CN109434846A - A kind of substation's shelf depreciation crusing robot - Google Patents
A kind of substation's shelf depreciation crusing robot Download PDFInfo
- Publication number
- CN109434846A CN109434846A CN201811267574.XA CN201811267574A CN109434846A CN 109434846 A CN109434846 A CN 109434846A CN 201811267574 A CN201811267574 A CN 201811267574A CN 109434846 A CN109434846 A CN 109434846A
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- China
- Prior art keywords
- gear
- shelf depreciation
- substation
- platform
- crusing robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of substation's shelf depreciation crusing robot, including mobile platform, rotating platform and detection platform, detection platform is equipped with Partial Discharge Detection component, rotating platform is in barrel mast shape, gear ring is equipped in rotating platform, gear one, gear two and gear three, gear ring is fixedly connected with the inner wall of rotating platform, gear one is fixed on gear shaft one, gear one is engaged with gear ring, gear shaft one is connected with rotating electric machine, gear two is engaged with gear three, gear two is fixed on gear shaft two, the lower end of gear shaft two is connected with screw mechanism, gear shaft two is fixedly connected with the lead screw of screw mechanism, detection platform is fixedly connected with the feed screw nut of screw mechanism, gear three is fixed on gear shaft three, gear shaft three is connected with lifting motor, rotating electric machine, lifting motor is fixedly connected with mobile platform.The present invention provide it is a kind of it is compact-sized, rotate and go up and down convenient substation's shelf depreciation crusing robot.
Description
Technical field
The present invention relates to electric device maintenance technical field more particularly to a kind of substation's shelf depreciation crusing robots.
Background technique
When power equipment breaks down, partial discharge phenomenon can generally occur, it will cause equipment as repaired not in time
Breakdown, causes power equipment to be unable to operate normally.Since not reliable real-time detecting system timely finds shelf depreciation portion
The accident of position, power equipment breakdown happens occasionally, and artificially detects and not can guarantee continuity, and reliability is not high.If can be
The position of discovery electric discharge in time is possible to avoid the generation of accident before accident occurs, and avoids biggish economic loss.
With the development of robot technology, power equipment crusing robot starts to start to apply in network system, by
The duplicate equipment routing inspection work of staff can be replaced in robot, guarantees the long-term safety operation of power equipment.Inspection machine
People has a reliable operation, working time unrestricted feature, special standby to be suitable for the cycle of operation longer important electric system and sets
In standby.
Crusing robot needs to examine shelf depreciation of the crusing robot for Partial Discharge Detection during inspection
It surveys component to rotate and go up and down relative to crusing robot pedestal, to be directed at the position to be checked of power equipment.Survey monitor in the prior art
The rotation and lifting of device people uses cascaded structure, and it is big and inconvenient to occupy volume.
Summary of the invention
The purpose of the present invention is to provide a kind of substation's shelf depreciation crusing robots, to solve inspection in the prior art
The rotation and lifting of robot use cascaded structure, occupy the big and inconvenient problem of volume.
In order to achieve the above object, the present invention adopts the following technical scheme:
A kind of substation's shelf depreciation crusing robot, including mobile platform, rotating platform and detection platform, the detection
Platform is equipped with Partial Discharge Detection component, and the rotating platform is in barrel mast shape, is equipped with gear ring, tooth in the rotating platform
Wheel one, gear two and gear three, gear ring are fixedly connected with the inner wall of rotating platform, and gear one is fixed on gear shaft one,
Gear one is engaged with gear ring, and gear shaft one is connected with rotating electric machine, and gear two is engaged with gear three, and gear two is fixed at tooth
On wheel shaft two, the lower end of gear shaft two is connected with screw mechanism, and gear shaft two is fixedly connected with the lead screw of screw mechanism, the inspection
It surveys platform to be fixedly connected with the feed screw nut of screw mechanism, gear three is fixed on gear shaft three, and gear shaft three is connected with
Lifting motor, the rotating electric machine, the lifting motor are fixedly connected with the mobile platform.
Further, mounting disc one and mounting disc two are additionally provided in the rotating platform, in mounting disc one and mounting disc two
It is equipped with bearing mounting hole corresponding with gear shaft one, gear shaft two and gear shaft three, is mounted on axis in bearing mounting hole
It holds, the installation base of installation mounting disc one and mounting disc two is respectively provided on the inner wall of the rotating platform, for installing
The internal diameter of the installation base of the mounting disc one is greater than the outer diameter of mounting disc two.
Further, the Partial Discharge Detection component is connect by a telescoping mechanism with the detection platform, described to stretch
The telescopic direction of contracting mechanism is vertical with the lifting direction of the detection platform.
Further, the Partial Discharge Detection component includes that can make the Partial Discharge Detection component and converting station electric power
The attracting magnetic absorption member of equipment.
Further, the Partial Discharge Detection component includes transient state ground radio wave sensor, uhf sensor and pulse
Current sensor.
Further, video detecting module is additionally provided in the detection platform, the video detecting module includes infrared heat
Image camera and Visible Light Camera.
Further, the video detecting module is connect by a luffing mechanism with the detection platform.
Further, the mobile platform is hung in orbit, and is slidably connected with the track, and the rotating platform turns
The dynamic lower end for being connected to the mobile platform is equipped with trolley along the track, the mobile platform include rack, current-collector,
Driving wheel, driven wheel and stabilizer group, the current-collector are fixedly connected in the rack, the wiping piece of the current-collector and institute
It is in electrical contact to state trolley, powers for substation's shelf depreciation crusing robot, the driving wheel is at the bottom of the track
It is rolled on face, the driving wheel is fixedly mounted on drive shaft, and the drive shaft is connected with driving by a deceleration mechanism
Motor, the driving motor are fixedly mounted in the rack, and the deceleration mechanism includes small pulley, big belt wheel and deceleration strip,
The small pulley is fixedly connected with the output shaft of the driving motor, and the big belt wheel is fixedly connected with the drive shaft, institute
Small pulley and the big belt wheel are stated by the deceleration strip band connection, the driven wheel is fixedly mounted on follower shaft, described
Follower shaft is mounted on the rack, and the driven wheel and the driving wheel are arranged about the Orbital Symmetry, the balance
Wheel group includes several stabilizers about Orbital Symmetry setting, and the stabilizer rolls on the side of the track, institute
It states stabilizer to be fixedly mounted on balancing axle, the balancing axle is mounted on balance wheel frame, and the balance wheel frame passes through one
Linear damper is connect with the rack, and the linear damper is horizontally disposed.
Further, the shelf depreciation crusing robot further includes controller and data collector, the controller control
The movement of substation's shelf depreciation crusing robot is made, the data collector includes central processing unit and memory, institute
It states central processing unit processing Partial Discharge Data and data is stored into the memory by treated, the current-collector connection
There is modem one, the modem one, Partial Discharge Detection component, controller and data collector pass through interchanger
One connection, the modem one are connect with the current-collector, and the trolley is connected with modem two, the modulation
Demodulator two is connected with interchanger two, and the interchanger two is connect with background host computer, the background host computer and office, the substation
Portion's crusing robot that discharges by power carrier realizes that signal transmits, and the background host computer is to substation's shelf depreciation inspection
Robot input control signal, substation's shelf depreciation crusing robot is to the background host computer input feedback signal.
After adopting the above technical scheme, the present invention has the advantage that
1, rotating electric machine band moving gear one rotates, and gear one drives the ring gear against rotation being engaged with, so that rotating platform turns
It is dynamic；Lifting motor band moving gear three rotates, and gear three drives the gear two being engaged with to rotate, and gear two drives screw rod rotation,
Feed screw nut's lifting is to drive detection platform to go up and down.The rotation and lifting of substation's shelf depreciation crusing robot of the invention
Using parallel-connection structure, rotation is mutually indepedent, non-interference with lifting two degrees of freedom, convenient for the realization of control；Also, robot knot
Structure is simple and compact, easy to process, is easily installed and dismantles.
2, gear shaft one, gear shaft two and gear shaft three by mounting disc one, mounting disc two and are arranged in mounting disc
Each bearing is mounted in rotating platform, and mounting disc one, mounting disc two are limited by each installation base, for installing the mounting disc
The internal diameter of one installation base is greater than the outer diameter of mounting disc two, is easily installed disk two, mounting disc one is sequentially loaded into.
3, the Partial Discharge Detection component is connect by a telescoping mechanism with the detection platform, the telescoping mechanism
Telescopic direction is vertical with the lifting direction of the detection platform.After crusing robot reaches the position of power equipment to be checked, lead to
The rotation of rotating platform, the lifting of detection platform are crossed, so that the detected part of Partial Discharge Detection component alignment power equipment, stretches
Contracting mechanism extends so that Partial Discharge Detection component is adjacent to the detected part of power equipment, to carry out Partial Discharge Detection.
4, the Partial Discharge Detection component includes that can make the Partial Discharge Detection component and converting station electric power equipment phase
The magnetic absorption member of suction, for being close to Partial Discharge Detection component with the detected part of power equipment, preventing Partial Discharge Detection group
Part sliding.
5, the Partial Discharge Detection component include transient state radio wave sensor, uhf sensor and pulse current sensing
Device, transient state radio wave sensor real-time detection power equipment Partial discharge signal main feature amount, including partial discharge pulse number, pulse
Amplitude, by under different defect models time domain phase, umber of pulse and measurement threshold values between relationship research, in conjunction with hyperfrequency
Sensor and pulses of current sensor exclude field interference signal, alarm Electric Power Equipment Insulation fault condition.
6, the lower end of the detection platform is additionally provided with video detecting module, and the video detecting module includes infrared thermal imaging
Camera and Visible Light Camera.According to the Image Acquisition information of Visible Light Camera, row reading data is remembered to the table for having reading into, automatically
Record and judgement, and propose to alarm, and enable various instructions in substation's shelf depreciation crusing robot automatic identification image
Lamp, electric equipment cabinet face arrangement pressing plate, be spaced apart, the secondary devices state such as change-over switch.Infra-red thermal imaging camera is used for room
The heat monitoring of the equipment such as interior each power equipment, distribution box, can survey the temperature of heat-producing device in substation room, and with visible light phase
Unit viewing system in pairs.
7, the video detecting module is connect by a luffing mechanism with the detection platform, enables video detecting module
It enough rotates upwardly and downwardly, to increase the detection range of video detecting module.
8, mobile platform is lifted by monorail and is supported, and structure is simple, compact, and small in size, the space occupied is also small, can be used for
Narrow space uses, while the difficulty that while greatly reducing to track installation constructs；Using stabilizer group, in substation part
In the moving process of electric discharge crusing robot, due to the effect of centripetal force during fuselage deflection or fuselage shaking or turning, rail
The stabilizer stress of road two sides differs, under the action of linear damper, to balance the power of two sides, so that mobile mechanism's operation is flat
It surely, is not in the problem of derailed, fuselage shakes.
9, by power line carrier, PLC, background host computer issues inspection for background host computer and substation's shelf depreciation crusing robot
Order is to substation's shelf depreciation crusing robot, so that controller control substation's shelf depreciation crusing robot is moved to and patrols
Cautious, Partial Discharge Detection component acquires Partial Discharge Data, and central processing unit handles Partial Discharge Data and by treated
Data are stored into memory, and Partial Discharge Data feeds back to background host computer, after background host computer receives Partial Discharge Data,
Control substation's shelf depreciation crusing robot is moved to next inspection point.Pass through substation's shelf depreciation crusing robot generation
Partial discharge detection operation is carried out for the scene of being manually entered, avoids the personal injury that may cause；And it can right place progress partial discharge inspection
Operation is surveyed, and automatically analyzes variation tendency, output inspection reduces at operation maintenance personnel data as a result, testing result referential is strong
Workload is managed, online detection method for local discharge in the prior art is solved and needs more shelf depreciation measurement equipment to be checked, cost
The detection of excessively high and Portable PD On-Line needs operation maintenance personnel carrying Portable partial discharge detector to be detected, Ren Yuanan
It cannot be guaranteed entirely, and the technical problem that the testing result property of can refer to is not high.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of substation's shelf depreciation crusing robot of the invention.
Fig. 2 is a kind of side view of substation's shelf depreciation crusing robot of the invention.
Fig. 3 is the structural schematic diagram of mobile platform in the present invention.
Fig. 4 is control system schematic diagram of the invention.
Fig. 5 is a kind of structural representation of substation's shelf depreciation crusing robot of the invention in rotating platform section view
Figure.
Fig. 6 is the partial enlarged view in Fig. 5 at A.
Specific embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
As shown in Figure 1, a kind of substation's shelf depreciation crusing robot, including mobile platform 1, rotating platform 2 and detection
Platform 3, mobile platform 1 are hung on track 4, and are slidably connected with track 4, and rotating platform 2 is rotatably connected on mobile platform 1
Lower end, detection platform 3 are connect with 2 liftable of rotating platform, and detection platform 3 is equipped with Partial Discharge Detection component 5.
As shown in Figure 2 and Figure 3, trolley 21 is equipped with along track 4.Mobile platform includes rack 101, current-collector 22, driving wheel
23, driven wheel 24 and stabilizer group.Current-collector 22 is fixedly connected in rack 101, the wiping piece and trolley 21 of current-collector 22
It is in electrical contact, it powers for mobile platform.Driving wheel 23 rolls on the bottom surface of track 4, and driving wheel 23 is fixedly mounted on driving wheel
On axis 25, drive shaft 25 is connected with driving motor 26 by a deceleration mechanism, and driving motor 26 is fixedly mounted on rack 101
On, deceleration mechanism includes small pulley 27, big belt wheel 28 and deceleration strip 29, the fixed company of the output shaft of small pulley 27 and driving motor 26
It connects, big belt wheel 28 is fixedly connected with drive shaft 25, and small pulley 27 and big belt wheel 28 pass through 29 band connection of deceleration strip.Driven wheel 24
It is fixedly mounted on follower shaft 30, follower shaft 30 is mounted in rack 101, and driven wheel 24 and driving wheel 23 are about track 4
It is symmetrical arranged.Stabilizer group includes about the symmetrically arranged several stabilizers 31 of track 4, and stabilizer 31 is on the side of track 4
It rolls, stabilizer 31 is fixedly mounted on balancing axle 32, and balancing axle 32 is mounted on balance wheel frame 33, and balance wheel frame 33 is logical
It crosses a linear damper 34 to connect with rack 101, linear damper 34 is horizontally disposed.
Mobile platform is lifted by monorail and is supported, and structure is simple, compact, and small in size, the space occupied is also small, can be used for narrow
Small space uses, while the difficulty that while greatly reducing to track installation constructs；Using stabilizer group, locally put in substation
In the moving process of electric crusing robot, due to the effect of centripetal force during fuselage deflection or fuselage shaking or turning, track
The stabilizer stress of two sides differs, under the action of linear damper, to balance the power of two sides, so that mobile platform operation is flat
It surely, is not in the problem of derailed, fuselage shakes.
In the present embodiment, linear damper 34 is electromagnetic type linear damper.Because linear damper is moved in crusing robot
Remain that working condition, service life are crusing robot problems in need of consideration during dynamic, mechanical straight line damping
Device is easily damaged when crusing robot is by big impact force, and electromagnetic type linear damper uses electromagnetic induction principle, rubs
Wipe it is small so that the service life of linear damper is promoted；Greater impact power can be born, is hardly damaged；Balance quality is high, so that patrolling
The running stability for examining robot is promoted.
In the present embodiment, the outside of driving wheel 23 and driving motor 26 is arranged in deceleration mechanism, then driving wheel 23 and drive
Dynamic motor 26 be located at it is ipsilateral so that mobile platform is compact-sized.
As shown in figure 4, substation's shelf depreciation crusing robot further includes controller 46 and data collector 47, controller
The movement of 46 control shelf depreciation crusing robots, data collector 47 include central processing unit and memory, central processing unit
It handling Partial Discharge Data and data is stored into memory by treated, current-collector 22 is connected with modem 1,
Modem 1, Partial Discharge Detection component 5, controller 46 and data collector 47 are connected by interchanger 1, are adjusted
Modulator-demodulator 1 is connect with current-collector 22, and trolley 21 is connected with modem 2 410, and modem 2 410 connects
There is interchanger 2 411, interchanger 2 411 is connect with background host computer 41, and background host computer 41 passes through with shelf depreciation crusing robot
Power carrier realizes signal transmitting, and background host computer 41 is to shelf depreciation crusing robot input control signal, shelf depreciation inspection
Robot is to 41 input feedback signal of background host computer.
In the present embodiment, as Figure 1 and Figure 4, video detecting module, video detecting module packet are additionally provided in detection platform 3
Infrared thermal imaging camera 6 and Visible Light Camera 7 are included, video detecting module 412 is connect with data collector 47.According to visible light phase
The Image Acquisition information of machine remembers row reading data into the table for having reading, automatically records and judge, and proposes to alarm, so that patrolling
The pressing plate of various indicator lights, electric equipment cabinet face arrangement in inspection robot energy automatic identification image is spaced apart, change-over switch etc. two
Secondary device state.Heat monitoring of the infra-red thermal imaging camera for equipment such as indoor each power equipment, distribution boxs, can survey power transformation
It stands the temperature of indoor heat-producing device, and forms double vision system with Visible Light Camera.
In the present embodiment, video detecting module is connect by a luffing mechanism with detection platform 3, so that video detecting module
It can rotate upwardly and downwardly, to increase the detection range of video detecting module.
By power line carrier, PLC, background host computer issues inspection life for background host computer and substation's shelf depreciation crusing robot
It enables to substation's shelf depreciation crusing robot, so that controller control substation's shelf depreciation crusing robot is moved to inspection
Point, Partial Discharge Detection component acquire Partial Discharge Data, central processing unit handle Partial Discharge Data and will treated number
According to storage into memory, Partial Discharge Data feeds back to background host computer, after background host computer receives Partial Discharge Data, control
Substation's shelf depreciation crusing robot processed is moved to next inspection point.
As shown in Figure 5, Figure 6, rotating platform 2 is in barrel mast shape, is equipped with gear ring 8, gear 1, gear in rotating platform 2
2 10 and gear 3 11, gear ring 8 be fixedly connected with the inner wall of rotating platform 2, gear 1 is fixed on gear shaft 1,
Gear 1 is engaged with gear ring 8, and gear shaft 1 is connected with rotating electric machine 13, and gear 2 10 is engaged with gear 3 11, gear 2 12
It is fixed on gear shaft 2 14, the lower end of gear shaft 2 14 is connected with screw mechanism 15, gear shaft 2 14 and screw mechanism
15 lead screw is fixedly connected, and detection platform 3 is fixedly connected with the feed screw nut of screw mechanism 15, and gear 3 11 is fixed at tooth
On wheel shaft 3 16, gear shaft 3 16 is connected with lifting motor 17, and rotating electric machine 13, lifting motor 17 are fixed with mobile platform 1
Connection.
Rotating electric machine 13 is rotated with moving gear 1, and gear 1 drives the gear ring 8 being engaged with to rotate, so that rotating platform
2 rotations；Lifting motor 17 is rotated with moving gear 3 11, and gear 3 11 drives the gear 2 10 being engaged with to rotate, gear 2 10
Screw rod rotation is driven, feed screw nut's lifting is to drive detection platform 3 to go up and down.Substation's shelf depreciation inspection machine of the invention
The rotation and lifting of people uses parallel-connection structure, and rotation is mutually indepedent, non-interference with lifting two degrees of freedom, convenient for the reality of control
It is existing；Also, robot architecture is simple and compact, easy to process, is easily installed and dismantles.
It is additionally provided with mounting disc 1 and mounting disc 2 19 in rotating platform 2, is all provided in mounting disc 1 and mounting disc 2 19
There is bearing mounting hole corresponding with gear shaft 1, gear shaft 2 14 and gear shaft 3 16, is mounted in bearing mounting hole
Bearing 20 is respectively provided with the installation base of installation mounting disc 1 and mounting disc 2 19 on the inner wall of rotating platform 2, is used for
The internal diameter for installing the installation base of mounting disc 1 is greater than the outer diameter of mounting disc 2 19.Gear shaft 1, gear shaft 2 14 and tooth
Wheel shaft 3 16 is mounted in rotating platform 2 by mounting disc 1, mounting disc 2 19 and each bearing 20 being arranged in mounting disc,
Mounting disc 1, mounting disc 2 19 are limited by each installation base, big for installing the internal diameter of installation base of mounting disc 1
In the outer diameter of mounting disc 2 19, it is easily installed disk 2 19, mounting disc 1 is sequentially loaded into.
In the present embodiment, as shown in Fig. 2, Partial Discharge Detection component 5 is connect by a telescoping mechanism with detection platform 3,
The telescopic direction of telescoping mechanism is vertical with the lifting direction of detection platform 3.Crusing robot reaches the position of power equipment to be checked
It postpones, by the rotation of rotating platform, the lifting of detection platform, so that Partial Discharge Detection component alignment power equipment is to be measured
Position, telescoping mechanism extend so that Partial Discharge Detection component is adjacent to the detected part of power equipment, to carry out shelf depreciation inspection
It surveys.
In the present embodiment, Partial Discharge Detection component 5 includes that can make the Partial Discharge Detection component and converting station electric power
The attracting magnetic absorption member of equipment, for being close to Partial Discharge Detection component 5 with the detected part of power equipment, preventing shelf depreciation
Detection components 5 slide.
Partial Discharge Detection component 5 including transient state radio wave sensor, uhf sensor and pulses of current sensor, wink
State radio wave sensor real-time detection power equipment Partial discharge signal main feature amount, including partial discharge pulse number, pulse amplitude,
By being sensed in conjunction with hyperfrequency to time domain phase, umber of pulse and the research for measuring relationship between threshold values under different defect models
Device and pulses of current sensor exclude field interference signal, alarm Electric Power Equipment Insulation fault condition.
In addition to above preferred embodiment, there are other embodiments of the invention, and those skilled in the art can be according to this
Invention makes various changes and modifications, and as long as it does not depart from the spirit of the invention, should belong to appended claims of the present invention and determines
The range of justice.
Claims (9)
1. a kind of substation's shelf depreciation crusing robot, which is characterized in that flat including mobile platform, rotating platform and detection
Platform, the detection platform are equipped with Partial Discharge Detection component, and the rotating platform is in barrel mast shape, are equipped in the rotating platform
Equipped with gear ring, gear one, gear two and gear three, gear ring is fixedly connected with the inner wall of rotating platform, and gear one is fixed at
On gear shaft one, gear one is engaged with gear ring, and gear shaft one is connected with rotating electric machine, and gear two is engaged with gear three, gear two
It is fixed on gear shaft two, the lower end of gear shaft two is connected with screw mechanism, and gear shaft two and the lead screw of screw mechanism are solid
Fixed connection, the detection platform are fixedly connected with the feed screw nut of screw mechanism, and gear three is fixed on gear shaft three, tooth
Wheel shaft three is connected with lifting motor, and the rotating electric machine, the lifting motor are fixedly connected with the mobile platform.
2. a kind of substation's shelf depreciation crusing robot according to claim 1, which is characterized in that the rotating platform
It is inside additionally provided with mounting disc one and mounting disc two, is equipped in mounting disc one and mounting disc two and gear shaft one, gear shaft two and tooth
The corresponding bearing mounting hole of wheel shaft three is mounted on bearing in bearing mounting hole, sets respectively on the inner wall of the rotating platform
There is the installation base for installing mounting disc one and mounting disc two, it is big for installing the internal diameter of installation base of the mounting disc one
In the outer diameter of mounting disc two.
3. a kind of substation's shelf depreciation crusing robot according to claim 1, which is characterized in that the shelf depreciation
Detection components are connect by a telescoping mechanism with the detection platform, the telescopic direction of the telescoping mechanism and the detection platform
Lifting direction it is vertical.
4. a kind of substation's shelf depreciation crusing robot according to claim 3, which is characterized in that the shelf depreciation
Detection components include that can make the Partial Discharge Detection component and the attracting magnetic absorption member of switch cabinet of converting station.
5. a kind of substation's shelf depreciation crusing robot according to claim 1, which is characterized in that the shelf depreciation
Detection components include transient state ground radio wave sensor, uhf sensor and pulses of current sensor.
6. a kind of substation's shelf depreciation crusing robot according to claim 1, which is characterized in that the detection platform
On be additionally provided with video detecting module, the video detecting module includes infrared thermal imaging camera and Visible Light Camera.
7. a kind of substation's shelf depreciation crusing robot according to claim 6, which is characterized in that the video detection
Component is connect by a luffing mechanism with the detection platform.
8. a kind of substation's shelf depreciation crusing robot described in any one in -7, feature exist according to claim 1
In the mobile platform is hung in orbit, and is slidably connected with the track, and the rotating platform is rotatably connected on the shifting
The lower end of moving platform, along the track be equipped with trolley, the mobile platform include rack, current-collector, driving wheel, driven wheel and
Stabilizer group, the current-collector are fixedly connected in the rack, and wiping piece and the trolley of the current-collector are electrically connected with
Touching is powered for substation's shelf depreciation crusing robot, and the driving wheel rolls on the bottom surface of the track, the drive
Driving wheel is fixedly mounted on drive shaft, and the drive shaft is connected with driving motor, the driving electricity by a deceleration mechanism
Machine is fixedly mounted in the rack, and the deceleration mechanism includes small pulley, big belt wheel and deceleration strip, the small pulley with it is described
The output shaft of driving motor is fixedly connected, and the big belt wheel is fixedly connected with the drive shaft, the small pulley and described big
Belt wheel is fixedly mounted on follower shaft by the deceleration strip band connection, the driven wheel, and the follower shaft is mounted on institute
It states in rack, the driven wheel and the driving wheel are arranged about the Orbital Symmetry, and the stabilizer group includes about described
Several stabilizers of Orbital Symmetry setting, the stabilizer roll on the side of the track, and the stabilizer is fixedly mounted
On balancing axle, the balancing axle is mounted on balance wheel frame, the balance wheel frame by a linear damper with it is described
Rack connection, the linear damper are horizontally disposed.
9. a kind of substation's shelf depreciation crusing robot according to claim 8, which is characterized in that the office, substation
Portion's electric discharge crusing robot further includes controller and data collector, and the controller controls substation's shelf depreciation inspection
The movement of robot, the data collector include central processing unit and memory, and the central processing unit handles shelf depreciation
Data and will the storage of treated data into the memory, the current-collector is connected with modem one, the modulation
Demodulator one, Partial Discharge Detection component, controller and data collector are connected by interchanger one, the modem one
It being connect with the current-collector, the trolley is connected with modem two, and the modem two is connected with interchanger two,
The interchanger two is connect with background host computer, and the background host computer and substation's shelf depreciation crusing robot pass through electric power
Carrier wave realizes signal transmitting, and the background host computer is described to substation's shelf depreciation crusing robot input control signal
Substation's shelf depreciation crusing robot is to the background host computer input feedback signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811267574.XA CN109434846A (en) | 2018-10-29 | 2018-10-29 | A kind of substation's shelf depreciation crusing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811267574.XA CN109434846A (en) | 2018-10-29 | 2018-10-29 | A kind of substation's shelf depreciation crusing robot |
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| CN109434846A true CN109434846A (en) | 2019-03-08 |
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| CN201811267574.XA Pending CN109434846A (en) | 2018-10-29 | 2018-10-29 | A kind of substation's shelf depreciation crusing robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109849023A (en) * | 2019-04-10 | 2019-06-07 | 江苏方天电力技术有限公司 | A kind of track suspension intelligent inspection robot system |
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| CN114878994A (en) * | 2022-07-11 | 2022-08-09 | 杭州世创电子技术股份有限公司 | Partial discharge signal detection method and system based on space ultrahigh frequency sensor |
| CN114878994B (en) * | 2022-07-11 | 2022-09-27 | 杭州世创电子技术股份有限公司 | Partial discharge signal detection method and system based on space ultrahigh frequency sensor |
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