CN207782276U - Cable duct of substation intelligent patrol robot - Google Patents

Cable duct of substation intelligent patrol robot Download PDF

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Publication number
CN207782276U
CN207782276U CN201721780634.9U CN201721780634U CN207782276U CN 207782276 U CN207782276 U CN 207782276U CN 201721780634 U CN201721780634 U CN 201721780634U CN 207782276 U CN207782276 U CN 207782276U
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CN
China
Prior art keywords
robot
cable duct
tour
inspecting robot
track
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Application number
CN201721780634.9U
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Chinese (zh)
Inventor
金叶欢
卢天健
赵阳
俞博文
姚紫嫣
丁虹引
金欧
潘盼
卢家龙
陈思宇
徐凡
郑回宫
李露莎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Linghai Power Supply Co Ltd
State Grid Corp of China SGCC
Taizhou Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
Linhai Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
Original Assignee
Zhejiang Linghai Power Supply Co Ltd
State Grid Corp of China SGCC
Taizhou Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
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Application filed by Zhejiang Linghai Power Supply Co Ltd, State Grid Corp of China SGCC, Taizhou Power Supply Co of State Grid Zhejiang Electric Power Co Ltd filed Critical Zhejiang Linghai Power Supply Co Ltd
Priority to CN201721780634.9U priority Critical patent/CN207782276U/en
Application granted granted Critical
Publication of CN207782276U publication Critical patent/CN207782276U/en
Active legal-status Critical Current
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Abstract

The utility model discloses a kind of cable duct of substation intelligent patrol robots, track is maked an inspection tour including being installed on above cable duct of substation and mounted on the inspecting robot maked an inspection tour on track, the track of making an inspection tour is equipped with the transmission line for connecting and driving inspecting robot to move along tour track with inspecting robot, the inspecting robot includes shell and the cradle head of two degrees of freedom that is extended downwardly from shell, the cradle head of two degrees of freedom is equipped with infrared camera and infrared radiation thermometer, it is equipped with the power supply for inspecting robot power supply in the shell and is automatically positioned the GPS positioning system of the inspecting robot position.The technical solution adopted in the utility model, artificial progress cable duct patrol is replaced by inspecting robot, tour personnel need to only check online makes an inspection tour video and cable temperature record, the comprehensive tour to cable duct of substation can be completed, facilitate tour, and situations such as can finding and record in time hidden danger defect, avoiding cable fault, leads to the accidents such as power failure.

Description

Cable duct of substation intelligent patrol robot
Technical field
The utility model is related to electric inspection process technologies, and in particular to cable duct of substation intelligent patrol system.
Background technology
Cable duct is the indispensable infrastructure of power grid, and cable is directed not only to power transmission in ditch, further relates to relay guarantor It the equipment such as protects, automatically control, communicate, measure and measures, be the nerve center of power grid, once cable breaks down, not only check Processing work difficulty is big, the time is long, it is also possible to so that relay protection or control loop is failed, the expansion that causes the accident even damages master and sets It is standby, it cannot resume production for a long time.Therefore, reinforce the status monitoring to cable duct and management, find cable hidden danger, protection in time Cable is injury-free, has very important meaning to electric power netting safe running.
Currently, there is many problems in use for cable duct, it is main as follows:
(1) cable fault causes the accident impacts such as power failure very big.Power transformation station cable furrow width is usually no more than 0.8 meter, deeply Up to 1.5 meters, tens of rice or even hundreds of meters are up to, external environment is complicated, and rain erosion, toy bite cable, cause cable Damage, leads to equipment fault Frequent Accidents, substation is caused to have a power failure, and great inconvenience is brought to resident living and enterprise's production, It is serious to cause huge economic loss.
(2) cable duct patrol is important but difficult.Substation equipment patrol inspection is the most important work of power transformation operation maintenance personnel One of make, wherein the walkaround inspection work to cable duct inner cable equipment is most difficult to carry out, and because cable duct is often located in the ground, ditch Interior narrow space, operation maintenance personnel are frequently necessary to opening cable cover (weight 35-45kg) and observe the cable machinery in ditch, The dangerous situations such as damaged, short circuit sparking are seen if there is to occur.
(3) it finds and record hidden danger defect difficulty is big.It was found that after defect, operation maintenance personnel needs rely in narrow space Minicam is shot.Due to insufficient space and insufficient light is difficult to the careful defect situation for observing cable machinery, fortune The apparent degree that dimension personnel are shot using camera also tends to be difficult to for analyzing defect, especially during night inspection, In the case of insufficient light, even if operation maintenance personnel carries flashlight, cooperation camera uses, and also tends to effectively to observe and remember The hidden danger situation of the cable machinery in cable duct is recorded, this causes very big difficulty to the discovery of cable machinery hidden danger, and also this is to fortune The work of dimension personnel brings very big inconvenience.
Utility model content
For the deficiency and limitation of current cable duct status monitoring, technical problem to be solved in the utility model is exactly to carry For a kind of cable duct of substation intelligent patrol system, automatically walk can be monitored in narrow, complicated cable duct, and remember in real time Record and upload make an inspection tour cable duct during the case where finding, to realize to the actual motion state of cable duct and running environment Monitoring.
In order to solve the above technical problems, the utility model adopts the following technical solution:Cable duct of substation intelligent patrol machine Device people, including be installed on above cable duct of substation and make an inspection tour track and mounted on the inspecting robot maked an inspection tour on track, institute It states and makes an inspection tour track equipped with the transmission line for connecting and driving inspecting robot to move along tour track with inspecting robot, the tour Robot includes shell and the cradle head of two degrees of freedom that is extended downwardly from shell, and the cradle head of two degrees of freedom is equipped with infrared photography Head and infrared radiation thermometer, the shell is interior to be equipped with the power supply for inspecting robot power supply and is automatically positioned the tour machine The GPS positioning system of people position, wherein the tour video of infrared camera acquisition is automatically uploaded to network high in the clouds, infrared measurement of temperature The surface temperature information that instrument measures cable is simultaneously automatically uploaded to network high in the clouds, and GPS positioning system is by inspecting robot real time position It is automatically uploaded to network high in the clouds.
Preferably, the power supply includes accumulator and wireless charging module to charge the battery, cable duct of substation Wireless charging transmitting module is installed in fixed position, when inspecting robot is moved to fixed position, wireless charging emits mould Block will be automatically by wireless charging module to charge the battery.
Preferably, the cradle head of two degrees of freedom is by two right-angled intersection servos controls.
Preferably, it is described make an inspection tour track transmission line be carrier chain/conveyer belt, the inspecting robot by hanging ring with it is defeated Chain/conveying band connection, the carrier chain/conveyer belt is sent to be driven by orbit motor, the orbit motor is controlled by controller, described Controller timing controlled orbit motor is run.
Preferably, the inspecting robot is also equipped with smoke sensor device.
The technical solution adopted in the utility model replaces artificial progress cable duct patrol, wherein make an inspection tour by inspecting robot Track can be such that inspecting robot completion timing, fixed point makes an inspection tour, and infrared camera, can by the change in location of perception infrared energy To realize dynamic object intelligence tracking function, its movement locus, track up can be captured automatically after detecting mobile object, and patrol Tour video depending on process shooting will be automatically uploaded to network high in the clouds.Infrared radiation thermometer can not contact target and pass through measure electricity The infrared intensity of cable transmitting calculates the surface temperature of cable, and all temperature informations can all be automatically recorded in network cloud End.Therefore the inspecting robot can in narrow, complicated cable duct autonomous, and by by high-definition camera, red Outer temperature measurer realizes that tour personnel need to only check online to the actual motion state of cable duct and the comprehensive monitoring of running environment Make an inspection tour video and cable temperature record, you can complete comprehensive tour to cable duct of substation, facilitate tour, and can be with Situations such as finding and record in time hidden danger defect, avoiding cable fault leads to the accidents such as power failure.
Description of the drawings
The utility model is further described with reference to the accompanying drawings and detailed description:
Fig. 1 is the system principle diagram of inspecting robot;
Fig. 2 is power supply wireless charging module schematic diagram;
Fig. 3 is the partial structural diagram of inspecting robot;
Fig. 4 is the structural schematic diagram of chain;
Fig. 5 is the exterior chain plate structure schematic diagram of chain.
Specific implementation mode
Cable duct of substation intelligent patrol system, including it is installed on tour track and installation above cable duct of substation Inspecting robot on making an inspection tour track, the tour track are connected with network high in the clouds using wireless communication with inspecting robot, The track of making an inspection tour is equipped with the transmission line for connecting and driving inspecting robot to move along tour track with inspecting robot, network cloud It holds to track transmission patrol route and tour time information is maked an inspection tour, makes an inspection tour track and inspecting robot is driven to be moved along track is maked an inspection tour.
As shown in figures 1 and 3, the inspecting robot is equipped with arm processor, the infrared photography being connect with arm processor First 101, infrared radiation thermometer 102, communication module 103, memory 104, test interface circuit 105 further include the storage being powered Battery 106, the inspecting robot include shell 10 and the cradle head of two degrees of freedom extended downwardly from shell 100, and described two certainly Infrared camera 101 and infrared radiation thermometer 102 are equipped with by degree holder, the cradle head of two degrees of freedom is by two right-angled intersection rudders Machine controls.Communication module 103, memory 104, test interface circuit 105 and accumulator 106 are installed in shell, separately Outside, the GPS positioning system for being automatically positioned the inspecting robot position is equipped in the shell, wherein infrared camera acquisition It makes an inspection tour video and is automatically uploaded to network high in the clouds, infrared radiation thermometer calculates cable by measuring the infrared intensity that cable emits Surface temperature and be automatically uploaded to network high in the clouds, inspecting robot real time position is automatically uploaded to network by GPS positioning system High in the clouds.
Power transformation operation maintenance personnel accesses network high in the clouds by mobile phone app or webpage, checks the tour of infrared camera acquisition Video, cable temperature information and inspecting robot real time position.If the cable temperature that infrared radiation thermometer senses is more than setting Threshold value, will automatically record sites of heat generation by GPS positioning system, while by network high in the clouds to webpage backstage or mobile phone App sends out alarm, reminds power transformation operation maintenance personnel.
As shown in Fig. 2, accumulator uses wireless charging, the power supply of the inspecting robot to be gone back in addition to above-mentioned accumulator Including wireless charging receiving module 303 to charge the battery, cable duct of substation is equipped with wireless charging hair in fixed position Module 302 is penetrated, wireless charging transmitting module 302 connects charging head 301, when inspecting robot is moved to fixed position, wirelessly Charging transmitting module 302 will be automatically by wireless charging receiving module 303 to charge the battery, wireless charging receiving module 303 Boost module 304, charging and protection module 305 are equipped between accumulator, accumulator is lithium battery 306.
The transmission line for making an inspection tour track is carrier chain/conveyer belt, and the inspecting robot passes through hanging ring and carrier chain/defeated Band connection, the carrier chain/conveyer belt is sent to be driven by orbit motor, the orbit motor is controlled by controller, the controller It is set with patrol route, the controller timing controlled orbit motor operation, so that inspecting robot completion timing, fixed point are patrolled Depending on.
With reference to shown in figure 4 and Fig. 5, in the present embodiment, it includes single carrier chain 20 that transmission line, which uses, the single conveying Chain includes the axis pin of outer plate in the inner plate being arranged in pairs and connection both sides, axis pin housing between the inner plate of both sides There is roller, sleeve is also arranged between the roller and axis pin, outer plate is equipped on the outside of adjacent two inner plate.In addition, in order to hang Inspecting robot is filled, suspension mounting plate 201 is added in single carrier chain side, is equipped with hole for hoist on suspension mounting plate, uses It is connect in the hanging ring with inspecting robot.It includes side plate and the straight panel vertical with side plate to hang mounting plate 201, the side plate with it is outer Chain board stacking and fixation.Certainly it will be appreciated by persons skilled in the art that carrier chain can also use the similar fashions such as conveyer belt It replaces.
Those skilled in the art can install sensor additional on the inspecting robot as needed, to monitor more environment Situation, such as smoke sensor device can be installed, for monitoring the imflammable gas concentration such as methane in cable duct, temperature humidity is set Sensor is for monitoring environment temperature and humidity in cable duct.To realize to the complete of the actual motion state of cable duct and running environment Face monitors.
The information that the inspecting robot is monitored by memory storage further by communication module, carries out wireless Communication, the control information for receiving the transmission of network high in the clouds, and the information monitored can be sent to network high in the clouds, it realizes latent In the timely processing of hidden danger and alert, hidden danger and alert are eliminated in budding state, Redeem large economic loss.
Outside above preferred embodiment, the utility model also has other embodiments, and those skilled in the art can basis The utility model makes various changes and modifications, and without departing from the spirit of the utility model, should all belong to the utility model power Range defined in sharp claim.

Claims (5)

1. cable duct of substation intelligent patrol robot, which is characterized in that including the tour being installed on above cable duct of substation Track and the inspecting robot on tour track, the tour track are equipped with to connect and drive with inspecting robot and patrol Depending on Robot make an inspection tour track movement transmission line, the inspecting robot include shell and extended downwardly from shell two from By degree holder, the cradle head of two degrees of freedom is equipped with infrared camera and infrared radiation thermometer, is equipped in the shell and is patrolled for this Depending on robot power supply power supply and be automatically positioned the GPS positioning system of the inspecting robot position, wherein infrared camera is adopted The tour video of collection is automatically uploaded to network high in the clouds, and infrared radiation thermometer measures the surface temperature information of cable and is automatically uploaded to net Inspecting robot real time position is automatically uploaded to network high in the clouds by network high in the clouds, GPS positioning system.
2. cable duct of substation intelligent patrol according to claim 1 robot, which is characterized in that the power supply includes storing Battery and wireless charging module to charge the battery, cable duct of substation are equipped with wireless charging in fixed position and emit mould Block, when inspecting robot is moved to fixed position, wireless charging transmitting module will be electric power storage automatically by wireless charging module It charges in pond.
3. cable duct of substation intelligent patrol according to claim 1 robot, which is characterized in that the two degrees of freedom cloud Platform is by two right-angled intersection servos controls.
4. cable duct of substation intelligent patrol according to claim 1 robot, which is characterized in that the tour track Transmission line is carrier chain/conveyer belt, and the inspecting robot passes through hanging ring and carrier chain/conveying band connection, the carrier chain/defeated Band is sent to be driven by orbit motor, the orbit motor is controlled by controller, the controller timing controlled orbit motor operation.
5. cable duct of substation intelligent patrol according to claim 1 robot, which is characterized in that the inspecting robot It is also equipped with smoke sensor device.
CN201721780634.9U 2017-12-19 2017-12-19 Cable duct of substation intelligent patrol robot Active CN207782276U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721780634.9U CN207782276U (en) 2017-12-19 2017-12-19 Cable duct of substation intelligent patrol robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721780634.9U CN207782276U (en) 2017-12-19 2017-12-19 Cable duct of substation intelligent patrol robot

Publications (1)

Publication Number Publication Date
CN207782276U true CN207782276U (en) 2018-08-28

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201721780634.9U Active CN207782276U (en) 2017-12-19 2017-12-19 Cable duct of substation intelligent patrol robot

Country Status (1)

Country Link
CN (1) CN207782276U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109765461A (en) * 2019-02-21 2019-05-17 国网山东省电力公司临沂供电公司 Transmission line of electricity monitoring system and method based on temperature monitoring

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109765461A (en) * 2019-02-21 2019-05-17 国网山东省电力公司临沂供电公司 Transmission line of electricity monitoring system and method based on temperature monitoring

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