CN114069454A - Integrated machine nest and transformer substation inspection system - Google Patents
Integrated machine nest and transformer substation inspection system Download PDFInfo
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- CN114069454A CN114069454A CN202111407621.8A CN202111407621A CN114069454A CN 114069454 A CN114069454 A CN 114069454A CN 202111407621 A CN202111407621 A CN 202111407621A CN 114069454 A CN114069454 A CN 114069454A
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- storage space
- plate
- side plate
- aerial vehicle
- unmanned aerial
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B1/00—Frameworks, boards, panels, desks, casings; Details of substations or switching arrangements
- H02B1/26—Casings; Parts thereof or accessories therefor
- H02B1/30—Cabinet-type casings; Parts thereof or accessories therefor
- H02B1/32—Mounting of devices therein
- H02B1/34—Racks
- H02B1/36—Racks with withdrawable units
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00001—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02B90/20—Smart grids as enabling technology in buildings sector
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
- Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
- Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
- Y04S40/126—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment using wireless data transmission
Abstract
The invention discloses an integrated machine nest and a substation inspection system, wherein the integrated machine nest comprises: the device comprises a machine nest shell, a baffle plate assembly and a power supply, wherein the machine nest shell is provided with an inner cavity; the inner cavity is divided into a lower storage space for storing the inspection robot and an upper storage space for storing the unmanned aerial vehicle by the partition plate assembly; the lower storage space is provided with a lower opening; the upper storage space is provided with an upper opening; the machine nest shell comprises a bottom plate, a first side plate, a second side plate and a third side plate; the first side plate is hinged with the bottom plate and used for realizing the opening or closing of the lower opening; the third side plate sets up in lower floor's open-ended one side, third side plate one end and bottom plate fixed connection, and the third side plate other end is articulated with the second side plate for realize upper strata open-ended and open or close, through structural design, robot and unmanned aerial vehicle's storage is patrolled and examined in effectual realization, can reach and practice thrift storage space, guarantees the clean and tidy purpose of transformer substation's environment.
Description
Technical Field
The invention relates to the technical field of inspection equipment, in particular to an integrated machine nest and transformer substation inspection system.
Background
Along with smart power grids's rapid development, the safety of transformer substation is patrolled and examined work and is being more and more intelligent, and the robot is patrolled and examined through adopting to the work of patrolling and examining of present needle to the transformer substation, avoids artifical a great deal of problem of patrolling and examining (the hourglass that leads to the fact is examined, the false retrieval, the condition such as not thorough of patrolling and examining), but because the visual angle of patrolling and examining the robot is lower relatively, and has certain vision blind area, consequently in order to guarantee the all-round detection of transformer substation, the mode that adopts unmanned aerial vehicle now is supplementary to be patrolled and examined.
Adopt simultaneously to patrol and examine robot and unmanned aerial vehicle, though can realize the all-round detection of transformer substation, how effectual utilization space realizes patrolling and examining robot and unmanned aerial vehicle's storage, the problem that needs to solve urgently.
In view of this, the present application is specifically made.
Disclosure of Invention
On one hand, aiming at the problems in the prior art, on the other hand, the invention provides an integrated machine nest which effectively realizes the storage of an inspection robot and an unmanned aerial vehicle through structural design and can achieve the purposes of saving storage space and ensuring the cleanness of the environment of a transformer substation; on the other hand, the invention provides the transformer substation inspection system, and through the structural design, the comprehensive inspection of the transformer substation can be effectively realized, and the inspection efficiency is improved.
The invention is realized by the following technical scheme:
first aspect
The embodiment of the invention provides an integrated nest, which comprises: the device comprises a machine nest shell, a baffle plate assembly and a power supply, wherein the machine nest shell is provided with an inner cavity; the inner cavity is divided into a lower storage space for storing the inspection robot and an upper storage space for storing the unmanned aerial vehicle by the partition plate assembly; the lower storage space is provided with a lower opening for communicating the lower storage space with an external space; the upper storage space is provided with an upper opening used for realizing the communication between the upper storage space and the external space; the nest housing comprises a bottom plate, a first side plate, a second side plate and a third side plate; the first side plate is hinged with the bottom plate and used for realizing the opening or closing of the lower opening; the third side plate is arranged on one side of the lower layer opening, one end of the third side plate is fixedly connected with the bottom plate, and the other end of the third side plate is hinged with the second side plate and used for opening or closing the upper layer opening.
In this scheme, integration rack is provided with the inner chamber that robot and unmanned aerial vehicle were patrolled and examined in the storage simultaneously, and will through setting up the baffle subassembly the inner chamber divide into upper storage space and the lower floor's storage space that piles up the setting, just lower floor's storage space is used for the storage to patrol and examine the robot, upper storage space is used for storing unmanned aerial vehicle, when realizing unmanned aerial vehicle and patrol and examine the robot and save simultaneously, can effectually reduce through piling up the setting the area of integration rack can reach and practice thrift storage space, guarantees the clean and tidy purpose of transformer substation environment, and through the structural design of first curb plate and second curb plate, can effectual realization upper storage space and opening and closing of lower floor's storage space to effectual realization unmanned aerial vehicle and the business turn over and the storage of patrolling and examining the robot.
Further, the baffle subassembly includes slide rail and movable plate, the one end of slide rail with the third side panel is close to the side of lower floor's storage space is connected, the movable plate with slide rail sliding fit, through the structural design of baffle subassembly can realize the movable plate for the relative position of upper storage space changes to make things convenient for unmanned aerial vehicle's release, avoid the aircraft nest shell to cause the influence to unmanned aerial vehicle's release.
Further, the movable plate is kept away from one side of lower floor's storage space is provided with arm assembly, arm assembly's one end with the movable plate is articulated, arm assembly's the other end is provided with the mechanical clamp that is used for centre gripping unmanned aerial vehicle, through arm assembly's structural design, can effectual realization to unmanned aerial vehicle's centre gripping, stability and accuracy when guaranteeing unmanned aerial vehicle to return to the home.
Further, the mechanical arm component is multiaxis arm, including first pivot, second pivot and the third pivot of connecting in order, first pivot second pivot and third pivot all can be around self axis rotation, the one end of first pivot through first horizontal rotation motor with the movable plate is connected, the other end of first pivot through second horizontal rotation motor with the one end of second pivot is connected, the other end of second pivot through third horizontal rotation motor with the one end of third pivot is connected, machinery presss from both sides the setting and is in the other end of third pivot, through the structural design of mechanical arm component can realize after accomplishing the unmanned aerial vehicle centre gripping, adjusts to the gesture of unmanned aerial vehicle, guarantees that unmanned aerial vehicle is in the accuracy of movable plate upper position.
Further, the third pivot be close to with the side that machinery pressed from both sides still is provided with the camera subassembly that is used for pursuing unmanned aerial vehicle, through the structural design of camera subassembly, can effectual realization guarantee the accuracy of centre gripping to unmanned aerial vehicle's pursuit.
Furthermore, the first horizontal rotation motor is used for driving the first rotating shaft to rotate around the connecting position of the first rotating shaft and the moving plate, a plane formed in the rotating process of the first rotating shaft is parallel to the sliding direction of the moving plate, and the horizontal rotation direction of the first rotating shaft is limited by limiting the rotation direction of the first horizontal rotation motor, so that interference with a machine nest shell is avoided.
Second aspect of the invention
The embodiment of the invention also provides a transformer substation inspection system which comprises the integrated machine nest, an inspection robot and an unmanned aerial vehicle, wherein the lower storage space is provided with a first charging device for charging the inspection robot, and the upper storage space is provided with a second charging device for charging the unmanned aerial vehicle.
In this scheme, the transformer substation inspection system is provided with unmanned aerial vehicle simultaneously and patrols and examines the robot, and the all-round monitoring that can effectual realization transformer substation guarantees the comprehensiveness and the accuracy of monitoring, promotes and patrols and examines efficiency, and passes through the structural design of integration machine nest can accomplish simultaneously and patrol and examine robot and unmanned aerial vehicle's charging, has practiced thrift the space.
Furthermore, the charging device further comprises a power supply assembly used for being connected with an external power supply, and the first charging device and the second charging device are electrically connected with the power supply assembly.
Furthermore, the second charging device comprises a first magnetic induction coil, a first contact electrically connected with the first magnetic induction coil, and a second contact, wherein the second contact is electrically connected with the power supply assembly, the second contact is arranged close to the start end of the slide rail, the first electric shock and the first magnetic induction coil are both arranged on the movable plate, the first contact is arranged on the side surface where the movable plate and the slide rail are matched with each other, the first contact is arranged close to the start end of the slide rail, and when the movable plate is completely accommodated in the upper storage space, the first contact and the second contact are communicated with each other, so that the first magnetic induction coil is electrified; unmanned aerial vehicle includes the power module, the power module includes second magnetic induction coil, first magnetic induction coil with second magnetic induction coil mutually supports and realizes unmanned aerial vehicle's the charging, realizes unmanned aerial vehicle's the charging through the mode that adopts magnetic induction coil, can realize charging of unmanned aerial vehicle after unmanned aerial vehicle accomplishes descending and movable plate playback, can effectually avoid adopting the condition of counterpoint that the plug design needs, and through the structural design to second charging device, realize first magnetic induction coil's structure when the movable plate playback, the effectual energy of having practiced thrift.
Furthermore, the inspection robot comprises a walking wheel and a charging slot, a walking groove matched with the walking wheel is formed in the bottom plate, the walking groove comprises a starting end and a stopping end, and when the first side plate is opened, the starting end is used for communicating the walking groove with an external space; the first charging device comprises a charging head connected with the power supply assembly, and the charging head and the starting end are relatively positioned on two sides of the terminating end; patrol and examine the robot edge the walking groove moves to during the termination end, charge the head with the slot electricity that charges is connected, through the structural design to the bottom plate, the effectual charging efficiency who patrols and examines the robot that has improved, targets in place and charges promptly, has avoided the searching process of the head that charges, improves charging efficiency.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the integrated machine nest and transformer substation inspection system effectively realizes the storage of the inspection robot and the unmanned aerial vehicle through structural design, and can achieve the purposes of saving storage space and ensuring the cleanness of the environment of a transformer substation;
2. according to the integrated machine nest and transformer substation inspection system, through the structural design of the partition plate assembly, the change of the relative position of the movable plate relative to the upper storage space can be realized, so that the unmanned aerial vehicle is conveniently released, and the influence of a machine nest shell on the release of the unmanned aerial vehicle is avoided;
3. according to the integrated machine nest and transformer substation inspection system, the clamping of the unmanned aerial vehicle can be effectively realized through the structural design of the mechanical arm assembly, the stability and the accuracy of the unmanned aerial vehicle during homing are ensured, and the tracking of the unmanned aerial vehicle can be effectively realized through the structural design of the camera assembly, so that the clamping accuracy is ensured;
4. according to the integrated machine nest and transformer substation inspection system, through the structural design of the mechanical arm assembly, the posture of the unmanned aerial vehicle can be adjusted after the unmanned aerial vehicle is clamped, and the position accuracy of the unmanned aerial vehicle on the movable plate is ensured;
5. the integrated machine nest and transformer substation inspection system realizes the limitation of the horizontal rotating direction of the first rotating shaft by limiting the rotating direction of the first horizontal rotating motor, and avoids the interference with a machine nest shell;
6. according to the integrated machine nest and transformer substation inspection system, the inspection robot and the unmanned aerial vehicle can be charged simultaneously through the structural design of the integrated machine nest, so that the space is saved;
7. according to the integrated machine nest and transformer substation inspection system, the unmanned aerial vehicle is charged in a magnetic induction coil mode, the unmanned aerial vehicle can be charged after the unmanned aerial vehicle is landed and the movable plate is reset, the situation of alignment required by plug design can be effectively avoided, and the structure of the first magnetic induction coil is realized when the movable plate is reset through the structural design aiming at the second charging device, so that energy is effectively saved;
8. the integrated machine nest and transformer substation inspection system effectively improves the charging efficiency of the inspection robot through the structural design aiming at the bottom plate, the inspection robot can be charged in place, the searching process of a charging head is avoided, and the charging efficiency is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of an integrated nest provided in an embodiment of the present invention;
fig. 2 is a schematic view illustrating a slide rail and a moving plate according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a robot arm assembly according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a base plate of the substation inspection system according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a base plate of the substation inspection system according to another embodiment of the present invention;
fig. 6 is a schematic diagram of the matching between a slide rail and a moving plate of the substation inspection system provided in the embodiment of the present invention (the first contact is connected to the second contact);
fig. 7 is a schematic diagram of the matching between the slide rail and the moving plate of the substation inspection system according to the embodiment of the present invention (the first contact and the second contact are disconnected).
The reference numbers in the figures are in order:
100-a nest shell, 110-a bottom plate, 111-a walking groove, 120-a first side plate, 130-a second side plate, 140-a third side plate, 210-a sliding rail, 220-a moving plate, 300-a mechanical arm component, 310-a first rotating shaft, 320-a second rotating shaft, 330-a third rotating shaft, 340-a first horizontal rotating motor, 350-a second horizontal rotating motor, 360-a third horizontal rotating motor, 370-a mechanical clamp, 380-a camera component, 400-an inspection robot, 500-an unmanned aerial vehicle, 610-a first contact, 620-a second contact, 630-a charging head, 640-a first inclined plane and 650-a second inclined plane.
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 embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, it is to be understood that the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the scope of the present invention.
Examples
As shown in fig. 1, an embodiment of the present invention provides an integrated nest, including: a nest housing 100, the nest housing 100 having an interior cavity, the interior cavity being provided with a partition assembly; the inner cavity is divided into a lower storage space for storing the inspection robot 400 and an upper storage space for storing the unmanned aerial vehicle 500 by the partition plate assembly; the lower storage space is provided with a lower opening for communicating the lower storage space with an external space; the upper storage space is provided with an upper opening used for realizing the communication between the upper storage space and the external space; the nest housing 100 includes a bottom plate 110, a first side plate 120, a second side plate 130, and a third side plate 140; the first side plate 120 is hinged to the bottom plate 110 for opening or closing the lower opening; the third side plate 140 is disposed at one side of the lower opening, one end of the third side plate 140 is fixedly connected to the bottom plate 110, and the other end of the third side plate 140 is hinged to the second side plate 130, so as to open or close the upper opening.
In this embodiment, the integrated nest is provided with an inner cavity for storing the inspection robot 400 and the unmanned aerial vehicle 500 at the same time, the inner cavity is divided into an upper storage space and a lower storage space which are arranged in a stacked manner by arranging the clapboard component, and the lower storage space is used for storing the inspection robot 400, the upper storage space is used for storing the unmanned aerial vehicle 500, while the unmanned aerial vehicle 500 and the inspection robot 400 are stored simultaneously, the occupied area of the integrated machine nest can be effectively reduced through stacking, the purposes of saving storage space and ensuring the clean environment of the transformer substation can be achieved, and through the structural design of the first side plate 120 and the second side plate 130, the opening and closing of the upper storage space and the lower storage space can be effectively realized, thereby the business turn over and the storage of effectual realization unmanned aerial vehicle 500 and inspection robot 400.
As shown in fig. 2, in some embodiments, the partition assembly includes a slide rail 210 and a moving plate 220, one end of the slide rail 210 is connected to a side surface of the third side plate 140 close to the lower storage space, the moving plate 220 is in sliding fit with the slide rail 210, when the second side plate 130 is opened to communicate the upper storage space with an external space, the moving plate 220 slides on the slide rail 210, so that the relative position of the moving plate 220 with respect to the upper storage space is changed, and through the structural design of the partition assembly, the relative position of the moving plate 220 with respect to the upper storage space can be changed, so that the unmanned aerial vehicle 500 is conveniently released, and the influence of the housing 100 on the release of the unmanned aerial vehicle 500 is avoided.
Specifically, the number of the slide rails 210 is at least two, at least two of the slide rails 210 are arranged at intervals, any one of the slide rails 210 is arranged on one side of the moving plate 220 relative to the moving direction of the moving plate 220, any other slide rail 210 is arranged on the other side of the moving plate 220, and the support of the moving plate 220 can be effectively realized through the structural design of the at least two slide rails 210, so that the stability of the moving plate 220 is ensured.
The second side plate 130 is hinged to the third side plate 140, and the second side plate 130 can rotate along the hinged position, so as to change an included angle between the second side plate 130 and the third side plate 140, in some specific embodiments, a retaining member is further provided, and the retaining member is used for retaining an angle of the included angle formed by the second side plate 130 and the third side plate 140, specifically, the angle is 90 °, and through the 90 ° angle arrangement, when the moving plate 220 moves out of the upper storage space, the second side plate 130 can support the moving plate 220, so as to ensure the stability of the structure.
As shown in fig. 3, in some embodiments, a mechanical arm assembly 300 is disposed on one side of the moving plate 220, which is away from the lower storage space, one end of the mechanical arm assembly 300 is hinged to the moving plate 220, and the other end of the mechanical arm assembly 300 is provided with a mechanical clamp 370 for clamping the unmanned aerial vehicle 500, so that the unmanned aerial vehicle 500 can be effectively clamped through the structural design of the mechanical arm assembly 300, and stability and accuracy of the unmanned aerial vehicle 500 in homing are ensured.
The connection position of the robot arm assembly 300 and the moving plate 220 is located at the front end of the moving direction of the moving plate 220, specifically, when the moving plate 220 is completely located in the upper storage space, the robot arm assembly 300 is close to the second side plate 130, and by the position design of the robot arm assembly 300, the influence of the nest housing 100 on the robot arm assembly 300 can be effectively avoided.
In some embodiments, the robot arm assembly 300 is a multi-axis robot arm, including a first rotating shaft 310, a second rotating shaft 320 and a third rotating shaft 330 connected in sequence, the first rotating shaft 310, the second rotating shaft 320 and the third rotating shaft 330 are all rotatable around their own axes, one end of the first rotating shaft 310 is connected to the moving plate 220 by a first horizontal rotating motor 340, the other end of the first rotating shaft 310 is connected to one end of the second rotating shaft 320 by a second horizontal rotating motor 350, the other end of the second rotating shaft 320 is connected to one end of the third rotating shaft 330 through a third horizontal rotating motor 360, the mechanical clamp 370 is disposed at the other end of the third rotating shaft 330, through the structural design of the mechanical arm assembly 300, after the clamping of the unmanned aerial vehicle 500 is completed, the posture of the unmanned aerial vehicle 500 is adjusted, and the accuracy of the position of the unmanned aerial vehicle 500 on the moving plate 220 is guaranteed.
The first rotating shaft 310, the second rotating shaft 320 and the third rotating shaft 330 can rotate around their axes, and their rotations are not mutually affected, and can rotate independently, so that the robot arm assembly 300 can move freely in the area above the moving plate 220.
It should be noted that, the rotation of the rotating shaft and the rotation of the horizontal rotating motor both require a driving member, and no limitation is made on the structure of the specific driving member, and it is sufficient to implement corresponding structural movement, which is not described herein.
In some embodiments, the third rotating shaft 330 is close to the side of the mechanical clamp 370, and a camera assembly 380 for tracking the unmanned aerial vehicle 500 is further arranged on the side of the mechanical clamp 370, so that the unmanned aerial vehicle 500 can be effectively tracked by the structural design of the camera assembly 380, and the accuracy of clamping is ensured.
In some embodiments, the first horizontal rotation motor 340 is configured to drive the first rotation shaft 310 to rotate around the connection position of the first rotation shaft 310 and the moving plate 220, and a plane formed during the rotation of the first rotation shaft 310 is parallel to the sliding direction of the moving plate 220, and by defining the rotation direction of the first horizontal rotation motor 340, the horizontal rotation direction of the first rotation shaft 310 is defined, and interference with the housing 100 is avoided.
As shown in fig. 1, an embodiment of the present invention further provides a substation inspection system, which includes the above-mentioned integrated machine nest, an inspection robot 400, and an unmanned aerial vehicle 500, wherein the lower storage space is provided with a first charging device for charging the inspection robot 400, and the upper storage space is provided with a second charging device for charging the unmanned aerial vehicle 500.
In this embodiment, the transformer substation inspection system is provided with unmanned aerial vehicle 500 simultaneously and patrols and examines robot 400, and the all-round monitoring that can effectual realization transformer substation guarantees the comprehensiveness and the accuracy of monitoring, promotes and patrols and examines efficiency, and passes through the structural design of integration machine nest can accomplish simultaneously and patrol and examine robot 400 and unmanned aerial vehicle 500 charge, has practiced thrift the space.
In some embodiments, the charging device further comprises a power supply assembly for connecting with an external power supply, and the first charging device and the second charging device are electrically connected with the power supply assembly.
As shown in fig. 6-7, in some embodiments, the second charging device includes a first magnetic induction coil, a first contact 610 electrically connected to the first magnetic induction coil, a second contact 620, the second contact 620 electrically connected to the power supply assembly, and the second contact 620 is disposed near a start end of the sliding rail 210, the first contact and the first magnetic induction coil are disposed on the moving plate 220, and the first contact 610 is disposed at a side of the moving plate 220 where the moving plate 220 and the sliding rail 210 are engaged with each other, and the first contact 610 is disposed near the start end of the sliding rail 210, when the moving plate 220 is completely received in the upper storage space, the first contact 610 and the second contact 620 are communicated with each other, so as to energize the first magnetic induction coil; unmanned aerial vehicle 500 includes the power module, the power module includes second magnetic induction coil, first magnetic induction coil with second magnetic induction coil mutually supports and realizes unmanned aerial vehicle 500 charges, realizes charging of unmanned aerial vehicle 500 through the mode that adopts magnetic induction coil, can realize charging of unmanned aerial vehicle 500 after unmanned aerial vehicle 500 accomplishes descending and movable plate 220 playback, can effectually avoid adopting the condition of counterpoint of plug design needs, and through the structural design to second charging device, realize first magnetic induction coil's structure when movable plate 220 playback, the effectual energy of having practiced thrift.
In this embodiment, second charging device adopts the contact connection, and on the one hand, when effectually having avoided adopting the line connection, the removal of movable plate 220 is to the influence of wire, and on the other hand can effectual assurance nest inner structure's clean and tidy nature, and adopts the wireless mode of charging that constitutes by first magnetic induction coil and second magnetic induction coil, and the validity that can effectual assurance charges, and can avoid unmanned aerial vehicle 500's position to the influence of charging.
As shown in fig. 4, in some embodiments, the inspection robot 400 includes a traveling wheel and a charging slot, the bottom plate 110 is provided with a traveling groove 111 adapted to the traveling wheel, the traveling groove 111 includes a start end and a stop end, and when the first side plate 120 is opened, the start end is used for communicating the traveling groove 111 with an external space; the first charging device comprises a charging head 630 connected with the power supply assembly, and the charging head 630 and the starting end are oppositely positioned on two sides of the terminating end; patrol and examine robot 400 and follow walking groove 111 moves to during the termination end, charge head 630 with the slot electricity that charges is connected, through the structural design to in bottom plate 110, the effectual charging efficiency who patrols and examines robot 400 that has improved, targets in place and charges promptly, has avoided the searching process of the head 630 that charges, improves charging efficiency.
Wherein, charge head 630 with when the slot electricity that charges is connected, realize external power and patrol and examine the switch-on back of robot, accomplish the charging of patrolling and examining the robot.
As shown in fig. 5, further, a limiting member is further disposed on a side surface of the lower storage space, the walking groove 111 is disposed on the limiting member, the limiting member is disposed near the first side plate 120, the limiting member includes a first inclined surface 640 and a second inclined surface 650, one end of the first inclined surface 640 is connected to one end of the bottom plate 110 near the first side plate 120, the other end of the first inclined surface 640 is connected to one end of the second inclined surface 650, and the other end of the second inclined surface 650 is connected to the other end of the bottom plate 110; the included angle formed by the first inclined surface 640 and the second inclined surface 650 is an obtuse angle; first charging device is including charging first 630, charge first 630 set up in second inclined plane 650 keeps away from the one end of first inclined plane 640, patrol and examine robot 400 be provided with the slot that charges of first 630 looks adaptation, patrol and examine robot 400 and move when on second inclined plane 650, patrol and examine robot 400 and can guarantee the first 630 cooperation intensity with the slot that charges under the effect of gravity, and can realize through the structural design of locating part patrol and examine robot 400's position and keep.
The above embodiments are preferred embodiments of the present invention, and those skilled in the art can make variations and modifications to the above embodiments, so that the present invention is not limited to the above embodiments, and any obvious improvements, substitutions or modifications based on the present invention by those skilled in the art are within the protection scope of the present invention.
Claims (10)
1. An integrated airframe, comprising:
the device comprises a machine nest shell, a baffle plate assembly and a power supply, wherein the machine nest shell is provided with an inner cavity;
the inner cavity is divided into a lower storage space for storing the inspection robot and an upper storage space for storing the unmanned aerial vehicle by the partition plate assembly;
the lower storage space is provided with a lower opening for communicating the lower storage space with an external space;
the upper storage space is provided with an upper opening used for realizing the communication between the upper storage space and the external space;
the nest housing comprises a bottom plate, a first side plate, a second side plate and a third side plate;
the first side plate is hinged with the bottom plate and used for realizing the opening or closing of the lower opening;
the third side plate is arranged on one side of the lower layer opening, one end of the third side plate is fixedly connected with the bottom plate, and the other end of the third side plate is hinged with the second side plate and used for opening or closing the upper layer opening.
2. The integrated airframe as recited in claim 1, wherein the partition assembly comprises a slide rail and a moving plate, one end of the slide rail is connected to the side of the third panel close to the lower storage space, and the moving plate is slidably engaged with the slide rail.
3. The integrated airframe as claimed in claim 2, wherein a mechanical arm assembly is provided at a side of the movable plate away from the lower storage space, one end of the mechanical arm assembly is hinged to the movable plate, and a mechanical clamp for clamping the unmanned aerial vehicle is provided at the other end of the mechanical arm assembly.
4. The integrated machine nest of claim 3, wherein the mechanical arm assembly is a multi-axis mechanical arm, and comprises a first rotating shaft, a second rotating shaft and a third rotating shaft, which are connected in sequence, the first rotating shaft, the second rotating shaft and the third rotating shaft are all rotatable around their axes, one end of the first rotating shaft is connected to the moving plate through a first horizontal rotating motor, the other end of the first rotating shaft is connected to one end of the second rotating shaft through a second horizontal rotating motor, the other end of the second rotating shaft is connected to one end of the third rotating shaft through a third horizontal rotating motor, and the mechanical clamp is disposed at the other end of the third rotating shaft.
5. The integrated airframe as recited in claim 4, wherein a camera assembly for tracking the drone is further provided on a side of the third shaft adjacent to the mechanical clip.
6. The integrated machine nest of claim 4, wherein the first horizontal rotation motor is configured to drive the first rotation shaft to rotate around the connection position of the first rotation shaft and the moving plate, and a plane formed during the rotation of the first rotation shaft is parallel to the sliding direction of the moving plate.
7. The transformer substation inspection system is characterized by comprising an integrated nest and an inspection robot and an unmanned aerial vehicle, wherein the integrated nest is beneficial to any one of claims 2-6, a first charging device used for charging the inspection robot is arranged in a lower storage space, and a second charging device used for charging the unmanned aerial vehicle is arranged in an upper storage space.
8. The substation inspection system according to claim 7, further comprising a power supply assembly for connecting with an external power source, wherein the first charging device and the second charging device are electrically connected with the power supply assembly.
9. The substation inspection system according to claim 8, wherein the second charging device comprises a first magnetic induction coil, a first contact and a second contact, the first contact and the second contact are electrically connected with the power supply assembly, the second contact is arranged close to the starting end of the slide rail, the first electric shock and the first magnetic induction coil are arranged on the movable plate, the first contact is arranged on the side face, matched with the slide rail, of the movable plate, the first contact is arranged close to the starting end of the slide rail, and when the movable plate is completely accommodated in the upper storage space, the first contact and the second contact are communicated with each other; unmanned aerial vehicle includes the power module, the power module includes second magnetic induction coil, first magnetic induction coil with second magnetic induction coil mutually supports the realization unmanned aerial vehicle charge.
10. The substation inspection system according to claim 8 or 9, wherein the inspection robot comprises a traveling wheel and a charging slot, a traveling groove matched with the traveling wheel is formed in the bottom plate, the traveling groove comprises a starting end and a terminating end, and when the first side plate is opened, the starting end is used for communicating the traveling groove with an external space; the first charging device comprises a charging head connected with the power supply assembly, and the charging head and the starting end are relatively positioned on two sides of the terminating end; the inspection robot follows the walking groove moves to when terminating the end, charge the head with the slot electricity that charges is connected.
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