CN109465776B - Intelligent silica gel replacement device and working principle thereof - Google Patents
Intelligent silica gel replacement device and working principle thereof Download PDFInfo
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- CN109465776B CN109465776B CN201810240575.9A CN201810240575A CN109465776B CN 109465776 B CN109465776 B CN 109465776B CN 201810240575 A CN201810240575 A CN 201810240575A CN 109465776 B CN109465776 B CN 109465776B
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- silica gel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
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Abstract
The invention belongs to the field of power grid silica gel replacement, and particularly relates to an intelligent silica gel replacement device. In order to solve the problems that a large amount of manpower is needed and the time consumption is long and the error is easy to occur in the silica gel replacement process, the intelligent silica gel replacement device is rapid, convenient, simple to operate and labor-saving. The utility model provides a device is changed to intelligence silica gel, includes power module, still includes: the sensor module is electrically connected with the control module; the control module is electrically connected with the power supply module; the climbing device is electrically connected with the control module; the driving device is screwed with the base ring and is electrically connected with the control module; a base ring engaged with the climbing device; the micro cylinder is electrically connected with the control module; the fixing device is sleeved with the base ring; the remote controller is in communication connection with the control module; the base ring includes: the rack is meshed with the climbing device; the bracket is welded with the rack; and the bearing ring is sleeved with the bracket.
Description
Technical Field
The invention belongs to the field of power grid silica gel replacement, and particularly relates to an intelligent silica gel replacement device and a working principle thereof.
Background
Because the weight of the body respirator is heavier, about 12kg, the traditional respirator silica gel replacement mode needs 2 people to disassemble and replace, and 1 person needs to be responsible for work guidance and safety monitoring when necessary. Meanwhile, the traditional silica gel replacement mode is greatly influenced by factors such as space, personnel proficiency and the like, so that the replacement difficulty is high, the replacement time is long, and the normal operation of the transformer is not favorable due to long-time operation without a respirator. Based on the situation, when the overhaul task is busy, the problem that workers are nervous and cannot replace silica gel timely is inevitable in a work area.
Disclosure of Invention
The invention provides an intelligent silica gel replacing device which is rapid, convenient and fast, simple to operate and labor-saving, and aims to solve the problems that a large amount of labor is needed, the time consumption is long, and errors are easy to occur in the silica gel replacing process.
In order to realize the technical scheme that above-mentioned purpose adopted, an intelligence silica gel changes device, includes power module, still includes: the sensor module is electrically connected with the control module; the sensor module includes: the pressure sensor is electrically connected with the control module; the horizontal sensor is electrically connected with the control module; the camera is electrically connected with the control module; the height sensor is electrically connected with the control module; the infrared confirmation sensor is electrically connected with the control module; the control module is electrically connected with the power supply module; the climbing device is positioned on the inner side of the base ring and is electrically connected with the control module; the driving device is screwed with the base ring and is electrically connected with the control module; a base ring engaged with the climbing device; the micro cylinder is electrically connected with the control module; the fixing device is sleeved with the base ring; the fixing device includes: the ferrule is sleeved with the bearing ring, is positioned on the outer side of the bearing ring and is meshed with the driving device; two mechanical arms coupled to the ferrule; the two ends of the lantern ring are welded with the two mechanical arms; the air bag ring is positioned on the inner side of the lantern ring and is clamped with the lantern ring; the remote controller is in communication connection with the control module; the base ring includes: the rack is positioned on the inner side of the bracket and is meshed with the climbing device; the bracket is welded with the rack; and the bearing ring is positioned on the outer side of the bracket and is sleeved with the bracket.
Preferably, the climbing device comprises a plurality of climbing feet; the climbing device includes: an up-down moving rod meshed with the rack; the first joint is in shaft connection with the upper and lower moving rods; a second joint coupled to the first joint; a third joint coupled to the second joint; the sole is welded with the third joint; the rubber pad is clamped with the sole.
Preferably, the robot arm includes: the first joint is in shaft connection with the ferrule; the second joint is coupled with the first joint through a shaft; the third joint is coupled with the second joint through a shaft; and the fourth joint is in shaft joint with the third joint and is welded with the lantern ring.
Preferably, the remote controller includes: the central processing module is in communication connection with the control module; the key is in point connection with the central processing module; and the display is electrically connected with the central processing module.
A working method of an intelligent silica gel replacing device is suitable for the intelligent silica gel replacing device and comprises the following steps: s1: initializing; s2: automatically climbing the upper pole by using a climbing foot; s3: use fixing device, take off the silica gel jar to transfer the back and empty away the silica gel that needs to be changed in the silica gel jar, including following substep: a1: the system receives an instruction of a remote controller, when the instruction of accessing the silica gel tank is received, the ferrule rotates under the action of the driving module, and simultaneously the infrared sensor is used for confirming whether the ferrule and the silica gel tank are positioned on the same radius line, if not, the system jumps to A2; if so, jump A3; a2: if the sleeve ring is not located on the same radius line at present, the system judges the minimum angle between the sleeve ring and the radius line where the silica gel tank is located, gradually rotates to the same radius line, and jumps to A1; a3: if the current position is on the same radius line, the system controls the mechanical arm to control the lantern ring to ascend, and the lantern ring is sleeved on the silica gel tank under the action of the infrared sensor; a4: the control module controls the air cylinder to inflate the air bag ring, and the pressure sensor is used for detecting whether the pressure borne by the wall of the silica gel tank is in a range where the silica gel tank can bear the pressure and can not enable the silica gel tank to fall off due to the influence of gravity, if the range is reached, the control module jumps to A6, and if the range is not reached, the control module jumps to A5; a5: if the air pressure does not reach the standard, continuing to slowly inflate the air, acquiring the current pressure value, calculating the difference value between the current pressure value and the target pressure value, gradually reducing the inflation pressure and the inflation quantity along with the reduction of the difference value, and jumping to A4; a6: if the air pressure reaches the standard, the driving module controls the fourth joint to enable the lantern ring to rotate, and silica gel in the silica gel tank is poured out; a7: after pouring out the silica gel, controlling the fourth joint to erect the silica gel tank, moving the silica gel tank to the side of a worker under the action of the camera, and adding new silica gel; a8: the system receives a remote controller instruction, and when the system receives an installation instruction, the control module controls the mechanical arm to enable the lantern ring to convey the silica gel tank to the installation position of the silica gel tank and keep the silica gel tank horizontal; a9: when the system receives the confirmation of the installation of a worker, the control module controls the cylinder to deflate, the air bag ring contracts, the lantern ring is separated from the silica gel tank, and the silica gel replacement task is completed; s4: then the silica gel tank is erected, new silica gel is filled by workers, and after the completion of the filling of the new silica gel is confirmed; s5: the fixing device places the silica gel tank at a corresponding position under the action of the driving module, and the silica gel tank is installed by workers.
The beneficial effects created by the invention are as follows: (1) the time for replacing the silica gel is saved; (2) manpower for replacing the silica gel is reduced, and productivity is liberated; (3) the air bag ring is used for grabbing the silica gel tank, so that the silica gel tank can be grabbed more stably and the danger of slipping is not easy to occur; (4) the device adopts a plurality of joints at a plurality of positions, so that the device has foldability, the occupied space is reduced, and the operation difficulty is reduced; (5) climbing is carried out by adopting a plurality of climbing caster flows, so that the climbing efficiency is improved, and the number of the suitable climbing feet is 6-10; (6) due to the use of various sensors, the replacement process is more accurate, and the possibility of errors is reduced; (7) the collar is connected with the support through a shaft, and the mechanical arm is welded on the collar, so that the movement space and range of the fixing device are larger, and the use range of the equipment is widened; (8) the remote controller enables the operation of workers to be simpler, the keys on the remote controller are simple, and only simple command function keys are provided.
Drawings
FIG. 1: device schematic structure is changed to intelligence silica gel
In the figure: 1. the foot climbing device comprises an up-and-down moving rod, 2, a first joint, 3, a second joint, 4, a third joint, 5, a sole, 6, a support, 7, a ferrule, 8, a first joint, 9, a second joint, 10, a third joint, 11, a fourth joint, 12, a ferrule, 13, an air bag ring, 14 and climbing feet.
Detailed Description
Examples
The utility model provides a device is changed to intelligence silica gel, includes power module, still includes: the sensor module is electrically connected with the control module; the control module is electrically connected with the power supply module; the climbing device is positioned on the inner side of the base ring and is electrically connected with the control module; the driving device is screwed with the base ring and is electrically connected with the control module; a base ring engaged with the climbing device; the micro cylinder is electrically connected with the control module; the fixing device is sleeved with the base ring; the remote controller is in communication connection with the control module; the base ring includes: the rack is positioned on the inner side of the bracket 6 and is meshed with the climbing device; the bracket 6 is welded with the rack; and the bearing ring is positioned on the outer side of the bracket 6 and is sleeved with the bracket 6.
The climbing device comprises a plurality of climbing feet 14; the climbing device includes: an up-down moving rod 1 meshed with the rack; a first joint 2 which is coupled with the up-down moving rod 1; a second joint 3 coupled to the first joint 2; a third joint 4 coupled to the second joint 3; the sole 5 is welded with the third joint 4; and the rubber pad is positioned at the inner side of the sole 5 and is clamped with the sole 5.
The fixing device comprises: the ferrule 7 is sleeved with the bearing ring and is meshed with the driving device; two mechanical arms, which are coupled with the ferrule 7; the two ends of the lantern ring 12 are welded with the two mechanical arms; and an air bag ring 13 clamped with the ring 12.
The mechanical arm comprises: the first joint 8 is in shaft connection with the ferrule 7; the second joint 9 is in shaft connection with the first joint 8; the third joint 10 is in shaft connection with the second joint 9; and the fourth joint 11 is connected with the third joint 10 in a shaft mode and is welded with the lantern ring 12.
The remote controller comprises: the central processing module is in communication connection with the control module; the key is in point connection with the central processing module; and the display is electrically connected with the central processing module.
The sensor module includes: the pressure sensor is electrically connected with the control module; the horizontal sensor is electrically connected with the control module; the camera is electrically connected with the control module; the height sensor is electrically connected with the control module; and the infrared confirmation sensor is electrically connected with the control module.
A working method of an intelligent silica gel replacing device is suitable for the intelligent silica gel replacing device and comprises the following steps: s1: initializing; s2: automatically climbing the upper pole using the climbing foot 14; s3: taking down the silica gel tank by using a fixing device, and pouring out the silica gel to be replaced in the silica gel tank after the silica gel tank is put down; s4: then the silica gel tank is erected, new silica gel is filled by workers, and after the completion of the filling of the new silica gel is confirmed; s5: the fixing device places the silica gel tank at a corresponding position under the action of the driving module, and the silica gel tank is installed by workers.
The S3 includes the following substeps: a1: the system receives an instruction of a remote controller, when the instruction of accessing the silica gel tank is received, the ferrule 7 rotates under the action of the driving module, and simultaneously an infrared sensor is used for confirming whether the ferrule 12 and the silica gel tank are positioned on the same radius line, if not, the system jumps to A2; if so, jump A3; a2: if the sleeve ring 12 is not located on the same radius line at present, the system judges the minimum angle between the sleeve ring 12 and the radius line where the silica gel tank is located, gradually rotates to the same radius line, and jumps to A1; a3: if the current position is on the same radius line, the system controls the mechanical arm to control the lantern ring 12 to ascend, and the lantern ring 12 is sleeved on the silica gel tank under the action of the infrared sensor; a4: the control module controls the air cylinder to inflate the air bag ring 13, and detects whether the pressure borne by the wall of the silica gel tank is in a range that the silica gel tank can bear the pressure and can not drop the silica gel tank due to the influence of gravity by using the pressure sensor, if the range is reached, the control module jumps to A6, and if the range is not reached, the control module jumps to A5; a5: if the air pressure does not reach the standard, continuing to slowly inflate the air, acquiring the current pressure value, calculating the difference value between the current pressure value and the target pressure value, gradually reducing the inflation pressure and the inflation quantity along with the reduction of the difference value, and jumping to A4; a6: if the air pressure reaches the standard, the driving module controls the fourth joint 11 to enable the lantern ring 12 to rotate, and silica gel in the silica gel tank is poured out; a7: after pouring out the silica gel, controlling the fourth joint 11 to erect the silica gel tank, moving the silica gel tank to the side of a worker under the action of the camera, and adding new silica gel; a8: the system receives a remote controller instruction, and when the system receives an installation instruction, the control module controls the mechanical arm to enable the lantern ring 12 to convey the silica gel tank to the installation position of the silica gel tank, and meanwhile, the silica gel tank is kept horizontal; a9: when the system receives the confirmation of the installation of the worker, the control module controls the cylinder to deflate, the air bag ring 13 contracts, the lantern ring 12 is separated from the silica gel tank, and the silica gel replacement task is completed.
The device saves the time for replacing the silica gel; manpower for replacing the silica gel is reduced, and productivity is liberated; the air bag ring 13 is used for grabbing the silica gel tank, so that the silica gel tank can be grabbed more stably and is not easy to slip; the device adopts a plurality of joints at a plurality of positions, so that the device has foldability, the occupied space is reduced, and the operation difficulty is reduced; the climbing feet 14 are adopted for alternate climbing, so that the climbing efficiency is improved, and the number of the climbing feet 14 is 6-10; due to the use of various sensors, the replacement process is more accurate, and the possibility of errors is reduced; the collar 7 is connected with the bracket 6 in a shaft coupling mode, and the mechanical arm is welded on the collar 7, so that the movement space and range of the fixing device are larger, and the use range of the equipment is widened; the remote controller enables the operation of workers to be simpler, the keys on the remote controller are simple, and only simple command function keys are provided, such as command function keys for placement, removal, rod descending, rod ascending and the like.
When climbing foot 14 climbing or descend, two or four symmetrical climbing feet 14 compress tightly the pole simultaneously, and all the other climbing feet 14 loosen, make the upper and lower carriage release 1 move on the rack under the effect of motor simultaneously, and the speed of climbing or descending has been promoted in multiunit climbing foot 14's alternate use.
Claims (4)
1. The utility model provides a device is changed to intelligence silica gel, includes power module, its characterized in that still includes:
the sensor module is electrically connected with the control module;
the sensor module includes: the pressure sensor is electrically connected with the control module;
the horizontal sensor is electrically connected with the control module;
the camera is electrically connected with the control module;
the height sensor is electrically connected with the control module;
the infrared confirmation sensor is electrically connected with the control module;
the control module is electrically connected with the power supply module;
the climbing device is positioned on the inner side of the base ring and is electrically connected with the control module;
the driving device is screwed with the base ring and is electrically connected with the control module;
a base ring engaged with the climbing device;
the micro cylinder is electrically connected with the control module;
the fixing device is sleeved with the base ring;
the fixing device includes: the ferrule is sleeved with the bearing ring, is positioned on the outer side of the bearing ring and is meshed with the driving device;
two mechanical arms coupled to the ferrule;
the two ends of the lantern ring are welded with the two mechanical arms;
the air bag ring is positioned on the inner side of the lantern ring and is clamped with the lantern ring;
the remote controller is in communication connection with the control module;
the base ring includes:
the rack is positioned on the inner side of the bracket and is meshed with the climbing device;
the bracket is welded with the rack;
and the bearing ring is positioned on the outer side of the bracket and is sleeved with the bracket.
2. The intelligent silica gel replacement device of claim 1, wherein the climbing device comprises a plurality of climbing feet positioned inside the base ring;
climbing foot includes:
an up-down moving rod meshed with the rack;
the first joint is in shaft connection with the upper and lower moving rods;
a second joint coupled to the first joint;
a third joint coupled to the second joint;
the sole is welded with the third joint;
the rubber pad is positioned at the inner side of the sole and is clamped with the sole.
3. The intelligent silica gel replacing device according to claim 1, wherein the mechanical arm comprises:
the first joint is in shaft connection with the ferrule;
the second joint is coupled with the first joint through a shaft;
the third joint is coupled with the second joint through a shaft;
and the fourth joint is in shaft joint with the third joint and is welded with the lantern ring.
4. An operating method of an intelligent silica gel replacing device, which is suitable for the intelligent silica gel replacing device as claimed in claim 1, and is characterized by comprising the following steps:
s1: initializing;
s2: automatically climbing the upper pole by using a climbing foot;
s3: use fixing device, take off the silica gel jar to transfer the back and empty away the silica gel that needs to be changed in the silica gel jar, including following substep:
a1: the system receives an instruction of a remote controller, when the instruction of accessing the silica gel tank is received, the ferrule rotates under the action of the driving module, and simultaneously the infrared sensor is used for confirming whether the ferrule and the silica gel tank are positioned on the same radius line, if not, the system jumps to A2; if so, jump A3;
a2: if the sleeve ring is not located on the same radius line at present, the system judges the minimum angle between the sleeve ring and the radius line where the silica gel tank is located, gradually rotates to the same radius line, and jumps to A1;
a3: if the current position is on the same radius line, the system controls the mechanical arm to control the lantern ring to ascend, and the lantern ring is sleeved on the silica gel tank under the action of the infrared sensor;
a4: the control module controls the air cylinder to inflate the air bag ring, and the pressure sensor is used for detecting whether the pressure borne by the wall of the silica gel tank is in a range where the silica gel tank can bear the pressure and can not enable the silica gel tank to fall off due to the influence of gravity, if the range is reached, the control module jumps to A6, and if the range is not reached, the control module jumps to A5;
a5: if the air pressure does not reach the standard, continuing to slowly inflate the air, acquiring the current pressure value, calculating the difference value between the current pressure value and the target pressure value, gradually reducing the inflation pressure and the inflation quantity along with the reduction of the difference value, and jumping to A4;
a6: if the air pressure reaches the standard, the driving module controls the fourth joint to enable the lantern ring to rotate, and silica gel in the silica gel tank is poured out;
a7: after pouring out the silica gel, controlling the fourth joint to erect the silica gel tank, moving the silica gel tank to the side of a worker under the action of the camera, and adding new silica gel;
a8: the system receives a remote controller instruction, and when the system receives an installation instruction, the control module controls the mechanical arm to enable the lantern ring to convey the silica gel tank to the installation position of the silica gel tank and keep the silica gel tank horizontal;
a9: when the system receives the confirmation of the installation of a worker, the control module controls the cylinder to deflate, the air bag ring contracts, the lantern ring is separated from the silica gel tank, and the silica gel replacement task is completed;
s4: then the silica gel tank is erected, new silica gel is filled by workers, and after the completion of the filling of the new silica gel is confirmed;
s5: the fixing device places the silica gel tank at a corresponding position under the action of the driving module, and the silica gel tank is installed by workers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810240575.9A CN109465776B (en) | 2018-03-22 | 2018-03-22 | Intelligent silica gel replacement device and working principle thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810240575.9A CN109465776B (en) | 2018-03-22 | 2018-03-22 | Intelligent silica gel replacement device and working principle thereof |
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| Publication Number | Publication Date |
|---|---|
| CN109465776A CN109465776A (en) | 2019-03-15 |
| CN109465776B true CN109465776B (en) | 2020-07-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810240575.9A Active CN109465776B (en) | 2018-03-22 | 2018-03-22 | Intelligent silica gel replacement device and working principle thereof |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0389243A2 (en) * | 1989-03-21 | 1990-09-26 | Portsmouth Technology Consultants Limited | Robot devices |
| CN201405949Y (en) * | 2009-04-29 | 2010-02-17 | 江南大学 | Multi-posture climbing pole robot |
| CN102501912A (en) * | 2011-11-08 | 2012-06-20 | 西华大学 | Multi-attitude motion rod-climbing robot |
| CN105006360A (en) * | 2015-08-11 | 2015-10-28 | 国网浙江桐乡市供电公司 | Suspension lifting type silica gel replacement device |
| CN205219121U (en) * | 2015-11-17 | 2016-05-11 | 深圳市博铭维智能科技有限公司 | Robot is patrolled and examined in climbing |
| CN208127722U (en) * | 2018-03-22 | 2018-11-20 | 国网浙江桐乡市供电有限公司 | A kind of intelligence silica gel replacement device |
-
2018
- 2018-03-22 CN CN201810240575.9A patent/CN109465776B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0389243A2 (en) * | 1989-03-21 | 1990-09-26 | Portsmouth Technology Consultants Limited | Robot devices |
| CN201405949Y (en) * | 2009-04-29 | 2010-02-17 | 江南大学 | Multi-posture climbing pole robot |
| CN102501912A (en) * | 2011-11-08 | 2012-06-20 | 西华大学 | Multi-attitude motion rod-climbing robot |
| CN105006360A (en) * | 2015-08-11 | 2015-10-28 | 国网浙江桐乡市供电公司 | Suspension lifting type silica gel replacement device |
| CN205219121U (en) * | 2015-11-17 | 2016-05-11 | 深圳市博铭维智能科技有限公司 | Robot is patrolled and examined in climbing |
| CN208127722U (en) * | 2018-03-22 | 2018-11-20 | 国网浙江桐乡市供电有限公司 | A kind of intelligence silica gel replacement device |
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| Publication number | Publication date |
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| CN109465776A (en) | 2019-03-15 |
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