Converter station inspection device

Abstract

The invention relates to a converter station inspection device, which comprises a base, a direction adjusting mechanism, a cleaning mechanism, an image acquisition module and a moving mechanism, and is characterized in that the direction adjusting mechanism is arranged on the base; the cleaning mechanism is arranged on the direction adjusting mechanism and is provided with a suction port and a dirt collecting cavity which are communicated, and the suction port is used for sucking dirt into the dirt collecting cavity; the image acquisition module is arranged on the cleaning mechanism; the moving mechanism is arranged on the base. Compared with the prior art, the converter station inspection device can inspect the converter station and remove foreign matters, workers do not need to inspect and clean electrical equipment in the converter station regularly, and the working intensity of the workers is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of converter station maintenance, and in particular to a converter station inspection device. Background Art

[0002] A converter station is a site that realizes the conversion between direct current and alternating current in the power transmission system. The converter station is usually equipped with electrical equipment such as converter valves, converter transformers, filters and reactors. These equipment are all installed outdoors. Foreign objects in the outdoor environment are easy to adhere to the electrical equipment, affecting the insulation performance and operating efficiency of the transmission equipment. In traditional technology, staff are required to inspect and clean the electrical equipment regularly, which is work-intensive. Summary of the invention

[0003] Based on this, it is necessary to provide a converter station inspection device to address the problem that traditional technologies require staff to regularly inspect and clean the electrical equipment in the converter station, resulting in high workload.

[0004] The technical solution is as follows:

[0005] One embodiment provides a converter station inspection device, including:

[0006] Pedestal;

[0007] An azimuth adjustment mechanism, wherein the azimuth adjustment mechanism is arranged on the base;

[0008] A cleaning mechanism, the cleaning mechanism is arranged on the orientation adjustment mechanism and is provided with a suction port and a dirt collecting chamber connected to each other, the suction port is used to suck dirt into the dirt collecting chamber;

[0009] an image acquisition module, the image acquisition module being disposed in the cleaning mechanism; and

[0010] A moving mechanism is arranged on the base.

[0011] The above-mentioned converter station inspection device; when the image acquisition module detects the presence of foreign matter or other dirt somewhere in the converter station, the moving mechanism drives the converter station inspection device to move to that place as a whole, and the orientation adjustment mechanism can drive the cleaning mechanism to move and adjust the orientation of the cleaning mechanism to align the suction port of the cleaning mechanism with the dirt, and the suction port sucks the dirt into the dirt collecting chamber to clean the dirt. After cleaning, the moving mechanism continues to drive the converter station inspection device to move as a whole to inspect the converter station; compared with traditional technologies, the above-mentioned converter station inspection device can inspect the converter station and remove foreign matter, without the need for staff to regularly inspect and clean the electrical equipment in the converter station, thereby reducing the work intensity of the staff.

[0012] In one embodiment, the orientation adjustment mechanism includes a rotating seat and a first driving member, the rotating seat is rotatably disposed on the base, the cleaning mechanism is disposed on the rotating seat, the first driving member is disposed on the base, and the first driving member is drivingly connected to the rotating seat and can drive the rotating seat to rotate.

[0013] In one embodiment, the orientation adjustment mechanism also includes a support rod, a second drive member and a third drive member, the support rod having a first end and a second end relative to each other, the first end being rotatably connected to the rotating seat, the first drive member being disposed on the rotating seat and drivingly connected to the support rod, the first drive member being capable of driving the first end to rotate relative to the rotating seat, the second end being rotatably connected to the cleaning mechanism, the second drive member being disposed on the support rod and drivingly connected to the cleaning mechanism, the second drive member being capable of driving the second end to rotate relative to the cleaning mechanism.

[0014] In one embodiment, the second driving member comprises a first telescopic rod, one end of the first telescopic rod is rotatably connected to the rotating seat, and the other end of the first telescopic rod is rotatably connected to the side wall of the support rod; or / and,

[0015] The third driving member comprises a second telescopic rod, one end of the second telescopic rod is rotatably connected to the side wall of the supporting rod, and the other end of the second telescopic rod is rotatably connected to the cleaning mechanism.

[0016] In one embodiment, the cleaning mechanism includes a cleaning arm and a collection box, the cleaning arm is provided with a suction channel, one end of the suction channel is connected to the suction port, the collection box is detachably provided on the cleaning arm and is provided with the dirt collecting chamber, and the dirt collecting chamber is used to be connected with one end of the suction channel away from the suction port.

[0017] In one embodiment, the image acquisition module includes a camera, and the camera is disposed at one end of the cleaning arm close to the suction port.

[0018] In one embodiment, the base has a first surface and a second surface relative to each other, the orientation adjustment mechanism is arranged on the first surface, and the moving mechanism includes a first roller group and a second roller group, the first roller group and the second roller group are rotatably arranged on the second surface, and the first roller group and the second roller group are spaced apart along the first direction of the base.

[0019] In one embodiment, the first roller group includes at least two first rollers, all of which are spaced apart on the second surface along the second direction of the base, and the second roller group includes at least two second rollers, all of which are spaced apart on the second surface along the second direction of the base, and the second direction is perpendicular to the first direction.

[0020] In one embodiment, the mobile mechanism further includes a first shock-absorbing module and a second shock-absorbing module, the first shock-absorbing module and the second shock-absorbing module are both arranged on the second surface, the first roller group is rotatably arranged on the first shock-absorbing module, and the second roller group is rotatably arranged on the second shock-absorbing module.

[0021] In one embodiment, the first shock-absorbing module includes a first elastic member and a second elastic member, one end of the first elastic member is connected to the second surface, the other end of the first elastic member is rotatably connected to the first roller group, one end of the second elastic member is connected to the second surface, the other end of the second elastic member is rotatably connected to the first roller group, and one end of the first elastic member away from the first roller group and one end of the second elastic member away from the first roller group are spaced apart on the second surface along the first direction; or / and,

[0022] The second shock-absorbing module includes a third elastic member and a fourth elastic member, one end of the third elastic member is connected to the second surface, and the other end of the third elastic member is rotatably connected to the second roller group, one end of the fourth elastic member is connected to the second surface, and the other end of the fourth elastic member is rotatably connected to the second roller group, and an end of the third elastic member away from the second roller group and an end of the fourth elastic member away from the second roller group are arranged on the second surface along the first direction with intervals. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 Schematic diagram of the overall structure of a converter station inspection device in one embodiment of the present application.

[0025] Figure 2 It is a structural schematic diagram of the orientation adjustment mechanism and the cleaning mechanism in one embodiment of the present application.

[0026] Figure 3It is a structural schematic diagram of a base and a moving mechanism in one embodiment of the present application.

[0027] Notes on the attached drawings:

[0028] 100, base; 110, first surface; 120, second surface; 200, azimuth adjustment mechanism; 210, rotating seat; 220, support rod; 221, first end; 222, second end; 230, second driving member; 240, third driving member; 300, cleaning mechanism; 310, suction port; 320, dirt collecting chamber; 330, cleaning arm; 331, suction channel; 340, collecting box; 400, image acquisition module; 500, moving mechanism; 510, first roller group; 520, second roller group; 531, first elastic member; 532, second elastic member; 533, first connecting shaft; 534, second connecting shaft; 541, third elastic member; 542, fourth elastic member; 543, third connecting shaft; 544, fourth connecting shaft; 600, control mechanism; 610, antenna module; 700, power supply mechanism. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0030] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0031] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0032] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0033] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0034] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0035] See also Figure 1An embodiment of the present application provides a converter station inspection device, including a base 100, an azimuth adjustment mechanism 200, a cleaning mechanism 300, an image acquisition module 400 and a moving mechanism 500, wherein the azimuth adjustment mechanism 200 is disposed on the base 100; the cleaning mechanism 300 is disposed on the azimuth adjustment mechanism 200 and is provided with a connected suction port 310 and a dirt collecting chamber 320, wherein the suction port 310 is used to suck dirt into the dirt collecting chamber 320; the image acquisition module 400 is disposed on the cleaning mechanism 300; and the moving mechanism 500 is disposed on the base 100.

[0036] The above-mentioned converter station inspection device; when the image acquisition module 400 detects the presence of foreign matter or other dirt somewhere in the converter station, the moving mechanism 500 drives the converter station inspection device to move to that place as a whole, and the orientation adjustment mechanism 200 can drive the cleaning mechanism 300 to move and adjust the orientation of the cleaning mechanism 300 to align the suction port 310 of the cleaning mechanism 300 with the dirt, and the suction port 310 sucks the dirt into the dirt collecting chamber 320 to clean the dirt. After cleaning, the moving mechanism 500 continues to drive the converter station inspection device to move as a whole to inspect the converter station; compared with traditional technologies, the above-mentioned converter station inspection device can inspect the converter station and remove foreign matter, without the need for staff to regularly inspect and clean the electrical equipment in the converter station, thereby reducing the work intensity of the staff.

[0037] Furthermore, the orientation adjustment mechanism 200 can adjust the direction of the suction port 310 of the cleaning mechanism 300 , the height of the cleaning mechanism 300 , etc., so that the suction port 310 of the cleaning mechanism 300 can be aligned with the dirt.

[0038] For explanation, the dirt in the converter station includes but is not limited to waste plastics, waste paper or old building materials. If these dirt are not cleaned in time, they may adhere to the electrical equipment of the converter station, affecting the insulation performance of the electrical equipment, and further affecting the overall operation safety of the power transmission system. The converter station inspection device in this embodiment can automatically clean foreign matter and other dirt in the converter station in time, thereby reducing the workload of the staff.

[0039] In one embodiment, a negative pressure generator (not shown in the figure) is disposed in the dirt collecting chamber 320 , and the negative pressure generator can generate negative pressure in the dirt collecting chamber 320 to suck the dirt at the suction port 310 .

[0040] See also Figure 1In one embodiment, the inspection device of the converter station further includes a control mechanism 600, and the azimuth adjustment mechanism 200, the cleaning mechanism 300, the image acquisition module 400 and the moving mechanism 500 are all electrically connected to the control mechanism 600. The control mechanism 600 can determine the azimuth of the dirt according to the image of the dirt acquired by the image acquisition module 400. After the azimuth judgment is completed, the control mechanism 600 sends a signal to the moving mechanism 500, and the moving mechanism 500 moves to the vicinity of the dirt. The control mechanism 600 then controls the azimuth adjustment mechanism 200 so that the suction port 310 of the cleaning mechanism 300 is aligned with the dirt, and finally controls the cleaning mechanism 300 to operate to suck and clean the dirt.

[0041] Furthermore, the control mechanism 600 is also provided with an antenna module 610, which can realize remote wireless control of the control mechanism 600, so that the staff can remotely control the inspection device of the converter station.

[0042] See also Figure 1 to Figure 2 In one embodiment, the orientation adjustment mechanism 200 includes a rotating seat 210 and a first driving member. The rotating seat 210 is rotatably disposed on the base 100, the cleaning mechanism 300 is disposed on the rotating seat 210, and the first driving member is disposed on the base 100. The first driving member is drivingly connected to the rotating seat 210 and can drive the rotating seat 210 to rotate.

[0043] The first driving member can drive the rotating seat 210 to rotate, and then drive the cleaning mechanism 300 to rotate, so as to adjust the direction of the cleaning mechanism 300 so that the suction port 310 of the cleaning mechanism 300 can be aimed at the dirt. In this way, the movement of the cleaning mechanism 300 can be more flexible, thereby improving the cleaning efficiency of the cleaning mechanism 300 and improving the cleaning effect.

[0044] In one embodiment, the first driving member includes a driving motor and a driving shaft. The driving motor is disposed on the base 100, the driving shaft is drivingly connected to the driving motor, and the rotating seat 210 is connected to the driving shaft. The driving motor can drive the driving shaft to rotate, thereby driving the rotating seat 210 to rotate.

[0045] See also Figure 2In one embodiment, the orientation adjustment mechanism 200 also includes a support rod 220, a second driving member 230 and a third driving member 240, the support rod 220 has a first end 221 and a second end 222 relative to each other, the first end 221 is rotatably connected to the rotating seat 210, the first driving member is disposed on the rotating seat 210 and is drivingly connected to the support rod 220, the first driving member can drive the first end 221 to rotate relative to the rotating seat 210, the second end 222 is rotatably connected to the cleaning mechanism 300, the second driving member 230 is disposed on the support rod 220 and is drivingly connected to the cleaning mechanism 300, and the second driving member 230 can drive the second end 222 to rotate relative to the cleaning mechanism 300.

[0046] The first end 221 of the support rod 220 can rotate relative to the rotating seat 210 under the drive of the first driving member, and the second end 222 of the support rod 220 can rotate relative to the cleaning mechanism 300 under the drive of the second driving member 230, thereby controlling the cleaning mechanism 300 to approach or move away from the rotating seat 210 to achieve position adjustment of the cleaning mechanism 300.

[0047] Furthermore, in the above embodiment, the position adjustment of the cleaning mechanism 300 is achieved by rotating the relative ends of the support rod 220. In this way, not only can the lifting and lowering of the cleaning mechanism 300 be achieved through the folding and unfolding between the support rod 220 and the rotating seat 210, but the orientation angle of the suction port 310 can also be adjusted to improve the flexibility of the cleaning mechanism 300.

[0048] In other embodiments, a plurality of support rods 220 are provided and connected end to end in sequence, and two adjacent support rods 220 can rotate to further improve the flexibility of the cleaning mechanism 300 .

[0049] See also Figure 2 In one embodiment, the second driving member 230 includes a first telescopic rod, one end of which is rotatably connected to the rotating seat 210 , and the other end of the first telescopic rod is rotatably connected to the side wall of the support rod 220 .

[0050] Under the telescopic movement of the first telescopic rod, the support rod 220 can rotate relative to the rotating seat 210, thereby adjusting the positional relationship between the cleaning mechanism 300 and the rotating seat 210.

[0051] As an embodiment that can be implemented simultaneously with the above embodiment, the third driving member 240 includes a second telescopic rod, one end of which is rotatably connected to the side wall of the support rod 220, and the other end of the second telescopic rod is rotatably connected to the cleaning mechanism 300.

[0052] Under the telescopic movement of the second telescopic rod, the cleaning mechanism 300 can rotate relative to the support rod 220, thereby adjusting the positional relationship between the cleaning mechanism 300 and the rotating base 210.

[0053] Furthermore, the first telescopic rod and the second telescopic rod are hydraulic telescopic rods, which have low implementation costs and a stable and reliable telescopic process.

[0054] See also Figure 2 In one embodiment, the cleaning mechanism 300 includes a cleaning arm 330 and a collection box 340. The cleaning arm 330 is provided with a suction channel 331, one end of the suction channel 331 is connected to the suction port 310, and the collection box 340 is detachably provided on the cleaning arm 330 and is provided with a dirt collecting chamber 320, which is used to be connected with one end of the suction channel 331 away from the suction port 310.

[0055] When the image acquisition module 400 detects the presence of dirt somewhere in the converter station, the moving mechanism 500 drives the converter station inspection device to move to the vicinity of the dirt, and then adjusts the position and angle of the cleaning arm 330 so that the suction port 310 is aimed at the dirt, and the dirt enters the suction channel 331 through the suction port 310 and finally enters the dirt collecting chamber 320; with this arrangement, the suction process is reliable and the cleaning effect is good.

[0056] Furthermore, when the foreign objects in the object collecting box 340 fill up the dirt collecting chamber 320 , the object collecting box 340 can be removed from the cleaning arm 330 , and the foreign objects in the object collecting box 340 can be cleaned and then installed back to the cleaning arm 330 .

[0057] See also Figure 2 In one embodiment, the image acquisition module 400 includes a camera, which is disposed at one end of the cleaning arm 330 close to the suction port 310 .

[0058] In addition, after the camera obtains the image of the dirt, since the camera is set at one end of the cleaning arm 330 close to the suction port 310, when the cleaning arm 330 moves and drives the suction port 310 close to the dirt, the camera will continue to capture and obtain the image of the dirt, thereby preventing the image of the dirt from moving out of the camera's capture screen and resulting in poor cleaning effect.

[0059] See also Figure 1 and Figure 3 In one embodiment, the base 100 has a first surface 110 and a second surface 120 opposite to each other, the orientation adjustment mechanism 200 is disposed on the first surface 110, and the moving mechanism 500 includes a first roller group 510 and a second roller group 520, the first roller group 510 and the second roller group 520 are rotatably disposed on the second surface 120, and the first roller group 510 and the second roller group 520 are rotatably disposed on the second surface 120, and the first roller group 510 and the second roller group 520 are rotatably disposed on the first direction (i.e., Figure 1 (A direction) interval setting.

[0060] The converter station inspection device is driven to move as a whole by rotating the first roller group 510 and the second roller group 520 spaced apart along the first direction of the base 100, and the movement process is stable and reliable; in addition, after moving to the designated location, the first roller group 510 and the second roller group 520 can jointly provide support for the base 100, thereby improving the cleaning effect of the cleaning mechanism 300 during cleaning.

[0061] For explanation, the first direction of the base 100 is the length direction of the base 100 , that is, the direction in which the moving mechanism 500 drives the base 100 forward and backward, which will not be described in detail here.

[0062] See also Figure 3 In one embodiment, the first roller group 510 includes at least two first rollers, all of which are spaced apart on the second surface 120 along the second direction of the base 100, and the second roller group 520 includes at least two second rollers, all of which are spaced apart on the second surface 120 along the second direction of the base 100, and the second direction is perpendicular to the first direction.

[0063] By providing at least two first rollers and at least two second rollers, the stability of the converter station inspection device during movement can be improved.

[0064] As an explanation, the second direction of the base 100 is the width direction of the base 100, that is, Figure 1 The direction perpendicular to the paper surface is not discussed here.

[0065] Furthermore, the first roller and the second roller are universal wheels to improve the mobility of the inspection device.

[0066] See also Figure 3 In one embodiment, the mobile mechanism 500 also includes a first shock-absorbing module and a second shock-absorbing module, both of which are arranged on the second surface 120, the first roller group 510 is rotatably arranged on the first shock-absorbing module, and the second roller group 520 is rotatably arranged on the second shock-absorbing module.

[0067] The first roller group 510 is connected to the second surface 120 of the base 100 through the first shock-absorbing module, and the second roller group 520 is connected to the second surface 120 of the base 100 through the second shock-absorbing module. When the first roller group 510 and the second roller group 520 are traveling on uneven terrain such as potholes, the first shock-absorbing module and the second shock-absorbing module can prevent the base 100 and various components of the first surface 110 of the base 100 from excessive vibration and damage, thereby improving the service life of the converter station inspection device; in addition, by providing the first shock-absorbing module and the second shock-absorbing module, the passability of the first roller group 510 and the second roller group 520 when moving to uneven terrain can also be improved.

[0068] Furthermore, the first shock absorbing module and the second shock absorbing module may be soft shock absorbing layers such as rubber and foam, or may be elastic materials such as springs, which are not specifically limited here.

[0069] See also Figure 3 In one embodiment, the first shock-absorbing module includes a first elastic member 531 and a second elastic member 532, one end of the first elastic member 531 is connected to the second surface 120, the other end of the first elastic member 531 is rotatably connected to the first roller group 510, one end of the second elastic member 532 is connected to the second surface 120, the other end of the second elastic member 532 is rotatably connected to the first roller group 510, and one end of the first elastic member 531 away from the first roller group 510 and one end of the second elastic member 532 away from the first roller group 510 are spaced apart on the second surface 120 along the first direction.

[0070] One end of the first elastic member 531 and one end of the second elastic member 532 are rotatably connected to the first roller assembly 510, and the other end of the first elastic member 531 and the other end of the second elastic member 532 are spaced apart on the second surface 120 along the first direction. In this way, when the first roller assembly 510 travels on uneven terrain such as potholes, it can provide sufficient shock absorption for various components of the first surface 110 of the base 100 to prevent various components from being damaged due to excessive vibration.

[0071] The second shock-absorbing module includes a third elastic member 541 and a fourth elastic member 542, one end of the third elastic member 541 is connected to the second surface 120, the other end of the third elastic member 541 is rotatably connected to the second roller group 520, one end of the fourth elastic member 542 is connected to the second surface 120, the other end of the fourth elastic member 542 is rotatably connected to the second roller group 520, and one end of the third elastic member 541 away from the second roller group 520 and one end of the fourth elastic member 542 away from the second roller group 520 are spaced apart on the second surface 120 along the first direction.

[0072] One end of the third elastic member 541 and one end of the fourth elastic member 542 are rotatably connected to the second roller group 520, and the other end of the third elastic member 541 and the other end of the fourth elastic member 542 are spaced apart on the second surface 120 along the first direction. In this way, when the second roller group 520 travels on uneven terrain such as potholes, it can provide sufficient shock absorption for various components of the first surface 110 of the base 100 to prevent damage due to excessive vibration of various components.

[0073] In one embodiment, the first elastic member 531 , the second elastic member 532 , the third elastic member 541 , and the fourth elastic member 542 are all damping spring shock absorbers.

[0074] See also Figure 3In one embodiment, the first shock-absorbing module also includes a first connecting shaft 533 and a second connecting shaft 534. The first connecting shaft 533 is arranged at an end of the first elastic member 531 away from the second surface 120, and the second connecting shaft 534 is arranged at an end of the second elastic member 532 away from the second surface 120. The end of the first connecting shaft 533 away from the first elastic member 531 and the end of the second connecting shaft 534 away from the second elastic member 532 are both rotatably connected to the first roller group 510.

[0075] Furthermore, the first connecting shaft 533 and the first elastic member 531 are coaxially arranged, and the second connecting shaft 534 and the second elastic member 532 are coaxially arranged.

[0076] Furthermore, the axis of the first elastic member 531 is perpendicular to the second surface 120, the axis of the second elastic member 532 is set at an angle to the second surface 120, and the end of the second elastic member 532 away from the first connecting shaft 533 is located on the side of the first elastic member 531 toward the third elastic member 541. In this way, when the converter station inspection device moves along the second roller group 520 toward the first roller group 510 and encounters an obstacle on the road surface, the second elastic member 532 can provide a certain support and shock-absorbing effect for the first roller group 510, thereby preventing the first elastic member 531 from breaking due to excessive twisting and deformation after the first roller group 510 encounters an obstacle.

[0077] Similarly, the axis of the fourth elastic member 542 is perpendicular to the second surface 120, the axis of the third elastic member 541 is set at an angle to the second surface 120, and the end of the third elastic member 541 away from the third connecting shaft 543 is located on the side of the fourth elastic member 542 facing the first elastic member 531. In this way, when the converter station inspection device moves along the direction of the first roller group 510 toward the second roller group 520 and encounters an obstacle on the road surface, the third elastic member 541 can provide a certain support and shock-absorbing effect for the second roller group 520, thereby preventing the fourth elastic member 542 from breaking due to excessive twisting and deformation after the second roller group 520 encounters an obstacle.

[0078] See also Figure 1 In one embodiment, the converter station inspection device also includes a power supply mechanism 700, which is disposed on the second surface 120 and located between the second elastic member 532 and the third elastic member 541. The power supply mechanism 700 is used to supply power to the cleaning mechanism 300, the azimuth adjustment mechanism 200, the image acquisition module 400 and the moving mechanism 500 to ensure normal operation.

[0079] Furthermore, the power supply mechanism 700 is a battery.

[0080] Furthermore, since the converter station inspection device needs to enter a relatively narrow space, the size of the converter station inspection device is relatively small, for example, the size is 350mm*250mm*300mm.

[0081] In one embodiment, the mobile mechanism 500 has the functions of moving forward, backward, translation, and rotation in place, and the moving speed can reach 2 meters per second. In addition, the mobile mechanism 500 also has the functions of climbing and descending steep slopes, and automatically controls the speed, and the maximum departure angle and approach angle are 35 degrees.

[0082] In one embodiment, the converter station inspection device has the ability to work continuously for 100 minutes in a 500kV DC and AC strong electromagnetic environment, and has a cruising range of 30 minutes at a speed of 2 meters per second.

[0083] In one embodiment, the converter station inspection device supports an automatic storage function for storing images acquired by the image acquisition module 400 .

[0084] In one embodiment, the battery capacity of the converter station inspection device is 2400 mAh.

[0085] In one embodiment, the converter station inspection device has IPX1 level waterproof capability.

[0086] In one embodiment, the operating environment temperature of the converter station inspection device is between -10 and 40°C.

[0087] In one embodiment, the converter station inspection device has an anti-shake function with an accuracy within ±0.02°.

[0088] In one embodiment, the maximum rotation speed of the rotating base 210 of the converter station inspection device is 360° / second.

[0089] In one embodiment, the azimuth adjustment mechanism 200 of the converter station inspection device can enable the suction port 310 and the image acquisition module 400 to have an upward-looking function, with a maximum angle of 40°.

[0090] In one embodiment, the camera resolution is 2560*1440, the wide angle is 120°, the maximum video bit rate is 16Mbps, and the real-time image transmission bit rate is not less than 6Mbps.

[0091] In one embodiment, the staff can wirelessly control the patrol and maintenance platform through the App without WiFi and operator network. The control distance is more than 50 meters (unobstructed), and the signal transmission standard is IEEE802.11.

[0092] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0093] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A converter station inspection device, characterized in that: include: Pedestal; An azimuth adjustment mechanism, wherein the azimuth adjustment mechanism is arranged on the base; A cleaning mechanism, the cleaning mechanism is arranged on the orientation adjustment mechanism and is provided with a suction port and a dirt collecting chamber connected to each other, the suction port is used to suck dirt into the dirt collecting chamber; an image acquisition module, the image acquisition module being disposed in the cleaning mechanism; and A moving mechanism is arranged on the base.

2. The converter station inspection device according to claim 1, characterized in that: The orientation adjustment mechanism includes a rotating seat and a first driving member. The rotating seat is rotatably arranged on the base. The cleaning mechanism is arranged on the rotating seat. The first driving member is arranged on the base. The first driving member is drivingly connected to the rotating seat and can drive the rotating seat to rotate.

3. The converter station inspection device according to claim 2, characterized in that: The orientation adjustment mechanism also includes a support rod, a second drive member and a third drive member, the support rod having a first end and a second end relative to each other, the first end being rotatably connected to the rotating seat, the first drive member being disposed on the rotating seat and drivingly connected to the support rod, the first drive member being capable of driving the first end to rotate relative to the rotating seat, the second end being rotatably connected to the cleaning mechanism, the second drive member being disposed on the support rod and drivingly connected to the cleaning mechanism, the second drive member being capable of driving the second end to rotate relative to the cleaning mechanism.

4. The converter station inspection device according to claim 3, characterized in that: The second driving member comprises a first telescopic rod, one end of the first telescopic rod is rotatably connected to the rotating seat, and the other end of the first telescopic rod is rotatably connected to the side wall of the supporting rod; or / and, The third driving member comprises a second telescopic rod, one end of the second telescopic rod is rotatably connected to the side wall of the supporting rod, and the other end of the second telescopic rod is rotatably connected to the cleaning mechanism.

5. The converter station inspection device according to claim 1, characterized in that: The cleaning mechanism includes a cleaning arm and a collection box, the cleaning arm is provided with a suction channel, one end of the suction channel is communicated with the suction port, the collection box is detachably arranged on the cleaning arm and is provided with the dirt collecting chamber, and the dirt collecting chamber is used to communicate with one end of the suction channel away from the suction port.

6. The converter station inspection device according to claim 5, characterized in that: The image acquisition module comprises a camera, and the camera is arranged at one end of the cleaning arm close to the suction port.

7. The converter station inspection device according to claim 1, characterized in that: The base has a first surface and a second surface opposite to each other, the orientation adjustment mechanism is arranged on the first surface, and the moving mechanism includes a first roller group and a second roller group, the first roller group and the second roller group are rotatably arranged on the second surface, and the first roller group and the second roller group are spaced apart along the first direction of the base.

8. The converter station inspection device according to claim 7, characterized in that: The first roller group includes at least two first rollers, all of which are spaced apart on the second surface along the second direction of the base; the second roller group includes at least two second rollers, all of which are spaced apart on the second surface along the second direction of the base, and the second direction is perpendicular to the first direction.

9. The converter station inspection device according to claim 7, characterized in that: The moving mechanism further includes a first cushioning module and a second cushioning module, wherein the first cushioning module and the second cushioning module are both arranged on the second surface, the first roller group is rotatably arranged on the first cushioning module, and the second roller group is rotatably arranged on the second cushioning module.

10. The converter station inspection device according to claim 9, characterized in that: The first shock-absorbing module includes a first elastic member and a second elastic member, one end of the first elastic member is connected to the second surface, the other end of the first elastic member is rotatably connected to the first roller group, one end of the second elastic member is connected to the second surface, the other end of the second elastic member is rotatably connected to the first roller group, and one end of the first elastic member away from the first roller group and one end of the second elastic member away from the first roller group are spaced apart on the second surface along the first direction; or / and, The second shock-absorbing module includes a third elastic member and a fourth elastic member, one end of the third elastic member is connected to the second surface, and the other end of the third elastic member is rotatably connected to the second roller group, one end of the fourth elastic member is connected to the second surface, and the other end of the fourth elastic member is rotatably connected to the second roller group, and an end of the third elastic member away from the second roller group and an end of the fourth elastic member away from the second roller group are arranged on the second surface along the first direction with intervals.

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