CN215968705U - Stable inspection robot for transformer substation - Google Patents
Stable inspection robot for transformer substation Download PDFInfo
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- CN215968705U CN215968705U CN202121727638.7U CN202121727638U CN215968705U CN 215968705 U CN215968705 U CN 215968705U CN 202121727638 U CN202121727638 U CN 202121727638U CN 215968705 U CN215968705 U CN 215968705U
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- machine body
- inspection robot
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- transformer substation
- inspection
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- 238000007689 inspection Methods 0.000 title claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 239000002131 composite material Substances 0.000 claims abstract description 4
- 238000013016 damping Methods 0.000 claims description 16
- 150000001875 compounds Chemical class 0.000 claims description 8
- 230000000712 assembly Effects 0.000 claims 2
- 238000000429 assembly Methods 0.000 claims 2
- 238000005286 illumination Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 14
- 238000012423 maintenance Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000007747 plating Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Abstract
本实用新型公开了一种用于变电站的稳定型巡检机器人，涉及巡检机器人设备技术领域，包括巡检机器本体、设置在巡检机器本体下方的稳定型行走装置、设置在巡检机器本体上方设置有能够升降和选装的安装柱，所述安装柱两侧等高处设置有角度可以调节的红外热像仪和可见光摄像机，安装柱顶端设置有检测云台，所述巡检机器本体上设置有驱动安装柱转动和升降的复合驱动机构，所述巡检机器本体四周侧壁上均设置有弹性防撞机构；本实用新型结构精巧、弹性防撞、不易倾倒的优点。
The utility model discloses a stable inspection robot for substations, which relates to the technical field of inspection robot equipment, comprising an inspection machine body, a stable walking device arranged under the inspection machine body, and a inspection machine body. A mounting column that can be lifted and selected is set above, and an infrared thermal imager and a visible light camera with an adjustable angle are set at the same height on both sides of the mounting column. A composite driving mechanism for driving the rotation and lifting of the installation column is arranged on the upper side, and elastic anti-collision mechanisms are arranged on the surrounding side walls of the inspection machine body.
Description
Technical Field
The utility model relates to the technical field of inspection robots, in particular to the technical field of stable inspection robots for transformer substations.
Background
The transformer substation is a place for converting voltage and current, receiving electric energy and distributing electric energy in an electric power system. The substations in the power plant are step-up substations, which are used to boost up the electrical energy generated by the generator and feed it into the high-voltage network. With the implementation of an unattended system of a transformer substation, the routine inspection cycle of the existing 220kV transformer substation is generally twice a week, and the overall inspection is once a month, so that operation and maintenance personnel of the transformer substation cannot master the operation condition of equipment in the transformer substation in real time.
Especially in hot summer and evening, the inspection robot assists or replaces human beings to carry out safety and maintenance work on the transformer substation, and when the inspection robot works, if the inspection robot suddenly meets an obstacle or collides in the moving process, the inspection robot can rapidly stop moving, and the sudden stop can cause the inspection robot to topple forwards, so that the normal work of the inspection robot is influenced, the inspection efficiency is low, and the inspection robot can be broken in serious cases.
How to solve the above technical problems has been the direction of efforts of those skilled in the art.
SUMMERY OF THE UTILITY MODEL
The utility model aims to: in order to solve the technical problem, the utility model provides a stable inspection robot for a transformer substation.
The utility model specifically adopts the following technical scheme for realizing the purpose:
the utility model provides a stable form inspection robot for transformer substation, is patrolling and examining machine body, sets up at stable form running gear, the setting of patrolling and examining machine body below and is patrolling and examining the erection column that can go up and down and optional dress of machine body top, the equal eminence in erection column both sides is provided with thermal infrared imager and the visible light camera that the angle can be adjusted, and the erection column top is provided with the detection cloud platform, it rotates and the compound drive mechanism who goes up and down to be provided with the drive erection column on the machine body to patrol and examine, it all is provided with elasticity anticollision institution all around on the lateral wall to patrol and examine the machine body.
Further, compound actuating mechanism is including installation casing and the mounting panel that can go up and down of setting in the installation casing, the bottom is provided with the electric cylinder that a drive mounting panel goes up and down at least in the installation casing, be provided with worm turbine assembly on the mounting panel, worm turbine assembly's worm passes through motor drive, and the installation post lower extreme passes the installation casing and is connected with worm turbine assembly's turbine rotation output.
Furthermore, the elastic anti-collision mechanism comprises an inner plate and an outer plate arranged in parallel with the inner plate, a plurality of damping springs are arranged between the inner plate and the outer plate, and a flexible rubber layer is arranged on the outer plate.
Further, stable form running gear includes front driving wheel subassembly and stable form driven wheel subassembly.
Further, the stable form is set up the roller subassembly of patrolling and examining machine body rear end both sides including the symmetry from the roller subassembly, and every roller subassembly all includes connecting portion and connects on connecting portion from driving wheel A and follow driving wheel B through the slope connecting rod, the connecting portion upper end is connected with the sleeve, is provided with in the sleeve and patrols and examines the elastic damping mechanism that machine body bottom is connected, has seted up the bar hole on one of them slope connecting rod, adjustable being provided with on the bar hole with patrolling and examining the supplementary tensioning spring that machine body connects.
Furthermore, still be provided with the controller subassembly that control compound actuating mechanism rotated and goes up and down, thermal infrared imager angle modulation and visible light camera angle modulation on patrolling and examining the machine body, the controller subassembly includes controller and battery.
Further, the front end of the inspection machine body is provided with an illuminating mechanism.
The utility model has the following beneficial effects:
1. the inspection robot is ingenious in design, the elastic anti-collision mechanism is arranged on the periphery of the inspection robot body and consists of the inner plate, the outer plate, the plurality of damping springs and the flexible rubber layer arranged on the outer plate, the damping springs are arranged between the inner plate and the outer plate, and the flexible rubber layer is arranged on the outer plate.
2. Stable form running gear includes that the driving wheel subassembly is followed to the driving wheel subassembly with the stable form, because the stable form is provided with in the sleeve from the driving wheel subassembly and patrols and examines the elasticity damping mechanism that machine body bottom is connected, the bar hole has been seted up on one of them slope connecting rod, adjustable being provided with on the bar hole with patrolling and examining the supplementary tensioning spring that machine body connects, the effect of damping can be played in the walking in-process of patrolling and examining the robot to the setting of elasticity damping mechanism and supplementary tensioning spring, it is more steady to make the robot of patrolling and examining remove, increase the definition and the stability of taking the picture.
3. Owing to patrol and examine machine body top and be provided with the erection column that can go up and down and optional dress, eminence such as erection column both sides is provided with thermal infrared imager and the visible light camera that the angle can be adjusted, and the setting of this kind of structure can realize patrolling and examining the robot multi-angle and diversely carry out real-time supervision, and through intelligent robot's control, can judge in real time and the state of early warning distribution to avoid artifical inspection afterwards and remedy, but remote control operates when the discovery problem, has reduced the loss and the cost of maintenance.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the compound drive mechanism;
FIG. 3 is a schematic view of the structure of the resilient bump guard mechanism;
FIG. 4 is a schematic mechanical diagram of a stabilized driven wheel assembly;
reference numerals: 1-front driving wheel component, 2-elastic anti-collision mechanism, 2-1-inner plate, 2-2-damping spring, 2-3-outer plate, 2-4-flexible rubber layer, 3-inspection machine body, 4-lighting mechanism, 5-composite driving mechanism, 5-1-electric cylinder, 5-2-mounting plate, 5-3-mounting shell, 5-4-worm turbine component, 5-5-motor, 6-visible light camera, 7-mounting column, 8-detection tripod head, 9-controller component, 10-stable driven wheel component, 10-1-driven wheel A, 10-2-driven wheel B and 10-3-connecting part, 10-4-elastic damping mechanism, 10-5-auxiliary tension spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. 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.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally arranged when the products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operated, and thus, should not be construed as limiting the present invention.
Example 1
As shown in fig. 1 to 4, this embodiment provides a stable form inspection robot for transformer substation, including patrolling and examining machine body 3, setting up at the stable form running gear who patrols and examines machine body 3 below, setting up at the erection column 7 that can go up and down and rotate of patrolling and examining machine body 3 top, the eminence such as erection column 7 both sides is provided with thermal infrared imager and visible light camera 6 that the angle can be adjusted, and erection column 7 top is provided with detects cloud platform 8, it is provided with the compound drive mechanism 5 that drive erection column 7 rotates and goes up and down to patrol and examine on machine body 3, it all is provided with elasticity anticollision institution 2 on the lateral wall all around to patrol and examine machine body 3.
The setting of this kind of structure can realize patrolling and examining the robot multi-angle and diversely carry out real-time supervision, and through intelligent robot's control, can judge in real time and the state of early warning distribution to avoid artifical inspection afterwards and remedy, but remote control operation when the discovery problem has reduced the loss and the cost of maintenance.
The compound driving mechanism 5 comprises an installation shell 5-3 and an installation plate 5-2 which is arranged in the installation shell 5-3 and can lift, wherein the bottom of the installation shell 5-3 is at least provided with an electric cylinder 5-1 for driving the installation plate 5-2 to lift, the installation plate 5-2 is provided with a worm-turbine assembly 5-4, the worm of the worm-turbine assembly 5-4 is driven by a motor 5-5, and the lower end of an installation column 7 penetrates through the installation shell 5-3 to be connected with the turbine rotation output end of the worm-turbine assembly 5-4.
The elastic anti-collision mechanism 2 comprises an inner plate 2-1 and an outer plate 2-3 arranged in parallel with the inner plate 2-1, a plurality of damping springs 2-2 are arranged between the inner plate 2-1 and the outer plate 2-3, and a flexible rubber layer 2-4 is arranged on the outer plate 2-3.
Through setting up at the elasticity anticollision institution of patrolling and examining machine body all around, elasticity anticollision institution is by the inner plating, the outer panel, be provided with a plurality of damping springs between inner plating and the outer panel and set up the flexible rubber layer on the outer panel and constitute, when patrolling and examining the robot and patrol and examine the in-process and touch the barrier, elasticity anticollision institution and barrier contact, the fuselage has been avoided directly dashing with article and has been hit, the effort that can the absorption collision produce, can effectual buffering impact, the flexible rubber layer on the outer panel, make its whole shock-absorbing capacity better, thereby the holistic safety in utilization performance of patrolling and examining the robot has been improved.
Example 2
The embodiment is further optimized on the basis of embodiment 1, and specifically comprises the following steps:
the stable walking device comprises a front driving wheel assembly 1 and a stable driven wheel assembly 10.
The stable form is from driving wheel subassembly 10 includes that the symmetry sets up the roller subassembly of patrolling and examining machine body 3 rear end both sides, and every roller subassembly all includes connecting portion 10-3 and connects on connecting portion 10-3 from driving wheel A10-1 and follow driving wheel B10-2 through the slope connecting rod, connecting portion 10-3 upper end is connected with the sleeve, is provided with in the sleeve and patrols and examines the elastic damping mechanism 10-4 that machine body 3 bottom is connected, has seted up the bar hole on one of them slope connecting rod, and adjustable the last supplementary tensioning spring 10-5 that is connected with patrolling and examining machine body 3 that is provided with of bar hole.
The elastic damping mechanism and the auxiliary tensioning spring are arranged to play a damping role in the walking process of the inspection robot, so that the inspection robot can move more stably, and the definition and stability of a shot picture are increased.
The inspection machine body 3 is also provided with a controller assembly 9 for controlling the rotation and lifting of the composite driving mechanism 5, the angle adjustment of the thermal infrared imager and the angle adjustment of the visible light camera 6, and the controller assembly comprises a controller and a storage battery.
The front end of the inspection machine body 3 is provided with an illuminating mechanism 4.
Claims (7)
1. The utility model provides a stable form inspection robot for transformer substation, its characterized in that, including patrolling and examining machine body (3), set up stable form running gear, the setting of patrolling and examining machine body (3) below can go up and down and rotatory erection column (7) of setting in patrolling and examining machine body (3) top, the eminence such as erection column (7) both sides is provided with thermal infrared imager and visible light camera (6) that the angle can be adjusted, and erection column (7) top is provided with detects cloud platform (8), it is provided with drive erection column (7) composite drive mechanism (5) that rotate and go up and down to patrol and examine machine body (3), it all is provided with elasticity anticollision institution (2) on the lateral wall all around to patrol and examine machine body (3).
2. The stable inspection robot for the transformer substation of claim 1, wherein the compound driving mechanism (5) comprises a mounting shell (5-3) and a mounting plate (5-2) which is arranged in the mounting shell (5-3) and can be lifted, at least one electric cylinder (5-1) for driving the mounting plate (5-2) to lift is arranged at the bottom in the mounting shell (5-3), a worm and turbine assembly (5-4) is arranged on the mounting plate (5-2), a worm of the worm and turbine assembly (5-4) is driven by a motor (5-5), and the lower end of a mounting column (7) penetrates through the mounting shell (5-3) to be connected with a turbine rotation output end of the worm and turbine assembly (5-4).
3. The stable inspection robot for the transformer substation according to claim 1, wherein the elastic anti-collision mechanism (2) comprises an inner plate (2-1) and outer plates (2-3) arranged in parallel with the inner plate (2-1), a plurality of damping springs (2-2) are arranged between the inner plate (2-1) and the outer plates (2-3), and flexible rubber layers (2-4) are arranged on the outer plates (2-3).
4. A stabilized inspection robot for substations according to claim 1, characterized in that the stabilized running gear includes a front driving wheel assembly (1) and a stabilized driven wheel assembly (10).
5. The stable inspection robot for the transformer substation according to claim 4, wherein the stable driven wheel assemblies (10) comprise roller assemblies symmetrically arranged on two sides of the rear end of the inspection machine body (3), each roller assembly comprises a connecting portion (10-3), a driven wheel A (10-1) and a driven wheel B (10-2) which are connected to the connecting portion (10-3) through inclined connecting rods, a sleeve is connected to the upper end of the connecting portion (10-3), an elastic damping mechanism (10-4) connected with the bottom of the inspection machine body (3) is arranged in the sleeve, a strip-shaped hole is formed in one inclined connecting rod, and an auxiliary tension spring connected with the inspection machine body (3) is adjustably arranged on the strip-shaped hole.
6. The stable inspection robot for the transformer substation according to claim 1, wherein a controller assembly for controlling rotation and lifting of the compound driving mechanism (5), angle adjustment of the thermal infrared imager and angle adjustment of the visible light camera (6) is further arranged on the inspection machine body (3), and the controller assembly comprises a controller and a storage battery.
7. The stable inspection robot for the transformer substation according to claim 1, wherein an illumination mechanism (4) is arranged at the front end of the inspection machine body (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121727638.7U CN215968705U (en) | 2021-07-27 | 2021-07-27 | Stable inspection robot for transformer substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121727638.7U CN215968705U (en) | 2021-07-27 | 2021-07-27 | Stable inspection robot for transformer substation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215968705U true CN215968705U (en) | 2022-03-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121727638.7U Expired - Fee Related CN215968705U (en) | 2021-07-27 | 2021-07-27 | Stable inspection robot for transformer substation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215968705U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114918949A (en) * | 2022-06-20 | 2022-08-19 | 国网江苏省电力有限公司徐州供电分公司 | High-stability special robot for power inspection |
| CN115949851A (en) * | 2022-12-20 | 2023-04-11 | 武汉知沃智能技术有限公司 | Intelligent inspection robot for gas leakage |
-
2021
- 2021-07-27 CN CN202121727638.7U patent/CN215968705U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114918949A (en) * | 2022-06-20 | 2022-08-19 | 国网江苏省电力有限公司徐州供电分公司 | High-stability special robot for power inspection |
| CN114918949B (en) * | 2022-06-20 | 2024-06-14 | 国网江苏省电力有限公司徐州供电分公司 | A special robot for power inspection with high stability |
| CN115949851A (en) * | 2022-12-20 | 2023-04-11 | 武汉知沃智能技术有限公司 | Intelligent inspection robot for gas leakage |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220308 |
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| CF01 | Termination of patent right due to non-payment of annual fee |