WO2015081455A1

WO2015081455A1 - Robotised and/or remote-controlled machine for removing and inserting switchgear equipment, comprising a chassis, wheels, a support, a structure, a camera, and controls, and method for same

Info

Publication number: WO2015081455A1
Application number: PCT/CL2013/000087
Authority: WO
Inventors: Carlos CARMONA ACOSTA
Original assignee: Mi Robotic Solutions S.A.
Priority date: 2013-12-02
Filing date: 2013-12-02
Publication date: 2015-06-11

Abstract

The invention relates to a robotised and/or remote-controlled machine for removing and inserting switchgear equipment, which eliminates the risk of electric arc to the operator, comprising: a main chassis (1) which provides the structure for the whole machine; a drivetrain which allows the machine to move over the entire plane; a supporting system (5) which allows the drivetrain to be connected to the chassis; an upper structure (6) which supports a traction mechanism so that the switchgear equipment can be removed or inserted; at least one viewing camera; and a power panel, a control panel and a man-machine interface, the function of which is to provide the robotic machine with power and control. The invention further relates to the method for removing and inserting the switchgear equipment.

Description

ROBOTIZED AND / OR TELECOMMANDED MACHINE FOR REMOVAL AND INSERTION OF SWITCHGEAR EQUIPMENT, UNDERSTAND CHASSIS; WHEELS; SUPPORT;

STRUCTURE; CAMERA; AND CONTROLS; AND PROCEDURE.

DESCRIPTION

Field of the Invention

The invention relates to a robotic and / or telemanipulated machine for the removal and insertion of a switchgear equipment (also known as electrical switchgear or switches) within an electrical room, the switchgear equipment being an electrical maneuvering equipment, that is to say an equipment which allows to energize or de-energize or segregate a circuit or electrical network.

The invention also relates to the method of removing and inserting a switchgear device into an electrical room.

Background of the Invention

Switchgear equipment is the equipment that distributes energy, in medium and high voltage networks, for the supply of the different processes of an industrial plant such as the mining industry. The maintenance of switchgear equipment and the equipment they feed involves the disconnection of said equipment from the cubicles in which they are installed. This removal of switchgear equipment or switches is done manually from the cubicles, so there is a risk that the switches can continue with their contacts closed, with power consumption energized. If this happens, an electric arc would be generated on the operator who is removing the equipment, which means 1,600 ° C in 20 milliseconds.

As a way to mitigate the risks of the switch removal operation, operators use special personal protective elements (PPE) for handling these components, which consist of suits special insulators of electrical energy and protection against electric arc, which cover your entire body. However, these personal protection elements constitute the last barrier, so they fail to eliminate the cause or root of the problem, which is the manipulation of an operator of potentially energized equipment.

Another type of equipment used in the state of the art is a kind of pallet truck with electric support drives for the extraction of the switchgear, which can also have electric motors for the removal and insertion of equipment with a screw. Although these devices help the operation, they do not completely eliminate the risk of the electric arc, nor do they have the expected flexibility for use in different equipment.

Other support tools for the withdrawal have the particularity of anchoring to the switchgear chassis so that it absorbs the torque used for the removal of the equipment, these systems, like the previous ones, only exist for certain types of switchgear and their removal is carried out by means of a screw . These types of tools are operated remotely and monitored according to the number of turns. Another of the technologies analyzed is thermography and ultrasound, but these technologies only serve to detect the presence of energy in the switchgear.

The current switchgear equipment removal procedure has the following stages:

1. Switchgear identification to intervene

2. Verify that the switchgear is unloaded and delivered by the user.

3. Open switch, either remotely or locally.

4. Remove the switchgear, with the open button pressed, move the front lever from position "1" to position "2" and when this lever starts its movement, release the button. Then throw the car to remove it.

5. In the case of removing the entire car from the cubicle, the lever position must be "2", disconnect the control plug from the switch and move the lever from position "2" to position "3" and remove the carriage completely.

6. With the lever in the "3" position, move the carriage towards the cubicle until it no longer enters, change the position of the lever to "2" and connect the control arm.

7. Once the control is connected, continue with the carriage path by pressing it until it reaches the bottom of the cell, the lever will automatically change position from "2" to position "1", it must be confirmed that the lever is in this position and ensure that it is so.

8. In communication with the user, determine the moment of closing of the switch, either remotely or locally.

The procedure used for the insertion of the equipment to its condition of use is the inverse to the one described above.

The task of removing and inserting switchgear, as it is currently done, is a high-risk activity since people are exposed to a potential electric arc. To this it must be added that this activity is difficult due to problems of space in the hallway of the electrical room and due to the use of a large amount of personal protection element that makes the handling of the equipment even more difficult.

The present invention seeks to perform the maneuver (removal and opening / closing) of removal and insertion of the switchgear switches without the need to have the operator in the electric arc projection line, that is, to perform the removal of the switchgear without the presence of the operator, and therefore withdraws the operator from the risk of the electric arc.

The invention seeks to eliminate exposure to the operator, this means that the operator is at a distance of at least 5 meters from the switchgear during the maneuver, considering this distance as a safe exposure distance.

The invention allows to increase the security levels of the operators in charge of the removal and insertion of switches from the switchgear. On the other hand, the solution allows compliance with the American standard NFPA 70E of the IESRC, which focuses on the frontier of protection from electric shock. Therefore, the objective of the present invention is to develop a robotic and / or remote control machine capable of carrying out the switchgear removal and insertion process autonomously and / or remotely controlled.

Moreover, the objective of the present invention is that the developed automated robotic machine allows to avoid human intervention in the switchgear removal and insertion process.

Another objective is to develop a switchgear removal and insertion method.

Summary of the Invention

The present invention relates to a robotic and / or remote control machine for the removal and insertion of switchgear, which comprises various electric actuators adapted for the operation of switchgear equipment.

In addition, the present invention describes the switchgear removal and insertion method.

Brief Description of the Figures

Figure 1 represents a general perspective of a robotic and / or remote control machine like that of the present invention.

Figure 2 corresponds to a top plan view of the robotic and / or remote control machine.

Figure 3 corresponds to a bottom plan view of the robotic and / or remote control machine.

Figure 4 corresponds to an approach of the upper part of the robotic and / or remote control machine. Figure 5 corresponds to a side view of the robotic and / or remote control machine.

Detailed description of the invention

The present invention describes a robotic and / or remote control machine for the removal and insertion of switchgear, which is constituted by a main chassis (1) that structures the entire machine; a drive assembly that allows the machine to move in different directions; a support system (5) that allows the drive assembly to be attached to the chassis; an upper structure (6) that supports a traction mechanism by which the switchgear is attached, connected / disconnected for subsequent removal and insertion. Additionally, the machine has at least one vision camera that allows remote observation of the operation of the equipment and a control and operation unit that allows the entire machine to be controlled and controlled.

The motor assembly of the robotic and / or remote control machine consists of motors (3), reducers (2) and wheels (4), the omnidirectional wheels (4) being the mechanum type with high traction, which allow it to position itself better way in front of the switchgear equipment allowing the displacement in front, side, diagonal and rotations both in its geometric center and at some vertex, in addition the high traction allows to be able to remove and push the switchgear equipment. In summary, the wheels and their drive allow mobility of the drive assembly in the complete plane. The movement in the longitudinal and transverse direction can be combined with the circular movement around different points. All movements such as driving in a straight line, side, curves or turns are operated with one or two remote controls, for example joystick type. The position of the pivot point can be freely chosen, depending on the respective requirement. So the change to a new turning point is possible.

The wheel (4) mecanum is a conventional wheel with a series of rollers attached to its circumference, where the rollers have a rotation axis of 45 ° with the plane of the wheel in a plane parallel to its axis of rotation. The pulling mechanism that is supported by the upper structure (6) comprises a mechanism for holding the switchgear equipment, a mechanism for disconnecting / connecting the switchgear equipment and a mechanism for removing / inserting the switchgear equipment. In one embodiment of the present invention, the mechanism for holding the switchgear equipment is a handle and pull mechanism (8); The mechanism for disconnecting / connecting the switchgear device is a push button mechanism (7); and the mechanism for removing / inserting the switchgear equipment is a lower lever rotation mechanism (9). The traction mechanism is usually located at the end of the machine.

As an example, the machine is operated by means of an operation console located in a safe place inside the electrical room, in this operation console the robotic and / or remote control machine is commanded and configured for the removal and insertion of the switchgear. The machine turns on and moves to the switchgear to be removed, for which it relies on the vision or inspection cameras, which help it to position itself at a distance, after the machine is positioned in front of the switchgear equipment to be removed, then the handle and pull mechanism of handles (8) is operated in such a way that it takes the handles and fixes the robotic machine when switchinggear, then the operator activates the push button mechanism (7) that stops the switchgear equipment, then turns the mechanism of turning the lower lever (9) and together the robotic machine divides the switchgear equipment to a disconnected position, then the operator with the switchgear equipment in this safe position performs the disconnection and subsequent maintenance of said equipment.

For the insertion of the equipment, the reverse sequence previously described is performed. This machine can integrate multiple sensor devices such as artificial vision, force sensors, distance sensors.

An embodiment of the robotic and / or remote control machine of the present invention is described in Figure 1, which mainly comprises a metal structure or chassis (1) that supports all the elements that make up the machine together with housing a cabinet-type compartment For the electronic controllers and electronic components that allow its operation, this chassis is moved by the drive assembly formed by the motors (3), the reducers (2) and the mechanum wheels (4), which is attached to the chassis by means of the support (5). Each wheel has its own motor, reducer and support, which allows each wheel to be operated separately, generating its own direction of rotation and speed and thus obtaining two result force vectors per wheel. Opposite force vectors of two wheels counterbalance each other, while force vectors acting in the same direction are added to form the resulting driving force achieving the desired movement.

The upper structure (6) of the machine of Figure 1, can be seen in more detail in Figure 4, which as already said supports a traction mechanism, which in this case is formed by the mechanisms (7, 8 and 9), which correspond to the push button mechanism (7), a handle take and pull mechanism (8) and a lower lever rotation mechanism (9). The first push button mechanism (7) is made up of one or more electric cylinders (13) that act to press the stop button or switch on the switchgear, this first mechanism that is supported through an attachment which in turn is attached to a main mechanism support frame or upper structure (6); The next mechanism for the removal and insertion of the switchgear is the mechanism identified as a mechanism for taking and pulling handles (8) which has two electric cylinders (10) located in the opposite direction, which are provided with conductive guides (11) that allow the taking of the handles by means of fingers or fixings (12). The last mechanism is the lower lever rotation mechanism (9) which is provided with a cylinder (14), a cam (15) and a die (16), to generate the opening torque of the lever or switchgear safety . The support of mechanisms or upper structure (6), as the name implies, has the function of supporting all the mechanisms of the machine. The first mechanism that operates to press the stop button (7) of the switchgear equipment, is also provided with a rubber push button and a spring (17) to allow a better adjustment and avoid damage to the switchgear, this mechanism is operated by one or more electric cylinders (13). The mechanism takes handles (8) is responsible for holding the handles of the equipment and perform the traction / thrust of it, where the electric cylinders (10) each push a support table (18) and these support tables are what they possess the fingers (12) that are fixed to each handle of the switchgear equipment. In this mechanism, the cylinders (10) are responsible for positioning the fixing fingers and the force is received by the system of tables (18) or parallel guides anchored in the main mechanism support frame (6). The third mechanism is the lower lever rotation mechanism (9) and is the one that is in charge of changing the state as is the case of removal of the equipment, which proceeds by turning the lower lever that has the switchgear equipment from the position in 90 degrees or vertical to the starting position.

In addition to the elements listed above, the robotic machine has a group of cabinets on a mobile pedestal, which have the function of providing energy and control to the robotic and / or remote control machine, as well as having controls for its command and monitoring . The cabinets that make up the robotic machine are: the force or TDF board, control board or TDC and the human machine or HMI interface, which are described below:

PTO: Corresponds to the cabinet that contains the surge protection elements, protections to electrical equipment of the control cabinet, local robot control cabinet and equipment such as the same robot and HMI operator panel. Also, there is the monopolar bar for the electrical distribution to the different elements and cabinets. It has a single-phase thermomagnetic prihcipal disconnector to open or close the electric power input circuit, in addition to pilot light indicators.

TDC: Corresponds to a board to house the components responsible for controlling the equipment, the basis of this cabinet is its main controller, internal memory and management of a module of digital inputs. In addition, the USB communication module for connection with the HMI operator panel, communication with the computer for configuration and monitoring and CAN communication module for intercommunication with the system's motor drivers.

HMI: Corresponds to the panel for online monitoring and control of the process with connection to the main controller. The terminals support operator data entry by means of a screen, one or two remote controls and buttons for the opening and closing of tools.

Additionally, there is a safety architecture that is formed by a controller that monitors all the safety signals of the machine, emergency stops and torques of the machine. The stops of Emergency are SETA type and are on the operation panel and next to the

accesses and windows. The operation of emergency stops causes the robotic and / or remote control machine to stop. The restoration of an emergency stop by itself does not leave the machine in a position to re-enter operation, recognition of the emergency stop by the operator is always required. The emergency stops are reset in the area where it was activated, but the emergency stops are recognized through the operation screen.

Claims

1. Robotized and / or remote control machine for the removal and insertion of switchgear equipment that eliminates the risk of electric arc to the operator in the removal and insertion process, CHARACTERIZED because it comprises:

- a main chassis (1) that structures the entire machine;

- a drive assembly that allows the machine to move in the complete plane;

- a support system (5) that allows the drive assembly to be attached to the chassis; - an upper structure (6) that supports a traction mechanism so that the switchgear equipment is removed and inserted;

- at least one vision camera; Y

- a force board or TDF, a control board or TDC and a human machine or HMI interface, which have the function of providing power and control to the robotic machine, in addition to having controls for its command and monitoring.

2. Robotized and / or telecommanded machine according to claim 1, CHARACTERIZED in that the drive assembly is comprised of: mechanum wheels with high traction (4), motors (3) and reducers (2).

3. Robotized and / or remote-controlled machine according to claim 2, CHARACTERIZED in that the traction mechanism that is supported by the upper structure (6) comprises a mechanism for holding the switchgear equipment, a mechanism for disconnecting / connecting the switchgear equipment and a mechanism to remove / insert switchgear equipment.

4. Robotized and / or remote-controlled machine according to claim 3, CHARACTERIZED because the mechanism for holding the switchgear equipment is a mechanism for taking and pulling handles (8).

5. Robotized and / or remote controlled machine according to claim 4, CHARACTERIZED because the mechanism for disconnecting / connecting the switchgear equipment is a push button mechanism (7).

6. Robotized and / or remote controlled machine according to claim 5, CHARACTERIZED because the mechanism for removing / inserting the switchgear equipment is a lower lever turning mechanism (9).

7. Robotized and / or remote-controlled machine according to claim 6, CHARACTERIZED in that the push button mechanism (7), is formed by one or more electric cylinders (13) that act to press the stop button or switch on the switchgear and It is supported by an attachment which is attached to the main frame of the upper structure (6).

8. Robotized and / or remote controlled machine according to claim 7, CHARACTERIZED in that the push button mechanism (7) is also provided with a rubber push button and a spring (17) to allow a better fit and avoid damage to the switchgear .

9. Robotized and / or telecommanded machine according to claim 8, CHARACTERIZED in that the handle and pull mechanism (8) has two electric cylinders (10) located in the opposite direction, which are provided with conductive guides ( 11) that allow the taking of the handles.

10. Robotized and / or remote-controlled machine according to claim 9, CHARACTERIZED in that the handle and pull mechanism (8) also has support tables (18) that have fingers or fixings (12).

11. Robotized and / or remote controlled machine according to claim 10, CHARACTERIZED in that the lower lever rotation mechanism (9) is provided with a cylinder (14) a cam (15) and a die (16), to generate the lever opening torque or switchgear lock.

12. Robotized and / or remote controlled machine according to any of the preceding claims, CHARACTERIZED because the machine can be integrated with multiple sensor devices such as artificial vision, force sensors, distance sensors.

13. Robotized and / or remote controlled machine according to any of the preceding claims, CHARACTERIZED because it also comprises one or two remote controls for driving the movements of the wheels of the drive assembly.

14. Use of the robotic and / or remote control machine according to any of the preceding claims, CHARACTERIZED because it is used for the removal and insertion of switchgear equipment.

15. - Operating procedure of a robotic and / or remote control machine for the removal of a switchgear device, according to claims 1 to 13, CHARACTERIZED because it comprises:

- turn on the robotic and / or remote control machine and move said machine towards the switchgear to be removed,

- position yourself in front of the switchgear equipment to be removed, for which it relies on the inspection chambers, which help you to position yourself at a distance, and

- Actuate the traction mechanism, making the machine drive the switchgear equipment to a disconnected position where the operator is with the equipment in a safe position to perform the inspection or maintenance of the switchgear equipment.

16. - Operating procedure of a robotic and / or remote control machine for the removal of a switchgear device, according to claim 15, CHARACTERIZED in that the traction mechanism comprises a mechanism for holding the switchgear equipment, a mechanism for disconnecting / connecting the switchgear device and a mechanism to remove / insert the switchgear device.

17. - Operating procedure of a robotic and / or remote control machine for the insertion of a switchgear device, according to claims 1 to 13, CHARACTERIZED because it comprises: - turn on the robotic and / or remote control machine that supports the switchgear to be inserted,

- move the machine with the switchgear to be inserted,

- position yourself in front of the place where the switchgear equipment should be inserted, for which it relies on the inspection chambers, which help you to position yourself at a distance, and

- activate the traction mechanism making the machine insert the switchgear equipment and connect said switchgear equipment.