阅读说明：本技术 一种刀闸操作装置 (Disconnecting link operating device ) 是由 温振兴 陈旋基 邓云辉 林夏捷 颜广兴 肖秋泽 高彩亮 于 2021-08-27 设计创作，主要内容包括：本发明属于电气开关技术领域,公开了一种刀闸操作装置。其包括调节单元和操作单元。具体地,调节单元包括可移动的底座以及设置于底座上的多自由度机械臂；操作单元包括导轨和操作组件,导轨设置在多自由度机械臂上,操作组件包括第一支架、第一驱动件、伸缩杆和操作件,第一支架滑动设置在导轨上,伸缩杆将操作件连接在第一支架上,伸缩杆的长度可调,操作件与刀闸操动机构连接,第一驱动件用于驱动第一支架滑动,以使操作件拉开或合上刀闸。本发明提供的刀闸操作装置能够通过调节操作单元使其适应于不同的刀闸类型的拉合操作,应用广泛。(The invention belongs to the technical field of electrical switches and discloses a disconnecting link operating device. Which comprises an adjusting unit and an operating unit. Specifically, the adjusting unit comprises a movable base and a multi-degree-of-freedom mechanical arm arranged on the base; the operation unit comprises a guide rail and an operation assembly, the guide rail is arranged on the multi-degree-of-freedom mechanical arm, the operation assembly comprises a first support, a first driving piece, a telescopic rod and an operation piece, the first support is arranged on the guide rail in a sliding mode, the operation piece is connected onto the first support through the telescopic rod, the length of the telescopic rod is adjustable, the operation piece is connected with the disconnecting link operating mechanism, and the first driving piece is used for driving the first support to slide so that the operation piece can be pulled open or closed. The disconnecting link operating device provided by the invention can be suitable for the pulling-closing operation of different disconnecting link types by adjusting the operating unit, and is wide in application.)

1. A knife switch operating device, comprising:

the adjusting unit (1) comprises a movable base (11) and a multi-degree-of-freedom mechanical arm (12) arranged on the base (11);

the operation unit (2) comprises a guide rail (21) and an operation assembly (22), the guide rail (21) is arranged on the multi-degree-of-freedom mechanical arm (12), the operation assembly (22) comprises a first support (221), a first driving piece, an expansion rod (223) and an operation piece (222), the first support (221) is arranged on the guide rail (21) in a sliding mode, one end of the expansion rod (223) is arranged on the first support (221), the operation piece (222) is detachably mounted at the other end of the expansion rod, the length of the expansion rod (223) is adjustable, the operation piece (222) is configured to be connected with a knife switch operating mechanism, and the first driving piece is used for driving the first support (221) to slide so that the operation piece (222) can be used for opening or closing the knife switch operating mechanism.

2. The disconnecting link operating device according to claim 1, wherein the guide rail (21) is a circular arc shaped guide rail that opens toward the operating member (222), and the circular arc shaped guide rail is provided on the multi-degree-of-freedom mechanical arm (12) so as to be angularly adjustable.

3. The knife-switch operating device according to claim 1, characterized in that, in a cross section in the direction of extension of the guide rail (21), one of the first bracket (221) and the guide rail (21) has a T-shaped projection in cross section and the other has a C-shaped groove in cross section, the T-shaped projection being slidably disposed in the C-shaped groove.

4. The knife gate operating device of claim 1,

the operating assembly (22) further comprises a first gear (2212), a plurality of first teeth are arranged on the first gear (2212), a plurality of second teeth (211) are arranged on the guide rail (21), and a plurality of the first teeth are meshed with a plurality of the second teeth (211);

the first driving piece and/or the first gear (2212) are arranged on the first bracket (221), and the output end of the first driving piece can drive the first gear (2212) to rotate so as to drive the first bracket (221) to slide along the guide rail (21).

5. The disconnecting link operating device according to claim 1, wherein the telescopic bar (223) comprises a first bar (2231) and a second bar (2232), the first bar (2231) is disposed on the first bracket (221), the second bar (2232) is slidably disposed on the first bar (2231) along a length direction of the first bar (2231), and the operating member (222) is mounted on the second bar (2232).

6. The disconnecting link operating device according to claim 1, wherein the multi-degree-of-freedom mechanical arm (12) includes a first rotating arm (121), a second rotating arm (122), a telescopic shaft (123) and a second bracket (124), the second bracket (124) is rotatably disposed on the base (11), the length of the telescopic shaft (123) is adjustable, a fixed end of the telescopic shaft (123) is disposed on the second bracket (124), one end of the first rotating arm (121) is rotatably connected to a movable end of the telescopic shaft (123), the other end of the first rotating arm (121) is rotatably connected to the second rotating arm (122), and the second rotating arm (122) is connected to the guide rail (21).

7. The knife-switch operating device according to claim 1, further comprising a positioning unit, wherein the positioning unit comprises an image acquisition module and an image processing module, the image acquisition module is used for acquiring image information of the knife-switch operating mechanism, the guide rail (21) and the operating member (222), and the image processing module is used for judging first relative position information of the guide rail (21) and the knife-switch operating mechanism according to the image information and judging second relative position information of the guide rail (21) and the operating member (222).

8. The disconnecting link operating device according to claim 7, further comprising a control unit, the control unit comprising a storage module and a judgment module;

the storage module is used for storing type data of the disconnecting link, and storing initial action data and execution data matched with the type data;

the image processing module is capable of identifying the type data of the knife switch;

the judging module can call the initial action data and the execution data matched with the type data from the storage module according to the type data.

9. The knife gate operating device of claim 8,

the judging module is further configured to receive the first relative position information and the second relative position information;

the judging module can send a first instruction according to the first relative position information, the second relative position information and the initial action data so that the guide rail (21) and the operating element (222) reach preset positions, and the operating element (222) is connected to the disconnecting link operating mechanism;

the judging module can also send a second instruction to the first driving piece to drive the first support (221) to slide so as to open or close the disconnecting link operating mechanism.

10. The disconnecting link operating device according to claim 8, further comprising a signal receiver and a remote controller which are connected in a communication manner, wherein the signal receiver is electrically connected with the control unit, and the signal receiver can remotely receive an operating instruction of the remote controller and transmit the operating instruction to the control unit.

Technical Field

The invention relates to the technical field of electrical switches, in particular to a disconnecting link operating device.

Background

A disconnecting switch, also called as an isolating switch, is widely used in production and life as an electrical switch.

Due to the various types and different sizes, the existing pulling and closing operation of the disconnecting link is still completed by manual operation. A typical operation is as follows: the operator wears the insulating shoes and the insulating gloves, moves to the side of the disconnecting link and carries out manual opening and closing operation on the disconnecting link.

However, for high current knife switches, such as: the knife switch of a 10KV switch cabinet, an open type ground knife with the voltage grade of more than 110kV and the like have large size and heavy weight, and the manual switch-on and switch-off of the knife switch is very laborious and has low efficiency. The manual operation is difficult to control the operation force, the condition of not-in-place opening and closing is easy to occur, when the switch is closed, the contact resistance of the switch is increased due to the fact that the switch is not in place or is excessively closed, stable operation of a circuit is affected, and the switch is easy to generate heat. When the switch is switched off, the switch is too slow or the switch is not in place, so that electric arcs are easily generated on the contact of the disconnecting link, and when the switch is serious, the disconnecting link is burnt, and the safety of operating personnel is threatened.

Disclosure of Invention

The invention aims to provide a disconnecting link operating device which can perform switching-on and switching-off operations on disconnecting links of different types, is accurate in operation, replaces manual operation, improves the operation safety and improves the safe production efficiency.

In order to achieve the purpose, the invention adopts the following technical scheme:

a knife switch operating device comprising:

the adjusting unit comprises a movable base and a multi-degree-of-freedom mechanical arm arranged on the base;

the operating unit comprises a guide rail and an operating assembly, the guide rail is arranged on the multi-degree-of-freedom mechanical arm, the operating assembly comprises a first support, a first driving piece, a telescopic rod and an operating piece, the first support is arranged on the guide rail in a sliding mode, one end of the telescopic rod is arranged on the first support, the operating piece is detachably mounted at the other end of the telescopic rod, the length of the telescopic rod is adjustable, the operating piece is configured to be connected with the disconnecting link operating mechanism, and the first driving piece is used for driving the first support to slide so that the operating piece can be used for opening or closing the disconnecting link operating mechanism.

Optionally, the guide rail is a circular arc-shaped guide rail with an opening facing the operating member, and the circular arc-shaped guide rail is angularly adjustably disposed on the multi-degree-of-freedom mechanical arm.

Optionally, in a cross section of the extending direction of the guide rail, one of the first bracket and the guide rail is provided with a T-shaped protrusion in cross section, and the other one of the first bracket and the guide rail is provided with a C-shaped groove in cross section, and the T-shaped protrusion is slidably arranged in the C-shaped groove.

Optionally, the operating assembly further comprises a first gear, the first gear is provided with a plurality of first teeth, the guide rail is provided with a plurality of second teeth, and a plurality of the plurality of first teeth are engaged with a plurality of the plurality of second teeth;

the first driving piece and/or the first gear are/is arranged on the first support, and the output end of the first driving piece can drive the first gear to rotate so as to drive the first support to slide along the guide rail.

Optionally, the telescopic rod comprises a first rod and a second rod, the first rod is arranged on the first support, the second rod is arranged on the first rod in a sliding manner along the length direction of the first rod, and the operating part is arranged on the second rod.

Optionally, the multi-degree-of-freedom mechanical arm comprises a first rotating arm, a second rotating arm, a telescopic shaft and a second support, the second support is rotatably arranged on the base, the length of the telescopic shaft is adjustable, a fixed end of the telescopic shaft is arranged on the second support, one end of the first rotating arm is rotatably connected to a movable end of the telescopic shaft, the other end of the first rotating arm is rotatably connected with the second rotating arm, and the second rotating arm is connected with the guide rail.

Optionally, the device further comprises a positioning unit, the positioning unit comprises an image acquisition module and an image processing module, the image acquisition module is used for acquiring image information of the disconnecting link operating mechanism, the guide rail and the operating element, and the image processing module is used for judging first relative position information of the guide rail and the disconnecting link operating mechanism according to the image information and judging second relative position information of the guide rail and the operating element.

Optionally, the system further comprises a control unit, wherein the control unit comprises a storage module and a judgment module;

the storage module is used for storing type data of the disconnecting link, and storing initial action data and execution data matched with the type data;

the image processing module can identify the type data of the disconnecting link;

the judging module can call the initial action data and the execution data matched with the type data from the storage module according to the type data.

Optionally, the determining module is further configured to receive the first relative position information and the second relative position information;

the judging module can send a first instruction according to the first relative position information, the second relative position information and the initial action data so as to enable the guide rail and the operating piece to reach preset positions and enable the operating piece to be connected to the disconnecting link operating mechanism;

the judging module can also send a second instruction to the first driving piece to drive the first support to slide so as to open or close the disconnecting link operating mechanism.

Optionally, the remote control system further comprises a signal receiver and a remote controller which are in communication connection, wherein the signal receiver is electrically connected with the control unit, and the signal receiver can remotely receive an operation instruction of the remote controller and transmit the operation instruction to the control unit.

Has the advantages that:

the invention provides a disconnecting link operating device, which comprises a telescopic rod, a first driving piece, a first control piece, a second control piece and a control piece, wherein the telescopic rod and the first driving piece are adjusted according to the type of a disconnecting link, so that a guide rail and an operating piece are initially reset; then, the guide rail is moved to the side of the disconnecting link by adjusting the movable base and the multi-degree-of-freedom mechanical arm, and the operating piece is connected to the disconnecting link operating mechanism; and secondly, the first driving piece drives the first support to slide along the guide rail, so that the operating piece is driven to open or close the disconnecting link operating mechanism, and the disconnecting link is pulled and closed. The disconnecting link operating device provided by the invention can be suitable for the switching of different types of disconnecting links by adjusting the operating unit, and is wide in application. The first driving piece drives the operating piece to operate the disconnecting link operating mechanism, the force and the speed of the operating piece acting on the disconnecting link operating mechanism can be stably controlled, and the opening and closing range of the disconnecting link can be accurately controlled, so that the disconnecting link is accurately opened and closed, and potential safety hazards caused by slow opening and closing or incomplete opening and closing of the disconnecting link are avoided. In addition, the disconnecting link operating device provided by the invention replaces manual operation, and the personal safety is guaranteed.

Drawings

Fig. 1 is a schematic structural diagram of a knife switch operating device according to an embodiment of the present invention;

FIG. 2 is a side view of the guide rail of FIG. 1;

FIG. 3 is a cross-sectional view of the guide rail of FIG. 2 in an extended direction;

fig. 4 is a cross-sectional view of the operating assembly of fig. 1 taken along the extension of the guide rail.

In the figure:

1. an adjustment unit; 11. a base; 111. a universal wheel; 12. a multi-degree-of-freedom mechanical arm; 121. a first rotating arm; 122. a second rotating arm; 123. a telescopic shaft; 1231. a first shaft; 1232. a second shaft; 124. a second bracket; 125. a first driver; 126. a second driver;

2. an operation unit; 21. a guide rail; 211. a second tooth; 22. an operating component; 221. a first bracket; 2211. a roller; 2212. a first gear; 222. an operating member; 223. a telescopic rod; 2231. a first lever; 2232. a second lever.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

Example one

The embodiment provides a knife switch operating device which can be applied to the operation of various types of knife switches. In an electrical power system, a knife switch functions to isolate the power source and disconnect high voltage service equipment from live equipment with a clearly visible disconnection point therebetween. And secondly, the disconnecting link is matched with the breaker, switching operation is carried out according to the requirement of the system operation mode, and the system operation wiring mode is changed. Or to switch on or off a low current circuit. The switch operating means that this embodiment provided replaces the manual work to carry out the accurate operation to the switch under the hazardous environment, has improved the life of switch, and has ensured personal safety. Specifically, the knife switch operating device provided by the embodiment comprises an adjusting unit 1, an operating unit 2, a positioning unit and a control unit.

As shown in fig. 1, the adjusting unit 1 includes a movable base 11 and a multi-degree-of-freedom mechanical arm 12 provided on the base 11; the multi-degree-of-freedom mechanical arm 12 is arranged on the base 11 and is driven by the base 11 to move in the horizontal direction. The operation unit 2 comprises a guide rail 21 and an operation assembly 22, the guide rail 21 is arranged on the multi-degree-of-freedom mechanical arm 12, and the angle and the position of the guide rail 21 can be adjusted through the movement of the base 11 and the movement of the multi-degree-of-freedom mechanical arm 12, so that the guide rail 21 and the knife switch operating mechanism on the knife switch can keep a proper position and angle relationship, and the operation assembly 22 can further operate the knife switch operating mechanism. The operating component 22 is slidably disposed on the guide rail 21 to operate the operating mechanism of the knife switch to open and close.

Optionally, the operating assembly 22 comprises a first bracket 221, a first driving member, a telescopic rod 223 and an operating member 222. The first bracket 221 is slidably disposed on the guide rail 21 along an extending direction of the guide rail 21, one end of the telescopic rod 223 is mounted on the first bracket 221, and the other end is detachably mounted with the operating element 222, and by replacing different operating elements 222, the operating element 222 can be connected with different types of disconnecting link operating mechanisms to open and close the disconnecting link by operating the disconnecting link operating mechanisms. The first driving element is used for driving the first bracket 221 to enable the first bracket 221 to slide along the guide rail 21, so that the first bracket 221 can drive the operating element 222 through the telescopic rod 223, and the operating element 222 can move along the direction parallel to the guide rail 21, thereby operating the disconnecting link operating mechanism to open or close the disconnecting link. The length of the telescopic rod 223 is adjustable to adjust the distance from the operating member 222 to the first bracket 221, so as to adjust the distance between the operating member 222 and the guide rail 21, and the movement track of the operating member 222 can be kept parallel to the extending direction of the guide rail 21 in the disconnecting link opening and closing process, and no movement is blocked.

The structure of the operation member 222 is not limited. In one embodiment, the operating member 222 can be a jaw that grips a handle portion of the knife operating mechanism to open and close the knife operating mechanism. In another embodiment, the operating member 222 can be a stud that is inserted into an operating hole of the switch operating mechanism and drives the switch operating mechanism to open and close the switch.

In this embodiment, the multi-degree-of-freedom mechanical arm 12 is a three-degree-of-freedom mechanical arm, that is, the multi-degree-of-freedom mechanical arm 12 can control the operation unit 2 to translate along the z axis, rotate around the y axis, and rotate around the z axis, but cannot control the operation unit 2 to translate along the x axis, translate along the y axis, and rotate around the x axis. At the same time, the base 11 is movable in the horizontal direction, thereby controlling the operating unit 2 to translate along the x-axis and to translate along the y-axis. The base 11 and the multi-degree-of-freedom mechanical arm 12 are combined to form a five-degree-of-freedom disconnecting link operating device, so that the position and the angle of the operating unit 2 can be conveniently adjusted.

Alternatively, as shown in fig. 1, the multi-degree-of-freedom mechanical arm 12 includes a first rotating arm 121, a second rotating arm 122, a telescopic shaft 123, and a second bracket 124. The second bracket 124 is rotatably provided on the base 11 to control the operation unit 2 to rotate about the z-axis. The telescopic shaft 123 is adjustable in length to control the operating unit 2 to translate along the z-axis. A fixed end of the telescopic shaft 123 is disposed on the second bracket 124, and one end of the first rotating arm 121 is rotatably connected to a movable end of the telescopic shaft 123 to control the operation unit 2 to rotate around the y-axis. The other end of the first rotating arm 121 is rotatably connected to the second rotating arm 122, the second rotating arm 122 is connected to the guide rail 21, and the second rotating arm 122 further controls the angle of rotation of the operating unit 2 around the y-axis direction.

The structure of the telescopic shaft 123 is not limited. In this embodiment, as shown in fig. 1, the telescopic shaft 123 includes a first shaft 1231 and a second shaft 1232, the first shaft 1231 is fixed above the second bracket 124, the second shaft 1232 is slidably disposed on the first shaft 1231 along the height direction, and the first rotating arm 121 is rotatably disposed on the second shaft 1232. Optionally, the relative movement of the second shaft 1232 on the first shaft 1231 is driven by an electric hydraulic cylinder, the electric hydraulic cylinder is used to drive the telescopic shaft 123, the telescopic shaft 123 can realize a long stroke, and the telescopic shaft 123 has a short length after retraction, so that the multi-degree-of-freedom mechanical arm 12 has a compact structure, and the stroke of the multi-degree-of-freedom mechanical arm 12 in the height direction is increased. Meanwhile, the electric hydraulic cylinder has large thrust and accurate control, and is convenient for accurately adjusting the heights of the multi-degree-of-freedom mechanical arm 12 and the operation unit 2. In other embodiments, the driving manner of the telescopic shaft 123 may be selected according to actual situations, and is not limited herein.

The structure of the second bracket 124 is not limited. Illustratively, the second support 124 comprises a bottom plate and a rotating frame, the rotating frame is rotatably connected to the bottom plate, the bottom plate is fixedly connected above the base 11 through bolts and nuts, the bolts and the nuts are adopted for assembly connection, the connection is reliable, the installation is convenient, the second support 124 is convenient to disassemble from the base 11, the multi-degree-of-freedom mechanical arm 12 is disassembled, and the maintenance and the transportation of the multi-degree-of-freedom mechanical arm 12 are convenient.

The rotation connection manner of the first rotating arm 121 on the telescopic shaft 123 and the rotation connection manner of the second rotating arm 122 on the first rotating arm 121 are not limited. In one embodiment, the first rotating arm 121 is coupled to the telescopic shaft 123 by a fastener, and the second rotating arm 122 is coupled to the first rotating arm 121 by a fastener. Specifically, the fasteners such as bolts and nuts are connected through bolts and nuts, and the multi-degree-of-freedom mechanical arm 12 is simple and convenient to install, long in service life and low in cost. In another embodiment, the first rotating arm 121 is connected to the end of the telescopic shaft 123 through a planetary gear, and the second rotating arm 122 is connected to the first rotating arm 121 through a planetary gear, so that the bearing capacity of the planetary gear is high, the transmission is smooth, and the operation precision and stability of the device are improved. In another embodiment, the first rotating arm 121 is rotatably connected to the telescopic shaft 123 through a harmonic reducer, the second rotating arm 122 is rotatably connected to the first rotating arm 121 through a harmonic reducer, and when the angle and the position of the operating unit 2 are adjusted, the multi-degree-of-freedom mechanical arm 12 needs to continuously rotate and move, so that each joint of the multi-degree-of-freedom mechanical arm 12 is often accompanied by acceleration, deceleration and direction changing actions, and the harmonic reducer has a large transmission speed ratio, so that the requirement of rapid adjustment of each joint of the multi-degree-of-freedom mechanical arm 12 can be met, and the adjustment precision and efficiency can be improved. In other embodiments, the rotational connection modes adopted in the above embodiments may be used in combination, and the effective connection at each joint on the multi-degree-of-freedom mechanical arm 12 may also be realized.

Optionally, a first driver 125 is disposed at a rotational connection position of the first rotating arm 121 and the second shaft 1232, a second driver 126 is disposed at a rotational connection position of the first rotating arm 121 and the second rotating arm 122, the first driver 125 and the second driver 126 are respectively electrically connected to the control unit, the first driver 125 is configured to drive the first rotating arm 121 to rotate relative to the second shaft 1232, and the second driver 126 is configured to drive the second rotating arm 122 to rotate relative to the first rotating arm 121. In this embodiment, the first driver 125 and the second driver 126 are both stepping motors, which can frequently change the rotation angle and speed thereof, and are beneficial to accurately adjusting the angle and position of the operation unit 2, and after the position of the operation unit 2 is determined, the stepping motors stop operating, so that power consumption is avoided, power consumption and equipment loss are reduced, and the service life is long. In other embodiments, the driving manners of the first driver 125 and the second driver 126 may be selected according to actual situations, and are not limited herein.

In this embodiment, the base 11 is provided with a universal wheel 111 and a third driver, the third driver is electrically connected to the control unit, and the third driver is used for driving the universal wheel 111 to rotate so as to adjust the position of the base 11 in the horizontal direction. Specifically, four orientable universal wheels 111 are respectively provided below four corners of the rectangular base 11, and the third driver is a dc motor that drives the orientable universal wheels 111 to turn and move through a transmission mechanism to adjust the position and angle of the operation unit 2. Optionally, a secondary battery is also provided in the base 11 to power the knife gate operating device so that it can be operated away from the power station base.

Preferably, the multi-degree-of-freedom mechanical arm 12 is connected with the guide rail 21 in an insulating manner. In one embodiment, the second rotating arm 122 is a steel mechanical arm to ensure its bearing strength, and the outside of the second rotating arm 122 is coated with high voltage insulating materials, such as rubber, ceramics, etc., to prevent the current on the knife switch from being conducted to the ground through the multi-degree-of-freedom mechanical arm 12 to damage the equipment and personnel in an accident. In another embodiment, the first rotating arm 121 and the second rotating arm 122 are both made of an insulating material, such as carbon fiber, which is light in weight and high in strength. The conduction between the multi-degree-of-freedom mechanical arm 12 and the electrified disconnecting link is effectively avoided, and the operation unit 2 is supported by enough structural strength.

The positioning unit comprises an image acquisition module and an image processing module, wherein the image acquisition module is used for acquiring image information of the disconnecting link operating mechanism, the guide rail 21 and the operating piece 222 so as to determine the positions and angles of the components. The image processing module is used for judging first relative position information between the guide rail 21 and the disconnecting link operating mechanism according to the image information of the guide rail 21 and the disconnecting link operating mechanism so as to adjust the guide rail 21 to move to a first preset position relative to the disconnecting link operating mechanism. The image processing module is further configured to determine second relative position information between the guide rail 21 and the operating element 222 according to the image information of the operating element 222 and the guide rail 21, so as to adjust the operating element 222 to move to a second preset position relative to the guide rail 21.

The first preset position means that a proper spatial relationship is kept between the guide rail 21 and the disconnecting link operating mechanism, so that the motion track of the disconnecting link operating mechanism in the opening and closing process is parallel to the extending direction of the guide rail 21. The second predetermined position is a position where the operating member 222 is in a proper spatial relationship with the guide rail 21, the operating member 222 is in a ready position before the knife switch operating mechanism is opened or closed, and the operating member 222 is connected to the knife switch operating mechanism. When the first preset position and the second preset position are reached, the operating element 222 is connected to the knife switch operating mechanism, and the moving track of the connecting position of the operating element 222 and the knife switch operating mechanism is parallel to the extending direction of the guide rail 21 in the process of opening and closing the knife switch. Optionally, the image capturing module is a laser scanning imager, which is disposed on the second rotating arm 122, powered by a secondary battery on the base 11, and is in communication connection with the control unit.

Optionally, the control unit includes a storage module and a determination module, and the storage module is configured to store type data of the knife switch, and store initial action data and execution data that match the type data. The image processing module can identify the type data of the knife switch. The judging module can call initial action data and execution data matched with the type data from the storage module according to the type data of the disconnecting link. The initial action data refers to action data for realizing a first preset position and a second preset position, and different types of disconnecting links are suitable for different initial action data.

Illustratively, the initial action data includes: movement data of the guide rail 21 to a first predetermined position relative to the knife gate actuator and movement data of the operating member 222 to a second predetermined position relative to the guide rail 21. After the initial action data is executed, the operating element 222 is connected to the switch operating mechanism, and the moving track of the operating element 222 connected to the switch operating mechanism in the process of opening and closing the switch operating mechanism is parallel to the extending direction of the guide rail 21. The actuation data is the data for controlling the operation member 222 to open or close the knife switch actuator, and different types of knife switches are suitable for different actuation data. In the present embodiment, the execution data includes the sliding speed and the sliding range of the first bracket 221 on the guide rail 21. The speed and the range of the switch operating mechanism are adjusted, so that the speed and the range of the switch can be accurately controlled, the phenomenon that the switch operating mechanism is too slow to be switched or is not switched in place to generate heat or even burn the switch is avoided, and the service life of the switch is prolonged. The execution data also comprises the driving force of the first driving piece, and different knife switches correspond to the driving force of different first driving pieces so as to drive the pulling-in and pulling-out of different knife switches. In the pulling-closing process, the first support 221 can move at a uniform speed by controlling the magnitude of the driving force, so that the stability of the disconnecting link in the pulling-closing process is improved.

Optionally, the determining module is further configured to receive the first relative position information and the second relative position information. The judging module can send a first instruction according to the first relative position information, the second relative position information and the initial action data to enable the guide rail 21 and the operating element 222 to respectively reach a first preset position and a second preset position, so that the operating element 222 is fixed on the disconnecting link operating mechanism to prepare for opening or closing the disconnecting link. The determining module can also send a second command to the first driving member to drive the first support 221 to slide, so that the first support 221 drives the operating member 222 to open or close the knife switch through the telescopic rod 223. The relative positioning of the guide rail 21, the operating element 222 and the disconnecting link operating mechanism and the switching process of the disconnecting link operating mechanism are controlled by the instruction sent by the judging module, the control is accurate, the operation is simple, the condition that the switching is too slow or the switching is not in place due to manual operation is avoided, and the service life of the disconnecting link is prolonged.

Preferably, as shown in fig. 1, the guide rail 21 is a circular arc-shaped guide rail that opens toward the operating element 222, and the circular arc-shaped guide rail is provided on the multi-degree-of-freedom robot arm 12 so as to be angularly adjustable. Although the sizes and structures of the different types of disconnecting links are different, the movement track of the disconnecting link operating mechanism of each disconnecting link in the pulling-in process is a part of a circle, namely an arc. Therefore, the guide rail 21 is designed to be a circular arc-shaped guide rail, the operating element 222 is located in the opening direction of the circular arc-shaped guide rail, the rotating radius of the operating element 222 can be adjusted by adjusting the distance between the operating element 222 and the circular arc-shaped guide rail, so that the rotating radius of the operating end of the operating element 222 is the same as the rotating radius of the knife gate operating mechanism, the operating element 222 can open or close the knife gate operating mechanisms with different rotating radii by sliding the first bracket 221 on the circular arc-shaped guide rail, and the first bracket 221 cannot be jammed with the circular arc-shaped guide rail in the movement process of the operating element 222. The arc-shaped guide rail is angularly adjustably disposed on the multi-degree-of-freedom mechanical arm 12, and illustratively, the arc-shaped guide rail is rotatably connected to the second rotating arm 122. When the second rotating arm 122 is horizontal, the arc-shaped guide rail can rotate around the x-axis direction, and in combination with five degrees of freedom of movement realized by the base 11 and the multi-degree-of-freedom mechanical arm 12, the device can realize the adjustment of the arc-shaped guide rail in the directions of six degrees of freedom, so as to adjust the direction of the arc-shaped guide rail moving relative to the disconnecting link operating mechanism, and make the extending direction of the arc-shaped guide rail parallel to the movement track of the disconnecting link operating mechanism in the opening and closing process, thereby making the rotation track of the operating end of the operating part 222 coincide with the rotation track of the disconnecting link operating mechanism.

Alternatively, in the cross section of the extending direction of the guide rail 21, one of the first bracket 221 and the guide rail 21 has a T-shaped protrusion in cross section, and the other one has a C-shaped groove in cross section, and the T-shaped protrusion is slidably disposed on the C-shaped groove. In this embodiment, in a cross section in the extending direction of the circular arc-shaped guide rail, the cross section of the first bracket 221 is a C-shaped groove, the cross section of the circular arc-shaped guide rail is a T-shaped protrusion, and a "-" portion of the T-shaped protrusion is slidably disposed in the C-shaped groove, so that the first bracket 221 can slide along the extending direction of the circular arc-shaped guide rail without departing from the circular arc-shaped guide rail. The I part of the T-shaped protrusion extends out of the C-shaped groove and is rotatably connected to the second rotating arm 122, so that the angle and the position of the arc-shaped guide rail can be adjusted through the base 11 and the multi-degree-of-freedom mechanical arm 12.

Optionally, the operating assembly 22 further comprises a first gear 2212, a plurality of first teeth are disposed on the first gear 2212, a plurality of second teeth 211 are disposed on the guide rail 21, and a plurality of the plurality of first teeth are engaged with a plurality of the plurality of second teeth 211; a first driving member and/or a first gear 2212 are disposed on the first bracket 221, and an output end of the first driving member can drive the first gear 2212 to rotate so as to drive the first bracket 221 to slide along the guide rail 21. By controlling the position of the operating assembly 22 relative to the guide rail 21 in a geared manner, the following effects can be achieved: the instantaneous transmission ratio of gear transmission is constant, and the stability of the switch operating mechanism is high; the transmission power range of gear transmission is large, the bearing capacity is high, and the large-scale disconnecting link operating mechanism can be pulled and closed; the gear transmission speed range is large, so that the gear transmission device is suitable for different types of disconnecting links and avoids over-slow pulling and closing; the precision of the gear transmission is high, which facilitates accurate adjustment of the position of the operating member 222 relative to the guide rail 21.

Illustratively, as shown in fig. 2 to 4, a first gear 2212 is rotatably disposed in the C-shaped groove of the first bracket 221, a plurality of second teeth 211 are disposed at equal intervals on a "-" portion of the T-shaped protrusion of the guide rail 21, and when the T-shaped protrusion is slidably disposed in the C-shaped groove, a plurality of first teeth of the first gear 2212 are engaged with the plurality of second teeth 211. A first driving member (not shown) is fixed on the first bracket 221, and an output end of the first driving member is connected to the first gear 2212, and can drive the first gear 2212 to rotate, so that the first gear 2212 rolls along each second tooth 211, thereby driving the first bracket 221 to slide along the arc-shaped guide rail, and further driving the operating member 222 to open or close the switch operating mechanism. Optionally, a roller 2211 is disposed at a joint of the C-shaped groove of the first bracket 221 and the T-shaped protrusion of the guide rail 21, and the first bracket 221 slides relative to the guide rail 21 through the roller 2211, so as to reduce wear, reduce sliding resistance, and improve durability of the first bracket 221 and the guide rail 21.

Optionally, the telescopic rod 223 includes a first rod 2231 and a second rod 2232, the first rod 2231 is disposed on the first bracket 221, the second rod 2232 is slidably disposed on the first rod 2231 along a length direction of the first rod 2231, and the operation member 222 is mounted on the second rod 2232. Specifically, as shown in fig. 4, one end of the first rod 2231 is fixed on the first bracket 221, the second rod 2232 is slidably disposed on the other end of the first rod 2231 along the length direction, and a second driving member (not shown in the figure) is disposed on the operating assembly 22, and is communicatively connected to the control unit and capable of driving the second rod 2232 to slide relative to the first rod 2231 so as to adjust the distance between the operating member 222 and the circular arc-shaped guide rail. Also, the second driver can lock the relative movement of the second rod 2232 and the first rod 2231 when the operating member 222 reaches the second preset position. The first rod 2231 and the second rod 2232 are both rigid rods to stably transmit the movement of the first bracket 221 to the operating element 222, so that the deviation of the movement track of the operating element 222 caused by the deviation of the positioning of the operating element 222 is avoided, and the switch can not be pulled.

In this embodiment, the knife switch operating device is moved to the side of the knife switch, and the image acquisition module acquires the image information of the knife switch operating mechanism, the guide rail 21 and the operating element 222 to determine the positions and angles of the above components. According to the image information, the image processing module judges the first relative position information of the guide rail 21 and the knife switch operating mechanism, the second relative position information of the guide rail 21 and the operating element 222 and the type of the knife switch, and sends the information to the judging module. The judging module retrieves initial action data and execution data matched with the type data of the disconnecting link from the storage module, and sends a first instruction to the base 11, the multi-degree-of-freedom mechanical arm 12, the first driving piece and the second driving piece to adjust the guide rail 21 and the operating piece 222 to reach preset positions, so that the operating piece 222 is fixed on the disconnecting link operating mechanism. Finally, the determining module sends a second command to the first driving member to drive the first bracket 221 to slide, and the first bracket 221 drives the operating member 222 to open or close the disconnecting link operating mechanism through the telescopic rod 223. The knife switch operating device provided by the embodiment can be suitable for the pulling and closing of different types of knife switches, and is wide in application. The first driving element drives the operating element 222 to operate the disconnecting link operating mechanism, so that the force and the speed of the operating element 222 acting on the disconnecting link operating mechanism can be stably controlled, and the opening and closing range of the disconnecting link operating mechanism can be accurately controlled, thereby enabling the disconnecting link to be accurately opened and closed, and avoiding potential safety hazards caused by too slow opening and closing or incomplete opening and closing of the disconnecting link. In addition, the knife switch operating device provided by the embodiment replaces manual operation, and personal safety is guaranteed.

Example two

The present embodiment provides a switch operating device, which is substantially the same as the switch operating device in the first embodiment, and the main difference is that the switch operating device further includes a signal receiver and a remote controller connected in a communication manner, the signal receiver is electrically connected to the control unit, and the signal receiver can remotely receive an operating instruction from the remote controller and transmit the operating instruction to the control unit. Specifically, the signal receiver is arranged on the control unit and is communicated with the control unit, the remote controller is remotely held by an operator, and when the operator operates the remote controller, the signal receiver can remotely receive an operation instruction of the remote controller and transmit the operation instruction to the control unit.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.