CN117775126B - Substation GIS equipment X-ray detection robot with supporting structure - Google Patents
Substation GIS equipment X-ray detection robot with supporting structure Download PDFInfo
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- CN117775126B CN117775126B CN202311737828.0A CN202311737828A CN117775126B CN 117775126 B CN117775126 B CN 117775126B CN 202311737828 A CN202311737828 A CN 202311737828A CN 117775126 B CN117775126 B CN 117775126B
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- 238000001514 detection method Methods 0.000 title claims abstract description 37
- 230000017525 heat dissipation Effects 0.000 claims abstract description 22
- 238000003384 imaging method Methods 0.000 claims abstract description 19
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 20
- 238000013016 damping Methods 0.000 claims description 9
- 230000001681 protective effect Effects 0.000 claims description 8
- 239000007921 spray Substances 0.000 claims description 7
- 238000000034 method Methods 0.000 claims 1
- 230000005855 radiation Effects 0.000 claims 1
- 230000001133 acceleration Effects 0.000 abstract description 4
- 230000032683 aging Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 239000000872 buffer Substances 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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Abstract
The invention relates to the technical field of X-ray detection robots, in particular to a substation GIS equipment X-ray detection robot with a supporting structure. Technical problems: the transformer substation GIS equipment X-ray detection robot with the supporting structure aims at solving the technical problems that the transformer substation GIS equipment X-ray detection robot does not have the supporting structure in the prior art, the detection robot is easy to topple, the transformer substation GIS equipment X-ray detection robot does not have a heat dissipation function, and the service life of equipment can be influenced. The technical scheme is as follows: a transformer substation GIS equipment X-ray detection robot with a supporting structure comprises a bracket; the intelligent anti-collision device further comprises a walking assembly, a crawler, an anti-collision protection assembly, a control box, an upper cover, a second motor, a turntable, a lifting control assembly, a heat dissipation assembly, a guide assembly, an X-ray emitter, a DR imaging plate and a guide groove. The invention is additionally provided with the supporting structure, so that the stability of the robot is further improved, the robot is prevented from toppling over under the action of wind or foreign objects, the detection robot is cooled, and the ageing of high-temperature acceleration equipment is prevented.
Description
Technical Field
The invention relates to the technical field of X-ray detection robots, in particular to a substation GIS equipment X-ray detection robot with a supporting structure.
Background
The GIS equipment of the transformer substation refers to metal closed switch equipment which adopts gas instead of air under atmospheric pressure as an insulating medium, is closed in a metal grounded shell, is key pivot equipment for electric energy transmission, can timely find and early warn hidden dangers by detecting characteristic signals such as acousto-optic, electro-optic, thermo-magnetic and the like caused by defects of the GIS equipment, ensures safe and stable operation of power grid equipment, and generally detects the GIS equipment by an X-ray detection robot, but the existing X-ray detection robot does not have a supporting structure, and when the existing X-ray detection robot moves to detect, the detection robot is easy to topple under the action of external force, the stability is poor, the heat dissipation function is not provided, and the service life of the equipment can be influenced due to the temperature rise of the detection robot along with the time.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a transformer substation GIS equipment X-ray detection robot with a supporting structure, which aims to solve the technical problems that the transformer substation GIS equipment X-ray detection robot with the supporting structure does not have the supporting structure, is easy to cause the detection robot to topple over, does not have a heat dissipation function and can influence the service life of equipment in the prior art.
The technical scheme of the invention is as follows: a transformer substation GIS equipment X-ray detection robot with a supporting structure comprises a bracket; the device also comprises a walking assembly, a crawler, an anti-collision protection assembly, a control box, an upper cover, a second motor, a turntable, a lifting control assembly, a heat dissipation assembly, a guide assembly, an X-ray emitter, a DR imaging plate, a connecting frame, an obstacle avoidance camera, a supporting structure, an annular groove, a supporting column, a circuit board, a battery, a heat dissipation net and a guide groove; the support is internally provided with a walking assembly which extends outwards; the outer side of the walking assembly is connected with a crawler belt in a meshed manner; the front end and the rear end of the bracket are fixedly connected with anti-collision protection components; the upper end of the bracket is fixedly connected with a control box; the upper end of the control box is provided with a detachable upper cover; the lower end of the upper cover is provided with a second motor; the telescopic end at the upper side of the second motor penetrates through the upper cover and is fixedly connected with a turntable; the upper end of the turntable is fixedly connected with a lifting control assembly, a heat dissipation assembly and a guide assembly in sequence from front to back; the rear end of the lifting control assembly is provided with an X-ray emitter which moves vertically; the front end of the guide component is provided with a DR imaging plate corresponding to the X-ray emitter; a connecting frame which can vertically lift is fixedly connected between the lifting control assembly and the guide assembly; the upper end of the upper cover is fixedly connected with left and right symmetrically distributed obstacle avoidance cameras; the lower end of the bracket is fixedly connected with a supporting structure; the upper end of the upper cover is provided with an annular groove; the lower end of the turntable is fixedly connected with annular support columns which are distributed at equal intervals and are in sliding connection with the annular grooves; the upper end of the bottom in the control box is provided with a circuit board and a battery; the front end and the rear end of the control box are provided with heat dissipation nets; guide grooves which are distributed in bilateral symmetry are formed in the inner walls of the front end and the rear end of the support.
Preferably, according to the height of the GIS equipment of the transformer substation, the lifting control assembly is started to control the lifting of the X-ray emitter, under the action of the connecting frame, the guide assembly drives the DR imaging plate to synchronously lift, the second motor in the control box is started, the turntable at the upper end of the upper cover rotates, the support column at the lower end of the turntable rotates in the annular groove, the battery provides electric energy required by the equipment, the walking assembly drives the crawler belt to rotate, the position correspondence of the X-ray emitter and the DR imaging plate with the GIS equipment is ensured, the supporting structure is downward, the stability of the device is improved, the X-ray emitter and the DR imaging plate are detected, the heat dissipation assembly blows upwards to play the radiating purpose, then the supporting structure contracts upwards, the crawler belt drives the device to move, the obstacle avoidance camera is used for detecting whether the advancing direction has an obstacle, and the anti-collision protection assembly at the outer side of the support plays the effect of anti-collision protection.
Preferably, the walking assembly comprises a first rotating shaft, a second rotating shaft and a supporting wheel; the two ends of the front end of the first rotating shaft are provided with first driving wheels; the outer side of the first rotating shaft is provided with first bearings which are symmetrically distributed in the front-back direction; the front end and the rear end of the second rotating shaft are respectively provided with a second driving wheel; the outer side of the second rotating shaft is provided with second bearings which are symmetrically distributed in the front-back direction; the supporting wheel is rotationally connected with the bracket; the first driving wheel and the second driving wheel are connected with the crawler belt in a meshed mode, and when the first rotating shaft rotates, the first driving wheel and the second driving wheel can move forwards or backwards.
Preferably, the upper end of the second bearing is fixedly connected with a connecting column fixedly connected with the bracket; the lower end of the bracket is provided with a first motor; a first driving gear is arranged on the outer side of the output shaft of the first motor; the first driven gear meshed with the first driving gear is arranged on the outer side of the first rotating shaft, and the power of the first motor is transmitted to the first rotating shaft by utilizing the cooperation of the first driving gear and the first driven gear.
Preferably, the crash protection assembly comprises a protective cover; the inner side of the protective cover is provided with a guide sleeve and damping springs which are symmetrically distributed from inside to outside in sequence; an inner loop bar is inserted into the guide sleeve; the inner loop bar and the damping spring are fixedly connected with the support, the damping spring achieves the purpose of buffering, and when the protective cover is subjected to external force, the damping spring buffers the force, so that the effect of protecting the robot is achieved.
Preferably, the lifting control assembly comprises a fixed seat; the upper end of the fixed seat is rotationally connected with a ball screw; a screw pair is arranged on the outer side of the ball screw; the screw pair is fixedly connected with the X-ray emitter, and the screw pair is utilized to convert the rotary motion of the ball screw into linear motion, so that the X-ray emitter is controlled to lift and adjust the detection position.
Preferably, the upper end of the fixing seat is fixedly connected with a third motor; a second driving gear is arranged on the outer side of the output shaft of the third motor; the second driven gear meshed with the second driving gear is arranged on the outer side of the ball screw, and the power of the third motor is transmitted to the ball screw to drive the ball screw to rotate by utilizing the cooperation of the second driving gear and the second driven gear.
Preferably, the heat dissipation assembly comprises a water tank; a spray pipe and an evaporator are sequentially arranged in the water tank from top to bottom; the upper end of the water tank is provided with an upper shell; the water tank is internally provided with a water pump and a pipeline for supplying water to the spray pipe, and the water is sprayed on the evaporator through the spray pipe, so that heat in the air is taken away, and the purpose of cooling is achieved.
Preferably, a fan is arranged at the lower end of the upper shell; the front end and the rear end of the upper shell are both provided with air inlets; an air outlet is arranged at the upper end of the upper shell, and air is sucked in from the air inlet by a fan, cooled and then blown to the X-ray emitter and the DR image plate through the air outlet.
Preferably, the guide assembly comprises a bottom plate and a top plate; upright posts which are distributed symmetrically left and right are fixedly connected between the bottom plate and the top plate; the outer sides of the upright post and the other upright post are connected with a guide sliding block in a sliding way; the DR imaging plate is fixedly connected to the front end of the guide sliding block, and the movement track of the DR imaging plate is limited by utilizing the sliding of the guide sliding block on the outer side of the upright post, so that the DR imaging plate can move vertically.
Preferably, the support structure comprises a lifting cylinder; the telescopic ends of the lower sides of the lifting cylinder and the other lifting cylinder are fixedly connected with suckers; the outer side of the lower end of the sucker is provided with a sponge sleeve; limiting sliding blocks which are symmetrically distributed left and right are fixedly connected to the front end and the rear end of the sucker; the limit sliding block is in sliding connection with the guide groove; the upper end of the sucker is provided with a vacuum pump; be provided with the vacuum tube between sucking disc and the vacuum pump, improve the laminating degree between sucking disc and the ground through the sponge cover, still can use on uneven ground.
The invention has the beneficial effects that:
1. the support structure is additionally arranged, the stability of the robot is further improved through the suction force with the ground, the robot is prevented from toppling under the action of wind or foreign objects, the normal operation of detection is ensured, and meanwhile, the heat dissipation mechanism is also arranged to cool the detection robot, so that the aging of high-temperature acceleration equipment is avoided, and the service life of the equipment can be prolonged;
2. Through lift cylinder control sucking disc lift, when needs support, with the evacuation between sucking disc and the ground to adsorb the sucking disc subaerial, further strengthen the stability of robot, X-ray emitter and DR image plate highly can be adjusted according to GIS equipment's height, the suitability is higher, and radiating component blows cold wind to X-ray emitter and DR image plate simultaneously, thereby can play radiating effect, avoid high temperature acceleration X-ray emitter and DR image plate ageing.
Drawings
Fig. 1 shows a schematic diagram of a first three-dimensional structure of an X-ray detection robot with a support structure for a substation GIS device according to the present invention;
Fig. 2 shows a schematic diagram of a second three-dimensional structure of the X-ray detection robot with the support structure for the substation GIS device according to the present invention;
Fig. 3 shows a schematic view of a three-dimensional structure of a control box and an upper cover in the substation GIS equipment X-ray detection robot with a supporting structure;
Fig. 4 shows a schematic perspective view of a support and a travelling assembly in the transformer substation GIS equipment X-ray detection robot with a support structure according to the present invention;
FIG. 5 shows a schematic diagram of a first perspective construction of a substation GIS equipment X-ray detection robot with a support structure according to the present invention;
Fig. 6 shows a schematic perspective view of a heat dissipation assembly in the transformer substation GIS device X-ray detection robot with a support structure according to the present invention;
FIG. 7 is a schematic perspective view showing a lifting control assembly and a guiding assembly in the X-ray detection robot with the support structure for the GIS equipment of the transformer substation;
fig. 8 shows a schematic perspective view of a support structure in the X-ray detection robot with the support structure for the substation GIS device.
Reference numerals illustrate: 1. a bracket; 2. a walking assembly; 201. a first rotation shaft; 202. a first drive wheel; 203. a first bearing; 204. a second rotation shaft; 205. a second drive wheel; 206. a second bearing; 207. a connecting column; 208. a support wheel; 209. a first motor; 210. a first drive gear; 211. a first driven gear; 3. a track; 4. an anti-collision protection assembly; 401. a protective cover; 402. a guide sleeve; 403. a damping spring; 404. an inner loop bar; 5. a control box; 6. an upper cover; 7. a second motor; 8. a turntable; 9. a lifting control assembly; 901. a fixing seat; 902. a ball screw; 903. a screw pair; 904. a third motor; 905. a second drive gear; 906. a second driven gear; 10. a heat dissipation assembly; 101. a water tank; 102. an evaporator; 103. an upper case; 104. a blower; 105. a shower pipe; 106. an air inlet; 107. an air outlet; 11. a guide assembly; 111. a bottom plate; 112. a top plate; 113. a column; 114. a guide slide block; 12. an X-ray emitter; 13. a DR imaging plate; 14. a connecting frame; 15. obstacle avoidance cameras; 16. a support structure; 161. a lifting cylinder; 162. a suction cup; 163. a sponge sleeve; 164. a limit sliding block; 165. a vacuum pump; 166. a vacuum tube; 17. an annular groove; 18. a support column; 19. a circuit board; 20. a battery; 21. a heat dissipation net; 22. a guide groove.
Detailed Description
The invention is further described below with reference to the drawings and examples.
Referring to fig. 1-3, the present invention provides an embodiment: a transformer substation GIS equipment X-ray detection robot with a supporting structure comprises a bracket 1; the device also comprises a walking assembly 2, a crawler 3, an anti-collision protection assembly 4, a control box 5, an upper cover 6, a second motor 7, a turntable 8, a lifting control assembly 9, a heat dissipation assembly 10, a guide assembly 11, an X-ray emitter 12, a DR imaging plate 13, a connecting frame 14, an anti-collision camera 15, a support structure 16, an annular groove 17, a support column 18, a circuit board 19, a battery 20, a heat dissipation net 21 and a guide groove 22; the support 1 is internally provided with a walking component 2 which extends outwards; the outer side of the walking assembly 2 is connected with a crawler belt 3 in a meshed manner; the front end and the rear end of the bracket 1 are fixedly connected with anti-collision protection components 4; the upper end of the bracket 1 is fixedly connected with a control box 5; the upper end of the control box 5 is provided with a detachable upper cover 6; the lower end of the upper cover 6 is provided with a second motor 7; the telescopic end of the upper side of the second motor 7 penetrates through the upper cover 6 and is fixedly connected with a turntable 8; the upper end of the turntable 8 is fixedly connected with a lifting control assembly 9, a heat dissipation assembly 10 and a guide assembly 11 in sequence from front to back; the rear end of the lifting control assembly 9 is provided with an X-ray emitter 12 which moves vertically; the front end of the guide component 11 is provided with a DR imaging plate 13 corresponding to the X-ray emitter 12; a connecting frame 14 which is vertically lifted is fixedly connected between the lifting control assembly 9 and the guide assembly 11; the upper end of the upper cover 6 is connected with left and right symmetrically distributed obstacle avoidance cameras 15; the lower end of the bracket 1 is fixedly connected with a supporting structure 16; the upper end of the upper cover 6 is provided with an annular groove 17; the lower end of the turntable 8 is fixedly connected with support columns 18 which are distributed at equal intervals in a ring shape and are in sliding connection with the ring grooves 17; the upper end of the bottom in the control box 5 is provided with a circuit board 19 and a battery 20; the front end and the rear end of the control box 5 are provided with heat dissipation nets 21; guide grooves 22 which are distributed symmetrically are formed in the inner walls of the front end and the rear end of the bracket 1.
Referring to fig. 4-5, in the present embodiment, the walking assembly 2 includes a first rotation shaft 201, a second rotation shaft 204, and a support wheel 208; first driving wheels 202 are arranged at two ends of the front end of the first rotating shaft 201; the outer side of the first rotating shaft 201 is provided with first bearings 203 which are symmetrically distributed in the front-back direction; the front end and the rear end of the second rotating shaft 204 are respectively provided with a second driving wheel 205; the outer side of the second rotating shaft 204 is provided with second bearings 206 which are symmetrically distributed in front-back direction; the supporting wheel 208 is rotatably connected with the bracket 1; the first driving wheel 202 and the second driving wheel 205 are both in meshed connection with the crawler belt 3; the upper end of the second bearing 206 is fixedly connected with a connecting column 207 fixedly connected with the bracket 1; the lower end of the bracket 1 is provided with a first motor 209; a first driving gear 210 is arranged on the outer side of the output shaft of the first motor 209; a first driven gear 211 in meshed connection with the first driving gear 210 is arranged outside the first rotating shaft 201; the impact protection assembly 4 comprises a protective cover 401; a guide sleeve 402 and damping springs 403 which are distributed symmetrically left and right are sequentially arranged on the inner side of the protective cover 401 from inside to outside; an inner sleeve rod 404 is inserted into the guide sleeve 402; the inner sleeve rod 404 and the damping spring 403 are fixedly connected with the bracket 1.
Referring to fig. 6-8, in the present embodiment, the lifting control assembly 9 includes a fixing base 901; the upper end of the fixed seat 901 is rotatably connected with a ball screw 902; a screw pair 903 is mounted on the outer side of the ball screw 902; the screw pair 903 is fixedly connected with the X-ray emitter 12; the upper end of the fixed seat 901 is fixedly connected with a third motor 904; a second driving gear 905 is arranged on the outer side of the output shaft of the third motor 904; a second driven gear 906 in meshed connection with a second driving gear 905 is arranged on the outer side of the ball screw 902; the heat sink assembly 10 includes a water tank 101; a spray pipe 105 and an evaporator 102 are sequentially arranged in the water tank 101 from top to bottom; the upper end of the water tank 101 is provided with an upper shell 103; a water pump and a pipeline for supplying water to the spray pipe 105 are arranged in the water tank 101; a fan 104 is arranged at the lower end of the upper shell 103; the front end and the rear end of the upper shell 103 are provided with air inlets 106; an air outlet 107 is arranged at the upper end of the upper shell 103; the guide assembly 11 includes a bottom plate 111 and a top plate 112; upright posts 113 which are distributed symmetrically left and right are fixedly connected between the bottom plate 111 and the top plate 112; the outer sides of the upright post 113 and the other upright post 113 are connected with a guide sliding block 114 in a sliding way; the front end of the guide sliding block 114 is fixedly connected with a DR imaging plate 13; the support structure 16 includes a lift cylinder 161; the lifting cylinder 161 and the telescopic end of the lower side of the other lifting cylinder 161 are connected with a sucker 162; a sponge sleeve 163 is arranged outside the lower end of the sucker 162; limiting sliding blocks 164 which are symmetrically distributed left and right are fixedly connected to the front end and the rear end of the sucker 162; the limit slide block 164 is in sliding connection with the guide groove 22; the upper end of the sucker 162 is provided with a vacuum pump 165; a vacuum tube 166 is provided between the suction cup 162 and the vacuum pump 165.
When the intelligent power transmission device works, according to the height of GIS equipment of a transformer substation, the third motor 904 at the upper end of the fixed seat 901 is started, the second driving gear 905 and the second driven gear 906 transmit power to the ball screw 902, the screw pair 903 vertically ascends and descends, the guide sliding block 114 slides outside the upright post 113 under the action of the connecting frame 14 to drive the DR imaging plate 13 to synchronously ascend and descend, the second motor 7 in the control box 5 is started, the turntable 8 at the upper end of the upper cover 6 rotates, the supporting column 18 at the lower end of the turntable 8 rotates in the annular groove 17, the battery 20 provides electric energy required by the equipment, the walking assembly 2 drives the caterpillar band 3 to rotate, the positions of the X-ray emitter 12 and the DR imaging plate 13 correspond to the GIS equipment are guaranteed, the supporting structure 16 is downward, the stability of the device is improved, the X-ray emitter 12 and the DR imaging plate 13 are detected, the radiating assembly 10 is upward blown to play a role of radiating, then the supporting structure 16 is upward contracted, the caterpillar band 3 drives the device to move, the barrier camera 15 is used for detecting whether the advancing direction is blocked, and the anti-collision protection assembly 4 at the outer side of the bracket 1 plays a role of anti-collision protection.
Through above-mentioned step, add bearing structure, through the suction with ground, further increase the steadiness of robot, avoid causing the robot to empty under the effect of wind or foreign object, guarantee the normal clear of detection, still be provided with cooling mechanism simultaneously, cool down detecting the robot, avoid high temperature acceleration equipment ageing to can prolong the life of equipment.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (3)
1. The transformer substation GIS equipment X-ray detection robot with the supporting structure comprises a bracket (1); the method is characterized in that: the multifunctional intelligent vehicle further comprises a walking assembly (2), a crawler belt (3), an anti-collision protection assembly (4), a control box (5), an upper cover (6), a second motor (7), a turntable (8), a lifting control assembly (9), a heat dissipation assembly (10), a guide assembly (11), an X-ray emitter (12), a DR imaging plate (13), a connecting frame (14), an obstacle avoidance camera (15), a supporting structure (16), an annular groove (17), a supporting column (18), a circuit board (19), a battery (20), a heat dissipation net (21) and a guide groove (22); a walking assembly (2) extending outwards is arranged in the bracket (1); the outer side of the walking assembly (2) is connected with a crawler belt (3) in a meshed manner; anti-collision protection components (4) are fixedly connected to the front end and the rear end of the bracket (1); the upper end of the bracket (1) is connected with a control box (5); the upper end of the control box (5) is provided with a detachable upper cover (6); the lower end of the upper cover (6) is provided with a second motor (7); the telescopic end of the upper side of the second motor (7) penetrates through the upper cover (6) and is fixedly connected with a turntable (8); the upper end of the turntable (8) is fixedly connected with a lifting control assembly (9), a heat dissipation assembly (10) and a guide assembly (11) in sequence from front to back; the rear end of the lifting control component (9) is provided with an X-ray emitter (12) which moves vertically; the front end of the guide component (11) is provided with a DR imaging plate (13) corresponding to the X-ray emitter (12); a connecting frame (14) which is vertically lifted is fixedly connected between the lifting control assembly (9) and the guide assembly (11); the upper end of the upper cover (6) is connected with obstacle avoidance cameras (15) which are symmetrically distributed left and right; the lower end of the bracket (1) is connected with a supporting structure (16); the upper end of the upper cover (6) is provided with an annular groove (17); the lower end of the turntable (8) is connected with support columns (18) which are distributed at equal intervals in a ring shape and are in sliding connection with the annular groove (17); the upper end of the inner bottom of the control box (5) is provided with a circuit board (19) and a battery (20); the front end and the rear end of the control box (5) are provided with heat dissipation nets (21); guide grooves (22) which are symmetrically distributed left and right are formed in the inner walls of the front end and the rear end of the bracket (1); the anti-collision protection assembly (4) comprises a protective cover (401); a guide sleeve (402) and damping springs (403) which are symmetrically distributed left and right are sequentially arranged on the inner side of the protective cover (401) from inside to outside; an inner sleeve rod (404) is inserted into the guide sleeve (402); the inner sleeve rod (404) and the damping spring (403) are fixedly connected with the bracket (1); the lifting control assembly (9) comprises a fixed seat (901); the upper end of the fixed seat (901) is rotationally connected with a ball screw (902); a screw pair (903) is arranged outside the ball screw (902); the screw pair (903) is fixedly connected with the X-ray emitter (12); the upper end of the fixed seat (901) is fixedly connected with a third motor (904); a second driving gear (905) is arranged on the outer side of an output shaft of the third motor (904); a second driven gear (906) which is in meshed connection with the second driving gear (905) is arranged on the outer side of the ball screw (902); the heat radiation assembly (10) comprises a water tank (101); a spray pipe (105) and an evaporator (102) are sequentially arranged in the water tank (101) from top to bottom; an upper shell (103) is arranged at the upper end of the water tank (101); a water pump and a pipeline for supplying water to the spray pipe (105) are arranged in the water tank (101); a fan (104) is arranged at the lower end of the upper shell (103); the front end and the rear end of the upper shell (103) are provided with air inlets (106); an air outlet (107) is arranged at the upper end of the upper shell (103); the guide assembly (11) comprises a bottom plate (111) and a top plate (112); upright posts (113) which are symmetrically distributed left and right are fixedly connected between the bottom plate (111) and the top plate (112); the outer sides of the upright post (113) and the other upright post (113) are connected with a guide sliding block (114) in a sliding way; the front end of the guide sliding block (114) is fixedly connected with a DR imaging plate (13); the support structure (16) comprises a lifting cylinder (161); the lifting cylinder (161) and the telescopic end of the lower side of the other lifting cylinder (161) are fixedly connected with a sucker (162); a sponge sleeve (163) is arranged on the outer side of the lower end of the sucker (162); limiting sliding blocks (164) which are symmetrically distributed left and right are fixedly connected to the front end and the rear end of the sucker (162); the limit sliding block (164) is in sliding connection with the guide groove (22); the upper end of the sucker (162) is provided with a vacuum pump (165); a vacuum tube (166) is arranged between the sucker (162) and the vacuum pump (165).
2. A substation GIS device X-ray detection robot with a support structure according to claim 1, characterized in that: the walking assembly (2) comprises a first rotating shaft (201), a second rotating shaft (204) and a supporting wheel (208); the front end two ends of the first rotating shaft (201) are provided with first driving wheels (202); the outer side of the first rotating shaft (201) is provided with first bearings (203) which are symmetrically distributed in the front-back direction; the front end and the rear end of the second rotating shaft (204) are respectively provided with a second driving wheel (205); the outer side of the second rotating shaft (204) is provided with second bearings (206) which are symmetrically distributed in the front-back direction; the supporting wheel (208) is rotationally connected with the bracket (1); the first driving wheel (202) and the second driving wheel (205) are both in meshed connection with the crawler belt (3).
3. A substation GIS device X-ray detection robot with a support structure according to claim 2, characterized in that: the upper end of the second bearing (206) is fixedly connected with a connecting column (207) fixedly connected with the bracket (1); the lower end of the bracket (1) is provided with a first motor (209); a first driving gear (210) is arranged on the outer side of an output shaft of the first motor (209); a first driven gear (211) which is connected with the first driving gear (210) in a meshed way is arranged on the outer side of the first rotating shaft (201).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311737828.0A CN117775126B (en) | 2023-12-15 | 2023-12-15 | Substation GIS equipment X-ray detection robot with supporting structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311737828.0A CN117775126B (en) | 2023-12-15 | 2023-12-15 | Substation GIS equipment X-ray detection robot with supporting structure |
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| Publication Number | Publication Date |
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| CN117775126A CN117775126A (en) | 2024-03-29 |
| CN117775126B true CN117775126B (en) | 2024-05-24 |
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| CN202311737828.0A Active CN117775126B (en) | 2023-12-15 | 2023-12-15 | Substation GIS equipment X-ray detection robot with supporting structure |
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| JP2005031043A (en) * | 2003-07-11 | 2005-02-03 | Japan Radio Co Ltd | Measured object elevator mechanism in ct unit |
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| CN107121445A (en) * | 2016-02-24 | 2017-09-01 | 中国科学院沈阳自动化研究所 | A kind of equipment suitable for transformer station's X camera detections |
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| RU189440U1 (en) * | 2019-01-10 | 2019-05-22 | Публичное акционерное общество "Межрегиональная распределительная сетевая компания Юга" (ПАО "МРСК Юга") | MOBILE DEVICE OF X-RAY CONTROL OF HIGH-VOLTAGE SWITCHES |
| CN212845101U (en) * | 2020-07-28 | 2021-03-30 | 云南电网有限责任公司电力科学研究院 | Transformer substation post insulator X-ray detection robot |
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2023
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| CN106290415A (en) * | 2016-08-09 | 2017-01-04 | 广东电网有限责任公司电力科学研究院 | A kind of GIS on-site X-ray detection and three-dimensional image forming apparatus |
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| RU189440U1 (en) * | 2019-01-10 | 2019-05-22 | Публичное акционерное общество "Межрегиональная распределительная сетевая компания Юга" (ПАО "МРСК Юга") | MOBILE DEVICE OF X-RAY CONTROL OF HIGH-VOLTAGE SWITCHES |
| CN212845101U (en) * | 2020-07-28 | 2021-03-30 | 云南电网有限责任公司电力科学研究院 | Transformer substation post insulator X-ray detection robot |
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