Intelligent inspection robot for indoor equipment of transformer substation

Abstract

The utility model relates to an intelligent inspection robot for indoor equipment of a transformer substation, which comprises a vehicle body, a rotating upright post arranged at the top of the vehicle body, a platform arranged at the top of the rotating upright post and a camera arranged on the platform, a protective cover is arranged in front of the camera, and a cleaning device for cleaning the protective cover is arranged on the platform; the cleaning device comprises a brush and a driving device for driving the brush to rotate around the platform, the platform is circular, and the outer edge of the protective cover is a circle corresponding to the outer edge of the protective cover and is aligned with the edge of the platform. The camera is arranged on the rotating stand column and can rotate along with the rotating stand column to achieve plane 360-degree inspection tour, the cleaning device is arranged, the brush can clean the protective cover under the action of the driving device, the cleanliness of the protective cover can be kept for a long time, the imaging result of the camera is guaranteed, and the whole machine is simple in structure and low in manufacturing cost.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the substation monitoring equipment field, concretely relates to a substation indoor equipment intelligent inspection robot. BACKGROUND

[0002] There are high voltage, high temperature, partial discharge, SF6 gas leakage and other dangers in the high-voltage indoor of the substation, if the traditional manual inspection method is used, it will face the safety risks of electric shock and poisoning, and the manual inspection takes a long time, and it is difficult to continue operation at night and in bad weather.

[0003] And the robot can realize 24-hour timing or on-demand inspection, and the detection data can be uploaded to the background system in real time, improving the continuity of equipment state detection. And after the fault occurs, the robot can quickly enter the dangerous area to take pictures of the scene, providing real-time information for remote command repair, and shortening the power outage time.

[0004] The utility model with publication number CN221716927U discloses a kind of substation indoor equipment intelligent inspection robot, it is convenient to directly tear the first layer of protective film contaminated in front end, quickly restore lens definition.But it can be seen from its technical solution that multiple protective films need to be pasted on protective cover for lens protection mechanism to tear off before use, but too many protective films will hinder the clarity of camera image, affect the accuracy of inspection. UTILITY MODEL CONTENT

[0005] The utility model solves the technical problem to provide a kind of substation indoor equipment intelligent inspection robot, can realize the intelligent inspection of substation indoor equipment, can clean camera protective cover in time, and simple structure.

[0006] The technical scheme adopted by the utility model is:

[0007] A kind of substation indoor equipment intelligent inspection robot, it includes car body, the rotating column of setting in car body top, platform of setting in rotating column top and camera of setting on platform, protective cover is installed in front of camera, cleaning device for cleaning protective cover is equipped on platform;The cleaning device includes brush and driving device that rotates brush around platform, the platform is circular, and the outer edge of protective cover is the circular corresponding with it and is aligned with the edge of platform.

[0008] Further, the driving device includes the connecting disc fixedly arranged on the bottom surface of the platform, the gear mounted on the connecting disc through the bearing and the connecting frame fixedly arranged on the gear in L shape, the cross bar of the connecting frame is fixedly connected with the gear, the brush is fixedly arranged on the vertical rod of the connecting frame, and the brush is arranged towards the inner side of the platform, in the rotation process of the gear, the brush is in contact with the protective cover for cleaning.

[0009] Further, a cleaning motor is fixedly arranged on the top surface of the platform, and an output shaft of the cleaning motor penetrates downward through the platform and is connected with the gear transmission.

[0010] Further, the rotating column is fixedly arranged on the synchronous wheel, a placing groove for placing the synchronous wheel is arranged on the top surface of the vehicle body, and a patrol motor is arranged in the vehicle body, and an output shaft of the patrol motor is connected with the synchronous wheel through a synchronous belt.

[0011] Further, a ring-shaped cover plate is arranged on the top surface of the vehicle body and above the synchronous wheel.

[0012] Further, a thrust ball bearing is arranged between the cover plate and the synchronous wheel.

[0013] Further, a central shaft vertically upward is arranged at the center of the placing groove, and a central groove is correspondingly arranged on the synchronous wheel and the rotating column, and the central shaft is connected with the central groove through a bearing.

[0014] Further, a temperature and humidity sensor and an ozone sensor are arranged on the top surface of the vehicle body, a sound wave ranging module is arranged in front of the vehicle body, a controller is arranged in the vehicle body, the temperature and humidity sensor, the ozone sensor and the sound wave ranging module are connected with the controller, and the camera is connected with an upper computer through a wireless communication module.

[0015] The positive effects of the utility model are as follows:

[0016] The camera is arranged on the rotating column, can rotate with the rotating column to realize plane 360° patrol, is equipped with a cleaning device, and the brush can clean the protective cover under the action of the driving device, can keep the cleanliness of the protective cover for a long time, guarantees the imaging result of the camera, the whole machine structure is simple, and the cost is low.

[0017] In the forward patrol state, the brush is located at the back of the camera, the brush adopts a separate driving form, regular cleaning can be realized by setting the running period of the cleaning motor, or on-demand cleaning can be realized according to the actual situation, after cleaning, the brush returns to the initial state position, and the imaging of the camera is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0018] Fig. 1 It is a structural schematic view of the utility model;

[0019] Fig. 2 It is an installation position schematic view of the protective cover and the platform of the utility model;

[0020] Fig. 3 It is a principle view of the utility model. DETAILED DESCRIPTION

[0021] As shown in the accompanying drawings:Figs. 1-3 The utility model discloses an indoor equipment intelligent inspection robot of transformer substation, including car body 1, rotating stand 2, platform 7, camera 8, protective cover 9 and cleaning device.

[0022] Car body 1 has a wheel, can realize walking, rotating stand 2 sets up on car body 1, can rotate, platform 7 is fixedly arranged at the top position of rotating stand 2 and rotates with rotating stand 2, camera 8 is fixedly arranged on platform 7, and the protective cover 9 is arranged in its front to prevent lens pollution or damage. Platform 7 is circular, and the outer side of protective cover 9 is arc-shaped and consistent with the shape of the outer edge of platform 7. The cleaning device includes a brush 12 and a drive device that rotates the brush 12 around the platform 7. The brush 12 contacts the protective cover 9 during rotation to clean it and maintain the cleanliness of the outside of the protective cover, ensuring the clarity of the camera's image.

[0023] Preferably, the drive device includes a connecting disc fixedly arranged on the bottom surface of the platform 7, a gear 10 arranged on the mounting disc through a bearing, and a connecting frame 11 fixedly arranged on the gear 10. The connecting frame 11 is L-shaped, with its horizontal rod fixedly connected to the outer side wall of the gear 10. The brush 12 is arranged on the vertical rod of the connecting frame 11 and faces the inner side of the platform 7. The projection of the brush 12 on the horizontal plane falls on the platform 7 (that is, during the rotation of the brush 12, it interferes with the protective cover 9 to clean it). A cleaning motor 13 is fixedly arranged on the top surface of the platform 7, with its output shaft downwardly penetrating through the platform 7 and transmissionally connected to the gear 10. The rotation of the cleaning motor 13 drives the gear 10 to rotate, thereby making the brush 12 pass by the position of the protective cover 9. For those skilled in the art, it can be known that, since the connecting frame 11 is arranged on the gear 10, the gear 10 cannot rotate 360°, but can be set to reciprocate at an angle of 270° or other angles, as long as it can make the brush 12 pass by the position of the protective cover 9 to clean it.

[0024] In the normal state, the camera 8 faces the front position, and the brush 12 is located at the position behind it at this time. During the inspection, the angle of the camera 8 is adjusted with the rotating stand 2. Under the action of the inspection motor and friction, the brush 12 also rotates with the platform 7, so that the brush 12 is always located at the position behind it and does not affect the imaging. When it is necessary to clean the protective cover 9, the cleaning motor 13 works to drive the brush to reciprocate within a certain angle range. After cleaning, the brush 12 returns to the initial position.

[0025] The bottom end of the rotating column 2 is fixedly arranged on the synchronous wheel 3, a placing groove for placing the synchronous wheel 3 is arranged on the top surface of the vehicle body 1, a center shaft is arranged at the center position of the placing groove, the center shaft and the center hole arranged on the synchronous wheel 3 and the rotating column 2 are connected through a bearing.

[0026] Preferably, a ring-shaped cover plate 6 is arranged on the top surface of the vehicle body 1 and above the synchronous wheel 3, and a thrust ball bearing is arranged between the cover plate 6 and the synchronous wheel 3.

[0027] As an intelligent inspection robot, a temperature and humidity sensor for monitoring indoor temperature and humidity is further arranged on the vehicle body 1, an ozone sensor for judging whether there is a discharge phenomenon in the switch cabinet by measuring the ozone content and comparing the change of the ozone content, and an ultrasonic ranging module is further arranged, which is located at the front position of the vehicle body 1 and can judge whether there is an obstacle such as a switch cabinet or a switch cabinet door in front of the robot, and the robot can avoid the obstacle by changing the direction of the vehicle body 1. A power module is further arranged in the vehicle body 1 to supply power to the whole machine. The camera 8 is connected with the upper computer through a wireless communication module to realize real-time monitoring. The temperature and humidity sensor, the ozone sensor and the ultrasonic ranging module are connected with the controller, and the controller is also connected with the upper computer through the wireless communication module, so that the real-time uploading and recording of the detection data can be realized, and the timeliness and integrity of the data can be ensured.

[0028] The utility model adopts the brush as the cleaning device, utilizes the driving device to drive the brush to reciprocate and deflect in certain angle range, can realize the quick cleaning of the protective cover. The camera rotates with the rotating column, can realize the multi-angle position inspection on the horizontal plane, and the whole machine structure is simple, and the cost is low.

[0029] The above examples are only used to illustrate the technical solutions of the utility model, and not to limit them; although the utility model has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it still can modify the technical solutions recorded in the foregoing examples, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and range of the technical solutions of the utility model examples.

Claims

1. A substation indoor equipment intelligent inspection robot, characterized in that It includes a vehicle body (1), a rotating column (2) arranged on the top of the vehicle body (1), a platform (7) arranged on the top of the rotating column (2), and a camera (8) arranged on the platform (7), a protective cover (9) is arranged in front of the camera (8), and a cleaning device for cleaning the protective cover (9) is arranged on the platform (7); the cleaning device comprises a brush (12) and a driving device for driving the brush (12) to rotate around the platform (7), the platform (7) is circular, and the outer edge of the protective cover (9) is circular and aligned with the edge of the platform (7). 2.The substation indoor equipment intelligent inspection robot of claim 1, characterized in that The driving device comprises a connecting disc fixedly arranged on the bottom surface of the platform (7), a gear (10) mounted on the connecting disc through a bearing, and an L-shaped connecting frame (11) fixedly arranged on the gear (10), the horizontal rod of the connecting frame (11) is fixedly connected with the gear (10), and the brush (12) is fixedly arranged on the vertical rod of the connecting frame (11), the brush (12) is arranged towards the inner side of the platform (7), and during the rotation of the gear (10), the brush (12) is in contact with the protective cover (9) for cleaning. 3.The substation indoor equipment intelligent inspection robot of claim 2, characterized in that A cleaning motor (13) is fixedly arranged on the top surface of the platform (7), and the output shaft of the cleaning motor (13) penetrates the platform (7) downward and is in transmission connection with the gear (10).

4. The intelligent inspection robot for indoor equipment of a substation room according to claim 1, characterized in that The rotating column (2) is fixedly arranged on a synchronous wheel (3), a placing groove for placing the synchronous wheel (3) is arranged on the top surface of the vehicle body (1), and a patrol motor (4) is arranged in the vehicle body (1), and the output shaft of the patrol motor (4) is in transmission connection with the synchronous wheel (3) through a synchronous belt (5).

5. The substation indoor equipment intelligent inspection robot according to claim 4, characterized in that An annular cover plate (6) is arranged on the top surface of the vehicle body (1) and above the synchronous wheel (3).

6. The intelligent inspection robot for substation indoor equipment according to claim 5, characterized in that A thrust ball bearing is arranged between the cover plate (6) and the synchronous wheel (3).

7. The intelligent inspection robot for substation indoor equipment according to claim 4, characterized in that A central shaft vertically upward is arranged at the center of the placing groove, and a central groove is correspondingly arranged on the synchronous wheel (3) and the rotating column (2), and the central shaft is matched with the central groove through a bearing. 8.The substation indoor equipment intelligent inspection robot of claim 1, characterized in that A temperature and humidity sensor and an ozone sensor are arranged on the top surface of the vehicle body (1), a sound wave ranging module is arranged in front of the vehicle body (1), a controller is arranged in the vehicle body (1), the temperature and humidity sensor, the ozone sensor and the sound wave ranging module are connected with the controller, and the camera (8) is connected with an upper computer through a wireless communication module.

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