Inspection equipment for offshore booster station

Abstract

The utility model discloses inspection equipment for an offshore booster station, and relates to the field of offshore inspection equipment, and the inspection equipment comprises a fastening mechanism which comprises a clamping block which is used for driving a connecting bolt on electrical equipment in an electrical panel cabinet to rotate; the detection mechanism comprises two spacing sensors, and each spacing sensor is used for detecting a real-time spacing value between the spacing sensor and a connecting bolt on electrical equipment in the electrical panel cabinet; and the controller compares the real-time interval values detected by the two interval sensors, and when the two real-time interval values are equal, the controller controls the mechanical arm to stop acting. According to the invention, it is ensured that the clamping block is always tightly attached to the connecting bolt when the connecting bolt is fastened, the clamping block is prevented from being separated from the connecting bolt, and the clamping block is prevented from impacting the connecting bolt when the connecting bolt is driven to rotate, so that the electrical equipment is prevented from being damaged due to vibration when the connecting bolt is fastened.

Description

Technical Field

[0001] The utility model relates to the field of marine inspection equipment, in particular to an inspection equipment for an offshore booster station. Background Art

[0002] Since offshore substations are far from the land, there are problems such as difficulty in replenishment and harsh environment, and they are usually operated unmanned. Moreover, the electrical equipment of offshore substations also needs to be inspected regularly during the operation cycle. The method of using transport ships to regularly send operation and maintenance personnel to the substations for inspections is time-consuming, costly, and labor-intensive, and is also restricted by the meteorological conditions of the sea area. Nowadays, some projects consider using unmanned inspection equipment for offshore substations to solve the above contradictions. The existing rail-type inspection equipment for offshore substations generally includes components such as tracks, railcars, and monitors. The railcars can travel on the tracks, and the monitors are installed on the railcars. When in use, the railcars travel along the tracks to multiple monitoring points of the substation in sequence to inspect the electrical equipment at the monitoring points.

[0003] However, the existing inspection equipment for offshore substations lacks the function of tightening the connection bolts on the electrical equipment when the connection of the electrical equipment in the electrical panel cabinet is loose. When manually tightening the connection bolts on the electrical equipment, it is difficult for the clamping block to maintain a close fit with the connection bolt, so that when the clamping block drives the connection bolt to rotate, it will cause continuous impact on the connection bolt, thereby causing the electrical equipment to be damaged due to vibration when the connection bolt is tightened. Utility Model Content

[0004] The purpose of the utility model is to overcome the shortcomings of the prior art and to provide an inspection device for an offshore substation, which ensures that the clamping block is always in close contact with the connecting bolt when tightening the connecting bolt, thereby preventing the clamping block from being separated from the connecting bolt, and at the same time preventing the clamping block from impacting the connecting bolt when driving the connecting bolt to rotate, thereby preventing electrical equipment from being damaged due to vibration when the connecting bolt is tightened.

[0005] The purpose of the utility model is to achieve the following technical solution: an inspection device for an offshore booster station, comprising:

[0006] A mechanical arm, one end of which is connected to the track patrol vehicle and is telescopic and rotatable relative to the track patrol vehicle, and the other end of which is connected to a driving fork frame, and the track patrol vehicle moves relative to the offshore booster station;

[0007] The vent pipe is arranged on the two fork arms of the fork frame, a relatively rotatable sleeve is arranged outside the vent pipe, a plurality of second vent holes are radially penetrated along the inner wall of the sleeve, and a first vent hole is radially penetrated along the inner wall of the vent pipe;

[0008] An adsorption mechanism is arranged on the outer wall of the rotating sleeve and is correspondingly connected to a second vent hole, and the adsorption mechanism is used to adsorb and open the door of the electrical panel cabinet;

[0009] A first sliding sleeve is arranged on the outer wall of the rotating sleeve and is correspondingly connected to a second vent hole. A fastening mechanism is slidably arranged at one end of the first sliding sleeve away from the rotating sleeve, and is used to drive the connecting bolts on the electrical equipment in the electrical cabinet to rotate;

[0010] The detection mechanism includes two spacing sensors, which are correspondingly arranged on the two fork arms of the fork frame. Each spacing sensor is used to detect the real-time spacing value between it and the connecting bolts on the electrical equipment in the electrical panel cabinet. The fastening mechanism rotates around the direction perpendicular to the connection line of the two spacing sensors.

[0011] A controller is electrically connected to the mechanical arm, the fastening mechanism and the two spacing sensors. The controller controls the mechanical arm to adjust the posture of the fastening mechanism. The controller compares the real-time spacing values ​​detected by the two spacing sensors. When the two real-time spacing values ​​are equal, the controller controls the mechanical arm to stop moving.

[0012] an air control pipeline connected to one end of the vent pipe and used for supplying air to the vent pipe or extracting air from the vent pipe; and

[0013] The power device is installed on the fork frame and is used to connect and drive the rotating sleeve to rotate. When the rotating sleeve rotates relative to the ventilation pipe, the first ventilation hole is selectively connected with a second ventilation hole.

[0014] As a further technical solution, the fastening mechanism includes a connecting rod and a first spring, one end of the connecting rod is slidably connected in the first sleeve, and the other end of the connecting rod is fixedly connected to the block after passing through the first sleeve; the first spring is arranged in the first sleeve and supported on the end of the connecting rod away from the block, and the end of the connecting rod away from the block is connected to a driving mechanism.

[0015] As a further technical solution, the driving mechanism includes a first slider slidably arranged in a first sliding sleeve and a sliding rod fixedly connected to the first slider, the first spring is supported on the first slider, and an end of the connecting rod away from the blocking block is axially provided with a special-shaped hole, and the outer wall of the sliding rod is slidably connected to the special-shaped hole; a first cam groove is provided on the inner wall of the first sliding sleeve, and a second slider is provided on the side wall of the first slider, and the second slider is slidably connected to the first cam groove, and the first cam groove is used to drive the second slider to rotate relative to the length direction of the connecting rod.

[0016] As a further technical solution, a safety mechanism is provided between the end of the connecting rod away from the block and the first spring, and the safety mechanism includes a third slider and a slip ring. The third slider is connected to the end of the connecting rod away from the block, the third slider slides relative to the inner wall of the first sleeve, the slip ring is fixedly connected to the inner wall of the first sleeve close to the block, the outer wall of the connecting rod passes through the inner wall of the slip ring and slides relatively, a first gear ring is provided at the end of the slip ring facing the third slider, a second gear ring is provided at the end of the third slider facing the slip ring, the first spring is supported at the end of the third slider away from the slip ring, and the first gear ring is meshed with the second gear ring for transmission under the action of the elastic force of the first spring.

[0017] As a further technical solution, a pressure sensor is provided on the first slider, and the first spring acts on the pressure sensor. The pressure sensor is used to detect the real-time pressure applied to the first spring. The pressure sensor is electrically connected to the controller, and the controller determines whether the connecting bolt is loose based on the change of the real-time pressure applied to the first spring.

[0018] As a further technical solution, it also includes a cylinder body arranged on the outer wall of the rotating sleeve and a second piston penetrated on the cylinder body, the cylinder body is connected to a second vent hole, a slide groove is axially provided at one end of the inner wall of the cylinder body, a second cam groove is provided at the other end of the inner wall of the cylinder body, and the second cam groove is connected to the slide groove, one end of the second piston is slidably connected to the inner wall of the cylinder body, and a key for opening the door of the electrical panel cabinet is provided at the other end of the second piston, a fourth slider is provided on the side wall of the second piston, the fourth slider is slidably connected to the slide groove or the second cam groove, and the second cam groove is used to drive the key to rotate around the axis of the cylinder body.

[0019] As a further technical solution, a second sleeve is provided between the second piston and the key. The end of the second piston close to the key is slidably connected in the second sleeve. The key is provided on the second sleeve. A limiting groove is provided on the side wall of the second piston. A limiting slider is provided on the second sleeve for sliding connection in the limiting groove. The limiting groove cooperates with the limiting slider to limit the relative rotation of the second sleeve and the second piston. A second spring is provided in the second sleeve for applying an elastic force to the second sleeve away from the cylinder body.

[0020] As a further technical solution, a number of mark cards are set along the moving direction of the patrol vehicle, and each electrical panel cabinet in the booster station corresponds to a mark card. An identifier is provided on the patrol vehicle for reading the vertical and horizontal spacing information of the key hole of the corresponding electrical panel cabinet from the mark card stored in the mark card; the identifier is electrically connected to the controller, and the controller controls the movement of the robotic arm according to the vertical and horizontal spacing information, thereby driving the key to be inserted into the lock hole of the electrical panel cabinet corresponding to the mark card.

[0021] As a further technical solution, the output shaft of the power device passes through the fork frame and is installed with a driving gear, which is meshed with a driven gear sleeved on the outer periphery of the rotating sleeve; the adsorption mechanism includes an adsorption cylinder body arranged on the outer wall of the rotating sleeve, a third spring is arranged in the inner cavity of the adsorption cylinder body, one end of the first piston is pressed on the third spring, and the other end of the first piston passes through the adsorption cylinder body and is installed with a suction nozzle; the inner cavity of the adsorption cylinder body is connected to a second air vent corresponding to the second air vent, and a third air vent is opened along the axial direction of the first piston to connect the suction nozzle with the second air vent.

[0022] An inspection method using the above inspection equipment for offshore booster stations comprises the following steps:

[0023] S01: Control the patrol vehicle to move on the ground of the booster station until the patrol vehicle moves to the front of the electrical panel cabinet, and the identifier reads the vertical and horizontal spacing information in the corresponding label card, and then the controller drives the mechanical arm to insert the key into the lock hole of the electrical panel cabinet corresponding to the label card, and uses the second cam groove to drive the key to rotate around the axis of the cylinder body, so as to open the door of the electrical panel cabinet;

[0024] S02: Start the power device to drive the rotating sleeve to rotate until the adsorption mechanism is directly facing the door of the electrical cabinet. At this time, the first vent hole is connected with the second vent hole corresponding to the adsorption mechanism, and air is pumped from the vent pipe through the air control pipeline to make the suction nozzle suck the cabinet door, and then the cabinet door is opened by the mechanical arm;

[0025] S03: Start the power device again to drive the rotating sleeve to rotate until the fastening mechanism is facing the door of the electrical panel cabinet, and then control the mechanical arm to drive the clamping block of the fastening mechanism to move toward the connecting bolt until the clamping block contacts the connecting bolt;

[0026] S04: Control the movement of the robot arm to adjust the posture of the entire fastening mechanism, and use two spacing sensors to detect the real-time spacing values ​​of the connecting bolts with the electrical equipment in the electrical panel cabinet;

[0027] S05: The controller compares the real-time spacing values ​​measured by the two spacing sensors. When the real-time spacing values ​​measured by the two spacing sensors are equal, the controller controls the robot arm to stop moving;

[0028] S06: The connecting bolt is clamped in the clamping block, and the clamping block of the fastening mechanism is used to drive the connecting bolt to rotate, thereby tightening the connecting bolt.

[0029] The beneficial effects of the utility model are:

[0030] 1. Ensure that the clamp block is always in close contact with the connecting bolt when tightening the connecting bolt to prevent the clamp block from detaching from the connecting bolt, and avoid the clamp block from impacting the connecting bolt when driving the connecting bolt to rotate, thereby preventing the electrical equipment from being damaged due to vibration when the connecting bolt is tightened.

[0031] 2. The fastening mechanism can further ensure that the clamping block is always clamped on the connecting bolt when the clamping block drives the connecting bolt to rotate, thereby further avoiding the impact of the clamping block on the connecting bolt and preventing the electrical equipment from being damaged.

[0032] 3. The driving mechanism of the fastening mechanism gradually increases the positive pressure applied to the connecting bolt during the process of driving the connecting bolt to rotate and tighten, thereby further ensuring the firmness of the connection between the clamping block and the connecting bolt, avoiding the impact of the clamping block on the connecting bolt and preventing damage to the electrical equipment.

[0033] 4. By setting up a safety mechanism, the fastening mechanism will automatically stop tightening the connecting bolts in the electrical panel cabinet after tightening them to a certain pre-tightening force, thereby preventing the pre-tightening force of the connecting bolts from being too large and causing damage to the electrical equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural schematic diagram of the utility model.

[0035] Figure 2 It is a structural schematic diagram of the detection mechanism in the utility model.

[0036] Figure 3 for Figure 2 AA section view.

[0037] Description of the accompanying drawings: electrical cabinet 1, patrol car 101, mechanical arm 102, fork frame 103, fastening mechanism 104, block 105, connecting bolt 106, spacing sensor 107, first sliding sleeve 201, connecting rod 202, first spring 203, driving mechanism 204, first slider 301, slider 302, second slider 303, first cam groove 304, third slider 401, slip ring 402, first gear ring 403, second gear ring 404, pressure sensor 5, cylinder 601, second piston 602, slide groove 603 , second cam groove 604, fourth slider 605, key 606, second sliding sleeve 701, limiting groove 702, second spring 703, limiting slider 704, ventilation pipe 801, first ventilation hole 802, rotating sleeve 803, second ventilation hole 804, air control pipeline 805, joint 806, sealing plug 807, power device 808, driving gear 809, driven gear 810, identifier 901, label card 902, adsorption cylinder 903, first piston 904, suction nozzle 905, third spring 906, third ventilation hole 907. DETAILED DESCRIPTION

[0038] The utility model will be described in detail below with reference to the accompanying drawings:

[0039] Example: As shown in the attached Figures 1 to 3As shown, an inspection device for an offshore booster station includes an electrical panel cabinet 1, a patrol vehicle 101, a mechanical arm 102, a fork frame 103, a fastening mechanism 104, a block 105, a connecting bolt 106, a spacing sensor 107, a first sleeve 201, a connecting rod 202, a first spring 203, a driving mechanism 204, a first slider 301, a slider 302, a second slider 303, a first cam groove 304, a third slider 401, a slip ring 402, a first gear ring 403, a second gear ring 404, a pressure sensor 5, a cylinder 601, a second piston 602, a slide groove 603, a first piston 603, a second piston 604, a second piston 605, a second piston 606, a second piston 607, a second piston 608, a second piston 609, a second piston 609, a second piston 601, a second piston 602, a second piston 603, a first piston 604, a second piston 605, a second piston 606, a second piston 607, a second piston 608, a second piston 609, a second piston 609, a second piston 609, a second piston 608, a second piston 609, a second piston 609, a second piston 609, a second piston 609, a second piston 609, a second piston 601, a second piston 601, a second piston 602, a second piston 603, a first piston 609, a second ... The second cam groove 604, the fourth slider 605, the key 606, the second sliding sleeve 701, the limit groove 702, the second spring 703, the limit slider 704, the vent pipe 801, the first vent hole 802, the rotating sleeve 803, the second vent hole 804, the air control pipeline 805, the joint 806, the sealing plug 807, the power device 808, the driving gear 809, the driven gear 810, the identifier 901, the label card 902, the adsorption cylinder 903, the first piston 904, the suction nozzle 905, the third spring 906, the third vent hole 907, the adsorption mechanism, the detection mechanism and the controller.

[0040] Reference Figure 1 The lower end of the mechanical arm 102 is connected to the track patrol vehicle 101 and can be extended and rotated relative to the track patrol vehicle 101 (achieved by a telescopic cylinder and a rotating cylinder). The upper end of the mechanical arm 102 is connected to drive the fork frame 103 (i.e., controls the telescopic movement of the fork frame 103). When the track patrol vehicle 101 is working, it moves relative to the offshore booster station.

[0041] like Figure 2 , 3 As shown, the vent pipe 801 is provided on two fork arms of the fork frame 103 and is fixedly connected to the fork frame 702. A rotating sleeve 803 is relatively rotatably provided outside the vent pipe 801. Four second vent holes 804 are radially penetrated along the inner wall of the rotating sleeve 803, and a first vent hole 802 is radially penetrated along the inner wall of the vent pipe 801. The air control pipeline 805 is connected with one end of the vent pipe 801, and can supply air to the vent pipe 801 or extract air from the vent pipe 801. Preferably, the air control pipeline 805 is connected with one end of the vent pipe 801 through a joint 806, and a sealing plug 807 is installed at the other end of the vent pipe 801 for sealing. A sealing ring is provided between the outer wall of the vent pipe 801 and the inner wall of the rotating sleeve 803, and the sealing ring is axially arranged on both sides of the first vent hole 802.

[0042] The adsorption mechanism is arranged on the outer wall of the rotating sleeve 803 and is correspondingly connected to a second vent hole 804. The adsorption mechanism can adsorb and open the cabinet door of the electrical panel cabinet 1. The adsorption mechanism includes an adsorption cylinder 903 fixed on the outer wall of the rotating sleeve 803. A third spring 906 is arranged in the inner cavity of the adsorption cylinder 903. One end of the first piston 904 is pressed against the third spring 906. The other end of the first piston 904 passes through the adsorption cylinder 903 and is installed with a suction nozzle 905. The inner cavity of the adsorption cylinder 903 is correspondingly connected to a second vent hole 804. A third vent hole 907 is provided along the axial direction of the first piston 904 so that the suction nozzle 905 is connected to the second vent hole 804.

[0043] Furthermore, the first sliding sleeve 201 is arranged on the outer wall of the rotating sleeve 803 and is correspondingly connected to another second vent hole 804. A fastening mechanism 104 is slidably arranged at one end of the first sliding sleeve 201 away from the rotating sleeve 803, and is used to drive the connection bolt 106 on the electrical equipment in the electrical cabinet 1 to rotate. The fastening mechanism 104 includes a connecting rod 202 and a first spring 203. One end of the connecting rod 202 is slidably connected to the first sliding sleeve 201, and the other end of the connecting rod 202 passes through the first sliding sleeve 201 and is fixedly connected to the block 105; the first spring 203 is arranged in the first sliding sleeve 201 and supported on one end of the connecting rod 202 away from the block 105, and the end of the connecting rod 202 away from the block 105 is connected to the driving mechanism 204.

[0044] The driving mechanism 204 includes a first slider 301 slidably disposed in the first sleeve 201 and a slide bar 302 fixedly connected to the first slider 301. The first spring 203 is supported on the first slider 301. The end of the connecting rod 202 away from the block 105 is provided with a special-shaped hole along the axial direction, and the outer wall of the slide bar 302 is slidably connected in the special-shaped hole. A first cam groove 304 is provided on the inner wall of the first sleeve 201. A second slider 303 is provided on the side wall of the first slider 301. The second slider 303 is slidably connected in the first cam groove 304. The first cam groove 304 can drive the second slider 303 to rotate relative to the length direction of the connecting rod 202. Preferably, a pressure sensor 5 is provided on the first slider 301. The first spring 203 acts on the pressure sensor 5. The pressure sensor 5 is used to detect the real-time pressure on the first spring 203. The pressure sensor 5 is electrically connected to the controller. The controller determines whether the connecting bolt 106 is loose according to the change of the real-time pressure on the first spring 203.

[0045] A safety mechanism is provided between the end of the connecting rod 202 away from the block 105 and the first spring 203, and the safety mechanism includes a third slider 401 and a slip ring 402. The third slider 401 is connected to the end of the connecting rod 202 away from the block 105, and the third slider 401 slides relative to the inner wall of the first sleeve 201, and the slip ring 402 is fixedly connected to the inner wall of the end of the first sleeve 201 close to the block 105. The outer wall of the connecting rod 202 passes through the inner wall of the slip ring 402 and slides relatively. The end of the slip ring 402 facing the third slider 401 is provided with a first gear ring 403, and the end of the third slider 401 facing the slip ring 402 is provided with a second gear ring 404. The first spring 203 is supported on the end of the third slider 401 away from the slip ring 402. Under the action of the elastic force of the first spring 203, the first gear ring 403 and the second gear ring 404 are meshed and transmitted.

[0046] Furthermore, the detection mechanism includes two spacing sensors 107, which are correspondingly arranged on the two fork arms of the fork frame 103. Each spacing sensor 107 is used to detect the real-time spacing value between it and the connecting bolt 106 on the electrical equipment in the electrical cabinet 1. The fastening mechanism 104 rotates around the direction perpendicular to the connection direction of the two spacing sensors 107. The controller is electrically connected to the mechanical arm 102, the fastening mechanism 104 and the two spacing sensors 107. The controller controls the action of the mechanical arm 102 to adjust the posture of the fastening mechanism 104. The controller compares the real-time spacing values ​​detected by the two spacing sensors 107. When the two real-time spacing values ​​are equal, the controller controls the mechanical arm 102 to stop the action.

[0047] The power device 808 is fixed on the fork frame 103, and the output shaft of the power device 808 penetrates into the fork frame 103 and is installed with a driving gear 809, which is meshed with a driven gear 810 sleeved on the outer periphery of the rotating sleeve 803, thereby connecting and driving the rotating sleeve 803 to rotate. When the rotating sleeve 803 rotates relative to the ventilation pipe 801, the first ventilation hole 802 is selectively connected to a second ventilation hole 804.

[0048] A cylinder 601 is also fixed on the outer wall of the rotating sleeve 803, and a second piston 602 is provided on the inner wall of the cylinder 601, and the cylinder 601 is correspondingly connected to a second vent hole 804. A slide groove 603 is axially provided at one end of the inner wall of the cylinder 601, and a second cam groove 604 is provided at the other end of the inner wall of the cylinder 601, and the second cam groove 604 is connected to the slide groove 603. One end of the second piston 602 is slidably connected to the inner wall of the cylinder 601, and a key 606 for opening the door of the electrical cabinet 1 is provided at the other end of the second piston 602. A fourth slider 605 is provided on the side wall of the second piston 602, and the fourth slider 605 is slidably connected to the slide groove 603 or the second cam groove 604, and the second cam groove 604 is used to drive the key 606 to rotate around the axis of the cylinder 601.

[0049] A second sleeve 701 is provided between the second piston 602 and the key 606. One end of the second piston 602 close to the key 606 is slidably connected in the second sleeve 701. The key 606 is provided on the second sleeve 701. A limiting groove 702 is provided on the side wall of the second piston 602. A limiting slider 704 is provided on the second sleeve 701 for being slidably connected in the limiting groove 702. The limiting groove 702 cooperates with the limiting slider 704 to limit the relative rotation of the second sleeve 701 and the second piston 602. A second spring 703 is provided in the second sleeve 701 for applying an elastic force to the second sleeve 701 in a direction away from the cylinder body 601.

[0050] A number of mark cards 902 are arranged along the moving direction of the patrol vehicle 101, and each electrical panel cabinet 1 of the booster station corresponds to a mark card 902. An identifier 901 is arranged on the patrol vehicle 101, which is used to read the vertical and horizontal spacing information of the key hole of the corresponding electrical panel cabinet 1 from the mark card 902 stored in the mark card 902; the identifier 901 is electrically connected to the controller, and the controller controls the movement of the robot arm 102 according to the vertical and horizontal spacing information, thereby driving the key 606 to be inserted into the lock hole of the electrical panel cabinet 1 corresponding to the mark card 902.

[0051] An inspection method using the above inspection equipment for offshore booster stations comprises the following steps:

[0052] S01: Control the patrol car 101 to move on the ground of the booster station until the patrol car 101 moves to the front of the electrical panel cabinet 1, and the identifier 901 reads the vertical and horizontal spacing information in the corresponding label card 902, and then the controller drives the mechanical arm 102 to move, so that the key 606 is inserted into the lock hole of the electrical panel cabinet 1 corresponding to the label card 902, and the second cam groove 604 is used to drive the key 606 to rotate around the axis of the cylinder body 601, so as to open the door of the electrical panel cabinet 1;

[0053] S02: Start the power device 808 to drive the rotating sleeve 803 to rotate until the suction mechanism is facing the door of the electrical cabinet 1. At this time, the first vent hole 802 is connected with the second vent hole 802 corresponding to the suction mechanism, and the air is sucked from the vent pipe 801 through the air control pipeline 805, so that the suction nozzle 905 sucks the cabinet door, and then the cabinet door is opened by the mechanical arm 102;

[0054] S03: Start the power device 808 again to drive the rotating sleeve 803 to rotate until the fastening mechanism 104 is facing the door of the electrical cabinet 1, and then control the mechanical arm 102 to drive the block 105 of the fastening mechanism 104 to move toward the connecting bolt 106 until the block 105 contacts the connecting bolt 106;

[0055] S04: Control the action of the mechanical arm 102 to adjust the posture of the entire fastening mechanism 104, and use two spacing sensors 107 to detect the real-time spacing values ​​of the connecting bolts 106 on the electrical equipment in the electrical cabinet 1;

[0056] S05: The controller compares the real-time spacing values ​​measured by the two spacing sensors 107. When the real-time spacing values ​​measured by the two spacing sensors 107 are equal, the controller controls the robot arm 102 to stop moving.

[0057] S06: The connecting bolt 106 is clamped in the clamping block 105, and the clamping block 105 of the fastening mechanism 104 is used to drive the connecting bolt 106 to rotate, thereby tightening the connecting bolt.

[0058] The working process of this utility model:

[0059] When in use, the patrol car 101 is controlled to move on the ground of the booster station until the patrol car 101 moves in front of the electrical panel cabinet 1, and then the mechanical arm 102 is driven to open the door of the electrical panel cabinet 1. The mechanical arm 102 is controlled to drive the fastening mechanism 104 to engage with the connecting bolt 106. The spacing sensors 107 arranged on the fork frame 103 detect the real-time spacing values ​​of the connecting bolts 106 on the electrical equipment in the electrical panel cabinet 1. The controller compares the real-time spacing values ​​detected by the two spacing sensors 107. When the real-time spacing values ​​detected by the two spacing sensors 107 are equal, it indicates that the distances between the connecting bolt 106 and the two spacing sensors 107 are equal. Since the fastening mechanism 104 is arranged between the two fork arms of the fork frame 103, and the clamping block 105 of the fastening mechanism 104 rotates around the direction perpendicular to the connection line of the two spacing sensors 107, the clamping block 105 can be exactly engaged with the connecting bolt 106. When the fastening mechanism 104 drives the clamping block 105 to rotate, the clamping block 105 can rotate exactly around the axial direction of the connecting bolt 106. Thus, when the clamping block 105 is tightening the connecting bolt 106, the clamping block 105 is always tightly fitted with the connecting bolt 106, avoiding the clamping block 105 and the connecting bolt 106 from being separated, and when the clamping block 105 drives the connecting bolt 106 to rotate, the clamping block 105 is avoided from causing impact on the connecting bolt 106, thereby preventing the electrical equipment from being damaged due to vibration when the connecting bolt 106 is tightened.

[0060] When the block 105 of the fastening mechanism 104 is engaged with the connecting bolt 106, as the robotic arm 102 drives the block 105 to continue to move in the direction of the connecting bolt 106, the supporting force applied by the connecting bolt 106 to the block 105 pushes the block 105 to move in the direction of the first sleeve 201, thereby driving the connecting rod 202 to slide into the first sleeve 201, thereby squeezing the first spring 203 in the first sleeve 201. When the first spring 203 is squeezed, it applies an elastic force in the opposite direction to the connecting rod 202. Under the action of the elastic force, it can further ensure that the block 105 is always engaged with the connecting bolt 106 when driving the connecting bolt 106 to rotate, thereby further avoiding the block 105 from causing impact on the connecting bolt 106 and preventing damage to the electrical equipment.

[0061] When the fastening mechanism 104 drives the block 105 to rotate, air is inflated into the first sleeve 201 through the air control circuit, and the gas pushes the first slider 301 to move in the direction of the connecting bolt 106, and the first slider 301 drives the slide rod 302 to move in the direction of the connecting rod 202, and the second slider 303 connected to the side wall of the first slider 301 slides with the first slider 301 in the direction of the block 105. Since the second slider 303 is slidably connected in the first cam groove 304, under the action of the first cam groove 304, the second slider 303 rotates around the length direction of the connecting rod 202, thereby driving the first slider 301 and the slide rod 302 to rotate around the length direction of the connecting rod 202. Since the outer wall of the slide rod 302 is slidably connected to the special-shaped hole of the connecting rod 202, when the slide rod 302 rotates, it drives the connecting rod 202 to rotate around its own axial direction, thereby driving the block 105 to rotate and tightening the connecting bolt 106. During this process, since the first slider 301 moves toward the block 105 to drive the block 105 to rotate, the first spring 203 located between the first slider 301 and the connecting rod 202 increases its extrusion amount as the first slider 301 moves, and the thrust applied by the first spring 203 to the block 105 through the connecting rod 202 increases, so that when the block 105 drives the connecting bolt 106 to rotate and tighten, the positive pressure applied to the connecting bolt 106 by the block 105 gradually increases, thereby further ensuring the degree of firmness of the connection between the block 105 and the connecting bolt 106 during the process of tightening the connecting bolt 106 by the block 105, thereby further avoiding the block 105 from causing impact on the connecting bolt 106 and preventing damage to the electrical equipment.

[0062] When the connecting bolt 106 reaches a certain pre-tightening force, the resistance applied by the connecting bolt 106 to the block 105 is too large. At this time, as the slide rod 302 continues to drive the connecting rod 202 to rotate, the elastic force applied by the first spring 203 to the third slider 401 is not enough to make the first gear ring 403 on the slip ring 402 and the second gear ring 404 on the slider engage with each other, and the first gear ring 403 slides relative to the second gear ring 404. Since the slip ring 402 is fixedly connected to the first sleeve 201, when the first gear ring 403 slides relative to the second gear ring 404, the third slider 401 drives the connecting rod 202 and the block 105 to move into the first sleeve 201, so that the block 105 automatically disengages from the connecting bolt 106, so that the entire fastening mechanism 104 can no longer drive the connecting bolt 106 to rotate, and the connecting bolt 106 is no longer tightened. By providing a safety mechanism, the fastening mechanism 104 automatically stops tightening the connecting bolts 106 in the electrical cabinet 1 after tightening the connecting bolts 106 to a certain pre-tightening force, thereby preventing the connecting bolts 106 from causing damage to the electrical equipment due to excessive pre-tightening force.

[0063] It is understandable that, for those skilled in the art, any equivalent replacement or change to the technical solution and the concept of the utility model should fall within the protection scope of the claims attached to the utility model.

Claims

1. An inspection device for an offshore booster station, characterized in that: include: A mechanical arm (102), one end of which is connected to the track patrol vehicle (101) and can be extended and rotated relative to the track patrol vehicle (101), and the other end of which is connected to drive a fork frame (103), so that the track patrol vehicle (101) moves relative to the offshore booster station; The ventilation pipe (801) is inserted into two fork arms of the fork frame (103). A rotating sleeve (803) is relatively rotatably sleeved outside the ventilation pipe (801). A plurality of second ventilation holes (804) are radially penetrated through the inner wall of the rotating sleeve (803). A first ventilation hole (802) is radially penetrated through the inner wall of the ventilation pipe (801). An adsorption mechanism is arranged on the outer wall of the rotating sleeve (803) and is correspondingly connected to a second vent hole (804), and the adsorption mechanism is used to adsorb and open the cabinet door of the electrical cabinet (1); A first sliding sleeve (201) is arranged on the outer wall of the rotating sleeve (803) and is correspondingly connected to a second vent hole (804); a fastening mechanism (104) is slidably arranged at one end of the first sliding sleeve (201) away from the rotating sleeve (803) and is used to drive a connecting bolt (106) on an electrical device in the electrical cabinet (1) to rotate; The detection mechanism comprises two spacing sensors (107) which are correspondingly arranged on two fork arms of the fork frame (103), each spacing sensor (107) is used to detect the real-time spacing value between it and the connecting bolt (106) on the electrical equipment in the electrical cabinet (1), and the fastening mechanism (104) rotates around a direction perpendicular to the connection line of the two spacing sensors (107); A controller is electrically connected to the mechanical arm (102), the fastening mechanism (104) and the two spacing sensors (107). The controller controls the mechanical arm (102) to move so as to adjust the posture of the fastening mechanism (104). The controller compares the real-time spacing values ​​detected by the two spacing sensors (107). When the two real-time spacing values ​​are equal, the controller controls the mechanical arm (102) to stop moving. An air control pipeline (805) is connected to one end of the ventilation pipe (801) and is used to supply air to the ventilation pipe (801) or to extract air from the ventilation pipe (801); as well as The power device (808) is installed on the fork frame (103) and is used to connect and drive the rotating sleeve (803) to rotate. When the rotating sleeve (803) rotates relative to the ventilation pipe (801), the first ventilation hole (802) is selectively connected to a second ventilation hole (804).

2. The inspection equipment for offshore booster stations according to claim 1, characterized in that: The fastening mechanism (104) comprises a connecting rod (202) and a first spring (203); one end of the connecting rod (202) is slidably connected in the first sliding sleeve (201); the other end of the connecting rod (202) passes through the first sliding sleeve (201) and is fixedly connected to the clamping block (105); the first spring (203) is arranged in the first sliding sleeve (201) and supported on one end of the connecting rod (202) away from the clamping block (105); and the end of the connecting rod (202) away from the clamping block (105) is connected to the driving mechanism (204).

3. The inspection equipment for offshore booster stations according to claim 2, characterized in that: The driving mechanism (204) comprises a first slider (301) slidably arranged in the first sliding sleeve (201) and a sliding rod (302) fixedly connected to the first slider (301); the first spring (203) is supported on the first slider (301); an end of the connecting rod (202) away from the block (105) is provided with a special-shaped hole along the axial direction; the outer wall of the sliding rod (302) is slidably connected in the special-shaped hole; a first cam groove (304) is provided on the inner wall of the first sliding sleeve (201); a second slider (303) is provided on the side wall of the first slider (301); the second slider (303) is slidably connected in the first cam groove (304); the first cam groove (304) is used to drive the second slider (303) to rotate relative to the length direction of the connecting rod (202).

4. The inspection equipment for offshore booster stations according to claim 3 is characterized in that: A safety mechanism is provided between the end of the connecting rod (202) away from the block (105) and the first spring (203), and the safety mechanism comprises a third slider (401) and a slip ring (402). The third slider (401) is connected to the end of the connecting rod (202) away from the block (105). The third slider (401) slides relative to the inner wall of the first sliding sleeve (201). The slip ring (402) is fixedly connected to the inner wall of the end of the first sliding sleeve (201) close to the block (105). The outer wall of the sliding ring (202) passes through the inner wall of the sliding ring (402) and slides relatively thereto; a first gear ring (403) is provided at one end of the sliding ring (402) facing the third sliding block (401); a second gear ring (404) is provided at one end of the third sliding block (401) facing the sliding ring (402); a first spring (203) is supported on one end of the third sliding block (401) facing away from the sliding ring (402); and under the action of the elastic force of the first spring (203), the first gear ring (403) and the second gear ring (404) are meshed for transmission.

5. The inspection equipment for offshore booster station according to claim 3 is characterized in that: The first slider (301) is provided with a pressure sensor (5), the first spring (203) acts on the pressure sensor (5), and the pressure sensor (5) is used to detect the real-time pressure exerted on the first spring (203). The pressure sensor (5) is electrically connected to the controller, and the controller determines whether the connecting bolt (106) is loose according to the change of the real-time pressure exerted on the first spring (203).

6. The inspection equipment for offshore booster station according to claim 1, characterized in that: The invention also comprises a cylinder body (601) arranged on the outer wall of the rotating sleeve (803) and a second piston (602) penetrating the cylinder body (601); the cylinder body (601) is correspondingly connected to a second vent hole (804); a slide groove (603) is axially provided at one end of the inner wall of the cylinder body (601); a second cam groove (604) is provided at the other end of the inner wall of the cylinder body (601); the second cam groove (604) is connected to the slide groove (603); and the second piston ( One end of the second piston (602) is slidably connected to the inner wall of the cylinder body (601), and the other end of the second piston (602) is provided with a key (606) for opening the door of the electrical cabinet (1). A fourth slider (605) is provided on the side wall of the second piston (602), and the fourth slider (605) is slidably connected to the slide groove (603) or the second cam groove (604), and the second cam groove (604) is used to drive the key (606) to rotate around the axis of the cylinder body (601).

7. The inspection equipment for offshore booster stations according to claim 6, characterized in that: A second sleeve (701) is provided between the second piston (602) and the key (606); one end of the second piston (602) close to the key (606) is slidably connected in the second sleeve (701); the key (606) is provided on the second sleeve (701); a limiting groove (702) is provided on the side wall of the second piston (602); a limiting slider (704) is provided on the second sleeve (701) for being slidably connected in the limiting groove (702); the limiting groove (702) cooperates with the limiting slider (704) to limit the relative rotation of the second sleeve (701) and the second piston (602); a second spring (703) is provided in the second sleeve (701) for applying an elastic force to the second sleeve (701) in a direction away from the cylinder body (601).

8. The inspection equipment for offshore booster stations according to claim 7 is characterized in that: A plurality of marking cards (902) are arranged along the moving direction of the patrol vehicle (101), and each electrical panel cabinet (1) of the booster station corresponds to a marking card (902). An identifier (901) is arranged on the patrol vehicle (101) for reading the vertical and horizontal spacing information of the lock hole of the corresponding electrical panel cabinet (1) from the marking card (902) stored in the marking card (902); the identifier (901) is electrically connected to the controller, and the controller controls the movement of the mechanical arm (102) according to the vertical and horizontal spacing information, thereby driving the key (606) to be inserted into the lock hole of the electrical panel cabinet (1) corresponding to the marking card (902).

9. The inspection equipment for offshore booster station according to claim 1, characterized in that: The output shaft of the power device (808) penetrates into the fork frame (103) and is installed with a driving gear (809), and the driving gear (809) is meshed with a driven gear (810) sleeved on the outer periphery of the rotating sleeve (803) for transmission; the adsorption mechanism comprises an adsorption cylinder (903) arranged on the outer wall of the rotating sleeve (803), a third spring (906) is arranged in the inner cavity of the adsorption cylinder (903), one end of the first piston (904) is pressed against the third spring (906), and the other end of the first piston (904) penetrates out of the adsorption cylinder (903) and is installed with a suction nozzle (905); the inner cavity of the adsorption cylinder (903) is correspondingly connected with a second vent hole (804), and a third vent hole (907) is opened along the axial direction of the first piston (904) so ​​that the suction nozzle (905) is connected with the second vent hole (804).

Images