CN218226670U

CN218226670U - Overhead rail robot for transformer substation inspection

Info

Publication number: CN218226670U
Application number: CN202221851693.1U
Authority: CN
Inventors: 马朋; 李鸣
Original assignee: Nanjing Youkuo Electrical Technology Co ltd
Current assignee: Nanjing Youkuo Electrical Technology Co ltd
Priority date: 2022-07-18
Filing date: 2022-07-18
Publication date: 2023-01-06
Anticipated expiration: 2032-07-18

Abstract

The utility model relates to a hanger rail robot for transformer substation patrols and examines belongs to the robotechnology field, and it includes robot and first support column, and first support column is the cavity structure, has seted up first bar hole on the first support column, is provided with the electric jar in the first support column, is provided with first hanger rail on the first support column, and first bar hole is passed and the lead screw of fixing at the electric jar is passed to the one end of first hanger rail, and robot sliding connection is on first hanger rail. This application has the effect that improves the transformer substation and patrols and examines the power equipment's of hanger rail robot to the transformer substation patrols and examines the scope.

Description

Overhead rail robot for transformer substation inspection

Technical Field

The application relates to the technical field of robots, in particular to a hanger rail robot for transformer substation inspection.

Background

In an electric power system, due to the continuity of the production, transmission, distribution and use of electric energy, there are high demands on the safe and reliable operation of the individual equipment units in the system. Particularly, with the rapid development of the power industry toward large units, large capacity and high voltage, ensuring the reliability of equipment operation becomes a more prominent issue for safe production. Therefore, the inspection of the power equipment, especially the application of some advanced equipment and methods in the equipment fault diagnosis, is also receiving more and more general attention.

At present, common intelligent inspection equipment comprises a substation inspection hanger rail robot, the substation inspection hanger rail robot comprises a hanger rail, a mobile carrier, communication equipment, detection equipment and the like, wherein the mobile carrier, the communication equipment, the detection equipment and the like are moved along the hanger rail, and the remote control or full-autonomous operation mode is adopted for the mobile inspection device for inspection operation of the substation equipment.

To the correlation technique among the above-mentioned, this transformer substation patrols and examines movable carrier of hanger rail robot can only carry out horizontal migration along the hanger rail to make the transformer substation patrol and examine the hanger rail robot and can only detect the transformer substation at certain height within range, thereby make the transformer substation patrol and examine the scope of patrolling and examining of hanger rail robot less, it is not comprehensive enough to the inspection of transformer substation.

SUMMERY OF THE UTILITY MODEL

Patrol and examine the range of patrolling and examining of hanger rail robot to the power equipment of transformer substation in order to improve the transformer substation to it is more comprehensive to patrol and examine the transformer substation to make the transformer substation patrol and examine the hanger rail robot, and this application provides a hanger rail robot for transformer substation patrols and examines.

The application provides a hanger rail robot for transformer substation patrols and examines adopts following technical scheme:

the utility model provides a hanger rail robot for transformer substation patrols and examines, includes robot and first support column, first support column is the cavity structure, first bar hole has been seted up on the first support column, be provided with the electric jar in the first support column, be provided with first hanger rail on the first support column, the one end of first hanger rail is passed first bar hole and is fixed on the lead screw of electric jar, robot sliding connection is on first hanger rail.

Through adopting above-mentioned technical scheme, the robot along first hanger rail horizontal migration, detect the power equipment of transformer substation at the in-process that removes, after the level detects, the electricity jar drives first hanger rail and reciprocates, first hanger rail drives the robot and reciprocates, adjust the back from top to bottom to the robot, the robot again along first hanger rail horizontal migration and patrol and examine power equipment, thereby increased the robot and patrolled and examined the scope to power equipment, improved the function of patrolling and examining of hanger rail robot that is used for the transformer substation to patrol and examine.

Optionally, a guide hole is formed in one end, away from the first support column, of the first hanger rail, and a guide column penetrates through the guide hole.

Through adopting above-mentioned technical scheme, first hanger rail slides from top to bottom along the guide post, and the guide post plays the guide effect to first hanger rail, reduces the condition that horizontal migration appears in first guide rail.

It is optional, the cover is equipped with the second support column on the guide post, the second bar hole has been seted up to the second support column, the one end that first support column was kept away from to first hanger rail penetrates in the second bar hole, all be provided with a plurality of first axes of rotation on two inside walls in second bar hole, it is a plurality of all rotate in the first axis of rotation and be connected with the bracing piece, bracing piece on the inside wall of second bar hole and the bracing piece one-to-one on another inside wall of second bar hole, it is a plurality of all establish the cover in the first axis of rotation and be equipped with the torsional spring, torsional spring one end is fixed on the bracing piece, the other end of torsional spring is fixed in first axis of rotation.

Through adopting above-mentioned technical scheme, when first hanger rail stops to slide from top to bottom, first hanger rail takes on two relative bracing pieces, when first hanger rail reciprocated, first hanger rail is upwards or rotates downwards simultaneously to make first hanger rail pass between two bracing pieces, the torsional spring was in the torsional state this moment. After first hanger rail passed two relative bracing pieces, the spring recovered the natural state, and the torsional spring drives the bracing piece and resets, and the bracing piece plays the supporting role to first hanger rail, reduces the long-time condition of encorbelmenting and leading to it to appear the micro deformation under the gravity of self and robot.

Optionally, a motor is arranged in the robot body, a driving shaft is fixed on a rotating shaft of the motor, two first idler wheels are sleeved on the driving shaft, the two first idler wheels are fixed with the driving shaft, the two first idler wheels are arranged in the track of the first hanger rail, the robot body is rotatably connected with two second rotating shafts, the two second rotating shafts are fixed with second idler wheels, and the two second idler wheels are arranged in the track of the first hanger rail.

Through adopting above-mentioned technical scheme, when the motor starts, the motor drives the drive shaft and rotates, and the drive shaft drives two first gyro wheels and rolls along first hanger rail, and two first gyro wheels drive the robot and remove along first hanger rail, and the robot drives the second gyro wheel at the in-process that removes and rolls along first hanger rail to first gyro wheel and second gyro wheel make the robot can stably remove along first hanger rail, make things convenient for the robot to patrol and examine.

Optionally, be provided with the second hanger rail between first support column and the second support column, the second hanger rail is located first hanger rail top, first hanger rail and second hanger rail are parallel to each other, set up the slip subassembly that removes along the second hanger rail on the second hanger rail, be provided with the plate body on the slip subassembly, the plate body articulates there is first jib, the one end of keeping away from the plate body of first jib articulates there is the second jib, the second jib is articulated with the robot.

Through adopting above-mentioned technical scheme, when robot horizontal migration, robot drives first jib and second jib and removes, and the second jib drives the plate body and removes, and the plate body drives the slip subassembly and removes along the second hanger rail. When the robot body reciprocates, the robot plate body drives the second suspender to rotate, the one end of the robot body is kept away from by the two second suspenders, and the one end of the plate body is kept away from by the two first suspenders, so that the plate body is kept away from by the robot body. The robot body is being hung to first jib and second jib, reduces the direct condition that drops to lead to the robot body to damage when the robot body derails, has improved the guard action to the robot body.

Optionally, the sliding assembly comprises a vertical rod and two pulleys, the two pulleys are arranged in the track of the second hanger rail, a moving shaft is arranged between the two pulleys, the two pulleys are rotationally connected with the moving shaft, the moving shaft is fixed with the vertical rod, and the vertical rod is far away from the moving shaft and is fixed with the plate body.

Through adopting above-mentioned technical scheme, when the plate body removed, the plate body drove and hangs down the pole and removes, hangs down the pole and drives the removal axle and remove, removes the axle and drives two pulleys and remove along the second guide rail to realize the synchronous motion of plate body and robot.

Optionally, a first limiting assembly used for limiting the movement of the first roller is arranged in the first hanger rail, and a second limiting assembly used for limiting the movement of the second roller is arranged in the second hanger rail.

Through adopting above-mentioned technical scheme, when stopping that the robot body removes, the spacing subassembly of first spacing subassembly and second of installation stops the removal of robot body on the guide rail to it overhauls it to conveniently fix the robot body convenience.

Optionally, the first limiting assembly comprises two limiting seats and two fixing nuts, two fixing holes are formed in the limiting seats, fixing bolts are arranged in the fixing holes in a penetrating mode, the fixing nuts are connected to the fixing bolts in a threaded mode, the fixing nuts are tightly supported with the fixing seats, the fixing bolts are tightly supported with the first hanger rails, the first idler wheels are located between the two limiting seats, and the second limiting assembly is the same as the first limiting assembly in structure.

Through adopting above-mentioned technical scheme, two spacing seats are fixed on first hanger rail, make two spacing seats tightly support first gyro wheel simultaneously, realize spacing to first gyro wheel, and spacing subassembly second gyro wheel of second carries on spacingly to the restriction is to the removal of robot body.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the first hanger rail is driven to move up and down through the electric cylinder, and the guide post guides the first hanger rail, so that the first hanger rail drives the robot to move up and down, the robot body can detect different heights of power equipment, and the inspection range of the robot body is expanded;

2. drive the drive shaft through the motor and rotate, the drive shaft drives two first gyro wheels and rolls along first hanger rail, and two first gyro wheels drive the robot and remove, and the robot drives two second gyro wheels and rotates, makes the robot can stably carry out horizontal migration along first hanger rail through two first gyro wheels and two second gyro wheels to realize that the robot patrols and examines to the power equipment of same height.

Drawings

Fig. 1 is a schematic overall structure diagram of an embodiment of the present application.

Fig. 2 is an enlarged schematic view of a portion a in fig. 1.

Fig. 3 is a schematic structural diagram for embodying a second roller according to an embodiment of the present application.

Fig. 4 is a schematic structural diagram for embodying a first boom and a second boom in an embodiment of the present application.

Fig. 5 is an enlarged schematic view of a portion B in fig. 4.

Fig. 6 is a schematic structural diagram for embodying a sliding assembly according to an embodiment of the present application.

Fig. 7 is an enlarged schematic view of a portion C in fig. 6.

Description of reference numerals: 1. a robot body; 11. a motor; 12. a drive shaft; 13. a first roller; 14. a second rotating shaft; 15. a second roller; 2. a first support column; 21. an electric cylinder; 22. a first strip-shaped hole; 3. a second support column; 31. a guide post; 32. a second bar-shaped hole; 33. a first rotating shaft; 34. a support bar; 35. a torsion spring; 4. a first hanger rail; 41. a guide hole; 5. a first limiting component; 51. a limiting seat; 511. a fixing hole; 52. fixing the bolt; 53. fixing a nut; 6. a second limiting component; 7. a second hanger rail; 8. a plate body; 81. a first boom; 82. a second boom; 9. a sliding assembly; 91. a movable shaft; 92. a drop rod; 93. a pulley.

Detailed Description

The present application is described in further detail below with reference to figures 1-7.

The embodiment of the application discloses a hanger rail robot for transformer substation inspection.

Like fig. 1 and fig. 2, a hanger rail robot for transformer substation patrols and examines includes robot 1, first support column 2 and second support column 3, is provided with electric jar 21 in the first support column 2, and first support column 2 is the cavity structure, and first bar hole 22 has been seted up to first support column 2. The second support column 3 is of a cavity structure, a guide column 31 is arranged in the second support column 3, and a second strip-shaped hole 32 is formed in the second support column 3. Be provided with first hanger rail 4 between first support column 2 and the second support column 3, the one end of first hanger rail 4 penetrates in first support column 2 and is fixed with the lead screw of electric jar 21 from first bar hole 22. One end of the first hanger rail 4, which is far away from the first support column 2, penetrates through the second strip-shaped hole 32 and is located in the second support column 3, and one end of the first hanger rail 4, which is far away from the first support column 2, is provided with a guide hole 41, and the first hanger rail 4 is sleeved on the guide column 31 through the guide hole 41.

Be fixed with a plurality of first axis of rotation 33 on two inside walls in second bar hole 32, all rotate on a plurality of first axis of rotation 33 and be connected with bracing piece 34, a plurality of bracing pieces 34 all are mutually perpendicular with the inside wall of second bar hole 32, bracing piece 34 on the inside wall of second bar hole 32 and the bracing piece 34 one-to-one on the another inside wall of second bar hole 32. All the cover is equipped with torsional spring 35 on a plurality of first axis of rotation 33, and torsional spring 35 one end is fixed with first axis of rotation 33, and the other end of torsional spring 35 is fixed on bracing piece 34.

In the using process, along with the electric cylinder 21 driving one end of the first hanger rail 4 to move up and down, one end of the first hanger rail 4 located in the second support column 3 moves up and down along the guide column 31, so that the first hanger rail 4 integrally moves up and down, and the first hanger rail 4 drives the robot body 1 to move up and down. Meanwhile, in the moving process of the first hanger rail 4, one end of the first hanger rail 4, which is far away from the first support column 2, abuts against the two opposite support rods 34, the two corresponding support rods 34 rotate and are far away from each other, at the moment, the torsion spring 35 is in a torsional state, and the first hanger rail 4 penetrates through a space between the support rods 34 which are far away from each other. When the first hanger rail 4 passes through the two opposite support rods 34, the torsion spring 35 restores to a natural state and drives the two corresponding support rods 34 to return, and when the first hanger rail 4 stops moving, one end of the first hanger rail 4 close to the second support column 3 is supported on the two corresponding support rods 34.

Realize the removal of robot 1 in vertical side through above-mentioned operation to make things convenient for robot 1 to patrol and examine the power equipment of co-altitude within range not, the scope of patrolling and examining of robot 1 has been improved, bracing piece 34 plays supporting role to first hanger rail 4 simultaneously, reduce first hanger rail 4 because be in the state of encorbelmenting for a long time and receive the influence of self weight, thereby lead to the one end that first hanger rail 4 is close to second support column 3 the circumstances of micro-deformation to appear, the protection to first hanger rail 4 has been improved.

As shown in fig. 3, 4 and 5, a motor 11 is arranged in the robot body 1, a driving shaft 12 is fixed on a shaft of the motor 11, the driving shaft 12 penetrates out from one end of the robot body 1 and penetrates in from the other end of the robot body 1, the driving shaft 12 is located above the first hanging rail 4 and spans over the first hanging rail 4, two first rollers 13 are fixed on the driving shaft 12, and the two first rollers 13 are both located in a track of the first hanging rail 4. Both ends of robot body 1 all rotate and are connected with second axis of rotation 14, all are fixed with second gyro wheel 15 on two second axis of rotation 14, and two second gyro wheels 15 all set up in the track of first hanger rail 4. The first hanger rail 4 is provided with a first limiting component 5 for limiting the rolling of the first roller 13 and a second limiting component 6 for limiting the rolling of the second roller 15. The robot body 1 is internally provided with a control module and a wireless data transmission module connected with the control module, and the control module is connected with a carbon dioxide concentration detector, a temperature sensor, a humidity sensor and the carbon dioxide concentration detector.

In the use, motor 11 drives drive shaft 12 and rotates, drive shaft 12 drives two first gyro wheels 13 and rolls along first hanger rail 4, first gyro wheel 13 drives robot 1 and removes, robot 1 drives second gyro wheel 15 and rolls along first hanger rail 4, robot 1 carries out the in-process of horizontal migration along first hanger rail 4, control module control carbon dioxide concentration detector, the temperature is wiped thoughtlessly sensilla and humidity transducer and is detected power equipment, when detecting unusually, wireless data transmission module can give the main control room with data, the convenience is in time overhauld power equipment, thereby realized that robot 1 detects the power equipment on the same levelness.

When needing to overhaul power equipment, first spacing subassembly 5 carries on spacingly to first gyro wheel 13, and spacing subassembly 6 of second carries on spacingly to second gyro wheel 15 to restrict the removal of robot body 1, make things convenient for maintenance personal to carry out periodic maintenance or maintenance to robot body 1.

As shown in fig. 6 and 7, a second hanger rail 7 is further disposed between the first support column 2 and the second support column 3, one end of the second hanger rail 7 is fixed at the top of the first support column 2, one end of the second hanger rail 7, which is far away from the first support column 2, is fixed at the top of the second support column 3, the second hanger rail 7 is located above the first hanger rail 4, and the second hanging cabinet and the first hanger rail 4 are parallel to each other. Be provided with plate body 8 on the second hanger rail 7, plate body 8 passes through slip subassembly 9 sliding connection on second hanger rail 7, and articulated on the plate body 8 have two first jibs 81, and the one end that plate body 8 was kept away from to two first jibs 81 all articulates there is second jib 82, and two second jibs 82 all articulate with robot 1.

In the use, when robot 1 carries out horizontal migration, robot 1 drives second jib 82 and removes, and second jib 82 drives first jib 81 and removes, and first jib 81 drives plate body 8 and removes, and plate body 8 slides along second hanger rail 7 through slip subassembly 9 to realize plate body 8 and robot 1 synchronous motion.

When the robot body 1 reciprocates, the robot body 1 drives the second suspender 82 to rotate, one ends of the two second suspenders 82 close to the plate body 8 are mutually far away, meanwhile, the two first suspenders 81 rotate, one ends of the two first suspenders 81 far away from the plate body 8 are relatively far away, and therefore the regulation and control of the distance between the robot body 1 and the plate body 8 are achieved. The plate body 8 is used for hanging the robot body 1, so that the condition that the robot body 1 is broken due to the fact that the robot body 1 directly drops when the robot body 1 is derailed can be reduced, and the protection of the robot body 1 is enhanced.

As shown in fig. 7, the sliding assembly 9 includes a moving shaft 91 and a hanging rod 92, the moving shaft 91 is disposed in the second hanger rail 7, one end of the hanging rod 92 is fixed to the middle of the moving shaft 91, the hanging rod 92 is perpendicular to the moving shaft 91, one end of the hanging rod 92 away from the moving shaft 91 is fixed to the plate body 8, and the hanging rod 92 is perpendicular to the plate body 8. Both ends of the moving shaft 91 are rotatably connected with pulleys 93, and the two pulleys 93 are located in the track of the second hanger rail 7.

In the using process, when the plate body 8 moves, the plate body 8 drives the hanging rod 92 to move, the hanging rod 92 drives the moving shaft 91 to move, and the moving shaft 91 drives the two pulleys 93 to slide along the second hanger rail 7, so that the plate body 8 slides along the second hanger rail 7.

As shown in fig. 3, the first limiting component 5 includes two limiting seats 51 and a fixing bolt 52, a fixing hole 511 has been opened on the two limiting seats 51, the fixing bolt 52 passes through the fixing hole 511, a fixing nut 53 is screwed on the fixing bolt 52, the fixing nut 53 tightly supports the limiting seat 51, the fixing bolt 52 tightly supports the first hanger rail 4 after passing through the fixing hole 511, the first roller 13 is located between the two limiting seats 51, and the side walls opposite to the two limiting seats 51 support the first roller 13. The second stop assembly 6 is identical in structure to the first stop assembly 5.

In the use, first gyro wheel 13 is supported by two spacing seats 51 to the realization is fixed to first gyro wheel 13, and second gyro wheel 15 is fixed by spacing subassembly 6 of second, thereby makes robot 1 fix on first hanger rail 4, makes things convenient for maintenance personal to maintain and overhaul robot 1.

The implementation principle of the embodiment of the application is as follows: starting motor 11, motor 11 drive shaft 12 rotates, and drive shaft 12 drives first gyro wheel 13 and rotates to make robot 1 carry out horizontal migration along first hanger rail 4, robot 1 patrols and examines the power equipment of same height within range at horizontal migration's in-process. After power equipment in the same height range patrols and examines, motor 11 is closed, electric jar 21 starts and drives first hanger rail 4 and reciprocate, first hanger rail 4 drives robot 1 and reciprocates, robot 1 changes the contained angle between first jib 81 and the second jib 82 when reciprocating, thereby realize the regulation and control of robot 1 and plate body 8 interval, after robot 1's height adjustment apart from the ground is good, motor 11 is started again, motor 11 drives robot 1 and patrols and examines the power equipment of another height range along first hanger rail 4, thereby enlarged robot 1 scope of patrolling and examining to power equipment, make things convenient for robot 1 in time to discover hidden trouble, thereby the convenience is overhauled power equipment in time.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: equivalent changes in structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. The utility model provides a hanger rail robot for transformer substation patrols and examines which characterized in that: robot (1) and first support column (2), first support column (2) are the cavity structure, first bar hole (22) have been seted up on first support column (2), be provided with electric jar (21) in first support column (2), be provided with first hanger rail (4) on first support column (2), first bar hole (22) are passed and are fixed on the lead screw of electric jar (21) to the one end of first hanger rail (4), robot (1) sliding connection is on first hanger rail (4).

2. The overhead rail robot for substation inspection according to claim 1, characterized in that: guiding hole (41) have been seted up to the one end that first hanger rail (4) kept away from first support column (2), guide post (31) are worn to be equipped with in guiding hole (41).

3. The overhead rail robot for substation inspection according to claim 2, characterized in that: the cover is equipped with second support column (3) on guide post (31), second bar hole (32) have been seted up in second support column (3), first hanger rail (4) are kept away from the one end of first support column (2) and are passed second bar hole (32), all be provided with a plurality of first axis of rotation (33) on two inside walls of second bar hole (32), and are a plurality of all rotate on first axis of rotation (33) and be connected with bracing piece (34), bracing piece (34) on second bar hole (32) the inside wall and bracing piece (34) one-to-one on the another inside wall of second bar hole (32), and are a plurality of all establish the cover on first axis of rotation (33) and be equipped with torsional spring (35), torsional spring (35) one end is fixed on bracing piece (34), the other end of torsional spring (35) is fixed on first axis of rotation (33).

4. The overhead rail robot for substation inspection according to claim 1, characterized in that: be provided with motor (11) in robot body (1), be fixed with drive shaft (12) in the axis of rotation of motor (11), the cover is equipped with two first gyro wheels (13) on drive shaft (12), two first gyro wheel (13) all are fixed with drive shaft (12), two first gyro wheel (13) all set up in the track of first hanger rail (4), it is connected with two second axis of rotation (14), two to rotate on robot body (1) all be fixed with second gyro wheel (15), two on second axis of rotation (14) second gyro wheel (15) all set up in the track of first hanger rail (4).

5. The overhead rail robot for substation inspection according to claim 3, characterized in that: be provided with second hanger rail (7) between first support column (2) and second support column (3), second hanger rail (7) are located first hanger rail (4) top, first hanger rail (4) are parallel to each other with second hanger rail (7), be provided with sliding assembly (9) along second hanger rail (7) removal on second hanger rail (7), be provided with plate body (8) on sliding assembly (9), plate body (8) articulate has first jib (81), the one end of keeping away from plate body (8) of first jib (81) articulates there is second jib (82), second jib (82) are articulated with robot (1).

6. The overhead rail robot for substation inspection according to claim 5, wherein: sliding assembly (9) are including hanging down pole (92) and two pulleys (93), two pulley (93) all set up in the track of second hanger rail (7), two be provided with removal axle (91) between pulley (93), two pulley (93) all rotate with removal axle (91) and are connected, removal axle (91) are fixed with hanging down pole (92), it is fixed with plate body (8) to hang down pole (92) and keep away from removal axle (91).

7. The overhead rail robot for substation inspection according to claim 4, wherein: a first limiting assembly (5) used for limiting the first roller (13) to move is arranged in the first hanging rail (4), and a second limiting assembly (6) used for limiting the second roller (15) to move is arranged in the first hanging rail (4).

8. The overhead rail robot for substation inspection according to claim 7, characterized in that: first spacing subassembly (5) include two spacing seats (51) and two fixation nut (53), two fixed orifices (511) have all been seted up on spacing seat (51), fixation bolt (52) are worn to be equipped with in fixed orifices (511), fixation nut (53) threaded connection is on fixation bolt (52), fixation nut (53) tightly support with spacing seat (51), fixation bolt (52) tightly support with first hanger rail (4), first gyro wheel (13) are located between two spacing seats (51), spacing subassembly (6) structure of second is the same with first spacing subassembly (5) structure.