Unmanned intelligent inspection system for offshore booster station

Abstract

The utility model discloses an unmanned intelligent inspection system for an offshore booster station, and relates to the field of offshore inspection equipment, and the unmanned intelligent inspection system comprises a clamping block which is used for being clamped with a connecting bolt in an electrical panel cabinet; the vibration detection mechanism comprises a sliding sleeve, a pressure sensor, a first spring and a controller, and the first spring is arranged between the pressure sensor and the end, away from the clamping block, of the connecting rod; the rotating mechanism is used for driving the connecting rod to rotate around the length direction; the controller calculates vibration information of the clamping block according to the change condition of the real-time extrusion force borne by the first spring, and the controller controls the rotating mechanism to act according to the vibration information. According to the application, the vibration condition of the electrical equipment in the electrical panel cabinet can be monitored, and when the connecting bolt in the electrical panel cabinet is loosened, the connecting bolt is screwed down, so that the normal operation of the electrical equipment in the electrical panel cabinet is prevented.

Description

Technical Field

[0001] The utility model relates to the field of marine inspection equipment, in particular to an unmanned intelligent inspection system 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 solving the above contradictions through unmanned inspection equipment for offshore substations. Existing rail-type inspection equipment for offshore substations generally includes components such as tracks, railcars, and monitors. The railcars can travel on 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 intelligent inspection system for offshore substations lacks the function of tightening the connection bolts on the electrical equipment in the electrical panel when the connection is loose. Some electrical equipment in the electrical panel will vibrate due to the loose connection. The vibration will not only make it difficult for the electrical equipment in the electrical panel to operate stably, but also cause damage to the electrical equipment itself. Summary of the invention

[0004] The purpose of the utility model is to overcome the shortcomings of the prior art and to provide an unmanned intelligent inspection system for an offshore substation, which can monitor the vibration of electrical equipment in an electrical panel cabinet and tighten the connecting bolts in the electrical panel cabinet when they are loose, thereby preventing the normal operation of the electrical equipment in the electrical panel cabinet.

[0005] The purpose of the utility model is to achieve the following technical solutions: This unmanned intelligent inspection system for offshore booster stations includes:

[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 drives the fork frame to rotate through a rotating mechanism, and the track patrol vehicle moves relative to the offshore booster station;

[0007] A vent pipe is inserted on the fork frame, a rotating sleeve is relatively rotatably sleeved on the vent pipe, a plurality of second vent holes are radially penetrated along the inner wall of the rotating sleeve, and a first vent hole is radially penetrated along the inner wall of the vent pipe;

[0008] A plurality of pneumatic telescopic mechanisms are arranged on the outer wall of the rotating sleeve, and each pneumatic telescopic mechanism is connected to a corresponding second vent hole. A key is arranged on the telescopic end of at least one pneumatic telescopic mechanism for inserting into the lock hole of the electrical panel cabinet, and the key is driven to rotate by the rotating mechanism to realize unlocking; a monitor is installed on the telescopic end of a pneumatic telescopic mechanism without a key, and is used to extend into the electrical panel cabinet to realize monitoring;

[0009] 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;

[0010] The vibration detection mechanism includes a sliding sleeve arranged on the outer wall of the rotating sleeve, a pressure sensor slidably arranged in the sliding sleeve, a connecting rod slidably arranged in the sliding sleeve at one end, and a clamping block fixed at the other end of the connecting rod, the clamping block is used to fit the connecting bolt in the electrical panel cabinet in a slot-type manner, the sliding sleeve is correspondingly connected to a second vent hole, a first spring is arranged between the pressure sensor and the connecting rod, and the real-time extrusion force exerted on the first spring is detected by the pressure sensor;

[0011] 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

[0012] The second 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 to a second ventilation hole to drive the corresponding pneumatic telescopic mechanism or the adsorption mechanism or the vibration detection mechanism to operate.

[0013] As a further technical solution, it also includes a controller, which is electrically connected to the pressure sensor and the rotating mechanism. The controller obtains vibration information of the block according to the pressure signal measured by the pressure sensor, and controls the movement of the rotating mechanism according to the vibration information, drives the connecting rod to drive the block, thereby tightening the connecting bolt.

[0014] As a further technical solution, it also includes a slider and a slip ring. The slider is connected to one end of the connecting rod away from the block, and the slider slides relative to the inner wall of the sleeve. The slip ring is fixedly connected to the inner wall of the sleeve, and the outer wall of the connecting rod passes through the inner wall of the slip ring and slides relatively. A second gear ring is provided at one end of the slip ring facing the slider, and a first gear ring is provided at one end of the slider facing the slip ring. Under the action of the elastic force of the first spring, the first gear ring and the second gear ring are meshed for transmission.

[0015] As a further technical solution, the pressure sensor is slidably sealed relative to the inner wall of the sleeve, so that a sealed cavity is formed between the pressure sensor and the inner cavity of the sleeve, and the sealed cavity is connected to the second vent hole.

[0016] As a further technical solution, the adsorption mechanism includes a cylinder body arranged on the outer wall of the rotating sleeve, a second spring is arranged in the inner cavity of the cylinder body, one end of the piston is pressed against the second spring, and the other end of the piston passes through the cylinder body and is installed with a suction nozzle; the inner cavity of the cylinder body is connected to a corresponding second air vent, and a third air vent is opened along the axial direction of the piston to connect the suction nozzle with the second air vent.

[0017] 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.

[0018] As a further technical solution, the rotating mechanism drives the fork frame to rotate through the first power device, and the ventilation pipe is fixedly connected to the fork frame.

[0019] As a further technical solution, the air control pipeline is connected to one end of the ventilation pipe through a joint, and a sealing plug is installed on the other end of the ventilation pipe for sealing; a sealing ring is arranged between the outer wall of the ventilation pipe and the inner wall of the rotating sleeve, and the sealing ring is axially arranged on both sides of the first ventilation hole.

[0020] As a further technical solution, the output shaft of the second power device passes through the fork frame and is installed with a driving gear, and the driving gear is meshed and driven with a driven gear sleeved on the outer periphery of the rotating sleeve.

[0021] As a further technical solution, the key is detachably connected to the telescopic end of the pneumatic telescopic mechanism.

[0022] The beneficial effects of the utility model are:

[0023] 1. It can monitor the vibration of electrical equipment in the electrical panel cabinet, and tighten the connecting bolts when they are loose, so as to ensure the normal operation of the electrical equipment in the electrical panel cabinet.

[0024] 2. By setting up a safety mechanism (slider and slip ring), the tightening of the connecting bolts in the electrical panel cabinet will automatically stop after being tightened 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.

[0025] 3. By setting up a tightening force adjustment mechanism, the pre-tightening force of the connecting bolts of this device can be adjusted, and in the process of adjusting the pre-tightening force of the connecting bolts, the size of the pre-tightening force of the bolts after adjustment can be known, so that this device can accurately adjust the pre-tightening force of the connecting bolts in the electrical panel cabinet according to needs.

[0026] 4. By setting up a switching mechanism and controlling the action of the air control pipeline, the cabinet door can be opened and the bolt preload force can be adjusted automatically, which can not only improve the automation level of the entire inspection system, but also improve the accuracy of the pressure sensor position adjustment, thereby improving the accuracy of the bolt preload force adjustment.

[0027] 5. By setting up an adsorption mechanism, the cabinet door can be adsorbed by the adsorption mechanism during the process of opening the cabinet door, which can prevent the cabinet door from being separated from the entire device during the opening process, thereby ensuring that the cabinet door can be opened quickly and improving the inspection efficiency of the entire device.

[0028] 6. By setting up an identifier and multiple label cards, the identifier automatically controls the movement of the robotic arm according to the vertical and horizontal spacing information on the identified label cards, thereby accurately driving the key movement to ensure that the key can be accurately inserted into the keyhole of the electrical cabinet. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the utility model.

[0030] Figure 2 It is a structural schematic diagram of the vibration detection mechanism in the utility model.

[0031] Figure 3 for Figure 2 AA section view.

[0032] Explanation of the reference numerals: electrical cabinet 1, patrol vehicle 101, robotic arm 102, monitor 103, pressure sensor 104, first spring 105, rotating mechanism 106, block 107, connecting rod 108, lock hole 109, slider 201, slip ring 202, first gear ring 203, second gear ring 204, sleeve 205, ventilation pipe 301, sealing chamber 302, first ventilation hole 303, rotating sleeve 401, pneumatic telescopic mechanism 402, second ventilation hole 403, key 404, cylinder body 501, piston 502, suction nozzle 503, second spring 504, third ventilation hole 505, identifier 601, label card 602, first power device 701, fork frame 702, second power device 8, driving gear 801, driven gear 802, sealing ring 9, air control pipeline 901, joint 902, sealing plug 903. DETAILED DESCRIPTION

[0033] The utility model will be described in detail below with reference to the accompanying drawings:

[0034] Example: As attached Figures 1 to 3As shown, the unmanned intelligent inspection system for offshore substations includes an electrical panel cabinet 1, a patrol vehicle 101, a mechanical arm 102, a monitor 103, a pressure sensor 104, a first spring 105, a rotating mechanism 106, a block 107, a connecting rod 108, a locking hole 109, a slider 201, a slip ring 202, a first gear ring 203, a second gear ring 204, a sleeve 205, a vent pipe 301, a sealing cavity 302, a first vent hole 303, and a rotating sleeve 401. , pneumatic telescopic mechanism 402, second vent 403, key 404, cylinder 501, piston 502, suction nozzle 503, second spring 504, third vent 505, identifier 601, label card 602, first power device 701, fork frame 702, second power device 8, driving gear 801, driven gear 802, sealing ring 9, air control pipeline 901, joint 902, sealing plug 903, controller, adsorption mechanism and vibration detection mechanism.

[0035] Reference Figure 1 The lower end of the robotic arm 102 is connected to the patrol vehicle 101 and can be telescopic and rotatable relative to the patrol vehicle 101 (achieved by a telescopic cylinder and a rotating cylinder). The upper end of the robotic arm 102 drives the fork frame 702 to rotate through the rotating mechanism 106. The rotating mechanism 106 drives the fork frame 702 to rotate through the first power device 701 (which can be a rotating cylinder).

[0036] like Figure 2 , 3 As shown, the ventilation pipe 301 is passed through the fork frame 702 and fixedly connected to the fork frame 702. A rotating sleeve 401 is relatively rotatably sleeved outside the ventilation pipe 301. Four second ventilation holes 403 are radially penetrated along the inner wall of the rotating sleeve 401, and a first ventilation hole 303 is radially penetrated along the inner wall of the ventilation pipe 301.

[0037] Two pneumatic telescopic mechanisms 402 are fixed on the outer wall of the rotating sleeve 401, and each pneumatic telescopic mechanism 402 is connected to a corresponding second vent hole 403. A key 404 can be detachably installed on the telescopic end of one pneumatic telescopic mechanism 402. By setting the key 404 and the output end of the pneumatic telescopic mechanism 402 to be detachably connected, the installation and removal of the key 404 can be facilitated, thereby facilitating the replacement of different keys 404. The key 404 is inserted into the lock hole 109 of the electrical cabinet 1 under the control of the pneumatic telescopic mechanism 402, and the key 404 is driven to rotate by the rotating mechanism 106 to achieve unlocking. A monitor 103 is installed on the telescopic end of the other pneumatic telescopic mechanism 402 without the key 404, and the monitor 103 is extended into the electrical cabinet 1 under the control of the pneumatic telescopic mechanism 402 to achieve monitoring. The air control pipeline 901 is connected to one end of the vent pipe 301, and can supply air to the vent pipe 301 or draw air from the vent pipe 301.

[0038] When monitoring the electrical equipment in the electrical cabinet 1, the mechanical arm 102 is first controlled to move to drive the rotating mechanism 106 to move to the front of the lock hole 109 of the electrical cabinet 1, and then the rotating sleeve 401 is rotated until the pneumatic telescopic mechanism 402 connected with the key 404 faces the lock hole 109. At this time, the second vent hole 403 connected to the pneumatic telescopic mechanism 402 is connected to the first vent hole 303, and the air control pipeline 901 is used to supply air to the pipe hole of the ventilation pipe 301. The gas enters the pneumatic telescopic mechanism 402 through the pipe hole, the first vent hole 303 and the second vent hole 403. The pneumatic telescopic mechanism 402 drives the key 404 to move toward the lock hole 109, thereby inserting the key 404 into the lock hole 109, and then the rotating mechanism 106 is controlled to move. The rotating mechanism 106 drives the key 404 to move around its length direction through the ventilation pipe 301, thereby opening the cabinet lock of the electrical cabinet 1. Then, the robot arm 102 is controlled to move, and the door of the electrical panel cabinet 1 is opened by the robot arm 102. Finally, the rotating sleeve 401 is controlled to rotate, and the rotating sleeve 401 rotates until the sliding sleeve 205 faces the electrical panel cabinet 1. At this time, the second vent hole 403 connected to the sliding sleeve 205 is connected to the first vent hole 303, and the air control circuit is controlled to move. The air control circuit supplies air to the sealed cavity 302 through the pipe hole, the first vent hole 303 and the second vent hole 403, thereby controlling the pressure sensor 104 to move in the sliding sleeve 205 to adjust the final bolt preload. By setting a switching mechanism and controlling the air control circuit to move, the cabinet door can be opened and the bolt preload can be adjusted automatically, which can not only improve the automation of the entire inspection system, but also improve the accuracy of the position adjustment of the pressure sensor 104, thereby improving the accuracy of the bolt preload adjustment.

[0039] The adsorption mechanism can adsorb and open the door of the electrical cabinet 1. The adsorption mechanism includes a cylinder 501 arranged on the outer wall of the rotating sleeve 401. The inner cavity of the cylinder 501 is provided with a second spring 504. Figure 2As shown, the lower end of the piston 502 is pressed against the second spring 504, and the upper end of the piston 502 passes through the cylinder body 501 and is equipped with a suction nozzle 503. The inner cavity of the cylinder body 501 is connected to a corresponding second vent hole 403, and a third vent hole 505 is opened along the axial direction of the piston 502, so that the suction nozzle 503 is connected to the second vent hole 403. In the process of opening the cabinet door, when the key 404 unlocks the cabinet door, the mechanical arm 102 is used to control the movement of the key 404 and pull the key 404 out of the keyhole. Then rotate the rotating sleeve 401 until the cylinder body 501 on the rotating sleeve 401 faces the cabinet door, and then control the mechanical arm 102 to move, indirectly driving the adsorption mechanism to move toward the cabinet door until the suction nozzle 503 of the adsorption mechanism fits the cabinet door. At this time, the air control circuit is controlled to operate, and the air control circuit sucks air through the inner cavity of the cylinder 501 and the third vent hole 505, thereby extracting air from the suction nozzle 503, thereby sucking the cabinet door, and then controlling the mechanical arm 102 to operate, thereby pushing the cabinet door open. By setting up the suction mechanism, in the process of opening the cabinet door, the cabinet door is sucked by the suction mechanism, which can prevent the cabinet door from being separated from the entire device during the opening process, thereby ensuring that the cabinet door can be opened quickly, and improving the inspection efficiency of the entire device.

[0040] The vibration detection mechanism includes a sleeve 205 arranged on the outer wall of the rotating sleeve 401, a pressure sensor 104 slidably arranged in the sleeve 205, a connecting rod 108 slidably arranged in the sleeve 205 at one end, and a clamping block 107 fixed at the other end of the connecting rod 108. The clamping block 107 can be slotted to fit the connecting bolt in the electrical cabinet 1 (similar to the function of the inner hexagon socket). The sleeve 205 is correspondingly connected to a second vent hole 403. A first spring 105 is arranged between the pressure sensor 104 and the connecting rod 108. The real-time extrusion force of the first spring 105 is detected by the pressure sensor 104. The pressure sensor 104 slides and seals relative to the inner wall of the sleeve 205, so that a sealed cavity 302 is formed between the pressure sensor 104 and the inner cavity of the sleeve 205, and the sealed cavity 302 is connected to the second vent hole 403.

[0041] The controller is electrically connected to the pressure sensor 104 and the rotating mechanism 106. The controller can obtain the vibration information of the block 107 according to the pressure signal measured by the pressure sensor 104, and control the rotation mechanism 106 to move according to the vibration information, drive the connecting rod 108 to drive the block 107, and thus tighten the connecting bolt.

[0042] The output shaft of the second power device 8 (which may be a motor) penetrates the fork frame 702 and is installed with a driving gear 801, which is meshed with a driven gear 802 sleeved on the outer periphery of the rotating sleeve 401, so that the second power device 8 is connected and drives the rotating sleeve 401 to rotate. When the rotating sleeve 401 rotates relative to the ventilation pipe 301, the first ventilation hole 303 selectively communicates with a second ventilation hole 403, driving the corresponding pneumatic telescopic mechanism 402 or adsorption mechanism or vibration detection mechanism to operate.

[0043] The slider 201 and the slip ring 202 serve as a safety mechanism. The slider 201 is connected to the end of the connecting rod 108 away from the block 107, and the slider 201 slides relative to the inner wall of the sleeve 205. The slip ring 202 is fixedly connected to the inner wall of the sleeve 205, and the outer wall of the connecting rod 108 passes through the inner wall of the slip ring 202 and slides relatively. A second gear ring 204 is provided at one end of the slip ring 202 facing the slider 201, and a first gear ring 203 is provided at one end of the slider 201 facing the slip ring 202. Under the elastic force of the first spring 105, the first gear ring 203 and the second gear ring 204 are meshed and transmitted.

[0044] The patrol vehicle 101 moves relative to the offshore booster station, and a number of tag cards 602 are arranged along the moving direction of the patrol vehicle 101. Each electrical panel cabinet 1 of the booster station corresponds to a tag card 602. The patrol vehicle 101 is provided with an identifier 601, which can read the vertical and horizontal spacing information of the lock hole 109 of the corresponding electrical panel cabinet 1 stored in the tag card 602 from the tag card 602. The identifier 601 is electrically connected to the controller, and the controller controls the action of the mechanical arm 102 according to the vertical and horizontal spacing information, thereby driving the key 404 to be inserted into the lock hole 109 of the electrical panel cabinet 1 corresponding to the tag card 602.

[0045] Preferably, the air control line 901 is connected to one end of the vent pipe 301 through a joint 902, and a sealing plug 903 is installed at the other end of the vent pipe 301 for sealing. A sealing ring 9 is arranged between the outer wall of the vent pipe 301 and the inner wall of the rotating sleeve 401, and the sealing ring 9 is axially arranged on both sides of the first vent hole 303.

[0046] The working process of this utility model:

[0047] When in use, the track patrol vehicle 101 is controlled to move on the ground of the booster station. When the identifier 601 provided on the track vehicle scans the label card 602 on the ground, the identifier 601 identifies the vertical and horizontal spacing information on the label card 602, and the controller controls the mechanical arm 102 to move according to the vertical and horizontal spacing information, thereby automatically driving the key 404 to be inserted into the lock hole 109 of the electrical panel cabinet 1 corresponding to the label card 602. By providing the identifier 601 and multiple label cards 602, the identifier 601 automatically controls the mechanical arm 102 to move according to the vertical and horizontal spacing information on the identified label card 602, thereby being able to accurately drive the key 404 to move, ensuring that the key 404 can be accurately inserted into the lock hole 109 of the electrical panel cabinet 1, and then driving the mechanical arm 102 to open the door of the electrical panel cabinet 1.

[0048] The mechanical arm 102 continues to move, and drives the sliding sleeve 205 to move into the electrical cabinet 1 through the rotating mechanism 106 until the block 107 on the connecting rod 108 is engaged with the connecting bolt. At this time, if the electrical equipment in the electrical panel cabinet 1 vibrates, the connecting bolts on the electrical panel cabinet 1 will be driven to vibrate, the connecting bolts drive the block 107 to vibrate, the block 107 drives the connecting rod 108 to vibrate, and the connecting rod 108 reciprocates relative to the sliding sleeve 205, thereby reciprocatingly squeezing the pressure sensor 104 in the sliding sleeve 205, and the pressure sensor 104 detects the real-time squeezing force exerted on the first spring 105. When the first spring 105 is reciprocatingly squeezed, the real-time squeezing force exerted on the first spring 105 detected by the pressure sensor 104 changes reciprocatingly. The controller calculates the vibration information of the block 107 according to the change of the real-time squeezing force exerted on the first spring 105, thereby obtaining the vibration information of the connecting bolts, thereby knowing the vibration amplitude and vibration frequency of the bolts. When the vibration amplitude of the bolts is too large, it indicates that the connecting bolts have been loosened. At this time, the controller controls the rotation mechanism 106 to act, thereby driving the sliding sleeve 205 to rotate, and the sliding sleeve 205 drives the connecting rod 108 to rotate, thereby driving the block 107 to rotate, thereby tightening the connecting bolts in the electrical panel cabinet 1.

[0049] When tightening the connecting bolts, the rotating mechanism 106 drives the sleeve 205 to rotate, thereby driving the slip ring 202 to rotate. Since the first gear ring 203 is gear-engaged with the second gear ring 204 under the action of the elastic force of the first spring 105, the slip ring 202 drives the slider 201 to rotate through the first gear ring 203 and the second gear ring 204. The slider 201 drives the connecting rod 108 to rotate, thereby driving the block 107 to rotate. The block 107 drives the connecting bolts to rotate, thereby tightening the connecting bolts in the electrical cabinet 1, and the connecting bolts apply resistance in the opposite direction to the block 107. When the connecting bolt reaches a certain pre-tightening force, the resistance applied by the connecting bolt to the clamping block 107 is too large. At this time, as the rotating mechanism 106 continues to drive the sliding sleeve 205 to rotate, the sliding sleeve 205 still drives the slip ring 202 to rotate. The elastic force applied by the first spring 105 to the slider 201 is not enough to make the first gear ring 203 on the slip ring 202 and the second gear ring 204 on the slider 201 engage with each other. The first gear ring 203 slides relative to the second gear ring 204, so that the entire device cannot continue to drive the clamping block 107 and the connecting bolt to rotate, and the connecting bolt is no longer tightened. By setting a safety mechanism, the device automatically stops tightening the connecting bolt after tightening the connecting bolt in the electrical cabinet 1 to a certain pre-tightening force, thereby preventing the excessive pre-tightening force of the connecting bolt from causing damage to the electrical equipment.

[0050] 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 unmanned intelligent inspection system for offshore booster stations, characterized in that: include: A mechanical arm (102), one end of which is connected to the track patrol vehicle (101) and is retractable and rotatable relative to the track patrol vehicle (101), and the other end of which drives the fork frame (702) to rotate via a rotating mechanism (106), so that the track patrol vehicle (101) moves relative to the offshore booster station; A vent pipe (301) is inserted into the fork frame (702), a rotating sleeve (401) is relatively rotatably sleeved on the outside of the vent pipe (301), a plurality of second vent holes (403) are radially penetrated through the inner wall of the rotating sleeve (401), and a first vent hole (303) is radially penetrated through the inner wall of the vent pipe (301); A plurality of pneumatic telescopic mechanisms (402) are arranged on the outer wall of the rotating sleeve (401), and each pneumatic telescopic mechanism (402) is correspondingly connected to a second vent hole (403). A key (404) is arranged on the telescopic end of at least one pneumatic telescopic mechanism (402) for inserting into the lock hole (109) of the electrical cabinet (1), and the key (404) is driven to rotate by the rotating mechanism (106) to achieve unlocking. A monitor (103) is installed on the telescopic end of a pneumatic telescopic mechanism (402) not provided with a key (404) and is arranged to extend into the electrical cabinet (1) to achieve monitoring. An adsorption mechanism is arranged on the outer wall of the rotating sleeve (401) and is correspondingly connected to a second vent hole (403), wherein the adsorption mechanism is used to adsorb and open the cabinet door of the electrical cabinet (1); The vibration detection mechanism comprises a sliding sleeve (205) arranged on the outer wall of a rotating sleeve (401), a pressure sensor (104) slidably arranged in the sliding sleeve (205), a connecting rod (108) slidably arranged in the sliding sleeve (205) at one end, and a clamping block (107) fixed to the other end of the connecting rod (108), the clamping block (107) being used to engage with a connecting bolt in an electrical cabinet (1) in a slot-type manner, the sliding sleeve (205) being correspondingly connected to a second vent hole (403), a first spring (105) being arranged between the pressure sensor (104) and the connecting rod (108), and the real-time extrusion force exerted on the first spring (105) being detected by the pressure sensor (104); An air control pipeline (901) is connected to one end of the ventilation pipe (301) and is used to supply air to the ventilation pipe (301) or to extract air from the ventilation pipe (301); and The second power device (8) is mounted on the fork frame (702) and is used to connect and drive the rotating sleeve (401) to rotate. When the rotating sleeve (401) rotates relative to the ventilation pipe (301), the first ventilation hole (303) selectively communicates with a second ventilation hole (403), thereby driving the corresponding pneumatic telescopic mechanism (402) or the adsorption mechanism or the vibration detection mechanism to operate.

2. The unmanned intelligent inspection system for offshore booster stations according to claim 1 is characterized in that: It also includes a controller electrically connected to the pressure sensor (104) and the rotating mechanism (106), wherein the controller obtains vibration information of the clamping block (107) according to the pressure signal measured by the pressure sensor (104), and controls the rotation mechanism (106) to move according to the vibration information, thereby driving the connecting rod (108) to drive the clamping block (107), thereby tightening the connecting bolt.

3. The unmanned intelligent inspection system for offshore booster stations according to claim 1 is characterized in that: It also includes a slider (201) and a slip ring (202), wherein the slider (201) is connected to an end of the connecting rod (108) away from the block (107), and the slider (201) slides relative to the inner wall of the sliding sleeve (205), the slip ring (202) is fixedly connected to the inner wall of the sliding sleeve (205), and the outer wall of the connecting rod (108) passes through the inner wall of the slip ring (202) and slides relatively, a second gear ring (204) is provided at one end of the slip ring (202) facing the slider (201), and a first gear ring (203) is provided at one end of the slider (201) facing the slip ring (202), and the first gear ring (203) and the second gear ring (204) are meshed and transmitted under the action of the elastic force of the first spring (105).

4. The unmanned intelligent inspection system for offshore booster stations according to claim 1 is characterized in that: The pressure sensor (104) slides and seals relative to the inner wall of the sliding sleeve (205), so that a sealed cavity (302) is formed between the pressure sensor (104) and the inner cavity of the sliding sleeve (205), and the sealed cavity (302) is connected to the second vent hole (403).

5. The unmanned intelligent inspection system for offshore booster stations according to claim 1 is characterized in that: The adsorption mechanism comprises a cylinder body (501) arranged on the outer wall of the rotating sleeve (401); a second spring (504) is arranged in the inner cavity of the cylinder body (501); one end of the piston (502) is pressed against the second spring (504); the other end of the piston (502) passes through the cylinder body (501) and is provided with a suction nozzle (503); the inner cavity of the cylinder body (501) is correspondingly connected to a second vent hole (403); a third vent hole (505) is formed along the axial direction of the piston (502) so that the suction nozzle (503) is connected to the second vent hole (403).

6. The unmanned intelligent inspection system for offshore booster stations according to claim 2 is characterized in that: A plurality of marking cards (602) 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 (602). An identifier (601) is arranged on the patrol vehicle (101) for reading the vertical and horizontal spacing information between the lock hole (109) of the corresponding electrical panel cabinet (1) and the marking card (602) stored in the marking card (602); the identifier (601) 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 (404) to be inserted into the lock hole (109) of the electrical panel cabinet (1) corresponding to the marking card (602).

7. The unmanned intelligent inspection system for offshore booster stations according to claim 1 is characterized in that: The rotating mechanism (106) drives the fork frame (702) to rotate via the first power device (701), and the ventilation pipe (301) is fixedly connected to the fork frame (702).

8. The unmanned intelligent inspection system for offshore booster stations according to claim 1 is characterized in that: The air control pipeline (901) is connected to one end of the ventilation pipe (301) via a joint (902), and a sealing plug (903) is installed at the other end of the ventilation pipe (301) for sealing; a sealing ring (9) is provided between the outer wall of the ventilation pipe (301) and the inner wall of the rotating sleeve (401), and the sealing ring (9) is axially arranged on both sides of the first ventilation hole (303).

9. The unmanned intelligent inspection system for offshore booster stations according to claim 1 is characterized in that: The output shaft of the second power device (8) passes through the fork frame (702) and is installed with a driving gear (801), and the driving gear (801) is meshed with a driven gear (802) sleeved on the outer periphery of the rotating sleeve (401) for transmission.

10. The unmanned intelligent inspection system for offshore booster stations according to claim 1, characterized in that: The key (404) is detachably connected to the telescopic end of the pneumatic telescopic mechanism (402).

Images