CN112917495A - Intelligent inspection robot for transformer substation - Google Patents
Intelligent inspection robot for transformer substation Download PDFInfo
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- CN112917495A CN112917495A CN202110199545.XA CN202110199545A CN112917495A CN 112917495 A CN112917495 A CN 112917495A CN 202110199545 A CN202110199545 A CN 202110199545A CN 112917495 A CN112917495 A CN 112917495A
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- 238000007689 inspection Methods 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 74
- 239000002184 metal Substances 0.000 claims abstract description 72
- 238000003466 welding Methods 0.000 claims description 23
- 230000000694 effects Effects 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000010030 laminating Methods 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 6
- 230000007306 turnover Effects 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 3
- 239000000758 substrate Substances 0.000 claims description 3
- 210000003437 trachea Anatomy 0.000 claims description 2
- 230000005484 gravity Effects 0.000 abstract description 8
- 230000003139 buffering effect Effects 0.000 abstract description 6
- 238000005457 optimization Methods 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention discloses an intelligent inspection robot for a transformer substation, which comprises a metal spherical shell used as a main support, the interior of the metal round ball shell is provided with an identification mechanism, an upper extending groove for the identification mechanism to extend out is arranged above the metal round ball shell, an arc-shaped baffle is covered in the upper extending groove, when the recognition mechanism extends out of the upper extension groove, the arc-shaped baffle is shielded above the recognition mechanism and is used for protecting the recognition mechanism from falling objects, when falling objects hit the arc-shaped baffle, the gravity pushes the telescopic rod to retract into the telescopic sleeve so as to realize the purpose of buffering and unloading force, at the moment, the recognition mechanism is pressed and retracted into the metal spherical shell to realize protection, the arc-shaped baffle seals the upper extending groove, and an external device is not easy to damage the recognition mechanism, when the device is used again, the bottom of the telescopic sleeve is inflated through the air supply unit, and the air can push the telescopic rod to ascend so that the identification mechanism extends out of the metal spherical shell to work.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to an intelligent inspection robot for a transformer substation.
Background
The inspection robot is mainly used in intelligent inspection operation of a transformer substation, the inspection robot takes a mobile robot as a carrier, a visible light camera, an infrared thermal imager and other detection instruments as a load system, multi-field information fusion of machine vision, an electromagnetic field, a GPS and a GIS is taken as a navigation system for autonomous movement and autonomous inspection of the robot, and an embedded computer is taken as a software and hardware development platform of a control system; the robot has the functions of obstacle detection and identification and positioning, autonomous operation planning, autonomous obstacle crossing, autonomous inspection of a power transmission line and a line corridor thereof, automatic storage and remote wireless transmission of inspection images and data of a robot body, ground remote wireless monitoring and remote control, online real-time supply of electric energy, background inspection operation management, analysis and diagnosis and the like.
In the prior art, if the inspection robot encounters falling objects in the inspection process of a transformer substation, particularly falling objects in a fire disaster cannot be avoided in time, the falling objects may break down an identification mechanism of the inspection robot such as a camera and the like, and the inspection robot may turn over, so that the inspection robot cannot work normally; therefore, the intelligent inspection robot for the transformer substation is provided to solve the problems.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an intelligent inspection robot for a transformer substation, which comprises a metal spherical shell serving as a main support, wherein when a falling object hits an arc-shaped baffle, gravity pushes against a telescopic rod to retract into a telescopic sleeve, so that the purpose of buffering the force to be removed is realized, and at the moment, an identification mechanism is pressed and retracted into the metal spherical shell to realize protection.
In order to achieve the above object, the present invention provides an intelligent inspection robot for a transformer substation, including:
the metal round ball shell is used as a total support, an identification mechanism is arranged inside the metal round ball shell, an upper extending groove for the identification mechanism to extend out is formed above the metal round ball shell, an arc-shaped baffle is covered in the upper extending groove, and when the identification mechanism extends out of the upper extending groove, the arc-shaped baffle is shielded above the identification mechanism and is used for protecting the identification mechanism from falling objects;
set up in metal ball casing below and collapsible entering metal ball casing inside removal wheel, the weight that removes the wheel is greater than the counter weight of other positions of metal ball casing and makes the removal wheel of metal ball casing below remain throughout with the ground laminating, remove the inside drive that is provided with of wheel and remove wheel pivoted actuating mechanism, actuating mechanism sets up in the inside of removing the wheel and does not influence the flexible inside and outside and reduction device outside volume that gets into of removal wheel and occupy.
As the further optimization of above-mentioned scheme, identification mechanism is including the recognition cell who is used for discerning outside image, the recognition cell is installed in the set casing, cowl's bottom has fixed plectane through the fix with screw, the bottom surface fixed welding of fixed plectane has drive unit No. one, drive unit's lower extreme transmission is connected with the pivot No. one, drive unit's below is provided with the connecting plate, the upper end of connecting plate be provided with the adapter sleeve of being connected between the pivot No. one, rear one side of connecting plate is provided with drive unit No. two, No. two pivots on the drive unit run through the front side of connecting plate, and No. two pivot front side tip passes through the fix with screw and has the rotor plate, the fixed surface welding of rotor plate has the flexible unit of propelling movement set casing.
In this embodiment, the identification unit may use a device such as a long-range camera, the first driving unit and the second driving unit may use a device such as a motor, the telescopic unit may use a device such as an electric push rod, the first driving unit may drive the telescopic rod and the components on the upper portion of the telescopic rod to rotate when being started, so as to control the identification unit to rotate around the telescopic component as an axis, the second driving unit may drive the rotating plate and the components on one side of the rotating plate to rotate when rotating, so as to control the identification unit to rotate around the second rotating axis as an axis, when the telescopic unit is started, the recognition unit can be controlled to be telescopic, the purpose of adjusting the distance of the recognition unit is achieved, the adjustment is more convenient when the telescopic unit is used, the telescopic unit can be used for inspecting equipment in a large-scale transformer substation, and the identification mechanism is covered with the arc-shaped baffle plate, so that the falling object is prevented from directly hitting the identification mechanism, and the identification mechanism has a strong protection effect.
As a further optimization of the above scheme, a support plate is fixedly welded in the inner wall below the metal spherical shell, a telescopic assembly supported at the bottom of the connecting plate is fixedly welded on the support plate, the telescopic assembly comprises a telescopic rod fixedly welded at the bottom of the connecting plate and a telescopic sleeve fixedly welded on the upper surface of the support plate, the telescopic rod is movably and telescopically arranged in the telescopic sleeve, a rubber sealing plug sealed at the inner ring of the telescopic sleeve is fixedly arranged at the bottom of the telescopic rod, an air supply unit is fixedly welded on the upper surface of the support plate, and an air pipe communicated with a cavity at the bottom of the telescopic sleeve is arranged on one side of the air supply unit.
It should be noted that, when the thing that falls pounded the cowl, gravity contradicts the telescopic link and draws back toward telescopic sleeve in, realizes buffering the purpose of unloading the power, and at this moment, recognition mechanism is also realized the protection by the pressfitting retraction metal ball casing in, and cowl will go up to stretch out the groove and seal, and outside device is difficult for haring recognition mechanism, when the device reuses, aerifys to telescopic sleeve's bottom through the unit of supplying gas, and gas can promote the telescopic link and rise to make recognition mechanism stretch out metal ball casing and carry out work.
As a further optimization of the above scheme, a quantitative pressure relief pipe communicating the inside and the outside is arranged on one side below the telescopic sleeve, a movable plate capable of being opened to the outside of the telescopic sleeve in one direction is movably arranged in the quantitative pressure relief pipe, the bottom of the movable plate is movably hinged to the inner wall of the quantitative pressure relief pipe through a hinged shaft, a limiting block blocking the side face of the movable plate is fixedly welded on one side, close to the central line of the inside of the telescopic sleeve, of the upper inner wall of the quantitative pressure relief pipe, a supporting substrate is fixedly welded on the inner wall of one side, close to the outside of the telescopic sleeve, of the quantitative pressure relief pipe, and a supporting spring pressing the movable plate on.
Further, when the thing that falls makes the telescopic link stretch out into toward the telescopic sleeve on the arc baffle surface, because gravity is great, gas can promote the fly leaf and open towards the telescopic sleeve outside, with the gaseous discharge of telescopic sleeve bottom, at this moment, recognition mechanism can contract the inside of metal ball casing completely, keep the inflation that slowly lasts when aerifing in the unit of supplying gas to the telescopic sleeve, the dynamics that promotes the telescopic link during inflation is less than the dynamics that supporting spring contradicts the fly leaf, guaranteed that gas in the telescopic sleeve can not follow the quantitative pressure release pipe and discharge and can act on the telescopic link and make recognition mechanism rise, the unit of supplying gas can use devices such as air pump.
As the further optimization of above-mentioned scheme, the below of metal ball casing is provided with the lower groove that stretches out that supplies to remove the wheel to stretch out, the fixed welding of lower surface of backup pad has the promotion unit that promotes the flexible business turn over metal ball casing of removal wheel, the fixed welding in bottom of promotion unit has the mounting bracket, the lower extreme of mounting bracket is the framework of two sets of character cut in bas-relief shapes, it is provided with two sets ofly to remove the wheel, and two sets of removal wheel activity respectively sets up in the framework of two sets of character cut in bas-relief shapes.
It is specific, it is provided with two sets ofly to remove the wheel side by side, and remove the width broad of wheel, guaranteed that metal ball shell is stable subaerial steady removal, and promote the unit and can promote to remove the wheel and go up and down, be convenient for flexible entering metal ball shell, when metal ball shell receives the thing that falls to influence, recognition mechanism all contracts in the inside of metal ball shell with removing the wheel, the usable ball structure of itself of metal ball shell rolls and dodges, when not having the thing that falls to influence, metal ball shell bottom also can stop the removal wheel position that weight is heavier, at this moment, control promotes the unit and will remove the wheel and stretch out, the integrated device can continue to walk subaerial, it can use devices such as electric putter to promote the unit.
As a further optimization of above-mentioned scheme, actuating mechanism is including setting up in the inside circular slot of removal wheel, one side of circular slot runs through the removal wheel side, and the circular slot runs through the position of removing the wheel side and has a movable shrouding through the fix with screw, the activity is provided with drive unit No. three in the circular slot, drive unit's end transmission is connected with No. three pivots No. three, the end fixing of No. three pivots is provided with the gear, fixed welding has the pinion rack with intermeshing between the gear on the inner wall of circular slot, drive unit's one side is fixed to be provided with the power supply unit for drive unit power supply No. three.
Wherein, actuating mechanism sets up in the inside of removing the wheel and reduces the setting of exterior structure for whole volume is less, and actuating mechanism sets up and makes in removing the wheel to remove the wheel heavier, and stability when keeping the bulk movement, actuating mechanism sets up in the inside of removing the wheel, also can make to remove the outside no protruding structure of wheel, is convenient for dodge the barrier, removes the wheel and can pass in and out metal ball casing smoothly.
As the further optimization of above-mentioned scheme, the fixed back shaft that is provided with in one side of mounting bracket, the fixed back shaft that is provided with of opposite side, a back shaft and No. two back shafts activity block respectively is in the both sides of removing the wheel, and No. two fixed rubber rings that are provided with and the activity laminating between the movable shrouding of outer lane department of back shaft, the fixed rubber ring that is provided with and removes the activity laminating between the wheel of outer lane department of a back shaft.
In this embodiment, No. three drive unit can use devices such as direct current motor, and power supply unit can use devices such as direct current battery, and when power supply unit supplied power for No. three drive unit, No. three drive unit started and drives gear revolve, and the gear drives with the pinion rack meshing and removes the wheel and rotate between two sets of back shafts and No. two, conveniently utilizes to set up to drive that sets up in removing wheel inside and removes the wheel and rotate, has replaced current actuating mechanism to set up in removing the outside mode of wheel.
The intelligent inspection robot for the transformer substation has the following beneficial effects:
1. the invention relates to an intelligent inspection robot for a transformer substation, which comprises a metal spherical shell used as a main support, the interior of the metal round ball shell is provided with an identification mechanism, an upper extending groove for the identification mechanism to extend out is arranged above the metal round ball shell, an arc-shaped baffle is covered in the upper extending groove, when the recognition mechanism extends out of the upper extension groove, the arc-shaped baffle is shielded above the recognition mechanism and is used for protecting the recognition mechanism from falling objects, when falling objects hit the arc-shaped baffle, the gravity pushes the telescopic rod to retract into the telescopic sleeve so as to realize the purpose of buffering and unloading force, at the moment, the recognition mechanism is pressed and retracted into the metal spherical shell to realize protection, the arc-shaped baffle seals the upper extending groove, and an external device is not easy to damage the recognition mechanism, when the device is used again, the bottom of the telescopic sleeve is inflated through the air supply unit, and the air can push the telescopic rod to ascend so that the identification mechanism extends out of the metal spherical shell to work;
2. the invention discloses an intelligent inspection robot for a transformer substation, which comprises a moving wheel, wherein the moving wheel is arranged below a metal spherical shell and can be retracted into the metal spherical shell, the weight of the moving wheel is greater than the weight of balance weights at other positions of the metal spherical shell, so that the moving wheel below the metal spherical shell is always attached to the ground, a driving mechanism for driving the moving wheel to rotate is arranged in the moving wheel, the driving mechanism is not influenced by the fact that the moving wheel is retracted into the metal spherical shell, and the external volume occupation of the intelligent inspection robot is reduced.
There have been disclosed in detail certain embodiments of the invention with reference to the following description and drawings, and it is to be understood that the embodiments of the invention are not limited thereby, but are intended to cover within the spirit and scope of the appended claims, many changes, modifications, and equivalents.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic bottom view of the present invention;
FIG. 3 is a schematic view of the internal structure of the present invention;
FIG. 4 is an enlarged view of the structure at A in FIG. 3 according to the present invention;
FIG. 5 is a cross-sectional view of the present invention;
FIG. 6 is a schematic view of the internal structure of the movable wheel of the present invention;
FIG. 7 is an enlarged view of the structure at B in FIG. 5 according to the present invention;
fig. 8 is an enlarged view of the structure at C in fig. 7 according to the present invention.
In the figure: the device comprises a metal spherical shell 1, an upper extension groove 2, an arc baffle 3, a moving wheel 4, a lower extension groove 5, a recognition unit 6, an air supply unit 7, a support plate 8, a telescopic component 9, a pushing unit 10, a mounting frame 11, a first driving unit 12, a fixed circular plate 13, a first rotating shaft 14, a second driving unit 15, a connecting sleeve 16, a connecting plate 17, a rotating plate 18, a second rotating shaft 19, a telescopic unit 20, a fixed shell 21, a telescopic rod 22, a telescopic sleeve 23, a first rubber ring 24, a first support shaft 25, a circular groove 26, a toothed plate 27, a gear 28, a power supply unit 29, a third rotating shaft 30, a third driving unit 31, a second rubber ring 32, a second support shaft 33, a movable sealing plate 34, an air pipe 35, a rubber sealing plug 36, a quantitative pressure relief pipe 37, a movable plate 38, a limiting block 39, a support spring 40 and a support base plate 41.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention.
It should be noted that when an element is referred to as being "disposed on," or provided with "another element, it can be directly on the other element or intervening elements may also be present, when an element is referred to as being" connected, "or coupled to another element, it can be directly on the other element or intervening elements may be present, and" fixedly coupled "means that the element is fixedly coupled in many ways, which are not intended to be within the scope of the present disclosure, the terms" vertical, "" horizontal, "" left, "" right, "and the like are used herein for illustrative purposes only and are not intended to be a single embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terms used herein in the specification are for the purpose of describing particular embodiments only and are not intended to limit the present invention, and the term "and/or" as used herein includes any and all combinations of one or more of the associated listed items;
referring to the attached drawings 1-8 in the specification, the invention provides a technical scheme: the utility model provides a transformer substation is with intelligence robot of patrolling and examining, includes:
the metal round ball type support device comprises a metal round ball shell 1 serving as a general support, wherein an identification mechanism is arranged inside the metal round ball shell 1, an upper extending groove 2 for the identification mechanism to extend out is formed in the upper portion of the metal round ball shell 1, an arc-shaped baffle plate 3 covers the upper extending groove 2, and when the identification mechanism extends out of the upper extending groove 2, the arc-shaped baffle plate 3 is shielded above the identification mechanism and used for protecting the identification mechanism from falling objects;
set up in metal ball casing 1 below and collapsible entering metal ball casing 1 inside removal wheel 4, the weight that removes wheel 4 is greater than the counter weight of 1 other positions of metal ball casing and makes metal ball casing 1 below remove wheel 4 remain throughout with the ground laminating, remove the inside drive that is provided with of wheel 4 and remove wheel 4 pivoted actuating mechanism, actuating mechanism sets up in the inside of removing wheel 4 and does not influence and remove the flexible inside and outside and reduction device outside volume that gets into metal ball casing 1 of wheel 4 and occupy.
The identification mechanism comprises an identification unit 6 for identifying an external image, the identification unit 6 is installed in a fixed shell 21, a fixed circular plate 13 is fixed at the bottom of an arc baffle plate 3 through screws, a first driving unit 12 is fixedly welded on the bottom surface of the fixed circular plate 13, a first rotating shaft 14 is connected to the lower end of the first driving unit 12 in a transmission mode, a connecting plate 17 is arranged below the first driving unit 12, a connecting sleeve 16 connected with the first rotating shaft 14 is arranged at the upper end of the connecting plate 17, a second driving unit 15 is arranged on one side of the rear side of the connecting plate 17, a second rotating shaft 19 on the second driving unit 15 penetrates through the front side of the connecting plate 17, a rotating plate 18 is fixed to the front side end of the second rotating shaft 19 through screws, and a telescopic unit 20 capable of pushing the fixed shell 21 to stretch is fixedly welded on.
In this embodiment, the recognition unit 6 can use a device such as a long-range camera, the first driving unit 12 and the second driving unit 15 can use a device such as a motor, the telescopic unit 20 can use a device such as an electric push rod, the first driving unit 12 can drive the telescopic rod 22 and the components on the upper part of the telescopic rod 22 to rotate when being started, so as to achieve the purpose of controlling the recognition unit 6 to rotate around the telescopic component 9 as an axis, the second driving unit 15 can drive the rotating plate 18 and the components on one side of the rotating plate 18 to rotate when rotating, so as to achieve the purpose of controlling the recognition unit 6 to rotate around the second rotating shaft 19 as an axis, when the telescopic unit 20 is started, the recognition unit 6 can be controlled to stretch and retract, so as to achieve the purpose of adjusting the distance of the recognition unit 6, the adjustment is convenient when in use, and can be used for equipment in a large-scale substation, and the recognition mechanism is shielded by the arc, has strong protection effect.
Fixed welding has backup pad 8 in the below inner wall of metal ball casing 1, fixed welding has the flexible subassembly 9 of support in connecting plate 17 bottom on the backup pad 8, flexible subassembly 9 includes fixed welding at the telescopic link 22 of connecting plate 17 bottom and the flexible cover 23 of fixed welding at backup pad 8 upper surface, telescopic link 22 activity flexible setting is in flexible cover 23, the fixed rubber sealing plug 36 that is provided with at telescopic cover 23 inner circle department in telescopic link 22's bottom, the last fixed surface welding of backup pad 8 has air supply unit 7, one side of air supply unit 7 is provided with the trachea 35 with the cavity intercommunication in telescopic cover 23 bottom.
It should be noted that, when the thing that falls pounded arc baffle 3 on, gravity contradicts telescopic link 22 and contracts toward telescoping sleeve 23 in, realize the purpose of buffering power of unloading, at this moment, recognition mechanism is also realized the protection by the pressfitting retraction metal ball casing 1 in, arc baffle 3 will go up and stretch out groove 2 and seal, the difficult damage recognition mechanism of outside device, when the device uses once more, aerify to the bottom of telescoping sleeve 23 through air supply unit 7, gaseous can promote telescopic link 22 to rise and make recognition mechanism stretch out metal ball casing 1 and carry out work.
A quantitative pressure relief pipe 37 communicated with the inside and the outside is arranged on one side of the lower portion of the telescopic sleeve 23, a movable plate 38 capable of being opened to the outside of the telescopic sleeve 23 in one direction is movably arranged in the quantitative pressure relief pipe 37, the bottom of the movable plate 38 is movably hinged to the inner wall of the quantitative pressure relief pipe 37 through a hinge shaft, a limiting block 39 blocked on the side face of the movable plate 38 is fixedly welded on one side, close to the inner center line of the telescopic sleeve 23, of the upper inner wall of the quantitative pressure relief pipe 37, a supporting substrate 41 is fixedly welded on the inner wall of one side, close to the outside of the telescopic sleeve 23, of the quantitative pressure relief pipe 37, and a supporting spring.
Further, when the falling object falls on the surface of the arc-shaped baffle plate 3 and the telescopic rod 22 extends into the telescopic sleeve 23, because gravity is large, gas can push the movable plate 38 to open towards the outer side of the telescopic sleeve 23, gas at the bottom of the telescopic sleeve 23 is discharged, at the moment, the identification mechanism can be completely contracted into the metal spherical shell 1, the gas supply unit 7 keeps slow and continuous inflation when inflating into the telescopic sleeve 23, the force for pushing the telescopic rod 22 to rise is smaller than the force for pushing the support spring 40 to abut against the movable plate 38, it is ensured that gas in the telescopic sleeve 23 cannot be discharged from the quantitative pressure relief pipe 37 and can act on the telescopic rod 22 to enable the identification mechanism to rise, and the gas supply unit 7 can use devices such as an air pump.
The below of metal ball casing 1 is provided with the lower groove 5 that stretches out that supplies to remove wheel 4, and the fixed welding of lower surface of backup pad 8 has the promotion unit 10 that promotes the flexible business turn over metal ball casing 1 of removal wheel 4, and the fixed welding in bottom of promotion unit 10 has mounting bracket 11, and the lower extreme of mounting bracket 11 is the framework of two sets of character cut in bas-relief shapes, removes wheel 4 and is provided with two sets ofly, and two sets of removal wheel 4 activity respectively sets up in the framework of two sets of character cut in bas-relief.
It is specific, it is provided with two sets ofly side by side to remove wheel 4, and remove the width broad of wheel 4, guaranteed that metal ball casing 1 is stable subaerial steady movement, and promote unit 10 can promote and remove wheel 4 and go up and down, be convenient for flexible entering metal ball casing 1, when metal ball casing 1 receives the thing that falls to influence, recognition mechanism and removal wheel 4 all contract in the inside of metal ball casing 1, the round ball structure of metal ball casing 1 usable itself rolls and dodges, when not having the thing that falls to influence, metal ball casing 1 bottom also can stop in the heavier removal of weight wheel 4 position, at this moment, control promotes unit 10 and will remove wheel 4 and stretch out, the integrated device can continue to walk subaerial, it can use devices such as electric putter to promote unit 10.
Actuating mechanism is including setting up in the inside circular slot 26 of removal wheel 4, the one side of circular slot 26 runs through removal wheel 4 side, and circular slot 26 runs through the position of removing wheel 4 side and has movable shrouding 34 through the fix with screw, the activity is provided with drive unit 31 No. three in the circular slot 26, the end transmission of drive unit 31 No. three is connected with pivot 30 No. three, the end fixing of pivot 30 No. three is provided with gear 28, fixed welding has on the inner wall of circular slot 26 and the gear 28 between intermeshing's pinion rack 27, the fixed power supply unit 29 who supplies power for drive unit 31 No. three that is provided with in one side of drive unit 31 No. three.
Wherein, actuating mechanism sets up in the inside of removing wheel 4 and reduces the setting of exterior structure for whole volume is less, and actuating mechanism sets up and makes in removing wheel 4 and remove wheel 4 heavier, and stability when keeping the bulk movement sets up in the inside of removing wheel 4, also can make and remove the outside no protruding structure of wheel 4, is convenient for avoid the barrier, removes wheel 4 and can pass in and out metal ball casing 1 smoothly.
One side of mounting bracket 11 is fixed and is provided with support shaft 25 No. one, and the opposite side is fixed and is provided with support shaft 33 No. two, and support shaft 25 and support shaft 33 No. two are the activity block respectively in the both sides of removing wheel 4, and No. two fixed rubber rings 32 that are provided with and movable closing plate 34 between the outer lane department of support shaft 33, the fixed rubber ring 24 that is provided with and removes the movable laminating between the wheel 4 in the outer lane department of support shaft 25.
In this embodiment, No. three drive unit 31 can use devices such as dc motor, power supply unit 29 can use devices such as dc battery, when power supply unit 29 supplies power for No. three drive unit 31, No. three drive unit 31 starts drive gear 28 and rotates, gear 28 and pinion rack 27 meshing and drive move wheel 4 and rotate between two sets of a back shaft 25 and No. two back shafts 33, conveniently utilize to set up to drive in moving wheel 4 inside actuating mechanism and move wheel 4 and rotate, replaced current actuating mechanism to set up in the outside mode of moving wheel 4.
The intelligent inspection robot for the transformer substation provided by the embodiment has the following working process:
when the thing that falls smashes arc baffle 3 on, gravity is contradicted telescopic link 22 and is retracted toward telescopic sleeve 23 in, realize the purpose of buffering and unload the power, at this moment, recognition mechanism is also realized the protection by the pressfitting in retracting metal ball casing 1, arc baffle 3 will go up and stretch out groove 2 and seal, the difficult damage recognition mechanism of outside device, when the device is used once more, aerify to telescopic sleeve 23's bottom through air supply unit 7, gaseous can promote telescopic link 22 to rise to make recognition mechanism stretch out metal ball casing 1 and carry out work.
It should be understood that the present invention is not limited to the particular embodiments described herein, but is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides a transformer substation is with intelligence robot of patrolling and examining which characterized in that includes:
the metal round ball shell is used as a total support, an identification mechanism is arranged inside the metal round ball shell, an upper extending groove for the identification mechanism to extend out is formed above the metal round ball shell, an arc-shaped baffle is covered in the upper extending groove, and when the identification mechanism extends out of the upper extending groove, the arc-shaped baffle is shielded above the identification mechanism and is used for protecting the identification mechanism from falling objects;
set up in metal ball casing below and collapsible entering metal ball casing inside removal wheel, the weight that removes the wheel is greater than the counter weight of other positions of metal ball casing and makes the removal wheel of metal ball casing below remain throughout with the ground laminating, remove the inside drive that is provided with of wheel and remove wheel pivoted actuating mechanism, actuating mechanism sets up in the inside of removing the wheel and does not influence the flexible inside and outside and reduction device outside volume that gets into of removal wheel and occupy.
2. The intelligent inspection robot for the transformer substation according to claim 1, characterized in that: the identification mechanism is including the recognition cell who is used for discerning outside image, the recognition cell is installed in the set casing, cowl's bottom has fixed plectane through the fix with screw, the fixed welding in bottom surface of fixed plectane has drive unit No. one, drive unit's lower extreme transmission is connected with the pivot No. one, drive unit's below is provided with the connecting plate, the upper end of connecting plate be provided with the adapter sleeve of being connected between the pivot No. one, rear one side of connecting plate is provided with drive unit No. two, No. two pivots on the drive unit run through the front side of connecting plate, No. two pivot front end portions have the rotor plate through the fix with screw, the fixed surface welding of rotor plate has the flexible unit that can promote the set casing.
3. The intelligent inspection robot for the transformer substation according to claim 2, characterized in that: fixed welding has the backup pad in the below inner wall of metal ball casing, fixed welding has the flexible subassembly of support in the connecting plate bottom in the backup pad, flexible subassembly includes the telescopic link of fixed welding in the connecting plate bottom and the telescopic sleeve of fixed welding in the backup pad upper surface, the flexible setting of telescopic link activity is in the telescopic sleeve, the fixed rubber sealing plug that is provided with sealed in telescopic sleeve inner circle department in the bottom of telescopic link, the last fixed surface welding of backup pad has the unit of supplying gas, one side of the unit of supplying gas is provided with the trachea with telescopic sleeve bottom cavity intercommunication.
4. The intelligent inspection robot for the transformer substation according to claim 3, characterized in that: the utility model discloses a flexible pipe, including flexible cover, quantitative pressure release pipe, top inner wall, stopper, quantitative pressure release pipe, flexible cover, the below one side of flexible cover is provided with the inside and outside quantitative pressure release pipe of intercommunication, the activity is provided with the fly leaf that can open to flexible cover outside in the quantitative pressure release pipe, the bottom of fly leaf articulates on the inner wall of quantitative pressure release pipe through the articulated shaft activity, one side fixed weld that the top inner wall of quantitative pressure release pipe is close to flexible cover internal center line has the stopper that blocks in the fly leaf side, fixed weld has the supporting substrate.
5. The intelligent inspection robot for the transformer substation according to claim 4, characterized in that: the below of metal ball casing is provided with the lower groove of stretching out that supplies to remove the wheel and stretch out, the fixed welding of lower surface of backup pad has the promotion unit that promotes the flexible business turn over metal ball casing of removal wheel, the fixed welding in bottom of promotion unit has the mounting bracket, the lower extreme of mounting bracket is the framework of two sets of font in bas-relief, it is provided with two sets ofly to remove the wheel, and two sets of removal wheels activity respectively sets up in the framework of two sets of font in bas-relief.
6. The intelligent inspection robot for the transformer substation according to claim 5, characterized in that: actuating mechanism is including setting up in removing the inside circular slot of wheel, one side of circular slot is run through and is removed the wheel side, and the circular slot runs through the position that removes the wheel side and has a movable sealing plate through the fix with screw, the activity is provided with drive unit No. three in the circular slot, drive unit No. three's end transmission is connected with the pivot No. three, the end fixing of pivot No. three is provided with the gear, fixed welding has and the gear rack of intermeshing between the gear on the inner wall of circular slot, drive unit No. three one side is fixed to be provided with the power supply unit for the power supply of drive unit No. three.
7. The intelligent inspection robot for the transformer substation according to claim 6, characterized in that: the fixed back shaft that is provided with in one side of mounting bracket, the fixed back shaft that is provided with of opposite side, a back shaft and No. two back shafts activity block respectively are in the both sides of removing the wheel, and No. two fixed rubber rings that are provided with and the activity laminating between the shrouding of outer lane department of back shaft, the fixed rubber ring that is provided with and removes the activity laminating between the wheel of outer lane department of a back shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110199545.XA CN112917495A (en) | 2021-02-22 | 2021-02-22 | Intelligent inspection robot for transformer substation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110199545.XA CN112917495A (en) | 2021-02-22 | 2021-02-22 | Intelligent inspection robot for transformer substation |
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| CN112917495A true CN112917495A (en) | 2021-06-08 |
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| CN202110199545.XA Pending CN112917495A (en) | 2021-02-22 | 2021-02-22 | Intelligent inspection robot for transformer substation |
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