CN110014411B - Transformer substation inspection robot - Google Patents

Transformer substation inspection robot Download PDF

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Publication number
CN110014411B
CN110014411B CN201910410737.3A CN201910410737A CN110014411B CN 110014411 B CN110014411 B CN 110014411B CN 201910410737 A CN201910410737 A CN 201910410737A CN 110014411 B CN110014411 B CN 110014411B
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China
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gear
transmission
lifting rod
assembled
detection equipment
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CN201910410737.3A
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CN110014411A (en
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赵海崴
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Henan University of Technology
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Henan University of Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

The invention relates to a transformer substation inspection robot which comprises a detection device and a vehicle body provided with a walking mechanism, wherein a lifting rod is assembled on the vehicle body in a vertically-guided moving mode, the detection device can be assembled at the top end of the lifting rod in a pitching rotating mode, a driving wedge surface is arranged on the lifting rod, a driving wedge block is assembled on the vehicle body in a front-back guiding moving mode, a first gear and a second gear are assembled on the lifting rod in a rotating mode, the second gear is a sector gear, the detection device is in transmission connection with the sector gear so as to drive the sector gear to rotate when the detection device rotates in a pitching mode, a transmission rack is also assembled on the lifting rod in a front-back guiding moving mode, a transmission rod which is vertically arranged is fixed on the transmission rack, and a transmission hole which is matched with the transmission rod in a vertically-adaptive guiding mode is formed in the driving wedge block. The invention provides a transformer substation inspection robot which can adjust the pitch angle of detection equipment and adjust the height of the detection equipment according to the pitch angle of the detection equipment.

Description

Transformer substation inspection robot
Technical Field
The invention relates to a transformer substation inspection robot in the field of power transmission.
Background
The transformer substation is a junction of a power supply and transmission system, and the safe and stable operation of the transformer substation is related to whether national production and life can normally operate. The inspection of the substation equipment is a basic work for effectively ensuring the safe operation of the substation equipment and improving the power supply reliability, and is mainly divided into routine inspection and special inspection. Routine inspection is carried out at least twice every day, and special inspection is generally carried out in high-temperature weather, large-load operation and before new equipment is put into operation and after strong wind, fog, ice and snow, hail and thunderstorm. In the traditional inspection technology, a maintainer needs to hold an infrared thermal imager and generally carries out infrared temperature measurement on substation equipment once every half month so as to judge whether an abnormality occurs. The manual inspection has the obvious defects of high labor intensity, low working efficiency, dispersed detection quality, high management cost and the like.
Therefore, the transformer substation inspection robot capable of reducing labor intensity of workers comes along with the operation, the existing transformer substation inspection robot is like 'a transformer substation inspection robot' disclosed in Chinese patent CN107520850A, the inspection robot comprises a vehicle body provided with a traveling mechanism, the traveling mechanism comprises wheels driven by a power system, a lifting table capable of lifting is arranged on the vehicle body, detection equipment such as an infrared thermal imager and a high-definition camera is arranged at the top end of the lifting table, and the lifting table is driven by a lifting motor. When being limited by the height of the inspection robot and generating the visual field blind area, the height of the detection equipment can be changed by adjusting the height of the lifting support platform, so that the visual field blind area generated by the height problem is eliminated. The existing inspection robot has the following problems: the check out test set can not carry out the pitch angle adjustment, and this can increase check out test set's field of vision blind area, and check out test set's lift is controlled by elevator motor in addition, and check out test set's height need not adjust when, need artificial going to judge control, and control process is more complicated.
Disclosure of Invention
The invention aims to provide a substation inspection robot, which can adjust the pitch angle of detection equipment and adjust the height of the detection equipment according to the pitch angle of the detection equipment.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a transformer substation inspection robot comprises a detection device and a vehicle body provided with a traveling mechanism, wherein a lifting rod is assembled on the vehicle body in a guiding and moving mode along the vertical direction, the detection device can be assembled on the top end of the lifting rod in a pitching and rotating mode, a pitching motor for driving the detection device to perform pitching adjustment is arranged on the lifting rod, a driving wedge surface is arranged on the lifting rod, a driving wedge block which is matched with the driving wedge surface and used for driving the lifting rod to move upwards when the lifting rod moves towards the driving wedge surface is assembled on the vehicle body in a guiding and moving mode along the front-back direction, a first gear with a rotating axis extending along the left-right direction and a second gear positioned on the upper side of the first gear are assembled on the lifting rod in a rotating mode, the second gear is a sector gear, the detection device is in transmission connection with the sector gear so as to drive the sector gear to rotate when the detection device performs pitching rotation, and the sector gear is provided with a transmission tooth which is engaged with the first gear, the lifting rod is further provided with a transmission rack which is guided to move in the front-back direction, a transmission rod which is vertically arranged is fixed on the transmission rack, a transmission hole which is matched with the transmission rod in a matched and guided manner in the up-down direction is formed in the driving wedge block, and when the pitch angle of the detection equipment is +/-30 degrees, the transmission teeth of the sector gear are separated from the first gear.
The detection equipment is a thermal infrared imager.
And a third gear in meshing transmission with the second gear is coaxially and fixedly connected to the detection equipment.
The diameters of the first gear and the third gear are the same, and the diameter of the second gear is 3-5 times of the diameter of the first gear.
The invention has the beneficial effects that: the pitching motor drives the detection equipment to perform pitching adjustment, when the pitching angle of the detection equipment is +/-30 degrees, the notch part of the sector gear corresponds to the first gear, the second gear does not transmit to the first gear, when the pitching angle of the detection equipment is larger than +/-30 degrees, the transmission teeth of the sector gear and the first gear start to be meshed for transmission, the first gear drives the transmission rack to move back and forth, the transmission rod fixed on the transmission rack moves synchronously along with the transmission rack, the transmission rod drives the transmission wedge block to move back and forth, when the pitching angle of the detection equipment is larger than +/-30 degrees, the transmission rod drives the transmission wedge block to move towards the transmission wedge surface, so that the lifting rod is lifted, and the height of the detection equipment is provided so as to reduce a visual field blind area; when the depression angle of the detection equipment is less than 30 degrees, the transmission rod drives the transmission wedge block to move away from the transmission wedge surface, the lifting rod moves downwards, the height of the detection equipment is reduced, so that the visual blind area is reduced, the characteristic that the sector gear has a gap is utilized, when the pitch angle of the detection equipment is less than or equal to +/-30 degrees, the pitch angle adjustment angle is smaller, the detection of the equipment can be completed without height adjustment, special control is not needed in the process, because the sector gear does not transmit to the first gear, the height of the lifting rod cannot be adjusted, when the pitch angle of the detection equipment is greater than 30 degrees, the height of the lifting rod at present cannot meet the detection requirement, the sector gear transmits to the first gear, so that the height adjustment of the lifting rod is realized, when the height adjustment of the detection equipment is not needed, and when the height of the detection equipment needs to be adjusted through a mechanical structure, the method does not need complex control and is simple and easy to realize.
Drawings
FIG. 1 is a schematic block diagram of one embodiment of the present invention;
FIG. 2 is a schematic view of the device of FIG. 1 in a tilted up position;
FIG. 3 is a schematic structural view of the chassis of FIG. 1;
FIG. 4 is a schematic view of the steering wheel of FIG. 1 engaged with the steering wheel mounting plate;
FIG. 5 is a schematic view of the structure of the damper spring of FIG. 1;
fig. 6 is a schematic structural view of the lifting rod of fig. 1.
Detailed Description
An embodiment of a transformer substation inspection robot is shown in figures 1-6: including check out test set and the automobile body 6 that is provided with running gear, the automobile body includes chassis 8 and the car cover 7 that is fixed in the chassis upside in this embodiment, and the chassis includes the girder 27 that extends along the fore-and-aft direction, has four longerons 28 along fore-and-aft direction interval arrangement on the girder, and girder and longeron are made by square steel pipe in this embodiment. The two longitudinal beams at the back are used for placing the battery 13, and the two longitudinal beams at the front are used for arranging the damping support 25.
In this embodiment, the traveling mechanism includes a directional wheel 9 located at the front and a steering wheel 14 located at the rear, the directional wheel is driven by a hub motor to form a driving wheel, the directional wheel 9 is located between two longitudinal beams located at the front, the directional wheel 9 is connected to the front end of the main beam through an a-shaped arm 29, the a-shaped arm is an a-shaped frame arm having a single end 30 and a double end 31, the connection relationship is that the single end 30 of the a-shaped arm is hinged to the directional wheel 9 through a first hinge shaft 32 whose axis extends in the front-rear direction, and the double end 31 of the a-shaped arm is hinged to the main beam 27 through two second hinge shafts 33 whose axes extend in the front-rear direction. Shock attenuation support 25 is trapezoidal branch structure, the bottom of trapezoidal branch is welded fastening respectively on two longerons that the position leaned on the front, be provided with damping spring 26 between the top of trapezoidal branch and the single-end of A shape arm, damping spring includes vertical arrangement's coil spring 41 and sets up the gas spring pole in coil spring 41 middle part, the gas spring pole is including filling with gaseous spring pole cylinder body 42 and the piston rod 40 of direction removal assembly in the spring pole cylinder body, the upper end of piston rod is provided with the spring holder, the lower extreme of spring pole cylinder body is provided with down the spring holder, coil spring top-packing is between last spring holder and lower spring holder. The upper spring seat is connected to the top of the trapezoidal strut by a third hinge shaft 39 whose axis extends in the front-rear direction, and the lower spring seat is connected to the single end of the a-shaped arm by a fourth hinge shaft 43 whose axis extends in the front-rear direction.
A steering wheel mounting plate 15 with a front end elastically suspended and fixed on the rear side cover wall of the car cover in a welded manner, the steering wheel mounting plate in the embodiment is a cantilever plate structure formed by bending integrally, and comprises a straight mounting plate section 36 at the front end, a vertical fixing plate section 34 at the rear end and a connecting plate section 35 connected between the mounting plate section 36 and the fixing plate section 34 and arranged obliquely, the fixing plate section 34 is welded and fixed on the rear side cover wall of the car cover, a rotating shaft of the steering wheel is rotatably assembled on the mounting plate section, the steering wheel is positioned at the lower side of the mounting plate section 36, the axis of the rotating shaft of the steering wheel extends along the up-down direction, a large steering gear 38 is coaxially fixed on the upper side of the mounting plate on the rotating shaft of the steering wheel, a small steering gear 37 with a rotating axis extending along the up-down direction is rotatably assembled on the rear side of the steering gear on the mounting plate, a steering motor 16 coaxially connected with the small steering gear is fixed on the lower side of the mounting plate, the small steering gear 37 is in meshed transmission with the large steering gear 38. The steering motor drives the small steering gear to rotate, and then drives the large steering gear to drive the steering wheel to rotate so as to realize steering, and the steering wheel mounting plate is of a cantilever plate structure with the front end capable of elastically deforming up and down, so that the steering wheel can float up and down to a certain extent, and the shock absorption is realized.
The lifting rod 45 is assembled on the vehicle body in a guiding and moving mode in the vertical direction, specifically, a guide sleeve 5 is arranged between a main beam of the chassis and an upper cover wall of the vehicle cover, avoidance holes 12 communicated with the upper end and the lower end of the guide sleeve are respectively formed in the upper cover wall and the main beam, and the lifting rod 45 is assembled in an inner hole of the guide sleeve 5 in a guiding and moving mode. A bottom plate 10 is arranged on the lower side of the main beam, a tension spring 11 is connected between the bottom plate and the bottom of the lifting rod, and the tension spring 11 is used for applying downward tension to the lifting rod 45. The top of lifter 45 is provided with check out test set 2, and the check out test set in this embodiment is thermal infrared imager, but check out test set passes through the axis and assembles in the top of lifter along the rotation of the installation axle 47 rotation of pitching that the left and right directions extended, is provided with the pitching motor 46 of drive check out test set every single move adjustment on the lifter, and pitching motor is a servo motor, and pitching motor's motor shaft and installation axle coaxial line fixed connection to rotate and drive check out test set every single move through drive installation axle. The lifting rod is provided with a driving wedge surface 24 which gradually inclines and extends downwards from back to front, the vehicle body is provided with a driving wedge block 18 which is in contact fit with the driving wedge surface so as to drive the lifting rod to move upwards when moving forwards in a guiding and moving mode along the front and back direction, and the driving wedge block 18 is provided with a wedge surface 23 which is in contact fit with the driving wedge surface. The last rotation of lifter is equipped with first gear 4 that the axis of rotation extends along left right direction and is located the second gear 3 of first gear upside, and the epaxial coaxial line of installation is fixed with third gear 1, and first gear 4, third gear 1's diameter is the same, and the diameter of second gear 3 is 4 times of first gear diameter. The second gear 3 is a sector gear, so the second gear has a notch 21 between two ends of a transmission gear 22, the third gear 1 is in meshed transmission with the transmission gear of the second gear 3 to drive the sector gear to rotate when the detection equipment rotates in a pitching manner, a transmission rack 20 is further assembled on the lifting rod along the front-back direction in a guiding and moving manner, a vertically arranged transmission rod 19 is fixed on the transmission rack, a transmission hole matched with the transmission rod in a matching and guiding manner in the up-down direction is formed in the driving wedge block, when the pitch angle of the detection equipment is within +/-30 degrees, the transmission gear of the sector gear is separated from the first gear, and a transmission rod avoiding long groove 17 extending in the front-back direction is formed in the lower side of the driving wedge block at the top of the vehicle cover. The battery supplies power to corresponding power-requiring equipment such as a steering motor, a pitching motor, detection equipment and the like.
When the inspection robot is used, the front directional wheel drives the whole inspection robot to move, the rear steering wheel is responsible for steering, and when the inspection robot encounters uneven road surfaces, the left directional wheel and the right directional wheel act on the corresponding A-shaped arms respectively and can be adjusted in a vertically floating mode to achieve damping, so that the stability of detection equipment is guaranteed; the steering wheel behind the position also can fluctuate under the effect of cantilever slab and carry out the shock attenuation, and the diameter of steering wheel is less than directional wheel, realizes turning to more easily on the one hand, also provides the space for placing of battery on the other hand. The pitching motor drives the detection equipment to adjust the pitch angle, the pitch angle is 0 when the detection equipment is horizontal, the pitch angle is straight when the front end of the detection equipment is pitched upwards, and the pitch angle is a negative value when the front end of the detection equipment is pitched downwards. In the embodiment, the pitching motor is controlled to be manually operated by a worker, when the pitching motor only needs to drive the detection equipment to rotate within a pitch angle of +/-30 degrees to detect the equipment, the height of the detection equipment at the moment is proved to meet the requirement, the corresponding equipment can be detected, the notch part of the sector-shaped tooth corresponds to the first gear and does not transmit to the first gear, the height of the lifting rod cannot be changed, the driving wedge block is supported on the lower side of the driving wedge surface, the driving wedge block is in contact fit with the two inclined surfaces of the driving wedge surface, and the rotation of the lifting rod can be limited; when the detection equipment with the pitch angle of +/-30 cannot detect related equipment, the corresponding equipment is higher or lower, the current height of the detection equipment has a vision blind area, a worker can control a pitch motor to continuously drive the detection equipment to rotate, the pitch angle of the detection equipment which is larger than 30 degrees is taken as an example, a third gear drives a second gear to rotate clockwise, the second gear drives a first gear to rotate anticlockwise as shown in figure 2, a transmission rack moves forwards, a vertical transmission rod drives a driving wedge block to move forwards, the driving wedge block is matched with a driving wedge surface to jack up a lifting rod, the height of the detection equipment is increased at the moment, the equipment can be detected if the height is not required to be increased, the worker only needs to control the detection equipment through the pitch motor to reduce the elevation angle of the detection equipment, and as long as the pitch angle of the detection equipment is not smaller than-30 degrees, the height of the detection equipment cannot be reduced, and if the equipment cannot be detected at the height, the working personnel can continue to increase the pitch angle of the detection equipment, so that the height of the detection equipment can also continue to increase; in a similar way, when equipment at a lower position needs to be detected, the worker only needs to control the pitch angle of the detection equipment, and the height of the detection equipment can be adjusted. In other embodiments of the invention: the detection device may also be a camera, although the detection device may also include both a camera and a thermal infrared imager.

Claims (4)

1. The utility model provides a transformer substation patrols and examines robot, includes check out test set and is provided with running gear's automobile body, its characterized in that: the lifting rod is assembled on the vehicle body in a guiding and moving mode along the up-down direction, the detection device can be assembled at the top end of the lifting rod in a pitching rotating mode, a pitching motor for driving the detection device to perform pitching adjustment is arranged on the lifting rod, a driving wedge face is arranged on the lifting rod, a driving wedge block used for being matched with the driving wedge face to drive the lifting rod to move upwards when the vehicle body moves towards the driving wedge face is assembled on the vehicle body in a guiding and moving mode along the front-back direction, a first gear with a rotating axis extending along the left-right direction and a second gear located on the upper side of the first gear are rotatably assembled on the lifting rod, the second gear is a sector gear, the detection device is in transmission connection with the sector gear to drive the sector gear to rotate when the detection device performs pitching rotation, the sector gear is provided with transmission teeth used for being in meshing transmission with the first gear, and a transmission rack is also assembled on the lifting rod in a guiding and moving mode along the front-back direction, the transmission rack is fixedly provided with a vertically arranged transmission rod, the driving wedge block is provided with a transmission hole matched with the transmission rod in a matched and guiding manner in the up-down direction, when the pitch angle of the detection equipment is +/-30 degrees, the transmission teeth of the sector gear are separated from the first gear, the vehicle body comprises a chassis and a vehicle cover fixed on the upper side of the chassis, and the top of the vehicle cover is provided with a transmission rod avoiding elongated slot extending in the front-back direction at the lower side of the driving wedge block.
2. The substation inspection robot according to claim 1, wherein: the detection equipment is a thermal infrared imager.
3. The substation inspection robot according to claim 1, wherein: and a third gear in meshing transmission with the second gear is coaxially and fixedly connected to the detection equipment.
4. The substation inspection robot according to claim 3, wherein: the diameters of the first gear and the third gear are the same, and the diameter of the second gear is 3-5 times of the diameter of the first gear.
CN201910410737.3A 2019-05-17 2019-05-17 Transformer substation inspection robot Active CN110014411B (en)

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CN110014411B true CN110014411B (en) 2021-11-16

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115078925A (en) * 2020-09-24 2022-09-20 国网山东省电力公司临沂供电公司 AI partial discharge intelligent identification method

Citations (6)

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Publication number Priority date Publication date Assignee Title
US6113343A (en) * 1996-12-16 2000-09-05 Goldenberg; Andrew Explosives disposal robot
CN106141870A (en) * 2016-08-16 2016-11-23 温州市成尚装饰五金有限公司 A kind of five metals quick sanding apparatus of the iron staff that gets rusty
CN106569205A (en) * 2016-11-01 2017-04-19 河北汉光重工有限责任公司 Co-aperture infrared/radar composite seeker
CN106817928A (en) * 2017-01-01 2017-06-13 南昌首叶科技有限公司 A kind of agricultural weeding loosens the soil integration apparatus
CN107972038A (en) * 2017-06-09 2018-05-01 国网山东省电力公司电力科学研究院 A kind of autonomous substation equipment living water washing robot system and method
CN207864933U (en) * 2018-01-29 2018-09-14 山东诺顿检验检测有限公司 A kind of source fixing device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6113343A (en) * 1996-12-16 2000-09-05 Goldenberg; Andrew Explosives disposal robot
CN106141870A (en) * 2016-08-16 2016-11-23 温州市成尚装饰五金有限公司 A kind of five metals quick sanding apparatus of the iron staff that gets rusty
CN106569205A (en) * 2016-11-01 2017-04-19 河北汉光重工有限责任公司 Co-aperture infrared/radar composite seeker
CN106817928A (en) * 2017-01-01 2017-06-13 南昌首叶科技有限公司 A kind of agricultural weeding loosens the soil integration apparatus
CN107972038A (en) * 2017-06-09 2018-05-01 国网山东省电力公司电力科学研究院 A kind of autonomous substation equipment living water washing robot system and method
CN207864933U (en) * 2018-01-29 2018-09-14 山东诺顿检验检测有限公司 A kind of source fixing device

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