Transformer substation inspection robot

Abstract

The invention relates to the technical field of transformer substation inspection, and discloses a transformer substation inspection robot which comprises a vehicle body, and a working mechanism is installed at the top of the vehicle body and used for daily inspection work; the damping mechanism is installed in the inner cavity of the vehicle body and used for damping work of the whole device, the damping mechanism comprises a connecting assembly, a driving assembly and a working assembly, and the connecting assembly is located in the inner cavity of the vehicle body and used for providing supporting force for the driving assembly and the working assembly; the driving assembly is installed in an inner cavity of the connecting assembly and used for providing driving force for overall operation of the device, and the working assembly is arranged on one side of the connecting assembly and used for providing the damping effect. Through the designed damping mechanism, vibration generated in the running process of the robot is effectively absorbed, so that stability of equipment in the robot is kept, equipment damage or data errors caused by vibration are avoided, and accuracy and stability of inspection data are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of substation inspection, and in particular to a substation inspection robot. Background Art

[0002] Substations are key components of the power system, and the safe and stable operation of their equipment is crucial to the reliability of the entire power grid. However, traditional substation inspections rely primarily on manual labor, which is not only inefficient but also difficult to fully cover. The limitations of manual inspections are particularly evident in substations that are large, contain numerous devices, and are widely distributed. Furthermore, manual inspections are subject to time and environmental constraints. For example, in severe weather, at high altitudes, or in hazardous areas, the safety risks of manual inspections increase significantly.

[0003] A search revealed Chinese patent number CN115665554B, which discloses a substation inspection robot. The robot comprises a body, a mobile base, a rotating lift, and a top plate. The rotating lift is rotatably mounted on top of the mobile base, the top plate is fixed to the top of the rotating lift, and running wheels are provided at the bottom of the mobile base. A pitch adjustment member comprises a rotating member and a drive member. The robot's body enables overall movement and changes the direction of the inspection camera unit, enabling 360-degree inspections around the robot. The pitch adjustment member adjusts the pitch angle of the inspection camera unit, providing a wider field of view.

[0004] A search revealed Chinese patent number CN110014411B, which discloses a substation inspection robot comprising a detection device and a vehicle body equipped with a walking mechanism. The vehicle body is equipped with a lifting rod for vertical movement. The detection device is mounted on the top of the lifting rod, which is capable of pitching and rotating. The lifting rod is provided with a driving wedge surface. The vehicle body is equipped with a driving wedge for forward and backward movement. The lifting rod is rotatably equipped with a first gear and a second gear, the second gear being a sector gear. This invention provides a substation inspection robot with a detection device that can adjust its pitch angle and adjust its height accordingly.

[0005] The aforementioned patents enhance the flexibility and field of view of inspection robots through innovative body designs and lift structures. However, in actual use, substations are typically located outdoors, where the ground may be uneven. Due to the large number of devices, the ground often has obstacles such as gullies, steps, or bumps. Furthermore, the high-voltage equipment within the substation may generate slight vibrations during operation. These vibrations, when transmitted to the inspection robot, may interfere with its sophisticated sensors and cameras, affecting the accuracy and stability of data collection. Based on this, the present invention designs a substation inspection robot to address the aforementioned issues. Summary of the Invention

[0006] The object of the present invention is to provide a substation inspection robot, which solves the problem of lack of shock absorption in the background technology.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: A substation inspection robot, comprising: A vehicle body, the top of which is equipped with a working mechanism and used for daily inspection work; A shock-absorbing mechanism, which is installed in the inner cavity of the vehicle body and is used for shock absorption of the entire device. The shock-absorbing mechanism includes a connecting component, a driving component and a working component. The connecting component is located in the inner cavity of the vehicle body and is used to provide support force for the driving component and the working component. The driving component is installed in the inner cavity of the connecting component and is used to provide driving force for the overall operation of the device. The working component is on one side of the connecting component and is used to provide a shock-absorbing effect.

[0008] The shock absorber is a crucial component of the robot. Through the coordinated operation of its connecting, driving, and working components, it effectively absorbs vibrations generated during the robot's movement. When the robot travels over uneven surfaces, the springs in the shock absorber expand and contract according to the undulations of the ground, maintaining the stability of the robot's internal equipment and preventing damage or data errors caused by vibration.

[0009] Preferably, the connecting assembly includes a connecting frame installed in the body cavity of the vehicle body, connecting rods are hinged on both sides of the connecting frame, the connecting rods are distributed in a matrix array, and a connecting frame is hinged on one side of the connecting rod. The connecting frame and the connecting rod, and the connecting rod and the connecting frame are rotatably connected through a pin shaft, and a fixing nut is installed on the outer ring of the pin shaft.

[0010] Preferably, the driving assembly includes a driving motor installed in a connecting frame, a driving shaft is installed on one side of the output shaft of the driving motor, and rollers are installed on the outer ring of the driving shaft, and the rollers are distributed in a matrix array.

[0011] Preferably, the working component includes a top shaft installed between the connecting frames and a bottom shaft installed between the connecting rods, a working shaft is installed between the top shaft and the bottom shaft, a spring is installed on the outer ring of the working shaft, the top of the spring is fixedly connected to the top shaft, and the bottom of the spring is fixedly connected to the bottom shaft, and the working shaft and the spring are distributed in multiple groups of matrix arrays.

[0012] Preferably, the working assembly further comprises a pressure sensor mounted on the bottom of the connecting frame, a telescopic rod is mounted on the top of the pressure sensor, and the telescopic rod penetrates the vehicle body and extends to the top of the vehicle body.

[0013] Preferably, the working mechanism includes a working frame installed on the top of the telescopic rod, a working motor is installed in the inner cavity of the working frame, the output shaft of the working motor is fixedly connected to the driving shaft, the outer ring of the driving shaft is installed with a driving bevel gear, a driven shaft is installed in the inner cavity of the working frame, the outer ring of the driven shaft is installed with a driven bevel gear, the driving bevel gear and the driven bevel gear are meshed with each other, an inspection screen is installed on the top of the driven shaft, and a control button is installed on one side of the working frame.

[0014] The working mechanism is the core component of the robot's inspection mission. The working motor, through a driving shaft and active bevel gear, rotates the driven shaft and inspection screen, enabling comprehensive monitoring and imaging of substation equipment. Operators can remotely control and adjust the working mechanism using control buttons, such as adjusting the inspection screen's rotation speed and imaging angle, to meet the needs of different inspection tasks.

[0015] Preferably, a battery compartment is installed in the inner cavity of the vehicle body, a Hawk battery is installed in the inner cavity of the battery compartment, a rear cover is installed on one side of the battery compartment, an anti-sway wheel is installed on the top of the rear cover, and a rear end universal wheel is installed on the bottom of the rear cover.

[0016] Preferably, a mounting plate is installed on one side of the vehicle body, a front universal wheel is installed on the bottom of the mounting plate, and a counterweight is installed on the top of the mounting plate.

[0017] Preferably, an obstacle sensor is installed on the top of the mounting plate, and an anti-collision strip is installed on one side of the mounting plate.

[0018] Inside the vehicle, a battery compartment provides a continuous power supply for the robot, ensuring it can perform inspections for extended periods of time. Furthermore, the front and rear universal wheels at the bottom of the vehicle, along with anti-sway wheels, ensure the robot maintains excellent stability and flexibility during travel, enabling it to perform inspections along predetermined routes and adapt to varying terrain and road conditions.

[0019] Preferably, an electric box is installed in the inner cavity of the vehicle body, a cover is installed on the top of the electric box, and a handle is installed on the top of the cover.

[0020] The robot is also equipped with a range of auxiliary devices to enhance its safety and reliability. Obstacle sensors monitor obstacles in front of the robot in real time. When an obstacle is detected, the robot automatically adjusts its route to avoid collision. Anti-collision strips cushion minor collisions, protecting the robot's exterior and internal components from damage. The electrical box and cover protect the electrical control system and wiring from dust and moisture, ensuring stable operation of the robot's electrical system.

[0021] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention utilizes a designed shock-absorbing mechanism, including a connecting assembly, a driving assembly, and a working assembly, to effectively absorb vibrations generated by the robot during travel. Especially in uneven terrain or substation environments with obstacles such as gullies and steps, the springs in the shock-absorbing mechanism can flexibly expand and contract according to the undulations of the ground, thereby maintaining the stability of the robot's internal equipment, avoiding equipment damage and data errors caused by vibration, and ensuring the accuracy and stability of inspection data.

[0022] 2. The present invention has universal wheels at the front and rear ends of the robot, as well as anti-sway wheels, which enable the robot to maintain good stability and flexibility during driving. This design not only enables the robot to inspect along a predetermined route, but also adapts to different terrains and road conditions, such as obstacles such as gullies and steps, greatly improving the robot's inspection efficiency and reliability.

[0023] 3. This invention utilizes a telescopic rod and working mechanism to achieve the lifting and rotation of the inspection screen, thereby expanding the robot's field of view. The working motor, via a driving shaft and active bevel gear, drives the driven shaft and the inspection screen, enabling all-around monitoring and imaging of substation equipment. This design enables the robot to more comprehensively obtain status information on substation equipment, improving the accuracy and efficiency of inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a side view of the structure of the present invention; Figure 2 A bottom view of the structure of the present invention; Figure 3 It is a structural schematic diagram of the working mechanism of the present invention; Figure 4 It is a side view of the structure of the present invention; Figure 5 It is a structural schematic diagram of the connecting assembly, driving assembly and working assembly of the present invention; Figure 6 For the present invention Figure 5 A magnified view of point A; Figure 7 It is a structural schematic diagram of the battery compartment of the present invention.

[0025] Among them: 1. Working mechanism; 2. Connecting assembly; 3. Driving assembly; 4. Working assembly; 101. Car body; 102. Working motor; 103. Driving shaft; 104. Driving bevel gear; 105. Driven shaft; 106. Driven bevel gear; 107. Inspection screen; 108. Control button; 109. Battery compartment; 110. Hawk battery; 111. Anti-sway wheel; 112. Rear universal wheel; 113. Mounting plate; 114. Front universal wheel; 115 , counterweight; 116, obstacle sensor; 117, anti-collision strip; 118, electrical box; 119, cover; 120, handle; 201, connecting frame; 202, connecting rod; 203, connecting frame; 204, pin; 205, fixing nut; 301, drive motor; 302, drive shaft; 303, roller; 401, top shaft; 402, bottom shaft; 403, working shaft; 404, spring; 405, pressure sensor; 406, telescopic rod. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0027] See also Figure 1-Figure 7 In an embodiment of the present invention, a substation inspection robot includes: The vehicle body 101 has a working mechanism 1 installed on the top of the vehicle body 101 and is used for daily inspection work; Shock-absorbing mechanism, the shock-absorbing mechanism is installed in the inner cavity of the vehicle body 101 and is used for the shock-absorbing work of the entire device. The shock-absorbing mechanism includes a connecting component 2, a driving component 3 and a working component 4. The connecting component 2 is located in the inner cavity of the vehicle body 101 and is used to provide support force for the driving component 3 and the working component 4. The driving component 3 is installed in the inner cavity of the connecting component 2 and is used to provide driving force for the overall operation of the device. The working component 4 is on one side of the connecting component 2 and is used to provide a shock-absorbing effect.

[0028] The connecting assembly 2 includes a connecting frame 201 installed in the inner cavity of the vehicle body 101, and connecting rods 202 are hinged on both sides of the connecting frame 201. The connecting rods 202 are distributed in a matrix array. A connecting frame 203 is hinged on one side of the connecting rod 202. The connecting frame 201 and the connecting rod 202 and the connecting rod 202 and the connecting frame 203 are rotatably connected through a pin shaft 204, and a fixing nut 205 is installed on the outer ring of the pin shaft 204.

[0029] The driving assembly 3 includes a driving motor 301 installed in the connecting frame 203. A driving shaft 302 is installed on one side of the output shaft of the driving motor 301. The outer ring of the driving shaft 302 is installed with rollers 303. The rollers 303 are distributed in a matrix array.

[0030] The working component 4 includes a top shaft 401 installed between the connecting frames 201 and a bottom shaft 402 installed between the connecting rods 202. A working shaft 403 is installed between the top shaft 401 and the bottom shaft 402. A spring 404 is installed on the outer ring of the working shaft 403. The top of the spring 404 is fixedly connected to the top shaft 401, and the bottom of the spring 404 is fixedly connected to the bottom shaft 402. The working shaft 403 and the spring 404 are distributed in a matrix array.

[0031] The working assembly 4 further includes a pressure sensor 405 installed at the bottom of the connecting frame 201 . A telescopic rod 406 is installed on the top of the pressure sensor 405 . The telescopic rod 406 passes through the vehicle body 101 and extends to the top of the vehicle body 101 .

[0032] The operating principle of this embodiment of the present invention is as follows: the connection assembly 2, arranged in a matrix array of a connection frame 201, connecting rods 202, and a connecting frame 203, provides stable support for the drive assembly 3 and the working assembly 4. The connection frame 201 is fixed within the inner cavity of the vehicle body 101, and the connecting rod 202 is hinged to the connection frame 201 and the connecting frame 203 via a pin 204, achieving a flexible rotational connection. The drive motor 301 rotates the rollers 303 via a drive shaft 302, providing the robot with forward propulsion. The matrix array of rollers 303 ensures that the robot maintains good stability and grip during driving.

[0033] Working assembly 4, through the installation of top shaft 401, bottom shaft 402, and working shaft 403, and the elastic support of spring 404, absorbs and mitigates vibrations generated during the robot's movement. When the robot travels on uneven ground, spring 404 can expand and contract according to the surface's undulations, thereby maintaining the stability of the robot's internal equipment.

[0034] The pressure sensor 405 is connected to the top of the vehicle body 101 via a telescopic rod 406, and can monitor the pressure changes of the robot during its driving process in real time and transmit the data to the control system so as to make timely adjustments to the driving state of the robot.

[0035] See also Figure 1-Figure 7In the embodiment of the present invention, the working mechanism 1 includes a working frame installed on the top of the telescopic rod 406, a working motor 102 is installed in the inner cavity of the working frame, the output shaft of the working motor 102 is fixedly connected to the driving shaft 103, the outer ring of the driving shaft 103 is installed with a driving bevel gear 104, a driven shaft 105 is installed in the inner cavity of the working frame, the outer ring of the driven shaft 105 is installed with a driven bevel gear 106, the driving bevel gear 104 and the driven bevel gear 106 are meshed with each other, an inspection screen 107 is installed on the top of the driven shaft 105, and a control button 108 is installed on one side of the working frame.

[0036] The working principle of this embodiment of the present invention is as follows: a working motor 102 drives a driving bevel gear 104 via a driving shaft 103. The driving bevel gear 104 meshes with a driven bevel gear 106, thereby rotating a driven shaft 105 and an inspection screen 107 on top of it. This allows the inspection screen 107 to comprehensively monitor and capture equipment within the substation.

[0037] Control button 108 is installed on a side of the working frame, makes it convenient for the operator to control and adjust the working state of the robot. By pressing different buttons, the adjustment of parameters such as the rotation speed of the inspection screen 107, shooting angles, etc. can be realized.

[0038] See also Figure 1-Figure 7 In the embodiment of the present invention, a battery compartment 109 is installed in the inner cavity of the vehicle body 101, a Hawk battery 110 is installed in the inner cavity of the battery compartment 109, a rear cover is installed on one side of the battery compartment 109, an anti-sway wheel 111 is installed on the top of the rear cover, and a rear end universal wheel 112 is installed on the bottom of the rear cover.

[0039] A mounting plate 113 is installed on one side of the vehicle body 101, a front universal wheel 114 is installed at the bottom of the mounting plate 113, a counterweight block 115 is installed on the top of the mounting plate 113, an obstacle sensor 116 is installed on the top of the mounting plate 113, and an anti-collision strip 117 is installed on one side of the mounting plate 113.

[0040] An electrical box 118 is installed in the inner cavity of the vehicle body 101 , a cover plate 119 is installed on the top of the electrical box 118 , and a handle 120 is installed on the top of the cover plate 119 .

[0041] The operating principle of this embodiment of the present invention is as follows: Hawk batteries 110 installed in the battery compartment 109 provide a continuous power supply for the robot. Anti-sway wheels 111 on the rear cover and rear universal wheels 112 maintain the robot's stability during travel. Front universal wheels 114 are mounted on one side of the vehicle body 101 and connected to the vehicle body 101 via a mounting plate 113. Front universal wheels 114 enable flexible steering of the robot, allowing it to perform inspections along a predetermined route.

[0042] Obstacle sensor 116, mounted on mounting plate 113, monitors obstacles ahead of the robot in real time. When an obstacle is detected, the robot automatically adjusts its route to avoid a collision. Anti-collision strip 117, mounted on one side of mounting plate 113, cushions minor collisions and protects the robot's exterior and internal components from damage.

[0043] An electrical box 118 is mounted within the interior of the vehicle body 101 and is used to house the robot's electrical control system and wiring. A cover 119 is secured to the top of the electrical box 118 via a handle 120 to protect the equipment within the box from dust and moisture.

[0044] Working principle: The connecting component 2 is distributed in a matrix array of connecting frames 201, connecting rods 202 and connecting frames 203, providing stable support for the driving component 3 and the working component 4. The connecting frame 201 is fixed in the inner cavity of the vehicle body 101, and the connecting rod 202 is hinged to the connecting frame 201 and the connecting frame 203 through the pin 204 to achieve a flexible rotation connection. The driving motor 301 drives the roller 303 to rotate through the driving shaft 302, providing the robot with forward power. The working component 4 absorbs and alleviates the vibration generated during the robot's travel through the installation of the top shaft 401, the bottom shaft 402 and the working shaft 403, as well as the elastic support of the spring 404. When the robot travels on uneven ground, the spring 404 can expand and contract according to the ups and downs of the ground, thereby maintaining the stability of the robot's internal equipment.

[0045] The working motor 102 rotates the driving bevel gear 104 via the driving shaft 103. The driving bevel gear 104 meshes with the driven bevel gear 106, thereby rotating the driven shaft 105 and the inspection screen 107 on top of it. This allows the inspection screen 107 to comprehensively monitor and capture equipment within the substation. Control buttons 108 are mounted on one side of the work frame, allowing the operator to easily control and adjust the robot's operating status. By pressing different buttons, parameters such as the rotation speed and camera angle of the inspection screen 107 can be adjusted.

[0046] The Hawk battery 110 installed in the battery compartment 109 provides a continuous power supply for the robot. The anti-sway wheel 111 on the back cover and the rear universal wheel 112 can maintain the stability of the robot during driving. The front universal wheel 114 is installed on one side of the vehicle body 101 and is connected to the vehicle body 101 through the mounting plate 113. The front universal wheel 114 can realize flexible steering of the robot, so that the robot can patrol according to the predetermined route. The obstacle sensor 116 is installed on the mounting plate 113 and can monitor the obstacle situation in front of the robot in real time. When an obstacle is detected, the robot can automatically adjust the driving route to avoid collision with the obstacle. The anti-collision bar 117 is installed on one side of the mounting plate 113, which can play a buffering role when the robot collides slightly with an obstacle, protecting the robot's shell and internal equipment from damage.

[0047] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A substation inspection robot, characterized in that: include: A vehicle body (101), wherein a working mechanism (1) is installed on the top of the vehicle body (101) and is used for daily inspection work; A shock absorbing mechanism is installed in the inner cavity of a vehicle body (101) and is used for shock absorbing work of the entire device. The shock absorbing mechanism comprises a connecting component (2), a driving component (3) and a working component (4). The connecting component (2) is located in the inner cavity of the vehicle body (101) and is used to provide a supporting force for the driving component (3) and the working component (4). The driving component (3) is installed in the inner cavity of the connecting component (2) and is used to provide a driving force for the operation of the entire device. The working component (4) is on one side of the connecting component (2) and is used to provide a shock absorbing effect.

2. A substation inspection robot according to claim 1, characterized in that: The connecting assembly (2) comprises a connecting frame (201) installed in the inner cavity of the vehicle body (101), connecting rods (202) are hingedly connected on both sides of the connecting frame (201), the connecting rods (202) are distributed in a matrix array, a connecting frame (203) is hingedly connected on one side of the connecting rods (202), the connecting frame (201) and the connecting rods (202) and the connecting rods (202) and the connecting frame (203) are rotatably connected via a pin (204), and a fixing nut (205) is installed on the outer ring of the pin (204).

3. The substation inspection robot according to claim 1, characterized in that: The drive assembly (3) comprises a drive motor (301) mounted in a connecting frame (203), a drive shaft (302) being mounted on one side of an output shaft of the drive motor (301), and rollers (303) being mounted on an outer ring of the drive shaft (302), wherein the rollers (303) are distributed in a matrix array.

4. The substation inspection robot according to claim 1, characterized in that: The working assembly (4) comprises a top shaft (401) installed between the connecting frames (201) and a bottom shaft (402) installed between the connecting rods (202); a working shaft (403) is installed between the top shaft (401) and the bottom shaft (402); a spring (404) is installed on the outer ring of the working shaft (403); the top of the spring (404) is fixedly connected to the top shaft (401); the bottom of the spring (404) is fixedly connected to the bottom shaft (402); and the working shaft (403) and the spring (404) are distributed in a matrix array.

5. The substation inspection robot according to claim 1, characterized in that: The working assembly (4) further comprises a pressure sensor (405) mounted on the bottom of the connection frame (201), a telescopic rod (406) being mounted on the top of the pressure sensor (405), and the telescopic rod (406) passes through the vehicle body (101) and extends to the top of the vehicle body (101).

6. The substation inspection robot according to claim 1, characterized in that: The working mechanism (1) comprises a working frame mounted on the top of the telescopic rod (406); a working motor (102) is mounted in the inner cavity of the working frame; an output shaft of the working motor (102) is fixedly connected to a driving shaft (103); a driving bevel gear (104) is mounted on the outer ring of the driving shaft (103); a driven shaft (105) is mounted in the inner cavity of the working frame; a driven bevel gear (106) is mounted on the outer ring of the driven shaft (105); the driving bevel gear (104) and the driven bevel gear (106) are meshed with each other; an inspection screen (107) is mounted on the top of the driven shaft (105); and a control button (108) is mounted on one side of the working frame.

7. The substation inspection robot according to claim 1, characterized in that: A battery compartment (109) is installed in the inner cavity of the vehicle body (101), a Hawk battery (110) is installed in the inner cavity of the battery compartment (109), a rear cover is installed on one side of the battery compartment (109), an anti-sway wheel (111) is installed on the top of the rear cover, and a rear end universal wheel (112) is installed on the bottom of the rear cover.

8. The substation inspection robot according to claim 1, characterized in that: A mounting plate (113) is installed on one side of the vehicle body (101), a front universal wheel (114) is installed on the bottom of the mounting plate (113), and a counterweight (115) is installed on the top of the mounting plate (113).

9. The substation inspection robot according to claim 8, characterized in that: An obstacle sensor (116) is installed on the top of the mounting plate (113), and an anti-collision strip (117) is installed on one side of the mounting plate (113).

10. The substation inspection robot according to claim 1, characterized in that: An electric box (118) is installed in the inner cavity of the vehicle body (101), a cover plate (119) is installed on the top of the electric box (118), and a handle (120) is installed on the top of the cover plate (119).

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