Rail type inspection robot for operation and maintenance of power system

Abstract

The utility model relates to the technical field of electric power system operation and maintenance, and discloses a rail type inspection robot for electric power system operation and maintenance, the rail type inspection robot comprises a rail beam, a walking frame and an inspection robot body, the inspection robot body is fixedly connected to the outer wall of the bottom of the walking frame, and the walking frame is installed on the outer wall of the rail beam through a walking mechanism in the walking frame; mounting supports are mounted above the two ends of the track beam, and mounting assemblies for quickly fixing the track beam are mounted on the outer walls of the mounting supports, so that the track beam can be quickly fixed on the mounting supports to realize quick mounting through the mounting supports and the mounting assemblies, the track beam is convenient to mount and maintain, and the mounting efficiency of the track beam is improved. The operation and maintenance cost is reduced, the multiple track beams are connected in an inserted mode through the positioning holes and the positioning columns, the multiple track beams are spliced stably, and the stability of the track is guaranteed.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of power system operation and maintenance, and in particular to a track type inspection robot for power system operation and maintenance. BACKGROUND

[0002] In a power system, the normal operation of power facilities such as substations and power transmission lines is crucial to the stability and reliability of power supply. In order to timely find faults and safety hazards existing in power facilities, it is necessary to regularly inspect power facilities.

[0003] Traditional power facility inspection mainly relies on manual inspection, and manual inspection has the problems of high labor intensity, low efficiency and large influence of inspection quality by human factors. In particular, in some harsh and high-risk areas, such as high-voltage substations and high-mountain power transmission lines, manual inspection is not only difficult, but also has a high safety risk;

[0004] With the development of robot technology, track type inspection robots have gradually been applied to power system operation and maintenance. However, the existing track type inspection robots still have some deficiencies in actual use, for example, the track installation and maintenance of the inspection robot are relatively complex, which increases the operation and maintenance cost; the detection function of the inspection robot is relatively single, and it cannot comprehensively detect various parameters and states of the power facilities. Therefore, a track type inspection robot for power system operation and maintenance is proposed to solve the above problems. CONTENT OF THE INVENTION

[0005] The purpose of the present application is to provide a track type inspection robot for power system operation and maintenance to solve the problems of complex track installation and maintenance and single detection function of the existing track type inspection robots.

[0006] The track type inspection robot for power system operation and maintenance provided by the application adopts the following technical scheme:

[0007] A track type inspection robot for power system operation and maintenance, comprising a track beam, a walking frame and an inspection robot body, the inspection robot body is fixedly connected to the bottom outer wall of the walking frame, the walking frame is installed on the outer wall of the track beam through the walking mechanism in the walking frame, installation supports are installed on the upper parts of the two ends of the track beam, and installation assemblies for quickly fixing the track beam are installed on the outer walls of the installation supports;

[0008] The installation assembly comprises two fixed rods fixedly connected to the outer walls of the two sides of the installation support, slidingly connected with the outer walls of the two fixed rods are movable plates, the outer wall of one side of the movable plate towards the track beam is fixedly connected with a clamping block, the end of the clamping block away from the movable plate penetrates through the installation support and is clamped to the upper part of the bottom of the track beam, and the outer wall of the fixed rod is sleeved with a spring.

[0009] Preferably, one end of the spring is fixedly connected to the outer wall of the movable plate, and the other end of the spring is fixedly connected to the outer wall of the end of the fixed rod away from the mounting bracket.

[0010] Preferably, the walking mechanism comprises a plurality of walking wheels rotatably connected to the inner walls of the walking frame on both sides, the plurality of walking wheels are in contact with the lower top of the track beam, the inner walls of the walking frame are rotatably connected with two rotating shafts, one end of the two walking wheels is fixedly connected with the shafts of the two walking wheels, and the other end of the two walking wheels is fixedly connected with a pinion.

[0011] Preferably, the walking mechanism further comprises a servo motor fixedly installed in the walking frame, the output shaft of the servo motor is fixedly connected with a main gear, the inner walls of the walking frame are rotatably connected with a linkage gear, the main gear is engaged with the linkage gear, and the two pinions are engaged with the linkage gear, and the linkage gear is located between the two pinions.

[0012] Preferably, the outer wall of the walking frame is provided with a detection assembly, the detection assembly comprises a camera, an infrared thermometer, a partial discharge detector and a sound sensor, the camera is fixedly installed on the outer wall of the body of the inspection robot, the infrared thermometer is installed on the outer wall of one side of the body of the inspection robot, the partial discharge detector is installed on the outer wall of the bottom of the body of the inspection robot, and the sound sensor is installed in the body of the inspection robot.

[0013] Preferably, the inside of the body of the inspection robot is provided with a battery and a controller, one side of the body of the inspection robot is provided with a charging interface, and the charging interface is electrically connected with the battery.

[0014] Preferably, two positioning holes are formed in the outer wall of one end of the track beam, two positioning columns are fixedly connected to the outer wall of the other end of the track beam, and the positioning columns are inserted into the positioning holes.

[0015] In summary, the present application has the following beneficial technical effects:

[0016] 1. The installation bracket and the installation assembly can quickly fix the track beam on the installation bracket to realize quick installation, so that the installation and maintenance of the track beam are convenient, the operation and maintenance cost is reduced, the insertion of the positioning holes and the positioning columns between the multiple track beams makes the splicing of the multiple track beams stable, and the stability of the track is ensured.

[0017] 2. The detection assembly on the body of the inspection robot integrates the camera, the infrared thermometer, the partial discharge detector and the sound sensor, can comprehensively detect the image, the temperature, the partial discharge condition and the running sound of the power facility, and improves the accuracy and reliability of the inspection. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is the overall schematic diagram of the application embodiment;

[0019] Figure 2 is Figure 1 is an enlarged schematic diagram of the structure at A in the application embodiment;

[0020] Figure 3 is the overall schematic diagram of the application embodiment;

[0021] Figure 4 is the internal structure diagram of the walking frame and the patrol robot body in the application embodiment.

[0022] Reference signs: 1, track beam; 2, walking frame; 21, servo motor; 22, main gear; 23, walking wheel; 24, rotating shaft; 25, auxiliary gear; 26, linkage gear; 3, patrol robot body; 31, camera; 32, infrared temperature measuring instrument; 33, partial discharge detector; 34, sound sensor; 4, battery; 5, mounting bracket; 51, fixed rod; 52, movable plate; 53, spring; 54, clamping block; 55, handle; 6, positioning hole; 7, positioning column; 8, charging interface. DETAILED DESCRIPTION

[0023] The following will be combined with the Figures 1-4 The application is further described in detail.

[0024] The application embodiment discloses a track type patrol robot for power system operation and maintenance. Figures 1-4 A track type patrol robot for power system operation and maintenance, comprising a track beam 1, a walking frame 2 and a patrol robot body 3, the patrol robot body 3 is fixedly connected to the bottom outer wall of the walking frame 2, the walking frame 2 is installed on the outer wall of the track beam 1 through the walking mechanism in the walking frame 2, the mounting bracket 5 is installed on the upper part of both ends of the track beam 1, and the mounting assembly for quickly fixing the track beam 1 is installed on the outer wall of the mounting bracket 5.

[0025] The mounting assembly comprises two fixed rods 51 fixedly connected to the outer walls of the two sides of the mounting bracket 5, the outer walls of the two fixed rods 51 are slidably connected with a movable plate 52, one side of the movable plate 52 away from the track beam 1 is fixedly connected with a clamping block 54, one end of the clamping block 54 away from the movable plate 52 penetrates through the mounting bracket 5 and is clamped on the upper part of the bottom of the track beam 1, and the outer wall of the fixed rod 51 is sleeved with a spring 53.

[0026] One end of the spring 53 is fixedly connected to the outer wall of the movable plate 52, and the other end thereof is fixedly connected to the outer wall of one end of the fixed rod 51 away from the mounting bracket 5, and the middle segment outer wall of the movable plate 52 is fixedly connected with a handle 55.

[0027] The walking mechanism comprises a plurality of walking wheels 23 rotatably connected to the inner walls of the walking frame 2 on both sides, the plurality of walking wheels 23 are in contact with the lower top of the track beam 1, the inner walls of the walking frame 2 are rotatably connected with two rotating shafts 24, one end of the two walking wheels 23 is fixedly connected with the shafts of two walking wheels 23, and the other end of the two walking wheels 23 is fixedly connected with a secondary gear 25.

[0028] The walking mechanism further comprises a servo motor 21 fixedly installed in the walking frame 2, the output shaft of the servo motor 21 is fixedly connected with a primary gear 22, the inner walls of the walking frame 2 are rotatably connected with a linkage gear 26, the primary gear 22 is engaged with the linkage gear 26, the two secondary gears 25 are engaged with the linkage gear 26, and the linkage gear 26 is located between the two secondary gears 25.

[0029] The outer walls of the walking frame 2 are provided with a detection assembly, the detection assembly comprises a camera 31, an infrared thermometer 32, a partial discharge detector 33 and a sound sensor 34, the camera 31 is fixedly installed on the outer wall of the patrol robot body 3, the infrared thermometer 32 is installed on the outer wall of one side of the patrol robot body 3, the partial discharge detector 33 is installed on the outer wall of the bottom of the patrol robot body 3, and the sound sensor 34 is installed in the interior of the patrol robot body 3, the camera 31 is used for shooting the image of the power facility, the infrared thermometer 32 is used for detecting the temperature of the power facility, the partial discharge detector 33 is used for detecting the partial discharge condition of the power facility, and the sound sensor 34 is used for detecting the running sound of the power facility.

[0030] The interior of the patrol robot body 3 is provided with a battery 4 and a controller, the battery 4 is a rechargeable lithium battery, one side of the outer wall of the patrol robot body 3 is provided with a charging interface 8, the charging interface 8 is electrically connected with the battery 4, the battery 4 can be charged through the external power supply of the charging interface 8, the battery 4 is used for supplying power to each electrical equipment in the detection assembly on the patrol robot body 3, the controller is used for the operation of the patrol robot body 3 and the work of the detection assembly, the battery 4 also supplies power to the controller and the servo motor 21 through the connecting line, and in addition, the controller is internally integrated with a wireless communication module, an operator can send instructions to the wireless communication module through a remote control terminal, and then control the running state of the patrol robot body 3 through the controller.

[0031] Two positioning holes 6 are formed in the outer wall of one end of the track beam 1, and two positioning columns 7 are fixedly connected to the outer wall of the other end of the track beam 1, and the positioning columns 7 are inserted into the positioning holes 6 in a matched mode.

[0032] The implementation principle of the track type inspection robot for power system operation and maintenance provided in the embodiments of the present application is as follows: when it is necessary to install track beams 1, first, a plurality of installation supports 5 are fixed in appropriate positions through fastening bolts, and then the plurality of track beams 1 are fixed on the plurality of installation supports 5 through installation assemblies on the installation supports 5, specifically, two handles 55 are pulled outward, so that the handles 55 drive the movable plates 52 to slide outward on the outer walls of the two fixed rods 51 until the movable plates 52 drive the clamping blocks 54 to move out of the installation supports 5, the track beams 1 are clamped into the installation supports 5, the top of the track beams 1 is attached to the inner wall of the bottom of the installation supports 5, the two handles 55 are loosened, at this time, the movable plates 52 are reset under the elastic force of the springs 53, the movable plates 52 drive the clamping blocks 54 to re-extend into the installation supports 5, and the two clamping blocks 54 abut against the top of the track beams 1, at this time, the track beams 1 are fixed in the installation supports 5, and the installation of a section of track beams 1 is completed, a plurality of track beams 1 are fixed on a plurality of installation supports 5 through the above-mentioned operation, and then the positioning holes 6 at the two ends of the adjacent two track beams 1 are inserted with the positioning columns 7, so that a stable track can be assembled.

[0033] In actual use, an operator can send instructions through a remote control terminal (not shown in the figure), control the servo motor 21 to start through the controller, the output shaft of the servo motor 21 drives the main gear 22 to rotate, the main gear 22 drives the linkage gear 26 engaged therewith to rotate, the linkage gear 26 drives the two auxiliary gears 25 engaged therewith to synchronously rotate in the same direction, at this time, the two auxiliary gears 25 drive the two walking wheels 23 through the rotating shafts 24 to rotate, and the plurality of walking wheels 23 drive the walking frame 2 and the inspection robot body 3 to move on the outer wall of the track beams 1, and the running direction and speed of the inspection robot body 3 on the track beams 1 are controlled by controlling the rotating speed and direction of the servo motor 21, the controller controls the detection assembly to start, can receive the data detected by the detection assembly in real time, and analyzes and processes the data, when it is detected that the power facilities have faults or abnormal conditions, the operator can take measures in time to process, and the normal operation of the power facilities is ensured.

[0034] Finally, the following points should be noted: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", "connection" should be understood broadly, which can be mechanical connection or electrical connection, or the communication between the two elements, or direct connection, "up", "down", "left", "right" and the like are only used to represent the relative positional relationship, when the absolute position of the described object changes, the relative positional relationship may change;

[0035] Secondly, only the structures related to the embodiments of the present application are involved in the drawings of the embodiments of the present application, other structures can be referred to the general design, and the same embodiments and different embodiments of the present application can be combined with each other under the condition of no conflict.

[0036] Finally: the above only for the preferred embodiments of the present application have, and not for limiting the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application, should be included in the scope of protection of the present application.

[0037] The above are the preferred embodiments of the present application, not limited by the protection scope of the present application, therefore: any equivalent changes made according to the structure, shape, principle of the present application, should be covered within the protection scope of the present application.

Claims

1. A track-mounted inspection robot for power system operation and maintenance, characterized in that: The system includes a track beam (1), a walking frame (2), and an inspection robot body (3). The inspection robot body (3) is fixedly connected to the bottom outer wall of the walking frame (2). The walking frame (2) is installed on the outer wall of the track beam (1) through its internal walking mechanism. Mounting brackets (5) are installed above both ends of the track beam (1). Mounting components for quickly fixing the track beam (1) are installed on the outer wall of the mounting brackets (5). The mounting assembly includes two fixed rods (51) fixedly connected to the outer walls of both sides of the mounting bracket (5). The outer walls of the two fixed rods (51) are slidably connected to a movable plate (52). A locking block (54) is fixedly connected to the outer wall of the movable plate (52) facing the track beam (1). The end of the locking block (54) away from the movable plate (52) passes through the mounting bracket (5) and is locked at the bottom of the track beam (1). A spring (53) is sleeved on the outer wall of the fixed rod (51).

2. The track-mounted inspection robot for power system operation and maintenance according to claim 1, characterized in that: One end of the spring (53) is fixedly connected to the outer wall of the movable plate (52), and the other end is fixedly connected to the outer wall of the fixed rod (51) away from the mounting bracket (5). A handle (55) is fixedly connected to the outer wall of the middle section of the movable plate (52).

3. The track-mounted inspection robot for power system operation and maintenance according to claim 1, characterized in that: The walking mechanism includes multiple walking wheels (23) rotatably connected to the inner walls on both sides of the walking frame (2). The multiple walking wheels (23) are in contact with the top of the track beam (1). The inner wall of the walking frame (2) is rotatably connected to two rotating shafts (24). One end of the two walking wheels (23) is fixedly connected to the axis of the two walking wheels (23), and the other end of the two walking wheels (23) is fixedly connected to a secondary gear (25).

4. The track-mounted inspection robot for power system operation and maintenance according to claim 3, characterized in that: The walking mechanism also includes a servo motor (21) fixedly installed inside the walking frame (2). The output shaft of the servo motor (21) is fixedly connected to a main gear (22). The inner wall of the walking frame (2) is rotatably connected to a linkage gear (26). The main gear (22) meshes with the linkage gear (26). Both of the auxiliary gears (25) mesh with the linkage gear (26), and the linkage gear (26) is located between the two auxiliary gears (25).

5. The track-mounted inspection robot for power system operation and maintenance according to claim 1, characterized in that: The outer wall of the walking frame (2) is equipped with a detection component, which includes a camera (31), an infrared thermometer (32), a partial discharge detector (33), and a sound sensor (34). The camera (31) is fixedly installed on the outer wall of the inspection robot body (3), the infrared thermometer (32) is installed on one side of the outer wall of the inspection robot body (3), the partial discharge detector (33) is installed on the bottom outer wall of the inspection robot body (3), and the sound sensor (34) is installed inside the inspection robot body (3).

6. A track-mounted inspection robot for power system operation and maintenance according to claim 5, characterized in that: The inspection robot body (3) is equipped with a battery (4) and a controller inside. A charging interface (8) is provided on one side of the outer wall of the inspection robot body (3), and the charging interface (8) is electrically connected to the battery (4).

7. The track-mounted inspection robot for power system operation and maintenance according to claim 1, characterized in that: Two positioning holes (6) are opened on the outer wall of one end of the track beam (1), and two positioning posts (7) are fixedly connected to the outer wall of the other end of the track beam (1). The positioning posts (7) are adapted to be inserted into the positioning holes (6).

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