CN112936297A - Robot system for automatically detecting vehicle-mounted switch cabinet - Google Patents
Robot system for automatically detecting vehicle-mounted switch cabinet Download PDFInfo
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- CN112936297A CN112936297A CN202110091143.8A CN202110091143A CN112936297A CN 112936297 A CN112936297 A CN 112936297A CN 202110091143 A CN202110091143 A CN 202110091143A CN 112936297 A CN112936297 A CN 112936297A
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- guide rail
- horizontal moving
- switch cabinet
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- 238000001514 detection method Methods 0.000 claims abstract description 44
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
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- 230000036544 posture Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- 229910000831 Steel Inorganic materials 0.000 description 1
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- 230000004075 alteration Effects 0.000 description 1
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- 238000009826 distribution Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of electrical switch cabinet detection, and discloses a robot system for automatically detecting a vehicle-mounted switch cabinet. The invention provides two-direction freedom degrees for the industrial robot through the horizontal moving guide rail and the vertical upright post guide rail, brings the industrial robot to a workpiece working position through servo drive, and controls the vacuum chuck to suck the switch cabinet door. The cabinet door opening efficiency and the adaptability of opening various electrical cabinets in electrical cabinet detection are greatly improved. The power roller assembly through the detection platform can push the switch cabinet to a specified detection position, and the detection platform is high in efficiency, strong in reliability and the like. The use of the rotary positioning device realizes the detection of the switch cabinet without stopping, and has the advantages of good stability, strong adaptability and the like.
Description
Technical Field
The invention relates to the technical field of electric switch cabinet detection, in particular to a robot system for automatically detecting a vehicle-mounted switch cabinet.
Background
The high-low voltage switch cabinet is an indispensable device in the power system, and the high-low voltage switch cabinet has a very important influence on the normal operation and the power distribution of the whole power system. The high-low voltage switch cabinet is mainly used for opening, closing, controlling and protecting electric equipment in the process of generating, transmitting, distributing and converting electric energy of an electric power system, and is widely applied to various different places such as power plants, transformer substations, petrochemical industry, metallurgical steel rolling, light industrial textiles, industrial and mining enterprises, residential districts, high-rise buildings and the like.
However, some defects are inevitably generated in the production process of the switch cabinet due to the influence of equipment, environment, human factors and the like. Besides not playing a good role in the isolation protection of the switch cabinet, the defects may also have negative effects on the power grid, thereby causing accidents.
Therefore, in order to guarantee the production quality of the switch cabinet, the detection work of the switch cabinet is indispensable before the switch cabinet is put into use. The detection of cubical switchboard is accomplished by the manual work usually, because the cubical switchboard quality is big, operational environment is dangerous, and traditional manual detection's mode faces efficiency not high usually, the abominable problem of operational environment.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a robot system for automatically detecting a vehicle-mounted switch cabinet.
The purpose of the invention is realized by the following technical scheme:
a robot system for automatically detecting a vehicle-mounted switch cabinet comprises an automobile carriage, an automatic switch cabinet door opening device, a four-degree-of-freedom moving platform, a rotary positioning device and a control center, wherein the automatic switch cabinet door opening device is arranged on a bottom plate of the automobile carriage;
(1) the automatic opening device for the cabinet door of the switch cabinet comprises a horizontal moving guide rail, a horizontal moving sliding block, a vertical upright guide rail, a vertical moving sliding block and an industrial robot, wherein the horizontal moving guide rail is arranged on a bottom plate of an automobile carriage;
(2) the horizontal moving guide rail comprises a first horizontal moving guide rail and a second horizontal moving guide rail which are arranged in parallel;
the four-degree-of-freedom moving platform comprises a third horizontal moving guide rail and a fourth horizontal moving guide rail, wherein the third horizontal moving guide rail is parallel to the first horizontal moving guide rail, and the fourth horizontal moving guide rail is parallel to the second horizontal moving guide rail; the sliding blocks on the third horizontal moving guide rail and the fourth horizontal moving guide rail are provided with transverse horizontal moving guide rails; the vertical upright guide rail is connected with a horizontal moving slide block on the horizontal moving guide rail through a rotating cylinder;
(3) the rotary positioning device comprises a gear slewing bearing, a servo motor and a speed reducer for driving the gear slewing bearing, a detection platform arranged on the gear slewing bearing, and a positioning sensor.
Further, the vacuum chuck device comprises a connecting flange, and a vacuum chuck connected with the connecting flange through an elastic connecting column, wherein the two ends of the elastic connecting column are connected with an air pipe and the vacuum chuck. The elastic connecting column comprises a fixing clamp, a guide shaft and a compression spring sleeved on the flange surface of the guide shaft, and the guide shaft is connected to the connecting flange through the fixing clamp by a fastening bolt. The vacuum chuck is hinged with the guide shaft through a ball hinge. When the vacuum chuck is stressed, the vacuum chuck moves telescopically along the guide shaft. The guide shaft is communicated with the hollow through hole of the ball hinge and is respectively communicated with the air pipe and the vacuum chuck.
Furthermore, the detection platform is arranged on the gear slewing bearing, and the gear slewing bearing is driven by the servo motor and the speed reducer to drive the detection platform to rotate. The positioning sensors respectively detect four directions of the platform, and the positioning of the detection platform is realized by analyzing the relative coordinate relationship between the positioning sensors.
Further, the inspection platform includes a powered roller assembly. The power roller component comprises two servo motors which are oppositely arranged on the frame and a row of rollers of which both ends are movably arranged on the frame;
furthermore, gears are arranged at two end parts of the rollers, the gears between the rollers are meshed with each other, and the gears of the rollers are meshed with the gears of the servo motor and driven by the servo motor.
Furthermore, the gears between the adjacent rollers are respectively in rigid connection and movable connection with the rollers, so that all the rollers have the same rotating direction.
Furthermore, servo motors for driving the sliding blocks to move are arranged on the horizontal moving guide rail and the vertical upright post guide rail, and the servo motors are connected with the control center.
Further, the industrial robot is fixed on the vertical moving slide block through bolt connection so as to limit the motion of the robot base in the vertical direction.
Furthermore, the horizontal movement sliding block is provided with a sliding block seat, a stop block, a limiting device and an inclined strut tip.
Further, the industrial robot includes a four-axis robot, a five-axis robot, or a six-axis robot.
Further, the industrial robot handling end is equipped with a three-dimensional laser scanner, and/or a CCD detector.
Furthermore, a three-dimensional space tracking positioner is also arranged on the bottom plate of the automobile carriage.
Compared with the prior art, the invention has the following technical effects:
the invention provides two-direction freedom degrees for the industrial robot through the horizontal moving guide rail and the vertical upright post guide rail, the industrial robot is brought to a workpiece working position through servo drive, the motion of a specific track is completed according to the workpiece information, the kinematics planning is carried out, the vacuum chuck is controlled to suck the switch cabinet door, and the door opening action is completed. The cabinet door opening efficiency and the adaptability of opening various electrical cabinets in electrical cabinet detection are greatly improved.
The power roller assembly through the detection platform can push the switch cabinet to a specified detection position, and the detection platform is high in efficiency, strong in reliability and the like.
The use of the rotary positioning device realizes the detection of the switch cabinet without stopping, and has the advantages of good stability, strong adaptability and the like.
Drawings
FIG. 1 is a schematic structural view of an apparatus for automatically opening a cabinet door;
FIG. 2 is a schematic view of a vacuum chuck device;
FIG. 3 is a schematic view of the structure of the flexible connecting column;
FIG. 4 is a schematic structural view of a horizontal moving guide rail;
FIG. 5 is a schematic view of the structure of a vertical column guide;
FIG. 6 is a schematic structural diagram of a rotary positioning device;
FIG. 7 is an enlarged view of a portion D of FIG. 6;
FIG. 8 is a schematic view of a rotary positioning apparatus;
fig. 9 is a schematic diagram of the detection process of the switch cabinet.
Detailed Description
The following further describes the embodiments of the present invention. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.
As shown in the attached figures 1-5,
the robot system comprises an automobile carriage, an automatic switch cabinet door opening device arranged on a bottom plate of the automobile carriage, a four-degree-of-freedom moving platform used for installing a detector, a rotary positioning device used for placing a switch cabinet, and a control center used for controlling the operation of the robot system.
The device for automatically opening the cabinet door comprises a horizontal moving guide rail 2 arranged on a bottom plate 1, a horizontal moving slide block 21 moving along the horizontal moving guide rail 2, a vertical upright guide rail 3 fixed on the horizontal moving slide block 21, a vertical moving slide block 31 moving along the vertical upright guide rail 3, and an industrial robot 4 arranged on the vertical moving slide block 31, wherein the operating end of the industrial robot 4 is connected with a vacuum chuck device 5;
the vacuum chuck device 5 comprises a connecting flange 51, a vacuum chuck 53 connected with the connecting flange 51 through a flexible connecting column 52, and a gas pipe (not shown) and the vacuum chuck 53 connected with both ends of the flexible connecting column 52.
The connecting flange 51 is connected to the handling end of the industrial robot 4 via a connecting column 54.
The horizontal moving guide rail 2 and the vertical upright post guide rail 3 are provided with servo motors for driving the sliding blocks to move, and the servo motors are connected with the control center.
The elastic connecting column 52 comprises a fixing clamp 521, a guide shaft 522 and a compression spring 523 sleeved on the flange surface of the guide shaft 522, and a fastening bolt connects the guide shaft 522 to the connecting flange 51 through the fixing clamp 521; the vacuum chuck 53 is hinged with the guide shaft 522 through a ball hinge 531; when pressurized, the vacuum chuck 53 moves telescopically along the guide shaft 522.
The guide shaft 522 communicates with the hollow through hole of the ball hinge 531, and communicates with an air pipe (not shown) and the vacuum chuck 53, respectively.
The coupling flange 51 is provided with 3 resilient coupling studs 52, the resilient coupling studs 52 having a circumferential angle of 120 ° therebetween.
The industrial robot 4 is fixed to the vertically moving slide 31 by bolting to restrict the vertical movement of the robot base.
The horizontal moving guide rail 2 is rigidly connected with the bottom plate.
The horizontal moving slide block 21 is provided with a slide block seat, a stop block, a limiting device and an inclined strut tip.
The horizontal movement rail 2 includes a first horizontal movement rail 22 and a second horizontal movement rail 23 which are arranged in parallel.
The four-degree-of-freedom moving platform comprises a third horizontal moving guide rail 24 which is arranged side by side with the first horizontal moving guide rail 22, and a fourth horizontal moving guide rail 25 which is arranged side by side with the second horizontal moving guide rail 23;
the sliders on the third horizontal moving guide 24 and the fourth horizontal moving guide 25 are provided with a lateral horizontal moving guide 26.
The vertical column guide rail 3 is connected with the horizontal moving slide 21 on the horizontal moving guide rail 26 through the rotary cylinder 32.
The industrial robot 4 includes a four-axis robot, a five-axis robot, and a six-axis robot.
The opening method of the device for automatically opening the cabinet door of the switch cabinet based on the vacuum chuck comprises the following steps:
s1, a horizontal moving guide rail 2 is arranged on a bottom plate 1, a controller (not shown) sets a driver to drive a horizontal moving slide block 21, and the industrial robot 4 and the vertical upright guide rail 3 are controlled to move in the horizontal direction;
s2, the vertical column guide rail 3 is connected with the horizontal moving guide rail sliding block 21, and the controller sets a driver to drive the vertical moving sliding block 31 to control the industrial robot 4 to move in the vertical direction;
s3, the industrial robot 4 is connected with the vertical column guide rail sliding block 31, and the industrial robot 4 controls the operation end of the industrial robot and the vacuum chuck 53 to move to a working point according to a set movement track;
s4, the vacuum sucker 53 is in contact with the switch cabinet, negative pressure is formed by the air pipe to suck the cabinet door of the switch cabinet, and the cabinet door is controlled to be opened or closed through the posture change of the industrial robot 4.
The rotary positioning device comprises a gear rotary support 300, a servo motor 8122 for driving the gear rotary support 300, a speed reducer 305, a detection platform 302 and a positioning sensor 303;
the detection platform 302 is arranged on the gear slewing bearing 300, and the gear slewing bearing 300 is driven by the servo motor 8122 and the speed reducer to drive the detection platform 302 to rotate;
the positioning sensors 303 respectively detect four orientations of the platform, and the positioning of the detection platform 302 is realized through the analyzed relative coordinate relationship between the positioning sensors 303;
gears are arranged at two end parts of the roller 8123, the gears between the rollers 8123 are meshed with each other, and the gears of the roller 8123 are meshed with the gears of the servo motor 8122 and driven by the servo motor 8122; the gears between adjacent rollers 8123 are rigidly 307 and movably 308 connected to the rollers, respectively, to achieve the same rotation direction of all rollers 8123. The movable connection 308 is a gear arranged on the roller 8123 through a bearing.
Gear slewing bearing 300, servo motor 8122, and reduction gear 305 are provided on base 304, and base 304 is fixedly provided on the floor of the vehicle.
The servo motor 8122 drives the speed reducer 305, the speed reducer 305 is connected with a gear, and the gear is meshed with the gear of the gear slewing bearing 300.
Two ends of the roller 8123 are arranged in parallel with the side plates through bearings.
The servo motor 8122 is arranged at the same end of the frame and realizes the same rotation direction.
The detection platform 302 has four rotation postures of 4 × 90 °, and realizes continuous detection of four surfaces of the switch cabinet.
When this on-vehicle cubical switchboard inspection robot system rotational positioning device based on servo drive uses, its principle is: the gear slewing bearing 300 under the detection platform 302 is driven by the servo motor 8122 to realize the rotation of the detection platform 302, the detection platform 302 has a rotation posture of 4 multiplied by 90 degrees, and the detection platform 302 is positioned by means of the relative coordinate relation of the four positioning sensors 303, so that the accuracy of each position posture of the detection platform 302 is ensured.
When in application: the switch cabinet is first automatically adjusted by the power roller assembly 812 to move to the position to be detected for later detection.
The positioning sensor 303 sends out positioning information of the detection platform 302 according to the relative coordinate relationship, and detects the side face of the switch cabinet No. 1, after the side face detection of the switch cabinet No. 1 is completed, the servo motor drives the detection platform 302 to rotate 90 degrees, the side face detection of the switch cabinet No. 2 is performed, and the detection is repeated until all four side faces are completed.
The industrial robot operating end is provided with a three-dimensional laser scanner, a three-dimensional scanner, a CCD detector and/or a material quality detector.
The bottom plate 1 of the automobile carriage is also provided with a three-dimensional space tracking locator 500.
The embodiments of the present invention have been described in detail, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.
Claims (10)
1. A robot system for automatically detecting a vehicle-mounted switch cabinet is characterized by comprising an automobile carriage, an automatic switch cabinet door opening device, a four-degree-of-freedom moving platform, a rotary positioning device and a control center, wherein the automatic switch cabinet door opening device is arranged on a bottom plate of the automobile carriage;
(1) the automatic opening device for the cabinet door of the switch cabinet comprises a horizontal moving guide rail, a horizontal moving sliding block, a vertical upright guide rail, a vertical moving sliding block and an industrial robot, wherein the horizontal moving guide rail is arranged on a bottom plate of an automobile carriage;
(2) the horizontal moving guide rail comprises a first horizontal moving guide rail and a second horizontal moving guide rail which are arranged in parallel;
the four-degree-of-freedom moving platform comprises a third horizontal moving guide rail and a fourth horizontal moving guide rail, wherein the third horizontal moving guide rail is parallel to the first horizontal moving guide rail, and the fourth horizontal moving guide rail is parallel to the second horizontal moving guide rail; the sliding blocks on the third horizontal moving guide rail and the fourth horizontal moving guide rail are provided with transverse horizontal moving guide rails; the vertical upright guide rail is connected with a horizontal moving slide block on the horizontal moving guide rail through a rotating cylinder;
(3) the rotary positioning device comprises a gear slewing bearing, a servo motor and a speed reducer for driving the gear slewing bearing, a detection platform arranged on the gear slewing bearing, and a positioning sensor.
2. The robot system for automatically detecting the vehicle-mounted switch cabinet according to claim 1, wherein the vacuum chuck device comprises a connecting flange, a vacuum chuck connected with the connecting flange through an elastic connecting column, and an air pipe and the vacuum chuck are connected with two ends of the elastic connecting column;
the elastic connecting column comprises a fixing clamp, a guide shaft and a compression spring sleeved on the flange surface of the guide shaft, and the guide shaft is connected to the connecting flange through the fixing clamp by a fastening bolt; the vacuum sucker is hinged with the guide shaft through a ball hinge; when the vacuum chuck is stressed, the vacuum chuck moves in a telescopic way along the guide shaft;
the guide shaft is communicated with the hollow through hole of the ball hinge and is respectively communicated with the air pipe and the vacuum chuck.
3. The robot system for automatically detecting the vehicle-mounted switch cabinet according to claim 1,
the detection platform is arranged on the gear slewing bearing and is driven to rotate by the servo motor and the speed reducer;
the positioning sensors respectively detect four directions of the platform, and the positioning of the detection platform is realized by analyzing the relative coordinate relationship between the positioning sensors.
4. The robot system for automatically detecting the vehicle-mounted switch cabinet according to claim 1,
the detection platform comprises a power roller assembly; the power roller component comprises two servo motors which are oppositely arranged on the frame and a row of rollers of which both ends are movably arranged on the frame;
gears are arranged at the two end parts of the rollers, the gears between the rollers are meshed with each other, and the gears of the rollers are meshed with the gears of the servo motor and driven by the servo motor;
the gears between the adjacent rollers are respectively in rigid connection and movable connection with the rollers, so that all the rollers have the same rotating direction.
5. The robot system for automatically detecting the vehicle-mounted switch cabinet according to claim 1, wherein servo motors for driving the sliding blocks to move are arranged on the horizontal moving guide rail and the vertical upright guide rail, and the servo motors are connected with a control center.
6. The robot system for automatically detecting the vehicle-mounted switch cabinet according to claim 1, wherein the industrial robot is fixed on the vertical moving slide block through a bolt connection so as to limit the motion of the robot base in the vertical direction.
7. The robot system for automatically detecting the vehicle-mounted switch cabinet according to claim 1, wherein the horizontal moving slide block is provided with a slide block seat, a stop block, a limiting device and an inclined strut tip.
8. The vehicle-mounted switch cabinet automatic detection robot system according to claim 1, wherein the industrial robot comprises a four-axis robot, a five-axis robot or a six-axis robot.
9. A robot system for automatic detection of vehicle-mounted switch cabinets according to claim 1, characterized in that the industrial robot operating end is equipped with a three-dimensional laser scanner, and/or a CCD detector.
10. The robot system for automatically detecting the vehicle-mounted switch cabinet according to claim 1, wherein a three-dimensional space tracking locator is further arranged on the bottom plate of the carriage of the automobile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110091143.8A CN112936297A (en) | 2021-01-22 | 2021-01-22 | Robot system for automatically detecting vehicle-mounted switch cabinet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110091143.8A CN112936297A (en) | 2021-01-22 | 2021-01-22 | Robot system for automatically detecting vehicle-mounted switch cabinet |
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| CN112936297A true CN112936297A (en) | 2021-06-11 |
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| CN202110091143.8A Pending CN112936297A (en) | 2021-01-22 | 2021-01-22 | Robot system for automatically detecting vehicle-mounted switch cabinet |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116754014A (en) * | 2023-06-19 | 2023-09-15 | 浙江繁荣电气股份有限公司 | Automatic testing system for electrical cabinet |
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| CN212179808U (en) * | 2020-05-11 | 2020-12-18 | 上海小刀智能科技有限公司 | Automatic detection equipment for parts |
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2021
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|---|---|---|---|---|
| CN102092019A (en) * | 2011-03-07 | 2011-06-15 | 河海大学常州校区 | Flexible multipoint tool set for positioning and supporting thin-walled curved surface parts |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116754014A (en) * | 2023-06-19 | 2023-09-15 | 浙江繁荣电气股份有限公司 | Automatic testing system for electrical cabinet |
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Application publication date: 20210611 |
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