Switchgear Partial Discharge Monitoring Device

Abstract

The present invention relates to a partial discharge monitoring device for a switch cabinet, which comprises: a chassis assembly, which is a cross-shaped box body and has two pairs of traveling wheels symmetrically arranged along the central axis; an obstacle crossing component, which comprises a support plate horizontally attached along the front end surface of the chassis assembly, the front ends of the cantilevers on both sides of the front surface of the support plate are symmetrically provided with mounting holes along the central axis, a transmission shaft is rotatably connected between the two mounting holes, and the ends of the transmission shaft are axially symmetrically provided with foldable and unfoldable obstacle crossing mechanisms, an extension plate is convexly provided on the middle part of the front surface of the support plate, and the transmission shaft is transmission-connected to the driving mechanism arranged on the extension plate; a monitoring mechanism, which comprises a machine arm erected on the top of the chassis assembly, and a partial discharge monitor is detachably clamped on the end surface of the driving end of the machine arm; two auxiliary crawlers, which are symmetrically arranged along the central axis of the chassis assembly and are used to assist the obstacle crossing mechanism in crossing obstacles when it is unfolded; its structural design is reasonable and applicable to a wide range of road conditions.

Description

Technical Field

[0001] The invention belongs to the technical field of power equipment detection, and in particular relates to a switch cabinet partial discharge monitoring device. Background Art

[0002] High-voltage switchgear is a device used to control and protect electrical systems, and is usually used in electrical facilities in industrial, commercial and public areas. It can isolate power supply, control circuits, adjust voltage, limit current, and protect electrical equipment and personnel from electrical hazards. At present, the maintenance of switchgear is mainly carried out in a power outage state. Due to various reasons, high-voltage switchgear cannot be frequently shut down for maintenance as planned, and the operation status of the equipment in the switchgear cannot be grasped in real time, so there are safety hazards, which seriously threaten the power supply safety. Partial discharge in the switchgear generally does not lead to through-breakdown of insulation, but it will cause local damage to the dielectric and reduce the electrical strength of the insulating dielectric. That is, the damage of partial discharge to the insulating equipment is a slow development process. With the damage of the insulating equipment and the dielectric, the number and amount of partial discharge will also increase, thus forming a vicious circle, and finally breaking through the switchgear, causing serious safety accidents. Partial discharge will produce a series of physical phenomena and chemical changes such as light, sound, electrical and mechanical vibration inside and outside the power equipment. These various physical and chemical changes caused by partial discharge can provide detection signals for monitoring the internal insulation status of power equipment.

[0003] At present, partial discharge monitoring of switch cabinets is generally completed by installing suspended monitors or patrol monitoring robots. However, there are generally a large number of switch cabinets on site, with scattered geographical locations, complex patrol routes, messy cable troughs, and dense wiring harnesses. Although the suspended monitor based on the cloud track can avoid obstacles, the installation cost of the cloud track is high, it can only work on a single distribution room, and it is not conducive to later maintenance. It cannot adapt to the complex and changeable layout of switch cabinets. The patrol monitoring robot can adapt to complex routes, but it is difficult to overcome messy road conditions and cannot stably cross obstacles. Therefore, how to efficiently and stably monitor partial discharge of switch cabinets has become an urgent problem in the industry and needs to be solved urgently. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a switch cabinet partial discharge monitoring device, and the specific technical solution is as follows:

[0005] The present invention provides a switch cabinet partial discharge monitoring device, the device comprising:

[0006] The chassis assembly is a cross-shaped box body with two pairs of traveling wheels symmetrically arranged along the central axis;

[0007] An obstacle-crossing component, comprising a support plate horizontally attached along the front end surface of the chassis assembly, the front ends of the cantilevers on both sides of the front of the support plate are symmetrically provided with mounting holes along the central axis thereof, a transmission shaft is rotatably connected between the two mounting holes, and the ends of the transmission shaft are axially symmetrically provided with foldable and unfoldable obstacle-crossing mechanisms, an extension plate is convexly provided in the middle of the front of the support plate, and the transmission shaft is drivingly connected to a driving mechanism arranged on the extension plate;

[0008] A monitoring mechanism, comprising a mechanical arm mounted on the top of the chassis assembly, wherein a partial discharge monitor is detachably clamped on the end surface of a driving end of the mechanical arm;

[0009] Two auxiliary crawlers are symmetrically arranged along the central axis of the chassis assembly and are used to assist the obstacle crossing mechanism when it is deployed.

[0010] As a preferred technical solution of the present invention, the obstacle crossing mechanism includes

[0011] An outer ring, which is a hollow ring body axially sleeved on the end of the transmission shaft, and has ten annular grooves circumferentially and evenly spaced through its outer circumferential surface, and two embedding holes with notches on the outer end surfaces are arranged at both ends of the annular groove, and the outer end surface of the second embedding hole is lower than the annular surface of the outer ring; two follower rods are radially and vertically symmetrically arranged on the inner circumferential surface of the outer ring, and a cross-shaped hollow fixing ring is fixedly connected to the inner end surface of the outer ring; the end gap of the transmission shaft passes through the hollow hole of the fixing ring, and guide pillars are radially and vertically symmetrically arranged;

[0012] An inner plate, which is a hollow disc axially fixedly sleeved on the end of the transmission shaft and placed inside the outer ring; the outer circumferential surface of the inner plate is vertically provided with ten step-shaped mounting holes with slots on the outer end surface at equal intervals in the circumferential direction; four follower rods are vertically provided at equal intervals on the outer edge of the inner plate surface of the inner plate, and the follower rods are located in the same vertical plane;

[0013] An obstacle-crossing wheel, which is composed of ten groups of folding units connected end to end in a circumferential direction;

[0014] The obstacle overcoming wheel is divided into a folding state and an unfolding state. When in the folding state, the transmission shaft drives the guide column to rotate clockwise, and the two guide columns hit a group of radially opposite follower rods 1 on the inner disk, and drive the inner disk to rotate clockwise until the follower rod 1 hits the follower rod 2 on the outer ring to complete the folding action, and the transmission shaft stops running. The folded outer diameter of the obstacle overcoming wheel is smaller than the outer diameter of the traveling wheel; when in the unfolding state, the transmission shaft drives the guide column to rotate counterclockwise, and the two guide columns hit another group of radially opposite follower rods 1 on the inner disk, and drive the inner disk to rotate counterclockwise until the follower rod 1 hits the follower rod 2 on the outer ring to complete the unfolding action. The unfolded outer diameter of the obstacle overcoming wheel is larger than the outer diameter of the traveling wheel, the transmission shaft continues to run, and the obstacle overcoming wheel rotates counterclockwise synchronously therewith.

[0015] As a preferred technical solution of the present invention, the folding unit includes a connecting rod, four connecting rods are connected end to end through a universal ball joint, and the connecting rod ends located at the head and tail ends are connected to the universal ball joints embedded in the corresponding second embedding hole, and the universal ball joint located in the middle is connected to an active rod, and the bottom end of the active rod is connected to the universal ball joint embedded in the corresponding first embedding hole;

[0016] The folding unit can be divided into a folding state and an unfolding state. When in the folding state, the inner disk rotates clockwise, and the active rod and the connecting rod embedded thereon are retracted positively to drive the folding unit to fold toward the center of the circle; when in the unfolding state, the inner disk rotates counterclockwise, and the active rod and the connecting rod embedded thereon are pushed out in the reverse direction to drive the folding unit to unfold toward the outer circumference.

[0017] As a preferred technical solution of the present invention, a spring is arranged between the connecting rods in the folding unit, and one end of the spring is connected to the universal ball joint located in the middle of the four connecting rods, and the other end is connected to the adjacent second embedding hole.

[0018] As a preferred technical solution of the present invention, the driving mechanism includes

[0019] A servo motor is transversely mounted on the top surface of the extension plate;

[0020] A synchronous pulley comprises a synchronous wheel sleeved on the power output end of the servo motor and another synchronous wheel sleeved on the transmission shaft, and a synchronous belt is sleeved between the two synchronous wheels.

[0021] As a preferred technical solution of the present invention, the auxiliary crawler comprises

[0022] A driving wheel, which is arranged on the side of the middle part of the chassis assembly;

[0023] A driven wheel, which is arranged on the side of the middle part of the chassis assembly;

[0024] A crawling belt is sleeved on the driving wheel and the driven wheel.

[0025] As a preferred technical solution of the present invention, a plurality of evenly distributed force-releasing holes are formed through the inner plate surface.

[0026] As a preferred technical solution of the present invention, a camera is provided on the end face of the driving end of the robot arm located on one side of the partial discharge monitor.

[0027] As a preferred technical solution of the present invention, a power battery is arranged inside the chassis assembly.

[0028] The beneficial effects of the present invention are:

[0029] The present invention combines the advantages of using a suspended monitor and a patrol monitoring robot. It can adapt to complex and changeable road conditions while also being able to effectively avoid obstacles. It can be used for patrol inspections of partial discharge monitoring in multiple distribution rooms. When encountering grooves or cables, the present invention efficiently achieves obstacle crossing by unfolding the obstacle crossing component and running the auxiliary crawler. After crossing the obstacle, the obstacle crossing component is folded to effectively complete the storage, which does not affect the overall movement of the switch cabinet monitoring device. The top machine arm cooperates with the partial discharge monitor clamped thereon to complete multi-point partial discharge monitoring of the switch cabinet. The structural design is reasonable and applicable to a wide range of road conditions. Through the automated design, partial discharge monitoring is made more efficient and stable, the labor intensity is reduced, and the need for an external cloud track is eliminated. The applicable conditions are wide, especially for large-scale partial discharge monitoring of distribution rooms. The operation and adjustment are convenient and quick, which greatly reduces the maintenance cost of the switch cabinet, effectively increases the service life of the switch cabinet, helps to ensure a continuous production process, avoids safety accidents caused by switch cabinet failures, and is conducive to improving the overall economic benefits of the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The overall structural diagram of the present invention is shown;

[0031] Figure 2 A side schematic diagram of the present invention is shown;

[0032] Figure 3 A schematic diagram showing the structure of the obstacle crossing component in the present invention is shown;

[0033] Figure 4 An exploded schematic diagram of the obstacle crossing mechanism of the present invention is shown;

[0034] Figure 5 A schematic diagram showing the structure of the obstacle crossing component in the present invention is shown;

[0035] Figure 6 A schematic diagram showing the clockwise rotation of the obstacle crossing mechanism of the present invention is shown;

[0036] Figure 7A schematic diagram of the folding structure of the obstacle crossing mechanism of the present invention is shown;

[0037] Figure 8 A schematic diagram of the unfolded structure of the obstacle crossing mechanism of the present invention is shown;

[0038] Fig. 9 An oblique view of the unfolded structure of the obstacle crossing mechanism of the present invention is shown;

[0039] Fig.10 The schematic diagram of the structure of the inner plate in the present invention is shown;

[0040] Fig.11 The schematic diagram of the structure of the outer ring in the present invention is shown;

[0041] As shown in the figure: 1. chassis assembly; 11. traveling wheel; 2. obstacle crossing component; 21. support plate; 211. mounting hole; 212. extension plate; 22. driving mechanism; 221. servo motor; 222. synchronous pulley; 23. transmission shaft; 24. obstacle crossing mechanism; 241. guide column; 242. obstacle crossing wheel; 2421. universal ball joint; 2422. spring; 2423. active rod; 243. inner plate; 2 431. Embedding hole one; 2432. Unloading hole; 2433. Follower rod one; 244. Outer ring; 2441. Embedding hole two; 2442. Follower rod two; 2443. Fixed ring; 2444. Annular groove; 245. Folding unit; 3. Monitoring mechanism; 31. Robot arm; 32. Partial discharge monitor; 33. Camera; 4. Auxiliary crawler track; 41. Driving wheel; 42. Driven wheel; 43. Crawling belt. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0043] Embodiment 1

[0044] In order to solve the technical problems in the background technology, the following switch cabinet partial discharge monitoring device is provided:

[0045] Combination Figure 1 to Figure 3 As shown, the device comprises:

[0046] A chassis assembly 1, which is a cross-shaped box body, and has two pairs of traveling wheels 11 symmetrically arranged along the central axis;

[0047] An obstacle-crossing component 2, comprising a support plate 21 horizontally attached along the front end face of the chassis assembly 1, the front ends of the cantilevers on both sides of the front face of the support plate 21 are symmetrically provided with mounting holes 211 along the central axis thereof, a transmission shaft 23 is rotatably connected between the two mounting holes 211, and the ends of the transmission shaft 23 are axially symmetrically provided with foldable and unfoldable obstacle-crossing mechanisms 24, an extension plate 212 is convexly provided at the middle of the front face of the support plate 21, and the transmission shaft 23 is transmission-connected to a driving mechanism 22 arranged on the extension plate 212;

[0048] A monitoring mechanism 3, comprising a mechanical arm 31 mounted on the top of the chassis assembly 1, wherein a partial discharge monitor 32 is detachably mounted on the end surface of the driving end of the mechanical arm 31;

[0049] Two auxiliary crawlers 4 are symmetrically arranged along the central axis of the chassis assembly 1, and are used to assist the obstacle-crossing mechanism 24 in crossing obstacles when it is deployed.

[0050] By adopting the above technical scheme, the switch cabinet partial discharge monitoring device combines the advantages of the use of the suspended monitor and the inspection monitoring robot, can adapt to complex and changeable road conditions, and can also effectively avoid obstacles, and can be used for the inspection of partial discharge monitoring in multiple distribution rooms. When encountering a groove or cable, the present invention efficiently achieves obstacle crossing by unfolding the obstacle crossing component 2 and running the auxiliary crawler 4. After crossing the obstacle, the obstacle crossing component 2 is folded to effectively complete the storage, which does not affect the overall movement of the switch cabinet monitoring device. The top mechanical arm 31 cooperates with the partial discharge monitor 32 clamped thereon to complete the multi-point partial discharge monitoring of the switch cabinet. The structural design is reasonable and the applicable road conditions are wide. Through the automated design, the partial discharge monitoring is more efficient and stable, the labor intensity is reduced, and the demand for external cloud rails is eliminated. The applicable conditions are wide, especially suitable for large-scale partial discharge monitoring of distribution rooms. The operation adjustment is convenient and fast, which greatly reduces the maintenance cost of the switch cabinet, effectively increases the service life of the switch cabinet, helps to ensure a continuous production process, avoids safety accidents caused by switch cabinet failures, and is conducive to improving the overall economic benefits of the enterprise.

[0051] Embodiment 2

[0052] like Figure 3 to Figure 11 As shown, based on the above embodiment, this embodiment further provides the following contents:

[0053] In this embodiment, the obstacle surmounting mechanism 24 includes

[0054] An outer ring 244, which is a hollow ring body axially sleeved on the end of the transmission shaft 23, and has ten annular grooves 2444 circumferentially and evenly spaced through its outer circumferential surface, and two embedding holes 2441 with notches on the outer end faces are arranged at both ends of the annular grooves 2444, and the outer end faces of the two embedding holes 2441 are lower than the annular surface of the outer ring 244; the inner circumferential surface of the outer ring 244 is radially and vertically symmetrically provided with a follower rod 2442, and the inner end face of the outer ring 244 is fixedly connected with a cross-shaped hollow fixing ring 2443; the end gap of the transmission shaft 23 passes through the hollow hole of the fixing ring 2443, and is radially and vertically symmetrically provided with guide pillars 241;

[0055] An inner disk 243 is a hollow disk axially fixedly sleeved on the end of the transmission shaft 23 and placed inside the outer ring 244; the outer circumferential surface of the inner disk 243 is vertically provided with ten stepped mounting holes 2431 with notches on the outer end surface at equal intervals in the circumferential direction; four follower rods 2433 are vertically provided at equal intervals on the outer edge of the inner disk 243 surface of the inner disk 243, and the follower rod 1 2433, the follower rod 2442 and the guide column 241 are in the same vertical plane;

[0056] An obstacle-crossing wheel 242, which is composed of ten groups of folding units 245 connected end to end in a circumferential direction;

[0057] The obstacle-crossing wheel 242 can be divided into a folding state and an unfolding state. When in the folding state, the transmission shaft 23 drives the guide column 241 to rotate clockwise, and the two guide columns 241 hit a set of radially opposite follower rods 1 2433 on the inner disk 243, and drive the inner disk 243 to rotate clockwise until the follower rod 1 2433 hits the follower rod 2 2442 on the outer ring 244 to complete the folding action and stop the operation of the transmission shaft 23. The folded outer diameter of the obstacle-crossing wheel 242 is smaller than the outer diameter of the traveling wheel 11 When in the unfolded state, the transmission shaft 23 drives the guide column 241 to rotate counterclockwise, and the two guide columns 241 hit another set of radially opposite follower rods 2433 on the inner disk 243, and drive the inner disk 243 to rotate counterclockwise until the follower rod 1 2433 hits the follower rod 2 2442 on the outer ring 244 to complete the unfolding action. The unfolded outer diameter of the obstacle overcoming wheel 242 is larger than the outer diameter of the traveling wheel 11, and the transmission shaft 23 continues to rotate, and the obstacle overcoming wheel 242 rotates counterclockwise synchronously therewith.

[0058] The folding unit 245 includes a connecting rod, and the four connecting rods are connected end to end through a universal ball joint 2421, and the connecting rod ends located at the head and tail ends are connected to the universal ball joint 2421 embedded in the corresponding second embedding hole 2441, and the universal ball joint 2421 located in the middle is connected to an active rod 2423, and the bottom end of the active rod 2423 is connected to the universal ball joint 2421 embedded in the corresponding first embedding hole 2431;

[0059] The folding unit 245 can be divided into a folding state and an unfolding state. When in the folding state, the inner disk 243 rotates clockwise, and the active rod 2423 and the connecting rod embedded thereon are retracted forward to drive the folding unit 245 to fold toward the center of the circle; when in the unfolding state, the inner disk 243 rotates counterclockwise, and the active rod 2423 and the connecting rod embedded thereon are pushed out in the reverse direction to drive the folding unit 245 to unfold toward the outer circumference.

[0060] The auxiliary crawler 4 comprises

[0061] A driving wheel 41, which is arranged on the side of the middle part of the chassis assembly 1;

[0062] A driven wheel 42, which is arranged on the side of the middle part of the chassis assembly 1;

[0063] A crawling belt 43 is sleeved on the driving wheel 41 and the driven wheel 42 .

[0064] By adopting the above technical solution, when the switch cabinet monitoring device encounters a groove or cable during its travel, the obstacle crossing component 2 needs to be unfolded, and the transmission shaft 23 drives the guide column 241 to rotate counterclockwise, and the two guide columns 241 hit a set of radially opposite follower rods 2433 on the inner disk 243, and drive the inner disk 243 to rotate counterclockwise, and the active rod 2423 and the connecting rod embedded thereon are pushed out in the reverse direction to drive the folding unit 245 to unfold toward the outer peripheral surface until the follower rod 2433 hits the inner disk 243. The inner disc 243 and the outer ring 244 of the obstacle overcoming wheel 242 remain relatively stationary, that is, in a fully deployed state, and the deployed outer diameter of the obstacle overcoming wheel 242 is larger than the outer diameter of the traveling wheel 11. At this time, the front wheel of the traveling wheel 11 is suspended, and the transmission shaft 23 continues to run. The obstacle overcoming wheel 242 rotates counterclockwise synchronously therewith, driving the obstacle overcoming component 2 to flip forward, and because the folding The units 245 are all sharp angles outward, which effectively prevent entanglement and can pass over messy cables without getting stuck in them. When the front part of the chassis assembly 1 passes over an obstacle and is lifted up, and the traveling wheel 11 is suspended and fails, the auxiliary crawler tracks 4 symmetrically arranged in the middle part of the chassis assembly 1 can cooperate with the obstacle-crossing component 2 to climb over the obstacle forward until the switch cabinet partial discharge monitoring device completely climbs over the obstacle and the deployment is completed; after the switch cabinet partial discharge monitoring device crosses the obstacle, the obstacle-crossing component 2 needs to be folded, and the transmission shaft 23 drives the guide column 241 to rotate clockwise (reverse rotation). After the two guide columns 241 rotate, they first hit another set of radially opposite follower rods 1 2433 on the inner disk 243, and drive the inner disk 243 to rotate clockwise, and then the follower rod 1 2433 hits the follower rod 2 2442 on the outer ring 244 to complete the folding action, and stop the operation of the transmission shaft 23. At this time, the folded outer diameter of the obstacle-crossing wheel 242 is smaller than the outer diameter of the traveling wheel 11, and the traveling wheel 11 is completely grounded to complete the folding. The obstacle crossing mechanism 24 has a reasonable structural design and a low failure rate. It can achieve accurate positioning through a mechanical structure, and can rotate forward as a whole from unfolding to fully unfolding until it reaches synchronous stillness, and can be stored from folding to fully folding until it reaches stillness, thereby ensuring obstacle crossing effect and efficiency. It effectively combines the advantages of the use of a suspended monitor and a patrol monitoring robot, and avoids the disadvantages of both. It can adapt to complex and changeable road conditions while also effectively avoiding obstacles. It can be used for patrol inspections of partial discharge monitoring in multiple distribution rooms, reducing installation and maintenance costs, improving economic benefits, eliminating the safety hazards of partial discharge in switch cabinets, improving the safety factor, and effectively reducing the operating burden of switch cabinets.

[0065] Embodiment 3

[0066] like Figure 4 , Figure 5 As shown, based on the above embodiment, this embodiment further provides the following contents:

[0067] In this embodiment, a spring 2422 is provided between the connecting rods in the folding unit 245 , and one end of the spring 2422 is connected to a universal ball joint 2421 located in the middle of the four connecting rods, and the other end is connected to the adjacent second embedding hole 2441 .

[0068] By adopting the above technical solution, the spring 2422 arranged between the folding units 245 plays a stabilizing role when the obstacle-crossing wheel 242 is unfolded, ensuring a smooth and jitter-free unfolding process, and plays a limiting role when fully unfolded, ensuring that the fully unfolded wheel 242 is not offside; when the obstacle-crossing wheel 242 is folded, the spring 2422 plays a contracting role, ensuring that the folding process is quickly in place, saving folding time. Its structure has a stabilizing and limiting role, ensuring the long-term operation of the obstacle-crossing wheel 242, extending its service life, greatly improving the opening and closing efficiency and speed of the obstacle-crossing component 2, improving the fault tolerance rate, and reducing the later maintenance cost.

[0069] Embodiment 4

[0070] like Figure 1 to Figure 3 As shown, based on the above embodiment, this embodiment further provides the following contents:

[0071] In this embodiment, the driving mechanism 22 includes

[0072] A servo motor 221, which is transversely mounted on the top surface of the extension plate 212;

[0073] A synchronous pulley 222 includes a synchronous wheel sleeved on the power output end of the servo motor 221 and another synchronous wheel sleeved on the transmission shaft 23, and a synchronous belt is sleeved between the two synchronous wheels.

[0074] By adopting the above technical scheme, the servo motor 221 and the obstacle wheel 242 transmit power through the synchronous pulley 222 on the transmission shaft 23. It is not only simple in structure and easy to operate, but also has universal and easy-to-replace parts. It can also improve transmission efficiency and accurately control the opening and closing positions of the obstacle wheel 242, thereby ensuring the stability and efficiency of product quality, reducing failures caused by power output, and improving economic benefits.

[0075] Embodiment 5

[0076] like Fig. 9 , Fig.10 As shown, based on the above embodiment, this embodiment further provides the following contents:

[0077] In this embodiment, a plurality of evenly distributed force-releasing holes 2432 are formed through the surface of the inner disk 243 .

[0078] By adopting the above technical solution, the unloading holes 2432 designed on the surface of the inner disk 243 can not only effectively avoid stress concentration during long-term use and ensure the stability and safety of the obstacle crossing wheel 242, but also play a role in weight reduction, increase the opening and closing speed of the obstacle crossing component 2, reduce the operating load of the servo motor 221, reduce the material cost of the obstacle crossing component 2, and improve the economic benefits.

[0079] Embodiment 6

[0080] like Figure 1 , Figure 2 As shown, based on the above embodiment, this embodiment further provides the following contents:

[0081] In this embodiment, the robot arm 31 is a three-axis robot, and its bottom is rotatably connected to the top surface of the chassis assembly 1 .

[0082] A camera 33 is disposed on the driving end face of the robot arm 31 , which is located on one side of the partial discharge monitor 32 .

[0083] A power battery is arranged inside the chassis assembly 1 .

[0084] By adopting the above technical solution, the camera 33 set at the end of the three-axis robot drive cooperates with the partial discharge monitor 32 to complete the partial discharge monitoring of switch cabinets in multiple distribution rooms. The power battery in the chassis assembly 1 serves as a power source to provide the required power for each component of the switch cabinet partial discharge monitoring device, thereby improving the working efficiency of the switch cabinet partial discharge monitoring device, shortening the payback period of the device, reducing the use cost, and improving the economic benefits.

[0085] The working principle and use process of the present invention:

[0086] When the present invention encounters a groove or cable during its advancement, the obstacle crossing component 2 needs to be unfolded, and the servo motor 221 drives the transmission shaft 23 to rotate through the synchronous pulley 222, and the transmission shaft 23 drives the guide column 241 to rotate counterclockwise, and the two guide columns 241 hit a set of radially opposite follower rods 2433 on the inner disk 243, and drive the inner disk 243 to rotate counterclockwise, and the active rod 2423 and the connecting rod embedded thereon are pushed out in the opposite direction to drive the folding unit 245 to unfold toward the outer peripheral surface until the follower rod 2433 hits the inner disk 243. The inner plate 243 and the outer ring 244 of the obstacle overcoming wheel 242 rotate simultaneously with the guide column 241 of the transmission shaft 23 and remain relatively stationary, that is, in a fully deployed state. The deployed outer diameter of the obstacle overcoming wheel 242 is larger than the outer diameter of the traveling wheel 11. At this time, the front wheel of the traveling wheel 11 is suspended in the air, and the transmission shaft 23 continues to run. The obstacle overcoming wheel 242 rotates counterclockwise synchronously therewith, driving the obstacle overcoming component 2 to flip forward, and because the obstacle overcoming wheel 242 is on the outer ring 244 after deployment, the inner plate 243 and the outer ring 244 of the obstacle overcoming wheel 242 rotate simultaneously with the guide column 241 of the transmission shaft 23 and remain relatively stationary, that is, in a fully deployed state. The folding unit 245 has sharp angles outwards, which effectively prevents winding and allows the chassis assembly 1 to pass over messy cables without getting stuck in them. When the front of the chassis assembly 1 passes over an obstacle and is lifted up, and the traveling wheel 11 is suspended and fails, the auxiliary crawler track 4 symmetrically arranged in the middle of the chassis assembly 1 can cooperate with the obstacle-crossing component 2 to cross the obstacle forward until the switch cabinet partial discharge monitoring device completely crosses the obstacle and the deployment is completed; when the switch cabinet partial discharge monitoring device crosses the obstacle, the obstacle-crossing component 2 needs to be folded, and the servo motor 221 drives the synchronous pulley 222 to move forward. The transmission shaft 23 is reversed, and the transmission shaft 23 drives the guide column 241 to rotate clockwise (reverse rotation). After the two guide columns 241 rotate, they first hit another set of radially opposite follower rods 1 2433 on the inner disk 243, and drive the inner disk 243 to rotate clockwise. Then the follower rod 1 2433 hits the follower rod 2 2442 on the outer ring 244 to complete the folding action, and stop the operation of the transmission shaft 23. At this time, the folded outer diameter of the obstacle wheel 242 is smaller than the outer diameter of the traveling wheel 11, and the traveling wheel 11 is completely grounded to complete the folding. When it arrives in front of the switch cabinet, the robot arm 31 rotates and lifts, and controls the partial discharge monitor 32 clamped at its end to perform multi-point monitoring of the switch cabinet, and sends the monitoring results to the remote server port. The remote operator can complete online monitoring and playback through the camera 33 on the robot arm 31.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A switch cabinet partial discharge monitoring device, characterized in that: The device includes: A chassis assembly (1) which is a cross-shaped box body and has two pairs of traveling wheels (11) symmetrically arranged along a central axis; An obstacle surmounting component (2), comprising a support plate (21) laterally attached along the front end surface of the chassis assembly (1), the front ends of the cantilevers on both sides of the front side of the support plate (21) being symmetrically provided with mounting holes (211) along the central axis thereof, a transmission shaft (23) being rotatably connected between the two mounting holes (211), the ends of the transmission shaft (23) being axially symmetrically provided with foldable and unfoldable obstacle surmounting mechanisms (24), an extension plate (212) protruding from the middle of the front side of the support plate (21), the transmission shaft (23) being drivingly connected to a driving mechanism (22) provided on the extension plate (212); A monitoring mechanism (3) comprising a mechanical arm (31) mounted on the top of the chassis assembly (1), wherein a partial discharge monitor (32) is detachably clamped on an end surface of a driving end of the mechanical arm (31); two auxiliary crawlers (4), which are symmetrically arranged along the central axis of the chassis assembly (1) and are used to assist the obstacle-crossing mechanism (24) in crossing obstacles when it is deployed; The obstacle crossing mechanism (24) comprises An outer ring (244) is a hollow ring body axially sleeved on the end of the transmission shaft (23), and its outer circumferential surface is circumferentially equidistantly penetrated with ten annular grooves (2444), and both ends of the annular groove (2444) are provided with two embedding holes (2441) with notches on the outer end faces, and the outer end faces of the two embedding holes (2441) are lower than the annular surface of the outer ring (244); the inner circumferential surface of the outer ring (244) is radially and vertically symmetrically provided with two follower rods (2442), and the inner end face of the outer ring (244) is fixedly connected with a cross-shaped hollow fixing ring (2443); the end gap of the transmission shaft (23) passes through the hollow hole of the fixing ring (2443), and radially and vertically symmetrically provided with guide pillars (241); an inner disk (243) which is a hollow disk axially fixedly sleeved on the end of the transmission shaft (23) and is placed inside the outer ring (244); the outer circumferential surface of the inner disk (243) is vertically provided with ten stepped mounting holes (2431) at equal intervals in the circumferential direction and with notches on the outer end surface; four follower rods (2433) are vertically provided at equal intervals on the outer edge of the inner disk surface of the inner disk (243); and the follower rod (2433), the follower rod (2442) and the guide column (241) are located in the same vertical plane; An obstacle-crossing wheel (242) composed of ten groups of folding units (245) connected end to end in a circumferential direction; The obstacle-crossing wheel (242) can be in a folded state and an unfolded state. When in the folded state, the transmission shaft (23) drives the guide post (241) to rotate clockwise, and the two guide posts (241) hit a set of radially opposite follower rods (2433) on the inner disk (243), and drive the inner disk (243) to rotate clockwise until the follower rods (2433) hit the follower rods (2442) on the outer ring (244), thereby completing the folding action and stopping the operation of the transmission shaft (23). The folded outer diameter of the obstacle-crossing wheel (242) is smaller than the outer diameter of the traveling wheel (11). When in the unfolded state, the transmission shaft (23) drives the guide column (241) to rotate counterclockwise, and the two guide columns (241) hit another set of radially opposite follower rods (2433) on the inner disk (243), and drive the inner disk (243) to rotate counterclockwise until the follower rod (2433) hits the follower rod (2442) on the outer ring (244) to complete the unfolding action. The unfolded outer diameter of the obstacle-crossing wheel (242) is larger than the outer diameter of the traveling wheel (11), and the transmission shaft (23) continues to operate, and the obstacle-crossing wheel (242) rotates counterclockwise synchronously therewith.

2. The switch cabinet partial discharge monitoring device according to claim 1, characterized in that: The folding unit (245) comprises a connecting rod, wherein four connecting rods are connected end to end via a universal ball joint (2421), and the connecting rod ends located at the head and tail ends are connected to the universal ball joint (2421) embedded in the corresponding second embedding hole (2441), and the universal ball joint (2421) located in the middle is connected to an active rod (2423), and the bottom end of the active rod (2423) is connected to the universal ball joint (2421) embedded in the corresponding first embedding hole (2431); The folding unit (245) can be divided into a folding state and an unfolding state. When in the folding state, the inner disk (243) rotates clockwise, and the active rod (2423) and the connecting rod embedded thereon are retracted in the positive direction, thereby driving the folding unit (245) to fold toward the center of the circle; when in the unfolding state, the inner disk (243) rotates counterclockwise, and the active rod (2423) and the connecting rod embedded thereon are pushed out in the reverse direction, thereby driving the folding unit (245) to unfold toward the outer peripheral surface.

3. The switch cabinet partial discharge monitoring device according to claim 2, characterized in that: A spring (2422) is provided between the connecting rods in the folding unit (245), and one end of the spring (2422) is connected to a universal ball joint (2421) located in the middle of the four connecting rods, and the other end of the spring (2422) is connected to the adjacent second embedding hole (2441).

4. The switch cabinet partial discharge monitoring device according to claim 1, characterized in that: The driving mechanism (22) comprises a servo motor (221) transversely mounted on the top surface of the extension plate (212); A synchronous pulley (222) comprises a synchronous wheel sleeved on the power output end of the servo motor (221) and another synchronous wheel sleeved on the transmission shaft (23), wherein a synchronous belt is sleeved between the two synchronous wheels.

5. The switch cabinet partial discharge monitoring device according to claim 1, characterized in that: The auxiliary crawler (4) comprises A driving wheel (41) disposed on the side of the middle portion of the chassis assembly (1); a driven wheel (42) disposed on the side of the middle portion of the chassis assembly (1); A crawling belt (43) is sleeved on the driving wheel (41) and the driven wheel (42).

6. The switch cabinet partial discharge monitoring device according to claim 1, characterized in that: The inner disk (243) has a plurality of evenly distributed force-releasing holes (2432) extending through the disk surface.

7. The switch cabinet partial discharge monitoring device according to claim 1, characterized in that: The robot arm (31) is a three-axis robot, the bottom of which is rotatably connected to the top surface of the chassis assembly (1).

8. The switch cabinet partial discharge monitoring device according to claim 7, characterized in that: A camera (33) is provided on the end surface of the driving end of the robot arm (31) located on one side of the partial discharge monitor (32).

9. The switch cabinet partial discharge monitoring device according to any one of claims 1 to 8, characterized in that: A power storage battery is arranged inside the chassis assembly (1).

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