Electrified closed area foreign matter removing robot

Abstract

The invention relates to the technical field of robots, and provides an electrified closed area foreign matter removing robot which comprises a robot body, the bottom of the robot body is provided with a saw cutting assembly, the head of the robot body is provided with a shearing assembly, and the tail of the robot body is provided with a grabbing assembly. A power supply assembly is arranged in the middle of the vehicle body, and the robot is provided with a remote controller in a matched mode. A second remote control receiving module is controlled, a mechanical arm is driven to pick up sundries, a worker controls a first remote control receiving module to start a first drive motor, drive wheels to rotate and drive the sundries to leave a closed area, the device can remove the foreign matters in the closed area under the condition that equipment is not powered off, the forced stop event of the equipment is avoided, and the working efficiency is improved. The power grid reliability is improved; particularly, foreign matters in a main transformer series reactor area are removed without power cut, so that the main transformer can supply power continuously, and loss caused by power supply interruption is avoided.

Description

Technical Field

[0001] The invention relates to the field of robots, in particular to a robot for removing foreign matter in an electrified closed area. Background Art

[0002] In the power industry, substations are key nodes in the power grid, and their stable operation is crucial to ensuring the continuity and reliability of power supply. However, substations, especially energized and enclosed areas such as capacitors, reactors, and main transformer series reactors, face many maintenance challenges.

[0003] In an outdoor substation environment, wind, bird activity or human factors may cause foreign objects (such as metal fragments, plastic bags, branches, etc.) to enter these enclosed areas. At the same time, the growth of weeds may also pose a threat to the safe operation of the equipment, such as causing short circuits or interfering with equipment heat dissipation. Traditionally, dealing with these problems requires shutting down the relevant equipment first, which not only affects the continuity of power supply, but may also have a negative impact on the stability of the power grid and the company's economic operating indicators due to the large scope of the power outage. Especially in the main transformer series reactor area, a power outage often means the shutdown of the entire main transformer, resulting in huge economic losses and social impacts. The substation also contains some areas that are difficult for personnel to enter directly or have difficulty entering and exiting, such as cable trenches, cable wells and cable layers. Due to the small space and complex environment of these areas, operation and maintenance personnel are very likely to be injured or find it difficult to work effectively when conducting inspections, maintenance and troubleshooting. In addition, the concealment of these areas also increases safety hazards. Summary of the invention

[0004] The present invention provides a robot for removing foreign objects in an electrified enclosed area. By controlling a remote control receiving module 1, a sawing component, a shearing component and the grasping component, the robot can remove foreign objects in the enclosed area without powering off the equipment, thereby avoiding the occurrence of forced shutdown events of the equipment and improving the reliability of the power grid. In particular, foreign objects in the area of ​​a series reactor of a main transformer can be removed without powering off, so that the main transformer can continue to supply power, thus avoiding the occurrence of insufficient power supply, reducing the workload of operation and maintenance personnel, reducing labor intensity, improving the safety of personnel when removing foreign objects, and ensuring the operation of the equipment, so as to solve the problems existing in the background technology.

[0005] The technical solution of the present invention is as follows:

[0006] A robot for removing foreign matter in an electrified enclosed area, comprising: a robot, the robot comprising a body, two wheels are arranged on both sides of the body, four driving motors 1 are installed on the body, and the four driving motors 1 are respectively connected to the four wheels in a driving manner, and the body is installed with a remote control receiving module 1 for controlling the four driving motors 1;

[0007] A sawing assembly is installed at the bottom of the body, a shearing assembly is arranged at the head of the body, a grabbing assembly is arranged at the tail of the body, a power supply assembly is arranged at the middle of the body, and the robot is equipped with a remote controller.

[0008] Furthermore, the sawing assembly includes a cutting blade installed at the bottom of the vehicle body, a drive motor 2 is installed on the top of the vehicle body, and the output end of the drive motor 2 is transmission-connected to the cutting blade, and a remote control switch 1 for controlling the drive motor 2 is installed on the vehicle body.

[0009] Furthermore, the shearing assembly includes electric scissors fixedly mounted on the head of the vehicle body, and a remote control switch 2 for controlling the electric scissors is mounted on the vehicle body.

[0010] Furthermore, the grabbing assembly includes a mechanical arm mounted on the vehicle body, and a remote control receiving module 2 for controlling the mechanical arm is also mounted on the vehicle body.

[0011] Furthermore, the remote controller is provided with a wheel remote control module, a sawing component remote control module, a shearing component remote control module and a grabbing component remote control module, and the above modules remotely control the wheels, sawing component, shearing component and grabbing component respectively via Bluetooth.

[0012] Furthermore, the power supply assembly includes a battery detachably connected to the top of the vehicle body, a voltage regulating module installed on the vehicle body, and a control switch installed on the vehicle body for controlling the on and off of the battery power supply.

[0013] Furthermore, the vehicle body is made of epoxy resin board material, which is relatively easy to manufacture, has a light weight, is relatively sturdy, and can also serve as an insulator. The wheel type is Mecanum wheel, which is easy to install. The drive motor 1 is a 3.7V DC reduction motor, the drive motor 2 is a 12V DC motor, and the robotic arm is a three-section robotic arm.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The present invention controls the remote control receiving module 1 through the remote control, so that the wheels drive the device to the position where there are debris. If the debris is a single weed, the electric scissors are aimed at the root of the weed, and the remote control switch 2 is turned on to drive the electric scissors to cut the weed. Then the remote control receiving module 1 is controlled to start the driving motor 1 to drive the wheels to rotate, so that the mechanical arm faces the weeds just cut, and the remote control receiving module 2 is controlled to drive the mechanical arm to pick up the weeds, collect the weeds, and take them away from the closed area, thereby reducing the workload of the operation and maintenance personnel, reducing the labor intensity, improving the safety of the personnel when removing foreign objects, and ensuring the operation of the equipment.

[0016] 2. The present invention controls the remote control receiving module 2 to drive the mechanical arm to pick up the debris. The staff controls the remote control receiving module 1 to start the driving motor 1 to drive the wheels to rotate, thereby driving the debris to leave the closed area. The device can remove foreign objects in the closed area without powering off the equipment, thus avoiding the occurrence of forced shutdown of the equipment and improving the reliability of the power grid; in particular, foreign objects in the area of ​​the main transformer series reactor can be removed without powering off, so that the main transformer can continue to supply power and avoid losses caused by power outages. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a stereogram of the device of the present invention;

[0018] Figure 2 It is the internal structure diagram of the present invention;

[0019] Figure 3 It is a structural diagram of the power supply component of the device of the present invention;

[0020] Figure 4 It is a diagram of the actual use process of the device of the present invention;

[0021] Figure 5 It is a comparison chart of the time of cleaning foreign matter before and after using the device of the present invention.

[0022] In the figure:

[0023] 1. Robot; 11. Car body; 12. Wheels; 13. Remote control receiving module 1; 14. Drive motor 1; 2. Sawing component; 21. Cutting blade; 22. Drive motor 2; 23. Remote control switch 1; 24. DC contactor; 3. Shearing component; 31. Electric scissors; 32. Remote control switch 2; 4. Grasping component; 41. Robotic arm; 42. Remote control receiving module 2; 5. Power supply component; 51. Battery; 52. Voltage regulating module; 53. Control switch; 6. Remote control. DETAILED DESCRIPTION

[0024] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0025] like Figure 1-5 As shown, the present invention provides a foreign body removal robot for an electrified enclosed area, comprising: a robot 1, the robot 1 comprising a body 11, two wheels 12 are arranged on both sides of the body 11, four driving motors 14 are also installed on the body 11, and the four driving motors 14 are respectively connected to the four wheels 12 in a transmission manner, and the body 11 is installed with a remote control receiving module 13 for controlling the four driving motors 14;

[0026] A sawing assembly 2 is installed at the bottom of the body 11, a shearing assembly 3 is provided at the head of the body 11, a grabbing assembly 4 is provided at the tail of the body 11, a power supply assembly 5 is provided at the middle of the body 11, and the robot 1 is equipped with a remote control 6.

[0027] As a technical solution of the present invention, the sawing assembly 2 includes a cutting blade 21 installed at the bottom of the body 11. The cutting blade 21 is made of plastic. Compared with alloy blades, it is not only easy to install, but also can meet the needs of removing weeds and other foreign objects in the electrified closed area without damaging the equipment. A drive motor 22 is installed on the top of the body 11, and the output end of the drive motor 22 is transmission-connected to the cutting blade 21. A remote control switch 23 for controlling the drive motor 22 is installed on the body 11. A DC contactor 24 is arranged between the remote control switch 23 and the drive motor 22. When the remote control switch 23 issues an instruction, the DC contactor 24 responds to the instruction and connects or disconnects the power supply of the drive motor 22, thereby realizing the start and stop control of driving the drive motor 22, which can play a good circuit protection role and prevent abnormal current or fault from causing damage to the drive motor 22 and the entire system.

[0028] As a technical solution of the present invention, the shearing assembly 3 includes an electric scissors 31 fixedly mounted on the head of the vehicle body 11 , and a remote control switch 32 for controlling the electric scissors 31 is mounted on the vehicle body 11 .

[0029] As a technical solution of the present invention, the grabbing assembly 4 includes a mechanical arm 41 installed on the vehicle body 11 , and a remote control receiving module 42 for controlling the mechanical arm 41 is also installed on the vehicle body 11 .

[0030] As a technical solution of the present invention, the remote controller 6 is provided with a wheel remote control module, a sawing component remote control module, a shearing component remote control module and a grabbing component remote control module, and the above modules remotely control the wheel 12, the sawing component 2, the shearing component 3 and the grabbing component 4 respectively via Bluetooth.

[0031] As a technical solution of the present invention, the power supply component 5 includes a battery 51 detachably connected to the top of the vehicle body 11, a voltage regulating module 52 installed on the vehicle body 11, and a control switch 53 installed on the vehicle body 11 for controlling the on and off of power supply of the battery 51.

[0032] As a technical solution of the present invention, the body 11 is made of epoxy resin board material, which is easy to process, has a small weight, is relatively reliable, and can also play an insulating role. The wheel 12 is a Mecanum wheel, which is easy to install. By driving the drive motor 14 to drive each wheel 12 to rotate in different combinations, the omnidirectional driving of the body 11 can be achieved. Therefore, the body 11 does not need to be equipped with a steering system, which reduces the difficulty of installation. The drive motor 14 is a 3.7V DC reduction motor. The DC reduction motor is slow but powerful, and can effectively drive the body 11 to move, thereby improving the passing ability of the robot 1. The drive motor 22 is a 12V DC motor, which can drive the cutting blade 21 to rotate at high speed, thereby improving the efficiency of foreign body removal. The robotic arm 41 is a three-section robotic arm, which is short in length, flexible in control, and can meet the requirements of the live distance and the load-bearing torque.

[0033] Working principle:

[0034] like Figure 1-5 As shown, the staff controls the remote control receiving module 13 through the remote control 6 outside the closed area, so that the wheel 12 drives the device to the position where there are debris. If the debris is a single weed, the electric scissors 31 are aimed at the root of the weed, and the remote control switch 2 32 is turned on to drive the electric scissors 31 to cut the weed. Then the remote control receiving module 13 is controlled to start the drive motor 14 to drive the wheel 12 to rotate, so that the mechanical arm 41 faces the weeds just cut, and the remote control receiving module 2 42 is controlled to drive the mechanical arm 41 to pick up the weeds, collect the weeds, and take them away from the closed area, which reduces the workload of the staff, reduces the workload of the operation and maintenance personnel, reduces the labor intensity, improves the efficiency and safety of personnel in removing foreign objects, and ensures the operation of the equipment;

[0035] like Figure 2-3 As shown, if weeds grow on both sides of the cable trench, or if weeds grow in rows, the remote control switch 1 23 can be controlled to start the drive motor 22 to drive the cutting blade 21 to rotate and remove the weeds on the side.

[0036] like Figure 2 and Figure 3-5 As shown, if the debris is a garbage bag dropped from the air, the remote control receiving module 2 42 can be controlled to drive the mechanical arm 41 to pick up the debris, and the staff can control the remote control receiving module 13 to start the drive motor 14 to drive the wheel 12 to rotate, driving the debris to leave the closed area. The device can remove foreign objects in the closed area without powering off the equipment, avoiding the occurrence of forced shutdown of the equipment and improving the reliability of the power grid; in particular, foreign objects in the area of ​​the main transformer series reactor can be removed without powering off, so that the main transformer can continue to supply power and avoid losses caused by power outages.

[0037] Available from Figure 5 It can be seen that after using the live enclosed area foreign object removal robot, the time for removing foreign objects was shortened from the original average of 185 minutes to 18 minutes, shortening the original inspection time by 92.5%, effectively improving the efficiency of foreign object removal in the live enclosed area.

[0038] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A robot for removing foreign matter in an electrically enclosed area, comprising: A robot (1), the robot (1) comprising a body (11), two wheels (12) being arranged on both sides of the body (11), characterized in that: four drive motors (14) are also mounted on the body (11), and the four drive motors (14) are respectively connected to the four wheels (12) in a transmission manner, and the body (11) is equipped with a remote control receiving module (13) for controlling the four drive motors (14); A sawing assembly (2) is installed at the bottom of the body (11), a shearing assembly (3) is arranged at the head of the body (11), a grabbing assembly (4) is arranged at the tail of the body (11), a power supply assembly (5) is arranged at the middle of the body (11), and the robot (1) is equipped with a remote controller (6).

2. A robot for removing foreign matter in an electrically enclosed area as claimed in claim 1, characterized in that: The sawing assembly (2) comprises a cutting blade (21) mounted on the bottom of the body (11); a second drive motor (22) is mounted on the top of the body (11); an output end of the second drive motor (22) is transmission-connected to the cutting blade (21); and a first remote control switch (23) for controlling the second drive motor (22) is mounted on the body (11).

3. A robot for removing foreign matter in an electrically enclosed area as claimed in claim 2, characterized in that: The shearing assembly (3) comprises an electric scissors (31) fixedly mounted on the head of the vehicle body (11), and a second remote control switch (32) for controlling the electric scissors (31) is mounted on the vehicle body (11).

4. A robot for removing foreign matter in an electrically enclosed area as claimed in claim 3, characterized in that: The grabbing assembly (4) comprises a mechanical arm (41) mounted on the vehicle body (11), and a remote control receiving module 2 (42) for controlling the mechanical arm 4 (1) is also mounted on the vehicle body (11).

5. A robot for removing foreign matter in an electrically closed area as claimed in claim 4, characterized in that: The remote controller (6) is provided with a wheel remote control module, a sawing component remote control module, a shearing component remote control module and a gripping component remote control module, and each of the above modules remotely controls the wheel (12), the sawing component (2), the shearing component (3) and the gripping component (4) respectively via Bluetooth.

6. A robot for removing foreign matter in an electrically enclosed area as claimed in claim 5, characterized in that: The power supply assembly (5) comprises a battery (51) detachably connected to the top of the vehicle body (11), a voltage regulating module (52) mounted on the vehicle body (11), and a control switch (53) mounted on the vehicle body (11) for controlling the on and off of power supply from the battery (51).

7. A robot for removing foreign matter in an electrically closed area as claimed in claim 6, characterized in that: The vehicle body (11) is made of epoxy resin board material, the wheel (12) is a Mecanum wheel, the drive motor 1 (14) is a 3.7V DC reduction motor, the drive motor 2 (22) is a 12V DC motor, and the mechanical arm (41) is a three-section mechanical arm.

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