Inspection robot for data acquisition of transformer substation

Abstract

The invention relates to the field of transformer substation digital twinning, in particular to a transformer substation data acquisition inspection robot which comprises a frame, a front wheel mechanism, a rear wheel mechanism, a reversing mechanism, a navigation acquisition device, an inspection acquisition device and a controller. Intermittent sliding rails are laid on the ground of a transformer substation where the inspection robot runs, and limiting pulleys matched with the sliding rails are installed on the lower portion of the vehicle frame through limiting rods. Part of the sliding rails are laid on the ground of the transformer substation, and the limiting pulleys matched with the sliding rails are arranged below the frame of the inspection robot, so that the inspection robot can move along the sliding rails in most running paths, and the accuracy of the running track of the inspection robot can be improved.

Description

Technical Field

[0001] The present invention relates to the field of digital twins of substations, and in particular to an inspection robot for substation data collection. Background Art

[0002] Digital twins are a technical means of creating virtual entities of physical entities in a digital way, using historical data, real-time data, and algorithm models to simulate, verify, predict, and control the entire life cycle of physical entities. It is also a digital expression of a specific physical entity or process with data connection, which can ensure the same rate of convergence between the physical state and the virtual state, and provide an integrated view of the entire life cycle of the physical entity or process, which helps to optimize overall performance.

[0003] Today, digital twin technology is increasingly becoming a new engine triggering the rapid development of the power and power grid industries. The construction of digital twins of substations is one of the important points of digital twins in the power grid industry. First, a three-dimensional model is built, and then the operating status of the equipment is fed back to the three-dimensional model in combination with monitoring equipment, thereby forming a digital twin three-dimensional model of the substation. By observing the digital twin three-dimensional model, the operation of the entire substation can be monitored and personnel can be arranged for maintenance.

[0004] The monitoring equipment used to build digital twins generally includes fixed equipment and mobile equipment, among which the inspection robot is a commonly used mobile device for collecting data; the inspection robot collects route information through a navigation collection device (infrared or video) and moves along a fixed path. The inspection collection device on it (including video collection and infrared temperature collection, etc.) completes the information collection of the substation circuit equipment; the inspection robot's path is controlled by infrared or video combined with algorithms and controllers, which is prone to inaccurate calculations or controller jams, which in turn leads to inaccurate operation paths. How to ensure the accuracy of the inspection robot's operation trajectory and prevent it from interfering with the power equipment in the substation has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The purpose of the present invention is to provide an inspection robot for substation data collection. Some slide rails are laid on the ground of the substation, and limiting pulleys cooperating with the slide rails are arranged under the frame of the inspection robot. In this way, the inspection robot can move along the slide rails in most of the running path, which can improve the accuracy of the running trajectory of the inspection robot.

[0006] In order to achieve the above objectives, the technical solution adopted by the present invention is: a patrol robot for substation data collection, including a frame, a front wheel mechanism, a rear wheel mechanism, a reversing mechanism, a navigation collection device, a patrol collection device and a controller; the substation ground where the patrol robot operates is paved with intermittent slide rails, and the lower part of the frame is equipped with a limiting pulley that cooperates with the slide rail through a limiting rod.

[0007] Preferably, an adjustment mechanism is provided in the middle of the frame, and the adjustment mechanism is used to make the front wheel mechanism and the rear wheel mechanism leave the ground and make the frame rotate as a whole.

[0008] Preferably, the adjustment structure includes an adjustment motor mounted on the frame, the output shaft of the adjustment motor passes through the frame, the passing portion is connected to an adjustment telescopic pull rod, and the lower portion of the adjustment telescopic pull rod is connected to an adjustment support block.

[0009] Preferably, an adjustment limit sleeve is provided at the lower part of the frame, the outer part of the adjustment telescopic rod is cylindrical and is located in the adjustment limit sleeve, and the axes of the output shaft of the adjustment motor, the adjustment telescopic rod and the adjustment limit sleeve coincide.

[0010] Preferably, a rear wheel mounting frame is fixedly connected below the frame, and the rear wheel mechanism includes two separate rear wheel structures, and the rear wheel structure includes a rear wheel mounting seat, which is mounted on the rear wheel mounting frame by bolts, and a rear wheel drive motor is provided on the rear wheel mounting seat, and the rear wheel drive motor is connected to the rear wheel and drives the rear wheel.

[0011] Preferably, a mounting groove is provided on the rear wheel mounting seat, and the portion of the rear wheel mounting frame used to mount the rear wheel mounting seat is a flat plate, which is inserted into the mounting groove of the rear wheel mounting seat, and the mounting groove and the flat plate are penetrated and locked by bolts.

[0012] Preferably, the front wheel mechanism comprises a front wheel mounting seat mounted on the frame via a front wheel mounting shaft, a rotatable front wheel is mounted on the front wheel mounting seat, and the front wheel mounting seat is connected to a reversing mechanism and driven by the reversing mechanism to rotate around the front wheel mounting shaft.

[0013] Preferably, the reversing mechanism includes a reversing servo arranged on the frame, the reversing servo is connected to a reversing turn block, two reversing connecting rods are installed on the reversing turn block, and the phase difference between the two reversing connecting rods is 180 degrees, and the other ends of the two reversing connecting rods are respectively connected to the two front wheel mounting seats through pins.

[0014] Preferably, the navigation collection device includes a navigation collection seat installed on the frame by bolts, a navigation collection module is installed on the collection navigation seat, and both ends of the navigation collection module are mounting axes and are locked on the collection navigation seat by bolts. The navigation collection module includes but is not limited to a camera, a rangefinder or an infrared detector.

[0015] The technical effects of the present invention are: Some slide rails are laid on the ground of the substation, and limiting pulleys matching the slide rails are set under the frame of the inspection robot. In this way, the inspection robot can move along the slide rails in most of the running path, which can improve the accuracy of the running trajectory of the inspection robot.

[0016] The design of the adjustment mechanism can make the frame rotate as a whole, so that precise lane changing operation can be achieved in cooperation with the reversing mechanism during the slide rail lane changing process.

[0017] The design of the adjustment structure will not interfere with the normal driving of the inspection robot under normal circumstances, and the design of the adjustment limit sleeve can ensure the overall rotation accuracy without eccentricity, thereby better realizing precise lane changing operations.

[0018] The design of the rear wheel mechanism realizes independent drive of the rear wheels and facilitates the disassembly and replacement of a single rear wheel and the drive structure.

[0019] The reversing mechanism cooperates with the design of the front wheel mechanism, and the synchronous reversing adjustment of the two front wheels can be achieved through a simple structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A top view of an inspection robot for substation data collection.

[0021] Figure 2 for Figure 1 Sectional view of AA.

[0022] Figure 3 This is a schematic diagram of the adjustment mechanism cooperating with the reversing.

[0023] Figure 4 It is a three-dimensional schematic diagram of a single rear wheel structure.

[0024] Figure 5 It is a three-dimensional schematic diagram of the front wheel mechanism and the reversing mechanism from a top-down perspective.

[0025] Figure 6 It is a three-dimensional schematic diagram of the front wheel mechanism and the reversing mechanism from a bottom-up perspective.

[0026] Figure 7 It is a three-dimensional schematic diagram of the navigation collection device.

[0027] The text labels shown in the figure are as follows: 1. Frame; 2. Front wheel mechanism; 3. Rear wheel mechanism; 4. Reversing mechanism; 5. Navigation collection device; 6. Inspection collection device; 7. Adjustment mechanism; 8. Slide rail; 9. Limit rod; 10. Limit pulley; 11. Rear wheel mounting frame; 12. Adjustment motor; 13. Adjustment telescopic pull rod; 14. Adjustment support block; 15. Adjustment limit sleeve; 17. Rear wheel mounting seat; 18. Rear wheel mounting bolt; 19. Rear wheel drive motor; 20. Rear wheel; 21. Front wheel; 22. Front wheel mounting seat; 23. Front wheel mounting shaft; 24. Reversing connecting rod; 25. Reversing block; 26. Reversing servo; 28. Navigation collection seat; 29. ​​Navigation collection module. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings. The description in this part is only exemplary and explanatory and should not have any limiting effect on the protection scope of the present invention. Example 1

[0029] like Figure 1 As shown, a patrol robot for substation data collection includes a frame 1, a front wheel mechanism 2, a rear wheel mechanism 3, a reversing mechanism 4, a navigation collection device 5, a patrol collection device 6 and a controller; the substation floor where the patrol robot runs is paved with intermittent slide rails 8, and the lower part of the frame 1 is equipped with a limiting pulley 10 that cooperates with the slide rail 8 through a limiting rod 9.

[0030] In order to better realize track-fixed inspection, in this embodiment, a slide rail 8 is laid on the ground of the substation. Due to the terrain and other conditions, the connection part of two slide rails at an angle is generally disconnected. In this case, the navigation collection device 5 needs to cooperate with the reversing mechanism 4 to realize track change. Specifically, the rear wheel mechanism 3 has its own driving structure, and the inspection robot is driven to move as a whole through the rear wheel mechanism 3. When on the slide rail 8, only the reversing mechanism 4 is needed to keep the front wheel mechanism 2 moving forward, so that the limit pulley 10 can be track-fixed on the slide rail 8. When it reaches the position where the track needs to be changed, it is necessary to adjust the angle of the front wheel mechanism 2 through the reversing mechanism 4, and combine The data collected by the navigation collection device 5 is used to adjust the forward angle of the inspection robot so that it can enter the next section of the slide rail 8. If the angle formed by the two sections of the slide rail is relatively small, such as a 30-degree angle, it may be impossible to adjust the angle directly through the reversing mechanism 4 at one time, and it is necessary to cooperate with the rear wheel mechanism 3 for backward adjustment. Under normal circumstances, the reversing mechanism 4 cannot ensure the accuracy of the reversing angle each time, and multiple adjustments are required to achieve accurate track changing; during the movement of the inspection robot, the inspection collection device 6 will collect information about the power equipment in the area it passes through, and the collected information includes video, photos, infrared images and other information. Example 2

[0031] like Figure 1-3 As shown, compared with Example 1, this embodiment is provided with an adjusting mechanism 7 in the middle part of the frame 1, and the adjusting mechanism is used to make the front wheel mechanism 2 and the rear wheel mechanism 3 leave the ground and make the frame 1 rotate as a whole, and the adjusting structure 7 includes an adjusting motor 12 installed on the frame 1, and the output shaft of the adjusting motor 12 passes through the frame 1, and the passing part is connected with an adjusting telescopic rod 13, and the lower part of the adjusting telescopic rod 13 is connected with an adjusting support block 14, and the lower part of the frame 1 is provided with an adjusting limit sleeve 15, and the outer part of the adjusting telescopic rod 13 is cylindrical and is located in the adjusting limit sleeve 15, and the axes of the output shaft of the adjusting motor 12, the adjusting telescopic rod 13 and the adjusting limit sleeve 15 coincide.

[0032] The movement of this embodiment on the slide rail 8 is consistent with that of embodiment 1, and the difference lies in the track changing process. When changing tracks, combined with the track position information collected by the navigation collection mechanism and the reversing of the reversing mechanism, during the reversing process, the telescopic pull rod 13 can be adjusted to drive the adjustment support block 14 to extend, so that the adjustment support block 14 contacts the ground and lifts the frame 1 as a whole, so that the front wheel mechanism 2 and the rear wheel mechanism 3 are off the ground, and then the frame 1 is driven to rotate as a whole by the adjustment motor 12, so that the travel direction can be adjusted in situ. For some cabinet changes with small angles, accurate track changing operations can be achieved without multiple forward and backward adjustments. Example 3

[0033] like Figure 4 As shown, compared with Example 1, this embodiment concretizes the structure of the rear wheel mechanism, a rear wheel mounting frame 11 fixedly connected below the frame 1, the rear wheel mechanism 3 includes two separate rear wheel structures, the rear wheel structure includes a rear wheel mounting seat 17, the rear wheel mounting seat 17 is mounted on the rear wheel mounting frame 11 by bolts, and a rear wheel drive motor 19 is provided on the rear wheel mounting seat 17, the rear wheel drive motor 19 is connected to the rear wheel 20 and drives the rear wheel 20, the rear wheel mounting seat 17 is provided with a mounting groove, the part of the rear wheel mounting frame 11 used to mount the rear wheel mounting seat 17 is a flat plate, the flat plate is inserted into the mounting groove of the rear wheel mounting seat 17, and the mounting groove and the flat plate are penetrated and locked by bolts.

[0034] The rear wheel mounting seat 17 is connected to the flat plate portion of the rear wheel mounting frame 11, specifically by inserting the flat plate into the mounting groove of the rear wheel mounting seat 17, and then the mounting groove and the flat plate are penetrated and locked by bolts, so that disassembly and installation are convenient, and the rear wheel drive motor 19 can drive the rear wheel 20, and the rear wheel 20 can be driven forward and backward by the forward and reverse rotation of the rear wheel drive motor 19. Example 4

[0035] like Figure 5-6 As shown, compared with Example 1, this embodiment specifically specifies the front wheel mechanism and the reversing mechanism, the front wheel mechanism 2 includes a front wheel mounting seat 22 installed on the frame 1 through a front wheel mounting shaft 23, a rotatable front wheel 21 is installed on the front wheel mounting seat 22, and the front wheel mounting seat 22 is connected to the reversing mechanism 4 and is driven by the reversing mechanism to rotate around the front wheel mounting shaft 23; the reversing mechanism 4 includes a reversing servo 26 arranged on the frame 1, the reversing servo 26 is connected to a reversing block 25, two reversing connecting rods 24 are installed on the reversing block 25, and the phase difference between the two reversing connecting rods 24 is 180 degrees, and the other ends of the two reversing connecting rods 24 are respectively connected to the two front wheel mounting seats 22 through pins.

[0036] The front wheel mounting seat 22 and the frame 1 are mounted via the front wheel mounting shaft 23, and the front wheel mounting seat 22 is connected to the reversing block 25 via the reversing connecting rod 24. When reversing is required, the reversing block 25 is driven to rotate by the reversing servo 26, thereby driving the reversing connecting rod 24 to move, and the reversing connecting rod 24 will push the reversing mounting seat 22, and the pushing force will cause the reversing mounting seat 22 to rotate around the front wheel mounting shaft 23, so that the angle adjustment of the front wheel 21 can be achieved, and reversing can be achieved. Since the two front wheels are adjusted by the same reversing servo 26 and the reversing block 25, and the two reversing connecting rods 24 have a phase difference of 180 degrees, the angle adjustment of the two front wheels 21 can be ensured to be consistent, thereby ensuring the accuracy of the reversing. Example 5

[0037] Compared with Example 1, this embodiment specifically discloses the structure of the navigation collection device, the navigation collection device 25 includes a navigation collection seat 28 set on the frame 1 by bolts, and a navigation collection module 29 is installed on the navigation collection seat 28, and the two ends of the navigation collection module 29 are mounting axes, and are locked on the navigation collection seat 28 by bolts. The navigation collection module 29 includes but is not limited to a camera, a rangefinder or an infrared detector.

[0038] According to the needs of navigation, cameras, rangefinders, infrared detectors, etc. can be used as collection equipment, and the used collection equipment can be integrated to form an integrated navigation collection module 29, and then the navigation collection membrane filter 29 is installed on the navigation collection seat 28 by bolts, and then installed on the frame 1 through the navigation collection seat 28, so as to complete the installation of the navigation collection device 25, which is convenient for the overall installation and disassembly and the separate disassembly and replacement of the navigation collection module 29.

[0039] It should be noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.

[0040] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. The above is only a preferred implementation of the present invention. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the protection scope of the present invention.

Claims

1. A patrol robot for substation data collection, comprising a frame, a front wheel mechanism, a rear wheel mechanism, a reversing mechanism, a navigation collection device, a patrol collection device and a controller; characterized in that: The ground of the substation where the inspection robot runs is paved with intermittent slide rails, and the lower part of the frame is provided with a limiting pulley matched with the slide rails through a limiting rod.

2. The inspection robot for substation data collection according to claim 1, characterized in that: An adjusting mechanism is arranged in the middle of the frame, and the adjusting mechanism is used to make the front wheel mechanism and the rear wheel mechanism leave the ground and make the frame rotate as a whole.

3. The inspection robot for substation data collection according to claim 2 is characterized in that: The adjustment structure comprises an adjustment motor mounted on the frame, the output shaft of the adjustment motor passes through the frame, an adjustment telescopic pull rod is connected to the passed portion, and an adjustment support block is connected below the adjustment telescopic pull rod.

4. The inspection robot for substation data collection according to claim 3 is characterized in that: An adjusting limit sleeve is arranged at the lower part of the frame, the outer part of the adjusting telescopic rod is cylindrical and is located in the adjusting limit sleeve, and the axes of the output shaft of the adjusting motor, the adjusting telescopic rod and the adjusting limit sleeve coincide with each other.

5. The inspection robot for substation data collection according to claim 1, characterized in that: A rear wheel mounting frame is fixedly connected below the frame, wherein the rear wheel mechanism includes two separate rear wheel structures, and the rear wheel structure includes a rear wheel mounting seat, which is mounted on the rear wheel mounting frame by bolts, and a rear wheel drive motor is arranged on the rear wheel mounting seat, and the rear wheel drive motor is connected to the rear wheel and drives the rear wheel.

6. The inspection robot for substation data collection according to claim 5, characterized in that: The rear wheel mounting seat is provided with a mounting groove, and the part of the rear wheel mounting frame used for mounting the rear wheel mounting seat is a flat plate, which is inserted into the mounting groove of the rear wheel mounting seat, and the mounting groove and the flat plate are penetrated and locked by bolts.

7. The inspection robot for substation data collection according to claim 1, characterized in that: The front wheel mechanism comprises a front wheel mounting seat mounted on the frame via a front wheel mounting shaft, a rotatable front wheel is mounted on the front wheel mounting seat, and the front wheel mounting seat is connected to a reversing mechanism and driven by the reversing mechanism to rotate around the front wheel mounting shaft.

8. The inspection robot for substation data collection according to claim 7, characterized in that: The reversing mechanism includes a reversing servo arranged on a vehicle frame, the reversing servo is connected to a reversing turn block, two reversing connecting rods are installed on the reversing turn block, and the phase difference between the two reversing connecting rods is 180 degrees, and the other ends of the two reversing connecting rods are respectively connected to two front wheel mounting seats through pins.

9. The inspection robot for substation data collection according to claim 1, characterized in that: The navigation collection device includes a navigation collection seat installed on a frame by bolts, a navigation collection module is installed on the collection navigation seat, and both ends of the navigation collection module are mounting shafts and are locked on the collection navigation seat by bolts. The navigation collection module includes but is not limited to a camera, a rangefinder or an infrared detector.

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