Unattended substation inspection robot

Abstract

The invention relates to the technical field of robot equipment, and discloses an unattended substation inspection robot which comprises a hanger rail, a supporting frame with the bottom end fixedly provided with an inspection robot is movably clamped to the bottom of the outer surface of the hanger rail, and the two sides of the outer surface of the hanger rail are each provided with a set of magnetic plates. Electromagnetic devices are arranged on the two sides of the outer surface of the hanger rail and located over the electrical equipment of the transformer substation, the two sides of the top of the inner cavity of the supporting frame are each provided with a set of magnetic blocks, and the magnetic poles of the magnetic blocks repel the magnetic plates and the magnetic poles of the electromagnetic devices at the beginning. According to the unattended substation inspection robot provided by the invention, the supporting frame and the structure on the supporting frame are arranged, under the action of magnetic repulsion, the supporting frame can be in a suspended arrangement state initially, and when the supporting frame moves along the track of the hanger rail, the frictional resistance between the supporting frame and the hanger rail can be effectively reduced; therefore, the abrasion problem caused by frequent braking and operation of the guide wheel can be effectively reduced.

Description

Technical Field

[0001] The present application relates to the technical field of robot equipment, and in particular to an unmanned substation inspection robot. Background Art

[0002] Substations are places where voltage and current are converted in power systems, and are important equipment in the production, transmission, distribution and use of electricity. In order to ensure the safe and stable operation of substations, regular inspections are essential. With the development of social economy and the advancement of science and technology, artificial intelligence has begun to be widely used in the industrial field, and substation inspection robots have also emerged. However, during the long-term inspection process of the existing substation inspection robots, the guide wheels thereon are very likely to wear due to the frequent braking and running, which in turn causes the positioning accuracy of the inspection robot to deteriorate, and the accuracy of substation inspection becomes low. In addition, the existing inspection robots all perform inspection operations according to preset inspection trajectories, resulting in a long inspection cycle per week. When some electrical equipment with a high failure rate fails during this process, timely feedback cannot be provided, which poses a great safety hazard, and the stability and reliability are poor.

[0003] Therefore, there is an urgent need for an inspection robot for substations to solve the defects of the above-mentioned existing inspection robots during actual use. Summary of the invention

[0004] The present application proposes an unmanned substation inspection robot, which has the function of effectively reducing the wear problem of the guide wheel caused by frequent braking and operation, so that the inspection robot can maintain a high positioning accuracy and has a high accuracy in substation inspection. At the same time, it can promptly inspect and feedback abnormal electrical equipment, and has the advantages of high safety and reliability. It is used to solve the problem that the existing substation inspection robots are prone to wear due to the frequent braking and operation during long-term inspection operations, which in turn causes the positioning accuracy of the inspection robot to deteriorate and the accuracy of substation inspection to decrease. In addition, the existing inspection robots all perform inspection operations according to preset inspection trajectories, resulting in a long inspection cycle. When some electrical equipment with a high failure rate fails during this process, it is impossible to provide timely feedback, which poses a major safety hazard.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: an unmanned substation inspection robot, comprising a hanging rail arranged in sequence according to the substation and fixedly installed on the top of the factory building, the bottom of the outer surface of the hanging rail is movably connected with a support frame with the inspection robot fixedly installed on the bottom end, a group of magnetic plates are respectively provided on both sides of the outer surface of the hanging rail, and electromagnetic devices are provided on both sides of the outer surface of the hanging rail and directly above the electrical equipment of the substation, and a continuous linear structure is formed between the magnetic plates and the electromagnetic devices. A group of magnetic blocks corresponding to the positions of the magnetic plates and the electromagnetic devices are respectively provided on both sides of the top of the inner cavity of the support frame, and the magnetic poles of the magnetic blocks repel each other with the magnetic poles of the magnetic plates and the electromagnetic device at the beginning, and then, under the action of magnetic repulsion at the beginning, the support frame can be in a suspended arrangement state, and when the support frame moves along the trajectory of the hanging rail, the friction resistance between them can be effectively reduced, a reducer is fixedly installed in the middle of the inner cavity of the support frame, and a guide wheel whose outer surface contacts the bottom end of the hanging rail is provided on the output shaft of the reducer.

[0006] Furthermore, a conductive ring is provided on the outer surface of the guide wheel, and a carbon bar corresponding to the position of the conductive ring is fixedly installed in the middle of the bottom end of the hanging rail, an electrical connection is formed between the conductive ring, the carbon bar and the reducer, and the reducer is connected when the conductive ring and the carbon bar are in contact, and the electrical connection to the reducer is cut off when the conductive ring and the carbon bar are separated, so that when the inspection robot on the support frame performs inspection operations on the substation equipment at the corresponding position, the reducer can be automatically shut down to reduce its energy consumption during operation.

[0007] Furthermore, the abnormal signal feedback system on the substation equipment transmits the abnormal signal to the feedback system of the electromagnetic device on the hanging rail when an abnormality is detected in the substation equipment, and reversely connects the electromagnetic device at the corresponding position to generate magnetic poles that attract the magnetic block, while the magnetic poles of other groups of electromagnetic devices on the hanging rail and located on the preset inspection trajectory remain unchanged, so that the inspection robot on the support frame is preferentially moved to the top of the substation equipment where the abnormal signal occurs, so as to carry out patrol inspection on it.

[0008] Furthermore, the inspection robot transmits the data of the substation equipment inspected by the inspection robot in two parts. The inspection data of the substation equipment without problems is transmitted to the data storage device, thereby avoiding the equipment jamming problem caused by excessive data storage volume. The inspection data of the substation equipment with problems is transmitted to the detection equipment in the hands of the maintenance personnel, so that the abnormal situation can be promptly delivered to the maintenance personnel for analysis and discussion to come up with a solution, and the time required for handling abnormal situations of the substation equipment is effectively reduced.

[0009] Furthermore, a first conductive block is provided on one side of the outer surface of the hanging rail and at a position corresponding to the electromagnetic device, and a second conductive block is fixedly installed on one side of the inner wall of the support frame, and an electrical connection is formed between the first conductive block, the second conductive block and the electromagnetic device. Therefore, when the support frame moves along the track of the hanging rail, when the first conductive block comes into contact with the second conductive block, the electromagnetic device is automatically triggered to generate magnetic poles that attract the magnetic block, and the inspection robot on the support frame is activated.

[0010] Furthermore, the lower half of the cross section of the hanging rail is set as an isosceles triangle structure, so that the support frame is suspended and the clamped support frame is automatically calibrated and balanced under the influence of gravity.

[0011] The beneficial effects of the present invention are as follows: 1. The present application provides an unmanned substation inspection robot. With respect to the arrangement of a support frame and a structure thereon, under the action of magnetic repulsion, the support frame can be initially suspended, and when the support frame moves along the trajectory of a hanging rail, the friction resistance therebetween can be effectively reduced. After the support frame moves to a specific position, the electromagnetic device is reversely connected to generate magnetic poles that attract the magnetic block, and force the support frame and the inspection robot thereon to move downward. While braking the support frame, the outer surface of the guide wheel is separated from the bottom end of the hanging rail, thereby effectively reducing the wear of the guide wheel caused by frequent braking and operation, so that the inspection robot can maintain a high positioning accuracy and has a high accuracy for substation inspection.

[0012] 2. The present application provides an unmanned substation inspection robot. With respect to the setting of the system structure of the inspection robot, the inspection data of the substation equipment without problems can be transmitted to the data storage device, thereby avoiding the equipment jamming problem caused by excessive data storage. The inspection data of the substation equipment with problems can be transmitted to the detection equipment in the hands of the maintenance personnel, so that the abnormal situation can be promptly delivered to the maintenance personnel for analysis and discussion to come up with a solution, and the time required for handling abnormal situations of the substation equipment can be effectively reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the provided drawings without creative work: Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a front view of the structure of the present invention; Figure 3 A side view of the structure of the present invention; Figure 4 The structure of the present invention Figure 1 A magnified schematic diagram of point A; Figure 5 It is a system diagram of the structure of the present invention.

[0014] In the figure: 1-hanging rail, 2-support frame, 3-magnetic plate, 4-electromagnetic device, 5-connecting rod, 6-magnetic block, 7-reducer, 8-guide wheel, 9-conductive ring, 10-carbon bar, 11-first conductive block, 12-second conductive block. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] like Figure 1-Figure 3 As shown, an unmanned substation inspection robot comprises a hanging rail 1 arranged in sequence according to the substation and fixedly installed on the top of the plant building, the bottom of the outer surface of the hanging rail 1 is movably connected with a support frame 2 with the inspection robot fixedly installed at the bottom end, a group of magnetic plates 3 are respectively arranged on both sides of the outer surface of the hanging rail 1, and an electromagnetic device 4 is arranged on both sides of the outer surface of the hanging rail 1 and directly above the electrical equipment of the substation, and a continuous linear structure is formed between the magnetic plate 3 and the electromagnetic device 4. A group of magnetic blocks 6 corresponding to the positions of the magnetic plates 3 and the electromagnetic device 4 are respectively arranged on both sides of the top of the inner cavity of the support frame 2, and the magnetic poles of the magnetic blocks 6 repel the magnetic poles of the magnetic plates 3 and the electromagnetic device 4 at the beginning, and then at the beginning, under the action of the magnetic repulsion, the support frame 2 can be arranged in a suspended state, and when the support frame 2 moves along the trajectory of the hanging rail 1, the friction resistance between them can be effectively reduced, a reducer 7 is fixedly installed in the middle of the inner cavity of the support frame 2, and a guide wheel 8 whose outer surface contacts the bottom end of the hanging rail 1 is provided on the output shaft of the reducer 7; Furthermore, under the action of the reducer 7 and the guide wheel 8, power support can be provided for the movement of the support frame 2 and the inspection robot thereon. In the process of starting the reducer 7 to drive the guide wheel 8 to rotate, the support frame 2 can be forced to move along the trajectory of the hanging rail 1. After the support frame 2 moves to a specific position, the electromagnetic device 4 is reversely connected to generate magnetic poles that attract the magnetic block 6, and force the support frame 2 and the inspection robot thereon to move downward. While braking the support frame 2, the outer surface of the guide wheel 8 is separated from the bottom end of the hanging rail 1, cutting off the power output to the support frame 2, so as to carry out inspection operations on the substation equipment located directly below it.

[0017] like Figure 1 , Figure 2 As shown, in the present technical solution, a conductive ring 9 is provided on the outer surface of the guide wheel 8, and a carbon bar 10 corresponding to the position of the conductive ring 9 is fixedly installed in the middle of the bottom end of the hanging rail 1, and an electrical connection is formed between the conductive ring 9, the carbon bar 10 and the reducer 7, and the reducer 7 is connected when the conductive ring 9 and the carbon bar 10 are in contact, and the electrical connection with the reducer 7 is cut off when the conductive ring 9 and the carbon bar 10 are separated, and then when the inspection robot on the support frame 2 performs inspection operations on the substation equipment at the corresponding position, the reducer 7 can be automatically turned off to reduce its energy consumption during operation.

[0018] like Figure 1 , Figure 5 As shown, in the present technical scheme, the abnormal signal feedback system is provided on the substation equipment, and when an abnormality is detected in the substation equipment, the abnormal signal is transmitted to the feedback system of the electromagnetic device 4 on the hanging rail 1, and the electromagnetic device 4 at the corresponding position is reversely connected to generate magnetic poles that attract the magnetic block 6, while the magnetic poles of other groups of electromagnetic devices 4 on the hanging rail 1 and located on the preset inspection track remain unchanged, and then the inspection robot on the support frame 2 is preferentially moved to the top of the substation equipment where the abnormal signal occurs, so as to carry out patrol inspection on it.

[0019] like Figure 5 As shown, in the present technical solution, the inspection data of the substation equipment inspected by the inspection robot is divided into two parts for transmission. The inspection data of the substation equipment without problems is transmitted to the data storage device, thereby avoiding the equipment jamming problem caused by excessive data storage. The inspection data of the substation equipment with problems is transmitted to the detection equipment in the hands of the maintenance personnel, so that the abnormal situation can be promptly delivered to the maintenance personnel for analysis and discussion to come up with a solution, and the time required for handling abnormal situations of the substation equipment is effectively reduced.

[0020] like Figure 4 As shown, in the present technical solution, a first conductive block 11 is provided on one side of the outer surface of the hanging rail 1 and at a position corresponding to the electromagnetic device 4, and a second conductive block 12 is fixedly installed on one side of the inner wall of the support frame 2, and an electrical connection is formed between the first conductive block 11, the second conductive block 12 and the electromagnetic device 4, and then when the support frame 2 moves along the track of the hanging rail 1, when the first conductive block 11 contacts the second conductive block 12, the electromagnetic device 4 is automatically triggered to generate a magnetic pole that attracts the magnetic block 6, and the inspection robot on the support frame 2 is operated.

[0021] like Figure 2As shown, in the present technical solution, the lower half of the cross section of the hanging rail 1 is set as an isosceles triangle structure, and then the support frame 2 is suspended and the clamped support frame 2 is automatically calibrated and balanced under the influence of gravity.

[0022] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An unattended substation inspection robot, comprising a hanging rail (1), the bottom of the outer surface of the hanging rail (1) being movably connected to a support frame (2) on which the inspection robot is fixedly mounted, characterized in that: A group of magnetic plates (3) are respectively provided on both sides of the outer surface of the hanging rail (1); an electromagnetic device (4) is provided on both sides of the outer surface of the hanging rail (1) and directly above the electrical equipment of the substation; a group of magnetic blocks (6) corresponding to the positions of the magnetic plates (3) and the electromagnetic device (4) are respectively provided on both sides of the top of the inner cavity of the support frame (2); and the magnetic poles of the magnetic blocks (6) are initially repelled from the magnetic poles of the magnetic plates (3) and the electromagnetic device (4); a reducer (7) is fixedly installed in the middle of the inner cavity of the support frame (2), and a guide wheel (8) whose outer surface contacts the bottom end of the hanging rail (1) is provided on the output shaft of the reducer (7).

2. The unmanned substation inspection robot according to claim 1, characterized in that: The outer surface of the guide wheel (8) is provided with a conductive ring (9), and a carbon bar (10) corresponding to the position of the conductive ring (9) is fixedly installed in the middle of the bottom end of the hanging rail (1), and an electrical connection is formed between the conductive ring (9), the carbon bar (10) and the reducer (7), and the reducer (7) is connected when the conductive ring (9) and the carbon bar (10) are in contact, and the electrical connection with the reducer (7) is cut off when the conductive ring (9) and the carbon bar (10) are separated.

3. The unmanned substation inspection robot according to claim 2 is characterized in that: The abnormal signal feedback system on the substation equipment transmits the abnormal signal to the feedback system of the electromagnetic device (4) on the hanging rail (1) when an abnormality is detected in the substation equipment, and reversely connects the electromagnetic device (4) at the corresponding position to generate a magnetic pole that attracts the magnetic block (6), while the magnetic poles of other groups of electromagnetic devices (4) on the hanging rail (1) and located on the preset inspection track remain unchanged.

4. The unmanned substation inspection robot according to claim 3 is characterized in that: The inspection robot transmits the data of the substation equipment inspected by the inspection robot in two parts. The inspection data of the substation equipment without problems is transmitted to the data storage device, while the inspection data of the substation equipment with problems is transmitted to the detection device in the hands of the maintenance personnel.

5. The unmanned substation inspection robot according to claim 4 is characterized in that: A first conductive block (11) is provided on one side of the outer surface of the hanging rail (1) and at a position corresponding to the electromagnetic device (4), and a second conductive block (12) is fixedly installed on one side of the inner wall of the support frame (2). An electrical connection is formed between the first conductive block (11), the second conductive block (12) and the electromagnetic device (4), so that when the support frame (2) moves along the track of the hanging rail (1), when the first conductive block (11) and the second conductive block (12) come into contact, the electromagnetic device (4) is automatically triggered to generate a magnetic pole that attracts the magnetic block (6).

6. The unmanned substation inspection robot according to claim 5, characterized in that: The lower half of the cross section of the hanging rail (1) is set as an isosceles triangle structure, so that the support frame (2) is suspended and the clamped support frame (2) is automatically calibrated and balanced under the influence of gravity.

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