CN112736741A - A robot patrols and examines for unmanned on duty indoor substation - Google Patents
A robot patrols and examines for unmanned on duty indoor substation Download PDFInfo
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- CN112736741A CN112736741A CN202011387489.4A CN202011387489A CN112736741A CN 112736741 A CN112736741 A CN 112736741A CN 202011387489 A CN202011387489 A CN 202011387489A CN 112736741 A CN112736741 A CN 112736741A
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- 238000007689 inspection Methods 0.000 claims abstract description 25
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an inspection robot for an unattended indoor transformer substation. According to the invention, the movable plate slides in the inner cavity of the limiting sliding hole, the limiting rod moves towards the inner cavity of the limiting sleeve under stress, the first buffer spring is compressed, the movable plate can extrude the air bag when sliding towards the inner cavity of the limiting sliding hole, the first buffer spring and the air bag can buffer vibration generated by bumping under stress deformation, the support plate can also slide on the surface of the limiting sliding rod when bumping, so that the second buffer spring is extruded, the bumping can also be buffered under stress of the second buffer spring, and the problems that the image acquisition device shakes and the normal inspection work is interfered due to bumping caused by bumpy ground when an inspection robot moves in a transformer substation for inspection, and the side turning of the robot is caused by bumping are solved.
Description
Technical Field
The invention relates to the technical field of power transformation inspection robots, in particular to an inspection robot for an unattended indoor substation.
Background
The transformer substation is the hub of a power transmission network, the inspection work of transformer substation equipment occupies an important position in the aspect of ensuring the normal work and the safe operation of the transformer substation, the inspection mode of the traditional transformer substation adopts a manual mode which consumes a large amount of manpower and increases the workload of workers, in addition, as the transformer substations are mostly high-voltage and high-radiation equipment, the manual inspection has great danger, the mode of manually inspecting the transformer substation has a large number of disadvantages, along with the development of sensor technology and wireless communication technology, the robot technology is developing towards the direction of increasing intelligence, so that the robot can completely replace manpower to automatically inspect the transformer substation, but when the inspection robot moves in the transformer substation for inspection, the ground is uneven to generate jolt, and the jolt can cause the image acquisition device to shake, the normal inspection work is interfered, and the robot can turn over due to bumping.
Disclosure of Invention
The invention aims to provide an inspection robot for an unattended indoor transformer substation, which has the advantage of shock absorption and solves the problems that when the inspection robot moves in the transformer substation for inspection, the ground is uneven, the image acquisition device shakes due to the generation of jolt, the normal inspection work is interfered, and the robot turns over due to jolt.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a robot of patrolling and examining for unmanned on duty indoor substation, includes the under casing, spacing slide opening has all been seted up around the under casing bottom, the inner chamber sliding connection of spacing slide opening has the fly leaf, the top fixedly connected with gasbag of fly leaf, the top of gasbag and the inner wall fixed connection of spacing slide opening, the bottom fixedly connected with stop collar of gasbag, the inner chamber sliding connection of stop collar has the gag lever post, there is the removal wheel bottom the gag lever post through bearing swing joint, the surface cover of gag lever post is equipped with first buffer spring.
Preferably, the top of the first buffer spring is fixedly connected with the limiting sleeve, and the bottom of the first buffer spring is fixedly connected with the bearing seat.
Preferably, the periphery of the top of the bottom box is fixedly connected with limit slide bars, the surface of each limit slide bar is connected with a supporting plate in a sliding mode, the top of each supporting plate is fixedly connected with a supporting rod, and the top of each supporting rod is fixedly connected with a camera.
Preferably, the surface of the limiting slide rod is sleeved with a second buffer spring, the top of the second buffer spring is fixedly connected with the supporting plate, and the bottom of the second buffer spring is fixedly connected with the bottom box.
Preferably, the sliding grooves are formed in two sides of the inner cavity of the limiting sliding hole, the inner cavity of each sliding groove is connected with a sliding block in a sliding mode, and one side, far away from the inner cavity of each sliding groove, of each sliding block is fixedly connected with the movable plate.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the movable plate slides in the inner cavity of the limiting sliding hole, the limiting rod moves towards the inner cavity of the limiting sleeve under stress, the first buffer spring is compressed, the movable plate can extrude the air bag when sliding towards the inner cavity of the limiting sliding hole, the first buffer spring and the air bag can buffer vibration generated by bumping under stress deformation, the support plate can also slide on the surface of the limiting sliding rod when bumping, so that the second buffer spring is extruded, the bumping can also be buffered under stress of the second buffer spring, and the problems that the image acquisition device shakes and the normal inspection work is interfered due to bumping caused by bumpy ground when an inspection robot moves in a transformer substation for inspection, and the side turning of the robot is caused by bumping are solved.
2. The movable plate limiting device has the advantage that the movable plate is limited by the sliding grooves and the sliding blocks.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic bottom view of the bottom case of the present invention;
fig. 3 is a schematic view of the movable plate structure of the present invention.
In the figure: 1. a bottom box; 2. a limiting slide hole; 3. a movable plate; 4. an air bag; 5. a limiting sleeve; 6. a limiting rod; 7. a bearing seat; 8. a moving wheel; 9. a first buffer spring; 10. a limiting slide bar; 11. a support plate; 12. a strut; 13. a camera; 14. a second buffer spring; 15. A chute; 16. a slide block.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The bottom box 1, the limiting slide hole 2, the movable plate 3, the air bag 4, the limiting sleeve 5, the limiting rod 6, the bearing seat 7, the moving wheel 8, the first buffer spring 9, the limiting slide rod 10, the supporting plate 11, the supporting rod 12, the camera 13, the second buffer spring 14, the sliding groove 15 and the sliding block 16 are all universal standard parts or parts known by a person skilled in the art, and the structure and the principle of the invention can be known by a technical manual or a conventional experimental method.
Referring to fig. 1-3, an inspection robot for an unattended indoor transformer substation comprises a bottom case 1, wherein a limit slide bar 10 is fixedly connected to the periphery of the top of the bottom case 1, a support plate 11 is slidably connected to the surface of the limit slide bar 10, a support rod 12 is fixedly connected to the top of the support plate 11, a camera 13 is fixedly connected to the top of the support rod 12, a second buffer spring 14 is sleeved on the surface of the limit slide bar 10, the top of the second buffer spring 14 is fixedly connected to the support plate 11, the bottom of the second buffer spring 14 is fixedly connected to the bottom case 1, a limit slide hole 2 is formed in the periphery of the bottom case 1, a movable plate 3 is slidably connected to the inner cavity of the limit slide hole 2, sliding grooves 15 are formed in two sides of the inner cavity of the limit slide hole 2, a sliding block 16 is slidably connected to the inner cavity of the sliding groove 15, and, the top of the movable plate 3 is fixedly connected with an air bag 4, the top of the air bag 4 is fixedly connected with the inner wall of the limiting slide hole 2, the bottom of the air bag 4 is fixedly connected with a limiting sleeve 5, the inner cavity of the limiting sleeve 5 is slidably connected with a limiting rod 6, the bottom of the limiting rod 6 is movably connected with a movable wheel 8 through a bearing, the surface of the limiting rod 6 is sleeved with a first buffer spring 9, the top of the first buffer spring 9 is fixedly connected with the limiting sleeve 5, the bottom of the first buffer spring 9 is fixedly connected with a bearing seat 7, the limiting rod 6 moves towards the inner cavity of the limiting sleeve 5 under the stress of the movable plate 3 through sliding in the inner cavity of the limiting slide hole 2, the first buffer spring 9 compresses the first buffer spring 9, the movable plate 3 can extrude the air bag 4 when sliding towards the inner cavity of the limiting slide hole 2, the vibration generated by bumping can be buffered through the stress deformation of the first buffer spring 9 and the air bag 4, the support plate, thereby extrude second buffer spring 14, second buffer spring 14 atress also can cushion jolting, has solved and has patrolled and examined the robot and removed when patrolling and examining in the transformer substation and can jolt because the uneven production in ground can lead to image acquisition device to shake, and the normal work of patrolling and examining of interference, robot self also can lead to the problem of turning on one's side because of jolting moreover.
During the use, slide at the inner chamber of spacing slide opening 2 through fly leaf 3, gag lever post 6 atress can be to the inner chamber motion of stop collar 5, compress first buffer spring 9 simultaneously, fly leaf 3 can extrude gasbag 4 when sliding to the inner chamber of spacing slide opening 2, first buffer spring 9 and gasbag 4 atress deformation can cushion the vibrations of jolting the production, backup pad 11 also can be at the surperficial slip of spacing slide bar 10 when jolting, thereby extrude second buffer spring 14, second buffer spring 14 atress also can cushion jolting, solved and patrolled and examined the robot and removed when patrolling and examining in the transformer substation and can jolt because ground is uneven, the production of jolting can lead to the image acquisition device to appear the shake, disturb normal inspection work, and robot self also can lead to the problem of turning on one's side because of jolting.
The standard parts used in the present application document can be purchased from the market, and can be customized according to the description of the specification and the accompanying drawings, the specific connection mode of each part adopts the conventional means of mature bolt, rivet, welding and the like in the prior art, the machines, parts and equipment adopt the conventional models in the prior art, the control mode is automatically controlled by a controller, the control circuit of the controller can be realized by simple programming of technicians in the field, the control circuit belongs to the common knowledge in the field, and the present application document is mainly used for protecting mechanical devices, so the control mode and the circuit connection are not explained in detail in the present application.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a robot of patrolling and examining for unmanned on duty indoor substation, includes under casing (1), its characterized in that: spacing slide opening (2) have all been seted up all around bottom box (1) bottom, the inner chamber sliding connection of spacing slide opening (2) has fly leaf (3), top fixedly connected with gasbag (4) of fly leaf (3), the top of gasbag (4) and the inner wall fixed connection of spacing slide opening (2), the bottom fixedly connected with stop collar (5) of gasbag (4), the inner chamber sliding connection of stop collar (5) has gag lever post (6), there is movable wheel (8) bottom of gag lever post (6) through bearing swing joint, the surface cover of gag lever post (6) is equipped with first buffer spring (9).
2. The inspection robot for the unattended indoor substation according to claim 1, wherein: the top of the first buffer spring (9) is fixedly connected with the limiting sleeve (5), and the bottom of the first buffer spring (9) is fixedly connected with the bearing seat (7).
3. The inspection robot for the unattended indoor substation according to claim 1, wherein: the device comprises a bottom box (1), wherein the periphery of the top of the bottom box (1) is fixedly connected with limit slide rods (10), the surface of each limit slide rod (10) is connected with a supporting plate (11) in a sliding mode, the top of each supporting plate (11) is fixedly connected with a supporting rod (12), and the top of each supporting rod (12) is fixedly connected with a camera (13).
4. The inspection robot for the unattended indoor substation according to claim 3, wherein: the surface cover of spacing slide bar (10) is equipped with second buffer spring (14), the top and backup pad (11) fixed connection of second buffer spring (14), the bottom and the under casing (1) fixed connection of second buffer spring (14).
5. The inspection robot for the unattended indoor substation according to claim 1, wherein: the limiting slide hole (2) is characterized in that sliding grooves (15) are formed in two sides of an inner cavity of the limiting slide hole (2), sliding blocks (16) are connected to the inner cavity of the sliding grooves (15) in a sliding mode, and one sides, far away from the inner cavity of the sliding grooves (15), of the sliding blocks (16) are fixedly connected with the movable plate (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011387489.4A CN112736741A (en) | 2020-12-01 | 2020-12-01 | A robot patrols and examines for unmanned on duty indoor substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011387489.4A CN112736741A (en) | 2020-12-01 | 2020-12-01 | A robot patrols and examines for unmanned on duty indoor substation |
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| Publication Number | Publication Date |
|---|---|
| CN112736741A true CN112736741A (en) | 2021-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011387489.4A Pending CN112736741A (en) | 2020-12-01 | 2020-12-01 | A robot patrols and examines for unmanned on duty indoor substation |
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| CN (1) | CN112736741A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113370882A (en) * | 2021-06-24 | 2021-09-10 | 清华大学 | Mobile robot assembly and mobile robot multi-machine cooperation carrying system |
| CN114770527A (en) * | 2022-03-04 | 2022-07-22 | 清华大学 | Air bag type joint assembly of mobile robot and multi-machine cooperation carrying system |
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|---|---|---|---|---|
| CN107307911A (en) * | 2017-07-04 | 2017-11-03 | 王梅 | A kind of debridement cycle with shock-absorbing function |
| CN110313287A (en) * | 2018-03-31 | 2019-10-11 | 新沂市合沟工业集中区建设发展有限公司 | It is a kind of to have the function of screening and filtering and the good fertilizer machinery of damping property |
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| CN210985448U (en) * | 2019-12-23 | 2020-07-10 | 南通盛德电力科技有限公司 | Steady mechanism of power transmission line inspection robot |
| CN211806180U (en) * | 2020-03-30 | 2020-10-30 | 淮安信息职业技术学院 | Auxiliary equipment for inspection robot |
| CN211918830U (en) * | 2020-03-18 | 2020-11-13 | 苏州上品极致产品设计有限公司 | Robot chassis device for monitoring |
-
2020
- 2020-12-01 CN CN202011387489.4A patent/CN112736741A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107307911A (en) * | 2017-07-04 | 2017-11-03 | 王梅 | A kind of debridement cycle with shock-absorbing function |
| CN110313287A (en) * | 2018-03-31 | 2019-10-11 | 新沂市合沟工业集中区建设发展有限公司 | It is a kind of to have the function of screening and filtering and the good fertilizer machinery of damping property |
| CN110434873A (en) * | 2019-09-12 | 2019-11-12 | 江苏拓轶智能科技有限公司 | Intelligent inspection robot based on the transmission of 5G data |
| CN210985448U (en) * | 2019-12-23 | 2020-07-10 | 南通盛德电力科技有限公司 | Steady mechanism of power transmission line inspection robot |
| CN211918830U (en) * | 2020-03-18 | 2020-11-13 | 苏州上品极致产品设计有限公司 | Robot chassis device for monitoring |
| CN211806180U (en) * | 2020-03-30 | 2020-10-30 | 淮安信息职业技术学院 | Auxiliary equipment for inspection robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113370882A (en) * | 2021-06-24 | 2021-09-10 | 清华大学 | Mobile robot assembly and mobile robot multi-machine cooperation carrying system |
| CN114770527A (en) * | 2022-03-04 | 2022-07-22 | 清华大学 | Air bag type joint assembly of mobile robot and multi-machine cooperation carrying system |
| CN114770527B (en) * | 2022-03-04 | 2024-03-29 | 清华大学 | Airbag type joint assembly of mobile robot and multi-machine cooperation carrying system |
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Application publication date: 20210430 |