CN114613033A - Intelligent inspection device and system for transformer substation - Google Patents
Intelligent inspection device and system for transformer substation Download PDFInfo
- Publication number
- CN114613033A CN114613033A CN202210117738.0A CN202210117738A CN114613033A CN 114613033 A CN114613033 A CN 114613033A CN 202210117738 A CN202210117738 A CN 202210117738A CN 114613033 A CN114613033 A CN 114613033A
- Authority
- CN
- China
- Prior art keywords
- pair
- base
- inspection
- transformer substation
- inspection device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
Abstract
The invention relates to an intelligent inspection device and an intelligent inspection system for a transformer substation. The intelligent inspection device of the transformer substation comprises a base, a power mechanism, a traveling mechanism, a rotating mechanism, an inspection mechanism and a control mechanism. The power mechanism is used for providing power; the traveling mechanism is driven by the power mechanism to travel and steer in the transformer substation; the rotating mechanism is driven by the power mechanism and can realize two-dimensional rotating action relative to the base; the inspection mechanism is connected with the rotating mechanism and used for performing inspection detection to obtain inspection data; the control mechanism is used for controlling the power mechanism, the travelling mechanism and the rotating mechanism. The intelligent substation inspection system comprises the intelligent substation inspection device, a cloud data center and a local end. The invention can flexibly realize movement and in-situ turning, is suitable for narrow transformer substation environments, avoids damaging transformer substation facilities in routing inspection, and has the advantages of simple structure, convenient use, lower energy consumption and popularization value.
Description
Technical Field
The invention relates to the technical field of transformer substation inspection, in particular to an intelligent inspection device and an intelligent inspection system for a transformer substation.
Background
The transformer substation refers to a place for converting voltage and current, receiving electric energy and distributing electric energy in an electric power system. The conventional daily inspection of the transformer substation is completed manually. Along with the promotion of science and technology, a machine is patrolled and examined and is entered into in the transformer substation and replace artifical and patrol and examine, and it has advantages such as efficient, investigate rigorously, but because the transformer substation environment is comparatively complicated, current inspection device is difficult to realize the pivot turn in narrow and small environment, leads to causing the touching to the transformer substation facility at the in-process of turning to in current inspection device, check out test set need establish actuating mechanism in addition when the operation, increased the weight and the device complexity of equipment self, increased the consumption of electric energy.
Disclosure of Invention
The invention aims to provide the intelligent substation inspection device which is flexible and convenient to operate, simple in structure and low in energy consumption.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a transformer substation's intelligence inspection device for carry out the intelligence to the transformer substation and patrol and examine, transformer substation's intelligence inspection device includes:
a base;
the power mechanism is arranged in the base and used for providing power;
the traveling mechanism is partially arranged in the base and partially arranged outside the base, and is driven by the power mechanism to travel and steer in the transformer substation;
the rotating mechanism is partially arranged in the base and partially arranged outside the base, and is driven by the power mechanism to realize two-dimensional rotating action relative to the base;
the inspection mechanism is connected with the rotating mechanism, is positioned outside the base and is used for performing inspection detection to obtain inspection data;
the control mechanism is connected with the rotating mechanism, is positioned outside the base and is used for controlling the power mechanism, the travelling mechanism and the rotating mechanism;
the power mechanism comprises a double-head motor and a converter, wherein the double-head motor is provided with a first output end corresponding to the travelling mechanism and a second output end corresponding to the rotating mechanism, and the converter is used for driving the double-head motor to move so as to enable the double-head motor to be in butt joint with the travelling mechanism or the rotating mechanism; the double-head motor and the converter are in signal connection with the control mechanism;
the traveling mechanism comprises a traveling component which is arranged at the bottom of the base and can realize forward movement or steering movement, a driving component which is arranged in the base and can be connected with the double-end motor to output power, a transmission component which is arranged in the base and can drive the traveling component to move under different working states under the driving of the driving component, and a reversing component which is arranged in the base and is connected with the transmission component to drive the transmission component to change the working state; the reversing assembly is in signal connection with the control mechanism;
the rotating mechanism comprises a linkage assembly which can be connected with the double-head motor to output power, a transverse rotating assembly which is arranged outside the base and is used for the inspection mechanism to longitudinally rotate and be arranged on the base and can transversely rotate, a longitudinal rotating assembly which is connected with the inspection mechanism to longitudinally rotate together, and a transformation assembly which is used for driving the linkage assembly to switch and is butted with the transverse rotating assembly or the longitudinal rotating assembly; the transformation assembly is in signal connection with the control mechanism.
The walking assembly comprises two groups of straight gear sets arranged on two outer sides of the base and two crawler belts in transmission connection with the straight gear sets respectively;
the driving assembly comprises a first bevel gear, a pair of first bevel gears, a pair of second bevel gears and a pair of second end face gears, wherein the first bevel gears can be meshed with the first end face gears arranged on the first output end of the double-head motor, the pair of first bevel gears are coaxially and rotatably connected with the first bevel gear through a rotating shaft and symmetrically arranged on two sides of the first bevel gear, the pair of second bevel gears are correspondingly meshed with the pair of first bevel gears one by one, and the pair of second end face gears are respectively and coaxially and rotatably connected with the pair of second bevel gears one by one through a transmission shaft;
the transmission assembly comprises a steering shaft which is rotatably arranged in the base and two end parts of which form meshing wheels, a pair of second bevel gears which are symmetrically arranged at two ends of the steering shaft and can be meshed with the pair of second end face gears in a one-to-one corresponding manner and synchronously rotate with the steering shaft, a pair of transmission rods which are symmetrically arranged at two ends of the steering shaft and are provided with meshing grooves meshed with the meshing wheels, a pair of first ratchet gears which are symmetrically arranged on the pair of transmission rods in a one-to-one corresponding manner, a pair of first shaft sleeves which are sleeved on the pair of transmission rods in a one-to-one corresponding manner, a pair of third bevel gears which are symmetrically arranged on the pair of first shaft sleeves in a one-to-one corresponding manner and can be meshed with the pair of second end face gears in a one-to-one corresponding manner, a pair of second ratchet gears which are sleeved on the pair of transmission rods in a one-to-one sliding manner and can be meshed with the corresponding first ratchet gears, A pair of slip rings which are sleeved on the pair of transmission rods in a one-to-one corresponding and sliding manner and are connected with the second ratchet gears in a one-to-one corresponding manner, and a pair of springs which are sleeved on the pair of transmission rods in a one-to-one corresponding manner and are connected with the third bevel gears and the ratchet rings correspondingly;
the reversing component comprises a telescopic cylinder arranged in the base and in signal connection with the control mechanism, a limiting shaft connected with the output end of the telescopic cylinder, a limiting rod arranged in the base in a sliding manner and parallel to the steering shaft, a first limiting plate arranged in the middle of the limiting rod and provided with a first limiting groove, a second shaft sleeve sleeved in the middle of the steering shaft, a second limiting plate connected with the second shaft sleeve and provided with a second limiting groove, a pair of limiting blocks arranged at two ends of the limiting rod, and a pair of connecting pieces arranged on the limiting rod in a sliding manner, positioned at two sides of the first limiting plate and connected with a pair of the slip rings in a one-to-one correspondence manner, the limiting rod is arranged in the first limiting groove and the second limiting groove in a sliding mode, and the axial direction of the first limiting groove is crossed with the axial direction of the second limiting groove.
The connecting piece comprises a sliding plate arranged on the limiting rod in a sliding mode and a sleeve ring arranged at the bottom of the sliding plate and sleeved on the corresponding sliding ring.
The linkage assembly comprises a second bevel gear which can be meshed with a first bevel gear arranged on a second output end of the double-head motor, a vertical rotating shaft of which the lower end is connected with the second bevel gear and coaxially rotates, a limiting column arranged at the upper end of the vertical rotating shaft, a third face gear which is arranged on the vertical rotating shaft and rotates together, and a fourth face gear which is arranged on the vertical rotating shaft and is connected with the back of the third face gear;
the transverse rotating assembly comprises a cover cap transversely rotatably mounted at the top of the base and a meshing sleeve which is arranged in the cover cap and can be correspondingly meshed with the fourth end face gear, and the inspection mechanism is longitudinally rotatably mounted on the cover cap;
the longitudinal rotation assembly comprises a fourth bevel gear which is connected with the inspection mechanism and can be correspondingly meshed with the third end face gear;
the transformation assembly comprises a push-pull electromagnet arranged in the cap, the push-pull electromagnet is in signal connection with the control mechanism, and the fourth end face gear is rotatably arranged on an output shaft of the push-pull electromagnet.
The inspection mechanism comprises a detection probe connected with the rotating mechanism, a detection unit arranged in the detection probe for detecting and obtaining inspection data, and a data transmission unit arranged in the detection probe and connected with the detection unit for processing and transmitting the inspection data.
The detection unit comprises a temperature measurement module for detecting the temperature of each temperature detection position in the transformer substation, a leakage detection module for detecting whether oil leakage occurs in a transformer in the transformer substation, an on-line lightning rod monitoring module for detecting whether an abnormal lightning rod exists in the transformer substation, a partial discharge detection module for detecting whether partial discharge exists in the transformer substation, and a current-voltage detection module for detecting the current and the voltage at the detection point in the transformer substation.
The temperature measurement module is an infrared thermal imaging temperature measurement module, and the leakage detection module is a transformer oil color detection module for detecting the oil color of the transformer.
The data transmission unit comprises a data processing module connected with the detection unit and used for processing the inspection data, and a wireless transmission module connected with the data processing module and used for transmitting the inspection data.
The control mechanism includes:
the positioning unit is used for positioning and navigating based on three-dimensional live-action scanning and radar;
and the driving unit is in signal connection with the positioning unit and drives the power mechanism, the walking mechanism and the rotating mechanism based on positioning and navigation information.
The invention also provides a transformer substation intelligent inspection system based on the transformer substation intelligent inspection device, and the scheme is as follows:
the utility model provides a transformer substation intelligence inspection system, includes aforementioned transformer substation intelligence inspection device, still includes:
the cloud data center is in communication connection with the intelligent inspection device of the transformer substation and is used for receiving and storing the inspection data and storing cloud data;
the local end is arranged in the transformer substation, is in communication connection with the cloud data center and the intelligent inspection device of the transformer substation respectively, and is used for comparing and analyzing the inspection data and the corresponding cloud data and displaying data comparison and analysis results.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages: the invention can flexibly realize movement and in-situ turning, is suitable for narrow transformer substation environments, avoids damaging transformer substation facilities in routing inspection, and has the advantages of simple structure, convenient use, lower energy consumption and popularization value.
Drawings
Fig. 1 is a schematic appearance diagram of the intelligent substation inspection device of the present invention.
Fig. 2 is a schematic structural diagram of the intelligent inspection device of the transformer substation after being separated from a base.
Fig. 3 is a schematic structural diagram of a power mechanism and a traveling mechanism of the intelligent inspection device for the transformer substation.
Fig. 4 is a schematic structural diagram of a driving assembly, a transmission assembly and a reversing assembly in a power mechanism and a traveling mechanism of the intelligent inspection device for the transformer substation.
Fig. 5 is a schematic structural diagram of a power mechanism and a driving assembly in a traveling mechanism of the intelligent inspection device for the transformer substation.
Fig. 6 is a schematic structural diagram of a transmission assembly and a reversing assembly in a travelling mechanism of the intelligent inspection device for the transformer substation.
Fig. 7 is an exploded schematic view of a transmission assembly in a traveling mechanism of the intelligent inspection device for the transformer substation.
Fig. 8 is a schematic structural diagram of a rotating mechanism and an inspection mechanism of the intelligent inspection device for the transformer substation.
Fig. 9 is an exploded view of the rotating mechanism and the inspection mechanism of the intelligent inspection device for the transformer substation of the invention.
Fig. 10 is an exploded view of the rotating mechanism and the inspection mechanism of the intelligent inspection device for the transformer substation.
Fig. 11 is a partial structural block diagram of the intelligent substation inspection system according to the present invention.
Fig. 12 is a partial structural block diagram of the intelligent substation inspection system according to the present invention.
In the above drawings: 1. a traveling mechanism; 11. a base; 12. a drive assembly; 121. a double-headed motor; 1211. a first face gear; 1212. a first bevel gear; 1213. a first telescopic cylinder; 122. a drive gear set; 123. a drive shaft; 13. a transmission assembly; 131. a second face gear; 132. a first helical gear; 133. a steering shaft; 1331. an engaging wheel; 134. a transmission rod; 1341. a first ratchet gear; 1342. an engagement groove; 135. a first bushing; 1351. a second helical gear; 1352. a spring; 1353. a second ratchet gear; 1354. a slip ring; 14. a commutation assembly; 141. a second telescopic cylinder; 142. a limiting shaft; 143. a first limit plate; 1431. a first limit groove; 144. a limiting rod; 1441. a second limiting plate; 145. a sliding plate; 146. a collar; 1471. a second shaft sleeve; 15. a walking assembly; 151. a spur gear; 152. a crawler belt; 2. a rotating mechanism; 21. a linkage assembly; 211. a second bevel gear; 212. a vertical rotating shaft; 213. a limiting column; 214. a third face gear; 215. a fourth face gear; 221. Capping; 222. an engagement sleeve; 223. a push-pull electromagnet; 23. detecting a probe; 231. a third bevel gear; 3. a routing inspection system; 31. a positioning unit; 311. three-dimensional live-action scanning point application; 312. a radar navigation module; 32. a drive unit; 33. a detection unit; 331. an infrared thermal imaging temperature measurement module; 332. a transformer oil color detection module; 333. the lightning rod on-line monitoring module; 334. a partial discharge detection module; 335. a current voltage detection module; 34. a wireless transmission unit; 341. a data processing module; 342. a wireless transmission module; 35. a cloud data center; 36. a local terminal; 361. a data comparison module; 362. and a data display module.
Detailed Description
The invention will be further described with reference to examples of embodiments shown in the drawings to which the invention is attached.
The first embodiment is as follows: as shown in fig. 1 to 10, the intelligent substation inspection device for intelligently inspecting the substation comprises a base 11, a power mechanism, a traveling mechanism 1, a rotating mechanism 2, an inspection mechanism and a control mechanism.
The base 11 is a casing, and is used for loading other components of the intelligent inspection device of the transformer substation. Power unit sets up in base 11, and it is used for providing power for this transformer substation's intelligence inspection device. The rotating mechanism 2 is partially disposed in the base 11 and partially disposed outside the base 11, and is driven by the power mechanism to rotate two-dimensionally relative to the base 11. The inspection mechanism is connected with the rotating mechanism 2, is positioned outside the base 11 and is used for performing inspection detection to obtain inspection data; the control mechanism is connected with the rotating mechanism 2 and is positioned outside the base 11 and used for controlling the power mechanism, the walking mechanism 1 and the rotating mechanism 2.
The specific scheme of the intelligent inspection device for the transformer substation is as follows:
the power mechanism includes a double-headed motor 121 and an inverter. The double-headed motor 121 has two output terminals, a first output terminal corresponding to the traveling mechanism 1 and a second output terminal corresponding to the rotating mechanism 2, respectively. The converter is fixedly arranged in the base 11 and used for driving the double-head motor 121 to move so as to enable the double-head motor 121 to be in butt joint with the travelling mechanism 1 or the rotating mechanism 2. The converter employs a telescopic cylinder, named as a first telescopic cylinder 1213, and the double-headed motor 121 is disposed on an output end of the first telescopic cylinder 1213. When the first telescopic cylinder 1213 extends or retracts, it displaces the double-headed motor 121. A guide rail may be further disposed between the dual-head motor 121 and the base 11 to achieve sliding support and sliding guide of the dual-head motor 121. The double-headed motor 121 and the inverter are in signal connection with the control mechanism, and thus work under the control of the control mechanism.
The running mechanism 1 comprises a running component 15, a driving component 12, a transmission component 13 and a reversing component 14. The traveling unit 15 is mounted on the bottom of the base 11, and can perform a forward movement or a steering movement. The walking assembly 15 includes two sets of spur gears 151 mounted on two outer sides of the base 11, and two caterpillar bands 152 in transmission connection with the sets of spur gears 151 respectively. The driving assembly 12 is disposed in the base 11 and can be connected to the double-headed motor 121 to output power. The driving assembly 12 includes a first bevel gear 132 capable of meshing with a first end gear 1211 mounted on a first output end of the double-headed motor 121, a pair of first bevel gears which are coaxially and rotatably connected to the first bevel gear 132 through a rotating shaft and symmetrically disposed at both sides of the first bevel gear 132, a pair of second bevel gears which are one-to-one correspondingly meshed with the pair of first bevel gears, and a pair of second end gears 131 which are one-to-one correspondingly and rotatably connected to the pair of second bevel gears through a transmission shaft 123, respectively, wherein the first bevel gear 132 and the pair of first bevel gears drive the gear group 122. The transmission assembly 13 is disposed in the base 11, and drives the walking assembly 15 to move under different working conditions under the driving of the driving assembly 12. The transmission assembly 13 includes a direction-changing shaft 133 rotatably disposed in the base 11 and having two end portions forming a meshing wheel 1331, a pair of second helical gears 1351 symmetrically disposed at two ends of the direction-changing shaft 133 and capable of meshing with the pair of second end-face gears 131 one by one and rotating synchronously with the direction-changing shaft 133, a pair of transmission rods 134 symmetrically disposed at two ends of the direction-changing shaft 133 and having a meshing groove 1342 capable of meshing with the meshing wheel 1331, a pair of first ratchet gears 1341 symmetrically disposed on the pair of transmission rods 134 one by one, a pair of first sleeves 135 sleeved on the pair of transmission rods 134 one by one, a pair of third helical gears 231 correspondingly and symmetrically disposed on the pair of first sleeves 135 and capable of meshing with the pair of second end-face gears 131 one by one, a pair of second ratchet gears 1353 slidably sleeved on the pair of transmission rods 134 one by one and capable of meshing with the corresponding first ratchet gears 1341, A pair of slip rings 1354 which are sleeved on the pair of transmission rods 134 in a one-to-one correspondence and are connected with the second ratchet gears 1353 in a one-to-one correspondence, and a pair of springs 1352 which are sleeved on the pair of transmission rods 134 in a one-to-one correspondence and are connected with the corresponding third bevel gears 231 and the ratchet rings. The sectional shape of the center of the steered shaft 133 is circular, and the sectional shapes of both ends are rectangular. The first boss 135 is provided at a circular sectional portion of the steered shaft 133, and the second helical gear 1351 is provided at a rectangular sectional portion of the steered shaft 133. The reversing component 14 is disposed in the base 11 and connected to the transmission component 13, and drives the transmission component 13 to change the operating state. The reversing component 14 comprises a telescopic cylinder arranged in the base 11 and in signal connection with the control mechanism, a limit shaft 142 connected with the output end of the telescopic cylinder, a limit rod 144 arranged in the base 11 in a sliding manner and parallel to the steering shaft 133, a first limit plate 143 arranged in the middle of the limit rod 144 and provided with a first limit groove 1431, a second shaft sleeve 1471 sleeved in the middle of the steering shaft 133, a second limit plate 1441 connected with the second shaft sleeve 1471 and provided with a second limit groove, a pair of limit blocks arranged at two ends of the limit rod 144, and a pair of connecting pieces arranged on the limit rod 144 in a sliding manner, positioned at two sides of the first limit plate 143, and connected with a pair of slip rings 1354 in a one-to-one correspondence manner, wherein telescopic cylinder names the second telescopic cylinder 141, and the gag lever post 144 slides and sets up in first spacing groove 1431 and second spacing groove, and the axial of first spacing groove 1431, the axial of second spacing groove are alternately. The connecting element comprises a sliding plate 145 arranged on the limiting rod 144 in a sliding mode, and a collar 146 arranged at the bottom of the sliding plate 145 and sleeved on the corresponding sliding ring 1354. The reversing assembly 14 is in signal connection with the control mechanism, i.e. the second telescopic cylinder 141 operates under the control of the control mechanism.
The rotating mechanism 2 comprises a linkage assembly 21 which can be connected with the double-head motor 121 to output power, a transverse rotating assembly which is arranged outside the base 11 and is used for the inspection mechanism to longitudinally rotate and be arranged on the base, a longitudinal rotating assembly which is connected with the inspection mechanism to longitudinally rotate together, and a transformation assembly which is used for driving the linkage assembly 21 to switch and is butted with the transverse rotating assembly or the longitudinal rotating assembly; the conversion component is in signal connection with the control mechanism. The linkage assembly 21 includes a second bevel gear 211 engaged with a first bevel gear 1212 installed at a second output end of the double-head motor 121, a vertical rotating shaft 212 having a lower end connected with the second bevel gear 211 and coaxially rotating, a limiting column 213 disposed at an upper end of the vertical rotating shaft 212, a third end gear 214 disposed on the vertical rotating shaft 212 and rotating together, and a fourth end gear 215 disposed on the vertical rotating shaft 212 and connected with a back surface of the third end gear 214. The transverse rotation assembly comprises a cap 221 transversely rotatably mounted at the top of the base 11, and an engagement sleeve 222 arranged in the cap 221 and capable of being engaged with the fourth end face gear 215 correspondingly, and the inspection mechanism is longitudinally rotatably mounted on the cap 221. The longitudinal rotation assembly includes a fourth bevel gear coupled to the routing inspection mechanism and capable of meshing with the third end gear 214. The transformation assembly comprises a push-pull electromagnet 223 arranged in the cap 221, the push-pull electromagnet 223 is in signal connection with the control mechanism, and the fourth end face gear 215 is rotatably arranged on an output shaft of the push-pull electromagnet 223.
As shown in fig. 11 and 12, the inspection mechanism includes a detection probe 23 connected to the rotating mechanism 2, a detection unit 33 disposed in the detection probe 23 for detecting to obtain inspection data, and a data transmission unit 34 disposed in the detection probe 23 and connected to the detection unit 33 for processing and transmitting the inspection data. The detection unit 33 includes a temperature measurement module 331 for detecting the temperature of each temperature detection position in the substation, a leakage detection module for detecting whether oil leakage occurs in the transformer in the substation, an online lightning rod monitoring module 333 for detecting whether an abnormal lightning rod exists in the substation, a partial discharge detection module 334 for detecting whether partial discharge exists in the substation, and a current-voltage detection module 335 for detecting the current and voltage at the detection point in the substation. The temperature measurement module 331 is an infrared thermal imaging temperature measurement module 331, and the leakage detection module is a transformer oil color detection module 332 for detecting the oil color of the transformer. The data transmission unit 34 includes a data processing module 341 connected to the detection unit 33 for processing the inspection data, and a wireless transmission module 342 connected to the data processing module 341 for transmitting the inspection data.
The control mechanism comprises a positioning unit 31 and a driving unit 32. The positioning unit 31 performs positioning and navigation based on three-dimensional live view scanning and radar, and includes a three-dimensional live view scanning point application 311 and a radar navigation module 312. The drive unit 32 is connected in signal communication with the positioning unit 31, which drives the power mechanism, the running gear 1 and the turning gear 2 on the basis of the positioning and navigation information.
The transformer substation intelligent inspection system 3 designed based on the scheme comprises the transformer substation intelligent inspection device, a cloud data center 35 and a local end 36. The cloud data center 35 is in communication connection with the intelligent inspection device of the transformer substation and used for receiving and storing inspection data and storing cloud data. The local end 36 is arranged in the transformer substation, is in communication connection with the cloud data center 35 and the intelligent inspection device of the transformer substation respectively, and is used for comparing and analyzing inspection data and corresponding cloud data and displaying data comparison and analysis results. The local end 36 includes a data comparing module 361 and a data displaying module 362.
The working principle of the intelligent inspection device for the transformer substation is as follows:
the first end gear 1211 on the first output shaft of the double-headed motor 121 engages with the first helical gear 132 of the drive unit 12 in the traveling mechanism 1. When the first output shaft of the double-headed motor 121 outputs the rotational power, the reverse rotational power is output through the pair of second end face gears 131 of the driving assembly 12. At this time, the second face gear 131 drives the two driving rods 134 to rotate in the same direction through the engagement with the third bevel gear 231, the linkage of the third bevel gear 231 and the second ratchet gear 1353, and the engagement of the second ratchet gear 1353 and the first ratchet gear 1341, so that the two supporting wheels installed at both ends of the driving rod 134 also rotate in the same direction, and the direction-changing shaft 133 idles without being linked with the driving rod 134, at this time, the device advances linearly.
When turning or pivot turning is needed, the second telescopic cylinder 141 is started, and when the second telescopic cylinder 141 extends or retracts, the limiting shaft 142 translates, and under the action of the first limiting groove 1431 and the second limiting groove, the limiting rod 144 and the steering shaft 133 axially translate in the opposite direction. The translating direction changing shaft 133 is interlocked with the transmission rod 134 at one end thereof by engagement of the engagement groove 1342 and the engagement wheel 1331. The translational limit rod 144 drives the slip ring 1354 to move through the connecting member, so that the first ratchet gear 1341 on one side of the connecting link between the steering shaft 133 and the transmission rod 134 is disengaged from the second gear. One side of the link between the direction-changing shaft 133 and the transmission rod 134 drives the transmission rod 134 to rotate through the second bevel gear 1351 and the direction-changing shaft 133, and the other side drives the transmission rod 134 to rotate through the third bevel gear 231, the second ratchet gear 1353, the first ratchet gear 1341, and the like. At this point, the pair of drive links 134 rotate in opposite directions to effect pivot turns by the tracks 152.
When the device moves to a preset area and needs to be detected, the first telescopic cylinder 1213 extends, so that the double-head motor 121 is separated from the butt joint with the travelling mechanism 1 and is in butt joint with the rotating mechanism 2. When the dual-head motor 121 operates to drive the first bevel gear 1212 to rotate, the third end gear 214 and the fourth end gear 215 are driven to rotate synchronously by the second bevel gear 211 and the vertical rotating shaft 212. Because the third face gear 214 is engaged with the fourth bevel gear, the fourth bevel gear rotates vertically to drive the inspection mechanism to rotate longitudinally. When the push-pull electromagnet 223 is powered on, it drives the third end face gear 214 and the fourth end face gear 215 to move upwards, so that the third end face gear 214 is disengaged from the fourth helical gear, and the fourth end face gear 215 is engaged with the engagement sleeve 222, so that the third end face gear 214 drives the cap 221, and further drives the inspection mechanism to rotate transversely. The all-round control to detection device can be realized through this scheme, and need not to be independent of running gear 1 and establish power device in addition.
Compared with the prior art, the beneficial effect of this scheme is:
1. the straight-line motion and the pivot turning can be conveniently realized, the turning radius can be greatly reduced, and the transformer substation facilities are prevented from being touched in the turning process;
2. the omnibearing control of the detection probe 23 is realized, a driving mechanism is not required to be additionally arranged, and the electric energy is saved;
3. the operation steps are simplified, and the inspection system 3 is perfected.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. The utility model provides a transformer substation intelligence inspection device for carry out intelligence to the transformer substation and patrol and examine, its characterized in that: the intelligent inspection device of transformer substation includes:
a base;
the power mechanism is arranged in the base and used for providing power;
the traveling mechanism is partially arranged in the base and partially arranged outside the base, and is driven by the power mechanism to travel and steer in the transformer substation;
the rotating mechanism is partially arranged in the base and partially arranged outside the base, and is driven by the power mechanism to realize two-dimensional rotating action relative to the base;
the inspection mechanism is connected with the rotating mechanism, is positioned outside the base and is used for performing inspection detection to obtain inspection data;
the control mechanism is connected with the rotating mechanism, is positioned outside the base and is used for controlling the power mechanism, the travelling mechanism and the rotating mechanism;
the power mechanism comprises a double-head motor and a converter, wherein the double-head motor is provided with a first output end corresponding to the travelling mechanism and a second output end corresponding to the rotating mechanism, and the converter is used for driving the double-head motor to move so as to enable the double-head motor to be in butt joint with the travelling mechanism or the rotating mechanism; the double-head motor and the converter are in signal connection with the control mechanism;
the traveling mechanism comprises a traveling component which is arranged at the bottom of the base and can realize forward movement or steering movement, a driving component which is arranged in the base and can be connected with the double-end motor to output power, a transmission component which is arranged in the base and can drive the traveling component to move under different working states under the driving of the driving component, and a reversing component which is arranged in the base and is connected with the transmission component to drive the transmission component to change the working state; the reversing assembly is in signal connection with the control mechanism;
the rotating mechanism comprises a linkage assembly which can be connected with the double-head motor to output power, a transverse rotating assembly which is arranged outside the base and is used for the inspection mechanism to longitudinally rotate and be arranged on the base and can transversely rotate, a longitudinal rotating assembly which is connected with the inspection mechanism to longitudinally rotate together, and a transformation assembly which is used for driving the linkage assembly to switch and is butted with the transverse rotating assembly or the longitudinal rotating assembly; the transformation assembly is in signal connection with the control mechanism.
2. The substation intelligent inspection device according to claim 1, wherein: the walking assembly comprises two groups of straight gear sets arranged on two outer sides of the base and two crawler belts in corresponding transmission connection with the straight gear sets respectively;
the driving assembly comprises a first helical gear which can be meshed with a first face gear arranged on a first output end of the double-ended motor, a pair of first bevel gears which are coaxially and rotatably connected with the first helical gear through a rotating shaft and symmetrically arranged at two sides of the first helical gear, a pair of second bevel gears which are meshed with the pair of first bevel gears in a one-to-one correspondence manner, and a pair of second face gears which are respectively and coaxially and rotatably connected with the pair of second bevel gears in a one-to-one correspondence manner through a transmission shaft;
the transmission assembly comprises a steering shaft which is rotatably arranged in the base and two end parts of which form meshing wheels, a pair of second bevel gears which are symmetrically arranged at two ends of the steering shaft and can be meshed with the pair of second end face gears in a one-to-one corresponding manner and synchronously rotate with the steering shaft, a pair of transmission rods which are symmetrically arranged at two ends of the steering shaft and are provided with meshing grooves meshed with the meshing wheels, a pair of first ratchet gears which are symmetrically arranged on the pair of transmission rods in a one-to-one corresponding manner, a pair of first shaft sleeves which are sleeved on the pair of transmission rods in a one-to-one corresponding manner, a pair of third bevel gears which are symmetrically arranged on the pair of first shaft sleeves in a one-to-one corresponding manner and can be meshed with the pair of second end face gears in a one-to-one corresponding manner, a pair of second ratchet gears which are sleeved on the pair of transmission rods in a one-to-one sliding manner and can be meshed with the corresponding first ratchet gears, A pair of slip rings which are sleeved on the pair of transmission rods in a one-to-one corresponding and sliding manner and are connected with the second ratchet gears in a one-to-one corresponding manner, and a pair of springs which are sleeved on the pair of transmission rods in a one-to-one corresponding manner and are connected with the third bevel gears and the ratchet rings correspondingly;
the reversing component comprises a telescopic cylinder arranged in the base and in signal connection with the control mechanism, a limiting shaft connected with the output end of the telescopic cylinder, a limiting rod arranged in the base in a sliding manner and parallel to the steering shaft, a first limiting plate arranged in the middle of the limiting rod and provided with a first limiting groove, a second shaft sleeve sleeved in the middle of the steering shaft, a second limiting plate connected with the second shaft sleeve and provided with a second limiting groove, a pair of limiting blocks arranged at two ends of the limiting rod, and a pair of connecting pieces arranged on the limiting rod in a sliding manner, positioned at two sides of the first limiting plate and connected with a pair of the slip rings in a one-to-one correspondence manner, the limiting rod is arranged in the first limiting groove and the second limiting groove in a sliding mode, and the axial direction of the first limiting groove is crossed with the axial direction of the second limiting groove.
3. The substation intelligent inspection device according to claim 2, wherein: the connecting piece comprises a sliding plate arranged on the limiting rod in a sliding mode and a sleeve ring arranged at the bottom of the sliding plate and sleeved on the corresponding sliding ring.
4. The substation intelligent inspection device according to claim 1, wherein: the linkage assembly comprises a second bevel gear which can be meshed with a first bevel gear arranged on a second output end of the double-head motor, a vertical rotating shaft of which the lower end is connected with the second bevel gear and coaxially rotates, a limiting column arranged at the upper end of the vertical rotating shaft, a third face gear which is arranged on the vertical rotating shaft and rotates together, and a fourth face gear which is arranged on the vertical rotating shaft and is connected with the back of the third face gear;
the transverse rotating assembly comprises a cover cap transversely rotatably mounted at the top of the base and a meshing sleeve which is arranged in the cover cap and can be correspondingly meshed with the fourth end face gear, and the inspection mechanism is longitudinally rotatably mounted on the cover cap;
the longitudinal rotation assembly comprises a fourth bevel gear which is connected with the inspection mechanism and can be correspondingly meshed with the third end face gear;
the conversion assembly comprises a push-pull electromagnet arranged in the cap, the push-pull electromagnet is in signal connection with the control mechanism, and the fourth end face gear is rotatably arranged on an output shaft of the push-pull electromagnet.
5. The substation intelligent inspection device according to claim 1, wherein: the inspection mechanism comprises a detection probe connected with the rotating mechanism, a detection unit arranged in the detection probe for detecting and obtaining inspection data, and a data transmission unit arranged in the detection probe and connected with the detection unit for processing and transmitting the inspection data.
6. The substation intelligent inspection device according to claim 5, wherein: the detection unit comprises a temperature measurement module for detecting the temperature of each temperature detection position in the transformer substation, a leakage detection module for detecting whether oil leakage occurs in a transformer in the transformer substation, an on-line lightning rod monitoring module for detecting whether an abnormal lightning rod exists in the transformer substation, a partial discharge detection module for detecting whether partial discharge exists in the transformer substation, and a current-voltage detection module for detecting the current and the voltage at the detection point in the transformer substation.
7. The substation intelligent inspection device according to claim 6, wherein: the temperature measurement module is an infrared thermal imaging temperature measurement module, and the leakage detection module is a transformer oil color detection module for detecting the oil color of the transformer.
8. The substation intelligent inspection device according to claim 5, wherein: the data transmission unit comprises a data processing module connected with the detection unit and used for processing the inspection data, and a wireless transmission module connected with the data processing module and used for transmitting the inspection data.
9. The substation intelligent inspection device according to claim 1, wherein: the control mechanism includes:
the positioning unit is used for positioning and navigating based on three-dimensional live-action scanning and radar;
and the driving unit is in signal connection with the positioning unit and drives the power mechanism, the walking mechanism and the rotating mechanism based on positioning and navigation information.
10. The utility model provides a transformer substation intelligence system of patrolling and examining which characterized in that: the substation intelligent inspection system comprises the substation intelligent inspection device of any one of claims 1 to 9, and further comprises:
the cloud data center is in communication connection with the intelligent inspection device of the transformer substation and is used for receiving and storing the inspection data and storing cloud data;
the local end is arranged in the transformer substation, is respectively in communication connection with the cloud data center and the intelligent inspection device of the transformer substation, and is used for comparing and analyzing the inspection data and the corresponding cloud data and displaying a data comparison and analysis result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210117738.0A CN114613033B (en) | 2022-02-08 | 2022-02-08 | Intelligent inspection device and system for transformer substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210117738.0A CN114613033B (en) | 2022-02-08 | 2022-02-08 | Intelligent inspection device and system for transformer substation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114613033A true CN114613033A (en) | 2022-06-10 |
| CN114613033B CN114613033B (en) | 2023-09-19 |
Family
ID=81859157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210117738.0A Active CN114613033B (en) | 2022-02-08 | 2022-02-08 | Intelligent inspection device and system for transformer substation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114613033B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6263989B1 (en) * | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
| CN208060987U (en) * | 2018-04-12 | 2018-11-06 | 黄冈师范学院 | A kind of substation's movement inspection device |
| US20180363828A1 (en) * | 2016-07-07 | 2018-12-20 | Southwest Petroleum University | Pipeline robot capable of steering actively |
| CN111331613A (en) * | 2020-03-18 | 2020-06-26 | 广西电网有限责任公司柳州供电局 | Transformer substation inspection robot and transformer substation inspection system |
| CN112008738A (en) * | 2020-09-04 | 2020-12-01 | 湖南理工职业技术学院 | Rescue robot is patrolled and examined to workshop safety |
| CN113601479A (en) * | 2021-08-11 | 2021-11-05 | 铁科检测有限公司 | Self-walking intelligent platform inspection equipment |
| CN215322966U (en) * | 2021-05-24 | 2021-12-28 | 广东博智林机器人有限公司 | Four-wheel drive chassis and robot |
| CN113991837A (en) * | 2021-09-30 | 2022-01-28 | 国网江苏省电力有限公司 | Protection device intelligence inspection system based on many first perception techniques |
-
2022
- 2022-02-08 CN CN202210117738.0A patent/CN114613033B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6263989B1 (en) * | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
| US20180363828A1 (en) * | 2016-07-07 | 2018-12-20 | Southwest Petroleum University | Pipeline robot capable of steering actively |
| CN208060987U (en) * | 2018-04-12 | 2018-11-06 | 黄冈师范学院 | A kind of substation's movement inspection device |
| CN111331613A (en) * | 2020-03-18 | 2020-06-26 | 广西电网有限责任公司柳州供电局 | Transformer substation inspection robot and transformer substation inspection system |
| CN112008738A (en) * | 2020-09-04 | 2020-12-01 | 湖南理工职业技术学院 | Rescue robot is patrolled and examined to workshop safety |
| CN215322966U (en) * | 2021-05-24 | 2021-12-28 | 广东博智林机器人有限公司 | Four-wheel drive chassis and robot |
| CN113601479A (en) * | 2021-08-11 | 2021-11-05 | 铁科检测有限公司 | Self-walking intelligent platform inspection equipment |
| CN113991837A (en) * | 2021-09-30 | 2022-01-28 | 国网江苏省电力有限公司 | Protection device intelligence inspection system based on many first perception techniques |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114613033B (en) | 2023-09-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107264670B (en) | Light universal mobile lifting trolley | |
| CN109677505B (en) | Small-sized vehicle for acquiring field crop growth data information | |
| CN101913144B (en) | Mobile mechanical arm | |
| CN102608473B (en) | Robot for electrified detection of double strain insulator strings | |
| Hongguang et al. | Research of power transmission line maintenance robots in SIACAS | |
| CN103926489B (en) | Power transmission line zero value insulator electrification detection robot | |
| CN109794920A (en) | A kind of bionical restructural rescue robot | |
| CN108011321B (en) | Convenient high-voltage line electric power inspection robot | |
| CN109658679B (en) | Multi-mode data acquisition device for field crop growth data information acquisition unmanned small vehicle | |
| CN112590833B (en) | Intelligent railway track inspection equipment | |
| CN113878593B (en) | Farmland information acquisition robot with adjustable ground clearance and wheel track and information acquisition method | |
| CN109823427A (en) | A kind of vehicle-snake combined type structure changes mobile robot | |
| CN114613033A (en) | Intelligent inspection device and system for transformer substation | |
| CN210123369U (en) | Unmanned aerial vehicle water quality sampling device | |
| CN202522644U (en) | Live detection robot for horizontal double insulator strings | |
| CN116713969A (en) | Intelligent robot capable of monitoring inspection site in real time | |
| CN109916272A (en) | Movable hydraulic formula gearbox shaft is to clearance measurement equipment | |
| CN109571496A (en) | A kind of simulating crawling robot for HV Transmission Line Routing Inspection | |
| CN215179736U (en) | Pressure vessel damage detection device | |
| CN202522643U (en) | Live detection robot for double strain insulator strings | |
| CN209962134U (en) | Double-rudder-wheel omnidirectional lifting AGV | |
| CN113465881A (en) | Steel construction building engineering quality intellectual detection system equipment based on machine vision | |
| CN217583689U (en) | Pipeline detection robot | |
| CN218614026U (en) | Track inspection robot | |
| CN101702497B (en) | Line transfer mechanism used for detecting electric transmission line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |