Intelligent robot for installation of box-type substation

Abstract

The invention belongs to the technical field of inspection robot equipment, and particularly relates to an intelligent robot for mounting a box-type substation, which comprises an inspection base and an identification port mounted on the inspection base, the system further comprises an intelligent detection module, the intelligent detection module is matched with the identification port, and the intelligent detection module is used for controlling the inspection mode of the identification port. According to the invention, the intelligent detection module is arranged, shooting or scanning is carried out on the inspection route at the same time by using a high view angle and a low view angle, and shooting or scanning area positions complement each other by using the difference of the two view angles, so that the detection rate of safety accidents is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of inspection robot equipment, specifically an intelligent robot for installing prefabricated substations. Background Technology

[0002] With the advancement and development of technology, the replacement of manual labor with machinery has become an important trend in many fields. In the power sector, as substations evolve towards larger scale and greater intelligence, the deployment of inspection robots can effectively solve problems such as low efficiency and numerous safety hazards associated with traditional manual inspections.

[0003] Modern inspection robots are equipped with multispectral sensors and autonomous navigation systems, enabling them to accurately identify abnormal conditions such as overheating and partial discharge of equipment around the clock. Their robotic arms can also perform simple maintenance operations. Simultaneously, they process data in real time through edge computing technology and combine it with the power grid AI cloud platform to predict equipment health, significantly improving the level of intelligent operation and maintenance. However, during the inspection process, many of the functions of the inspection robot rely on the visual recognition and infrared recognition functions of devices such as cameras and infrared scanners in the recognition window. Since the inspection robot mostly travels on the ground, although it can achieve multi-directional detection by recognizing changes in the angle and position of the window, the low position of the recognition window makes it easy to be blocked by surrounding objects. This results in blind spots in the detection of safety hazards along the inspection route, which is not conducive to the rapid identification and investigation of safety hazards.

[0004] For example, a Chinese patent discloses a substation inspection robot, publication number CN115665554A. In this patent application, the robot's overall movement and the direction of the inspection camera unit are changed through the body to achieve 360-degree inspection around the robot without blind spots. The tilt angle of the inspection camera unit is changed by the tilt adjustment component to give it a wider field of view. However, during visual recognition, the robot's inspection effect is greatly reduced due to the severe obstruction of surrounding obstacles, which affects the detection of safety hazards during the inspection process.

[0005] In view of this, the present invention proposes an intelligent robot for installing prefabricated substations to solve the above-mentioned technical problems. Summary of the Invention

[0006] To overcome the shortcomings of existing technologies and solve the aforementioned technical problems, this invention proposes an intelligent robot for installing prefabricated substations.

[0007] The technical solution adopted by the present invention to solve its technical problem is: the intelligent robot for installation of box-type substations described in the present invention includes an inspection base and an identification port installed on the inspection base;

[0008] It also includes an intelligent detection module, which works in conjunction with the identification port and is used to control the inspection mode of the identification port;

[0009] The intelligent detection module includes a low-position mounting ring, a high-position mounting ring, and a traction floating mechanism;

[0010] The identification port includes a low-position identification port and a high-position identification port. The low-position identification port and the high-position identification port are respectively installed on the low-position mounting ring and the high-position mounting ring. The low-position identification port performs detection from bottom to top, and the high-position identification port performs detection from top to bottom.

[0011] The low-position mounting ring is installed on the inspection base, and the high-position mounting ring is installed above the inspection base. The high-position mounting ring and the low-position mounting ring are connected by a traction floating mechanism.

[0012] Preferably, the traction levitation mechanism includes a levitation ring and a traction cable. The traction cable is installed between the low-position mounting ring and the high-position mounting ring. The levitation ring is fixedly installed on the high-position mounting ring and is filled with helium.

[0013] Preferably, both the low-position mounting ring and the high-position mounting ring include a mounting rail and a slide block, the slide block being slidably mounted on the mounting rail, and the identification port being mounted on the slide block.

[0014] Preferably, the low-position mounting ring further includes a drive motor, which is fixedly mounted on the inspection base. The output end of the drive motor is fixedly connected to the slide, and the drive motor is used to drive the slide to rotate along the mounting rail.

[0015] Preferably, it also includes a lifting mechanism, which is installed inside the inspection base. The lifting mechanism is used to control the lifting of the high-position installation ring. The lifting mechanism includes an assembly plate, a winding roller, a transmission gear, and a gear ring.

[0016] The inspection base has a storage slot inside, and an assembly plate is rotatably installed in the storage slot. The assembly plate is driven to rotate by a drive motor.

[0017] A winding roller is rotatably mounted on the assembly plate, and the traction cable passes through the low-position floating ring and is fixedly mounted on the winding roller.

[0018] A toothed ring is fixedly installed inside the receiving groove, and a transmission gear is fixedly installed at the end of the winding roller. The transmission gear meshes with the toothed ring for transmission.

[0019] Preferably, a reciprocating lead screw is fixedly sleeved at the output end of the drive motor, a lifting plate is installed at the bottom end of the storage slot, the lifting plate is connected to the reciprocating lead screw by a screw drive, evenly distributed top rods are installed on the lifting plate, a lifting groove is opened on the assembly plate, and the assembly plate is connected to the output end of the drive motor by lifting through the lifting groove.

[0020] Preferably, a rotating plate is sleeved on the traction cable, and symmetrically arranged deflection grooves are opened on the low-position mounting ring. A rotating rod is rotatably installed in the deflection groove, and the rotating rod extends into the receiving groove. The top end of the rotating rod is elastically connected to the rotating plate through a support spring. The rotating rod is used to prevent the assembly plate from dislodging from the toothed ring range.

[0021] Preferably, an elastic metal sheet is fixedly installed at the bottom end of the rotating rod, and the rotating rod and the elastic metal sheet form an L-shaped structure.

[0022] Preferably, evenly distributed support rods are fixedly installed between the floating ring and the traction cable, and multiple support rods are arranged in a conical shape around the outside of the high-position mounting ring.

[0023] The beneficial effects of this invention are as follows:

[0024] 1. The intelligent robot for installing prefabricated substations described in this invention, by setting up an intelligent detection module, uses two different perspectives (high and low) to simultaneously take pictures or scan along the inspection route. By utilizing the difference in perspective, the areas being photographed or scanned complement each other, thereby improving the detection rate of safety accidents.

[0025] 2. The intelligent robot for installing prefabricated substations described in this invention achieves alternating cooperation between high-precision small-range detection and low-precision large-range detection by raising and lowering the high-position identification port and utilizing the height change of the high-position identification port. This enables rapid detection of obvious safety hazards and precise interception of highly concealed safety hazards, thereby improving the effectiveness of the inspection robot. Attached Figure Description

[0026] The invention will now be further described with reference to the accompanying drawings.

[0027] Figure 1 This is a perspective view of the present invention;

[0028] Figure 2 This is an assembly diagram of the inspection base and the low-position mounting ring;

[0029] Figure 3 This is a schematic diagram of the low-position mounting ring;

[0030] Figure 4 This is an assembly diagram of the low-position mounting ring and the lifting mechanism;

[0031] Figure 5This is a schematic diagram of the assembly of the floating ring and the high-position floating ring;

[0032] Figure 6 This is a partial cross-sectional schematic diagram of the present invention;

[0033] Figure 7 yes Figure 6 Enlarged schematic diagram of the structure at point A in the middle;

[0034] In the diagram: 1. Inspection base; 11. Low-position identification port; 12. High-position identification port; 2. Floating ring; 21. Traction cable; 22. Mounting rail; 23. Slide seat; 24. Drive motor; 3. Assembly plate; 31. Storage slot; 32. Winding roller; 33. Gear ring; 34. Transmission gear; 4. Reciprocating screw; 41. Lifting plate; 42. Top rod; 43. Lifting groove; 5. Rotating plate; 51. Deflection groove; 52. Rotating rod; 53. Support spring; 54. Elastic metal sheet; 55. Support rod. Detailed Implementation

[0035] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0036] like Figures 1 to 7 As shown, the intelligent robot for installing box-type substations according to the present invention includes an inspection base 1 and an identification port installed on the inspection base 1. The identification port is one or more of commonly used visual inspection and monitoring devices such as cameras, scanners or infrared sensors.

[0037] It also includes an intelligent detection module, which works in conjunction with the identification port and is used to control the inspection mode of the identification port;

[0038] The intelligent detection module includes a low-position mounting ring, a high-position mounting ring, and a traction floating mechanism;

[0039] The identification port includes a low-position identification port 11 and a high-position identification port 12. The low-position identification port 11 and the high-position identification port 12 are respectively installed on the low-position mounting ring and the high-position mounting ring. The low-position identification port 11 is detected from bottom to top, and the high-position identification port 12 is detected from top to bottom.

[0040] The low-position mounting ring is installed on the inspection base 1, and the high-position mounting ring is installed above the inspection base 1. The high-position mounting ring and the low-position mounting ring are connected by a traction floating mechanism.

[0041] The levitation mechanism includes a levitation ring 2 and a traction cable 21. The traction cable 21 is installed between the low-position mounting ring and the high-position mounting ring. The levitation ring 2 is fixedly installed on the high-position mounting ring. The levitation ring 2 is filled with helium and is made of a lightweight, foldable material. When filled with helium, the overall density of the levitation ring 2 is much less than that of air, thus giving it buoyancy in the air. Driven by the levitation ring 2, the high-position mounting ring, which is fixedly installed with the levitation ring 2, rises into the air. At the same time, the traction cable 21 exerts a pulling force on the high-position mounting ring, thereby controlling the position and height of the levitation ring 2 and the high-position mounting ring in the air.

[0042] In order to improve the detection rate of safety hazards and reduce the chance of missed detection when inspecting and monitoring the location of the prefabricated substation, and to speed up the detection process, this invention is equipped with an intelligent detection module. The module uses both low-level and high-level detection to improve the detection efficiency of safety hazards along the inspection path and reduce the probability of accidents spreading.

[0043] Specifically, in this invention, the inspection base has a built-in electrically driven motion module that enables the inspection base to perform periodic, uninterrupted inspections along a pre-designed path. The low-position mounting ring installed on the inspection base takes pictures or scans the environment along the inspection path from bottom to top. The high-position mounting ring, which is installed above the low-position mounting ring by a traction levitation device, carries a high-position identification port 12, which then takes pictures or scans the ground from the air. Since the low-position identification port 11 and the high-position identification port 12 take pictures of the environment along the inspection path at the same time, their different positions will result in complementary images, thereby reducing blind spots in the inspection and improving the detection rate of safety hazards.

[0044] This invention uses an intelligent detection module to simultaneously capture or scan the inspection route from two different perspectives, high and low. By utilizing the difference in perspective, the captured or scanned areas complement each other, thereby improving the detection rate of safety accidents.

[0045] In a preferred embodiment of the present invention, both the low-position mounting ring and the high-position mounting ring include a mounting rail 22 and a slide 23. The slide 23 is slidably mounted on the mounting rail 22, and the identification port is mounted on the slide 23.

[0046] The low-position mounting ring also includes a drive motor 24, which is fixedly mounted on the inspection base 1. The output end of the drive motor 24 is fixedly connected to the slide 23, and the drive motor 24 is used to drive the slide 23 to rotate along the mounting rail 22.

[0047] Since the high-position mounting ring is suspended in mid-air, its weight needs to be minimized to reduce the pressure on the floating ring 2. Therefore, in this invention, both the low-position mounting ring and the high-position mounting ring have mounting rails 22 and slides 23. The low-position identification port 11 and the high-position identification port 12 are respectively mounted on the slides 23 on the low-position mounting ring and the high-position mounting ring. The two slides 23 are connected by a traction cable 21. The low-position mounting ring also includes a drive motor 24. During inspection, when the drive motor 24 starts, the slides 23 on the low-position mounting ring rotate first under the drive of the output of the drive motor 24, and then rotate under the transmission effect of the traction cable 21. This causes the slide 23 on the high-position mounting ring to rotate, thereby allowing the high-position identification port 12 and the low-position identification port 11 to rotate 360 ​​degrees without dead angles, effectively expanding the detection range of the inspection route. It should also be noted that, in order to improve the transmission effect of the traction cable 21, at least two traction cables 21 are provided in this invention, symmetrically installed on the slide 23, and the traction cable 21 needs to avoid the center rotation position of the slide 23 as much as possible, thereby improving the transmission effect of the traction cable 21. It should also be noted that, in order to reduce the weight of the floating traction mechanism and the high-position mounting ring as much as possible, the traction cable 21 is replaced with necessary electrical cables or air pipes.

[0048] As a preferred embodiment of the present invention, it further includes a lifting mechanism, which is installed in the inspection base 1. The lifting mechanism is used to control the lifting of the high-position installation ring. The lifting mechanism includes an assembly plate 3, a winding roller 32, a transmission gear 34, and a toothed ring 33.

[0049] The inspection base 1 has a storage slot 31 inside, and an assembly plate 3 is rotatably installed in the storage slot 31. The assembly plate 3 is driven to rotate by a drive motor 24.

[0050] A winding roller 32 is rotatably mounted on the assembly plate 3, and the traction cable 21 passes through the low-position floating ring 2 and is fixedly mounted on the winding roller 32.

[0051] A toothed ring 33 is fixedly installed inside the storage groove 31, and a transmission gear 34 is fixedly installed at the end of the winding roller 32. The transmission gear 34 meshes with the toothed ring 33 for transmission.

[0052] The output end of the drive motor 24 is fixedly sleeved with a reciprocating lead screw 4. A lifting plate 41 is installed at the bottom end of the storage slot 31. The lifting plate 41 is screw-driven to the reciprocating lead screw 4. The lifting plate 41 is equipped with evenly distributed top rods 42. The assembly plate 3 is provided with a lifting groove 43. The assembly plate 3 is connected to the output end of the drive motor 24 through the lifting groove 43. The assembly groove is a polygonal groove. The connection between the assembly plate 3 and the output end of the drive motor 24 through the lifting groove 43 causes the assembly plate 3 and the output end of the drive motor 24 to only move axially and cannot produce relative movement in the circumferential direction.

[0053] During the inspection process, the high-position mounting ring is suspended in mid-air. The detection range of the high-position recognition module expands as the high-position mounting ring rises, but the detection accuracy decreases. Therefore, to achieve coordinated large-range and high-precision detection during actual testing, this invention includes a lifting mechanism. Specifically, when the drive motor 24 starts, its output rotates, causing the assembly plate 3 to rotate. The winding roller 32 and transmission gear 34 mounted on the assembly plate 3 move synchronously. During this process, the transmission gear 34 is restricted by the gear ring 33, causing it to rotate. Thus, as the assembly plate 3, the output of the drive motor 24, and the slide 23 rotate synchronously, the winding wheel rotates. One end of the traction cable 21 is fixed to the winding wheel, causing the winding cable to gradually wind up the traction cable 21. At this time, the height of the floating ring 2 and the high-position mounting ring gradually decreases, causing the detection range of the high-position recognition module to gradually decrease and the detection accuracy to gradually increase. The block and the low-position identification module work together to perform fine detection of the small area around the inspection base. During this process, the rotation of the output end of the drive motor 24 causes the reciprocating screw 4 to rotate synchronously. The reciprocating screw 4 is connected to the lifting plate 41 by a screw drive, so the lifting plate 41 changes from rotation to linear motion. The lifting plate 41 gradually moves downward. Since the assembly plate 3 is supported by the top rod 42, when the lifting plate 41 and the top rod 42 descend, the assembly plate 3 also descends. As the assembly plate 3 continues to descend, the transmission gear 34 gradually disengages from the range of the gear ring 33. At this time, the transmission gear 34 and the winding roller 32 are no longer restricted. Under the buoyancy of the floating ring 2, the traction cable 21 is pulled, causing the winding roller 32 to rotate in the opposite direction. This causes the wound traction cable 21 to gradually unwind, causing the floating ring 2 and the high-position identification port 12 to rise again. As the height increases, the detection range of the high-position identification port 12 gradually increases, thereby performing a large-scale detection of the surrounding environment to quickly identify safety hazards with obvious features.

[0054] This invention utilizes the rise and fall of the high-position recognition port 12 to achieve alternating cooperation between high-precision small-range detection and low-precision large-range detection, thereby enabling rapid detection of obvious safety hazards and accurate interception of highly concealed safety hazards, thus improving the effectiveness of the inspection robot.

[0055] In a preferred embodiment of the present invention, a rotating plate 5 is sleeved on the traction cable 21, and a symmetrically arranged deflection groove 51 is provided on the low-position mounting ring. A rotating rod 52 is rotatably installed in the deflection groove 51. The rotating rod 52 extends into the receiving groove 31. The top end of the rotating rod 52 is elastically connected to the rotating plate 5 through a support spring 53. The rotating rod 52 is used to prevent the mounting plate 3 from disengaging from the toothed ring 33.

[0056] An elastic metal sheet 54 is fixedly installed at the bottom end of the rotating rod 52, and the rotating rod 52 and the elastic metal sheet 54 form an L-shaped structure.

[0057] The floating ring 2 and the traction cable 21 are fixedly installed with evenly distributed support rods 55. Multiple support rods 55 are arranged in a conical shape around the outside of the high-position mounting ring. The presence of the support rods 55 makes the floating ring 2 and the support rods 55 form a conical structure, which can protect the internal high-position identification port 12.

[0058] To improve the safety of the inspection robot, when the inspection base is inspecting along a pre-set route, the traction cable 21 between the high-position mounting ring and the low-position mounting ring is easily blocked by wires and other facilities. When there are obstacles in the surrounding environment that hinder the movement of the traction cable 21 and the high-position mounting ring, the traction base will gradually tilt as the inspection base continues to move forward. The rotating plate 5 installed on the traction cable 21 pushes the support spring 53 and the rotating rod 52, causing the rotating rod 52 to extend into the lifting path of the assembly plate 3 at one end within the receiving groove 31. Since the drive motor 24 is always running during this process, the assembly plate 3 is in a periodic lifting motion. When the assembly plate 3 is above the rotating rod 52 and the elastic metal sheet 54, the support of the rotating rod 52 and the elastic metal sheet 54 will keep the assembly plate 3 within the range of the toothed ring 33, thus causing the winding roller 32 to continuously wind up the traction cable 21. As the winding continues, the height of the floating ring 2 and the high-position mounting ring gradually decreases, eventually making the... Once the floating ring 2 and the high-position mounting ring are freed from obstruction, under the action of buoyancy, the floating ring 2 will pull the high-position mounting ring to move quickly to directly above the inspection base. At this time, the rotating rod 52 will no longer intercept the assembly plate 3. When the transmission gear 34 is disengaged from the range of the gear ring 33, the floating ring 2 will pull the high-position mounting ring to quickly return to its original position in mid-air. When the rotating rod 52 deflects, and the assembly plate 3 is located below the rotating rod 52 and the elastic metal sheet 54, with the periodic movement of the lifting plate 41 and the top rod 42, when the top rod 42... When the assembly plate 3 is pushed upward, it pushes the elastic metal sheet 54, causing the elastic metal sheet 54 to deform. This causes the assembly plate 3 to move above the rotating rod 52 and the elastic metal sheet 54, so that the transmission gear 34 and the gear ring 33 can transmit power, thereby winding up the traction cable 21. It should be noted that in this invention, an electric push rod is also provided in the deflection groove 51. The electric push rod is used to actively push the rotating rod 52 to rotate, so that after the inspection is completed, the winding wheel can be actively controlled to wind up the traction cable 21.

[0059] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent robot for installing a prefabricated substation, comprising an inspection base (1) and an identification port installed on the inspection base (1); Its features are: It also includes an intelligent detection module, which works in conjunction with the identification port and is used to control the inspection mode of the identification port; The intelligent detection module includes a low-position mounting ring, a high-position mounting ring, and a traction floating mechanism; The identification port includes a low-position identification port (11) and a high-position identification port (12). The low-position identification port (11) and the high-position identification port (12) are respectively installed on the low-position mounting ring and the high-position mounting ring. The low-position identification port (11) is detected from bottom to top, and the high-position identification port (12) is detected from top to bottom. The low-position mounting ring is installed on the inspection base (1), and the high-position mounting ring is installed above the inspection base (1). The high-position mounting ring and the low-position mounting ring are connected by a traction floating mechanism.

2. The intelligent robot for installing prefabricated substations according to claim 1, characterized in that: The traction levitation mechanism includes a levitation ring (2) and a traction cable (21). The traction cable (21) is installed between the low-position mounting ring and the high-position mounting ring. The levitation ring (2) is fixedly installed on the high-position mounting ring and is filled with helium.

3. The intelligent robot for installing prefabricated substations according to claim 2, characterized in that: Both the low-position mounting ring and the high-position mounting ring include a mounting rail (22) and a slide (23). The slide (23) is slidably mounted on the mounting rail (22), and the identification port is mounted on the slide (23).

4. The intelligent robot for installing prefabricated substations according to claim 3, characterized in that: The low-position mounting ring also includes a drive motor (24), which is fixedly mounted on the inspection base (1). The output end of the drive motor (24) is fixedly connected to the slide (23), and the drive motor (24) is used to drive the slide (23) to rotate along the mounting rail (22).

5. The intelligent robot for installing prefabricated substations according to claim 4, characterized in that: It also includes a lifting mechanism, which is installed in the inspection base (1). The lifting mechanism is used to control the lifting of the high-position installation ring. The lifting mechanism includes an assembly plate (3), a winding roller (32), a transmission gear (34), and a gear ring (33). The inspection base (1) has a storage slot (31) inside, and an assembly plate (3) is rotatably installed in the storage slot (31). The assembly plate (3) is driven to rotate by a drive motor (24). A winding roller (32) is rotatably mounted on the assembly plate (3), and the traction cable (21) passes through the low-position floating ring (2) and is fixedly mounted on the winding roller (32); A toothed ring (33) is fixedly installed inside the storage groove (31), and a transmission gear (34) is fixedly installed at the end of the winding roller (32). The transmission gear (34) meshes with the toothed ring (33) for transmission.

6. The intelligent robot for installing prefabricated substations according to claim 5, characterized in that: The output end of the drive motor (24) is fixedly sleeved with a reciprocating screw (4), and the bottom end of the storage groove (31) is equipped with a lifting plate (41). The lifting plate (41) is connected to the reciprocating screw (4) by a screw drive. The lifting plate (41) is equipped with evenly distributed top rods (42). The assembly plate (3) is provided with a lifting groove (43). The assembly plate (3) is connected to the output end of the drive motor (24) by lifting through the lifting groove (43).

7. The intelligent robot for installing prefabricated substations according to claim 6, characterized in that: A rotating plate (5) is sleeved on the traction cable (21). A symmetrically arranged deflection groove (51) is opened on the low-position mounting ring. A rotating rod (52) is rotatably installed in the deflection groove (51). The rotating rod (52) extends into the storage groove (31). The top of the rotating rod (52) is elastically connected to the rotating plate (5) through a support spring (53). The rotating rod (52) is used to prevent the mounting plate (3) from leaving the toothed ring (33).

8. The intelligent robot for installing prefabricated substations according to claim 7, characterized in that: An elastic metal sheet (54) is fixedly installed at the bottom of the rotating rod (52), and the rotating rod (52) and the elastic metal sheet (54) form an L-shaped structure.

9. The intelligent robot for installing prefabricated substations according to claim 8, characterized in that: The floating ring (2) and the traction cable (21) are fixedly installed with evenly distributed support rods (55), and multiple support rods (55) are arranged in a conical shape around the outside of the high-position installation ring.

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