CN115946141A - A virtual reality inspection robot for transformer substation - Google Patents
A virtual reality inspection robot for transformer substation Download PDFInfo
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- CN115946141A CN115946141A CN202310109067.8A CN202310109067A CN115946141A CN 115946141 A CN115946141 A CN 115946141A CN 202310109067 A CN202310109067 A CN 202310109067A CN 115946141 A CN115946141 A CN 115946141A
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- transformer substation
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Abstract
The invention discloses a virtual reality inspection robot for a transformer substation, which comprises a machine shell, a central processing unit, a camera, a steering assembly and a moving assembly, wherein an infrared sensor is fixedly connected to the left side of the machine shell, the infrared sensor is in bidirectional connection with the central processing unit, the central processing unit is in bidirectional connection with a protection system, a protection mechanism is arranged in the machine shell, and the protection mechanism is controlled through the protection system. This a virtual reality patrols robot for transformer substation detects to patrol the robot and is too near from barrier or people through infrared sensor, and the circular telegram of electromagnetism ware makes the driving gear break away from with remove driven gear's in the subassembly meshing and make two arc clamp plates compress tightly the axis of rotation with magnet attraction near to make to patrol the robot and stop fast, thereby prevent to patrol the robot and collide with barrier or people, improved the security of patrolling the robot use.
Description
Technical Field
The invention relates to the technical field of digital animation, in particular to a virtual reality inspection robot for a transformer substation.
Background
The transformer substation inspection robot is an unmanned autonomous mobile detection device for transformer substation equipment inspection, and mainly comprises a mobile platform, a positioning navigation system, detection equipment, a wireless communication system and the like.
When current transformer substation patrols the robot and independently removes in the transformer substation, can't in time stop when meetting the staff of barrier or transformer substation suddenly in the place ahead to take place the striking and lead to the machine to take place to damage, when the robot patrols in the transformer substation, if when meetting sleet weather, its camera lens of surveing the use can be stained with sleet, thereby leads to the unable normal use of camera.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a virtual reality inspection robot for a transformer substation, which solves the problems that the conventional transformer substation inspection robot cannot stop in time when suddenly meeting an obstacle during movement and a camera cannot be normally used in rainy and snowy weather.
In order to achieve the purpose, the invention is realized by the following technical scheme: including machine shell, central processing unit, camera, steering assembly and removal subassembly, machine shell's left side fixedly connected with infrared sensor, infrared sensor realizes two-way connection with central processing unit, central processing unit realizes two-way connection with protection system, machine shell's inside is provided with protection machanism, protection machanism controls through protection system, machine shell's inside is provided with clearance mechanism, protection machanism includes driving motor and brake subassembly, driving motor and machine shell inner wall's back fixed connection, driving motor's output fixedly connected with main shaft, the surface of main shaft is connected with the sliding sleeve through key and keyway, the fixed surface of sliding sleeve connects the driving gear, driven gear meshing in driving gear and the removal subassembly.
Preferably, the positive one end fixedly connected with magnet of sliding sleeve, the positive fixedly connected with electromagnetism ware of machine housing inner wall, the electromagnetism ware cooperatees with magnet, the fixed surface of main shaft is connected with the spacing ring, the spacing ring is located the rear of main shaft.
Preferably, the brake subassembly sets up the outside of axis of rotation in moving the subassembly, the brake subassembly includes the lag, the positive fixed connection of lag and machine housing inner wall, two slide bars about the equal fixedly connected with in left side and the right side of lag inner wall, two the equal sliding connection in surface of slide bar has the arc clamp plate, two one side that the arc clamp plate is relative all is through bolt fixedly connected with abrasionproof pad.
Preferably, the slide bar runs through the arc-shaped pressing plate and extends to the left surface of the arc-shaped pressing plate, the reset spring is sleeved on the surface of the arc-shaped pressing plate, the two racks are fixedly connected to the opposite side of the arc-shaped pressing plate, the left rack and the right rack are arranged in a staggered mode, the back face of the inner wall of the protecting sleeve is connected with the intermediate gear in a rotating mode, and the two racks are in meshing transmission with the intermediate gear.
Preferably, the bottom fixedly connected with push rod that is located left side arc clamp plate, the push rod runs through the lag and extends to the hot exhaust vent of the left one end fixedly connected with of brake subassembly, the wedge cooperatees with magnet.
Preferably, the cleaning mechanism comprises an air chamber and a return-shaped pipe which are arranged inside the machine shell, the front surface of the inner wall of the air chamber is fixedly connected with an input motor, the output end of the input motor is fixedly connected with fan blades, and heating wires are fixedly connected between the top and the bottom of the inner wall of the air chamber.
Preferably, the back of the air chamber is communicated with an L-shaped pipe, an air outlet of the L-shaped pipe is sleeved with a connecting hose, the square-shaped pipe is fixedly connected with the position of a lens of the camera, an air outlet of the connecting hose is connected with an air inlet pipe at the bottom of the square-shaped pipe, and a plurality of air outlet holes are formed in the inner side surface of the square-shaped pipe.
Preferably, the central processing unit is connected with the virtual reality system in a bidirectional manner, the virtual reality system comprises a scene coordinate generation module, a scene integration module and a virtual power station output module, a signal output end of the scene coordinate generation module is connected with a signal input end of the scene integration module, and a signal output end of the scene integration module is connected with a signal input end of the virtual power station output module.
Advantageous effects
The invention provides a virtual reality inspection robot for a transformer substation. Compared with the prior art, the method has the following beneficial effects:
1. this a virtual reality inspection robot for transformer substation detects through infrared sensor and inspects the robot and from barrier or people when too near, and the electromagnetism ware circular telegram makes the driving gear break away from and remove driven gear's in the subassembly meshing and make two arc clamp plates compress tightly the axis of rotation with magnet attraction near to make inspection robot stop fast, thereby prevent that inspection robot and barrier or people from colliding, improved the security of inspection robot use.
(2) This a virtual reality inspection robot for transformer substation blows hot-blast to the camera lens department of camera through the square-shaped pipe with the heater strip through starting input motor to blow off the snow and rain on the lens to the adhesion, and prevent that the situation of fogging from taking place on the lens, improved the reliability of inspection robot use.
(3) This a virtual reality inspection robot for transformer substation generates virtual figure with the transformer substation through the virtual reality system to make things convenient for the testing personnel to know the study to the condition in the transformer substation, and be favorable to training the testing personnel.
Drawings
FIG. 1 is a schematic external view of the present invention;
FIG. 2 is a top cross-sectional view of the present invention;
FIG. 3 is a cross-sectional view of the brake assembly of the present invention;
FIG. 4 is a cross-sectional view of the cleaning mechanism of the present invention;
FIG. 5 is a schematic view of a hairpin tube of the invention;
fig. 6 is a schematic block diagram of the structure of the present invention.
In the figure: 1. a machine housing; 2. a central processing unit; 3. a camera; 4. a steering assembly; 5. a protection mechanism; 51. a drive motor; 52. a main shaft; 53. a sliding sleeve; 54. a driving gear; 55. a magnet; 56. an electromagnetic device; 57. a brake assembly; 571. a protective sleeve; 572. a slide bar; 573. an arc-shaped pressing plate; 574. a return spring; 575. a rack; 576. an intermediate gear; 577. a push rod; 578. a wedge block; 58. a limiting ring; 6. a moving assembly; 7. a cleaning mechanism; 71. an air chamber; 72. inputting a motor; 73. a fan blade; 74. an electric heating wire; 75. an L-shaped pipe; 76. a connecting hose; 77. a square-shaped pipe; 78. an air outlet; 8. an infrared sensor; 9. a virtual reality system; 91. a scene coordinate generating module; 92. a scene integration module; 93. and a virtual power station output module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
This a virtual reality inspection robot for transformer substation provides three kinds of technical scheme:
as shown in fig. 1-3, a first embodiment: the automatic steering and braking device comprises a machine shell 1, a central processing unit 2, a camera 3, a steering assembly 4 and a moving assembly 6, the moving assembly 6 is composed of a rotating shaft, a roller and a driven gear, a left fixedly connected infrared sensor 8 of the machine shell 1, the infrared sensor 8 is in bidirectional connection with the central processing unit 2, the central processing unit 2 is in bidirectional connection with a protection system, the machine shell 1 is internally provided with a protection mechanism 5, the protection mechanism 5 is controlled through the protection system, the machine shell 1 is internally provided with a cleaning mechanism 7, the protection mechanism 5 comprises a driving motor 51 and a brake assembly 57, the driving motor 51 is fixedly connected with the back of the inner wall of the machine shell 1, the output end of the driving motor 51 is fixedly connected with a spindle 52, the surface of the spindle 52 is connected with a sliding sleeve 53 through a key and a key groove, the surface of the sliding sleeve 53 is fixedly connected with a driving gear 54, the driving gear 54 is meshed with the driven gear in the moving assembly 6, the front one end of the sliding sleeve 53 is fixedly connected with a magnet 55, the front of the machine shell 1 is fixedly connected with an electromagnet 56, the front of the inner wall of the machine shell 1 is fixedly connected with the magnet 55, the electromagnet 56 is matched with a magnet 55, the main shaft 52, the limit ring 58 is fixedly connected with a limit ring 58, the limit ring 58 is located behind the limit ring 52.
The brake component 57 is arranged outside the rotating shaft in the moving component 6, the brake component 57 comprises a protecting sleeve 571, the protecting sleeve 571 is fixedly connected with the front side of the inner wall of the machine shell 1, the left side and the right side of the inner wall of the protecting sleeve 571 are fixedly connected with an upper sliding rod 572 and a lower sliding rod 572, the surfaces of the two sliding rods 572 are respectively connected with arc pressing plates 573 in a sliding mode, one sides, opposite to the two arc pressing plates 573, are respectively fixedly connected with an anti-abrasion pad through bolts, the sliding rods 572 penetrate through the arc pressing plates 573 and extend to the surface on the left side of the arc pressing plates 573 to be sleeved with return springs 574, one sides, opposite to the two arc pressing plates 573, are respectively connected with racks 575 in a sliding mode, the left racks 575 are arranged in a staggered mode, the back side of the inner wall of the protecting sleeve 571 is rotatably connected with a middle gear 576, the two racks 575 are in meshing transmission with the middle gear 576, the bottom, the push rod 577 is fixedly connected to the bottom, the push rod 577 penetrates through the protecting sleeve 571 and extends to the end, which is fixedly connected with a hot air outlet 78, and the left end of the brake component 57, and the wedge 578 is matched with the magnet 55.
When the infrared sensor 8 detects that the patrol robot is too close to a barrier or a person, the electromagnet 56 is electrified to attract the magnet 55 so that the driving gear 54 is separated from the meshing with the driven gear in the moving assembly 6 and the two arc-shaped pressing plates 573 press the rotating shaft, the patrol robot is stopped quickly, the patrol robot is prevented from colliding with the barrier or the person, and the use safety of the patrol robot is improved.
As shown in fig. 4 and 5, the second embodiment mainly differs from the first embodiment in that: the cleaning mechanism 7 comprises an air chamber 71 and a square-shaped pipe 77 which are arranged inside the machine shell 1, the front surface of the inner wall of the air chamber 71 is fixedly connected with an input motor 72, the output end of the input motor 72 is fixedly connected with fan blades 73, an electric heating wire 74 is fixedly connected between the top and the bottom of the inner wall of the air chamber 71, the back surface of the air chamber 71 is communicated with an L-shaped pipe 75, an air outlet sleeve of the L-shaped pipe 75 is provided with a connecting hose 76, the square-shaped pipe 77 is fixedly connected with the lens position of the camera 3, an air outlet of the connecting hose 76 is connected with an air inlet pipe at the bottom of the square-shaped pipe 77, and the inner side surface of the square-shaped pipe 77 is provided with a plurality of air outlet holes 78.
Hot air is blown to the lens of the camera 3 through the square-shaped pipe 77 by starting the input motor 72 and the heating wire 74, so that rain and snow adhered to the lens are blown off, the condition of fogging on the lens is prevented, and the use reliability of the patrol robot is improved.
As shown in fig. 6, a third embodiment is mainly different from the second embodiment in that: the central processing unit 2 is connected with the virtual reality system 9 in a bidirectional mode, the virtual reality system 9 comprises a scene coordinate generating module 91, a scene integration module 92 and a virtual power station output module 93, a signal output end of the scene coordinate generating module 91 is connected with a signal input end of the scene integration module 92, and a signal output end of the scene integration module 92 is connected with a signal input end of the virtual power station output module 93.
The transformer substation is generated into virtual graphs through the virtual reality system 9, so that detection personnel can conveniently know and learn about conditions in the transformer substation, and training of the detection personnel is facilitated.
When the robot patrols in a transformer substation, the infrared sensor 8 scans the advancing direction of the robot, when an obstacle or a person suddenly appears in front is detected, the electromagnetic device 56 is electrified through the protection system, the electromagnetic device 56 is electrified and generates attraction force for the magnet 55, the magnet 55 approaches the electromagnetic device 56 under the attraction force of the electromagnetic device 56, the driving gear 54 is disengaged from the driven gear in the moving assembly 6, so that power is cut off rapidly, in addition, the electromagnetic device 56 moves and pushes the wedge-shaped block 578, the wedge-shaped block 578 is pushed to enable the arc-shaped pressing plate 573 to approach the surface of the rotating shaft in the moving assembly 6 through the push rod 577, the arc-shaped pressing plate 573 moves and drives the rack 575 to move, the middle gear 576 rotates to enable the other rack 575 to move, and accordingly the arc-shaped pressing plate 573 on the right side approaches the rotating shaft, when the robot is used for the first time, the camera 3 records a video during the patrol and transmits the video to the virtual reality system 9 through the central processing unit 2, the scene coordinate generation module 91 records scene coordinates appearing in the video and generates three-dimensional coordinates, and transmits the generated coordinate information to the scene integration module 92, the scene integration module 92 integrates the coordinate information and generates a virtual graph of a transformer substation, and finally, outputting the virtual graph of the transformer substation through a virtual power station output module 93.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a virtual reality inspection robot for transformer substation which characterized in that: including machine housing (1), central processing unit (2), camera (3), turn to subassembly (4) and removal subassembly (6), its characterized in that: the utility model discloses a machine tool, including machine shell (1), left side fixedly connected with infrared sensor (8), infrared sensor (8) and central processing unit (2) realize two-way connection, central processing unit (2) realize two-way connection with protection system, the inside of machine shell (1) is provided with protection machanism (5), protection machanism (5) are controlled through protection system, the inside of machine shell (1) is provided with clearance mechanism (7), protection machanism (5) are including driving motor (51) and brake subassembly (57), the back fixed connection of driving motor (51) and machine shell (1) inner wall, the output fixedly connected with main shaft (52) of driving motor (51), the surface of main shaft (52) is connected with sliding sleeve (53) through key and keyway, the fixed surface connection driving gear (54) of sliding sleeve (53), driving gear (54) and the driven gear meshing in the removal subassembly (6).
2. The digital animation generation system of claim 1, wherein: sliding sleeve (53) positive one end fixedly connected with magnet (55), the positive fixedly connected with electromagnetism ware (56) of machine housing (1) inner wall, electromagnetism ware (56) cooperate with magnet (55), the fixed surface of main shaft (52) is connected with spacing ring (58), spacing ring (58) are located the rear of main shaft (52).
3. The virtual reality inspection robot for the transformer substation according to claim 2, characterized in that: the brake assembly (57) is arranged outside a rotating shaft in the moving assembly (6), the brake assembly (57) comprises a protecting sleeve (571), the protecting sleeve (571) is fixedly connected with the front side of the inner wall of the machine shell (1), an upper sliding rod (572) and a lower sliding rod (572) are fixedly connected to the left side and the right side of the inner wall of the protecting sleeve (571), arc-shaped pressing plates (573) are slidably connected to the surfaces of the two sliding rods (572), and anti-abrasion pads are fixedly connected to the opposite sides of the two arc-shaped pressing plates (573) through bolts.
4. The virtual reality inspection robot for the transformer substation according to claim 3, characterized in that: the sliding rod (572) penetrates through the arc pressing plates (573) and extends to the surface on the left side of the arc pressing plates (573) to be sleeved with a return spring (574), one sides, opposite to the two arc pressing plates (573), are fixedly connected with racks (575), the left rack (575) and the right rack (575) are arranged in a staggered mode, the back face of the inner wall of the protecting sleeve (571) is rotatably connected with a middle gear (576), and the two racks (575) are meshed with the middle gear (576) for transmission.
5. The virtual reality inspection robot for the transformer substation according to claim 3, characterized in that: the bottom of the arc-shaped pressing plate (573) on the left side is fixedly connected with a push rod (577), the push rod (577) penetrates through the protecting sleeve (571) and extends to one end, on the left side of the brake assembly (57), of the protecting sleeve to be fixedly connected with a hot air outlet hole (78), and the wedge-shaped block (578) is matched with the magnet (55).
6. The virtual reality inspection robot for the transformer substation according to claim 5, characterized in that: the cleaning mechanism (7) comprises an air chamber (71) and a square-shaped pipe (77) which are arranged inside the machine shell (1), wherein an input motor (72) is fixedly connected to the front surface of the inner wall of the air chamber (71), fan blades (73) are fixedly connected to the output end of the input motor (72), and electric heating wires (74) are fixedly connected between the top and the bottom of the inner wall of the air chamber (71).
7. The virtual reality inspection robot for the transformer substation according to claim 6, characterized in that: the back intercommunication of plenum (71) has L type pipe (75), the air outlet cover of L type pipe (75) is equipped with coupling hose (76), return word venturi tube (77) and the camera lens position fixed connection of camera (3), the air outlet and the air-supply line connection of returning word venturi tube (77) bottom of coupling hose (76), a plurality of exhaust vents (78) have been seted up to the inboard surface of returning word venturi tube (77).
8. The virtual reality inspection robot for the transformer substation according to claim 6, characterized in that: central processing unit (2) realize two way connection with virtual reality system (9), virtual reality system (9) are including scene coordinate generation module (91), scene integration module (92) and virtual power station output module (93), the signal output part of scene coordinate generation module (91) is connected with the signal input part of scene integration module (92), the signal output part of scene integration module (92) is connected with the signal input part of virtual power station output module (93).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310109067.8A CN115946141A (en) | 2023-02-14 | 2023-02-14 | A virtual reality inspection robot for transformer substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310109067.8A CN115946141A (en) | 2023-02-14 | 2023-02-14 | A virtual reality inspection robot for transformer substation |
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| Publication Number | Publication Date |
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| CN115946141A true CN115946141A (en) | 2023-04-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310109067.8A Pending CN115946141A (en) | 2023-02-14 | 2023-02-14 | A virtual reality inspection robot for transformer substation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116766238A (en) * | 2023-08-28 | 2023-09-19 | 国网江苏省电力有限公司常州供电分公司 | Intelligent inspection robot for transformer substation |
-
2023
- 2023-02-14 CN CN202310109067.8A patent/CN115946141A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116766238A (en) * | 2023-08-28 | 2023-09-19 | 国网江苏省电力有限公司常州供电分公司 | Intelligent inspection robot for transformer substation |
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