CN109202929B - Transformer substation inspection robot - Google Patents
Transformer substation inspection robot Download PDFInfo
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- CN109202929B CN109202929B CN201811127381.4A CN201811127381A CN109202929B CN 109202929 B CN109202929 B CN 109202929B CN 201811127381 A CN201811127381 A CN 201811127381A CN 109202929 B CN109202929 B CN 109202929B
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- wheel
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- 238000007689 inspection Methods 0.000 title claims abstract description 45
- 230000005540 biological transmission Effects 0.000 claims abstract description 104
- 230000007246 mechanism Effects 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 12
- 229910018503 SF6 Inorganic materials 0.000 claims description 9
- SFZCNBIFKDRMGX-UHFFFAOYSA-N sulfur hexafluoride Chemical compound FS(F)(F)(F)(F)F SFZCNBIFKDRMGX-UHFFFAOYSA-N 0.000 claims description 9
- 229960000909 sulfur hexafluoride Drugs 0.000 claims description 9
- 238000001931 thermography Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 239000000779 smoke Substances 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 4
- 230000001360 synchronised effect Effects 0.000 abstract 2
- 238000012423 maintenance Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002572 peristaltic effect Effects 0.000 description 1
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a transformer substation inspection robot, and particularly relates to the field of transformer inspection. The driving device comprises a roller, a driving motor, a driving wheel, a first transmission shaft, a first transmission wheel, a first transmission belt, a second transmission wheel, a second transmission shaft, a second transmission wheel and a second transmission belt. The driving wheel is in synchronous rotary connection with the first driving wheel through the first conveying belt, and the second driving wheel is in synchronous rotary connection with the second driving wheel through the second conveying belt. The driving device comprises a left side plate, a right side plate, a first bearing and a second bearing, wherein the left side plate and the right side plate are respectively arranged on two sides of the chassis. The first bearing sleeve is arranged on the outer side of the first transmission shaft in a sleeved mode and fixedly penetrates through the right side plate and the left side plate respectively. The second bearing sleeve is arranged on the outer side of the second transmission shaft and fixedly penetrates through the right side plate and the left side plate respectively. The invention has the advantages of carrying heavy objects and flexible movement.
Description
Technical Field
The invention relates to the field of transformer inspection, in particular to a transformer substation inspection robot.
Background
The transformer substation is a hub of a power transmission network, the safety of the running state of equipment of the transformer substation is very important, and effective inspection of the equipment is an important guarantee for ensuring good running of the transformer substation and power supply reliability of a large number of users. With the development of the electric power robot technology, the robot inspection gradually replaces manual inspection, and the labor intensity is greatly reduced.
The current common inspection robot has the main structure that: a variety of mechanisms such as wheels, tracks, leg-foot, and peristaltic, with wheel and track being the most widely used. However, when the transformer substation is burnt out by equipment and needs to be repaired, the traditional inspection robot cannot be used as a transport tool for repairing workers due to the fact that the traditional inspection robot cannot bear load. And set up load-bearing device on patrolling and examining the robot, can make to patrol and examine the robot dumb in actual motion process. Therefore, it is an urgent problem to provide a transformer substation inspection robot which can be used for operation and maintenance personnel to switch the load-bearing function according to actual conditions.
Disclosure of Invention
The invention provides a transformer substation inspection robot which has the advantages of carrying heavy objects and being flexible in movement.
In order to achieve the purpose, the invention provides the following technical scheme:
a transformer substation inspection robot comprises a machine body and an intelligent inspection control system, wherein the machine body comprises a driving device, a bearing device for bearing a heavy object and a chassis; the driving device comprises a roller, a driving motor, a driving wheel fixed with the output end of the driving motor, a first transmission shaft, a first transmission wheel fixedly arranged on the first transmission shaft, a first transmission belt, a second transmission wheel fixedly arranged on the first transmission shaft, a second transmission wheel fixedly arranged on the second transmission shaft and a second transmission belt; the driving wheel is synchronously and rotatably connected with the first driving wheel through a first conveying belt, and the second driving wheel is synchronously and rotatably connected with the second driving wheel through a second conveying belt; the driving device also comprises a left side plate fixedly arranged above the chassis, a right side plate fixedly arranged above the chassis, a first bearing and a second bearing, wherein the left side plate and the right side plate are respectively arranged at two sides of the chassis; the first bearing is sleeved on the outer side of the first transmission shaft and fixedly penetrates through the right side plate and the left side plate respectively; the second bearing sleeve is arranged on the outer side of the second transmission shaft in a sleeved mode and fixedly penetrates through the right side plate and the left side plate respectively.
Preferably, the load bearing device comprises a loading platform and an auxiliary driving mechanism arranged below the loading platform; the auxiliary driving mechanism comprises an auxiliary wheel, a third conveying belt, a third transmission shaft and a third transmission wheel fixedly arranged on the third transmission shaft, the third transmission wheel and the second transmission wheel are synchronously and rotatably connected through the third conveying belt, and the auxiliary wheel is fixedly arranged at two ends of the third transmission shaft; the auxiliary drive mechanism further includes: and when the loading platform is not used, the third transmission shaft is lifted upwards to the switching mechanism for lifting the auxiliary wheel off the ground.
Preferably, the switching mechanism comprises a fixed seat fixedly arranged above the chassis and an operating rod rotatably connected with the fixed seat, an arc-shaped limiting piece is arranged on one side of the operating rod facing the third transmission shaft, correspondingly, a limiting bearing matched with the arc-shaped limiting piece is arranged on the third transmission shaft, and the third transmission shaft is fixed with the inner side of the limiting bearing.
Preferably, the loading platform comprises a first fixing plate connected with the third transmission shaft through a bearing, a second fixing plate connected with the third transmission shaft through a bearing, and an upper fixing plate for placing a heavy object, and the upper fixing plate is fixed above the first fixing plate and the second fixing plate.
Preferably, a baffle plate is fixedly arranged on the upper end face of the chassis, through grooves for the third transmission shaft to move up and down are formed in two sides of the baffle plate, and a groove for the operating rod to pass through when rotating is formed in the front end of the baffle plate.
Preferably, a fixing part is arranged at the notch of the groove, the fixing part comprises a supporting piece in abutting contact with the operating rod and a fixing bolt, and correspondingly, a thread groove matched with the fixing bolt is correspondingly arranged at the notch of the supporting piece and the groove.
Preferably, a fixing plate is fixedly connected to the upper portions of the left side plate and the right side plate, and a seat is arranged above the fixing plate.
Preferably, the intelligent inspection control system comprises: a master control center; the infrared thermal imaging module is used for generating thermography information of the surface temperature distribution of the power transformation equipment and transmitting the thermography information to the main control center; the temperature detection module is used for acquiring temperature information of the environment of the transformer substation and transmitting the temperature information to the master control center; the humidity detection module is used for acquiring humidity information of the environmental temperature of the transformer substation and transmitting the humidity information to the master control center; the sulfur hexafluoride detection module is used for acquiring sulfur hexafluoride gas concentration information in the environment of the transformer substation and transmitting the sulfur hexafluoride gas concentration information to the master control center; the camera module is used for acquiring the photo information of the reading of the instrument dial plate of the transformer substation and uploading the photo information to the main control center; and the wireless communication module is used for the main control center to wirelessly transmit the information acquired by each module to the peripheral terminal.
Preferably, the intelligent inspection control system further comprises an alarm module.
Preferably, the intelligent inspection control system further comprises a smoke detection module.
The invention has the beneficial effects that:
in the invention, the driving device can provide power for the transformer substation inspection robot, and the bearing device can be used as a tool for operation and maintenance personnel to transport and maintain transformer substation equipment, so that the operation and maintenance efficiency is higher.
Drawings
Fig. 1 is a schematic flow chart of the principle of the intelligent inspection control system in embodiment 2;
fig. 2 is a schematic structural diagram of a substation inspection robot in embodiment 1;
fig. 3 is a schematic structural diagram of a substation inspection robot in embodiment 1;
fig. 4 is a schematic structural diagram of a substation inspection robot in embodiment 1;
fig. 5 is a schematic structural diagram of a substation inspection robot in embodiment 1;
fig. 6 is an enlarged view of a portion a in fig. 5.
In the figure: 1. the device comprises a driving motor, 11, a driving wheel, 12, a first transmission belt, 13, a first transmission wheel, 14, a first transmission shaft, 15, a second transmission wheel, 16, a third transmission belt, 17, a third transmission wheel, 18, a third transmission shaft, 19, a limiting bearing, 20, a first fixing plate, 201, a second fixing plate, 21, a second transmission wheel, 22, a second transmission belt, 23, a second transmission shaft, 25, a left side plate, 250, a right side plate, 6, a chassis, 61, a fixing seat, 62, an operating rod, 620, an arc limiting sheet, 71, a fixing plate, 72, a seat, 8, a loading platform, 91, a resisting sheet, 92 and a fence.
Detailed Description
Example 1
The embodiment provides a technical scheme:
as shown in fig. 2 to 6, the transformer substation inspection robot comprises a machine body and an intelligent inspection control system, wherein the machine body comprises a driving device, a bearing device for bearing a heavy object and a chassis 6; the driving device comprises a roller, a driving motor 1, a driving wheel 11 fixed with the output end of the driving motor 1, a first transmission shaft 14, a first transmission wheel 13 fixedly arranged on the first transmission shaft 14, a first transmission belt 12, a second transmission wheel 15 fixedly arranged on the first transmission shaft 14, a second transmission shaft 23, a second transmission wheel 21 fixedly arranged on the second transmission shaft 23 and a second transmission belt 22; the driving wheel 11 and the first driving wheel 13 are synchronously and rotatably connected through a first conveying belt 12, and the second driving wheel 15 and the second driving wheel 21 are synchronously and rotatably connected through a second conveying belt 22; the driving device further comprises a left side plate 25 fixedly arranged above the chassis 6, a right side plate 250 fixedly arranged above the chassis 6, a first bearing and a second bearing, wherein the left side plate 25 and the right side plate 250 are respectively arranged at two sides of the chassis 6; the first bearing is sleeved on the outer side of the first transmission shaft 14 and fixedly penetrates through the right side plate 250 and the left side plate 25 respectively; the second bearing is sleeved on the outer side of the second transmission shaft 23 and fixedly penetrates through the right side plate 250 and the left side plate 25 respectively.
As shown in fig. 2 to 4, the load-bearing device includes a loading platform 8 and an auxiliary driving mechanism disposed below the loading platform 8; the auxiliary driving mechanism comprises auxiliary wheels, a third conveying belt 16, a third transmission shaft 18 and a third transmission wheel 17 fixedly arranged on the third transmission shaft 18, the third transmission wheel 17 and the second transmission wheel 15 are synchronously and rotatably connected through the third conveying belt 16, and the auxiliary wheels are fixedly arranged at two ends of the third transmission shaft 18; the auxiliary driving mechanism further includes: when the loading table 8 is not in use, the third transmission shaft 18 is lifted up to the switching mechanism for moving the auxiliary wheels away from the ground.
When the operation and maintenance personnel need to adopt the transformer substation inspection robot to load heavy objects, the heavy objects can be placed on the loading platform 8. Because the placing of heavy object can lead to patrolling and examining the robot unstable, the auxiliary wheel that consequently sets up in this embodiment can help drive arrangement to bear unnecessary weight to make and patrol and examine the robot when acting as the function of patrolling and examining, have the function of bearing simultaneously.
As shown in fig. 5 and 6, the switching mechanism includes a fixing base 61 fixedly disposed above the chassis 6 and an operating rod 62 rotatably connected to the fixing base 61, an arc-shaped limiting piece 620 is disposed on one side of the operating rod 62 facing the third transmission shaft 18, correspondingly, a limiting bearing 19 adapted to the arc-shaped limiting piece 620 is disposed on the third transmission shaft 18, and the third transmission shaft 18 is fixed to the inner side of the limiting bearing 19.
As shown in fig. 3, the loading platform 8 includes a first fixing plate 20 connected to the third transmission shaft 18 through a bearing, a second fixing plate 201 connected to the third transmission shaft 18 through a bearing, and an upper fixing plate for placing a heavy object, and the upper fixing plate is fixed above the first fixing plate 20 and the second fixing plate 201.
As shown in fig. 1, a fence 92 is fixed on the upper end surface of the chassis 6, through slots for the third transmission shaft 18 to move up and down are provided on both sides of the fence 92, and a groove for the operating rod 62 to pass through when rotating is provided on the front end of the fence 92.
In this embodiment, the notch of the groove is provided with a fixing member, the fixing member includes a supporting piece 91 and a fixing bolt, which are in abutting contact with the operating rod 62, and correspondingly, the supporting piece 91 and the notch of the groove are correspondingly provided with a thread groove adapted to the fixing bolt.
As shown in fig. 2, a fixing plate 71 is fixedly connected to the upper portions of the left and right side plates 25 and 250, and a seat 72 is provided above the fixing plate 71.
The using method comprises the following steps:
(1) when the operation and maintenance personnel need the transformer substation inspection robot to load heavy objects, the fixing bolts on the abutting pieces (91) can be removed, the operation and maintenance personnel can rotate the operating rod 62 towards the outer side of the notch of the groove, the third transmission shaft 18 moves downwards until the limiting bearing is embedded into the concave part of the arc limiting piece, and after the outer bearing of the limiting bearing 19 abuts against the inner side of the arc limiting piece tightly, the operating rod 62 is fixed by the fixing pieces to prevent the operating rod 62 from moving. Because the auxiliary wheel contacts with ground, can make this transformer substation patrol and examine robot more steady at the in-process of actual motion.
(2) When the operation and maintenance personnel do not need the transformer substation inspection robot to load heavy objects, the fixing bolts on the abutting pieces (91) can be removed, the operation and maintenance personnel can rotate the operating rod 62 towards the outer side of the notch of the groove, the third transmission shaft 18 moves upwards until the limiting bearing is embedded above the arc-shaped limiting pieces and abuts against the arc-shaped limiting pieces, and the operating rod 62 is fixed by the fixing pieces to prevent the operating rod 62 from moving. When the auxiliary wheel is not in contact with the ground, the moving process of the substation inspection robot is more flexible.
Example 2
As shown in fig. 1, the intelligent inspection control system includes: a master control center; the infrared thermal imaging module is used for generating thermography information of the surface temperature distribution of the power transformation equipment and transmitting the thermography information to the main control center; the temperature detection module is used for acquiring temperature information of the environment of the transformer substation and transmitting the temperature information to the master control center; the humidity detection module is used for acquiring humidity information of the environmental temperature of the transformer substation and transmitting the humidity information to the master control center; the sulfur hexafluoride detection module is used for acquiring sulfur hexafluoride gas concentration information in the environment of the transformer substation and transmitting the sulfur hexafluoride gas concentration information to the master control center; the camera module is used for acquiring the photo information of the reading of the instrument dial plate of the transformer substation and uploading the photo information to the main control center; the wireless communication module is used for the main control center to wirelessly transmit the information acquired by each module to the peripheral terminal; alarm module and smog detection module.
Claims (9)
1. A transformer substation inspection robot comprises a machine body and an intelligent inspection control system, and is characterized in that the machine body comprises a driving device, a bearing device for bearing a heavy object and a chassis (6);
the driving device comprises a roller, a driving motor (1), a driving wheel (11) fixed with the output end of the driving motor (1), a first transmission shaft (14), a first transmission wheel (13) fixedly arranged on the first transmission shaft (14), a first transmission belt (12), a second transmission wheel (15) fixedly arranged on the first transmission shaft (14), a second transmission shaft (23), a second transmission wheel (21) fixedly arranged on the second transmission shaft (23) and a second transmission belt (22);
the driving wheel (11) is synchronously and rotatably connected with the first transmission wheel (13) through a first transmission belt (12), and the second transmission wheel (15) on the first transmission shaft is synchronously and rotatably connected with the second transmission wheel (21) on the second transmission shaft through a second transmission belt (22);
the driving device further comprises a left side plate (25) fixedly arranged above the chassis (6), a right side plate (250) fixedly arranged above the chassis (6), a first bearing and a second bearing, wherein the left side plate (25) and the right side plate (250) are respectively arranged on two sides of the chassis (6);
the first bearing is sleeved on the outer side of the first transmission shaft (14) and fixedly penetrates through the right side plate (250) and the left side plate (25) respectively;
the second bearing is sleeved on the outer side of the second transmission shaft (23) and fixedly penetrates through the right side plate (250) and the left side plate (25) respectively;
the load-bearing device comprises a loading platform (8) and an auxiliary driving mechanism arranged below the loading platform (8);
the auxiliary driving mechanism comprises auxiliary wheels, a third conveying belt (16), a third transmission shaft (18) and a third transmission wheel (17) fixedly arranged on the third transmission shaft (18), the third transmission wheel (17) is synchronously and rotatably connected with a second transmission wheel (15) on the first transmission shaft through the third conveying belt (16), and the auxiliary wheels are fixedly arranged at two ends of the third transmission shaft (18);
the auxiliary drive mechanism further includes: and a switching mechanism for lifting the third transmission shaft (18) upwards to the position where the auxiliary wheel is separated from the ground when the loading platform (8) is not used.
2. The substation inspection robot according to claim 1, wherein the switching mechanism comprises a fixed seat (61) fixedly arranged above the chassis (6) and an operating rod (62) rotatably connected with the fixed seat (61), an arc-shaped limiting sheet (620) is arranged on one side of the operating rod (62) facing the third transmission shaft (18), correspondingly, a limiting bearing (19) matched with the arc-shaped limiting sheet (620) is arranged on the third transmission shaft (18), and the third transmission shaft (18) is fixed with the inner side of the limiting bearing (19).
3. The substation inspection robot according to claim 1, wherein the loading platform (8) comprises a first fixing plate (20) connected with the third transmission shaft (18) through a bearing, a second fixing plate (201) connected with the third transmission shaft (18) through a bearing, and an upper fixing plate for placing a heavy object, wherein the upper fixing plate is fixed above the first fixing plate (20) and the second fixing plate (201).
4. The substation inspection robot according to claim 1, wherein a fence (92) is fixedly arranged on the upper end face of the chassis (6), through grooves for the third transmission shaft (18) to move up and down are formed in two sides of the fence (92), and a groove for the operating rod (62) to pass through when rotating is formed in the front end of the fence (92).
5. The substation inspection robot according to claim 4, wherein a fixing piece is arranged at the notch of the groove, the fixing piece comprises a supporting piece (91) in abutting contact with the operating rod (62) and a fixing bolt, and correspondingly, a thread groove matched with the fixing bolt is formed in the supporting piece (91) and the notch of the groove correspondingly.
6. A substation inspection robot according to claim 4, characterized in that a fixing plate (71) is fixedly connected above the left side plate (25) and the right side plate (250), and a seat (72) is arranged above the fixing plate (71).
7. The substation inspection robot according to claim 1, wherein the intelligent inspection control system comprises:
a master control center;
the infrared thermal imaging module is used for generating thermography information of the surface temperature distribution of the power transformation equipment and transmitting the thermography information to the main control center;
the temperature detection module is used for acquiring temperature information of the environment of the transformer substation and transmitting the temperature information to the master control center;
the humidity detection module is used for acquiring humidity information of the environmental temperature of the transformer substation and transmitting the humidity information to the master control center;
the sulfur hexafluoride detection module is used for acquiring sulfur hexafluoride gas concentration information in the environment of the transformer substation and transmitting the sulfur hexafluoride gas concentration information to the master control center;
the camera module is used for acquiring the photo information of the reading of the instrument dial plate of the transformer substation and uploading the photo information to the main control center;
and the wireless communication module is used for the main control center to wirelessly transmit the information acquired by each module to the peripheral terminal.
8. The substation inspection robot according to claim 7, wherein the intelligent inspection control system further comprises an alarm module.
9. The substation inspection robot according to claim 7, wherein the intelligent inspection control system further comprises a smoke detection module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811127381.4A CN109202929B (en) | 2018-09-27 | 2018-09-27 | Transformer substation inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811127381.4A CN109202929B (en) | 2018-09-27 | 2018-09-27 | Transformer substation inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN109202929A CN109202929A (en) | 2019-01-15 |
| CN109202929B true CN109202929B (en) | 2020-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811127381.4A Active CN109202929B (en) | 2018-09-27 | 2018-09-27 | Transformer substation inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116878741B (en) * | 2023-09-06 | 2023-12-01 | 江苏炎启自动化有限公司 | Detection device for GIS indoor gas leakage and application method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5904969B2 (en) * | 2013-04-26 | 2016-04-20 | 株式会社レールテック | Automatic bicycle |
| CN204009557U (en) * | 2014-08-21 | 2014-12-10 | 国网山东省电力公司滨州供电公司 | Intelligent substation integrated monitoring apparatus |
| CN105292281B (en) * | 2015-11-02 | 2017-12-12 | 国网山东省电力公司电力科学研究院 | A kind of substation inspection wheel carries out formula barrier-surpassing robot |
| CN107717941A (en) * | 2017-10-17 | 2018-02-23 | 深圳供电局有限公司 | A kind of geared cable ditch inspection operation Multifunctional mobile robot |
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Effective date of registration: 20240409 Address after: 325600 Tang Yanzhou Village, Liushi Town, Leqing City, Wenzhou City, Zhejiang Province Patentee after: Haiyue Power Equipment Co.,Ltd. Country or region after: China Address before: Office 2-1409, Building 1, Wanda Cultural and Tourism New City, No. 1255 Yungu Road, Baohe District, Hefei City, Anhui Province, 230000 Patentee before: Anhui Laoxiang Agricultural Technology Co.,Ltd. Country or region before: China |