GIS Equipment, GIS Maintenance Robot and Its Nest

Abstract

The present invention discloses a GIS device, a GIS maintenance robot and its nest, which relates to the technical field of power equipment and its maintenance, aiming to store and protect the GIS maintenance robot and facilitate the improvement of the automation degree and efficiency of maintenance. The nest of the GIS maintenance robot can provide a safe storage place for the GIS maintenance robot, prevent the GIS maintenance robot from being affected by the surrounding environment, and effectively protect the GIS maintenance robot. At the same time, the nest housing can be installed in the inner cavity of the GIS device, and the delivery device can switch the nest of the GIS maintenance robot between two usage states of storage and delivery. When applied to the GIS device, the GIS maintenance robot can be parked in the parking slot in the electromagnetic shielding cavity for protection during the normal operation of the GIS device. During the maintenance of the GIS device, the rapid delivery and recovery of the GIS maintenance robot can be realized, the response is more timely, the manual intervention is reduced, the automation degree is higher, and it is beneficial to improve the efficiency of the maintenance work.

Description

Technical Field

[0001] The present invention belongs to the technical field of power equipment and its maintenance, and particularly relates to a GIS device, a GIS maintenance robot and its nest. Background Art

[0002] Gas Insulated Switchgear (GIS) is a kind of power equipment, which consists of circuit breakers, disconnectors, earthing switches, instrument transformers, lightning arresters, busbars, connectors and outgoing terminals, etc. All these devices or components are completely enclosed in a metal earthed enclosure, and a certain pressure of SF6 insulating gas is filled inside.

[0003] Internal flashover faults of GIS equipment usually occur within one year after installation or major overhaul and put into operation. According to statistical data, the failure rate of equipment operation in the first year is 0.53 times / interval, and it drops to 0.06 times / interval in the second year, and then tends to be stable. According to operation experience, the failure rates of disconnectors and pot-type insulators are the highest, which are 30% and 26.6% respectively; the failure rate of the busbar is 15%; the failure rate of the voltage transformer is 11.66%; the failure rate of the circuit breaker is 10%; and the failure rate of other components is 6.74%.

[0004] With the progress of robot technology, the application of robots in the inspection of power equipment has become more and more mature. By using mobile robots and image acquisition technology, it is possible to achieve fault inspection inside the GIS cavity and display the real-time situation inside the GIS equipment to equipment maintenance personnel for formulating maintenance plans.

[0005] For example: Chinese patent application with publication number CN114474147A discloses a GIS maintenance robot, including a robot body and a flexible arm mechanism; the flexible arm mechanism includes a flexible control slide and a flexible arm assembly installed at the front end of the flexible control slide; the flexible arm assembly includes more than one section of the first flexible arm and one section of the second flexible arm; both the first flexible arm and the second flexible arm are composed of a number of female rings and male rings alternately hinged together; the flexible control slide is respectively drivingly connected to the first flexible arm and the second flexible arm through a number of driving alloy wires passing through the first flexible arm and the second flexible arm, and by driving the driving alloy wires passing through the first flexible arm and / or the second flexible arm, the first flexible arm and the second flexible arm are controlled to bend so that the end of the second flexible arm reaches the target position; the flexible control slide of the flexible arm mechanism is installed inside the robot body; the flexible arm assembly of the flexible arm mechanism extends from one side of the robot body.

[0006] Although the flexible arm mechanism of the above-mentioned GIS maintenance robot can bend in specific directions and angles to reach some special-shaped and inaccessible positions inside the GIS device, the following problems are found in the actual use process: 1) It is necessary to manually send the GIS maintenance robot into the GIS device through the maintenance hole, and the response is not timely enough, which increases the power outage maintenance time, and the degree of automation needs to be improved; 2) There is a lack of a safe storage space. When the GIS maintenance robot is not working, it may be damaged or affected by the external environment; 3) It is impossible to provide services such as charging and software updating for the GIS maintenance robot inside the GIS device; 4) It lacks the function of cleaning foreign particles, and cleaning tools need to be carried to clean foreign objects; 5) The bending direction is limited by the number of alloy wires, and some tricky positions inside the GIS device are still difficult to reach. Summary of the Invention

[0007] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides a GIS maintenance robot nest, which aims to store and protect the GIS maintenance robot and is conducive to improving the degree of automation and efficiency of maintenance.

[0008] The technical solution adopted by the present invention to solve its technical problems is: a GIS maintenance robot nest, including a nest housing, a delivery device, and a robot support;

[0009] The nest housing can be installed in the inner cavity of the GIS device, and it has an electromagnetic shielding cavity and a shielding cover capable of opening and closing the electromagnetic shielding cavity;

[0010] The delivery device is arranged in the electromagnetic shielding cavity, and it includes a first motion module and a second motion module; the driving part of the first motion module can at least move along a first direction, the second motion module is arranged on the driving part of the first motion module, and the driving part of the second motion module can at least rotate around the first direction, and the first direction is the motion direction of the shielding cover for opening and closing the electromagnetic shielding cavity;

[0011] A parking groove is provided in the robot support, and the parking groove is used for parking the GIS maintenance robot. A robot inlet and outlet is opened on the side of the parking groove; the robot support is arranged in the electromagnetic shielding cavity and is connected to the shielding cover and the driving part of the second motion module;

[0012] The GIS maintenance robot nest has two usage states: storage and delivery. When changing from the storage state to the delivery state, the delivery device drives the robot support to move together with the shielding cover, opens the electromagnetic shielding cavity, and moves to a position where at least the robot inlet and outlet are exposed outside the electromagnetic shielding cavity. When changing from the delivery state to the storage state, the delivery device drives the robot support to move together with the shielding cover, so that the robot support is stored in the electromagnetic shielding cavity, and the electromagnetic shielding cavity is closed.

[0013] Furthermore, the housing of the machine nest also includes a housing wall and a bottom plate;

[0014] The shell wall is in a cylindrical structure;

[0015] The bottom plate is arranged at the bottom of the shell wall and closes the bottom opening of the shell wall; a connecting flange is arranged on the bottom plate and is used for sealing connection with the opening of the inspection hole of the GIS equipment;

[0016] The shielding cover is arranged at the top opening of the shell wall;

[0017] The electromagnetic shielding cavity is surrounded by a shielding cover, a shell wall and a bottom plate.

[0018] Further, the first motion module is a lifting motion module, which includes a lower support seat, an upper support seat, a scissor arm and a first driving assembly;

[0019] The lower support seat is arranged on the bottom plate;

[0020] The upper support seat is a driving part of the first motion module, which is arranged on the upper side of the lower support seat;

[0021] The scissor arms are at least two groups, each group of scissor arms includes a first arm and a second arm that cross each other and are rotatably connected at the intersection, the lower end of the first arm is hinged to the lower support seat, the upper end of the first arm is slidably connected to the upper support seat, the lower end of the second arm is slidably connected to the lower support seat, and the upper end of the second arm is hinged to the upper support seat;

[0022] The first driving assembly is capable of driving the first arm and the second arm to rotate relative to each other, so that the upper support seat rises or falls relative to the lower support seat;

[0023] The second motion module is a rotary motion module, which includes a rotating shaft and a first rotary drive motor;

[0024] The rotating shaft is the driving part of the second motion module, which is rotatably arranged on the upper support seat;

[0025] The first rotary drive motor is arranged on the upper support seat, and a power output end of the first rotary drive motor is transmission-connected to the rotating shaft.

[0026] Further, the GIS maintenance robot nest further includes a control system, and the control system includes:

[0027] A wireless communication module with a communication antenna, which is arranged on the robot pedestal and is used for wireless communication with the GIS maintenance robot;

[0028] A first capture camera with a purple light source and a second capture camera with a white light source, both of which are arranged on the robot pedestal and are used for jointly realizing the dynamic capture of foreign particles;

[0029] A nest observation camera, which is arranged on the robot pedestal and is used for observing and guiding the GIS maintenance robot back to the parking slot after the operation is completed;

[0030] A controller, which is respectively communicatively connected to the feeding device, the wireless communication module, the first capture camera, the second capture camera and the nest observation camera.

[0031] Further, the control system further includes a wireless charging output module arranged in the parking slot, and the wireless charging output module is used for charging the GIS maintenance robot in the parking slot.

[0032] The present invention also provides a GIS maintenance robot, which includes a robot body and a flexible arm mechanism, and the flexible arm mechanism includes a flexible control slide and a flexible arm assembly arranged on the flexible control slide;

[0033] This GIS maintenance robot is used for supporting use with the above-mentioned GIS maintenance robot nest;

[0034] The flexible control slide is movably arranged in the inner cavity of the robot body, and the flexible arm assembly can extend from one side of the robot body;

[0035] This GIS maintenance robot further includes a flexible arm motion module arranged in the inner cavity of the robot body, and the flexible arm motion module includes a flexible arm moving module, and the flexible arm moving module can drive the flexible control slide to move so that the flexible arm assembly extends or retracts into the inner cavity of the robot body.

[0036] Further, the flexible arm motion module further includes a flexible arm rotation module, and the flexible arm rotation module includes a flexible arm rotating shaft and a second rotation drive motor;

[0037] The flexible arm assembly is rotatably arranged on the flexible control slide through the flexible arm rotating shaft;

[0038] The second rotation drive motor is arranged on the flexible control slide and is in transmission connection with the flexible arm rotating shaft.

[0039] Further, the GIS maintenance robot further includes a dust suction device arranged at the front end of the flexible arm assembly. The dust suction device includes a dust suction housing, a suction head, a filter screen, a dust suction fan, a fluorescent substance dispenser, and a foreign object observation camera;

[0040] The dust suction housing has a dust collection chamber and an air outlet communicating with the dust collection chamber;

[0041] The suction head is arranged at the front end of the dust suction housing and has a suction nozzle communicating with the dust collection chamber;

[0042] The filter screen is arranged in the dust collection chamber and is in the upwind direction of the air outlet;

[0043] The dust suction fan is arranged in the dust suction housing and is used to suck the gas containing foreign object particles into the dust collection chamber through the suction nozzle, and after being filtered by the filter screen, it is discharged outside through the air outlet;

[0044] The fluorescent substance dispenser is arranged on the dust suction housing and is used to dispense fluorescent substances to the outside;

[0045] The foreign object observation camera is arranged on the suction head, and the orientation of its lens is the same as that of the suction nozzle, and is used to detect foreign object particles contaminated with fluorescent substances, so as to control the flexible arm mechanism to drive the suction nozzle of the dust suction device to face the foreign object particles for suction.

[0046] Further, a robot control board, a flexible arm control board, a storage battery, and a wireless charging input module are also arranged in the inner cavity of the robot body;

[0047] The robot control board can be communicatively connected to the GIS maintenance robot nest;

[0048] The flexible arm control board is communicatively connected to the robot control board and is used to control the flexible control slide to drive the flexible arm mechanism to bend so that the front end of the flexible arm mechanism reaches the target position;

[0049] The storage battery is used to supply power to the GIS maintenance robot;

[0050] The wireless charging input module is electrically connected to the storage battery and is used to charge the storage battery.

[0051] The present invention also provides a GIS device, including a device housing having a maintenance hole, the above-mentioned GIS maintenance robot nest, and the above-mentioned GIS maintenance robot;

[0052] The nest housing of the GIS maintenance robot nest is embedded in the maintenance hole and is sealingly connected to the orifice of the maintenance hole;

[0053] When the GIS maintenance robot nest is in the storage state, the flexible arm assembly of the GIS maintenance robot retracts into the inner cavity of the robot body, and the GIS maintenance robot is parked in the parking slot;

[0054] When the GIS maintenance robot nest is in the deployment state, its deployment device drives the robot seat to move together with the shielding cover, opens the electromagnetic shielding cavity, and moves to at least expose the robot inlet and outlet in the inner cavity of the equipment housing; at this time, the GIS maintenance robot can travel into the inner cavity of the equipment housing and extend the flexible arm assembly to start working.

[0055] The beneficial effects of the present invention are as follows: The GIS maintenance robot nest can provide a safe storage place for the GIS maintenance robot, preventing the GIS maintenance robot from being affected by the surrounding environment, such as the electromagnetic field and foreign objects inside the GIS equipment, so as to effectively protect the GIS maintenance robot and extend its service life; at the same time, the nest housing of the GIS maintenance robot nest can be installed in the inner cavity of the GIS equipment, and its deployment device can switch the GIS maintenance robot nest between the storage and deployment states. When applied to the GIS equipment, the GIS maintenance robot can be parked in the parking slot in the electromagnetic shielding cavity for protection during the normal operation of the GIS equipment, and the rapid deployment and recovery of the GIS maintenance robot can be realized during the maintenance of the GIS equipment, with a more timely response, less manual intervention, and higher automation, which is conducive to improving the efficiency of the maintenance work.

[0056] The technical effects brought about or directly generated by other technical features of the present invention will be described in detail in the subsequent specific implementation part. Brief Description of the Drawings

[0057] Figure 1 is a three-dimensional structural schematic diagram of the GIS maintenance robot nest in the storage state of the present invention;

[0058] Figure 2 is a three-dimensional structural schematic diagram of the GIS maintenance robot nest in the deployment state of the present invention;

[0059] Figure 3 is Figure 2 the internal structural schematic diagram of the GIS maintenance robot nest shown;

[0060] Figure 4 is a front-view structural schematic diagram of the GIS maintenance robot nest in the deployment state of the present invention;

[0061] Figure 5 is a three-dimensional structural schematic diagram of the GIS maintenance robot in the state where the flexible arm is retracted of the present invention;

[0062] Figure 6It is a three-dimensional structural schematic diagram of the GIS maintenance robot in the state where the flexible arm is extended in the present invention;

[0063] Figure 7 is Figure 5 the internal structural schematic diagram of the GIS maintenance robot shown;

[0064] Figure 8 It is a sectional structural schematic diagram of the GIS maintenance robot in the present invention;

[0065] Figure 9 is Figure 8 the partial enlarged view at P in;

[0066] Figure 10 It is a structural schematic diagram of the GIS equipment in the present invention;

[0067] In the figure, the markings are: nest housing 100, electromagnetic shielding cavity 101, shielding cover 110, housing wall 120, bottom plate 130, connecting flange 131, delivery device 200, first motion module 210, lower support base 211, upper support base 212, scissor arm 213, first arm 2131, second arm 2132, first drive assembly 214, first slide rail 2141, first lead screw 2142, first drive motor 2143, first slider 2144, first lead screw nut 2145, second motion module 220, rotating shaft 221, first rotary drive motor 222, robot support 300, parking groove 310, robot inlet and outlet 311, communication antenna 410, first capture camera 420, second capture camera 430, nest observation camera 440, wireless charging output module 450, robot body 500, robot control board 510, flexible arm control board 520, storage battery 530, flexible arm mechanism 600, flexible control slide 610, flexible arm assembly 620, flexible arm motion module 700, flexible arm moving module 710, second slide rail 711, second lead screw 712, third drive motor 713, second slider 714, flexible arm rotating module 720, flexible arm rotating shaft 721, second rotary drive motor 722, dust collection device 800, dust collection housing 810, dust collection cavity 811, air outlet 812, suction head 820, suction nozzle 821, filter screen 830, dust collection fan 840, rotating blade 841, dust collection motor 842, fluorescent substance dispenser 850, foreign object observation camera 860, equipment housing 900, maintenance hole 910. Detailed implementation manners

[0068] The present invention will be further described below with reference to the accompanying drawings. The same reference numerals in the drawings denote components with the same or similar functions. Although various aspects of the embodiments are shown in the drawings, the drawings do not have to be drawn to scale unless otherwise specified.

[0069] In the description of the present invention, it should be understood that the orientation or positional and dimensional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0070] The term "transmission connection" means: a connection method used to transmit power or motion in a mechanical system, for example: a connection method achieved through transmission mechanisms such as couplings, reducers, gear assemblies, worm and worm gear assemblies, etc. The term "rotatably arranged or connected" means a connection method between two parts, such that one part can rotate relative to the other part; this connection method is usually achieved using mechanical components such as bearings, bushings, and shaft-hole fits. The term "slidably arranged or connected" means a connection method between two parts, such that one part can slide relative to the other part; this connection method is usually achieved using mechanical structures such as slide rails and chutes. The term "communication connection" means that through the transmission and interaction of signals, communication is formed between the connected devices, which can be divided into wired connections and wireless connections; wired connections are usually connections such as cables and optical fibers; wireless connections are usually connections such as radio communication, Bluetooth, infrared, NFC, etc. The expression "mainly composed of... or constituted by..." is interpreted as it may also contain structural components not mentioned in this sentence. The term "and / or" is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example: A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0071] Combined with Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown in

[0072] The nest housing 100 is mainly used to provide a safe storage place for the GIS maintenance robot and to install and protect other components of the nest; the nest housing 100 can be installed into the inner cavity of the GIS device, and it has an electromagnetic shielding cavity 101 and a shielding cover 110 capable of opening and closing the electromagnetic shielding cavity 101; the shielding cover 110 is generally made of a material with good electromagnetic shielding performance to effectively block electromagnetic waves from entering the electromagnetic shielding cavity 101; the nest housing 100 is preferably a closed housing formed by metal or a good conductor based on the principle of Faraday cage to ensure good electromagnetic shielding performance of its electromagnetic shielding cavity 101; the outer shape of the nest housing 100 is usually made into a structure that can be nested and matched with the maintenance hole 910 of the GIS device for use in cooperation with the GIS device.

[0073] The delivery device 200 is arranged in the electromagnetic shielding cavity 101 and includes a first motion module 210 and a second motion module 220; the driving part of the first motion module 210 can at least move along a first direction, the second motion module 220 is arranged on the driving part of the first motion module 210, and the driving part of the second motion module 220 can at least rotate around the first direction, and the first direction is the motion direction of the shielding cover 110 for opening and closing the electromagnetic shielding cavity 101; the first motion module 210 can be various types, such as: gear-rack mechanism, ball screw pair, electric push rod, reciprocating traction mechanism, etc.; the second motion module 220 can be various types, such as: electric motor, motor assembly, crank-link mechanism, etc.

[0074] The robot support 300 is provided with a parking groove 310 for parking the GIS maintenance robot; a robot inlet / outlet 311 is opened on the side of the parking groove 310 for the GIS maintenance robot to enter and exit the parking groove 310; the robot support 300 is arranged in the electromagnetic shielding cavity 101 and is connected to the shielding cover 110 and the driving part of the second motion module 220.

[0075] This GIS maintenance robot nest has two usage states: storage and delivery; when changing from the storage state to the delivery state, the delivery device 200 drives the robot support 300 to move together with the shielding cover 110, opens the electromagnetic shielding cavity 101, and moves to a position where at least the robot inlet / outlet 311 is exposed outside the electromagnetic shielding cavity 101; when changing from the delivery state to the storage state, the delivery device 200 drives the robot support 300 to move together with the shielding cover 110, so that the robot support 300 is received into the electromagnetic shielding cavity 101 and closes the electromagnetic shielding cavity 101.

[0076] Apply this GIS maintenance robot nest to GIS equipment. When the GIS equipment is working normally, the GIS maintenance robot can be parked in the parking slot 310 within the electromagnetic shielding cavity 101 for protection. When the GIS equipment is being maintained, the rapid deployment and recovery of the GIS maintenance robot can be realized, with more timely response, reduced manual intervention, higher automation degree, which is conducive to improving the efficiency and accuracy of the maintenance work.

[0077] Combined with Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 9 As shown, in some embodiments of the present invention, the nest housing 100 further includes a housing wall 120 and a bottom plate 130; the housing wall 120 is in a cylindrical structure, such as a rectangular cylinder, a rhombic cylinder, a polygonal cylinder, etc., preferably a cylindrical structure, so as to be nested and fitted with the maintenance hole 910 of the GIS equipment; the bottom plate 130 is arranged at the bottom of the housing wall 120 and closes the bottom opening of the housing wall 120; a connecting flange 131 is provided on the bottom plate 130 for sealing connection with the orifice of the maintenance hole 910 of the GIS equipment; the shielding cover 110 covers the top opening of the housing wall 120; the electromagnetic shielding cavity 101 is jointly surrounded by the shielding cover 110, the housing wall 120 and the bottom plate 130. The nest housing 100 with this structure has the advantages of simple structure, convenient manufacturing, excellent electromagnetic shielding performance, and high adaptability to the maintenance hole 910 of the GIS equipment.

[0078] Another example is Figure 3As shown, in some embodiments of the present invention, the first motion module 210 is a lifting motion module, which includes a lower support seat 211, an upper support seat 212, a scissor arm 213 and a first driving assembly 214; the lower support seat 211 is arranged on the bottom plate 130; the upper support seat 212 is the driving part of the first motion module 210, which is arranged on the upper side of the lower support seat 211; the scissor arm 213 is at least two groups, and each group of scissor arms 213 includes a first arm 2131 and a second arm 2132 that are mutually crossed and rotatably connected at the intersection, and the first arm 213 The lower end of the first arm 2131 is hinged to the lower support seat 211, the upper end of the first arm 2131 is slidably connected to the upper support seat 212, the lower end of the second arm 2132 is slidably connected to the lower support seat 211, and the upper end of the second arm 2132 is hinged to the upper support seat 212; the first drive assembly 214 can drive the first arm 2131 and the second arm 2132 to rotate relative to each other, so that the upper support seat 212 rises or falls relative to the lower support seat 211; the first drive assembly 214 can be of various types, such as: electric push rod, motor, ball screw pair, cam mechanism, etc. The first motion module 210 realizes support and lifting through two or more groups of scissor arms 213, has good stability, and can withstand a large load, which can effectively ensure the support and placement of the GIS maintenance robot; it also has the advantages of high space utilization, easy production and maintenance, etc. It is preferred to use the same hinge shaft to hinge with the intersection of two or more groups of scissor arms 213 to further improve the integrity, stability and strength of its structure.

[0079] For example Figure 3 As shown, in some embodiments of the present invention, the first drive assembly 214 includes a first slide rail 2141, a first lead screw 2142, a first drive motor 2143 and a first slider 2144; the first slide rail 2141 is arranged on the lower support seat 211 along the sliding direction of the lower end of the second arm 2132; the first lead screw 2142 is rotatably arranged on the lower support seat 211 and remains parallel to the first slide rail 2141; the first drive motor 2143 is arranged on the lower support seat 211 and is transmission-connected to the first lead screw 2142; the first slider 2144 is slidably connected to the first slide rail 2141 and is connected to the first lead screw 2142 through the first lead screw nut 2145; the lower end of the second arm 2132 is connected to the first slider 2144. The first drive assembly 214 cooperates with the first screw 2142 through the first screw nut 2145, and can convert the rotational movement of the first screw 2142 driven by the first drive motor 2143 into linear motion of the first screw nut 2145, and drive the first slider 2144 to slide along the first slide rail 2141, which can not only realize precise linear motion control but also withstand large loads, thereby ensuring the stability and reliability of driving the upper support seat 212 to rise or fall relative to the lower support seat 211.

[0080] For example Figure 4As shown, in some embodiments of the present invention, the second motion module 220 is a rotary motion module, which includes a rotating shaft 221 and a first rotary drive motor 222; the rotating shaft 221 is a driving part of the second motion module 220, which is rotatably arranged on the upper support seat 212; the first rotary drive motor 222 is arranged on the upper support seat 212, and its power output end is drivingly connected with the rotating shaft 221. The second motion module 220 has the advantages of simple structure and convenient operation. Figure 4 In the implementation manner, the power output end of the first rotary drive motor 222 and the rotating shaft 221 are transmission-connected via a gear mechanism.

[0081] Combination Figure 3 and 4 As shown, in some embodiments of the present invention, the GIS maintenance robot nest also includes a control system, and the control system includes:

[0082] A wireless communication module with a communication antenna 410, the wireless communication module is arranged on the robot bracket 300, and is used for wireless communication with the GIS maintenance robot;

[0083] A first capture camera 420 with a purple light source and a second capture camera 430 with a white light source, both of which are disposed on the robot support 300, are used to collaboratively realize dynamic capture of foreign particles, so as to facilitate effective removal of foreign matter;

[0084] The machine nest observation camera 440 is arranged on the robot bracket 300 and is used to observe and guide the GIS maintenance robot to return to the parking slot 310 after the work is completed;

[0085] A controller is respectively connected to the delivery device 200, the wireless communication module, the first capture camera 420, the second capture camera 430 and the nest observation camera 440;

[0086] The controller can capture the location information of foreign particles through the first capture camera 420 and the second capture camera 430, and generate a control instruction to control the delivery device 200 to drive the robot inlet and outlet 311 toward the location where the foreign particles or foreign particles have a high concentration, so as to accurately deliver the GIS maintenance robot and improve the efficiency of maintenance and cleaning;

[0087] The controller can also observe the position information of the GIS maintenance robot through the machine nest observation camera 440, plan a return path for the GIS maintenance robot after the operation is completed, and generate navigation instructions to control the GIS maintenance robot to quickly and accurately return to the parking slot 310.

[0088] In some embodiments of the present invention, the control system further includes a wireless charging output module 450 disposed in the parking slot 310. The wireless charging output module 450 is a component capable of converting electrical energy into wireless electromagnetic waves to achieve the wireless charging function, and is used to charge the GIS maintenance robot in the parking slot 310.

[0089] Combined with Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown in

[0090] The present invention also provides a GIS maintenance robot, including a robot body 500 and a flexible arm mechanism 600. The flexible arm mechanism 600 includes a flexible control slide 610 and a flexible arm assembly 620 disposed on the flexible control slide 610;

[0091] The flexible control slide 610 is movably disposed in the inner cavity of the robot body 500, and the flexible arm assembly 620 can extend from one side of the robot body 500;

[0092] The GIS maintenance robot further includes a flexible arm motion module 700 disposed in the inner cavity of the robot body 500. The flexible arm motion module 700 includes a flexible arm moving module 710. The flexible arm moving module 710 can drive the flexible control slide 610 to move, so that the flexible arm assembly 620 extends or retracts into the inner cavity of the robot body 500; The flexible arm moving module 710 can be various, for example: a gear-rack mechanism, a ball screw pair, an electric push rod, a reciprocating traction mechanism, and so on.

[0093] The GIS maintenance robot drives the flexible arm assembly 620 to retract into the inner cavity of the robot body 500 through the flexible arm moving module 710, which can reduce the space occupied by the GIS maintenance robot, so that it can be parked in the parking slot 310 and stored and protected by the above-mentioned GIS maintenance robot nest.

[0094] Combined with Figure 7 and Figure 8As shown, in some embodiments of the present invention, the flexible arm movement module 710 includes a second slide rail 711, a second lead screw 712, a second drive motor 713, and a second slider 714; the second slide rail 711 is arranged along the telescopic direction of the flexible arm assembly 620; the second lead screw 712 is rotatably arranged and is parallel to the second slide rail 711; the second drive motor 713 is in transmission connection with the second lead screw 712; the flexible control slide 610 is threadedly connected to the second lead screw 712 and is slidably connected to the second slide rail 711 through the second slider 714. The flexible arm movement module 710 is threadedly connected to the second lead screw 712 through the flexible control slide 610, and can convert the movement of the second drive motor 713 driving the second lead screw 712 to rotate into a linear movement of the flexible control slide 610, enabling it to slide along the second slide rail 711 through the second slider 714, capable of achieving precise linear movement control, and being able to bear a large load, ensuring the stable reliability of the telescopic movement of the flexible arm assembly 620.

[0095] Combined with Figure 7 and Figure 8 As shown, in some embodiments of the present invention, the flexible arm movement module 700 further includes a flexible arm rotation module 720, and the flexible arm rotation module 720 includes a flexible arm rotating shaft 721 and a second rotation drive motor 722; the flexible arm assembly 620 is rotatably arranged on the flexible control slide 610 through the flexible arm rotating shaft 721; the second rotation drive motor 722 is arranged on the flexible control slide 610 and is in transmission connection with the flexible arm rotating shaft 721. By driving the flexible arm rotating shaft 721 by the second rotation drive motor 722 to drive the flexible arm assembly 620 to rotate, the bending direction of the flexible arm assembly 620 is not restricted, which is beneficial for the free end of the flexible arm assembly 620 to reach various positions inside the GIS device, improving the maintenance and cleaning capabilities.

[0096] Combined with Figure 8 and Figure 9As shown, in some embodiments of the present invention, the GIS maintenance robot further includes a dust suction device 800 disposed at the front end of the flexible arm assembly 620. The dust suction device 800 includes a dust suction housing 810, a suction head 820, a filter screen 830, a dust suction fan 840, a fluorescent substance dispenser 850, and a foreign object observation camera 860. The dust suction housing 810 has a dust collection chamber 811 and an air outlet 812 communicating with the dust collection chamber 811. The suction head 820 is disposed at the front end of the dust suction housing 810 and has a suction nozzle 821 communicating with the dust collection chamber 811. The filter screen 830 is disposed in the dust collection chamber 811 and is in the upwind direction of the air outlet 812. The dust suction fan 840 is disposed in the dust suction housing 810 and is used to suck the gas containing foreign object particles into the dust collection chamber 811 through the suction nozzle 821, and after being filtered by the filter screen 830, it is discharged outside through the air outlet 812. The fluorescent substance dispenser 850 is disposed on the dust suction housing 810 and is used to dispense fluorescent substances to the outside. The foreign object observation camera 860 is disposed on the suction head 820, and the orientation of its lens is the same as that of the suction nozzle 821, and is used to detect foreign object particles contaminated with fluorescent substances, so as to control the flexible arm mechanism 600 to drive the suction nozzle 821 of the dust suction device 800 to face the foreign object particles for suction. The upwind direction refers to the position where the wind blows first. The dust suction device 800 can dispense fluorescent substances to the outside through the fluorescent substance dispenser 850, so as to facilitate the first capture camera 420, the second capture camera 430, and / or the foreign object observation camera 860 to discover foreign object particles. Moreover, a negative pressure suction force can be generated at the suction nozzle 821 through the dust suction fan 840 to suck the foreign object particles suspended inside the GIS device. In addition, driven by the rotation of the flexible arm assembly 620, the fluorescent substance dispenser 850 can dispense fluorescent foreign objects to various spatial positions inside the inner cavity of the GIS device to fully mark the foreign object particles.

[0097] In some embodiments of the present invention, a baffle is usually disposed in the downwind direction of the suction nozzle 821 to prevent foreign objects from flowing out of the dust collection chamber 811. The downwind direction refers to the position where the wind blows later.

[0098] Combined with Figure 8 and Figure 9 As shown, in some embodiments of the present invention, the dust suction fan 840 includes a rotating blade 841 rotatably disposed in the dust collection chamber 811 and in the downwind direction of the filter screen 830, and a dust suction motor 842 drivingly connected to the rotating blade 841. The dust suction fan 840 has the advantages of simple structure, convenient installation and maintenance, etc.

[0099] Again, such as Figure 7As shown, in some embodiments of the present invention, a robot control board 510, a flexible arm control board 520, a storage battery 530, and a wireless charging input module are further disposed in the inner cavity of the robot body 500; the robot control board 510 can be communicatively connected to the GIS maintenance robot nest; the flexible arm control board 520 is communicatively connected to the robot control board 510 and is used to control the flexible control slide 610 to drive the flexible arm mechanism 600 to bend so that the front end of the flexible arm mechanism 600 reaches the target position; the storage battery 530 is used to supply power to the GIS maintenance robot; the wireless charging input module is electrically connected to the storage battery 530 and is used to charge the storage battery 530.

[0100] Specifically, in combination with Figure 5 , Figure 6 and Figure 7 shown, a traveling mechanism is usually provided on the robot body 500 to realize the movement of the GIS maintenance robot. The traveling mechanism can be of various types, such as: a wheeled traveling mechanism, a crawler traveling mechanism, a mechanical leg traveling mechanism, etc.

[0101] Furthermore, in combination with Figure 5 , Figure 6 and Figure 7 shown, in some embodiments of the present invention, the traveling mechanism is four driving wheels arranged in a rectangular distribution on the robot body 500. The driving wheels are preferably rubber wheels with brushless motors to facilitate the separate control of each driving wheel and realize the efficient walking and turning of the GIS maintenance robot.

[0102] Specifically, again, as Figure 8 shown, the flexible arm assembly 620 includes more than one first flexible arm and a second flexible arm; both the first flexible arm and the second flexible arm are composed of a number of female rings and male rings alternately hinged together;

[0103] When the first flexible arm is one section, one end thereof is connected to the flexible control slide, and the other end is connected to the second flexible arm through a connecting joint;

[0104] When the first flexible arm is more than two sections, the first flexible arms are sequentially connected through connecting joints, one end is connected to the flexible control slide, and the other end is connected to the second flexible arm through a connecting joint;

[0105] The flexible control slide 610 is respectively drivingly connected to the first flexible arm and the second flexible arm through a number of driving alloy wires passing through the first flexible arm and the second flexible arm. By driving the driving alloy wires passing through the first flexible arm and / or the second flexible arm, the first flexible arm and the second flexible arm are controlled to bend so that the end of the second flexible arm reaches the target position.

[0106] In some embodiments of the present invention, the flexible arm assembly 620 further includes a flexible protective sleeve sleeved on the first flexible arm and the second flexible arm, which is used to protect the flexible arm assembly 620 from foreign object contamination; there can be various types of flexible protective sleeves, and preferably a corrugated pipe sleeve.

[0107] Combined with Figure 1 、 Figure 2 、 Figure 5 、 Figure 6 and Figure 10 As shown in

[0108]

[0109]

[0110]

[0111]

[0112] The description of the various embodiments of the present invention is presented herein for purposes of illustration only and is not intended to be exhaustive or limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terms used herein are chosen to best explain the principles of the embodiments, the practical application, or the technical advancement compared to the technologies found in the market, or to enable other skilled artisans in the art to understand the embodiments disclosed herein.

[0112] It should be understood that certain features of the present invention described in the context of separate embodiments may also be provided in combination in a single embodiment. Conversely, for the sake of brevity, the various features of the present invention described in the context of a single embodiment may also be provided separately or in any suitable sub-combination, or in any other described embodiment of the present invention where appropriate. Certain features described in the context of various embodiments are not considered essential features of those embodiments unless the embodiments do not work without those features.

[0113] All publications, patents, and patent applications mentioned herein are hereby incorporated by reference in their entirety as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference. Additionally, the citation or identification of any reference in this text should not be construed as an admission that such reference is available as prior art to the present invention. With respect to the use of section headings, the section headings should not be construed as necessarily limiting.

Claims

1. GIS maintenance robot nest, characterized in that: It includes a nest housing (100), a delivery device (200), and a robot support (300); The nest housing (100) can be installed into the inner cavity of a GIS device. It has an electromagnetic shielding cavity (101) and a shielding cover (110) capable of opening and closing the electromagnetic shielding cavity (101); the nest housing (100) further includes a housing wall (120) and a bottom plate (130); the housing wall (120) is in a cylindrical structure; the bottom plate (130) is arranged at the bottom of the housing wall (120) and closes the bottom opening of the housing wall (120); a connecting flange (131) is provided on the bottom plate (130) for sealing connection with the orifice of the maintenance hole (910) of the GIS device; the shielding cover (110) is covered at the top opening of the housing wall (120); the electromagnetic shielding cavity (101) is jointly formed by the shielding cover (110), the housing wall (120), and the bottom plate (130); The delivery device (200) is arranged in the electromagnetic shielding cavity (101). It includes a first motion module (210) and a second motion module (220); the driving part of the first motion module (210) can at least move along a first direction, the second motion module (220) is arranged on the driving part of the first motion module (210), and the driving part of the second motion module (220) can at least rotate around the first direction. The first direction is the motion direction of the shielding cover (110) for opening and closing the electromagnetic shielding cavity (101); A parking groove (310) is provided in the robot support (300). The parking groove (310) is used for parking a GIS maintenance robot, and a robot inlet / outlet (311) is opened on the side of the parking groove (310); the robot support (300) is arranged in the electromagnetic shielding cavity (101) and is connected to the shielding cover (110) and the driving part of the second motion module (220); This GIS maintenance robot nest has two usage states: storage and delivery. When changing from the storage state to the delivery state, the delivery device (200) drives the robot support (300) to move together with the shielding cover (110), opens the electromagnetic shielding cavity (101), and moves to a position where at least the robot inlet / outlet (311) is exposed outside the electromagnetic shielding cavity (101); when changing from the delivery state to the storage state, the delivery device (200) drives the robot support (300) to move together with the shielding cover (110), so that the robot support (300) is stored in the electromagnetic shielding cavity (101), and closes the electromagnetic shielding cavity (101).

2. The GIS maintenance robot nest according to claim 1, characterized in that: The first motion module (210) is a lifting motion module, which includes a lower support base (211), an upper support base (212), a scissor arm (213), and a first driving component (214); The lower support base (211) is arranged on the bottom plate (130); The upper support base (212) is the driving part of the first motion module (210), and it is arranged on the upper side of the lower support base (211); The scissor arms (213) are at least two groups, and each group of scissor arms (213) includes a first arm (2131) and a second arm (2132) that cross each other and are rotatably connected at the intersection, the lower end of the first arm (2131) is hinged to the lower support seat (211), the upper end of the first arm (2131) is slidably connected to the upper support seat (212), the lower end of the second arm (2132) is slidably connected to the lower support seat (211), and the upper end of the second arm (2132) is hinged to the upper support seat (212); The first driving assembly (214) is capable of driving the first arm (2131) and the second arm (2132) to rotate relative to each other, so that the upper support seat (212) rises or falls relative to the lower support seat (211); The second motion module (220) is a rotational motion module, which comprises a rotating shaft (221) and a first rotational drive motor (222); The rotating shaft (221) is a driving part of the second motion module (220), and is rotatably disposed on the upper support seat (212); The first rotary drive motor (222) is arranged on the upper support seat (212), and its power output end is drivingly connected to the rotating shaft (221).

3. The GIS maintenance robot nest according to claim 1 or 2, characterized in that, Also included is a control system, the control system comprising: A wireless communication module with a communication antenna (410), the wireless communication module being arranged on the robot bracket (300) and used for wireless communication with the GIS maintenance robot; A first capture camera (420) with a purple light source and a second capture camera (430) with a white light source, wherein the first capture camera (420) and the second capture camera (430) are both arranged on a robot support (300) and are used to collaboratively realize dynamic capture of foreign particles; A machine nest observation camera (440), arranged on the robot support (300), is used to observe and guide the GIS maintenance robot to return to the parking slot (310) after the operation is completed; The controller is respectively connected to the delivery device (200), the wireless communication module, the first capture camera (420), the second capture camera (430) and the machine nest observation camera (440).

4. The GIS maintenance robot nest according to claim 3, characterized in that: The control system further comprises a wireless charging output module (450) arranged in the parking slot (310), and the wireless charging output module (450) is used to charge the GIS maintenance robot in the parking slot (310).

5. A GIS maintenance robot, comprising a robot body (500) and a flexible arm mechanism (600), wherein the flexible arm mechanism (600) comprises a flexible control slide (610) and a flexible arm assembly (620) arranged on the flexible control slide (610); It is characterized in that: The GIS maintenance robot is used in conjunction with the GIS maintenance robot machine nest described in any one of claims 1 to 4; The flexible control slide (610) is movably disposed in the inner cavity of the robot body (500), and the flexible arm assembly (620) can extend from one side of the robot body (500); The GIS maintenance robot further includes a flexible arm motion module (700) disposed in the inner cavity of the robot body (500). The flexible arm motion module (700) includes a flexible arm moving module (710), and the flexible arm moving module (710) is capable of driving the flexible control slide (610) to move, so that the flexible arm assembly (620) extends or retracts from the inner cavity of the robot body (500). The GIS maintenance robot further includes a dust suction device (800) disposed at the front end of the flexible arm assembly (620). The dust suction device (800) includes a dust suction housing (810), a suction head (820), a filter screen (830), a dust suction fan (840), a fluorescent substance dispenser (850), and a foreign object observation camera (860). The dust suction housing (810) has a dust collection chamber (811) and an air outlet (812) communicating with the dust collection chamber (811). The suction head (820) is disposed at the front end of the dust suction housing (810), and it has a suction nozzle (821) communicating with the dust collection chamber (811). The filter screen (830) is disposed in the dust collection chamber (811) and is located upwind of the air outlet (812). The dust suction fan (840) is disposed in the dust suction housing (810) and is used to suck the gas containing foreign object particles into the dust collection chamber (811) through the suction nozzle (821), and after being filtered by the filter screen (830), it is discharged outside through the air outlet (812). The fluorescent substance dispenser (850) is disposed on the dust suction housing (810) and is used to dispense fluorescent substances to the outside world. The foreign object observation camera (860) is disposed on the suction head (820), and the orientation of its lens is the same as that of the suction nozzle (821). It is used to detect foreign object particles contaminated with fluorescent substances, so as to control the flexible arm mechanism (600) to drive the suction nozzle (821) of the dust suction device (800) to face the foreign object particles for suction.

6. The GIS maintenance robot according to claim 5, wherein: The flexible arm motion module (700) further includes a flexible arm rotation module (720). The flexible arm rotation module (720) includes a flexible arm rotating shaft (721) and a second rotation drive motor (722). The flexible arm assembly (620) is rotatably disposed on the flexible control slide (610) through the flexible arm rotating shaft (721). The second rotation drive motor (722) is disposed on the flexible control slide (610) and is in transmission connection with the flexible arm rotating shaft (721).

7. The GIS maintenance robot according to claim 5 or 6, characterized in that: A robot control board (510), a flexible arm control board (520), a storage battery (530), and a wireless charging input module are further disposed in the inner cavity of the robot body (500). The robot control board (510) can be communicatively connected to the GIS maintenance robot nest. The flexible arm control board (520) is communicatively connected to the robot control board (510) and is used to control the flexible control slide (610) to drive the flexible arm mechanism (600) to bend, so that the front end of the flexible arm mechanism (600) reaches the target position. The storage battery (530) is used to supply power to the GIS maintenance robot. The wireless charging input module is electrically connected to the storage battery (530) and is used to charge the storage battery (530).

8. GIS device, including a device housing (900) having a maintenance hole (910), characterized in that: It further includes a GIS maintenance robot nest as described in any one of claims 1 to 4, and a GIS maintenance robot as described in any one of claims 5 to 7; The nest housing (100) of the GIS maintenance robot nest is embedded in the maintenance hole (910) and is sealingly connected to the orifice of the maintenance hole (910); When the GIS maintenance robot nest is in the storage state, the flexible arm assembly (620) of the GIS maintenance robot retracts into the inner cavity of the robot body (500), and the GIS maintenance robot is parked in the parking groove (310); When the GIS maintenance robot nest is in the deployment state, its deployment device (200) drives the robot support (300) to move together with the shielding cover (110), opens the electromagnetic shielding cavity (101), and moves to at least expose the robot inlet / outlet (311) in the inner cavity of the equipment housing (900); at this time, the GIS maintenance robot can travel into the inner cavity of the equipment housing (900), and the flexible arm assembly (620) extends to start working.

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