An unattended substation inspection robot

Abstract

The application relates to the technical field of robot devices, and discloses an unattended substation inspection robot, which comprises a suspension rail, the bottom of the outer surface of the suspension rail is movably clamped and fixedly installed with a support frame, the support frame is installed with an inspection robot, the two sides of the outer surface of the suspension rail are respectively provided with a group of magnetic plates, the two sides of the outer surface of the suspension rail and above the electric equipment of the substation are provided with electromagnetic devices, the two sides of the top of the inner cavity of the support frame are respectively provided with a group of magnetic blocks, and the magnetic poles of the magnetic blocks repel the magnetic poles of the magnetic plates and the electromagnetic devices at the beginning. The unattended substation inspection robot provided by the application can make the support frame in a state of being suspended at the beginning under the action of magnetic repulsion, can effectively reduce the frictional resistance between the support frame and the suspension rail when the support frame moves along the track of the suspension rail, and can effectively reduce the abrasion problem of the guide wheel caused by frequent braking and running.

Description

Technical Field

[0001] This application relates to the field of robotic equipment technology, and in particular to an unmanned substation inspection robot. Background Technology

[0002] Substations are places in the power system where voltage and current are converted, and they are important equipment in the process of power production, transmission, distribution and use. In order to ensure the safe and stable operation of substations, regular inspections are essential. With the development of the social economy and the progress 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 long-term inspection operations, the guide wheels of existing substation inspection robots are prone to wear due to frequent braking and starting, which leads to a decrease in the positioning accuracy of the inspection robot and a reduction in the accuracy of substation inspection. Furthermore, existing inspection robots perform inspection operations according to preset inspection trajectories, resulting in a long inspection cycle of one week. When some electrical equipment with a high failure rate fails during this process, it cannot provide timely feedback, posing a significant safety hazard, and its stability and reliability are poor.

[0003] Therefore, there is an urgent need for an inspection robot for substations to address the shortcomings of existing inspection robots in practical use. Summary of the Invention

[0004] This application proposes an unmanned substation inspection robot that effectively reduces wear on the guide wheels caused by frequent braking and running, enabling the robot to maintain high positioning accuracy and high accuracy in substation inspections. It also offers advantages such as timely inspection and feedback of abnormal electrical equipment, high safety, and high reliability. This addresses the problem that existing substation inspection robots, during long-term inspections, are prone to wear on their guide wheels due to frequent braking and running, leading to decreased positioning accuracy and reduced substation inspection accuracy. Furthermore, existing inspection robots follow preset inspection trajectories, resulting in long inspection cycles (around one week). This also means that robots cannot provide timely feedback when high-failure-rate electrical equipment malfunctions, posing significant safety hazards.

[0005] To achieve the above objectives, this application adopts the following technical solution: an unmanned substation inspection robot, comprising a suspended rail arranged in the order of the substation and fixedly installed on the top of the building. The bottom of the outer surface of the suspended rail is movably engaged with a support frame on which the inspection robot is fixedly installed. A set of magnetic plates is provided on both sides of the outer surface of the suspended rail. Electromagnetic devices are provided on both sides of the outer surface of the suspended rail and directly above the electrical equipment of the substation. The magnetic plates and electromagnetic devices form a continuous linear structure. A set of magnetic blocks corresponding to the positions of the magnetic plates and electromagnetic devices are provided on both sides of the top of the inner cavity of the support frame. The magnetic poles of the magnetic blocks initially repel the magnetic poles of the magnetic plates and electromagnetic devices. Thus, under the action of magnetic repulsion, the support frame can be suspended in the air at the beginning. When the support frame moves along the trajectory of the suspended rail, the frictional 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 with its outer surface in contact with the bottom of the suspended rail is provided on the output shaft of the reducer.

[0006] Furthermore, the outer surface of the guide wheel is provided with a conductive ring, and a carbon strip corresponding to the position of the conductive ring is fixedly installed in the middle of the bottom end of the hanging rail. The conductive ring, the carbon strip and the reducer are electrically connected. The reducer is turned on when the conductive ring and the carbon strip are in contact, and the electrical connection to the reducer is cut off when the conductive ring and the carbon strip are separated. Thus, when the inspection robot on the support frame performs inspection work on the substation equipment at the corresponding position, the reducer can be automatically turned off 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 control rail when an abnormality is detected in the substation equipment. It also reverses the connection of the electromagnetic device at the corresponding position to generate a magnetic pole that attracts the magnetic block. Meanwhile, the magnetic poles of other electromagnetic devices on the rail and located on the preset inspection trajectory remain unchanged. This allows the inspection robot on the support frame to be moved first to the top of the substation equipment that has the abnormal signal for inspection.

[0008] Furthermore, the inspection robot transmits the inspection data of substation equipment in two parts. The inspection data of substation equipment without problems is transmitted to the data storage device, avoiding equipment lag caused by excessive data storage. The inspection data of substation equipment with problems is transmitted to the detection device in the hands of maintenance personnel. This allows the abnormal situation to be promptly transmitted to the maintenance personnel for analysis, discussion and solution development, and effectively reduces the time required to handle abnormal situations of substation equipment.

[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, while a second conductive block is fixedly installed on one side of the inner wall of the support frame. The first conductive block, the second conductive block and the electromagnetic device form an electrical connection. Thus, when the support frame moves along the trajectory of the hanging rail, when the first conductive block and the second conductive block come into contact, the electromagnetic device is automatically triggered to generate a magnetic pole that attracts the magnetic block, thereby enabling the inspection robot on the support frame to work.

[0010] Furthermore, the lower half of the cross-section of the suspension rail is designed as an isosceles triangle structure, thereby allowing the support frame to be suspended in the air and automatically calibrating and balancing the clamped support frame under the influence of gravity.

[0011] The beneficial effects of this invention are as follows: 1. The unmanned substation inspection robot provided in this application allows the support frame and its structure to be initially suspended due to magnetic repulsion. As the support frame moves along the track of the hanging rail, the frictional resistance between them can be effectively reduced. After the support frame moves to a specific position, the electromagnetic device is activated in the opposite direction, generating magnetic poles that attract the magnetic block and forcing the support frame and the inspection robot on it to move downward. At the same time as the support frame stops, the outer surface of the guide wheel separates from the bottom end of the hanging rail, thereby effectively reducing the wear problem of the guide wheel caused by frequent stopping and running. This allows the inspection robot to maintain high positioning accuracy and high accuracy for substation inspection.

[0012] 2. The unmanned substation inspection robot provided in this application has the following system structure: it can transmit the inspection data of substation equipment without problems to the data storage device, avoiding equipment lag caused by excessive data storage. It can transmit the inspection data of substation equipment with problems to the detection device in the hands of maintenance personnel, so that the abnormal situation can be transmitted to the maintenance personnel in a timely manner for analysis, discussion and solution, and effectively reduce the time required to handle abnormal situations of substation equipment. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort: Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a front view of the structure of the present invention; Figure 3 This is a side view of the structure of the present invention; Figure 4 The structure of this invention Figure 1 Enlarged view of point A; Figure 5 This is a simplified system diagram of the structure of the present invention.

[0014] In the diagram: 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 strip, 11-First conductive block, 12-Second conductive block. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] like Figures 1-3 As shown, an unmanned substation inspection robot includes a suspended rail 1 arranged in the order of the substation and fixedly installed on the top of the building. The bottom of the outer surface of the suspended rail 1 is movably connected to a support frame 2 on which the inspection robot is fixedly installed. A set of magnetic plates 3 are respectively provided on both sides of the outer surface of the suspended rail 1. Electromagnetic devices 4 are provided on both sides of the outer surface of the suspended rail 1 and directly above the electrical equipment of the substation. The magnetic plates 3 and the electromagnetic devices 4 form a continuous linear structure. A set of magnetic blocks 6 corresponding to the positions of the magnetic plates 3 and the electromagnetic devices 4 are respectively provided on both sides of the top of the inner cavity of the support frame 2. The magnetic poles of the magnetic blocks 6 repel the magnetic poles of the magnetic plates 3 and the electromagnetic devices 4 at the beginning. Under the action of magnetic repulsion at the beginning, the support frame 2 can be suspended in the air. When the support frame 2 moves along the trajectory of the suspended rail 1, the frictional 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. A guide wheel 8 with its outer surface in contact with the bottom of the suspended 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 on it. When the reducer 7 is started to drive the guide wheel 8 to rotate, the support frame 2 can be forced to move along the track of the hanging rail 1. After the support frame 2 moves to a specific position, the electromagnetic device 4 is switched on in the opposite direction to generate a magnetic pole that attracts the magnetic block 6, and forces the support frame 2 and the inspection robot on it to move downward. At the same time as the support frame 2 is stopped, 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 and maintenance work on the substation equipment located directly below it.

[0017] like Figure 1 , Figure 2 As shown, in this technical solution, the outer surface of the guide wheel 8 is provided with a conductive ring 9, and a carbon strip 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. The conductive ring 9, the carbon strip 10 and the reducer 7 are electrically connected. When the conductive ring 9 and the carbon strip 10 are in contact, the reducer 7 is turned on. When the conductive ring 9 and the carbon strip 10 are separated, the electrical connection to the reducer 7 is cut off. Thus, when the inspection robot on the support frame 2 performs inspection work 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 this technical solution, the abnormal signal feedback system on the substation equipment transmits the abnormal signal to the feedback system of the electromagnetic device 4 on the control rail 1 when an abnormality is detected in the substation equipment. The electromagnetic device 4 at the corresponding position is then connected in reverse to generate a magnetic pole that attracts the magnetic block 6. Meanwhile, the magnetic poles of other electromagnetic devices 4 on the rail 1 and located on the preset inspection trajectory remain unchanged. This allows the inspection robot on the support frame 2 to be moved first to the top of the substation equipment that has the abnormal signal, so as to carry out inspection work on it.

[0019] like Figure 5 As shown in the technical solution, the inspection robot transmits the inspection data of substation equipment in two parts. The inspection data of substation equipment without problems is transmitted to the data storage device, avoiding equipment lag caused by excessive data storage. The inspection data of substation equipment with problems is transmitted to the detection device in the hands of maintenance personnel. This allows the abnormal situation to be transmitted to the maintenance personnel in a timely manner for analysis, discussion and solution development, and effectively reduces the time required to handle abnormal situations of substation equipment.

[0020] like Figure 4 As shown, in this 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, while a second conductive block 12 is fixedly installed on one side of the inner wall of the support frame 2. The first conductive block 11, the second conductive block 12 and the electromagnetic device 4 form an electrical connection. Then, when the support frame 2 moves along the trajectory 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, and the inspection robot on the support frame 2 works.

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

[0022] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those 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 invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An unmanned substation inspection robot, comprising a hanging rail (1), wherein a support frame (2) on which the inspection robot is fixedly mounted at the bottom is movably engaged with the bottom of the outer surface of the hanging rail (1), characterized in that: A set of magnetic plates (3) are 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 set of magnetic blocks (6) corresponding to the positions of the magnetic plates (3) and the electromagnetic device (4) are provided on both sides of the top of the inner cavity of the support frame (2). 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. A speed 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 speed reducer (7). The outer surface of the guide wheel (8) is provided with a conductive ring (9), and a carbon strip (10) corresponding to the position of the conductive ring (9) is fixedly installed at the middle of the bottom end of the hanging rail (1). The conductive ring (9), the carbon strip (10) and the reducer (7) are electrically connected. The reducer (7) is turned on when the conductive ring (9) and the carbon strip (10) are in contact, and the electrical connection to the reducer (7) is cut off when the conductive ring (9) and the carbon strip (10) are separated.

2. The unmanned substation inspection robot according to claim 1, 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 control rail (1) when an abnormality is detected in the substation equipment. It also reverses the connection of 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 electromagnetic devices (4) on the rail (1) and located on the preset inspection track remain unchanged.

3. The unmanned substation inspection robot according to claim 2, characterized in that, The inspection robot transmits the inspection data of the substation equipment 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 testing device in the hands of the maintenance personnel.

4. The unmanned substation inspection robot according to claim 3, 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), while a second conductive block (12) is fixedly installed on one side of the inner wall of the support frame (2). The first conductive block (11), the second conductive block (12) and the electromagnetic device (4) form an electrical connection. Then, when the support frame (2) moves along the trajectory of the hanging rail (1), the electromagnetic device (4) is automatically triggered to generate a magnetic pole that attracts the magnetic block (6) when the first conductive block (11) and the second conductive block (12) come into contact.

5. The unmanned substation inspection robot according to claim 4, characterized in that, The lower half of the cross-section of the hanging rail (1) is set as an isosceles triangle structure, and the support frame (2) is suspended in the air and automatically calibrates and balances the clamped support frame (2) under the influence of gravity.

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