CN113103255A

CN113103255A - Transformer substation inspection robot

Info

Publication number: CN113103255A
Application number: CN202110434428.7A
Authority: CN
Inventors: 周健; 方丽萍; 吴彪; 李国要; 吴琦
Original assignee: Anhui Jiyuan Examination And Detection Technology Co ltd
Current assignee: Anhui Jiyuan Examination And Detection Technology Co ltd
Priority date: 2021-04-22
Filing date: 2021-04-22
Publication date: 2021-07-13

Abstract

The invention relates to the technical field of transformer inspection, in particular to a transformer substation inspection robot. The system comprises a shell with a circular structure, an inspection device arranged at the top of the shell, a protective device arranged on the shell, a traveling device arranged at the bottom of the shell, a first controller arranged inside the shell and electrically connected with the inspection device, a second controller arranged inside the shell and electrically connected with the protective device and the traveling device, and a communication antenna; its protectiveness is better, can guarantee its trafficability characteristic simultaneously according to the nimble adjustment of topography of difference.

Description

Transformer substation inspection robot

Technical Field

The invention relates to the technical field of transformer inspection, in particular to a transformer substation inspection robot.

Background

The transformer substation is a hub of a power transmission network, the safety of the running state of equipment of the transformer substation is very important, and effective inspection of the equipment is an important guarantee for ensuring good running of the transformer substation and power supply reliability of a large number of users. With the development of the electric power robot technology, the robot inspection gradually replaces manual inspection, and the labor intensity is greatly reduced.

For a long time, the routing inspection work of the indoor equipment of the transformer substation is mostly carried out in a manual mode, and the traditional manual routing inspection mode has the defects of high labor intensity, low working efficiency, dispersed detection quality, single means and the like, and cannot accurately and timely transmit data detected manually to a management information system afterwards. Along with the popularization of the unattended mode transformer substation, the inspection workload of the transformer substation is increased, and the inspection arrival rate and timeliness cannot be guaranteed. Especially after special geographical conditions such as plateau, gobi or extreme weather such as strong wind, fog day, ice and snow, hail, thunderstorm take place, cause the manual work and can't patrol and examine in time to there is great safety risk in patrolling and examining by the condition restriction, in case transformer substation accident takes place, decision maker is because of can't in time obtain audio-visual field information, often can the mistaking opportunity of best processing accident, causes the important accident such as unnecessary economic loss or even casualties.

Due to the limitation of working environment, the traditional transformer substation inspection robot has poor trafficability and cannot adapt to different pavements, and the use is greatly limited.

Disclosure of Invention

Technical problem to be solved

In order to solve the problems in the prior art, the invention provides the transformer substation inspection robot which is good in protection performance, can be flexibly adjusted according to different terrains, and ensures the passing performance of the transformer substation inspection robot.

(II) technical scheme

In order to achieve the purpose, the invention adopts the main technical scheme that: the system comprises a shell with a circular structure, an inspection device arranged at the top of the shell, a protective device arranged on the shell, a traveling device arranged at the bottom of the shell, a first controller arranged inside the shell and electrically connected with the inspection device, a second controller arranged inside the shell and electrically connected with the protective device and the traveling device, and a communication antenna;

the protective device comprises an elastic metal ring made of stainless steel and fixedly arranged at the outer position of the shell through a fixing rod, a stepping motor and two racks, wherein the stepping motor and the racks are arranged at the inner cavity position of the shell;

the traveling device comprises a hydraulic rod fixedly arranged at the bottom of the shell and a roller arranged at the bottom of the hydraulic rod.

Furthermore, a protective sleeve is sleeved on the outer wall of the elastic metal ring.

Furthermore, a winding hub motor for driving the roller is mounted on the roller.

Furthermore, a width measuring sensor is arranged on one side of the front face of the shell.

Furthermore, a distance sensor is installed at the bottom of the shell.

Furthermore, a power supply is arranged in the shell.

(III) advantageous effects

The invention provides a transformer substation inspection robot. The method has the following beneficial effects:

(1) elastic metal ring can protect equipment when equipment bumps, and when equipment need pass through comparatively constrictive topography, the motor drives the gear and rotates, and the gear drives the rack and tightens up elastic metal ring, guarantees the trafficability characteristic of equipment.

(2) When the equipment passes through a rugged road surface, the hydraulic rod works, the ground clearance of the equipment is increased, and the trafficability characteristic is improved.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a cross-sectional view A-A of FIG. 1 according to the present invention.

In the figure: 1. a housing; 2. a routing inspection device; 3. a guard; 4. a traveling device; 5. a first controller; 6. a second controller; 7. a communication antenna; 301. an elastic metal ring; 302. a stepping motor; 303. a rack; 401. a hydraulic lever; 402. a roller; 8. a protective sleeve; 9. a width measuring sensor; 10. a distance sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1-2, the substation inspection robot of the present embodiment includes a housing 1 having a circular structure, an inspection device 2 installed at a top position of the housing 1, a protection device 3 installed on the housing 1, a traveling device 4 installed at a bottom position of the housing 1, a first controller 5 disposed inside the housing 1 and electrically connected to the inspection device 2, a second controller 6 disposed inside the housing 1 and electrically connected to the protection device 3 and the traveling device 4, and a communication antenna 7;

the protection device 3 comprises an elastic metal ring 301 made of stainless steel materials and fixedly arranged at the outer position of the shell 1 through a fixing rod, a stepping motor 302 and racks 303, wherein the stepping motor 302 and the racks 303 are arranged at the inner cavity position of the shell 1; elastic metal ring 301 can protect equipment when equipment bumps, and when equipment need pass through comparatively constrictive topography, motor 302 drives gear revolve, and the gear drives rack 303 and tightens up elastic metal ring 301, guarantees the trafficability characteristic of equipment.

The traveling device 4 includes a hydraulic rod 401 fixedly installed at the bottom of the housing 1 and a roller 402 installed at the bottom of the hydraulic rod 401. When the equipment passes through a rugged road surface, the hydraulic rod 401 works, the ground clearance of the equipment is increased, and the passing performance of the equipment is improved.

As a specific embodiment of the present invention, the outer wall of the elastic metal ring 301 is sleeved with a protective cover 8.

In one embodiment of the present invention, a winding hub motor is mounted on the roller 402 for driving the roller 402. The roller 402 driven by the winding hub motor can avoid the roller 402 from being incapable of moving in a slipping state, so that the roller can deal with different road surfaces.

In an embodiment of the present invention, a width measuring sensor 9 is further disposed on the front side of the housing 1. The width measuring sensor 9 is used for detecting the width of the passing area and assists the protection device 3.

As an embodiment of the present invention, a distance sensor 10 is installed at a bottom position of the housing 1. The distance sensor 10 is used for detecting the ground clearance of the equipment and is used for assisting the traveling device 4

In one embodiment of the present invention, a power supply is built in the housing 1.

The working principle is as follows: the equipment patrols and examines through inspection device 2, and outwards transmit the information that detects through communication antenna 7, when survey wide sensor 9 and be used for detecting the passing area and feed back to second controller 6, controller 6 judges that the width of equipment can pass through under normal condition and the elastic metal ring 301 shrink state under the width normal condition, when can pass through under the elastic metal ring 301 shrink state, second controller 6 starter motor 302 drives gear revolve, the gear drives rack 303 and tightens up elastic metal ring 301, equipment passes through, after through, second controller 6 control motor 302 reversal, elastic metal ring 301 resumes, distance sensor 10 feeds back the data of check out equipment ground clearance to second controller 6, when the ground clearance is less, hydraulic stem 401 works, increase the ground clearance of equipment, promote its trafficability. Wherein, elastic metal ring 301 can protect equipment when equipment bumps, uses winding in-wheel motor driven gyro wheel 402, can avoid gyro wheel 402 slip state under unable removal to deal with different road surfaces.

Claims

1. The utility model provides a transformer substation patrols and examines robot which characterized in that: the device comprises a shell (1) with a circular structure, an inspection device (2) arranged at the top of the shell (1), a protective device (3) arranged on the shell (1), a traveling device (4) arranged at the bottom of the shell (1), a first controller (5) arranged in the shell (1) and electrically connected with the inspection device (2), a second controller (6) arranged in the shell (1) and electrically connected with the protective device (3) and the traveling device (4), and a communication antenna (7);

the protection device (3) comprises an elastic metal ring (301) made of stainless steel materials and fixedly mounted at the outer position of the shell (1) through a fixing rod, a stepping motor (302) and racks (303), wherein the stepping motor (302) and the racks (303) are located at the left side and the right side of the shell (1), one end of each rack (303) is fixedly connected with the elastic metal ring (301), the other end of each rack (303) penetrates through the shell (1) and extends into the inner cavity of the shell (1), a gear is mounted at one end of an output shaft at the top of the stepping motor (302), one side, close to the gear, of each rack (303) is in meshing transmission with the gear, and a sliding groove for enabling the rack (303) to slide left and right is formed in the joint of the rack (;

the traveling device (4) comprises a hydraulic rod (401) fixedly installed at the bottom of the shell (1) and a roller (402) installed at the bottom of the hydraulic rod (401).

2. The substation inspection robot according to claim 1, wherein: the outer wall of the elastic metal ring (301) is sleeved with a protective sleeve (8).

3. The substation inspection robot according to claim 1, wherein: and a winding hub motor for driving the roller (402) is arranged on the roller (402).

4. The substation inspection robot according to claim 1, wherein: and a width measuring sensor (9) is also arranged on one side of the front surface of the shell (1).

5. The substation inspection robot according to claim 1, wherein: and a distance sensor (10) is arranged at the bottom of the shell (1).

6. The substation inspection robot according to claim 1, wherein: the power supply is arranged in the shell (1).