CN110233440B - Become distribution equipment inspection device - Google Patents
Become distribution equipment inspection device Download PDFInfo
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- CN110233440B CN110233440B CN201910440593.6A CN201910440593A CN110233440B CN 110233440 B CN110233440 B CN 110233440B CN 201910440593 A CN201910440593 A CN 201910440593A CN 110233440 B CN110233440 B CN 110233440B
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- 238000007689 inspection Methods 0.000 title claims abstract description 42
- 238000006073 displacement reaction Methods 0.000 claims abstract description 23
- 230000009466 transformation Effects 0.000 claims abstract description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 26
- 230000001360 synchronised effect Effects 0.000 claims description 22
- 238000004891 communication Methods 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 abstract description 2
- 230000000737 periodic effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 230000000007 visual effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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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Abstract
The invention discloses a power transformation and distribution equipment inspection device, which can solve the technical problem that the existing inspection equipment cannot obtain inspection results in an omnibearing and three-dimensional manner. The automatic control system comprises an AGV trolley and a control cabinet structure, wherein the control cabinet structure is fixed on the AGV trolley, a control module is arranged in the control cabinet structure, and the automatic control system further comprises a lifting assembly, an operation assembly, a near view camera, a far view camera and a sensor assembly which are respectively communicated with the control module; the sensor assembly comprises a first laser displacement sensor and a second laser displacement sensor; the close-range camera and the first laser displacement sensor are arranged on the operation assembly, and the distant-range camera is arranged on the lifting assembly; and the second laser displacement sensor is fixed on the side surface of the control cabinet structure. According to the inspection robot, the information and the state of the electric switch can be recorded through periodic inspection, whether the operation of the equipment is abnormal or not can be inspected, the indoor inspection operation of an electric control room can be completed instead of manual work, the inspection quality and efficiency are improved, and the labor intensity of workers and the labor cost of enterprises are reduced.
Description
Technical Field
The invention relates to the technical field of power grid safety, in particular to a power transformation and distribution equipment inspection device.
Background
The existing equipment inspection mode is manual inspection, inspection workers can inspect equipment at regular time every day, and at present, a plurality of problems exist. (1) The personnel problem, the transformer station construction is more and more, and electrician's supply is insufficient, maintainer technical level is limited, and fortune dimension personnel often relies on self operational experience to judge, and lacks corresponding working standard and can be in the reference. (2) data problem: the method is characterized in that a manual inspection mode is adopted to record how incomplete the operation data of the power distribution room is; (3) The problem of fault prediction is that the quantity of manually collected data is less, the data types are not comprehensive, the coverage is not enough, the discreteness is large, and the fault can not be reported at the first time when the fault occurs.
Meanwhile, some other automatic inspection robots exist in the market and are usually used outdoors, the appearance and the temperature of outdoor equipment are detected by adopting a camera and an infrared temperature sensor, the acquired information is insufficient, different visual angles can be obtained only by swinging the head, and an inspection result cannot be obtained in an omnibearing and three-dimensional mode.
The indoor inspection robot is also provided with an operation track which is required to be arranged indoors, and the installation is complex; only a camera and an infrared temperature sensor are installed, so that information acquisition is less; the electronic cabinet can only be shot at the front for inspection, and can not move up and down, and the visual angle is too narrow.
Disclosure of Invention
The invention provides a power transformation and distribution equipment inspection device, which can solve the technical problem that the existing inspection equipment cannot obtain inspection results in an omnibearing and three-dimensional manner.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a become distribution equipment inspection device, includes AGV dolly and switch board structure, the switch board structure is fixed on the AGV dolly, sets up control module in the switch board structure, control module and AGV dolly communication connection, still include close-range camera, long-range camera and the sensor assembly of setting up on the switch board structure respectively;
the automatic lifting device also comprises a lifting assembly, wherein the lifting assembly is fixed on the AGV trolley;
the lifting assembly is arranged on the lifting assembly;
the lifting assembly, the operation assembly, the close-range camera, the far-range camera and the sensor assembly are respectively communicated with the control module;
The sensor assembly comprises a first laser displacement sensor and a second laser displacement sensor;
the close-range camera and the first laser displacement sensor are arranged on the operation assembly, and the distant-range camera is arranged on the lifting assembly;
and the second laser displacement sensor is fixed on the side surface of the control cabinet structure.
Further, the lifting assembly comprises a lifting servo motor, a planetary gear reducer is connected with a main frame backboard, the output end of the reducer is connected to a ball screw, and a screw nut on the ball screw is fixed with the telescopic frame backboard;
the telescopic frame is provided with a synchronous pulley and a synchronous belt, one side of the synchronous belt is fixed on the back plate of the main frame, and the other side of the synchronous belt is fixed on the fork frame;
When the lifting servo motor works, the ball screw is driven to rotate, and then the screw nut is driven to push the telescopic frame to move; the expansion bracket moves to drive the synchronous belt to move, and the fork frame fixed by the synchronous belt also moves along with the synchronous belt, and the displacement of the fork frame is twice of that of the expansion bracket;
The lifting servo motor is in communication connection with the control module.
Further, the handling assembly includes a traversing assembly;
The transverse moving assembly is arranged on the fork frame and comprises a transverse moving fixed plate, a transverse moving plate, a rack, a gear, a transverse moving servo motor and a transverse moving speed reducer;
The transverse moving fixed plate is fixed with the fork frame, the rack is arranged on the transverse moving fixed plate, the transverse moving servo motor is connected with the transverse moving speed reducer, the gear is arranged at the output end of the transverse moving speed reducer, the transverse moving speed reducer is arranged on the transverse moving plate, the linear guide rail is arranged on the transverse moving fixed plate, the transverse moving plate is connected with the sliding block on the linear guide rail, and the gear is matched with the rack; the transverse moving servo motor drives the gear to rotate, so that the transverse moving plate is pushed to extend out;
And the traversing servo motor is in communication connection with the control module.
Further, the operation assembly further comprises a knob manipulator assembly, the knob manipulator assembly is fixed on the transverse moving plate, wherein a rotary fixing plate of the knob manipulator assembly is fixed with the transverse moving plate, and the rotary moving plate is connected with a sliding block of a guide rail fixed on the rotary fixing plate and can slide back and forth;
The transverse moving servo motor is fixed on the rotary fixing plate through a motor bracket, the rotary servo motor is connected with a rotary speed reducer, the rotary speed reducer is arranged on the rotary moving plate and is connected with the shaft through a coupler, and the knob holder is connected on the shaft;
And the traversing servo motor and the rotating servo motor are respectively connected with the control module.
Further, the operation assembly further comprises a button manipulator assembly, the button manipulator assembly is fixed on the transverse moving plate, a button manipulator servo motor is fixed on a button manipulator base plate through a motor bracket, a button manipulator rack is connected with the linear slide rail, a sliding block is arranged on the button manipulator base plate, a button finger is arranged at the front end of the linear slide rail, a gear is arranged on a button manipulator servo motor shaft, the gear is matched with the button manipulator rack, the button manipulator servo motor drives the linear slide rail to extend out, and the button finger operates the button;
The button manipulator motor is in communication connection with the control module.
Further, the operation assembly further comprises an idle manipulator assembly, the idle manipulator assembly is arranged on the transverse moving plate, an idle manipulator servo motor is fixed on an idle manipulator base plate through a motor bracket, an idle manipulator rack is fixed with a linear slide rail, a slide block is fixed on the idle manipulator base plate, an idle gripper is fixed on the linear slide rail, a gear is arranged on an idle manipulator servo motor shaft, the gear is matched with the idle manipulator rack, and the idle manipulator servo motor rotates to drive the linear slide rail to move, and the idle manipulator stretches out;
the air starting manipulator servo motor is in communication connection with the control module.
According to the technical scheme, the inspection device for the power transformation and distribution equipment can be used for inspecting the indoor electrical control cabinet of the railway traction substation at regular time and receiving the robot for remotely controlling the opening and closing operation of the electrical switch of the electrical control cabinet. The mechanical structures of the robots are all erected above the AGV, and the AGV adopts differential turning, so that the robots can detect an electrical cabinet in a narrow passageway; the main lifting frame of the robot adopts a secondary lifting device, so that a camera and an operator on an operation platform can vertically rise to the highest position (2.1 meters) and descend to the lowest position (0.4 meters), and the whole robot can patrol an electric cabinet on a full working surface (from top to bottom); through the movement of the AGV trolley and the lifting of the lifting device, the camera can integrally shoot the image of the whole control cabinet; and determining the relative positions of the electric switch to be operated, the trolley and the manipulator through image processing and identification, and adjusting the position of the manipulator to enable the manipulator to be opposite to the switch to be operated. The operation platform extends out of the control cabinet panel, and the manipulator extends out of the operation platform to contact the switch, so that the operation of the switch is completed.
According to the inspection robot, through periodic inspection, information and states of the electrical switches are recorded, whether the equipment is abnormal in operation or not is checked, inspection information is sent to the background management system, and the designated electrical switches are operated according to requirements, so that indoor inspection operation of an electrical control room can be completed instead of manual operation, inspection quality and efficiency are improved, labor intensity of workers and labor cost of enterprises are reduced, and unmanned operation of the electrical control room of a substation is realized.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a lifting assembly according to the present invention;
FIG. 3 is a schematic diagram of a lifting assembly according to the second embodiment of the present invention;
FIG. 4 is a schematic view of the operational assembly of the present invention;
FIG. 5 is a schematic view of a traversing assembly of the present invention;
FIG. 6 is a schematic diagram of a traversing assembly of the present invention;
FIG. 7 is a schematic illustration of the knob manipulator assembly of the present invention;
FIG. 8 is a schematic diagram of an air starting manipulator assembly according to the present invention;
FIG. 9 is a schematic diagram of a button manipulator assembly of the present invention;
FIG. 10 is a schematic diagram of the electrical control of the main circuit of the present invention;
FIG. 11 is a schematic diagram of the electrical control of the servo system of the present invention;
FIG. 12 is a control module wiring diagram of the present invention;
Fig. 13 is a schematic diagram of a coordinate system of an inspection robot according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
1-9, The substation and distribution equipment inspection robot in the embodiment comprises an AGV trolley 1, a control cabinet 2, a lifting assembly 3, an operation assembly 4, a close-range camera 5, a far-range camera 6 and a sensor, wherein a control module is arranged in the control cabinet;
the AGV trolley 1 is provided with a control cabinet 2, a lifting assembly 3, an operation platform assembly 4 and a close-range camera 5, the close-range camera 5 and a laser displacement sensor 7 are arranged on the operation assembly 4, and a distant-range camera 6 is arranged on the lifting assembly 3.
In the control cabinet 2, the control cabinet 2 is fixed on the AGV trolley 1, and a laser displacement sensor 8 is fixed on the side surface of the control cabinet 2.
In the lifting assembly 3, a base 9 is fixed on an AGV trolley 1, a lifting servo motor 10 is connected with a planetary gear reducer 11 and is fixed on a main frame backboard 12, the output end of the reducer is connected to a ball screw 13, and a screw nut 14 on the screw is fixed with a telescopic frame backboard 15. The telescopic frame 16 is provided with a synchronous pulley 17 and a synchronous belt 18, one side of the synchronous belt 18 is fixed on the back plate 12 of the main frame through a synchronous belt pressing block 19, and the other side is fixed through the synchronous belt pressing block 19 and a fork frame 20. When the lifting servo motor 10 works, the ball screw 13 is driven to rotate, and the screw nut 14 is driven to push the telescopic frame to move. The movement of the telescopic frame 16 drives the synchronous belt 18 to move, and the fork frame 20 fixed by the synchronous belt 18 also moves along with the synchronous belt, and the displacement of the fork frame 20 is twice that of the telescopic frame 16; the lifting servo motor 10 is in communication connection with the control module.
The operation assembly 4 comprises a traversing assembly 21, a knob manipulator assembly 22, a button manipulator assembly 23 and an idle manipulator assembly 24. Wherein the traversing assembly is arranged on the fork frame 20, and the traversing assembly 21 consists of a traversing fixed plate 25, a traversing moving plate 26, a rack 27, a gear 28, a traversing servo motor 29 and a traversing decelerator 30. The transverse moving fixed plate 25 is fixed with the fork 20, the rack 27 is arranged on the transverse moving fixed plate 25, the transverse moving servo motor 26 is connected with the transverse moving speed reducer 30, the gear 28 is arranged at the output end of the transverse moving speed reducer 30, the transverse moving speed reducer 30 is arranged on the transverse moving plate 26, and the gear 28 is matched with the rack 27. The traversing servo motor 29 drives the gear 28 to rotate, so as to push the traversing moving plate 26 to extend out; the traversing servo motor 29 is communicatively coupled to the control module.
The knob manipulator assembly 22 is fixed on the traversing moving plate 26, wherein a rotation fixing plate 31 of the knob manipulator 22 is fixed with the traversing moving plate 26, and a rotation moving plate 32 is connected with a slide block of a guide rail fixed on the rotation fixing plate 31 so as to be capable of sliding back and forth. The traversing servo motor 33 is fixed on the rotary fixed plate 31 through a motor bracket, the rotary servo motor 34 is connected with a rotary speed reducer 35, the rotary speed reducer 35 is arranged on the rotary moving plate 32 and is connected with a shaft 36 through a coupling, and a knob holder 37 is connected on the shaft 36; the traversing servo motor 33 and the rotating servo motor 34 are respectively connected with the control module in a communication way.
The air starting manipulator assembly 24 is arranged on the transverse moving plate 26, the air starting manipulator servo motor 38 is fixed on the air starting manipulator base plate 39 through a motor bracket, the rack 40 is fixed with a linear slide rail, the slide block is fixed on the base plate 39, the air starting clamp holder 41 is fixed on the linear slide rail, the gear is arranged on the axis of the air starting manipulator servo motor 38 and matched with the rack 40, the air starting manipulator servo motor 38 rotates to drive the linear slide rail to move, the air starting manipulator stretches out, and the air starting manipulator assembly motor 38 is connected with the communication module.
The button manipulator assembly 23 is fixed on the traversing moving plate 26, the button manipulator servo motor 42 is fixed on the button manipulator base plate 43 through a motor bracket, the rack 44 is connected with a linear slide rail, the slide block is arranged on the base plate 43, the button finger 45 is arranged at the front end of the linear slide rail, the gear is arranged on the shaft of the button manipulator servo motor 42 and matched with the rack 44, the motor 42 drives the linear slide rail to extend, and the button finger 45 operates the button; the button manipulator assembly motor 42 is communicatively coupled to the control module.
Referring to fig. 10 to 12, the specific workflow of the electrical cabinet inspection robot of the present invention is as follows:
The first step: the AGV 1 starts up to the landmark card marking position, i.e. to the robot work position. The second step to the fourth step are synchronously performed.
And a second step of: judging whether AGV dolly 1 is on a parallel with waiting to operate the switch board, can calculating the contained angle between AGV dolly and the switch board through the distance that laser displacement sensor 8 and laser displacement sensor 7 measured to adjust the dolly angle and make it parallel with the switch board.
And a third step of: the operation assembly 4 is lifted to a designated height, and when the AGV trolley 1 is parallel to the control cabinet, the operation assembly 4 is lifted to a required height, and the buttons to be operated can be shot by the long-range camera 6.
Fourth step: the photograph that the distant view camera 6 took is sent to control module, and control module carries out image processing to the picture, obtains waiting to operate the distance difference of switch and manipulator in X axle and Z axle direction, and the picture is as shown in 13, reaches the purpose that the switch was roughly fixed a position through moving AGV dolly and Z axle direction promotion operation platform 4 in X axle direction.
Fifth step: stopping when the distance between the laser displacement sensor 7 and the control cabinet is d by moving the transverse moving plate 26, and precisely positioning the switch to be operated through the close-range camera 5; the corresponding manipulator operated switch is extended according to the type of switch (button, knob, idle).
Sixth step: repeating the second step to the fifth step until all the equipment is inspected.
Seventh step: and the manipulator, the operating platform and the lifting assembly return to the initial positions.
Eighth step: the AGV returns to the charging position, waits for the next inspection time, and repeats the first step to the seventh step.
The embodiment of the invention realizes the crossing transition from 'someone' to 'unmanned', and the introduction of the robot technology can directly interfere the inspection work in the technical level in the period of alternating new and old management systems and methods in the power industry, thereby improving the inspection precision and the data collection accuracy, and shortening the judging period of accidents from occurrence to development to next.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. Become distribution equipment inspection device, including AGV dolly (1) and switch board structure (2), switch board structure (2) are fixed on AGV dolly (1), set up control module in switch board structure (2), control module and AGV dolly (1) communication connection, its characterized in that: the system also comprises a close-range camera (5), a distant-range camera (6) and a sensor assembly which are respectively arranged on the control cabinet structure (2);
The automatic lifting device also comprises a lifting assembly (3), wherein the lifting assembly (3) is fixed on the AGV trolley (1);
the device also comprises an operation assembly (4), wherein the operation assembly (4) is fixed on the lifting assembly (3);
the lifting assembly (3), the operation assembly (4), the close-range camera (5), the distant view camera (6) and the sensor assembly are respectively communicated with the control module;
The sensor assembly comprises a first laser displacement sensor (7) and a second laser displacement sensor (8);
The close-range camera (5) and the first laser displacement sensor (7) are arranged on the operation assembly (4), and the distant-range camera (6) is arranged on the lifting assembly (3);
The second laser displacement sensor (8) is fixed on the side surface of the control cabinet structure (2);
The operation assembly (4) comprises a traversing assembly (21);
The transverse moving assembly (21) is arranged on the fork frame (20), and the transverse moving assembly (21) comprises a transverse moving fixed plate (25), a transverse moving plate (26), a rack (27), a gear (28), a transverse moving servo motor (29) and a transverse moving speed reducer (30);
the transverse moving fixed plate (25) is fixed with the fork frame (20), the rack (27) is arranged on the transverse moving fixed plate (25), the transverse moving servo motor (29) is connected with the transverse moving speed reducer (30), the gear (28) is arranged at the output end of the transverse moving speed reducer (30), the transverse moving speed reducer (30) is arranged on the transverse moving plate (26), the linear guide rail is arranged on the transverse moving fixed plate (25), the transverse moving plate (26) is connected with the sliding block on the linear guide rail, and the gear (28) is matched with the rack (27); the transverse moving servo motor (29) drives the gear (28) to rotate, so as to push the transverse moving plate (26) to extend out;
the transverse servo motor (29) is in communication connection with the control module;
the method also comprises the following inspection flow:
The first step: the AGV trolley (1) is started to reach the marking position of the landmark card, namely the robot work position; the second step to the fourth step are synchronously carried out;
And a second step of: judging whether the AGV trolley (1) is parallel to a control cabinet to be operated, and calculating an included angle between the AGV trolley (1) and the control cabinet through the distance measured by the laser displacement sensor (8) and the laser displacement sensor (7), so that the angle of the trolley is adjusted to be parallel to the control cabinet;
and a third step of: lifting the operation assembly (4) to a designated height, and when the AGV trolley (1) is parallel to the control cabinet, lifting the operation assembly (4) to a required height, wherein the long-range camera (6) can shoot a button to be operated;
Fourth step: the photo shot by the long-range camera (6) is sent to the control module, the control module performs image processing on the photo to obtain a distance difference value between a switch to be operated and the manipulator in the X-axis and Z-axis directions, and the purpose of coarsely positioning the switch is achieved by moving the AGV trolley (1) in the X-axis direction and lifting the operation platform (4) in the Z-axis direction;
fifth step: the transverse moving plate (26) is moved until the distance between the laser displacement sensor (7) and the control cabinet is d, and the switch to be operated is precisely positioned through the close-range camera (5); extending out the corresponding manipulator operation switch according to the type of the switch;
sixth step: repeating the second step to the fifth step until all the equipment is inspected;
seventh step: the manipulator, the operation platform and the lifting assembly return to the initial position;
eighth step: the AGV trolley (1) returns to the charging position, waits for the next inspection time, and repeats the first step to the seventh step.
2. The substation equipment inspection device according to claim 1, wherein: the lifting assembly (3) comprises a lifting servo motor (10), a planetary gear reducer (11) is connected with a main frame backboard (12), the output end of the reducer is connected to a ball screw (13), and a screw nut (14) on the ball screw (13) and a telescopic frame backboard (15) are fixed;
A synchronous pulley (17) and a synchronous belt (18) are arranged on the telescopic frame (16), one side of the synchronous belt (18) is fixed on the back plate (12) of the main frame through a synchronous belt pressing block (19), and the other side is fixed on the fork frame (20);
When the lifting servo motor (10) works, the ball screw (13) is driven to rotate, and then the screw nut (14) is driven to push the expansion bracket (16) to move; the telescopic frame (16) moves to drive the synchronous belt (18) to move, and the fork frame (20) fixed by the synchronous belt (18) also moves along with the synchronous belt, and the displacement of the fork frame (20) is twice that of the telescopic frame (16);
the lifting servo motor (10) is in communication connection with the control module.
3. The substation equipment inspection device according to claim 2, wherein: the operation assembly (4) further comprises a knob manipulator assembly (22), wherein the knob manipulator assembly (22) is fixed on the transverse moving plate (26), a rotary fixing plate (31) of the knob manipulator assembly (22) is fixed with the transverse moving plate (26), and a rotary moving plate (32) is connected with a sliding block of a guide rail fixed on the rotary fixing plate (31) and can slide back and forth;
The transverse moving servo motor (29) is fixed on the rotary fixing plate (31) through a motor bracket, the rotary servo motor (34) is connected with the rotary speed reducer (35), and the rotary speed reducer (35) is arranged on the rotary moving plate (32);
The rotary servo motor (34) is connected with the rotary speed reducer (35), the rotary speed reducer (35) is arranged on the rotary moving plate (32), the rotary speed reducer (35) is connected with the shaft (36) through a coupler, and the knob holder (37) is connected on the shaft (36);
the traversing servo motor (29) and the rotating servo motor (34) are respectively connected with the control module.
4. A power transformation and distribution equipment inspection device according to claim 3, characterized in that: the operation assembly (4) further comprises a button manipulator assembly (23), the button manipulator assembly (23) is fixed on the transverse moving plate (26), a button manipulator servo motor (42) is fixed on a button manipulator base plate (43) through a motor support, a button manipulator rack (44) is connected with a linear slide rail, a slide block is arranged on the button manipulator base plate (43), a button finger (45) is arranged at the front end of the linear slide rail, a gear is arranged on a shaft of the button manipulator servo motor (42), the gear is matched with the button manipulator rack (44), the button manipulator servo motor (42) drives the linear slide rail to stretch out, and the button finger (45) operates a button;
the button manipulator servo motor (42) is in communication connection with the control module.
5. The power transformation and distribution equipment inspection device according to claim 4, wherein: the operation assembly (4) further comprises an idle manipulator assembly (24), the idle manipulator assembly (24) is arranged on the transverse moving plate (26), an idle manipulator servo motor (38) is arranged on an idle manipulator base plate (39) through a motor bracket, an idle manipulator rack (40) is fixed with the linear slide rail, a sliding block is fixed on the idle manipulator base plate (39), an idle gripper (41) is fixed on the linear slide rail, a gear is arranged on the shaft of the idle manipulator servo motor (38), the gear is matched with the idle manipulator rack (40), and the idle manipulator servo motor (38) rotates to drive the linear slide rail to move, and the idle manipulator stretches out;
the air starting manipulator servo motor (38) is in communication connection with the control module.
6. The substation equipment inspection device according to any one of claims 1 to 5, wherein:
the control module adopts a PLC module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910440593.6A CN110233440B (en) | 2019-05-24 | 2019-05-24 | Become distribution equipment inspection device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910440593.6A CN110233440B (en) | 2019-05-24 | 2019-05-24 | Become distribution equipment inspection device |
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| Publication Number | Publication Date |
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| CN110233440A CN110233440A (en) | 2019-09-13 |
| CN110233440B true CN110233440B (en) | 2024-05-14 |
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| CN201910440593.6A Active CN110233440B (en) | 2019-05-24 | 2019-05-24 | Become distribution equipment inspection device |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210831113U (en) * | 2019-09-30 | 2020-06-23 | 北京海益同展信息科技有限公司 | Lifting device and robot |
| CN111609822B (en) * | 2020-04-27 | 2021-09-28 | 中船澄西船舶修造有限公司 | Main switch replacement process of marine generator |
| CN112150366A (en) * | 2020-09-30 | 2020-12-29 | 广西亚像科技有限责任公司 | Method for identifying states of upper pressure plate and indicator lamp of transformer substation control cabinet |
| CN115085070A (en) * | 2022-06-30 | 2022-09-20 | 国网河北省电力有限公司沧州供电分公司 | Power distribution cabinet online operation and detection device and method |
| CN115781703A (en) * | 2022-10-31 | 2023-03-14 | 超聚变数字技术有限公司 | Operation and maintenance robot |
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