GIS detection robot

Abstract

The utility model relates to the technical field of inspection robots, in particular to a GIS detection robot. According to the technical scheme, the robot comprises a moving assembly, the moving assembly comprises a robot body, an obstacle-crossing suspension chassis is fixedly installed at the bottom of the robot body, off-road tires are arranged at the four corners of the bottom of the obstacle-crossing suspension chassis, and a detection assembly is fixedly installed at the top of the robot body. According to the utility model, the autonomous navigation and obstacle avoidance functions are realized through the moving assembly and the detection assembly, the system can adapt to the complex environment of the GIS equipment of the transformer substation, a larger working range is provided for the partial discharge detection of the GIS equipment through the vertical lifting arm and the mechanical arm, the partial discharge detection of the GIS equipment within the height range of 3.5 m can be realized, and the working efficiency is improved. And the detection requirements of various GIS devices in the transformer substation can be met. The device is reasonable in design, small in size and light in weight, can be flexibly operated in a narrow space, and greatly improves the efficiency and safety of GIS equipment detection work.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a GIS inspection robot. Background Art

[0002] With the rapid development of industrial automation and intelligence, GIS equipment detection is of great significance to ensure equipment safety, stable operation and improve production efficiency.

[0003] However, traditional GIS equipment inspection work usually relies on manual inspection, which has problems such as low inspection efficiency, great safety hazards, and susceptibility to human factors. Therefore, the development of a GIS equipment inspection robot that can automatically navigate and detect in real time has become an urgent need for current technological development. Utility Model Content

[0004] The utility model aims to propose a GIS detection robot in view of the problems existing in the background technology.

[0005] To achieve this purpose, the utility model adopts the following technical scheme: a GIS detection robot, including a mobile component, the mobile component includes a robot body, an obstacle-crossing shock-absorbing suspension chassis is fixedly installed on the bottom of the robot body, and off-road tires are arranged at the four bottom corners of the obstacle-crossing shock-absorbing suspension chassis. A detection component is fixedly installed on the top of the robot body, and the detection component includes a vertical lifting arm fixedly installed on the top of the robot body, a dual-light pan-tilt platform is fixedly installed on the front of the vertical lifting arm, a mechanical arm is fixedly installed on the top of the vertical lifting arm, and a flexible pressure feedback partial discharge detection device is fixedly installed on one end of the mechanical arm away from the vertical lifting arm, and the flexible pressure feedback partial discharge detection device and the vertical lifting arm are both electrically connected to the robot body.

[0006] Preferably, an anti-collision switch is fixedly installed on the front of the robot body, and the anti-collision switch is located in front of the two front off-road tires.

[0007] Preferably, an RTK measuring instrument and a laser radar are fixedly installed on the top of the robot body, and the RTK measuring instrument is located in front of the laser radar, and both the RTK measuring instrument and the laser radar are electrically connected to the robot body.

[0008] Preferably, a high-gain communication antenna is fixedly mounted on the top of the robot body, and the high-gain communication antenna is electrically connected to the robot body.

[0009] Preferably, the robotic arm is provided with multiple joints.

[0010] Preferably, the flexible pressure feedback partial discharge detection device comprises a pressure sensor and a partial discharge detection probe.

[0011] The beneficial effects of the utility model are as follows: autonomous navigation and obstacle avoidance functions are realized through mobile components and detection components, which can adapt to the complex environment of GIS equipment in substations; at the same time, the vertical lifting arm and mechanical arm provide a larger working range for partial discharge detection of GIS equipment, which can realize partial discharge detection of GIS equipment within a height range of 3.5m, and can meet the detection needs of various GIS equipment in substations. The device is reasonably designed, small in size and light in weight, and can be flexibly operated in a small space, greatly improving the efficiency and safety of GIS equipment detection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the overall structure of an embodiment of a GIS detection robot of the utility model;

[0013] Figure 2 It is a front schematic diagram of the overall structure of an embodiment of a GIS detection robot of the utility model.

[0014] Figure numerals: 1. Mobile component; 11. Anti-collision switch; 12. RTK measuring instrument; 13. Laser radar; 14. High-gain communication antenna; 15. Off-road tire; 16. Robot body; 2. Detection component; 21. Dual-light gimbal; 22. Vertical lifting arm; 23. Robot arm; 24. Flexible pressure feedback partial discharge detection device. DETAILED DESCRIPTION

[0015] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0016] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0017] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0018] In the description of this embodiment, the terms "upper", "lower", "right", etc., are based on the directions or positions shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0019] Embodiment 1

[0020] like Figure 1-2 As shown, the utility model proposes a GIS detection robot, including a mobile component 1, the mobile component 1 includes a robot body 16, an obstacle-crossing shock-absorbing suspension chassis is fixedly installed at the bottom of the robot body 16, and off-road tires 15 are arranged at the four corners of the bottom of the obstacle-crossing shock-absorbing suspension chassis. A detection component 2 is fixedly installed on the top of the robot body 16, and the detection component 2 includes a vertical lifting arm 22 fixedly installed on the top of the robot body 16, a dual-light pan-tilt head 21 is fixedly installed on the front of the vertical lifting arm 22, a mechanical arm 23 is fixedly installed on the top of the vertical lifting arm 22, and a flexible pressure feedback partial discharge detection device 24 is fixedly installed at one end of the mechanical arm 23 away from the vertical lifting arm 22, and the flexible pressure feedback partial discharge detection device 24 and the vertical lifting arm 22 are both electrically connected to the robot body 16. An anti-collision switch 11 is fixedly installed on the front of the robot body 16, and the anti-collision switch 11 is located in front of the two front off-road tires 15; an RTK measuring instrument 12 and a laser radar 13 are fixedly installed on the top of the robot body 16, and the RTK measuring instrument 12 is located in front of the laser radar 13, and the RTK measuring instrument 12 and the laser radar 13 are both electrically connected to the robot body 16; a high-gain communication antenna 14 is fixedly installed on the top of the robot body 16, and the high-gain communication antenna 14 is electrically connected to the robot body 16.

[0021] In this embodiment: an obstacle-crossing and shock-absorbing suspension chassis is provided to provide stability and support for the mobile component 1 and the detection component 2, and is also used to buffer impacts and reduce vibrations in the GIS equipment site in the substation. An anti-collision switch 11 is provided to effectively prevent the robot body 16 and the off-road tire 15 from colliding with objects in the external environment. The off-road tire 15 is designed with deep patterns and sidewalls to adapt to poor road conditions in the substation, provide good traction and passability, and enable the GIS detection robot to pass through uneven roads more smoothly. The dual-light gimbal 21 has two optical channels, which are used to collect visible light and infrared light images respectively. The vertical lifting arm 22 has an adjustable lifting function to cooperate with the mechanical arm 23 to drive the flexible pressure feedback partial discharge detection device 24 to perform partial discharge detection of GIS equipment, thereby achieving a larger working range.

[0022] Embodiment 2

[0023] like Figure 1-2 As shown, a GIS detection robot proposed by the utility model, compared with the first embodiment, this embodiment also includes that the mechanical arm 23 is provided with multiple joints; the flexible pressure feedback partial discharge detection device 24 includes a pressure sensor and a partial discharge detection probe.

[0024] In this embodiment: the mechanical arm 23 has a multi-joint design, which enables it to operate flexibly in a small space, and in conjunction with the vertical lifting arm 22, it can achieve partial discharge detection of GIS equipment within a height range of 3.5m. The pressure sensor in the flexible pressure feedback partial discharge detection device 24 is used for real-time feedback of pressure changes during the detection process. The partial discharge detection probe in the flexible pressure feedback partial discharge detection device 24 is used to detect the partial discharge signal of the GIS equipment, realizing ultrasonic, geomagnetic wave and ultra-high frequency three-in-one detection.

[0025] Working principle: When the device performs partial discharge detection on the GIS equipment in the substation, the laser radar (13) is first used to scan the surrounding environment and generate a three-dimensional map, so that the robot body (16) can realize autonomous navigation and obstacle avoidance functions. At the same time, real-time images are collected through the dual-light pan-tilt platform (21), and the partial discharge of the GIS equipment is monitored in real time through the flexible pressure feedback partial discharge detection device (24). All collected data and images are transmitted to the remote control platform through the wireless network of the robot body (16) itself, so that users can perform remote monitoring and management.

[0026] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the scope of protection of the present invention. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. A GIS inspection robot, comprising a mobile component (1), characterized in that: The mobile assembly (1) comprises a robot body (16), an obstacle-crossing shock-absorbing suspension chassis is fixedly mounted on the bottom of the robot body (16), and off-road tires (15) are arranged at the four corners of the bottom of the obstacle-crossing shock-absorbing suspension chassis; a detection assembly (2) is fixedly mounted on the top of the robot body (16); the detection assembly (2) comprises a vertical lifting arm (22) fixedly mounted on the top of the robot body (16); a dual-light gimbal (21) is fixedly mounted on the front of the vertical lifting arm (22); a mechanical arm (23) is fixedly mounted on the top of the vertical lifting arm (22); a flexible pressure feedback partial discharge detection device (24) is fixedly mounted on one end of the mechanical arm (23) away from the vertical lifting arm (22); and both the flexible pressure feedback partial discharge detection device (24) and the vertical lifting arm (22) are electrically connected to the robot body (16).

2. A GIS detection robot according to claim 1, characterized in that: An anti-collision switch (11) is fixedly mounted on the front of the robot body (16), and the anti-collision switch (11) is located in front of two front off-road tires (15).

3. A GIS detection robot according to claim 1, characterized in that: An RTK measuring instrument (12) and a laser radar (13) are fixedly mounted on the top of the robot body (16), and the RTK measuring instrument (12) is located in front of the laser radar (13). Both the RTK measuring instrument (12) and the laser radar (13) are electrically connected to the robot body (16).

4. A GIS detection robot according to claim 1, characterized in that: A high-gain communication antenna (14) is fixedly mounted on the top of the robot body (16); the high-gain communication antenna (14) and the robot body (16) are electrically connected.

5. A GIS detection robot according to claim 1, characterized in that: The mechanical arm (23) is provided with multiple joints.

6. A GIS detection robot according to claim 1, characterized in that: The flexible pressure feedback partial discharge detection device (24) comprises a pressure sensor and a partial discharge detection probe.

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