A power operation and maintenance substation inspection device

Abstract

The application belongs to the technical field of inspection devices, and discloses a transformer substation inspection device for power operation and maintenance, which comprises a cross frame, the two ends of the cross frame are both provided with holes for bolts to pass through, a ring-shaped seat is slidably arranged on the cross frame, a driving rod which is rotationally connected with the ring-shaped seat is arranged through the top of the ring-shaped seat, a driving gear which is located in the cross frame is fixedly arranged on the driving rod, a rack which is engaged with the driving gear is fixedly arranged in the cross frame, and a lubricating mechanism and an inspection mechanism are arranged on the ring-shaped seat. The application improves the existing structure, eliminates the cumbersome operation of disassembling and assembling the shell and the end cover when the existing technology is maintained and lubricated, reduces the time waste caused by lubrication and maintenance, reduces the probability of poor movement stability and positioning accuracy of the inspection equipment caused by abnormal wear of the tooth surface and the increase of the meshing gap due to untimely lubrication or insufficient maintenance, prolongs the service life of the transmission component, and reduces the maintenance cost.

Description

Technical Field

[0001] This invention relates to the field of inspection device technology, and in particular to a substation inspection device for power operation and maintenance. Background Technology

[0002] With the comprehensive advancement of smart grid construction in my country, substations, as core nodes of the power system, directly affect the safety, stability, and energy supply security of the entire power grid through their operational reliability. Substation secondary equipment, including relay protection devices, automatic control devices, measuring instruments, and communication equipment, serves as the "nerve center" of the substation, responsible for real-time monitoring, precise control, and safety protection of primary equipment.

[0003] Chinese invention patent CN118705516A discloses a substation secondary equipment monitoring and inspection system, including a track body and a housing movably disposed inside the track body, and a PTZ camera fixedly installed below the housing. The track body is a rectangular closed ring, with racks installed on all four sides of its inner wall. A spur gear is rotatably mounted on the outside of the housing. The track body is a component composed of an upper track and a lower track fixedly arranged vertically. Guide grooves are provided on all four sides of the upper and lower tracks, and preset grooves communicating with the guide grooves are provided on the inner walls of the upper and lower tracks. Guide components corresponding to the guide grooves and preset grooves are evenly distributed on the outside of the housing, and the guide components are arranged in two layers corresponding to the upper and lower tracks, with four sets in each layer. Outlet and inlet toothed blocks are provided on the inner side of the turns of the upper and lower tracks and fixedly connected to the surface of the movable plates. A spring is fixedly connected between the two sets of movable plates.

[0004] Although the reduction gear set and support bearings inside the equipment are enclosed in a closed housing, they are not equipped with a maintenance-free lubrication structure or convenient oil injection channel. They require regular manual maintenance, which requires disassembling the housing, end cover and related connecting parts. The operation is cumbersome and time-consuming, and it also increases the labor intensity of the staff. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a substation inspection device for power operation and maintenance.

[0006] The above-mentioned technical objective of the present invention is achieved through the following technical solution: a substation inspection device for power operation and maintenance, comprising a cross frame with a hollow structure and an open top. The cross frame can be rectangular or annular in structure and can be manufactured according to specific requirements. Holes for bolts to pass through are provided at both ends of the cross frame. An annular seat is slidably fitted on the cross frame. A drive rod rotatably connected to the annular seat is provided through the top of the annular seat. A drive gear located inside the cross frame is fixedly fitted on the drive rod. A rack meshing with the drive gear is fixed inside the cross frame. A lubrication mechanism for periodically and automatically lubricating the drive gear and rack and driving the drive rod to rotate, and an inspection mechanism for inspecting substations for power operation and maintenance are provided on the annular seat.

[0007] By adopting the above technical solution, the lubrication mechanism drives the drive rod to rotate, which in turn drives the drive gear fixed to the drive rod to rotate synchronously. This causes the drive gear to move in the linear direction of the rack, while the drive rod fixed to the drive gear and the ring seat connected to the drive rod move synchronously. At the same time, the lubrication mechanism can automatically lubricate the drive gear and rack periodically, eliminating the cumbersome operation of disassembling and installing the outer shell and end cover during maintenance and lubrication in existing technologies. This reduces the time wasted on lubrication and maintenance, reduces the increase in labor intensity caused by manual intervention, and reduces the probability of abnormal wear of the tooth surface and increased meshing clearance due to untimely lubrication or inadequate maintenance, which would lead to poor movement stability and positioning accuracy of the inspection equipment. This extends the service life of the transmission components and reduces maintenance costs.

[0008] Furthermore, the lubrication mechanism includes a lubrication assembly, a connecting assembly, and a negative pressure assembly. The lubrication assembly includes a housing fixed to the top of the annular seat and having a hollow structure with an open bottom, a sealing shell fixed to the top of the housing, an oil supply pipe fixed and connected to the top of the sealing shell, an oil delivery pipe fixed and connected to the top of the sealing shell, and an oil tank fixed to the annular seat and containing lubricating oil. The oil supply pipe is equipped with a one-way valve that can control the lubricating oil to be discharged from the sealing shell to the oil supply pipe. The other end of the oil delivery pipe extends into the oil tank. The oil delivery pipe is equipped with a one-way valve that can control the lubricating oil to be discharged from the oil delivery pipe into the sealing shell. The drive rod has an internally hollow structure. The connecting assembly is used to connect the oil supply pipe to the inside of the drive rod. The negative pressure assembly is used to periodically generate positive and negative pressure inside the sealing shell. The outer wall of the drive rod has multiple oil outlet holes that extend to the side wall of the meshing groove of the drive gear.

[0009] By adopting the above technical solution, the negative pressure component creates negative pressure inside the sealing shell, drawing lubricating oil sequentially from the oil tank and oil supply pipe into the sealing shell. Then, the negative pressure component creates positive pressure in the sealing shell, causing the lubricating oil to be discharged from the sealing shell into the oil supply pipe, then through the connecting component into the drive rod, and finally discharged from the oil outlet into the drive rod, flowing to the meshing point of the drive gear and rack, thereby achieving the lubrication operation of the drive gear and rack.

[0010] Furthermore, the connecting assembly includes an annular block fixedly sleeved on the drive rod and located within the housing, and an annular plate disposed within the annular block. An annular groove is formed on the side wall of the annular block. The annular plate is rotatably installed within the annular groove. The upper and lower ends of the annular plate are sealed and rotatably connected to the inner top and inner bottom walls of the annular groove respectively through a rotating shaft seal. The end of the oil supply pipe away from the sealing shell extends into the housing. The end of the oil supply pipe away from the sealing shell is fixed and communicates with the side wall of the annular plate. An oil inlet hole extending into the annular groove is provided through the side wall of the drive rod. The lubrication assembly also includes an oil injection pipe that penetrates the top of the oil tank and is fixedly connected to the oil tank, and an internally threaded cap that is threadedly connected to the outer wall of the oil injection pipe. An anti-slip groove is formed on the side wall of the internally threaded cap.

[0011] By adopting the above technical solution, the lubricant in the oil supply pipe is discharged from the annular plate to the annular groove of the annular block, and then discharged into the drive rod through the oil inlet hole, ensuring a normal supply of lubricating oil. Rotate the internal threaded cap until it separates from the oil injection pipe, at which point lubricating oil can be added to the oil tank through the oil injection pipe to ensure continuous lubrication.

[0012] Furthermore, the negative pressure assembly includes a sealing piston slidably disposed within the sealing shell, a reciprocating screw penetrating the bottom of the sealing shell and slidingly engaging with the sealing shell, a threaded sleeve penetrating the top of the shell and rotatably connected to the shell, and a driven gear fixedly sleeved on the threaded sleeve and located within the shell. The reciprocating screw is fixedly connected to the sealing piston, and the lower end of the reciprocating screw passes through the threaded sleeve and is threadedly connected to the threaded sleeve. The lubrication mechanism also includes a drive assembly for driving the driven gear to rotate.

[0013] By adopting the above technical solution, the drive component drives the driven gear to rotate, which in turn drives the threaded sleeve fixed to the driven gear to rotate synchronously. This causes the reciprocating screw threaded to the threaded sleeve and the sealing piston fixed to the reciprocating screw to rise and fall periodically. When the sealing piston falls, a negative pressure is generated in the sealing shell, and when the sealing piston rises, a positive pressure is generated in the sealing shell, so as to ensure the normal extraction and supply of lubricating oil.

[0014] Furthermore, the drive assembly includes a worm gear fixedly sleeved on the drive rod and located inside the housing, a worm rotatably installed inside the housing, a drive motor fixed on the housing and driving the worm to rotate, and an incomplete gear fixedly sleeved on the drive rod and meshing with the driven gear, wherein the arc degree enclosed by the teeth of the incomplete gear is less than 360 degrees.

[0015] By adopting the above technical solution, the drive motor drives the worm to rotate, which in turn drives the worm wheel meshing with the worm, the drive rod fixed to the worm wheel, the incomplete gear fixed to the drive rod, and the driven gear meshing with the incomplete gear to rotate synchronously. This allows for periodic lubrication of the drive gear and rack while the ring seat is moving, and stops the lubrication operation when the ring seat is stationary, thus improving the utilization rate of lubricating oil. Furthermore, the arc formed by the tooth blocks on the incomplete gear is less than 360 degrees, compared to an arc formed by the tooth blocks of the incomplete gear being equal to 360 degrees. Therefore, the driven gear used to rotate one revolution in the same amount of time requires a smaller volume and occupies less space.

[0016] Furthermore, the lubrication mechanism also includes auxiliary components, which include a rubber pad fixed to the incomplete gear and having a certain elasticity, a sliding tooth block slidably disposed on the side wall of the incomplete gear and meshing with the driven gear, an arc rod fixed to the rubber pad and coaxially disposed with the incomplete gear, and an arc spring fixed between the rubber pad and the sliding tooth block. The arc rod passes through the sliding tooth block and slides with the sliding tooth block. The lubrication mechanism also includes a limiting component for keeping the driven gear stationary when the incomplete gear and the driven gear are in a non-meshing state.

[0017] By adopting the above technical solution, during the rotation of the incomplete gear, and after the incomplete gear changes from a meshing state to a non-meshing state with the driven gear, the sliding tooth block is in a meshing state with the driven gear. At this time, the limiting component keeps the driven gear in a stationary state, while the sliding tooth block slides along the outer wall of the arc rod under force, and the arc spring gradually contracts until the driven gear and the incomplete gear are in a meshing state. At this time, the limiting component releases the state of keeping the driven gear stationary, the driven gear separates from the sliding tooth block, and the arc spring moves in the opposite direction and resets, ready to mesh with the driven gear in the next cycle. The setting of the auxiliary component makes the transition from a non-meshing state to a meshing state between the driven gear and the incomplete gear smoother.

[0018] Furthermore, the inner top wall of the housing is provided with a sliding groove. The limiting component includes a ratchet fixedly sleeved on a threaded sleeve, a limiting block slidably disposed in the sliding groove, a pawl fixed on the limiting block and located in the housing, an adjusting shaft rotatably mounted on the pawl, an adjusting plate fixedly sleeved on a drive rod, and a crossbar fixed in the sliding groove and slidably engaged with the limiting block. The top of the adjusting plate is provided with an adjusting groove that slidably engages with the adjusting shaft. The adjusting groove includes a concentric arc end and an eccentric arc segment. When the adjusting shaft is connected to the eccentric arc segment of the adjusting groove, the pawl and ratchet are in a separated state. When the adjusting shaft is connected to the concentric segment of the adjusting groove, the pawl and ratchet are in a meshing state.

[0019] By adopting the above technical solution, during the rotation of the drive rod, the adjusting plate fixed to the drive rod rotates synchronously. The adjusting shaft alternately connects with the concentric and eccentric arc segments of the adjusting groove. When the driven gear and the incomplete gear change from a meshing state to a non-meshing state, the adjusting shaft is located near the junction of the eccentric and concentric arc segments of the eccentric arc segment of the adjusting groove, and at this time, the pawl is located near the ratchet. As the adjusting plate rotates, the adjusting shaft gradually approaches the eccentric and concentric arc segments until it connects with the concentric arc segment. During this process, the pawl gradually approaches the ratchet, and finally the pawl meshes with the ratchet. At this time, the driven gear and the sliding tooth block are perfectly meshed, and the cooperation between the ratchet and the pawl keeps the driven gear stationary. Similarly, as the auxiliary component rack continues to rotate until the connection between the adjusting shaft and the concentric arc segment of the adjusting groove changes to a connection with the eccentric arc segment, the driven gear separates from the sliding tooth block, and the pawl separates from the housing and resets, thereby releasing the locked state of the driven gear.

[0020] Furthermore, the inspection mechanism includes an inspection component, which includes an electric rotary table fixed to the bottom of the ring base, a linear module one fixed to the rotating end of the electric rotary table one, a lifting seat fixed to the moving end of the linear module one, a linear module two fixed to the lifting seat, an inspection robot fixed to the moving end of the linear module two, and an inspection camera fixed to the top of the inspection robot and electrically connected to the inspection robot. The inspection robot includes a navigation and positioning system, a multimodal perception and data acquisition system, a control system, and a communication system. The inspection camera is a super-starlight gimbal camera.

[0021] By adopting the above technical solution, the inspection component achieves horizontal rotational positioning through an electric rotary table fixed to the bottom of the ring seat, thereby adjusting the inspection direction; a linear module is installed on the rotating end of the electric rotary table, which drives the lifting seat on its moving end to move longitudinally in a straight line, thereby expanding the lateral coverage of the inspection; the inspection robot performs linear motion in another dimension (usually horizontally) through the drive of the linear module 2, thereby achieving multi-dimensional precise positioning; the super-starlight gimbal camera adopts super-starlight technology, which has high-definition imaging capabilities under extremely low illumination, and achieves multi-angle rotation shooting through the gimbal; the inspection robot has a built-in navigation and positioning system responsible for path planning and autonomous positioning, and a multi-modal perception and data acquisition system integrates vision, The system uses multiple sensors, including infrared and acoustic sensors, to identify equipment status and collect data. The control system coordinates various actuators to complete the inspection task, while the communication system enables real-time data transmission and remote control with the back-end monitoring center. During operation, the electric rotary table one, linear module one, and linear module two move in tandem to precisely position the inspection robot and the super-starlight gimbal camera at the equipment to be inspected. The multimodal perception and data acquisition system simultaneously collects images, temperature, sound, and other information from the equipment. The super-starlight gimbal camera captures high-definition images of equipment details in low-light environments. The control system analyzes and processes the collected data to determine the equipment status. Finally, the inspection results and abnormal information are uploaded to the monitoring center in real time through the communication system, realizing automated and intelligent inspection of substation equipment.

[0022] Furthermore, the inspection mechanism also includes a robotic arm assembly, which includes an electric rotary table II fixed to the inspection robot, a telescopic arm fixed to the rotating end of the electric rotary table II, and an electric gripper fixed to the telescopic end of the telescopic arm. The telescopic arm adopts a multi-stage telescopic rod, and the two gripping blocks of the electric gripper are both L-shaped structures.

[0023] By adopting the above technical solution, the rotation of the electric rotary table drives the telescopic arm and electric gripper to rotate, and the extension and retraction of the telescopic arm drives the electric gripper to move horizontally. When in use, the two clamping blocks of the electric gripper can be positioned on both sides of the drawer switch knob. When operating the electric gripper, the two clamping blocks hold the knob, and simultaneously, in conjunction with the operation of the electric rotary table, the electric gripper rotates, thus adjusting the knob to the open, adjustable, or closed state. This eliminates the need for manual operation, saving physical effort and reducing the risk of electric shock to workers due to improper operation.

[0024] Furthermore, guide rails are fixed on both side walls of the cross frame, and rollers are rotatably mounted on the annular seat. The side wall of the rollers is provided with a limiting groove in an annular structure. The guide rails pass through the limiting grooves of the rollers and are rotatably connected to the limiting grooves. Telescopic covers are fixed between the annular seat and both ends of the cross frame.

[0025] By adopting the above technical solution, the arrangement of guide rails and rollers improves the stability of the ring seat during movement. The telescopic cover prevents dust from entering the crossbeam and also shields the transmission components, enhancing safety.

[0026] In summary, the present invention has the following beneficial effects: By improving the existing structure, this application eliminates the cumbersome operation of disassembling and installing the outer shell and end cover during maintenance and lubrication, reducing the time wasted on lubrication and maintenance. At the same time, it reduces the probability of abnormal wear of the tooth surface and increased meshing clearance due to untimely lubrication or inadequate maintenance, which would lead to poor movement stability and positioning accuracy of the inspection equipment. This extends the service life of the transmission components and reduces maintenance costs. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 This is a cross-sectional structural schematic diagram of an embodiment of the present invention; Figure 3 This is a cross-sectional schematic diagram of an embodiment of the present invention used to highlight the internal structure of the shell; Figure 4 This is a schematic diagram illustrating the connection structure between the drive rod and the drive gear in an embodiment of the present invention; Figure 5 This is a cross-sectional schematic diagram of an embodiment of the present invention to highlight the connection structure between the annular block and the annular plate; Figure 6 This is a schematic diagram illustrating the connection structure between the pawl and the adjusting plate in an embodiment of the present invention; Figure 7 This is a schematic diagram illustrating the connection structure between the moving tooth block and the incomplete gear in an embodiment of the present invention; Figure 8 This is a schematic diagram illustrating the connection structure between the crossbar and the housing in an embodiment of the present invention; Figure 9 This is a schematic diagram illustrating the connection structure between the annular seat and the crossbar in an embodiment of the present invention.

[0028] In the diagram: 1. Crossbeam; 2. Annular seat; 3. Drive rod; 4. Drive gear; 5. Rack; 6. Lubrication mechanism; 61. Lubrication assembly; 611. Housing; 612. Sealing shell; 613. Oil supply pipe; 614. Oil delivery pipe; 615. Oil tank; 616. Oil injection pipe; 617. Internal threaded cap; 618. Oil outlet; 62. Connecting assembly; 621. Annular block; 622. Annular plate; 623. Oil inlet; 63. Negative pressure assembly; 631. Sealing piston; 632. Reciprocating screw; 633. Threaded sleeve; 634. Driven gear; 64. Drive assembly; 641. Worm gear; 642. Worm; 643. Drive motor; 644. Incomplete gear; 65. Auxiliary Components; 651, Rubber Pad; 652, Sliding Tooth Block; 653, Arc Rod; 654, Arc Spring; 66, Limiting Component; 661, Ratchet; 662, Limiting Block; 663, Pawl; 664, Adjusting Shaft; 665, Adjusting Plate; 666, Crossbar; 667, Adjusting Slot; 7, Inspection Mechanism; 71, Inspection Component; 711, Electric Rotary Table I; 712, Linear Module I; 713, Lifting Seat; 714, Linear Module II; 715, Inspection Robot; 716, Inspection Camera; 72, Robotic Arm Component; 721, Electric Rotary Table II; 722, Telescopic Arm; 723, Electric Gripper; 8, Slide; 9, Guide Rail; 10, Roller; 11, Telescopic Cover. Detailed Implementation

[0029] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0030] like Figure 1-9As shown in the figure, this application discloses a substation inspection device for power operation and maintenance, including a crossbeam 1, a lubrication mechanism 6, and an inspection mechanism 7. The crossbeam 1 has a hollow structure with an open top. The crossbeam 1 can be rectangular or ring-shaped, and can be manufactured according to specific requirements. Both ends of the crossbeam 1 have holes for bolts to pass through, and a ring seat 2 is slidably fitted on the crossbeam 1. A drive rod 3, which is rotatably connected to the ring seat 2, is provided through the top of the ring seat 2. A drive gear 4 located inside the crossbeam 1 is fixedly fitted on the drive rod 3, and a rack 5 that meshes with the drive gear 4 is fixed inside the crossbeam 1. The lubrication mechanism 6 drives the drive rod 3 to rotate, which in turn drives the drive gear 4, which is fixed to the drive rod 3, to rotate synchronously. This causes the drive gear 4 to move along the linear direction of the rack 5. The drive rod 3, which is fixed to the drive gear 4, and the ring seat 2, which is connected to the drive rod 3, both move synchronously. At the same time, the lubrication mechanism 6 can automatically lubricate the drive gear 4 and the rack 5 at regular intervals. This eliminates the cumbersome operation of disassembling and installing the outer shell and end cover during maintenance and lubrication in the existing technology, reducing the time wasted on lubrication and maintenance. It also reduces the probability of abnormal wear of the tooth surface and increased meshing clearance due to untimely lubrication or inadequate maintenance, which would lead to poor movement stability and positioning accuracy of the inspection equipment. This extends the service life of the transmission components and reduces maintenance costs.

[0031] Guide rails 9 are fixed to both side walls of the cross frame 1. Rollers 10 are rotatably mounted on the annular seat 2. The side wall of the roller 10 has a ring-shaped limiting groove. The guide rails 9 pass through the limiting grooves of the roller 10 and are tactilely connected to the limiting grooves. Telescopic covers 11 are fixed between the annular seat 2 and both ends of the cross frame 1. The guide rails 9 and rollers 10 improve the stability of the annular seat 2 when it moves. The telescopic covers 11 prevent dust from entering the cross frame 1 and also shield the transmission part, improving safety.

[0032] A lubrication mechanism 6 is mounted on the annular seat 2. The lubrication mechanism 6 is used for periodic automatic lubrication of the drive gear 4 and rack 5 and for driving the drive rod 3 to rotate. The lubrication mechanism 6 includes a lubrication assembly 61, a connecting assembly 62, a negative pressure assembly 63, a drive assembly 64, an auxiliary assembly 65, and a limiting assembly 66. The lubrication assembly 61 includes a housing 611, a sealing shell 612, an oil supply pipe 613, an oil delivery pipe 614, and an oil tank 615. The housing 611 is fixed to the top of the annular seat 2 and has a hollow structure with an open bottom. The sealing shell 612 is fixed to the top of the housing 611. The oil supply pipe 613 is fixed and connected to the top of the sealing shell 612. The oil supply pipe 613 is equipped with a one-way valve that controls the flow of lubricating oil from the sealing shell 612 to the oil supply pipe 613. The oil delivery pipe 614 is fixed and connected to the top of the sealing shell 612. The other end of the oil supply pipe 614 extends into the oil tank 615. A one-way valve is installed on the oil supply pipe 614 to control the flow of lubricating oil from the oil supply pipe 614 to the sealing housing 612. The oil tank 615 is fixed to the annular seat 2 and contains lubricating oil. The drive rod 3 has a hollow internal structure, and its outer wall has multiple oil outlet holes 618 extending to the side wall of the meshing groove of the drive gear 4. When the negative pressure component 63 operates, it creates a negative pressure inside the sealing housing 612, drawing lubricating oil sequentially from the oil tank 615 and the oil supply pipe 614 into the sealing housing 612. Then, the negative pressure component 63 creates a positive pressure in the sealing housing 612, causing the lubricating oil to flow from the sealing housing 612 into the oil supply pipe 613, then through the connecting component 62 into the drive rod 3, and finally out through the oil outlet holes 618 into the drive rod 3, flowing to the meshing point of the drive gear 4 and the rack 5, thus achieving lubrication of the drive gear 4 and the rack 5.

[0033] The connecting assembly 62 is used to connect the oil supply pipe 613 to the drive rod 3. The connecting assembly 62 includes an annular block 621 and an annular plate 622. The annular block 621 is fixedly sleeved on the drive rod 3 and located inside the housing 611. An annular groove is formed on the side wall of the annular block 621. The annular plate 622 is disposed inside the annular block 621 and is rotatably installed in the annular groove. The upper and lower ends of the annular plate 622 are sealed and rotatably connected to the inner top and inner bottom walls of the annular groove through rotating shaft seals, respectively. The end of the oil supply pipe 613 away from the sealing shell 612 extends into the housing 611. The end of the oil supply pipe 613 away from the sealing shell 612 is fixed and connected to the side wall of the annular plate 622. An oil inlet hole 623 extending into the annular groove is provided through the side wall of the drive rod 3. The lubrication assembly 61 also includes an oil injection pipe 616 and an internally threaded cap 617. The oil injection pipe 616 passes through the top of the oil tank 615 and is fixedly connected to the oil tank 615. The internally threaded cap 617 is threaded to the outer wall of the oil injection pipe 616, and an anti-slip groove is provided on the side wall of the internally threaded cap 617. The lubricant in the oil supply pipe 613 is discharged from the annular plate 622 to the annular groove of the annular block 621, and then discharged into the drive rod 3 through the oil inlet hole 623 to ensure normal supply of lubricating oil. Rotating the internally threaded cap 617 until it separates from the oil injection pipe 616 allows lubricating oil to be added into the oil tank 615 through the oil injection pipe 616 to ensure continuous lubrication.

[0034] The negative pressure assembly 63 is used to periodically generate positive and negative pressure within the sealing housing 612. The negative pressure assembly 63 includes a sealing piston 631, a reciprocating screw 632, a threaded sleeve 633, and a driven gear 634. The sealing piston 631 is slidably disposed within the sealing housing 612. The reciprocating screw 632 passes through the bottom of the sealing housing 612 and is slidably engaged with it. The reciprocating screw 632 is fixedly connected to the sealing piston 631, and its lower end passes through the threaded sleeve 633 and is threadedly connected to it. The threaded sleeve 633 passes through the top of the housing 611 and is rotatably connected to it. The driven gear 634 is fixedly sleeved on the threaded sleeve 633 and located within the housing 611. The drive assembly 64 drives the driven gear 634 to rotate, which in turn drives the threaded sleeve 633 fixed to the driven gear 634 to rotate synchronously. This causes the reciprocating screw 632, which is threadedly connected to the threaded sleeve 633, and the sealing piston 631, which is fixed to the reciprocating screw 632, to rise and fall periodically. When the sealing piston 631 falls, a negative pressure is generated in the sealing shell 612, and when the sealing piston 631 rises, a positive pressure is generated in the sealing shell 612, so as to ensure the normal extraction and supply of lubricating oil.

[0035] The drive assembly 64 is used to drive the driven gear 634 to rotate. The drive assembly 64 includes a worm gear 641, a worm 642, a drive motor 643, and an incomplete gear 644. The worm gear 641 is fixedly sleeved on the drive rod 3 and located inside the housing 611. The worm 642 is rotatably mounted inside the housing 611. The drive motor 643 is fixed to the housing 611 and drives the worm 642 to rotate. The incomplete gear 644 is fixedly sleeved on the drive rod 3 and meshes with the driven gear 634. The arc degree enclosed by the teeth of the incomplete gear 644 is less than 360 degrees. The drive motor 643 drives the worm gear 642 to rotate, which in turn drives the worm wheel 641 meshing with the worm gear 642, the drive rod 3 fixed to the worm wheel 641, the incomplete gear 644 fixed to the drive rod 3, and the driven gear 634 meshing with the incomplete gear 644 to rotate synchronously. This allows for periodic lubrication of the drive gear 4 and rack 5 while the ring seat 2 is moving, and stops the lubrication of the drive gear 4 and rack 5 when the ring seat 2 is stationary, which helps improve the utilization rate of lubricating oil. In addition, the arc formed by the tooth blocks on the incomplete gear 644 is less than 360 degrees. Compared with the arc formed by the tooth blocks of the incomplete gear 644 being equal to 360 degrees, the driven gear 634 used to rotate one revolution in the same amount of time is smaller and occupies less space.

[0036] The auxiliary component 65 includes a rubber pad 651, a sliding tooth block 652, an arc rod 653, and an arc spring 654. The rubber pad 651 is fixed to the incomplete gear 644 and has a certain elasticity. The sliding tooth block 652 is slidably disposed on the side wall of the incomplete gear 644 and meshes with the driven gear 634. The arc rod 653 is fixed to the rubber pad 651 and is coaxially disposed with the incomplete gear 644. The arc rod 653 passes through the sliding tooth block 652 and slides with the sliding tooth block 652. The arc spring 654 is fixed between the rubber pad 651 and the sliding tooth block 652. During the rotation of the incomplete gear 644, and after the incomplete gear 644 changes from a meshing state to a non-meshing state with the driven gear 634, the sliding tooth block 652 is in a meshing state with the driven gear 634. At this time, the limiting component 66 keeps the driven gear 634 stationary, while the sliding tooth block 652 slides along the outer wall of the arc rod 653 under force, and the arc spring 654 gradually contracts until the driven gear 634 and the incomplete gear 644 are in a meshing state. At this time, the limiting component 66 releases the state of keeping the driven gear 634 stationary, the driven gear 634 separates from the sliding tooth block 652, and the arc spring 654 moves in the opposite direction and resets, ready to mesh with the driven gear 634 in the next cycle. The setting of the auxiliary component 65 makes the transition from a non-meshing state to a meshing state between the driven gear 634 and the incomplete gear 644 smoother.

[0037] The inner top wall of the housing 611 has a sliding groove 8. A limiting assembly 66 is used to keep the driven gear 634 stationary when the incomplete gear 644 and the driven gear 634 are not meshed. The limiting assembly 66 includes a ratchet 661, a limiting block 662, a pawl 663, an adjusting shaft 664, an adjusting plate 665, and a crossbar 666. The ratchet 661 is fixedly sleeved on the threaded sleeve 633, and the limiting block 662 is slidably disposed within the sliding groove 8. The pawl 663 is fixed to the limiting block 662 and located within the housing 611, and the adjusting shaft 664 is rotatably mounted on the pawl 663. The adjusting plate 665 is fixedly sleeved on the drive rod 3, and the crossbar 666 is fixed within the sliding groove 8 and slidably engages with the limiting block 662. The top of the adjusting plate 665 is provided with an adjusting groove 667 that slides with the adjusting shaft 664. The adjusting groove 667 includes a concentric arc end and an eccentric arc segment. When the adjusting shaft 664 is connected to the eccentric arc segment of the adjusting groove 667, the pawl 663 and the ratchet 661 are in a separated state. When the adjusting shaft 664 is connected to the concentric segment of the adjusting groove 667, the pawl 663 and the ratchet 661 are in a meshing state. During the rotation of the drive rod 3, the adjusting plate 665, which is fixed to the drive rod 3, rotates synchronously. The adjusting shaft 664 is alternately connected to the concentric and eccentric arc segments of the adjusting groove 667. When the driven gear 634 and the incomplete gear 644 change from a meshing state to a non-meshing state, the adjusting shaft 664 is located near the junction of the eccentric and concentric arc segments of the eccentric arc segment of the adjusting groove 667. At this time, the pawl 663 is located near the ratchet 661. As the adjusting plate 665 rotates, the adjusting shaft 664 gradually approaches the eccentric and concentric arc segments until the adjusting shaft 664 connects with the concentric arc segment. During this process, the pawl 663 gradually approaches the ratchet 661. Finally, the pawl 663 meshes with the ratchet 661. At this time, the driven gear 634 meshes with the sliding tooth block 652. The cooperation between the ratchet 661 and the pawl 663 keeps the driven gear 634 in a stationary state. Similarly, as the auxiliary component 65 rack 5 continues to rotate, until the connection between the concentric arc segment of the adjusting shaft 664 and the adjusting groove 667 is transformed into a connection with the eccentric arc segment, during this process, the driven gear 634 separates from the sliding tooth block 652, and the pawl 663 separates from the housing 611 and resets, thereby releasing the locked state of the driven gear 634.

[0038] Inspection mechanism 7 is mounted on ring base 2 and is used for inspecting substations used for power operation and maintenance. Inspection mechanism 7 includes inspection component 71 and robotic arm component 72. Inspection component 71 includes an electric rotary table 711, a linear module 712, a lifting platform 713, a linear module 714, an inspection robot 715, and an inspection camera 716. Electric rotary table 711 is fixed to the bottom of ring base 2, and linear module 712 is fixed to the rotating end of electric rotary table 711. Lifting platform 713 is fixed to the moving end of linear module 712, and linear module 714 is fixed to lifting platform 713. The transmission parts of linear modules 712 and 714 can be connected to oil supply pipe 613 via external hoses. Inspection robot 715 is fixed to the moving end of linear module 714 and includes a navigation and positioning system, a multimodal perception and data acquisition system, a control system, and a communication system. The inspection camera 716 is fixed to the top of the inspection robot 715 and electrically connected to the inspection robot 715. The inspection camera 716 adopts a super starlight gimbal camera. The inspection component 71 achieves horizontal rotational positioning via an electric rotary table 711 fixed to the bottom of the ring seat 2, thereby adjusting the inspection direction. A linear module 712 is mounted on the rotating end of the electric rotary table 711, which drives a lifting seat 713 on its moving end to move longitudinally in a straight line, expanding the lateral coverage of the inspection. A second linear module 714 is fixed on the lifting seat 713, and an inspection robot 715 is mounted on its moving end. Driven by the second linear module 714, the inspection robot 715 performs another dimension of linear movement (usually horizontal), achieving multi-dimensional precise positioning. A super-starlight gimbal camera electrically connected to the top of the inspection robot 715 is fixed. This camera uses super-starlight technology, possessing high-definition imaging capabilities in extremely low light conditions, and achieves multi-angle rotational shooting via the gimbal. The inspection robot 715 has a built-in navigation system. The positioning system is responsible for path planning and autonomous positioning. The multimodal perception and data acquisition system integrates information from multiple sensors such as vision, infrared, and sound to identify equipment status and collect data. The control system coordinates various actuators to complete the inspection task, while the communication system realizes real-time data transmission and remote control with the background monitoring center. During operation, the electric rotary table 711, linear module 712, and linear module 714 move in coordination to accurately position the inspection robot 715 and the super-starlight gimbal camera 716 to the equipment to be inspected. The multimodal perception and data acquisition system simultaneously collects information such as images, temperature, and sound from the equipment. The super-starlight gimbal camera 716 takes high-definition pictures of the equipment details in low-light environments. The control system analyzes and processes the collected data and judges the equipment status. Finally, the inspection results and abnormal information are uploaded to the monitoring center in real time through the communication system, realizing automated and intelligent inspection of substation equipment.

[0039] The robotic arm assembly 72 includes a second electrically driven rotary table 721, a telescopic arm 722, and an electrically driven gripper 723. The second electrically driven rotary table 721 is fixed to the inspection robot 715. The telescopic arm 722 is fixed to the rotating end of the second electrically driven rotary table 721 and employs a multi-stage telescopic rod. The electrically driven gripper 723 is fixed to the telescopic end of the telescopic arm 722, and both gripping blocks of the electrically driven gripper 723 have an L-shaped structure. The rotation of the second electrically driven rotary table 721 drives the telescopic arm 722 and the electrically driven gripper 723 to rotate, and the extension and retraction of the telescopic arm 722 drives the electrically driven gripper 723 to move horizontally. When in use, the two clamping blocks of the electric gripper 723 can be positioned on both sides of the drawer switch knob. When operating the electric gripper 723, the two clamping blocks clamp the knob. At the same time, the electric rotary table 721 works to drive the electric gripper 723 to rotate, thereby adjusting the knob to the open, adjustment, or closed state, eliminating the need for manual operation (other operations are not described in detail here, such as the telescopic arm 722 clamping the drawer switch handle to remove or insert it from the electrical cabinet). This saves physical strength and reduces the risk of electric shock to workers due to improper operation.

[0040] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A substation inspection device for power operation and maintenance, characterized in that: The device includes a cross frame (1) with a hollow structure and an open top. A ring seat (2) is slidably fitted on the cross frame (1). A drive rod (3) is rotatably connected to the top of the ring seat (2). A drive gear (4) is fixedly fitted on the drive rod (3) and located inside the cross frame (1). A rack (5) that meshes with the drive gear (4) is fixed inside the cross frame (1). The ring seat (2) is provided with a lubrication mechanism (6) for periodically and automatically lubricating the drive gear (4) and the rack (5) and driving the drive rod (3) to rotate, and an inspection mechanism (7) for inspecting substations used for power operation and maintenance.

2. The substation inspection device for power operation and maintenance according to claim 1, characterized in that: The lubrication mechanism (6) includes a lubrication assembly (61), a connecting assembly (62), and a negative pressure assembly (63). The lubrication assembly (61) includes a housing (611) fixed to the top of the annular seat (2) and having a hollow structure with an open bottom, a sealing shell (612) fixed to the top of the housing (611), an oil supply pipe (613) fixed and connected to the top of the sealing shell (612), an oil delivery pipe (614) fixed and connected to the top of the sealing shell (612), and an oil tank (615) fixed to the annular seat (2) and containing lubricating oil. The oil supply pipe (613) and the oil delivery pipe (614) are both equipped with one-way valves. The other end of the oil delivery pipe (614) extends into the oil tank (615). The drive rod (3) has an internally hollow structure. The connecting component (62) is used to connect the oil supply pipe (613) with the drive rod (3). The negative pressure component (63) is used to periodically generate positive and negative pressure in the sealing shell (612). The outer wall of the drive rod (3) is provided with multiple oil outlet holes (618) that extend to the side wall of the meshing groove of the drive gear (4).

3. The substation inspection device for power operation and maintenance according to claim 2, characterized in that: The connecting assembly (62) includes an annular block (621) fixedly sleeved on the drive rod (3) and located inside the housing (611), and an annular plate (622) disposed inside the annular block (621). An annular groove is provided on the side wall of the annular block (621). The annular plate (622) is rotatably installed in the annular groove. The upper end and lower end of the annular plate (622) are respectively sealed and rotatably connected to the inner top wall and inner bottom wall of the annular groove through a rotating shaft seal. The oil supply pipe (613) extends away from the sealing shell (612) at one end. Inside the housing (611), the end of the oil supply pipe (613) away from the sealing shell (612) is fixed and connected to the side wall of the annular plate (622). The side wall of the drive rod (3) is provided with an oil inlet hole (623) extending into the annular groove. The lubrication assembly (61) also includes an oil injection pipe (616) that passes through the top of the oil tank (615) and is fixedly connected to the oil tank (615), and an internal thread cap (617) that is threaded to the outer wall of the oil injection pipe (616). The side wall of the internal thread cap (617) is provided with an anti-slip groove.

4. A substation inspection device for power operation and maintenance according to claim 3, characterized in that: The negative pressure assembly (63) includes a sealing piston (631) slidably disposed in the sealing shell (612), a reciprocating screw (632) penetrating the bottom of the sealing shell (612) and slidingly engaged with the sealing shell (612), a threaded sleeve (633) penetrating the top of the shell (611) and rotatably connected to the shell (611), and a driven gear (634) fixedly sleeved on the threaded sleeve (633) and located in the shell (611). The reciprocating screw (632) is fixedly connected to the sealing piston (631), and the lower end of the reciprocating screw (632) passes into the threaded sleeve (633) and is threadedly connected to the threaded sleeve (633). The lubrication mechanism (6) also includes a drive assembly (64) for driving the driven gear (634) to rotate.

5. A substation inspection device for power operation and maintenance according to claim 4, characterized in that: The drive assembly (64) includes a worm gear (641) fixedly sleeved on the drive rod (3) and located in the housing (611), a worm (642) rotatably installed in the housing (611), a drive motor (643) fixed on the housing (611) and driving the worm (642) to rotate, and an incomplete gear (644) fixedly sleeved on the drive rod (3) and meshing with the driven gear (634), wherein the arc degree enclosed by the teeth of the incomplete gear (644) is less than 360 degrees.

6. A substation inspection device for power operation and maintenance according to claim 5, characterized in that: The lubrication mechanism (6) further includes an auxiliary component (65), which includes a rubber pad (651) fixed to the incomplete gear (644) and having a certain elasticity, a sliding tooth block (652) slidably disposed on the side wall of the incomplete gear (644) and meshing with the driven gear (634), an arc rod (653) fixed to the rubber pad (651) and coaxially disposed with the incomplete gear (644), and an arc spring (654) fixed between the rubber pad (651) and the sliding tooth block (652). The arc rod (653) passes through the sliding tooth block (652) and slides with the sliding tooth block (652). The lubrication mechanism (6) further includes a limiting component (66) for keeping the driven gear (634) stationary when the incomplete gear (644) and the driven gear (634) are in a non-meshing state.

7. A substation inspection device for power operation and maintenance according to claim 6, characterized in that: The inner top wall of the housing (611) is provided with a sliding groove (8). The limiting component (66) includes a ratchet (661) fixedly sleeved on the threaded sleeve (633), a limiting block (662) slidably disposed in the sliding groove (8), a pawl (663) fixed on the limiting block (662) and located in the housing (611), an adjusting shaft (664) rotatably mounted on the pawl (663), an adjusting plate (665) fixedly sleeved on the drive rod (3), and a sliding plate (665) fixed in the sliding groove (8) and sliding with the limiting block (662). The crossbar (666) is dynamically engaged. The top of the adjusting plate (665) is provided with an adjusting groove (667) that is slidably engaged with the adjusting shaft (664). The adjusting groove (667) includes a concentric arc end and an eccentric arc segment. When the adjusting shaft (664) is connected to the eccentric arc segment of the adjusting groove (667), the pawl (663) and the ratchet (661) are in a separated state. When the adjusting shaft (664) is connected to the concentric segment of the adjusting groove (667), the pawl (663) and the ratchet (661) are in a meshing state.

8. A substation inspection device for power operation and maintenance according to claim 1, characterized in that: The inspection mechanism (7) includes an inspection component (71), which includes an electric rotary table (711) fixed to the bottom of the ring seat (2), a linear module (712) fixed to the rotating end of the electric rotary table (711), a lifting seat (713) fixed to the moving end of the linear module (712), a linear module (714) fixed to the lifting seat (713), an inspection robot (715) fixed to the moving end of the linear module (714), and an inspection camera (716) fixed to the top of the inspection robot (715) and electrically connected to the inspection robot (715). The inspection robot (715) includes a navigation and positioning system, a multimodal perception and data acquisition system, a control system, and a communication system.

9. A substation inspection device for power operation and maintenance according to claim 8, characterized in that: The inspection mechanism (7) also includes a robotic arm assembly (72), which includes an electric rotary table (721) fixed on the inspection robot (715), a telescopic arm (722) fixed on the rotating end of the electric rotary table (721), and an electric gripper (723) fixed on the telescopic end of the telescopic arm (722).

10. A substation inspection device for power operation and maintenance according to claim 1, characterized in that: Guide rails (9) are fixed on both sides of the cross frame (1). Rollers (10) are rotatably mounted on the annular seat (2). The side wall of the roller (10) is provided with a limiting groove in an annular structure. The guide rail (9) passes through the limiting groove of the roller (10) and is rotatably connected to the limiting groove. Telescopic covers (11) are fixed between the annular seat (2) and both ends of the cross frame (1).

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