gripping force. Claim 20 An end effector for withdrawing a drawer-type circuit breaker, characterized in that, in claim 1, the control unit determines whether the withdrawal of the circuit breaker body is completed using travel distance, output, or position information. Claim 21 The end effector for drawing out a drawer-type circuit breaker according to claim 1, characterized in that the grip module further includes a support member formed to support the lower part of the circuit breaker body and supporting the load of the circuit breaker body during the drawing process. Claim 22 An end effector for drawing out a drawer-type circuit breaker, characterized in that, in claim 1, the grip module includes a replaceable grip adapter to correspond to drawing handles of different shapes. Claim 23 A drawer-type circuit breaker withdrawal system for withdrawing a circuit breaker body of a drawer-type circuit breaker installed in a switchboard enclosure, comprising: a movable platform; a robot arm installed on the movable platform; and an end effector according to any one of claims 1 to 22 coupled to the tip of the robot arm; wherein the movable platform is configured to move to the front of the switchboard, the robot arm is configured to move the end effector to the positions of a first withdrawal handle and a second withdrawal handle formed on the circuit breaker body, and the end effector is configured to grip the first withdrawal handle and the second withdrawal handle, release the interlock, and then withdraw the circuit breaker body from the switchboard enclosure. Claim 24 A drawer-type circuit breaker extraction system according to claim 23, wherein the mobile platform recognizes the position of the switchboard or the drawer-type circuit breaker using at least one of a vision sensor, LiDAR, or distance sensor, and the robot arm aligns the end effector to the position of the first extraction handle and the second extraction handle based on the recognized position information. Claim 25 A drawer-type circuit breaker withdrawal system according to claim 23, wherein the mobile platform, the robot arm, and the end effector are controlled by a single integrated control unit or a plurality of mutually communicable control units, and the integrated control unit performs the driving of the mobile platform, the position control of the robot arm, and the withdrawal operation of the circuit breaker body of the end effector in conjunction.

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