CN114613033B - Intelligent inspection device and system for transformer substation - Google Patents
Intelligent inspection device and system for transformer substation Download PDFInfo
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- CN114613033B CN114613033B CN202210117738.0A CN202210117738A CN114613033B CN 114613033 B CN114613033 B CN 114613033B CN 202210117738 A CN202210117738 A CN 202210117738A CN 114613033 B CN114613033 B CN 114613033B
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- 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 system for a transformer substation. The intelligent inspection device for 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 running mechanism is driven by the power mechanism to realize running and steering in the transformer substation; the rotating mechanism is driven by the power mechanism and can realize two-dimensional rotating motion relative to the base; the inspection mechanism is connected with the rotating mechanism and is used for performing inspection detection to obtain inspection data; the control mechanism is used for controlling the power mechanism, the walking mechanism and the rotating mechanism. The intelligent substation inspection system comprises the intelligent substation inspection device, a cloud data center and a local terminal. The invention can flexibly realize movement and in-situ turning, is suitable for a narrow transformer substation environment, avoids damaging transformer substation facilities in inspection, has simple structure, convenient use and lower energy consumption, and has popularization value.
Description
Technical Field
The invention relates to the technical field of substation inspection, in particular to an intelligent substation inspection device and system.
Background
A substation is a place for converting voltage and current, receiving electric energy, and distributing electric energy in a power system. Traditional transformer substation routine inspection is mostly finished by manpower. Along with the promotion of science and technology, a machine inspection enters into the transformer substation and replaces the manual work to patrol and examine, and it has advantages such as efficient, investigation are rigorous, 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 transformer substation facility at the in-process of turn to in current inspection device, detection equipment needs to establish actuating mechanism in addition when the operation, has increased equipment self weight and device complexity, has increased the consumption of electric energy.
Disclosure of Invention
The invention aims to provide an intelligent substation inspection device which is flexible and convenient to operate, simple in structure and low in energy consumption.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an intelligent inspection device of transformer substation for intelligent inspection is carried out to the transformer substation, the intelligent inspection device of transformer substation includes:
a base;
the power mechanism is arranged in the base and is used for providing power;
the walking mechanism is partially arranged in the base, partially arranged outside the base and driven by the power mechanism to walk and turn in the transformer substation;
the rotating mechanism is partially arranged in the base, partially arranged outside the base and driven by the power mechanism to realize two-dimensional rotating motion relative to the base;
the inspection mechanism is connected with the rotating mechanism and positioned outside the base, and is used for performing inspection detection to obtain inspection data;
the control mechanism is connected with the rotating mechanism and is positioned outside the base and used for controlling the power mechanism, the travelling mechanism and the rotating mechanism;
the power mechanism comprises a double-headed motor with a first output end corresponding to the travelling mechanism and a second output end corresponding to the rotating mechanism, and a converter for driving the double-headed motor to move so as to enable the double-headed motor to be in butt joint with the travelling mechanism or in butt joint with the rotating mechanism; the double-headed motor and the converter are both 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 motion or steering motion, a driving component which is arranged in the base and can be connected with the double-headed motor to output power, a transmission component which is arranged in the base and can drive the traveling component to act in 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 component is in signal connection with the control mechanism;
the rotating mechanism comprises a linkage assembly which can be connected with the double-headed 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 is arranged on the base and can transversely rotate, a longitudinal rotating assembly which is connected with the inspection mechanism to jointly longitudinally rotate, and a conversion assembly which is used for driving the linkage assembly to switch and butt joint with the transverse rotating assembly or the longitudinal rotating assembly; the conversion component is in signal connection with the control mechanism.
The walking assembly comprises two groups of straight gear sets arranged on the two outer sides of the base and two tracks correspondingly connected with the straight gear sets in a transmission manner 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 bevel gears, wherein the first bevel gear can be meshed with a first end face gear arranged on a first output end of the double-headed 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 in one-to-one correspondence meshing with the pair of first bevel gears, and the pair of second end face gears are coaxially and rotatably connected with the pair of second bevel gears through transmission shafts in one-to-one correspondence respectively;
the transmission assembly comprises a reversing shaft, a pair of second bevel gears, a pair of first bevel gears, a pair of second bevel gears and a pair of second bevel gears, wherein the reversing shaft is rotatably arranged in the base, the two end parts of the reversing shaft form meshing wheels, the pair of second bevel gears are symmetrically arranged at two ends of the reversing shaft and can be meshed with the pair of second face gears in a one-to-one correspondence manner, and the pair of second bevel gears synchronously rotate with the reversing shaft the two ratchet gears are symmetrically arranged at two ends of the reversing shaft and provided with a pair of transmission rods with meshing grooves which can be meshed with the meshing wheels, a pair of first ratchet gears which are arranged on the transmission rods in a one-to-one correspondence manner and are symmetrically arranged, a pair of first shaft sleeves which are sleeved on the transmission rods in a one-to-one correspondence manner, a pair of first shaft sleeves which are sleeved on the transmission rods, a pair of second ratchet gears which are arranged on the transmission rods in a one-to-one correspondence manner, a pair of first ratchet gears which are sleeved on the transmission rods in a one-to-one correspondence manner, a pair of first ratchet gears which are arranged on the transmission rods in a one-to-one correspondence manner, a pair of first ratchet gears which are sleeved on the the first end face gear is arranged on the first shaft sleeve in a one-to-one correspondence manner, the second end face gear is arranged on the second shaft sleeve in a one-to-one correspondence manner, the second end face gear is arranged on the first shaft sleeve in a one-to-one correspondence manner, the third end face gear is arranged on the second shaft sleeve in a one-to-one correspondence manner, the second end face gear is arranged on the second shaft sleeve in a one-to-one correspondence manner, the third end face gear is arranged on the first end face gear in a one-to-one correspondence manner, the second end face gear is arranged on the second end face gear in a one-to-one correspondence manner, the third end face gear is arranged on the second end face gear in a one-to-one correspondence manner, the second end face gear is arranged on the second end face gear in a one-to-one correspondence manner, the slide is sleeved on the transmission rod in a one-to-one correspondence manner, and the second end face gear is connected with the Hua Huan;
the reversing assembly comprises a telescopic cylinder, a limiting shaft, a limiting rod, a first limiting plate, a second shaft sleeve, a second limiting plate, a pair of limiting blocks and a pair of connecting pieces, wherein the telescopic cylinder is arranged in the base and is in signal connection with the control mechanism, the limiting shaft is connected with the output end of the telescopic cylinder, the limiting rod is arranged in the base in a sliding mode and is parallel to the reversing shaft, the first limiting plate is arranged in the middle of the limiting rod and is provided with a first limiting groove, the second shaft sleeve is sleeved on the middle of the reversing shaft, the second limiting plate is connected with the second shaft sleeve and is provided with a second limiting groove, the pair of limiting blocks are arranged at two ends of the limiting rod, the connecting pieces are arranged on the limiting rod in a sliding mode and are located at two sides of the first limiting plate and are connected with the pair of sliding rings in a one-to-one correspondence mode, and 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 and the axial direction of the second limiting groove are crossed.
The connecting piece comprises a sliding plate which is arranged on the limiting rod in a sliding manner, and a lantern ring which is 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-headed motor, a vertical rotating shaft, a limit post, a third end face gear and a fourth end face gear, wherein the lower end of the vertical rotating shaft is connected with the second bevel gear and coaxially rotates, the limit post is arranged at the upper end of the vertical rotating shaft, the third end face gear is arranged on the vertical rotating shaft and jointly rotates, and the fourth end face gear is arranged on the vertical rotating shaft and is connected with the back face of the third end face gear;
the transverse rotating assembly comprises a cover cap transversely and rotatably arranged 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 and rotatably arranged on the cover cap;
the longitudinal rotating 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.
The inspection mechanism comprises a detection probe connected with the rotating mechanism, a detection unit arranged in the detection probe for detection to obtain 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 a transformer in the transformer substation leaks oil, a lightning rod on-line monitoring module for detecting whether a lightning rod in the transformer substation is abnormal, a partial discharge detection module for detecting whether partial discharge exists in the transformer substation, and a current and voltage detection module for detecting the current and voltage at detection points in the transformer substation.
The temperature measuring module is an infrared thermal imaging temperature measuring module, and the leakage detecting module is a transformer oil color detecting 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 connected with the positioning unit through phase signals and drives the power mechanism, the travelling mechanism and the rotating mechanism based on positioning and navigation information.
The invention also provides a substation intelligent inspection system based on the substation intelligent inspection device, which adopts the scheme that:
the intelligent inspection system of the transformer substation comprises the intelligent inspection device of the transformer substation and further comprises:
the cloud data center is in communication connection with the intelligent substation inspection device and is used for receiving and storing the inspection data and 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 with 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 a narrow transformer substation environment, avoids damaging transformer substation facilities in inspection, has simple structure, convenient use and lower energy consumption, and has popularization value.
Drawings
Fig. 1 is a schematic diagram of the appearance of the intelligent inspection device for the transformer substation.
Fig. 2 is a schematic structural diagram of the intelligent inspection device for the transformer substation after separating a base.
Fig. 3 is a schematic structural diagram of a power mechanism and a running 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 running mechanism of the intelligent substation inspection device.
Fig. 5 is a schematic structural diagram of a driving assembly in a power mechanism and a running 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 travelling mechanism of the intelligent inspection device for the transformer substation.
Fig. 8 is a schematic structural diagram of a rotating mechanism and a patrol mechanism of the intelligent patrol device for the transformer substation.
Fig. 9 is an exploded schematic view of a rotating mechanism and a patrol mechanism of the intelligent patrol device for the transformer substation.
Fig. 10 is an exploded schematic view of a rotating mechanism and a patrol mechanism of the intelligent patrol device for the transformer substation.
Fig. 11 is a partial structural block diagram of the intelligent substation inspection system.
Fig. 12 is a partial structural block diagram of the intelligent substation inspection system of the present invention.
In the above figures: 1. a walking mechanism; 11. a base; 12. a drive assembly; 121. a double-ended motor; 1211. a first end face gear; 1212. a first bevel gear; 1213. a first telescopic cylinder; 122. a drive gear set; 123. a transmission shaft; 13. a transmission assembly; 131. a second face gear; 132. a first helical gear; 133. a steering shaft; 1331. a meshing wheel; 134. a transmission rod; 1341. a first ratchet gear; 1342. a meshing groove; 135. a first sleeve; 1351. a second helical gear; 1352. a spring; 1353. a second ratchet gear; 1354. a slip ring; 14. a reversing assembly; 141. the second telescopic cylinder; 142. a limiting shaft; 143. a first limiting plate; 1431. a first limit groove; 144. a limit rod; 1441. a second limiting plate; 145. a sliding plate; 146. a collar; 1471. a second sleeve; 15. a walking assembly; 151. spur gears; 152. a track; 2. a rotating mechanism; 21. a linkage assembly; 211. a second bevel gear; 212. a vertical rotating shaft; 213. a limit column; 214. a third face gear; 215. a fourth face gear; 221. Capping; 222. a meshing sleeve; 223. push-pull electromagnet; 23. a detection probe; 231. a third bevel gear; 3. a patrol system; 31. a positioning unit; 311. applying three-dimensional live-action scanning points; 312. a radar navigation module; 32. a driving unit; 33. a detection unit; 331. an infrared thermal imaging temperature measurement module; 332. the 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 end; 361. a data comparison module; 362. and the data display module.
Detailed Description
The invention will be further described with reference to examples of embodiments shown in the drawings.
Embodiment one: as shown in fig. 1 to 10, the intelligent substation inspection device for performing intelligent inspection on a 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 shell and is used for loading other components of the intelligent inspection device of the transformer substation. The power unit is arranged in the base 11 and is used for providing power for the intelligent inspection device of the transformer substation. Part of the rotating mechanism 2 is arranged in the base 11, and part of the rotating mechanism 2 is arranged outside the base 11, and is driven by the power mechanism to realize two-dimensional rotating motion relative to the base 11. The inspection mechanism is connected with the rotating mechanism 2 and is positioned outside the base 11, and is used for performing inspection and detection to obtain inspection data; the control mechanism is connected with the rotating mechanism 2 and is positioned outside the base 11, and is used for controlling the power mechanism, the traveling mechanism 1 and the rotating mechanism 2.
The intelligent inspection device for the transformer substation comprises the following specific scheme:
the power mechanism includes a double-ended motor 121 and an inverter. The double-headed motor 121 has two output terminals, a first output terminal corresponding to the running gear 1 and a second output terminal corresponding to the turning gear 2, respectively. The converter is fixedly arranged in the base 11 and is used for driving the double-headed motor 121 to move so that the double-headed motor 121 is in butt joint with the travelling mechanism 1 or in butt joint with the rotating mechanism 2. The inverter adopts a telescopic cylinder, named as a first telescopic cylinder 1213, and the double-headed motor 121 is disposed on the output end of the first telescopic cylinder 1213. When the first telescopic cylinder 1213 is extended or retracted, it drives the double-headed motor 121 to displace. A guide rail may be further provided between the double-headed motor 121 and the base 11 to achieve sliding support and sliding guide of the double-headed motor 121. The double-headed motor 121 and the inverter are both in signal connection with the control mechanism so as to operate under the control of the control mechanism.
The running gear 1 comprises a running assembly 15, a driving assembly 12, a transmission assembly 13 and a reversing assembly 14. The traveling assembly 15 is mounted to the bottom of the base 11, and is capable of performing a forward motion or a steering motion. The walking assembly 15 comprises two sets of spur gears 151 arranged on two outer sides of the base 11, and two tracks 152 correspondingly connected with the sets of spur gears 151 in a transmission manner. The driving assembly 12 is disposed in the base 11, and is capable of being connected to the double-ended motor 121 to output power. The driving assembly 12 includes a first bevel gear 132 capable of being engaged with a first end gear 1211 mounted on a first output end of the double-ended motor 121, a pair of first bevel gears coaxially and rotatably connected to the first bevel gear 132 through a rotation shaft and symmetrically disposed at both sides of the first bevel gear 132, a pair of second bevel gears in one-to-one correspondence engagement with the pair of first bevel gears, and a pair of second end gears 131 coaxially 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 constitute a driving gear set 122. The transmission assembly 13 is disposed in the base 11, and drives the walking assembly 15 to act in different working states under the driving of the driving assembly 12. The transmission assembly 13 includes a reversing shaft 133 rotatably disposed in the base 11 and having meshing wheels 1331 formed at both ends thereof, a pair of second bevel gears 1351 symmetrically disposed at both ends of the reversing shaft 133 and capable of meshing with the pair of second bevel gears 131 one by one and rotating synchronously with the reversing shaft 133, a pair of transmission rods 134 symmetrically disposed at both ends of the reversing shaft 133 and having meshing grooves 1342 capable of meshing with the meshing wheels 1331, a pair of first ratchet gears 1341 one by one disposed on the pair of transmission rods 134 and symmetrically disposed, a pair of first shaft sleeves 135 one by one sleeved on the pair of transmission rods 134, a pair of third bevel gears 231 one by one disposed on the pair of first shaft sleeves 135 and capable of meshing with the pair of second bevel gears 131 one by one and slidably sleeved on the pair of transmission rods 134 one by one, a pair of second ratchet gears 1353 one by one sleeved on the pair of transmission rods 134 and slidably connected with the second ratchet gears 1353 one by one, a pair of transmission rings 231 one by one sleeved on the pair of transmission rods 1352 and connected with the pair of springs 231 one by one. The middle section of the steering shaft 133 has a circular cross-sectional shape, and both ends have rectangular cross-sectional shapes. The first shaft sleeve 135 is provided at a circular cross-section portion of the steered shaft 133, and the second bevel gear 1351 is provided at a rectangular cross-section portion of the steered shaft 133. The reversing component 14 is disposed in the base 11 and connected with the transmission component 13, and drives the transmission component 13 to change working state. The reversing assembly 14 comprises a telescopic cylinder arranged in the base 11 and connected with signals of the control mechanism, a limiting shaft 142 connected with the output end of the telescopic cylinder, a limiting rod 144 slidably arranged in the base 11 and parallel to the steering shaft 133, a first limiting plate 143 arranged in the middle of the limiting rod 144 and provided with a first limiting groove 1431, a second sleeve 1471 sleeved in the middle of the steering shaft 133, a second limiting plate 1441 connected with the second sleeve 1471 and provided with a second limiting groove, a pair of limiting blocks arranged at two ends of the limiting rod 144, and a pair of connecting pieces slidably arranged on the limiting rod 144 and positioned at two sides of the first limiting plate 143 and connected with the pair of sliding rings 1354 in a one-to-one correspondence manner, wherein the telescopic cylinder is named as a second telescopic cylinder 141, the limiting rod 144 is slidably arranged in the first limiting groove 1431 and the second limiting groove, and the axial directions of the first limiting groove 1431 and the second limiting groove are crossed. The connecting piece comprises a sliding plate 145 arranged on the limiting rod 144 in a sliding manner, and a lantern ring 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-headed motor 121 to output power, a transverse rotating assembly which is arranged outside the base 11 and is used for longitudinally rotating the inspection mechanism and is arranged on the base and can transversely rotate, a longitudinal rotating assembly which is connected with the inspection mechanism to jointly longitudinally rotate, and a conversion assembly which is used for driving the linkage assembly 21 to switch and butt joint 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 comprises a second bevel gear 211 which can be meshed with a first bevel gear 1212 arranged on a second output end of the double-headed motor 121, a vertical rotating shaft 212, a limit post 213, a third end face gear 214 and a fourth end face gear 215, wherein the vertical rotating shaft 212 is connected with the lower end of the vertical rotating shaft 212 and coaxially rotates, the limit post 213 is arranged at the upper end of the vertical rotating shaft 212, the third end face gear 214 is arranged on the vertical rotating shaft 212 and jointly rotates, and the fourth end face gear 215 is arranged on the vertical rotating shaft 212 and connected with the back face of the third end face gear 214. The transverse rotating assembly comprises a cover cap 221 which is transversely and rotatably arranged on the top of the base 11, and an engagement sleeve 222 which is arranged in the cover cap 221 and can be correspondingly engaged with the fourth end face gear 215, and the inspection mechanism is longitudinally and rotatably arranged on the cover cap 221. The longitudinal rotation assembly includes a fourth helical gear coupled to the inspection mechanism and capable of corresponding engagement with the third face gear 214. The conversion 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 rotation mechanism 2, a detection unit 33 provided in the detection probe 23 to perform detection to obtain inspection data, and a data transmission unit 34 provided in the detection probe 23 and connected to the detection unit 33 to process and transmit 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 leak detection module for detecting whether a transformer in the substation leaks oil, a lightning rod on-line monitoring module 333 for detecting whether a lightning rod in the substation is abnormal, a partial discharge detection module 334 for detecting whether partial discharge exists in the substation, and a current and voltage detection module 335 for detecting the current and voltage at detection points in the substation. The temperature measurement module 331 is an infrared thermal imaging temperature measurement module 331, and the leak 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 includes a positioning unit 31, a driving unit 32. The positioning unit 31 performs positioning and navigation based on three-dimensional live-action scanning and radar, and includes a three-dimensional live-action scanning point application 311 and a radar navigation module 312. The driving unit 32 is connected to the positioning unit 31 phase signals, which drive the power mechanism, the running mechanism 1 and the rotating mechanism 2 based on the positioning and navigation information.
The intelligent substation inspection system 3 designed based on the scheme comprises the intelligent substation inspection device, a cloud data center 35 and a local end 36. The cloud data center 35 is in communication connection with the intelligent substation inspection device, and is used for receiving and storing inspection data and cloud data. The local end 36 is disposed in the substation, and is respectively in communication connection with the cloud data center 35 and the intelligent inspection device of the substation, and is configured to compare and analyze the inspection data with the corresponding cloud data and display a data comparison and analysis result. The local end 36 includes a data comparison module 361 and a data display module 362.
The working principle of the intelligent inspection device of the transformer substation is as follows:
a first face gear 1211 on the first output shaft of the double-ended motor 121 meshes with a first helical gear 132 of the drive assembly 12 in the running gear 1. When the first output shaft of the double-ended motor 121 outputs rotational power, reverse rotational power is output through the pair of second face gears 131 of the driving assembly 12. At this time, the second face gear 131 drives the two transmission levers 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 mounted at both ends of the transmission levers 134 also rotate in the same direction, and the steered shaft 133 is not linked with the transmission levers 134 to idle, at this time, the apparatus advances straight.
When turning or in-situ 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 translate axially in opposite directions. The translating steered shaft 133 is interlocked with the driving lever 134 at one end thereof by engagement of the engagement groove 1342 and the engagement wheel 1331. The translational stop lever 144 drives the slip ring 1354 to move through the connecting piece, so that the steering shaft 133 and the transmission rod 134 are linked with the first ratchet gear 1341 on one side and the secondary gear is in a disengaged state. One side of the linkage of the steering shaft 133 and the transmission rod 134 drives the transmission rod 134 to rotate through the second bevel gear 1351 and the steering shaft 133, while the other side still 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 time, the rotation directions of the pair of transmission bars 134 are opposite, thereby achieving a pivot turn by the crawler 152.
When the device moves to a predetermined area for detection, the first telescopic cylinder 1213 is extended so that the double-headed motor 121 is out of abutment with the running gear 1 and is in abutment with the rotating mechanism 2. When the double-headed motor 121 operates to drive the first bevel gear 1212 to rotate, the second bevel gear 211 and the vertical shaft 212 drive the third and fourth end gears 214 and 215 to rotate synchronously. Because the third end gear 214 is meshed with the fourth bevel gear, the fourth bevel gear vertically rotates to drive the inspection mechanism to longitudinally rotate. When the push-pull electromagnet 223 is powered, 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 bevel 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. By the scheme, the detection device can be controlled in all directions, and a power device is not required to be additionally arranged independently of the travelling mechanism 1.
Compared with the prior art, the beneficial effect of this scheme is:
1. the linear movement and the in-situ turning are 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 electric energy is saved;
3. the operation steps are simplified, and the inspection system 3 is perfected.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (9)
1. An intelligent inspection device of transformer substation for intelligent inspection is carried out to the transformer substation, its characterized in that: the intelligent inspection device of the transformer substation comprises:
a base;
the power mechanism is arranged in the base and is used for providing power;
the walking mechanism is partially arranged in the base, partially arranged outside the base and driven by the power mechanism to walk and turn in the transformer substation;
the rotating mechanism is partially arranged in the base, partially arranged outside the base and driven by the power mechanism to realize two-dimensional rotating motion relative to the base;
the inspection mechanism is connected with the rotating mechanism and positioned outside the base, and is used for performing inspection detection to obtain inspection data;
the control mechanism is connected with the rotating mechanism and is positioned outside the base and used for controlling the power mechanism, the travelling mechanism and the rotating mechanism;
the power mechanism comprises a double-headed motor with a first output end corresponding to the travelling mechanism and a second output end corresponding to the rotating mechanism, and a converter for driving the double-headed motor to move so as to enable the double-headed motor to be in butt joint with the travelling mechanism or in butt joint with the rotating mechanism; the double-headed motor and the converter are both 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 motion or steering motion, a driving component which is arranged in the base and can be connected with the double-headed motor to output power, a transmission component which is arranged in the base and can drive the traveling component to act in 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 component is in signal connection with the control mechanism;
the rotating mechanism comprises a linkage assembly which can be connected with the double-headed 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 is arranged on the base and can transversely rotate, a longitudinal rotating assembly which is connected with the inspection mechanism to jointly longitudinally rotate, and a conversion assembly which is used for driving the linkage assembly to switch and butt joint with the transverse rotating assembly or the longitudinal rotating assembly; the conversion component is in signal connection with the control mechanism;
the walking assembly comprises two groups of straight gear sets arranged on the two outer sides of the base and two tracks correspondingly connected with the straight gear sets in a transmission manner 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 bevel gears, wherein the first bevel gear can be meshed with a first end face gear arranged on a first output end of the double-headed 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 in one-to-one correspondence meshing with the pair of first bevel gears, and the pair of second end face gears are coaxially and rotatably connected with the pair of second bevel gears through transmission shafts in one-to-one correspondence respectively;
the transmission assembly comprises a reversing shaft, a pair of second bevel gears, a pair of first bevel gears, a pair of second bevel gears and a pair of second bevel gears, wherein the reversing shaft is rotatably arranged in the base, the two end parts of the reversing shaft form meshing wheels, the pair of second bevel gears are symmetrically arranged at two ends of the reversing shaft and can be meshed with the pair of second face gears in a one-to-one correspondence manner, and the pair of second bevel gears synchronously rotate with the reversing shaft the two ratchet gears are symmetrically arranged at two ends of the reversing shaft and provided with a pair of transmission rods with meshing grooves which can be meshed with the meshing wheels, a pair of first ratchet gears which are arranged on the transmission rods in a one-to-one correspondence manner and are symmetrically arranged, a pair of first shaft sleeves which are sleeved on the transmission rods in a one-to-one correspondence manner, a pair of first shaft sleeves which are sleeved on the transmission rods, a pair of second ratchet gears which are arranged on the transmission rods in a one-to-one correspondence manner, a pair of first ratchet gears which are sleeved on the transmission rods in a one-to-one correspondence manner, a pair of first ratchet gears which are arranged on the transmission rods in a one-to-one correspondence manner, a pair of first ratchet gears which are sleeved on the a pair of third bevel gears which are arranged on the first shaft sleeve in a one-to-one correspondence and symmetrically arranged on the first shaft sleeve and can be meshed with the second end face gears in a one-to-one correspondence, a pair of second ratchet gears which are sleeved on the transmission rod in a one-to-one correspondence and slidingly arranged on the transmission rod and can be meshed with the first ratchet gears in a one-to-one correspondence way, a pair of first ratchet gears which are meshed with the first ratchet gears in a one-to-one correspondence way, a pair of second ratchet gears which are meshed with the first ratchet gears in a one-to-one correspondence the pair of slip rings are sleeved on the pair of transmission rods in a one-to-one correspondence and sliding manner and are connected with the second ratchet gears in a one-to-one correspondence, and the pair of springs are sleeved on the pair of transmission rods in a one-to-one correspondence and are connected with the third bevel gears and the slip rings in a corresponding manner;
the reversing assembly comprises a telescopic cylinder, a limiting shaft, a limiting rod, a first limiting plate, a second shaft sleeve, a second limiting plate, a pair of limiting blocks and a pair of connecting pieces, wherein the telescopic cylinder is arranged in the base and is in signal connection with the control mechanism, the limiting shaft is connected with the output end of the telescopic cylinder, the limiting rod is arranged in the base in a sliding mode and is parallel to the reversing shaft, the first limiting plate is arranged in the middle of the limiting rod and is provided with a first limiting groove, the second shaft sleeve is sleeved on the middle of the reversing shaft, the second limiting plate is connected with the second shaft sleeve and is provided with a second limiting groove, the pair of limiting blocks are arranged at two ends of the limiting rod, the connecting pieces are arranged on the limiting rod in a sliding mode and are located at two sides of the first limiting plate and are connected with the pair of sliding rings in a one-to-one correspondence mode, and 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 and the axial direction of the second limiting groove are crossed.
2. The intelligent substation inspection device of claim 1, wherein: the connecting piece comprises a sliding plate which is arranged on the limiting rod in a sliding manner, and a lantern ring which is arranged at the bottom of the sliding plate and sleeved on the corresponding sliding ring.
3. The intelligent substation inspection device of 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-headed motor, a vertical rotating shaft, a limit post, a third end face gear and a fourth end face gear, wherein the lower end of the vertical rotating shaft is connected with the second bevel gear and coaxially rotates, the limit post is arranged at the upper end of the vertical rotating shaft, the third end face gear is arranged on the vertical rotating shaft and jointly rotates, and the fourth end face gear is arranged on the vertical rotating shaft and is connected with the back face of the third end face gear;
the transverse rotating assembly comprises a cover cap transversely and rotatably arranged 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 and rotatably arranged on the cover cap;
the longitudinal rotating 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.
4. The intelligent substation inspection device of claim 1, wherein: the inspection mechanism comprises a detection probe connected with the rotating mechanism, a detection unit arranged in the detection probe for detection to obtain 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.
5. The intelligent substation inspection device according to claim 4, 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 a transformer in the transformer substation leaks oil, a lightning rod on-line monitoring module for detecting whether a lightning rod in the transformer substation is abnormal, a partial discharge detection module for detecting whether partial discharge exists in the transformer substation, and a current and voltage detection module for detecting the current and voltage at detection points in the transformer substation.
6. The intelligent substation inspection device according to claim 5, wherein: the temperature measuring module is an infrared thermal imaging temperature measuring module, and the leakage detecting module is a transformer oil color detecting module for detecting the oil color of the transformer.
7. The intelligent substation inspection device according to claim 4, 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.
8. The intelligent substation inspection device of 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 connected with the positioning unit through phase signals and drives the power mechanism, the travelling mechanism and the rotating mechanism based on positioning and navigation information.
9. An intelligent inspection system of transformer substation, which is characterized in that: the substation intelligent patrol system comprises the substation intelligent patrol device according to any one of claims 1 to 8, further comprising:
the cloud data center is in communication connection with the intelligent substation inspection device and is used for receiving and storing the inspection data and 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 with the corresponding cloud data and displaying data comparison and analysis results.
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| CN202210117738.0A CN114613033B (en) | 2022-02-08 | 2022-02-08 | Intelligent inspection device and system for transformer substation |
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| CN202210117738.0A CN114613033B (en) | 2022-02-08 | 2022-02-08 | Intelligent inspection device and system for transformer substation |
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| CN114613033B true CN114613033B (en) | 2023-09-19 |
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| 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 |
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| WO2018006438A1 (en) * | 2016-07-07 | 2018-01-11 | 西南石油大学 | Pipeline robot capable of active steering |
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| 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 |
| 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 |
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| CN114613033A (en) | 2022-06-10 |
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