Substation weeding robot
By designing a substation weeding robot that integrates weed cutting and harvesting functions, driven by tracks and hub motors, and equipped with a panoramic camera and a Beidou + WIFI dual-mode communication module, it achieves efficient and safe weed removal, solving the problems of low efficiency and safety hazards of traditional manual weeding.
Patent Information
- Application Number
- CN202511771630.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-28
- Publication Date
- 2026-01-23
AI Technical Summary
Weed growth in substations affects equipment safety distances and insulation performance. Traditional manual weeding processes are cumbersome, inefficient, and pose safety hazards.
Design a weeding robot that integrates grass cutting and harvesting functions. It is driven by tracks and hub motors, equipped with a panoramic camera and a Beidou + WIFI dual-mode communication module to achieve remote control and precise operation, avoiding the risk of electric leakage. The integrated grass cutting motor and mechanical cantilever are used for precise cutting, and the collection pipe and guide box are used for weed collection.
It significantly improves weeding efficiency, shortens operation time, enhances safety and accuracy, and reduces the risk of maintenance personnel having direct contact with live equipment.
Smart Images
Figure CN121369050A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of power equipment maintenance, in particular to a transformer substation weeding robot. BACKGROUND
[0002] There are often weeds growing in the outdoor fence of the transformer substation, especially in summer with sufficient sunshine and abundant rainfall, the grass grows fast in the transformer substation, and the growth of weeds will cause insufficient safety distance of the live equipment, reduce the insulation performance of the equipment, affect the safety of the power system, and also affect the neatness and beauty of the transformer substation. In addition, there is a fire hazard after the weeds dry out. Under normal circumstances, the equipment in the net door of the capacitor, the reactor and the transformer has the five-prevention function, and the equipment is close to the ground and is installed compactly, so it is very difficult for the operation and maintenance personnel to clean the weeds near the equipment.
[0003] For the weeds on the edge of such equipment, the operation and maintenance personnel usually bind a blade on the top of the insulating rod, wear insulating gloves, and stand on the insulating ladder to clean the weeds with the insulating rod under live conditions. However, for the weeds in the central area of such equipment, only the power-off method can be used to clean, and the process of initiating a defect, initiating a power-off application, preparing a guide card and an operation ticket, transferring the equipment to the maintenance, cleaning the weeds, and sending the equipment to power on is carried out. 3 people are needed to carry out 1 power-off weeding, and the average time consumption is about 50 minutes. The traditional cleaning method is used to clean the weeds in the net door of the equipment, which has the disadvantages of complicated process, low efficiency, incomplete cleaning, safety hazard and the like. SUMMARY
[0004] The purpose of the present application is to provide a transformer substation weeding robot to solve the problems in the background art.
[0005] To solve the above technical problems, the transformer substation weeding robot provided by the present application comprises a vehicle body, a grass cutting mechanism and a grass collecting mechanism are arranged at the front and rear ends of the vehicle body respectively, a walking mechanism is arranged at the bottom of the vehicle body, the walking mechanism comprises wheels and a track, a hub motor is arranged on the wheel, the grass collecting mechanism comprises a collecting pipe, a material guiding box and a collecting bin, the collecting bin is arranged in the vehicle body, the material guiding box is arranged outside the vehicle body and communicates with the collecting bin, the collecting pipe communicates with the material guiding box, a fan is arranged at the end of the collecting pipe away from the material guiding box, and a bin door matched with the collecting bin is hinged to the outer wall of the vehicle body.
[0006] Further, the grass cutting mechanism comprises a grass cutting motor and a mechanical cantilever, and the grass cutting motor is fixedly connected to the front end of the vehicle body through the mechanical cantilever.
[0007] Further, a panoramic camera and an antenna are arranged above the front end of the vehicle body.
[0008] Further, the upper part of the vehicle body is provided with a control module and a power supply, the control module is electrically connected with the grass cutting motor and the hub motor, and the power supply is electrically connected with the grass cutting motor, the hub motor, the panoramic camera, the fan and the control module.
[0009] Further, the control module is provided with a Beidou + WIFI dual-mode communication module, and the receiving end of the antenna is connected with the control module.
[0010] Further, it also includes a remote controller, the remote controller is provided with forward, backward, left turn and right turn buttons, the remote controller is provided with a weeding work and a weeding stop button, and the remote controller is provided with a fan stop and start button.
[0011] Further, the material of the shell of the vehicle body is a plastic material with good insulation.
[0012] Further, the inner bottom wall of the material guide box is provided with an inclined block, and the bottom end of the inclined block is communicated with the collecting bin.
[0013] Compared with the prior art, the beneficial effects of the present application are:
[0014] 1、The weeding robot integrates cutting and collecting functions, can quickly complete the weeding work of the transformer substation, and the actual application shows that the traditional manual weeding needs the cooperation of multiple people and takes a long time, but after using the robot, only one person needs to operate for about 10 minutes to complete the work, the work efficiency is improved by about 5 times, the equipment defect disposal time is significantly shortened, and the stable operation of the power grid is ensured.
[0015] 2、The weeding robot integrates cutting and collecting functions, can quickly complete the weeding work of the transformer substation, and the actual application shows that the traditional manual weeding needs the cooperation of multiple people and takes a long time, but after using the robot, only one person needs to operate for about 10 minutes to complete the work, the work efficiency is improved by about 5 times, the equipment defect disposal time is significantly shortened, and the stable operation of the power grid is ensured. BRIEF DESCRIPTION OF DRAWINGS
[0016] Figure 1 It is a structural schematic view of the main body of the transformer substation weeding robot.
[0017] Figure 2 It is a structural schematic view of the rear end of the main body of the transformer substation weeding robot.
[0018] Figure 3 This is a schematic diagram of the structure inside the collection compartment of a substation weeding robot.
[0019] Figure 4 This is a cross-sectional view of the feed box in a substation weeding robot.
[0020] In the picture:
[0021] 1. Vehicle body; 2. Tracks; 3. Wheels; 4. Hub motor; 5. Grass cutting mechanism; 6. Feed box; 7. Panoramic camera; 8. Control module; 9. Power supply; 10. Remote control; 11. Antenna; 12. Collection pipe; 13. Fan; 14. Inclined block; 15. Bin door; 16. Collection bin. Detailed Implementation
[0022] 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.
[0023] Please see Figures 1-4 The present invention provides a technical solution:
[0024] See Figure 1 , Figure 3 and Figure 4 As shown, the substation weeding robot includes a vehicle body 1. The front and rear ends of the vehicle body 1 are respectively equipped with a grass cutting mechanism 5 and a grass collecting mechanism. The bottom of the vehicle body 1 is equipped with a walking mechanism, which includes wheels 3 and tracks 2. The wheels 3 are equipped with hub motors 4. The grass collecting mechanism includes a collection pipe 12, a guide box 6 and a collection bin 16. The collection bin 16 is located inside the vehicle body 1. The guide box 6 is located outside the vehicle body 1 and is connected to the collection bin 16. The collection pipe 12 is connected to the guide box 6. A fan 13 is installed at the end of the collection pipe 12 away from the guide box 6. The outer wall of the vehicle body 1 is hinged with a bin door 15 that matches the collection bin 16. The inner bottom wall of the guide box 6 is equipped with an inclined block 14. The bottom end of the inclined block 14 is connected to the collection bin 16.
[0025] In the specific implementation process, when the robot starts working, the hub motor 4 of the walking mechanism drives the wheels 3 to rotate, and the track 2 assists the robot to adapt to the complex terrain inside the substation, ensuring that the robot moves forward stably. During the movement, the grass cutting mechanism 5 cuts the weeds in front, and the cut weeds are sucked into the guide box 6 by the suction generated by the fan 13 through the collection pipe 12. The inclined block 14 on the bottom wall of the guide box 6 guides the weeds smoothly into the collection bin 16 for storage. When the collection bin 16 is full or needs to be cleaned, the bin door 15 can be opened for operation.
[0026] See Figure 1 and Figure 2 As shown, the grass-cutting mechanism 5 includes a grass-cutting motor and a mechanical cantilever. The grass-cutting motor is fixedly connected to the front end of the vehicle body 1 via the mechanical cantilever. A panoramic camera 7 and an antenna 11 are installed above the grass-cutting mechanism 5 at the front end of the vehicle body 1. A control module 8 and a power supply 9 are located above the vehicle body 1. The control module 8 is electrically connected to the grass-cutting motor and the hub motor 4. The power supply 9 is electrically connected to the grass-cutting motor, the hub motor 4, the panoramic camera 7, the fan 13, and the control module 8. The control module 8 is equipped with a Beidou + WIFI dual-mode communication module. The receiving end of the antenna 11 is connected to the control module 8. The outer shell of the vehicle body 1 is made of a plastic material with good insulation properties.
[0027] In practice, the panoramic camera 7 captures real-time images of the area in front of the robot and transmits the image information to the control module 8. The control module 8 analyzes the weed distribution based on the image information and then controls the cutting motor to drive the mechanical arm, which in turn drives the cutting components to precisely cut the weeds. Simultaneously, the control module 8 interacts with a remote monitoring terminal via a Beidou + WIFI dual-mode communication module, and the antenna 11 ensures stable signal transmission. The vehicle body 1's outer shell is made of highly insulating plastic material, effectively preventing safety hazards such as leakage current in the complex electromagnetic environment of a substation, thus ensuring the robot's safe operation.
[0028] See Figure 1 As shown, it also includes a remote control 10, which is equipped with forward, backward, left turn, and right turn buttons, a weeding start and stop button, and a fan 13 stop and start button.
[0029] In practice, operators can remotely control the robot's direction of movement using the forward, backward, left, and right buttons on the remote controller 10. The robot's position can be flexibly adjusted according to actual needs. When weeding needs to begin, press the weeding button to start the weeding mechanism 5. If weeding needs to be paused, press the weeding stop button. The working status of the blower 13 of the grass collection mechanism can also be controlled using the blower 13 stop and start buttons on the remote controller 10, allowing operators to adjust it at any time according to the site conditions.
[0030] Working principle:
[0031] Step 1: The walking mechanism consists of wheels 3, tracks 2, and hub motors 4. When the robot starts working, the hub motor 4 drives the wheels 3 to rotate, while the tracks 2 help the robot adapt to the complex terrain inside the substation, ensuring that the robot can move forward stably and meet the movement needs of different terrains. The grass-cutting mechanism 5 is installed at the front of the vehicle body 1, including a grass-cutting motor and a mechanical cantilever. The panoramic camera 7 captures the image in front of the robot in real time and transmits the image information to the control module 8. The control module 8 analyzes the distribution of weeds based on the image information, and then controls the grass-cutting motor to drive the mechanical cantilever to drive the cutting component to accurately cut the weeds. The cut weeds are sucked into the guide box 6 through the collection pipe 12 under the suction of the fan 13. The bottom wall of the guide box 6 is provided with an inclined block 14. The bottom end of the inclined block 14 is connected to the collection chamber 16 opened inside the vehicle body 1. The weeds smoothly enter the collection chamber 16 for storage under the guidance of the inclined block 14. When the collection chamber 16 is full or needs to be cleaned, the chamber door 15, which is hinged to the outer wall of the vehicle body 1 and matches the collection chamber 16, can be opened for operation.
[0032] Step 2: The control module 8 is equipped with a Beidou + WIFI dual-mode communication module. The receiving end of the antenna 11 is connected to the control module 8. The control module 8 interacts with the remote monitoring terminal through the Beidou + WIFI dual-mode communication module. The antenna 11 ensures stable signal transmission, enabling remote monitoring and control. The power supply 9 supplies power to the grass cutting motor, hub motor 4, panoramic camera 7, fan 13, and control module 8. The control module 8 is electrically connected to the grass cutting motor and hub motor 4 to control the robot's walking and weeding actions. The operator can remotely control the robot's walking direction through the forward, backward, left turn, and right turn buttons on the remote controller 10, and flexibly adjust the robot's position according to actual needs. Pressing the weeding work button starts the grass cutting mechanism 5 to perform cutting work. Pressing the weeding stop button pauses weeding. The working status of the fan 13 can be controlled by the stop and start buttons on the remote controller 10, allowing the operator to adjust it at any time according to the site conditions.
[0033] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.
Claims
1. A substation weeding robot, characterized in that, The vehicle includes a body (1), with a grass-cutting mechanism (5) and a grass-collecting mechanism respectively provided at the front and rear ends of the body (1). The bottom of the body (1) is provided with a walking mechanism, which includes wheels (3) and tracks (2). The wheels (3) are equipped with hub motors (4). The grass-collecting mechanism includes a collection pipe (12), a guide box (6), and a collection bin (16). The collection bin (16) is located inside the body (1). The guide box (6) is located outside the body (1) and is connected to the collection bin (16). The collection pipe (12) is connected to the guide box (6). A fan (13) is installed at the end of the collection pipe (12) away from the guide box (6). The outer wall of the body (1) is hinged with a bin door (15) that matches the collection bin (16).
2. The substation weeding robot as described in claim 1, characterized in that: The grass cutting mechanism (5) includes a grass cutting motor and a mechanical cantilever, wherein the grass cutting motor is fixedly connected to the front end of the vehicle body (1) via the mechanical cantilever.
3. The substation weeding robot as described in claim 2, characterized in that: A panoramic camera (7) and an antenna (11) are mounted on the front end of the vehicle body (1) above the grass cutting mechanism (5).
4. The substation weeding robot as described in claim 3, characterized in that: The vehicle body (1) is equipped with a control module (8) and a power supply (9) on its upper part. The control module (8) is electrically connected to the grass cutting motor and the hub motor (4). The power supply (9) is electrically connected to the grass cutting motor, the hub motor (4), the panoramic camera (7), the fan (13) and the control module (8).
5. The substation weeding robot as described in claim 4, characterized in that: The control module (8) is equipped with a Beidou + WIFI dual-mode communication module, and the receiving end of the antenna (11) is connected to the control module (8).
6. The substation weeding robot as described in claim 5, characterized in that: It also includes a remote control (10), which is equipped with forward, backward, left turn and right turn buttons, a weeding operation and weeding stop button, and a fan (13) stop and start button.
7. The substation weeding robot as described in claim 6, characterized in that: The outer shell of the vehicle body (1) is made of a plastic material with good insulation properties.
8. The substation weeding robot as described in claim 7, characterized in that: The inner bottom wall of the feed box (6) is provided with an inclined block (14), and the bottom end of the inclined block (14) is connected to the collection bin (16).
9. The substation weeding robot as described in claim 1, characterized in that: When the robot starts working, the hub motor (4) drives the wheels (3) to rotate, while the tracks (2) help the robot adapt to the complex terrain inside the substation. The grass-cutting mechanism (5) is installed at the front of the vehicle body (1), including the grass-cutting motor and the mechanical cantilever. The panoramic camera (7) captures the scene in front of the robot in real time and transmits the image information to the control module (8). The control module (8) analyzes the distribution of weeds based on the image information, and then controls the grass-cutting motor to drive the mechanical cantilever to drive the cutting component to accurately cut the weeds. The weeds are sucked into the guide box (6) through the collection pipe (12) under the suction of the fan (13). The bottom wall of the guide box (6) is provided with a sloping block (14). The bottom end of the sloping block (14) is connected to the collection chamber (16) opened inside the vehicle body (1). The weeds are smoothly entered into the collection chamber (16) for storage under the guidance of the sloping block (14). When the collection chamber (16) is full or needs to be cleaned, the door (15) that is hinged to the outer wall of the vehicle body (1) and matches the collection chamber (16) can be opened for operation.
10. The substation weeding robot as described in claim 9, characterized in that: The control module (8) is equipped with a Beidou + WIFI dual-mode communication module. The receiving end of the antenna (11) is connected to the control module (8). The control module (8) interacts with the remote monitoring terminal through the Beidou + WIFI dual-mode communication module. The antenna (11) ensures stable signal transmission and realizes remote monitoring and control. The power supply (9) supplies power to the grass cutting motor, hub motor (4), panoramic camera (7), fan (13) and control module (8). The control module (8) is electrically connected to the grass cutting motor and hub motor (4) to realize the control of the robot's walking and weeding actions. The operator can remotely control the robot's walking direction through the forward, backward, left turn and right turn buttons on the remote controller (10). The robot's position can be flexibly adjusted according to actual needs. Press the weeding work button to start the grass cutting mechanism (5) to cut. Press the weeding stop button to pause weeding. The working status of the fan (13) can be controlled by the stop and start buttons on the fan (13) on the remote controller (10).