Inspection cleaning robot for interior of enclosed bus

Abstract

The invention relates to the technical field of generator detection, in particular to an inspection and cleaning robot for the interior of an enclosed bus. The upper walking component is arranged above the lower walking component, the connecting component is arranged at the bottom of the upper walking component, the supporting component is arranged between the upper walking component and the lower walking component, and the tail end operation module is arranged on the side face of the connecting component. Electronic elements and mechanical structures required for inspection and cleaning are integrated in the tail end operation module, the tail end operation module is subjected to counter-acting force due to interaction with the interior of the bus when working in the bus, and the tail end operation module has a certain weight, so that the robot is easy to overturn due to unstable gravity center during working, and the service life of the robot is prolonged. Therefore, the upper walking component is arranged, when the robot walks and works in the insulator, the upper walking component can be tightly attached to the underground surface of the upper shell of the bus, support is provided for the robot, and the robot is prevented from turning over.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of generator detection, in particular to a checking and cleaning robot for the inside of a closed busbar. BACKGROUND

[0002] The basin power station is limited to the existing conductor fixed insulator checking and visual detection for the inside inspection of the generator outlet out-of-phase closed busbar, which has a large workload, limited inspection range and cannot comprehensively check the internal state, so a checking and cleaning robot is needed to complete the checking and cleaning operation task in the closed busbar. Since the space inside the closed busbar is an annular area composed of internal conductors and an external shell, and there are welds and uneven areas every certain distance, and there are corrugated pipe areas in the horizontal section, and the robot will be subject to reaction force when operating inside the closed busbar, so it is easy to overturn, so a robot that can adapt to the complex terrain in the closed busbar is needed.

[0003] On the other hand, since the opening of the closed busbar is relatively narrow, it is difficult to directly put the robot integrated with multiple operating components and having a relatively complex walking structure from the opening, so a more flexible robot that can adapt to operation in a narrow space is needed. SUMMARY

[0004] The purpose of the present application is to provide a checking and cleaning robot for the inside of a closed busbar, which aims to provide a robot structure that can adapt to the complex terrain in the closed busbar.

[0005] The above technical problem is solved by the following technical scheme: the present application proposes the following technical scheme: a checking and cleaning robot for the inside of a closed busbar, comprising a lower walking member, an upper walking member arranged above the lower walking member, a connecting member arranged at the bottom of the upper walking member, a supporting member arranged between the upper walking member and the lower walking member, and an end operation module arranged on the side of the connecting member. The lower walking member comprises a roller set arranged at both ends of the bottom of the connecting member, the roller set is driven by electricity, the middle part of the roller set is provided with a belt wheel set, and the upper part of the roller set is provided with a clamping strip structure.

[0006] As a preferred scheme of the checking and cleaning robot for the inside of a closed busbar of the present application: the belt wheel set comprises a support frame, the side surface of the support frame is provided with a rotating seat, the inside of the rotating seat is provided with a motor, the output end of the motor is provided with a driving wheel, and the outside of the driving wheel is provided with a track.

[0007] As a kind of preferred scheme of the application for the inspection and cleaning robot used in the enclosed busbar interior: the inside of the track is provided with driven wheel, the inside of the driven wheel is provided with rotating shaft, and the two ends of the rotating shaft are connected with the support frame.

[0008] As a kind of preferred scheme of the application for the inspection and cleaning robot used in the enclosed busbar interior: the upper walking component includes upper roller, and the bottom of the upper roller is provided with upper fixed plate.

[0009] As a kind of preferred scheme of the application for the inspection and cleaning robot used in the enclosed busbar interior: the connecting component includes connecting plate, and the two sides of the connecting plate are provided with clamping structure.

[0010] As a kind of preferred scheme of the application for the inspection and cleaning robot used in the enclosed busbar interior: the clamping strip structure includes clamping strip arranged on the top of the upper walking component, the side surface of the clamping strip is provided with side fixed plate, the side surface of the side fixed plate is provided with fixed sleeve, the side surface of the fixed sleeve is provided with supporting plate, the side surface of the supporting plate is provided with protruding rod, one end of the protruding rod penetrates through the fixed sleeve, the side surface of the supporting plate is provided with elastic member, and the end of the elastic member away from the supporting plate is connected with the fixed sleeve.

[0011] As a kind of preferred scheme of the application for the inspection and cleaning robot used in the enclosed busbar interior: the side surface of the supporting plate is provided with protruding block, the side surface of the fixed sleeve is provided with clamping groove matched with the protruding block, and the top of the clamping strip is provided with sliding groove.

[0012] As a kind of preferred scheme of the application for the inspection and cleaning robot used in the enclosed busbar interior: the bottom of the connecting plate is provided with clamping block on both sides, and the side surface of the clamping block is provided with limiting plate.

[0013] As a kind of preferred scheme of the application for the inspection and cleaning robot used in the enclosed busbar interior: the upper side of the connecting plate is provided with electric motor, the output shaft outer wall of the electric motor is provided with connecting rope, and the top of the connecting rope is connected with the upper fixed plate.

[0014] As a kind of preferred scheme of the application for the inspection and cleaning robot used in the enclosed busbar interior: the supporting component includes spring arranged between the upper fixed plate and the connecting plate, and the inside of the spring is provided with telescopic rod.

[0015] The application has the advantages that: the upper walking component of the application actively exerts pressure on the upper wall of the busbar during walking, and the whole robot is pressed down by the reaction force generated by the upper wall of the busbar, so as to prevent the application from falling down during work, and the upper and lower walking components of the device are convenient to disassemble and connect, and can be conveniently put into and assembled from the smaller busbar opening. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention. Wherein: Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 This is a schematic diagram of the structure of the downward walking component in this invention.

[0018] Figure 3 This is a schematic diagram of the pulley assembly in this invention.

[0019] Figure 4 This is a schematic diagram of the card strip structure in this invention.

[0020] Figure 5 This is a schematic diagram of the snap-fit ​​structure in this invention.

[0021] In the diagram: 1. Lower traveling component; 2. Upper traveling component; 3. Connecting component; 4. Supporting component; 5. End-effector module; 11. Roller assembly; 12. Pulley assembly; 13. Clip structure; 121. Support frame; 122. Rotating seat; 123. Motor; 124. Drive wheel; 125. Track; 126. Driven wheel; 127. Shaft; 21. Upper roller; 22. Upper fixing plate; 131. Clip strip; 132. Side fixing plate; 133. Fixing sleeve; 134. Support plate; 135. Protruding rod; 136. Elastic element; 137. Protrusion; 138. Slot; 139. Slide groove; 31. Connecting plate; 32. Clip structure; 321. Clip block; 322. Limiting plate; 41. Spring; 42. Telescopic rod; 33. Motor; 34. Connecting rope. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0023] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0024] Example 1, referring to Figures 1-5The embodiment provides an inspection and cleaning robot for closing the inside of a busbar, which comprises a lower walking component 1, an upper walking component 2 arranged above the lower walking component 1, a connecting component 3 arranged at the bottom of the upper walking component 2, a supporting component 4 arranged between the upper walking component 2 and the lower walking component 1 and a terminal operation module 5 arranged at the side of the connecting component 3, wherein the terminal operation module 5 is internally integrated with electronic elements and mechanical structures required for inspection and cleaning, and when working in the inside of the busbar, the terminal operation module 5 is subjected to reaction force due to the need of interaction with the inside of the busbar, and the terminal operation module 5 itself has a certain weight, so that the robot is prone to overturning due to unstable gravity center during working, therefore, the upper walking component 2 is arranged, and when the robot walks and works in the inside of the insulator, the upper walking component 2 is tightly attached to the bottom surface of the shell of the busbar, thereby providing support for the robot and preventing the robot from overturning. The lower walking component 1 comprises roller groups 11 arranged at both ends of the bottom of the connecting component 3, the roller groups 11 are driven by electricity, the robot is internally integrated with electric control elements and power sources required by the walking component, the middle part of the roller groups 11 is provided with a belt wheel group 12, since there are welds and uneven areas in the inside of the busbar every certain distance, and there are also corrugated pipe areas in the horizontal section, the forward walking of the robot is not very stable by only relying on the roller groups 11, the belt wheel group 12 arranged in the embodiment enables the robot to stably pass through the areas in the busbar. The upper part of the roller groups 11 is provided with a clamping strip structure 13.

[0025] Further, the belt wheel group 12 comprises a supporting frame 121, the side surface of the supporting frame 121 is provided with a rotating seat 122, the inside of the rotating seat 122 is provided with a motor 123, the output end of the motor 123 is provided with a driving wheel 124, and the outside of the driving wheel 124 is provided with a track 125.

[0026] Further, the inside of the track 125 is provided with a driven wheel 126, the inside of the driven wheel 126 is provided with a rotating shaft 127, and the two ends of the rotating shaft 127 are connected with the supporting frame 121.

[0027] The using process is as follows: when it is needed to inspect and clean the inside of the closed busbar, the upper walking component 2 and the lower walking component 1 of the robot are respectively put into the narrow opening of the busbar, and then the upper walking component 2 and the lower walking component 1 are assembled together by hand, the lower walking component 1 can stably pass through the areas in the busbar, and the upper walking component 2 supports the upper arm of the busbar and supports the whole robot at all times, thereby preventing the robot from overturning due to unstable gravity center.

[0028] Embodiment 2, refer to Figures 1-5For the second embodiment of the present application, unlike the previous embodiment, the upper walking member 2 exerts pressure on the upper wall of the busbar during the walking process of the robot, and the reaction force of the upper wall of the busbar on the upper walking member 2 presses the entire robot downward, so that the robot is not prone to overturning. The upper walking member 2 includes an upper roller 21, and the bottom of the upper roller 21 is provided with an upper fixed plate 22. The connecting member 3 includes a connecting plate 31, and the two sides of the connecting plate 31 are provided with clamping structures 32. The upper walking member 2 actively exerts pressure on the upper wall of the busbar during the walking process, and the reaction force generated by the upper wall of the busbar presses the entire robot downward. This design makes the robot and the inner wall of the busbar form a "two-way fitting" stable state, which not only offsets the influence of the gravity center deviation caused by the weight of the end operation module 5 itself, but also effectively resists the reaction force generated by the interaction between the robot and the inside of the busbar during operation (such as the resistance force during cleaning and the contact reaction force during inspection), solves the problem that the robot is prone to overturning during operation in a small and closed space, and ensures the continuity and reliability of the inspection and cleaning operation.

[0029] Further, the clamping strip structure 13 includes a clamping strip 131 arranged at the top of the upper walking member 2. The side surface of the clamping strip 131 is provided with a side fixed plate 132. The side surface of the side fixed plate 132 is provided with a fixed sleeve 133. The side surface of the fixed sleeve 133 is provided with a supporting plate 134. The side surface of the supporting plate 134 is provided with a protruding rod 135. One end of the protruding rod 135 penetrates through the fixed sleeve 133. The side surface of the supporting plate 134 is provided with an elastic member 136. The end of the elastic member 136 away from the supporting plate 134 is connected with the fixed sleeve 133. The clamping strip 131 is fixedly connected with the top of the upper walking member 2. As shown in Figure 4 The side fixed plate 132 arranged on the side surface of the clamping strip 131 is fixedly connected with the clamping strip 131. The fixed sleeve 133 is fixedly connected with the side surface of the side fixed plate 132. The protruding rod 135 is sleeved in the fixed sleeve 133. The protruding rod 135 can slide in the fixed sleeve 133. One end of the protruding rod 135 is fixedly connected with the supporting plate 134. The supporting plate 134 is connected with the inner wall of the fixed sleeve 133 through the elastic member 136. The elastic member 136 is in a stretched state.

[0030] Further, the side surface of the supporting plate 134 is provided with a protruding block 137. The side surface of the fixed sleeve 133 is provided with a clamping groove 138 matched with the protruding block 137. The top of the clamping strip 131 is provided with a sliding groove 139. The bottom of the connecting plate 31 is provided with clamping blocks 321 on both sides. The side surface of the clamping block 321 is provided with a limiting plate 322. The side surface of the supporting plate 134 is fixedly connected with the protruding block 137. The protruding rod 135 is fixedly connected with the supporting plate 134. When the elastic member 136 is in the shortest state, the protruding block 137 is embedded in the clamping groove 138. The end of the protruding rod 135 away from the supporting plate 134 protrudes from one side of the fixed sleeve 133, as shown in Figure 4As shown in the left side, the convex rod 135 is clamped outside the clamping structure 32 when it extends from one side of the fixed sleeve 133, and the clamping block 321 is matched with the sliding groove 139 on the top of the clamping strip 131, so that the clamping strip 131 can slide at the bottom of the clamping block 321. Figure 5 As shown, the clamping block 321 is matched with the sliding groove 139 on the top of the clamping strip 131, so that the clamping strip 131 can slide at the bottom of the clamping block 321. When it is necessary to fix the lower walking mechanism and the upper walking mechanism, the clamping strip 131 is only needed to slide at the bottom of the clamping block 321, and is slid to the outside of the clamping block 321. The supporting plate 134 is dragged away from the fixed sleeve 133, so that the convex block 137 is away from the clamping groove 138. Then the supporting plate 134 is rotated, so that the convex block 137 is away from the clamping groove 138. Thus, the convex rod 135 is received in the fixed sleeve 133. When the convex rod 135 slides to the side of the clamping block 321, the supporting plate 134 is rotated again, so that the convex block 137 is at the position of the clamping groove 138. The supporting plate 134 is released, and the convex rod 135 is pulled out of the fixed sleeve 133 under the action of the elastic member 136. The convex block 137 is clamped in the clamping groove 138, and the clamping strip 131 cannot slide relative to the clamping block 321 under the limiting action of the side fixed plate 132. Thus, the lower walking mechanism 1 and the upper walking mechanism 2 are fixedly connected. The sliding groove 139 on the top of the clamping strip 131 is matched with the clamping block 321 at the bottom of the connecting plate 31, so that the upper and lower walking mechanisms 1 can be quickly aligned. High-precision calibration is not needed, and the assembly efficiency is greatly improved. On the other hand, the stretching state of the elastic member 136 provides a continuous restoring force for the convex rod 135. The matching of the convex block 137 and the clamping groove 138 and the limiting action of the side fixed plate 132 can effectively prevent the clamping strip 131 from sliding relative to the clamping block 321 during operation, so as to ensure that the upper and lower walking mechanisms 1 are firmly connected and will not be loosened due to the walking vibration of the robot or the operation reaction force.

[0031] During use, because the opening of the closed bus is small, the robot integrated with the operation module and the two walking mechanisms cannot be directly put into the opening. At this time, the upper walking mechanism 2 and the lower walking mechanism 1 need to be disassembled, and then are respectively put into the opening. Then the upper walking mechanism 2 and the lower walking mechanism 1 are manually connected.

[0032] Embodiment 3, referring to Figures 1-5 The third embodiment of the present application is different from the previous embodiment in that the upper side of the connecting plate 31 is provided with a motor 33, and the outer wall of the output shaft of the motor 33 is provided with a connecting rope 34. The top of the connecting rope 34 is connected with the upper fixed plate 22. During the overall operation of the robot, the upper walking mechanism 2 needs to be always close to the upper wall of the closed bus inner shell, and also needs to apply pressure to the upper wall. The supporting member 4 includes a spring 41 arranged between the upper fixed plate 22 and the connecting plate 31. The inside of the spring 41 is provided with a telescopic rod 42. The spring 41 is compressed to always apply pressure to the upper walking mechanism 2. The total weight of the robot is approximately in the range of 8-12 kg, the spring 41 needs to provide upward elastic force by pre-compression, so that the upper walking member 2 is tightly attached to the upper wall of the busbar, and the robot is pressed downward by the reaction force of the busbar. The required elastic force of the spring 41 is approximately in the range of 120-270 N, and the compression amount of the spring 41 is approximately in the range of 0.01 m-0.02 m. According to Hooke's law, the required elastic coefficient of the spring 41 is approximately in the range of 6-27 N / m.

[0033] Use process: After the robot is assembled inside the closed conductor, the spring 41 cannot be in a long state for a long time, otherwise the inner shell of the closed busbar will interfere with the correct posture of the upper and lower walking members. Therefore, before assembly, the motor 33 will rotate to tighten the connecting rope 34, so that the upper and lower walking members are close to each other, and the robot can be directly placed inside the busbar. The upper walking member 2 does not contact the upper wall of the busbar. After assembly is completed, the motor 33 rotates to loosen the connecting rope 34, and the upper walking member 2 rises and presses against the upper wall of the inner shell of the busbar. At this time, the walking work can be started, and only the motor 33 needs to be controlled to loosen the connecting rope 34. The upper walking member 2 can automatically rise and press against the upper wall of the busbar under the elastic force of the spring 41, without the need for manual additional adjustment. This automatic posture switching design not only reduces the technical level requirement of the operator, but also reduces the operation time of the operator inside the busbar, greatly reduces the labor intensity, and avoids the structural damage or posture deviation problem that may be caused by manual adjustment.

[0034] Finally, it should be pointed out that the methods and devices described in detail above are only embodiments, and those skilled in the art can modify these embodiments in different ways without departing from the scope of the present application.

Claims

1. An inspection and cleaning robot for closing the inside of a bus, characterized in that it comprises: a lower walking member (1), an upper walking member (2) arranged above the lower walking member (1), a connecting member (3) arranged at the bottom of the upper walking member (2), a supporting member (4) arranged between the upper walking member (2) and the lower walking member (1), and an end operation module (5) arranged at the side of the connecting member (3); the lower walking member (1) comprises a roller set (11) arranged at both ends of the bottom of the connecting member (3), the roller set (11) is driven by electricity, the middle part of the roller set (11) is provided with a belt wheel set (12), and the upper part of the roller set (11) is provided with a clamping strip structure (13). the belt wheel set (12) comprises a support frame (121), the side of the support frame (121) is provided with a rotating seat (122), the inside of the rotating seat (122) is provided with a motor (123), the output end of the motor (123) is provided with a driving wheel (124), and the outside of the driving wheel (124) is provided with a track (125).

2. The inspection and cleaning robot for closing the inside of a busbar according to claim 1, characterized by: the inside of the track (125) is provided with a driven wheel (126), the inside of the driven wheel (126) is provided with a rotating shaft (127), and both ends of the rotating shaft (127) are connected with the support frame (121).

3. The inspection and cleaning robot for closing the inside of a busbar according to claim 2, characterized by: the upper walking member (2) comprises an upper roller (21), and the bottom of the upper roller (21) is provided with an upper fixed plate (22).

4. The inspection and cleaning robot for closing the inside of a busbar according to claim 3, characterized by: the connecting member (3) comprises a connecting plate (31), and both sides of the connecting plate (31) are provided with clamping structures (32).

5. The inspection and cleaning robot for closing the inside of a busbar according to claim 4, characterized by: the clamping strip structure (13) comprises a clamping strip (131) arranged at the top of the upper walking member (2), the side of the clamping strip (131) is provided with a side fixed plate (132), the side of the side fixed plate (132) is provided with a fixed sleeve (133), the side of the fixed sleeve (133) is provided with a supporting plate (134), the side of the supporting plate (134) is provided with a protruding rod (135), one end of the protruding rod (135) penetrates through the fixed sleeve (133), the side of the supporting plate (134) is provided with an elastic member (136), and one end of the elastic member (136) away from the supporting plate (134) is connected with the fixed sleeve (133).

6. The inspection and cleaning robot for closing the inside of a busbar according to claim 5, characterized by: the side of the supporting plate (134) is provided with a protruding block (137), the side of the fixed sleeve (133) is provided with a clamping groove (138) matched with the protruding block (137), and the top of the clamping strip (131) is provided with a sliding groove (139).

7. The inspection and cleaning robot for closing the inside of a busbar according to claim 6, characterized by: both sides of the bottom of the connecting plate (31) are provided with clamping blocks (321), and the side of the clamping block (321) is provided with a limiting plate (322).

8. The inspection and cleaning robot for closing the inside of a busbar according to claim 7, characterized by: the upper part of the connecting plate (31) is provided with a motor (33), the output shaft outer wall of the motor (33) is provided with a connecting rope (34), and the top of the connecting rope (34) is connected with the upper fixed plate (22).

9. The inspection and cleaning robot for closing the inside of a busbar according to claim 8, characterized by: ​ 10. The inspection and cleaning robot for closing the inside of a busbar according to claim 9, characterized by: The support member (4) comprises a spring (41) arranged between the upper fixed plate (22) and the connecting plate (31), and an inner part of the spring (41) is provided with an extension rod (42).

Images