Guide rail type inspection robot for transformer substation inspection

Abstract

The utility model relates to a guide rail type inspection robot for transformer substation inspection, and relates to the technical field of automation equipment. The device comprises a machine body, a detection device is arranged on the machine body, the machine body is movably arranged on a guide rail through a moving device, the moving device comprises limiting rollers arranged on the machine body, and the limiting rollers are used for being matched with the guide rail so that the machine body can slide on the guide rail; a supporting arm is hinged to the machine body, a driving wheel is rotationally connected to the supporting arm, and a control assembly used for controlling the driving wheel to rotate is arranged on the supporting arm. A sliding base is slidably arranged on the machine body, a connecting rod is hinged to the sliding base, the end, away from the sliding base, of the connecting rod is hinged to the supporting arm, and a driving assembly used for controlling the sliding base to move is arranged on the machine body. The inspection efficiency and accuracy can be improved, and potential safety hazards possibly caused by manual inspection can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of automation equipment, and in particular to a rail-type inspection robot for substation inspection. Background Art

[0002] In the power industry, substations, as key nodes for power transmission and distribution, are crucial for their safe and stable operation. Regular inspections are essential to ensure the safety and reliability of substation facilities. However, traditional manual inspections are not only inefficient but also pose safety risks. This is particularly true for high-voltage equipment and complex environments, where manual inspections significantly increase the difficulty and risk. Utility Model Content

[0003] In order to improve the efficiency and accuracy of inspections and reduce potential safety hazards that may arise from manual inspections, the present application provides a rail-type inspection robot for substation inspections.

[0004] The present application provides a rail-type inspection robot for substation inspection, which adopts the following technical solutions:

[0005] A guide rail inspection robot for substation inspection, comprising a body, a detection device provided on the body, and the body being movably arranged on a guide rail by a moving device, the moving device comprising a limiting roller provided on the body, the limiting roller being configured to cooperate with the guide rail to enable the body to slide on the guide rail;

[0006] The body is hinged with a support arm, the support arm is rotatably connected to a driving wheel, and the support arm is provided with a control component for controlling the rotation of the driving wheel;

[0007] A sliding seat is slidably provided on the machine body, a connecting rod is hinged on the sliding seat, one end of the connecting rod away from the sliding seat is hinged on the support arm, and a driving component for controlling the movement of the sliding seat is provided on the machine body.

[0008] By adopting the above technical solution, the inspection robot can inspect rails or other equipment through the detection device on the body. The moving device of the body includes a limiting roller, which enables the robot to slide stably on the guide rail. The setting of the support arm and the drive wheel allows the robot to not only move linearly on the guide rail, but also achieve more complex movement and turning movements through the rotation of the drive wheel and the articulation of the support arm. The drive assembly is used to control the movement of the slide, thereby adjusting the angle of the support arm and then adjusting the pressure of the drive wheel on the guide rail. Replacing manual inspections with inspection robots is conducive to improving the efficiency and accuracy of inspections and reducing the potential safety hazards that may arise from manual inspections.

[0009] Optionally, two groups of support arms are provided on the body, and the two groups of support arms are hinged to the body through the same rotating shaft, the two support arms are symmetrically arranged about the rotating shaft, and both groups of support arms are provided with driving wheels, and several of the driving wheels are driven by the same control component.

[0010] By adopting this technical solution, two sets of arms are installed on the robot body, and the two sets of arms are hinged by the same axis, which enhances the robot's stability and balance. The drive wheels on the two sets of arms are driven by the same control component, simplifying the robot's control structure and improving control efficiency and reliability.

[0011] Optionally, the connecting rod includes a sleeve and a telescopic rod, the sleeve is hinged on the sliding seat, the telescopic rod is slidably set in the sleeve, the telescopic rod is hinged on the support arm, and the sleeve and the telescopic rod are fixedly connected to a limiting ring, and a first spring is arranged between the two limiting rings. The first spring is sleeved on the sleeve and the telescopic rod, and the two limiting rings tend to move away from each other under the elastic force of the first spring.

[0012] By adopting the above technical solution, the connecting rod adopts a sleeve and telescopic rod structure, and is equipped with a first spring, so that the length of the connecting rod can be adjusted within a certain range and has a certain elastic buffering capacity. This design helps the robot better adapt to different working environments and reduces the impact and vibration caused by uneven guide rails or obstacles.

[0013] Optionally, the control component includes a driving wheel rotatably connected to the support arm, and the rotation axis of the driving wheel is colinear with the rotation axis of the support arm on the body, a first motor is fixedly connected to the body, the first motor is transmission-connected to the driving wheel, a driven wheel is coaxially fixedly connected to the driving wheel, and transmission is achieved between the driving wheel and the driven wheel through a synchronous belt.

[0014] By adopting the above technical solution, the control assembly uses a structure consisting of a driving wheel, a first motor, a driven wheel, and a synchronous belt to achieve precise control of the drive wheel. The first motor drives the synchronous belt through the driving wheel, which in turn drives the driven wheel and the driving wheel. This transmission method has the advantages of high transmission efficiency, compact structure, and easy maintenance.

[0015] Optionally, the driving assembly includes a double-headed screw rotatably connected to the machine body, the double-headed screw passes through the slide and is threadedly connected to the slide, and the rotation directions of the thread segments corresponding to the two slides are opposite.

[0016] By adopting the above technical solution, the driving assembly adopts a double-headed screw structure. By rotating the double-headed screw, the two slides can be driven to move in opposite directions, thereby adjusting the angle of the support arm. In turn, the tightening effect of the driving wheel on the guide rail is adjusted.

[0017] Optionally, two groups of frames are slidingly set on the machine body, and the limiting roller is rotatably connected to the machine body and symmetrically arranged about the double-headed screw. Guide rods are fixedly connected to the two slide seats, and sliding sleeves are provided on the two guide rods along the length direction of the double-headed screw. End plates are provided at the ends of the guide rods for limiting the deviation of the sliding sleeves. A second spring is provided on the guide rod between the sliding sleeve and the end plate, and the second spring pushes the sliding sleeve toward the sliding seat. The sliding sleeve is hinged with a push rod corresponding to the two groups of frames, and the end of the push rod away from the sliding sleeve is hinged to the corresponding frame.

[0018] By adopting the above technical solution, the double-headed screw rotates to drive the two slides closer to or away from each other, and the second spring presses the sliding sleeve against the slide to achieve relative fixation of the slide and the sliding sleeve. Therefore, the movement of the slide will drive the sliding sleeve to move, and then drive the two sets of frames closer to or away from each other through the push rod;

[0019] When the two sets of racks approach each other and drive the limiting rollers to insert into the grooves on both sides of the guide rail, the machine body can slide on the guide rail. When the two sets of racks move away from each other, the limiting rollers can be driven out of the grooves on both sides of the rail, making it easier to remove the machine body from the guide rail.

[0020] In addition, the design of the second spring allows the two sets of racks to be opened a set distance while the slide position is fixed, reducing the possibility of uneven guide rails restricting the movement of the machine body.

[0021] In summary, this application includes at least one of the following beneficial technical effects:

[0022] 1. Replacing manual inspections with inspection robots can improve inspection efficiency and accuracy, and reduce potential safety hazards that may arise from manual inspections;

[0023] 2. The connecting rod adopts a sleeve and telescopic rod structure, and is equipped with a first spring, so that the length of the connecting rod can be adjusted within a certain range and has a certain elastic buffering capacity. This design helps the robot better adapt to different working environments and reduces the impact and vibration caused by uneven guide rails or obstacles.

[0024] The rotation of the double-headed screw drives the two slides to move closer to or away from each other. The second spring presses the sleeve against the slide to achieve relative fixation of the slide and the sleeve. Therefore, the movement of the slide will drive the sleeve to move, and then the push rod drives the two sets of frames to move closer to or away from each other, making it convenient for the machine body to be assembled and disassembled on the guide rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application.

[0026] Figure 2 It is a schematic structural diagram of the limiting roller used in an embodiment of the present application.

[0027] Figure 3 It is a schematic structural diagram of the driving wheel and the support arm according to an embodiment of the present application.

[0028] Figure 4 It is a structural schematic diagram of a connecting rod used in an embodiment of the present application.

[0029] Figure 5 It is a structural schematic diagram of the embodiment of the present application used to reflect the drive assembly and the push rod.

[0030] Explanation of the accompanying drawings: 1. Body; 11. Detection device; 12. Guide rail; 13. Groove; 2. Frame; 21. Limit roller; 3. Support arm; 31. Driving wheel; 32. Rotating shaft; 33. Slide; 4. Control assembly; 41. Driving wheel; 42. Driven wheel; 43. Synchronous belt; 44. First motor; 51. Connecting rod; 52. Sleeve; 53. Telescopic rod; 54. Limiting ring; 55. First spring; 6. Driving assembly; 61. Double-headed screw; 62. Second motor; 7. Guide rod; 71. Sleeve; 72. End plate; 73. Second spring; 74. Push rod. DETAILED DESCRIPTION

[0031] The following is combined with Figure 1-5 This application is described in further detail.

[0032] The present application embodiment discloses a rail-type inspection robot for substation inspection. Figure 1 and Figure 2 The rail-type inspection robot for substation inspection includes a body 1, which serves as the main structure of the entire robot and is provided with a detection device 11. The detection device 11 includes but is not limited to a camera, an infrared sensor, a sonar, etc., and is used for real-time monitoring and data collection of the track and its surrounding environment.

[0033] The top of the body 1 is connected to the guide rail 12 through a moving device and can move on the guide rail 12. The cross section of the guide rail 12 in the embodiment of the present application is in the shape of an "I".

[0034] The moving device includes a plurality of limiting rollers 21 disposed on the top of the robot body 1. The limiting rollers 21 cooperate with the grooves 13 on both sides of the guide rail 12 to ensure that the robot body 1 can slide stably on the guide rail 12. The number and arrangement of the limiting rollers 21 can be designed according to actual needs to ensure the smooth and stable movement of the robot.

[0035] like Figure 3 The top wall of the robot body 1 is hingedly connected to an arm 3, which is provided with a drive wheel 31 for driving the robot forward or backward on the guide rail 12. In this embodiment, there are two sets of arms 3, both of which are hinged to the robot body 1 via the same rotation axis 32. Each set of arms 3 corresponds to a drive wheel 31, and the two arms 3 are symmetrically arranged about the rotation axis 32. This design makes the robot more stable during movement and provides a more balanced driving force.

[0036] A control assembly 4 is provided on the top wall of the body 1 for controlling the rotation of the drive wheel 31. In this embodiment, the control assembly 4 includes a driving wheel 41, a driven wheel 42, a first motor 44, and a synchronous belt 43. The driving wheel 41 and the driven wheel 42 are both synchronous wheels. The driving wheel 41 is rotatably connected to the support arm 3, and its rotation axis is collinear with the rotation axis of the support arm 3 on the body 1. The first motor 44 is fixedly connected to the body 1 and connected to the driving wheel 41 through a coupling. The driven wheel 42 is coaxially fixedly connected to the drive wheel 31, and transmission is achieved between the driving wheel 41 and the driven wheel 42 via a synchronous belt 43. When the motor is started, it drives the driving wheel 41 to rotate, and then drives the driven wheel 42 and the driving wheel 31 to rotate through the synchronous belt 43, thereby realizing the movement of the robot on the guide rail 12.

[0037] A slide 33 is slidably mounted on the top wall of the robot body 1, corresponding to the position of the arm 3. The movement of the slide 33 is controlled by a drive assembly 6. A connecting rod 51 is hinged to the slide 33, with the end of the connecting rod 51, distal from the slide 33, being hinged to the corresponding arm 3. As the slide 33 moves on the robot body 1, it drives the arm 3 to rotate about its hinge point via the connecting rod 51, thereby adjusting the tilt angle of the arm 3. This design allows the robot to maintain the stability of the robot body 1 by adjusting the tilt angle of the arm 3 when encountering guide rails 12 with varying slopes.

[0038] like Figure 4 and Figure 5The connecting rod 51 consists of a sleeve 52 and a telescopic rod 53. The sleeve 52 is hinged to the slide 33, and the telescopic rod 53 slides within the sleeve 52. A limit ring 54 is fixedly connected to both the sleeve 52 and the telescopic rod 53, with a first spring 55 disposed between the two limit rings 54. Under the elastic force of the first spring 55, the two limit rings 54 tend to move away from each other, that is, the telescopic rod 53 tends to extend from the sleeve 52, thereby allowing the drive wheel 31 to press against the bottom wall of the guide rail 12 under the elastic force of the first spring 55.

[0039] The drive assembly 6 includes a double-threaded screw 61, which is rotatably connected to the body 1 and passes through the slide 33 for threaded connection. The threaded segments corresponding to the two slides 33 rotate in opposite directions. When the double-threaded screw 61 rotates, the two slides 33 move simultaneously in opposite directions, thereby driving the drive wheel 31 toward or away from the guide rail 12 through the tilting of the support arm 3.

[0040] To facilitate assembly and disassembly of the machine body 1 on the guide rail 12, the machine body 1 in the embodiment of the present application is provided with two sets of frames 2 slidably disposed on its upper end surface. The two sets of frames 2 are symmetrically arranged about the double-headed screw 61, and the limiting rollers 21 are rotatably connected to the frames 2. When the two sets of frames 2 approach each other and drive the limiting rollers 21 to engage with the grooves 13 on either side of the guide rail 12, the machine body 1 can slide on the guide rail 12. When the two sets of frames 2 move away from each other, the limiting rollers 21 can be driven out of the grooves 13 on either side of the rail, thereby facilitating disassembly of the machine body 1 from the guide rail 12.

[0041] In order to facilitate the control of the two groups of frames 2 to move closer to or away from each other. In the embodiment of the present application, the two slides 33 are fixedly connected to the opposite sides with a guide rod 7, and a sliding sleeve 71 is provided on the guide rod 7 along the length direction of the double-headed screw 61. The end of the guide rod 7 is provided with an end plate 72 for limiting the sliding sleeve 71 from separating from the guide rod 7. A second spring 73 is provided on the guide rod 7 between the sliding sleeve 71 and the end plate 72, and the second spring 73 pushes the sliding sleeve 71 toward the slide 33. The sliding sleeve 71 is hinged with a push rod 74 corresponding to the two groups of brackets, and the end of the push rod 74 away from the sliding sleeve 71 is hinged to the corresponding bracket. When the double-headed screw 61 rotates, it will drive the slide 33 to move, and then through the linkage action of the push rod 74, the two groups of frames 2 are controlled to move closer to or away from each other.

[0042] The stud 61 can be driven by a motor or manually. In the embodiment of the present application, a second motor 62 is fixedly connected to one side of the body 1, and the second motor 62 is connected to the stud via a coupling.

[0043] In the initial state, the two racks 2 are spaced apart from each other, and the two drive wheels 31 are also positioned toward the machine body 1. During the installation of the machine body 1 on the guide rail 12, the machine body 1 is lifted so that the guide rail 12 is located between the two sets of racks 2. The operator then drives the double-headed screw 61 to rotate, thereby driving the two slides 33 toward each other. During this process, the slides 33 drive the two racks 2 toward each other via the push rods 74, causing the limiting rollers 21 to gradually engage with the grooves 13 on both sides of the guide rail 12. Simultaneously, the slides 33 push the upper portion of the support arm 3 via the connecting rod 51, gradually pressing the drive wheels 31 against the lower end surface of the guide rail 12, thereby achieving the installation of the machine body 1 on the guide rail 12. The operator can then start the first motor 44 to drive the two drive wheels 31 to rotate via the driving wheel 41, the synchronous belt 43, and the driven wheel 42, thereby driving the entire machine body 1 to move on the guide rail 12 for inspection of the substation.

[0044] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A rail-type inspection robot for substation inspection, characterized by: The invention comprises a machine body (1), wherein a detection device (11) is provided on the machine body (1), and the machine body (1) is movably provided on a guide rail (12) via a moving device, wherein the moving device comprises a limiting roller (21) provided on the machine body (1), and the limiting roller (21) is used to cooperate with the guide rail (12) to enable the machine body (1) to slide on the guide rail (12); The body (1) is hinged with a support arm (3), the support arm (3) is rotatably connected to a driving wheel (31), and the support arm (3) is provided with a control component (4) for controlling the rotation of the driving wheel (31); A slide seat (33) is slidably provided on the machine body (1), a connecting rod (51) is hinged on the slide seat (33), one end of the connecting rod (51) away from the slide seat (33) is hinged on the support arm (3), and a driving component (6) for controlling the movement of the slide seat (33) is provided on the machine body (1).

2. A rail-type inspection robot for substation inspection according to claim 1, characterized in that: Two groups of support arms (3) are provided on the machine body (1), and the two groups of support arms (3) are hinged to the machine body (1) via the same rotating shaft (32). The two support arms (3) are symmetrically arranged about the rotating shaft (32). Both groups of support arms (3) are provided with driving wheels (31), and the plurality of driving wheels (31) are driven by the same control component (4).

3. The rail-type inspection robot for substation inspection according to claim 1, characterized in that: The connecting rod (51) includes a sleeve (52) and a telescopic rod (53), the sleeve (52) is hinged on the sliding seat (33), the telescopic rod (53) is slidably arranged in the sleeve (52), the telescopic rod (53) is hinged on the support arm (3), and a limiting ring (54) is fixedly connected to the sleeve (52) and the telescopic rod (53), and a first spring (55) is arranged between the two limiting rings (54). The first spring (55) is sleeved on the sleeve (52) and the telescopic rod (53), and the two limiting rings (54) tend to move away from each other under the elastic force of the first spring (55).

4. The rail-type inspection robot for substation inspection according to claim 1, characterized in that: The control assembly (4) comprises a driving wheel (41) rotatably connected to the support arm (3), and the rotation axis of the driving wheel (41) is collinear with the rotation axis of the support arm (3) on the machine body (1); a first motor (44) is fixedly connected to the machine body (1), and the first motor (44) is transmission-connected to the driving wheel (41); a driven wheel (42) is coaxially fixedly connected to the driving wheel (31), and transmission is achieved between the driving wheel (41) and the driven wheel (42) via a synchronous belt (43).

5. The rail-type inspection robot for substation inspection according to claim 1, characterized in that: The driving assembly (6) includes a double-headed screw (61) rotatably connected to the machine body (1), the double-headed screw (61) passes through the slide (33) and is threadedly connected to the slide (33), and the rotation directions of the thread segments corresponding to the two slides (33) are opposite.

6. The rail-type inspection robot for substation inspection according to claim 5, characterized in that: Two sets of frames (2) are slidingly arranged on the machine body (1), and the limiting roller (21) is rotatably connected to the machine body (1) and symmetrically arranged about the double-headed screw (61). The two slide seats (33) are fixedly connected with a guide rod (7), and the two guide rods (7) are provided with a sliding sleeve (71) along the length direction of the double-headed screw (61). The end of the guide rod (7) is provided with a sleeve for limiting the sliding sleeve (71). 1) an end plate (72) facing away from the guide rod (7), a second spring (73) is provided on the guide rod (7) between the sliding sleeve (71) and the end plate (72), the second spring (73) pushes the sliding sleeve (71) toward the sliding seat (33), the sliding sleeve (71) is hinged with a push rod (74) corresponding to the two groups of the frames (2), and one end of the push rod (74) away from the sliding sleeve (71) is hinged to the corresponding frame (2).

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