CN209921415U

CN209921415U - Substation patrol inspection vehicle

Info

Publication number: CN209921415U
Application number: CN201920711498.0U
Authority: CN
Inventors: 赵海威
Original assignee: Henan University of Technology
Current assignee: Henan University of Technology
Priority date: 2019-05-17
Filing date: 2019-05-17
Publication date: 2020-01-10
Anticipated expiration: 2029-05-17

Abstract

The utility model relates to a transformer substation inspection vehicle, including automobile body and directive wheel, be provided with thermal infrared imager on the automobile body, transformer substation inspection vehicle still include two one end with the automobile body is fixed, one end elasticity overhang and the directive wheel mounting panel that can fluctuate, the elasticity overhang end of each directive wheel mounting panel all rotates and is equipped with the installation axle that the axis of rotation extends along upper and lower direction, install epaxially in the downside of directive wheel mounting panel is connected with the directive wheel, install epaxially in the upside coaxial line of directive wheel mounting panel is fixed with the steering gear wheel, the upside of directive wheel mounting panel be provided with turn to the driven steering pinion of gear wheel meshing, the downside of directive wheel mounting panel be fixed with the steering motor that steering pinion transmission connects.

Description

Substation patrol inspection vehicle

Technical Field

The utility model relates to a transformer substation inspection vehicle in the electric power transmission field.

Background

The transformer substation is a junction of a power supply and transmission system, and the safe and stable operation of the transformer substation is related to whether national production and life can normally operate. The inspection of the substation equipment is a basic work for effectively ensuring the safe operation of the substation equipment and improving the power supply reliability, and is mainly divided into routine inspection and special inspection. Routine inspection is carried out at least twice every day, and special inspection is generally carried out in high-temperature weather, large-load operation and before new equipment is put into operation and after strong wind, fog, ice and snow, hail and thunderstorm. In the traditional inspection technology, a maintainer needs to hold an infrared thermal imager and generally carries out infrared temperature measurement on substation equipment once every half month so as to judge whether an abnormality occurs. The manual inspection has the obvious defects of high labor intensity, low working efficiency, dispersed detection quality, high management cost and the like.

Therefore, the transformer substation inspection vehicle capable of reducing the labor intensity of workers comes from the process of transportation, and Chinese patent CN103754080B discloses a transformer substation inspection robot vehicle body chassis which comprises front wheels and rear wheels, wherein the front wheels are steering wheels, the rear wheels are driving wheels connected with a driving motor, and a damping device is arranged between the driving wheels and the chassis. The existing robot chassis has the following problems: the steering wheel does not have active steering capacity, and the steering wheel does not have damping capacity at all, so that jolting and vibration are easy to generate.

Disclosure of Invention

An object of the utility model is to provide a directive wheel can initiatively turn to and possess the transformer substation inspection vehicle of shock-absorbing capacity.

In order to solve the technical problem, the utility model provides a technical scheme as follows:

the transformer substation inspection vehicle comprises a vehicle body and steering wheels, wherein an infrared thermal imager is arranged on the vehicle body, the transformer substation inspection vehicle further comprises two ends and a steering wheel mounting plate, the vehicle body is fixed, the other end of the steering wheel mounting plate is elastically suspended and can float up and down, the elastic suspended end of each steering wheel mounting plate is rotatably assembled with a mounting shaft, the mounting shaft extends along the up-down direction, the mounting shaft is arranged on the lower side of the steering wheel mounting plate is connected with the steering wheels, the mounting shaft is coaxially fixed with steering gear wheels on the upper side of the steering wheel mounting plate, the upper side of the steering wheel mounting plate is provided with steering pinion gears meshed with the steering gear wheels, and the lower side of the steering wheel mounting plate is fixed with a steering motor connected with the.

The vehicle body comprises a chassis and a vehicle cover fixed on the chassis, the rear end of each steering wheel mounting plate is fixed on the rear side cover wall of the vehicle cover, and the front end of each steering wheel mounting plate is the elastic overhanging end.

The steering wheel mounting plate is a cantilever plate structure which is integrally bent and formed, and comprises a straight mounting plate section at the front end, a vertical fixing plate section at the rear end and a connecting plate section which is connected between the mounting plate section and the fixing plate section and is obliquely arranged, wherein the fixing plate section is fixed on the rear side cover wall of the car cover, and the steering wheel and the steering motor are arranged on the mounting plate section.

The fixed plate section is welded and fixed with the car cover.

The utility model has the advantages that: the steering motor drives the steering gear wheel to rotate through the steering pinion, and then drives the steering wheel to rotate so as to realize active steering of the steering wheel, and speed reduction transmission can be realized between the steering pinion and the steering gear wheel.

Drawings

FIG. 1 is a schematic block diagram of one embodiment of the present invention;

FIG. 2 is a schematic view of the thermal infrared imager of FIG. 1 in a tilted-up position;

FIG. 3 is a schematic structural view of the chassis of FIG. 1;

FIG. 4 is a schematic view of the steering wheel of FIG. 1 engaged with the steering wheel mounting plate;

FIG. 5 is a schematic view of the structure of the damper spring of FIG. 1;

fig. 6 is a schematic structural view of the lifting rod of fig. 1.

Detailed Description

An embodiment of the substation inspection vehicle is shown in fig. 1 ~ 6, and comprises a thermal infrared imager and a vehicle body 6 provided with a traveling mechanism, wherein the vehicle body in the embodiment comprises a chassis 8 and a vehicle cover 7 fixed on the upper side of the chassis, the chassis comprises a main beam 27 extending along the front-back direction, four longitudinal beams 28 are arranged on the main beam at intervals along the front-back direction, two longitudinal beams at the front position are called front longitudinal beams, two longitudinal beams at the back position are called back longitudinal beams, the main beam and the longitudinal beams are both made of square steel tubes, the two longitudinal beams at the back position are used for placing a battery 13, and the two longitudinal beams at the front position are used for arranging a trapezoidal support rod 25.

In this embodiment, the traveling mechanism includes a directional wheel 9 located at the front and a steering wheel 14 located at the rear, the directional wheel is driven by a hub motor to form a driving wheel, the directional wheel 9 is located between two longitudinal beams located at the front, the directional wheel 9 is connected to the front end of the main beam through an a-shaped arm 29, the a-shaped arm is an a-shaped frame arm having a single end 30 and a double end 31, the connection relationship is that the single end 30 of the a-shaped arm is hinged to the directional wheel 9 through a first hinge shaft 32 whose axis extends in the front-rear direction, and the double end 31 of the a-shaped arm is hinged to the main beam 27 through two second hinge shafts 33 whose axes extend in the front-rear direction. The bottom of trapezoidal branch 25 is welded fastening respectively on two longerons that the position leaned on the front, be provided with damping spring 26 between the top of trapezoidal branch and the single-end of A shape arm, damping spring includes vertical arrangement's coil spring 41 and sets up the gas spring pole in coil spring 41 middle part, the piston rod 40 of gas spring pole cylinder body 42 and direction removal assembly in the spring pole cylinder body is filled including filling to the gas spring pole, the upper end of piston rod is provided with the spring holder, the lower extreme of spring pole cylinder body is provided with down the spring holder, the coil spring top is adorned between last spring holder and lower spring holder. The upper spring seat is connected to the top of the trapezoidal strut by a third hinge shaft 39 whose axis extends in the front-rear direction, and the lower spring seat is connected to the single end of the a-shaped arm by a fourth hinge shaft 43 whose axis extends in the front-rear direction.

A steering wheel mounting plate 15 with a front end elastically suspended and fixed on the rear side cover wall of the car cover in a welded manner, the steering wheel mounting plate in the embodiment is a cantilever plate structure formed by bending integrally, and comprises a straight mounting plate section 36 at the front end, a vertical fixing plate section 34 at the rear end and a connecting plate section 35 connected between the mounting plate section 36 and the fixing plate section 34 and arranged obliquely, the fixing plate section 34 is welded and fixed on the rear side cover wall of the car cover, a rotating shaft of the steering wheel is rotatably assembled on the mounting plate section, the steering wheel is positioned at the lower side of the mounting plate section 36, the axis of the rotating shaft of the steering wheel extends along the up-down direction, a steering large gear 38 is coaxially fixed on the upper side of the mounting plate on the rotating shaft of the steering wheel, a steering small gear 37 with a rotating axis extending along the up-down direction is rotatably assembled on the rear side of the steering gear on the mounting plate, a steering motor 16 in transmission connection with the steering coaxial gear is fixed, the steering pinion 37 is in meshing transmission with the steering bull gear 38. The steering motor drives the steering pinion to rotate, and then drives the steering gear wheel to realize the rotation of the driving steering wheel and realize the steering, and the steering wheel mounting plate is of a cantilever plate structure with the front end capable of elastically deforming up and down, so that the steering wheel can also float up and down to a certain degree, and the shock absorption is realized.

The lifting rod 45 is assembled on the vehicle body in a guiding and moving mode in the vertical direction, specifically, a guide sleeve 5 is arranged between a main beam of the chassis and an upper cover wall of the vehicle cover, avoidance holes 12 communicated with the upper end and the lower end of the guide sleeve are respectively formed in the upper cover wall and the main beam, and the lifting rod 45 is assembled in an inner hole of the guide sleeve 5 in a guiding and moving mode. A bottom plate 10 is arranged on the lower side of the main beam, a tension spring 11 is connected between the bottom plate and the bottom of the lifting rod, and the tension spring 11 is used for applying downward tension to the lifting rod 45. The top of the lifting rod 45 is provided with the thermal infrared imager 2, the thermal infrared imager is assembled on the top end of the lifting rod through the rotation of the pitching of the mounting shaft 47 extending along the left-right direction along the axis, the lifting rod is provided with the pitching motor 46 for driving the pitching adjustment of the thermal infrared imager, the pitching motor is a servo motor, and the motor shaft of the pitching motor is fixedly connected with the coaxial line of the mounting shaft, so that the pitching rotation of the thermal infrared imager is driven through the rotation of the driving mounting shaft. The lifting rod is provided with a driving wedge surface 24 which gradually inclines and extends downwards from back to front, the vehicle body is provided with a driving wedge block 18 which is in contact fit with the driving wedge surface so as to drive the lifting rod to move upwards when moving forwards in a guiding and moving mode along the front and back direction, and the driving wedge block 18 is provided with a wedge surface 23 which is in contact fit with the driving wedge surface. The last rotation of lifter is equipped with first gear 4 that the axis of rotation extends along left right direction and is located the second gear 3 of first gear upside, and the epaxial coaxial line of installation is fixed with third gear 1, and first gear 4, third gear 1's diameter is the same, and the diameter of second gear 3 is 4 times of first gear diameter. The second gear 3 is a sector gear, so that the second gear is provided with a notch 21 with a transmission gear 22 positioned between two ends of the transmission gear 22, the third gear 1 is in meshed transmission with the transmission gear of the second gear 3 to drive the sector gear to rotate when the thermal infrared imager rotates in a pitching manner, the lifting rod is further provided with a transmission rack 20 which is movably guided in the front-back direction, the transmission rack is fixedly provided with a transmission rod 19 which is vertically arranged, the driving wedge block is provided with a transmission hole which is matched with the transmission rod in a matched and guided manner in the up-down direction, when the pitch angle of the thermal infrared imager is within +/-30 degrees, the transmission gear of the sector gear is separated from the first gear, and the top of the vehicle cover is provided with a transmission rod avoiding elongated slot 17 which extends in the front-back direction at. The battery supplies power to the steering motor, the pitching motor, the thermal infrared imager and other corresponding electric equipment.

When the thermal infrared imager is used, the whole inspection robot is driven to move by the directional wheel close to the front, the steering wheel close to the rear is responsible for steering, and when the robot encounters uneven road surfaces, the left and right fixed wheels act on the corresponding A-shaped walls respectively and can be adjusted in a vertically floating mode to realize shock absorption, so that the stability of the thermal infrared imager is ensured; the steering wheel behind the position also can fluctuate under the effect of cantilever slab and carry out the shock attenuation, and the diameter of steering wheel is less than directional wheel, realizes turning to more easily on the one hand, also provides the space for placing of battery on the other hand. The pitching motor drives the thermal infrared imager to adjust the pitching angle, the pitching angle is 0 when the thermal infrared imager is horizontal, the pitching angle is positive when the front end of the thermal infrared imager is pitched upwards, and the pitching angle is negative when the front end of the thermal infrared imager is pitched downwards. In the embodiment, the pitching motor is controlled to be manually operated by a worker, when the pitching motor only needs to drive the thermal infrared imager to rotate within a +/-30-degree pitch angle to detect equipment, the height of the thermal infrared imager at the moment is proved to be in accordance with requirements, the corresponding equipment can be detected, in the process, the notch part of the sector-shaped tooth corresponds to the first gear and does not transmit to the first gear, the height of the lifting rod cannot be changed, the driving wedge block is supported on the lower side of the driving wedge surface, the driving wedge block is in contact fit with the two inclined surfaces of the driving wedge surface, and the rotation of the lifting rod can be limited; when the thermal infrared imager with the pitch angle of +/-30 cannot detect related equipment, the corresponding equipment is higher or intersected, a view blind area exists at the current height of the thermal infrared imager, a worker can control a pitch motor to continuously drive the thermal infrared imager to rotate, taking the thermal infrared imager to generate the pitch angle of more than 30 degrees as an example, a third gear drives a second gear to rotate clockwise, the second gear drives a first gear to rotate anticlockwise, as shown in FIG. 2, a transmission rack moves forwards, a vertical transmission rod drives a driving wedge block to move forwards, the driving wedge block is matched with a driving wedge surface to jack up a lifting rod, the height of the thermal infrared imager is increased at the moment, the equipment can be detected if the height is not required to be lifted, the worker only needs to control the thermal infrared imager through the pitch motor to reduce the elevation angle of the thermal infrared imager, and as long as the pitch angle of the thermal infrared imager is not less than-30 degrees, if the height of the thermal infrared imager cannot be reduced and the equipment cannot be detected at the height, the working personnel can continuously increase the pitch angle of the thermal infrared imager, so that the height of the thermal infrared imager can also be continuously increased; in a similar way, when equipment at a lower position needs to be detected, the height of the thermal infrared imager can be adjusted only by controlling the pitch angle of the thermal infrared imager by a worker.

Claims

1. The transformer substation inspection vehicle comprises a vehicle body and a steering wheel, wherein an infrared thermal imager is arranged on the vehicle body, and the transformer substation inspection vehicle is characterized in that: the transformer substation inspection vehicle further comprises two ends and the automobile body is fixed, the other one end elasticity overhang and the directive wheel mounting panel that can fluctuate, the elasticity overhang end of each directive wheel mounting panel all rotates and is equipped with the installation axle that the axis of rotation extends along upper and lower direction, install epaxial in the downside of directive wheel mounting panel is connected with the directive wheel, install epaxial in the upside coaxial line of directive wheel mounting panel is fixed with the big gear that turns to, the upside of directive wheel mounting panel be provided with turn to the driven pinion that turns to of gear toothing, the downside of directive wheel mounting panel be fixed with the motor that turns to that pinion transmission is connected turns to.

2. The substation inspection vehicle according to claim 1, wherein: the vehicle body comprises a chassis and a vehicle cover fixed on the chassis, the rear end of each steering wheel mounting plate is fixed on the rear side cover wall of the vehicle cover, and the front end of each steering wheel mounting plate is the elastic overhanging end.

3. The substation inspection vehicle according to claim 2, wherein: the steering wheel mounting plate is a cantilever plate structure which is integrally bent and formed, and comprises a straight mounting plate section at the front end, a vertical fixing plate section at the rear end and a connecting plate section which is connected between the mounting plate section and the fixing plate section and is obliquely arranged, wherein the fixing plate section is fixed on the rear side cover wall of the car cover, and the steering wheel and the steering motor are arranged on the mounting plate section.

4. The substation inspection vehicle according to claim 3, wherein: the fixed plate section is welded and fixed with the car cover.