Digital twin substation inspection robot

Abstract

The invention relates to the technical field of transformer substation intelligent inspection, and discloses a digital twin transformer substation inspection robot which comprises an inspection robot body, limiting rings are symmetrically and fixedly connected to the two sides of the inspection robot body, rotating rods are inserted into the limiting rings, rotating plates are fixedly connected to the bottoms of the rotating rods, and a weight box is fixedly connected to the bottom of the inspection robot body. Movable grooves are formed in the two sides of the weight box, limiting grooves are formed in the inner bottom face of the weight box, and anti-tilting mechanisms are symmetrically arranged in the weight box and used for keeping the inspection robot balanced in the tilting state. The rotating plate rotates to drive the supporting rod to move, so that the sliding seat is driven to move, a first toothed plate, a gear and a second toothed plate are matched to push the balancing weight to move, the inspection robot is effectively prevented from rollover to damage surrounding personnel or equipment, shutdown maintenance caused by rollover is avoided, continuous and efficient work of the inspection robot is ensured, and the inspection robot is protected. The inspection robot operates in a stable state, the overall service life is prolonged, and the replacement frequency is reduced.

Description

Technical Field

[0001] This invention relates to the field of intelligent substation inspection technology, specifically a digital twin substation inspection robot. Background Technology

[0002] Digital twin technology is an important technological innovation in the power industry. Its core concept is to use virtual modeling technology to create an accurate digital copy of a physical entity or system, and to achieve intelligent monitoring and management of the physical entity through real-time data acquisition, simulation analysis and optimization algorithms. At present, robots are gradually replacing manual inspections in substations. In coal mining, robots are needed to conduct intelligent inspections of roadways to monitor the underground environment, equipment status and personnel location, as well as parameters such as gas concentration, roadway humidity and temperature.

[0003] A search revealed that Chinese Patent Publication (Announcement) No. CN110286684A discloses a substation inspection robot and a substation inspection system. The inspection robot includes an RFID tag, a visible light camera, an infrared camera, and a communication module. The RFID tag is mounted on the robot's shell. When an RFID reader at a designated location in the substation reads the RFID tag, it indicates that the robot has moved to the designated location. The visible light camera and infrared camera are mounted on the robot's head to acquire infrared and visible light images of the corresponding substation equipment. The communication module transmits these images to a background monitoring system, enabling remote video monitoring, thermal fault diagnosis, and instrument readings of the substation equipment. This significantly improves operational efficiency and also verifies the reliability and safety of the substation equipment.

[0004] In practical applications, due to the complex terrain in coal mine roadways, the ground often has gaps, subsidence, unevenness, and piles of broken stones, which can easily affect the movement of inspection robots, causing the robot chassis to tilt, resulting in problems such as tipping over or falling and breaking. Summary of the Invention

[0005] This invention provides a digital twin substation inspection robot to solve the problem mentioned in the background art where the inspection robot is easily affected by the unevenness of the roadway ground when moving, causing the robot chassis to tilt, resulting in tipping over and damage.

[0006] This invention provides a digital twin substation inspection robot, including an inspection robot with limit rings symmetrically fixedly connected to both sides of the inspection robot. A rotating rod is inserted into the limit ring, and a rotating plate is fixedly connected to the bottom of the rotating rod. The bottom of the inspection robot is fixedly connected to a counterweight box. The counterweight box has movable slots on both sides and a limit slot on the bottom surface inside. The counterweight box is symmetrically equipped with anti-tilting mechanisms to maintain the balance of the inspection robot when it is tilted. The anti-tilting mechanism includes a support rod, a slide block, and a counterweight. One end of the support rod is hinged to the inner wall of the rotating plate, and the other end of the support rod passes through the movable groove and is hinged to the slide block. A first toothed plate is fixedly connected to the slide block facing the movable groove. A gear meshes with the bottom of the first toothed plate, and a second toothed plate meshes with the bottom of the gear. The bottom of the second toothed plate is placed on the bottom wall of the counterweight box, and the side of the second toothed plate facing the slide block is fixedly connected to the counterweight. The bottom of the counterweight abuts against the bottom surface of the counterweight box.

[0007] Preferably, the slide has a portal frame structure in cross-section. When the rotating plate tilts, the support rod drives the slide to move. The first toothed plate extends outward through the movable groove. At this time, the gear rotates, driving the second toothed plate to push the counterweight block to move in the opposite direction of the slide.

[0008] Preferably, the bottom of the slide block is symmetrically connected with sliders, and the bottom of the sliders is engaged in the limiting groove.

[0009] Preferably, a rotating shaft is fixedly connected to the middle of the gear, and the two ends of the rotating shaft are connected to the inner wall of the counterweight box through bearings.

[0010] Preferably, a limiting block is fixedly connected to the bottom of the counterweight, and the bottom of the limiting block is slidably connected to the limiting groove. A limiting mechanism is symmetrically arranged at the bottom of the limiting groove, and the limiting mechanism and the limiting block work together to limit the counterweight.

[0011] Preferably, the limiting mechanism includes a support cylinder, the top of which is fixedly connected to the bottom surface of the limiting groove. A locking block is provided inside the support cylinder, and a vertical rod is fixedly connected to the bottom of the locking block. The bottom end of the vertical rod passes through the support cylinder and is fixedly connected to a limiting plate. A reset spring is sleeved on the vertical rod.

[0012] Preferably, the cross-section of the locking block is trapezoidal, the locking block is set on the side parallel to the limiting block, and the two ends of the reset spring are connected to the bottom of the locking block and the bottom wall of the support cylinder, respectively.

[0013] Preferably, the inspection robot is equipped with protective mechanisms on both sides. The protective mechanisms include two guide rails, the inner walls of which are fixedly connected to the inspection robot. A protective plate is movably engaged in the guide rails, and an extension plate is fixedly connected to the middle of the bottom wall of the protective plate. Each guide rail is equipped with a support spring, the top of which is fixedly connected to the bottom of the protective plate, and the bottom of which is fixedly connected to the inner bottom wall of the guide rail. A rotating cylinder is fixedly connected to the rotating rod, the outer wall of which abuts against the extension plate, and a pressing block is fixedly connected to the outer wall of the rotating cylinder.

[0014] Preferably, the outer wall of the protective plate is symmetrically connected with protrusions, and a buffer pad is fixedly connected to the outer wall of the protective plate. The buffer pad is disposed between two protrusions. Each guide rail outer wall is provided with a limit hole. When the outer wall of the rotating cylinder abuts against the extension plate, the limit hole and the protrusion are engaged with each other, and the support spring is in a compressed state.

[0015] Preferably, the rotating rod is covered with a protective shell, the inner wall of which is fixedly connected to the inspection robot, and a roller is rotatably connected to the bottom of the rotating plate.

[0016] Compared with the prior art, the beneficial effects of the present invention are: This invention employs a combination of a rotating rod, a rotating plate, a counterweight box, and an anti-tipping mechanism. The rotation of the rotating plate drives the support rod to move, which in turn moves the slide block. This, in conjunction with the first toothed plate, gear, and second toothed plate, pushes the counterweight block to move. This achieves the technical effect of enabling the inspection robot to operate stably in uneven or sloping terrain, effectively preventing the inspection robot from tipping over and causing injury to surrounding personnel or equipment, avoiding downtime for maintenance due to tipping, ensuring continuous and efficient operation of the inspection robot, extending its overall service life, and reducing the frequency of replacement.

[0017] This invention employs a combination of counterweight, support cylinder, locking block, vertical rod, return spring, and limiting plate. By using the locking block in conjunction with the return spring, the position of the counterweight is conveniently limited. The structure is simple and easy to operate, overcoming the shortcomings of existing technologies. This achieves the technical advantage of repeated and stable use of the counterweight, enhancing the working stability of the inspection robot and extending its service life.

[0018] This invention employs a combination of guide rails, protective plates, support springs, and a rotating drum. The rotation of the drum pushes the protective plate, allowing it to pop outwards when the inspection robot tips over, thus protecting the instruments on the robot. This overcomes the shortcomings of existing technologies that make inspection robots susceptible to damage from impacts with gravel, effectively protecting the robot, enhancing its safety, and extending its service life. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the inspection robot of the present invention; Figure 3 This is a schematic diagram of the connection structure between the inspection robot and the counterweight box of the present invention; Figure 4 This is a frontal view of the overall structure of the counterweight box of the present invention; Figure 5 This is an enlarged schematic diagram of the internal structure of the counterweight box of the present invention; Figure 6 These are schematic diagrams of the two anti-tilt mechanisms of the present invention under different states; Figure 7 This is a schematic diagram of the protective plate pop-out structure of the present invention; Figure 8 This is an exploded view of the protective mechanism of the present invention.

[0020] In the picture: 100, inspection robot; 200. Limiting ring; 300. Rotary rod; 301. Protective housing; 400. Rotating plate; 401. Drum; 500, counterweight box; 501, movable slot; 502, limit slot; 600. Anti-tilting mechanism; 601. Support rod; 602. Slide block; 6021. Slider; 603. First toothed plate; 604. Gear; 605. Rotating shaft; 606. Second toothed plate; 607. Counterweight; 608. Limiting block; 700. Limiting mechanism; 701. Support cylinder; 702. Locking block; 703. Vertical rod; 704. Return spring; 705. Limiting plate; 800. Protective mechanism; 801. Guide rail; 802. Limiting hole; 803. Protective plate; 804. Extension plate; 805. Protrusion; 806. Buffer pad; 807. Support spring; 808. Rotary drum; 809. Extrusion block. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] like Figure 1-8 As shown, this embodiment of the invention discloses a digital twin substation inspection robot, including an inspection robot 100. Limiting rings 200 are symmetrically fixedly connected to both sides of the inspection robot 100. A rotating rod 300 is inserted into the limiting ring 200. A rotating plate 400 is fixedly connected to the bottom of the rotating rod 300. The rotating plate 400 can support the inspection robot 100 on the roadway floor when the inspection robot 100 tilts. It should be noted that the bottom of the inspection robot 100 is fixedly connected to a counterweight box 500. The additional counterweight box 500 can effectively increase the weight of the chassis of the inspection robot 100, making the walking stability of the inspection robot 100 higher. The counterweight box 500 has movable slots 501 on both sides, and a limit slot 502 is opened on the bottom surface of the counterweight box 500. Anti-tilt mechanism 600 is symmetrically arranged inside the counterweight box 500. The anti-tilt mechanism 600 is used to maintain the balance of the inspection robot 100 when it is tilted. It should be noted that the anti-tilting mechanism 600 includes a support rod 601, a slide block 602, and a counterweight block 607. One end of the support rod 601 is hinged to the inner wall of the rotating plate 400, and the other end of the support rod 601 passes through the movable groove 501 and is hinged to the slide block 602. A first toothed plate 603 is fixedly connected to the slide block 602 facing the movable groove 501. A gear 604 is meshed at the bottom of the first toothed plate 603, and a second toothed plate 606 is meshed at the bottom of the gear 604. The bottom of the second toothed plate 606 is placed on the inner bottom wall of the counterweight box 500, and the side of the second toothed plate 606 facing the slide block 602 is fixedly connected to the counterweight block 607. The bottom of the counterweight block 607 abuts against the inner bottom surface of the counterweight box 500.

[0023] In addition, the slide 602 has a portal-shaped cross-section, which facilitates the passage of the second toothed plate 606. When the rotating plate 400 tilts, the support rod 601 drives the slide 602 to move, and the first toothed plate 603 extends outward through the movable groove 501. At this time, the gear 604 rotates, which drives the second toothed plate 606 to push the counterweight 607 to move in the opposite direction of the slide 602 through the slide 602.

[0024] Specifically, the bottom of the slide block 602 is symmetrically connected with a slider 6021. The bottom of the slider 6021 is engaged in the limiting groove 502. The slider 6021 and the limiting groove 502 work together to make the movement stability of the slide block 602 higher.

[0025] It should be noted that a rotating shaft 605 is fixedly connected to the middle of the gear 604, and the two ends of the rotating shaft 605 are connected to the inner wall of the counterweight box 500 through bearings.

[0026] It should be noted that the rotating rod 300 is covered with a protective shell 301. The inner wall of the protective shell 301 is fixedly connected to the inspection robot 100. The bottom of the rotating plate 400 is rotatably connected to the roller 401. The protective shell 301 protects the rotating rod 300, and the roller 401 makes the rotating plate 400 move more smoothly, with less resistance and higher sensitivity.

[0027] The working principle of the above technical solution is as follows: When the inspection robot 100 moves smoothly in the tunnel, the rotating plate 400 is set parallel to the side of the inspection robot 100, the support rod 601 remains horizontal, and the two sets of counterweights 607 are placed symmetrically to increase the stability of the chassis of the inspection robot 100. When the inspection robot 100 encounters uneven terrain, the height of the rollers on both sides of the inspection robot 100 is inconsistent, and the inspection robot 100 tilts. The rotating plate 400 on the tilted side begins to abut against the ground, and as the tilt angle increases, the rotating plate 400 and the inspection robot 100... The larger the angle between the side walls, the more the rotating plate 400 moves, driving the support rod 601 to move, which in turn drives the slide 602 to move closer to the movable groove 501. At this time, the first toothed plate 603 extends outward from the movable groove 501 and rotates through the meshing transmission gear 604. The rotation of the gear 604 drives the second toothed plate 606 to push the counterweight 607 to move, so that the counterweight 607 and the slide 602 move away from each other. The counterweight 607 moves to the side opposite to the tilt direction, which increases the weight on the tilted side and reduces the probability of tipping over. The inspection robot 100 has higher stability during walking.

[0028] In one specific embodiment: the bottom of the counterweight 607 is fixedly connected to a limiting block 608, the bottom of the limiting block 608 is slidably connected to a limiting groove 502, and a limiting mechanism 700 is symmetrically arranged at the bottom of the limiting groove 502. The limiting mechanism 700 works in conjunction with the limiting block 608 to limit the counterweight 607.

[0029] It should be noted that the limiting mechanism 700 includes a support cylinder 701. The top of the support cylinder 701 is fixedly connected to the bottom surface of the limiting groove 502. A locking block 702 is provided inside the support cylinder 701. A vertical rod 703 is fixedly connected to the bottom of the locking block 702. The bottom end of the vertical rod 703 passes through the support cylinder 701 and is fixedly connected to a limiting plate 705. A reset spring 704 is sleeved on the vertical rod 703.

[0030] It should be noted that the cross-section of the locking block 702 is trapezoidal, the locking block 702 is set on the side parallel to the limiting block 608, and the two ends of the return spring 704 are connected to the bottom of the locking block 702 and the bottom wall of the support cylinder 701, respectively.

[0031] The working principle of the above technical solution is as follows: During use, the inspection robot 100 may tip over due to impacts or other factors. When this happens, the direction of gravity of the counterweight 607 changes, acting on the second toothed plate 606, which may cause excessive force on the second toothed plate 606 and damage it. By setting a limit mechanism 700, the counterweight 607 can be limited and supported. When the inspection robot 100 tipes over, the counterweight 607 first presses against the locking block 702, and then moves to the other side of the locking block 702. The locking block 702 is then subjected to the return spring 7. The elastic force of 04 moves upward, causing the locking block 702 to block the movement of the limiting block 608. The force of the counterweight 607 is distributed by the locking block 702, which better protects the second toothed plate 606 and extends its service life. During the uprighting process of the inspection robot 100, the staff pulls the limiting plate 705 downward, causing the vertical rod 703 to move downward, so that the locking block 702 retracts into the support cylinder 701 and no longer has a limiting effect on the limiting block 608. As the inspection robot 100 is uprighted, the counterweight 607 resets, and the inspection robot 100 continues to work normally.

[0032] In one specific embodiment: the inspection robot 100 is provided with protective mechanisms 800 on both sides. The protective mechanism 800 includes two guide rails 801. The inner wall of the guide rail 801 is fixedly connected to the inspection robot 100. A protective plate 803 is movably engaged in the guide rail 801. An extension plate 804 is fixedly connected to the middle of the bottom wall of the protective plate 803. A support spring 807 is provided in each guide rail 801. The top end of the support spring 807 is fixedly connected to the bottom of the protective plate 803. The bottom end of the support spring 807 is fixedly connected to the inner bottom wall of the guide rail 801. A rotating cylinder 808 is fixedly connected to the rotating rod 300. The outer wall of the rotating cylinder 808 abuts against the extension plate 804. A pressing block 809 is fixedly connected to the outer wall of the rotating cylinder 808.

[0033] It should be noted that the outer wall of the protective plate 803 is symmetrically connected with protrusions 805, and the outer wall of the protective plate 803 is fixedly connected with a buffer pad 806. The buffer pad 806 is located between the two protrusions 805. Each guide rail 801 has a limit hole 802 on its outer wall. When the outer wall of the rotating drum 808 abuts against the extension plate 804, the limit hole 802 and the protrusion 805 are engaged with each other, and the support spring 807 is in a compressed state.

[0034] The working principle of the above technical solution is as follows: During the use of this invention, the inspection robot 100 is prone to damage to its working instruments when it tipes over. The instruments are costly and require effective protection. When the inspection robot 100 tipes over, the rotating plate 400 drives the rotating rod 300 to rotate, thereby driving the rotating cylinder 808 to rotate. This causes the pressing block 809 to press against the protective plate 803, bringing the protective plate 803 closer to the outer wall of the inspection robot 100. At this time, the protrusion 805 disengages from the limiting hole 802, and under the elastic force of the support spring 807, pushes the protective plate 803 quickly. The protective plate 803 unfolds and pops outward until it is positioned to the side of the instrument. The side where the inspection robot 100 falls to the side is the side where the protective plate 803 unfolds. The protective plate 803 rests against the ground, preventing damage to the various instruments installed on the inspection robot 100 from road debris. It provides better protection and higher safety. After the inspection robot 100 is righted, the staff can press down on the protective plate 803 so that the protrusion 805 is re-engaged in the limiting hole 802. The protective plate 803 does not take up space and will not obstruct the detection of the monitoring instruments on the inspection robot 100, making it more practical.

[0035] The contents not described in detail in this description are existing technologies known to those skilled in the art. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A digital twin substation inspection robot, comprising an inspection robot (100), characterized in that, The inspection robot (100) has symmetrical fixed connection of limit rings (200) on both sides. A rotating rod (300) is inserted into the limit ring (200), and a rotating plate (400) is fixedly connected to the bottom of the rotating rod (300). The inspection robot (100) is fixedly connected to a counterweight box (500) at its bottom. The counterweight box (500) has movable slots (501) on both sides. The bottom surface of the counterweight box (500) has a limit slot (502). The counterweight box (500) is symmetrically provided with anti-tilt mechanisms (600) inside the counterweight box (500). The anti-tilt mechanisms (600) are used to maintain the balance of the inspection robot (100) when it is tilted. The anti-tilting mechanism (600) includes a support rod (601), a slide (602), and a counterweight (607). One end of the support rod (601) is hinged to the inner wall of the rotating plate (400), and the other end of the support rod (601) passes through the movable groove (501) and is hinged to the slide (602). A first toothed plate (603) is fixedly connected to the side of the slide (602) facing the movable groove (501). A gear (604) meshes with the bottom of the first toothed plate (603), and a second toothed plate (606) meshes with the bottom of the gear (604). The bottom of the second toothed plate (606) is placed on the inner bottom wall of the counterweight box (500), and the side of the second toothed plate (606) facing the slide (602) is fixedly connected to the counterweight (607). The bottom of the counterweight (607) abuts against the inner bottom surface of the counterweight box (500).

2. The digital twin substation inspection robot according to claim 1, characterized in that: The slide (602) has a portal-shaped cross-section. When the rotating plate (400) tilts, the support rod (601) drives the slide (602) to move. The first toothed plate (603) extends outward through the movable groove (501). At this time, the gear (604) rotates, driving the second toothed plate (606) to push the counterweight (607) to move in the opposite direction to the slide (602) through the slide (602).

3. The digital twin substation inspection robot according to claim 1, characterized in that: The bottom of the slide block (602) is symmetrically connected to a slider (6021), and the bottom of the slider (6021) is engaged in the limiting groove (502).

4. The digital twin substation inspection robot according to claim 1, characterized in that: A rotating shaft (605) is fixedly connected to the middle of the gear (604), and the two ends of the rotating shaft (605) are connected to the inner wall of the counterweight box (500) through bearings.

5. The digital twin substation inspection robot according to claim 1, characterized in that: The counterweight (607) is fixedly connected to a limiting block (608) at the bottom. The bottom of the limiting block (608) is slidably connected to a limiting groove (502). A limiting mechanism (700) is symmetrically arranged at the bottom of the limiting groove (502). The limiting mechanism (700) works in conjunction with the limiting block (608) to limit the counterweight (607).

6. The digital twin substation inspection robot according to claim 5, characterized in that: The limiting mechanism (700) includes a support cylinder (701), the top of which is fixedly connected to the bottom surface of the limiting groove (502). A locking block (702) is provided inside the support cylinder (701), and a vertical rod (703) is fixedly connected to the bottom of the locking block (702). The bottom end of the vertical rod (703) passes through the support cylinder (701) and is fixedly connected to a limiting plate (705). A reset spring (704) is sleeved on the vertical rod (703).

7. A digital twin substation inspection robot according to claim 6, characterized in that: The cross-section of the card block (702) is trapezoidal. The card block (702) is located on the side parallel to the limiting block (608). The two ends of the reset spring (704) are connected to the bottom of the card block (702) and the bottom wall of the support cylinder (701), respectively.

8. The digital twin substation inspection robot according to claim 1, characterized in that: The inspection robot (100) is equipped with protective mechanisms (800) on both sides. The protective mechanism (800) includes two guide rails (801). The inner wall of the guide rail (801) is fixedly connected to the inspection robot (100). A protective plate (803) is movably engaged in the guide rail (801). An extension plate (804) is fixedly connected to the middle of the bottom wall of the protective plate (803). A support spring (807) is provided in each guide rail (801). The top end of the support spring (807) is fixedly connected to the bottom of the protective plate (803). The bottom end of the support spring (807) is fixedly connected to the inner bottom wall of the guide rail (801). A rotating cylinder (808) is fixedly connected to the rotating rod (300). The outer wall of the rotating cylinder (808) abuts against the extension plate (804). A pressing block (809) is fixedly connected to the outer wall of the rotating cylinder (808).

9. A digital twin substation inspection robot according to claim 8, characterized in that: The outer wall of the protective plate (803) is symmetrically connected with protrusions (805), and a buffer pad (806) is fixedly connected to the outer wall of the protective plate (803). The buffer pad (806) is disposed between the two protrusions (805). Each guide rail (801) has a limiting hole (802) on its outer wall. When the outer wall of the rotating cylinder (808) abuts against the extension plate (804), the limiting hole (802) and the protrusion (805) are engaged with each other, and the support spring (807) is in a compressed state.

10. A digital twin substation inspection robot according to claim 1, characterized in that: The rotating rod (300) is covered with a protective shell (301), the inner wall of the protective shell (301) is fixedly connected to the inspection robot (100), and the bottom of the rotating plate (400) is rotatably connected to a roller (401).

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