High-low voltage remote power cut and transmission and robot collaborative inspection integrated device

Abstract

The utility model relates to the technical field of electric power equipment operation and maintenance devices, in particular to a high-low voltage remote power cut and transmission and robot collaborative inspection integrated device which comprises a four-axis linkage inspection robot body and a high-low voltage power cut and transmission control module arranged in a circuit, and a supporting base is arranged at the bottom of the four-axis linkage inspection robot body. A horizontal moving assembly is arranged below the supporting base and comprises a left guide rail and a right guide rail which are mutually symmetrical, sliding grooves are formed in the guide rails, opening parts of the sliding grooves are formed in the side faces of the guide rails, servo motors are fixedly installed at the ends of the guide rails, and lead screws are fixedly installed at the tail ends of output shafts of the servo motors. The lead screws are in threaded connection with sliding blocks, the sliding blocks are located in the sliding grooves and are in sliding connection with the sliding grooves, a supporting plate is fixedly installed between the two sliding blocks, and the supporting base is installed on the supporting plate. According to the utility model, movement and multi-degree-of-freedom adjustment operation are facilitated, and the inspection coverage range is expanded.

Description

Technical Field

[0001] This utility model relates to the field of power equipment operation and maintenance devices, specifically to an integrated device for remote power outage and restoration of high and low voltage equipment and robot collaborative inspection. Background Technology

[0002] In the current field of power equipment inspection, with the continuous expansion of the power system and the increasing requirements for power supply stability, the shortcomings of traditional inspection technologies have become increasingly prominent. Most existing inspection methods rely on manual on-site operations or simple automated equipment, which are difficult to fully meet the needs of complex and ever-changing power environments.

[0003] In traditional inspection techniques, manual inspection, while offering some flexibility, is extremely inefficient. Inspectors need to spend a lot of time moving between various power equipment areas, checking the status of high and low voltage equipment one by one. This is not only time-consuming and laborious, but also significantly affected by subjective factors such as the professional level of personnel and work fatigue, making it easy to miss potential faults.

[0004] Patent CN108828434B discloses a detection method using an inspection robot. The method includes the following steps: activating a hydraulic lifting platform inside a relay protection cabinet; the platform moves the inspection robot, slidably mounted on top, up and down until it reaches the same horizontal plane as the circuit to be tested within the cabinet; then, activating an electric push rod at one end of the lifting platform to move the mounting plate supporting the inspection robot left and right on top of the platform; and finally, placing the detection conductive head at the electrical connection of the circuit component, causing various circuit testing instruments on the inspection robot to begin fault detection. This invention is easy to install on a relay protection cabinet and incorporates a lifting and left-right movement structure, which facilitates locating circuit faults and allows for adjusting the detection conductive head to contact the two positive and negative electrical connections of the circuit component under test, thus enabling the inspection robot to perform fault detection on the relay protection cabinet.

[0005] While the aforementioned technical solutions have their advantages, most integrated collaborative inspection devices also have some shortcomings in use. For example, when using electric push rods as transmission components, they generally can only move linearly and cannot achieve free adjustment in multiple degrees of freedom. Furthermore, they cannot move horizontally according to the actual horizontal layout of the substation, resulting in an unreasonable inspection path and affecting the effectiveness of use. Therefore, we propose an integrated device for high and low voltage remote power outage and restoration combined with robotic collaborative inspection. Utility Model Content

[0006] The purpose of this invention is to provide an integrated device for remote power outage and restoration of high and low voltage and robot-assisted inspection, so as to solve the defects mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] An integrated device for remote power outage and restoration of high and low voltage and collaborative inspection with robots includes a four-axis linkage inspection robot body and a high and low voltage power outage and restoration control module installed in the circuit. The bottom of the four-axis linkage inspection robot body is provided with a support base. Below the support base is a horizontal moving component for driving the four-axis linkage inspection robot body to move horizontally. The horizontal moving component includes two symmetrical guide rails on the left and right. The guide rails are provided with a sliding groove arranged along the length of the guide rail. The opening of the sliding groove is located on the side of the guide rail. A servo motor is fixedly installed at the end of the guide rail. A lead screw is fixedly installed at the end of the output shaft of the servo motor. A slider is threaded onto the lead screw. The slider is located in the sliding groove and slidably connected to the sliding groove. A support plate is fixedly installed between the two sliders. The support base is installed on the support plate.

[0009] Preferably, two symmetrical center fixing plates are fixedly installed between the two guide rails, and a bottom fixing plate is fixedly installed at the bottom of the support base. The bottom fixing plate is detachably installed on the support plate.

[0010] The aforementioned center fixing plate serves to fix the two guide rails together, preventing relative displacement between them. The bottom fixing plate can be detachably installed on the support plate for easy loading and unloading.

[0011] Preferably, a buffer rubber pad is provided on the upper surface of the support plate, and the bottom fixing plate is pressed against the buffer rubber pad;

[0012] The aforementioned use of cushioning rubber pads can provide appropriate cushioning and protection for the bottom fixing plate area.

[0013] Preferably, two symmetrical fixing protrusions are fixedly installed on the plates at both ends of the guide rail, and a shock-absorbing assembly is provided below the two guide rails. The shock-absorbing assembly includes a bottom beam seat, and the fixing protrusions are detachably installed on the upper surface of the bottom beam seat.

[0014] Preferably, a plurality of damping shock absorbers are installed at the bottom of the bottom beam seat, and a fixed base is fixedly installed at the bottom of the damping shock absorber, and the fixed base is fixedly installed on the external base;

[0015] This setting can achieve a certain vibration reduction effect by using damping shock absorbers.

[0016] Preferably, a rubber pad is provided on the upper surface of the bottom beam seat, and the guide rail is pressed against the rubber pad.

[0017] Preferably, a plurality of vertically arranged guide posts are fixedly installed on the upper surface of the bottom beam seat, and a plurality of guide assembly holes are provided on the rubber pad, wherein the guide posts are located in the guide assembly holes and are inserted into the guide assembly holes;

[0018] This setting facilitates the positioning and assembly of the rubber mat.

[0019] Compared with the prior art, the beneficial effects of this utility model are:

[0020] 1. This utility model sets up a four-axis linkage inspection robot body and a horizontal movement component. The four-axis linkage design realizes the robot's flexible adjustment in multiple degrees of freedom. With the horizontal movement structure composed of guide rails, lead screws and servo motors, it can plan a reasonable inspection path according to the actual layout of the substation. Compared with the traditional linear transmission method, it greatly improves the inspection coverage and the scientific nature of the path planning, and can complete the power equipment inspection task more comprehensively and efficiently.

[0021] 2. This utility model incorporates a central fixed plate, a bottom fixed plate, a buffer rubber pad, and a shock-absorbing component. The central fixed plate securely connects the two guide rails, ensuring structural stability. The bottom fixed plate is detachable for easy equipment maintenance. The buffer rubber pad provides cushioning and protection for the robot body. The shock-absorbing component, consisting of a damping shock absorber, rubber pad, and guide columns, effectively reduces vibration during robot operation, minimizing the impact of vibration on the equipment and test data, and improving the stability of equipment operation and the accuracy of test results. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0023] Figure 2 This is one of the partial structural schematic diagrams of this utility model;

[0024] Figure 3 This is a second schematic diagram of a partial structure of this utility model;

[0025] Figure 4 This is an exploded structural diagram of the horizontal moving component of this utility model;

[0026] Figure 5 This is an exploded structural diagram of the shock absorption component of this utility model;

[0027] The meanings of the labels in the diagram are as follows:

[0028] 1. Four-axis linkage inspection robot body; 10. Support base; 11. Bottom fixing plate; 12. Inspection end head; 13. Sensor module; 14. Monitoring camera; 15. Wireless communication module;

[0029] 2. Horizontal moving assembly; 20. Guide rail; 201. Fixing protrusion; 21. Center fixing plate; 22. Slide groove; 23. Servo motor; 24. Lead screw; 25. Slider; 251. Support plate; 26. Buffer rubber pad;

[0030] 3. Vibration damping components; 30. Bottom beam seat; 31. Damping shock absorber; 311. Fixed base; 32. Guide column; 33. Rubber pad; 34. Guide assembly hole;

[0031] 4. Remote control terminal;

[0032] 5. Data interaction module;

[0033] 6. High and low voltage power supply and shutdown control module; 60. High voltage relay switch. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] Please see Figures 1-5This utility model provides a technical solution: an integrated device for remote power outage and restoration of high and low voltage and robot collaborative inspection, including a four-axis linkage inspection robot body 1 and a high and low voltage power outage and restoration control module 6 installed in the circuit. The four-axis linkage design enables the robot to have flexible movement capabilities in multiple dimensions. A support base 10 is provided at the bottom of the four-axis linkage inspection robot body 1. Below the support base 10, a horizontal moving component 2 is provided for driving the four-axis linkage inspection robot body 1 to move horizontally. The horizontal moving component 2 includes two symmetrical guide rails 20 on the left and right. A sliding groove 22 is provided in the guide rail 20 along the length of the guide rail 20. The opening of the sliding groove 22 is located on the side of the guide rail 20 to avoid the groove opening of the sliding groove 22 being blocked. The upward orientation helps to prevent dust from entering the slide groove 22. A servo motor 23 is fixedly installed at the end of the guide rail 20, and a lead screw 24 is fixedly installed at the end of the output shaft of the servo motor 23. A slider 25 is threaded onto the lead screw 24. The slider 25 is located in the slide groove 22 and is slidably connected to the slide groove 22. A support plate 251 is fixedly installed between the two sliders 25. The support base 10 is installed on the support plate 251. The guide rail 20, servo motor 23, lead screw 24 and slider 25 cooperate with each other to drive the four-axis linkage inspection robot body 1 to move horizontally along the guide rail 20. The inspection path can be flexibly planned according to the layout of the power equipment. Compared with traditional inspection equipment, it significantly improves the comprehensiveness and efficiency of the inspection and ensures that the power equipment is inspected without blind spots.

[0036] In this embodiment, two symmetrical center fixing plates 21 are fixedly installed between the two guide rails 20. The center fixing plates 21 serve to fix the two guide rails 20 together, so that there is no relative displacement between the two guide rails 20. A bottom fixing plate 11 is fixedly installed at the bottom of the support base 10. The bottom fixing plate 11 is detachably installed on the support plate 251 by multiple fastening screws, which facilitates loading and unloading operations and improves the maintainability and ease of operation of the equipment.

[0037] like Figures 2-4 As shown, a buffer rubber pad 26 is provided on the upper surface of the support plate 251, and the bottom fixing plate 11 is pressed on the buffer rubber pad 26. The use of the buffer rubber pad 26 can provide appropriate buffer protection for the bottom fixing plate 11, effectively buffer the vibration and impact generated when the robot moves, reduce the impact of vibration on the robot's internal precision detection sensors and electronic components, extend the robot's service life, and ensure the accuracy of the detection data.

[0038] Specifically, two symmetrical fixing protrusions 201 are fixedly installed on the plates at both ends of the guide rail 20. A shock absorption assembly 3 is provided below the two guide rails 20. The shock absorption assembly 3 includes a bottom beam seat 30. The fixing protrusions 201 are detachably installed on the upper surface of the bottom beam seat 30. Multiple damping shock absorbers 31 are installed at the bottom of the bottom beam seat 30. A fixed base 311 is fixedly installed at the bottom of the damping shock absorber 31. The fixed base 311 is fixedly installed on the external base. The damping shock absorber 31 can absorb and attenuate the vibration generated during the operation of the robot, reduce the vibration transmitted to the external base, reduce the impact on the surrounding environment, and create a stable operating environment for the robot.

[0039] Furthermore, a rubber pad 33 is provided on the upper surface of the bottom beam seat 30, and the guide rail 20 is pressed on the rubber pad 33. The rubber pad 33 is soft and elastic, which can further buffer the vibration and noise generated by the guide rail 20 during operation, and at the same time play a certain anti-slip role, enhance the stability of the guide rail 20 installation, and provide a more stable foundation for the movement of the four-axis linkage inspection robot body 1.

[0040] like Figure 5 As shown, multiple vertically arranged guide posts 32 are fixedly installed on the upper surface of the bottom beam seat 30. Multiple guide assembly holes 34 are provided on the rubber pad 33. The guide posts 32 are located in the guide assembly holes 34 and are inserted into the guide assembly holes 34 to facilitate the positioning and assembly of the rubber pad 33, prevent the rubber pad 33 from shifting during the installation process, ensure that it fits tightly with the bottom beam seat 30 and the guide rail 20, and give full play to the shock absorption, buffering and anti-slip functions of the rubber pad 33.

[0041] The movable end of the four-axis linkage inspection robot body 1 is fixedly installed with an inspection head 12. A sensor module 13 is set on the front side of the inspection head 12. A monitoring camera 14 is fixedly installed on the top surface of the inspection head 12. A wireless communication module 15 is also fixedly installed on the top of the inspection head 12. A remote control terminal 4 and a data interaction module 5 are set on one side of the four-axis linkage inspection robot body 1. The high and low voltage power supply and shutdown control module 6 includes a high voltage relay switch 60 set in the circuit. The remote control terminal 4 is used by the operator to remotely send high and low voltage equipment power supply and shutdown commands and inspection task commands. At the same time, it receives and displays high and low voltage equipment status information, inspection data of the inspection robot, etc. The terminal has a human-machine interface, and the operator can intuitively operate and view relevant information through the interface.

[0042] The high and low voltage power outage and restoration control module 6 is connected to the remote control terminal 4 via a wireless communication module 15, receiving power outage and restoration commands sent by the remote control terminal 4. This module includes a high voltage power outage and restoration control unit and a low voltage power outage and restoration control unit, which are used to control the power outage and restoration operations of high voltage power equipment and low voltage power equipment, respectively. The sensor module 13 includes an infrared thermal imaging sensor, a partial discharge detection sensor, a gas detection sensor, etc., used to detect faults such as abnormal temperature, partial discharge, and gas leakage in power equipment. The wireless communication module 15 is used to receive inspection task commands sent by the remote control terminal and send the detected inspection data to the remote control terminal 4. The data interaction module 5 is used to realize data interaction and communication coordination between the remote control terminal 4, the high and low voltage power outage and restoration control module 6, and the four-axis linkage inspection robot body 1.

[0043] Finally, it should be noted that the sensor module 13, monitoring camera 14, wireless communication module 15, remote control terminal 4, data interaction module 5, and high and low voltage power outage and supply control module 6 involved in this utility model are all general standard parts or parts known to those skilled in the art. Their structures and principles can be learned by those skilled in the art through technical manuals or conventional experimental methods. In the idle space of this device, all the above-mentioned electrical components, which refer to power elements, electrical components, and adapted controllers and power supplies, are connected by wires. The specific connection methods should refer to the working principle of this utility model. The electrical connections between each electrical component are completed in the order of operation. The detailed connection methods are all technologies known in the art.

[0044] When using the integrated high and low voltage remote power outage and restoration and robot collaborative inspection device, the high and low voltage equipment power outage command is first sent through the remote control terminal 4. After receiving the command, the high and low voltage power outage and restoration control module 6 uses the internal electromagnetic operating mechanism to perform the power outage operation.

[0045] Subsequently, the four-axis linkage inspection robot body 1 begins to work and perform inspection operations. The servo motor 23 starts, and its output shaft drives the lead screw 24 to rotate. The slider 25 on the lead screw 24 slides along the length of the guide rail 20 in the slide groove 22. The two sliders 25 drive the support plate 251 and the support base 10 installed on it and the four-axis linkage inspection robot body 1 to move horizontally. With the four-axis linkage design, the robot can flexibly adjust its posture and move along the preset path to the target equipment to perform the corresponding inspection operation.

[0046] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A high- and low-voltage remote power outage and restoration integrated device with robot collaborative inspection, comprising a four-axis linkage inspection robot body (1) and a high- and low-voltage power outage and restoration control module (6) installed in the circuit, characterized in that: The bottom of the four-axis linkage inspection robot body (1) is provided with a support base (10). Below the support base (10) is a horizontal moving component (2) for driving the four-axis linkage inspection robot body (1) to move in the horizontal direction. The horizontal moving component (2) includes two symmetrical guide rails (20). The guide rails (20) are provided with a slide groove (22) arranged along the length of the guide rails (20). The opening of the slide groove (22) is located on the side of the guide rails (20). A servo motor (23) is fixedly installed at the end of the guide rails (20). A lead screw (24) is fixedly installed at the end of the output shaft of the servo motor (23). A slider (25) is threaded on the lead screw (24). The slider (25) is located in the slide groove (22) and is slidably connected to the slide groove (22). A support plate (251) is fixedly installed between the two sliders (25). The support base (10) is installed on the support plate (251).

2. The integrated device for high and low voltage remote power outage and restoration and robot collaborative inspection as described in claim 1, characterized in that: Two symmetrical center fixing plates (21) are fixedly installed between the two guide rails (20), and a bottom fixing plate (11) is fixedly installed at the bottom of the support base (10). The bottom fixing plate (11) is detachably installed on the support plate (251).

3. The integrated high and low voltage remote power outage and restoration and robot collaborative inspection device according to claim 2, characterized in that: A buffer rubber pad (26) is provided on the upper surface of the support plate (251), and the bottom fixing plate (11) is pressed against the buffer rubber pad (26).

4. The integrated device for high and low voltage remote power outage and restoration and robot collaborative inspection as described in claim 1, characterized in that: Two symmetrical fixing protrusions (201) are fixedly installed on the plates at both ends of the guide rail (20). A shock-absorbing component (3) is provided below the two guide rails (20). The shock-absorbing component (3) includes a bottom beam seat (30). The fixing protrusions (201) are detachably installed on the upper surface of the bottom beam seat (30).

5. The integrated device for high and low voltage remote power outage and restoration and robot collaborative inspection according to claim 4, characterized in that: The bottom beam seat (30) is equipped with a plurality of damping shock absorbers (31), and the bottom of the damping shock absorber (31) is fixedly mounted with a fixed base (311), which is fixedly mounted on an external base.

6. The integrated high and low voltage remote power outage and restoration and robot collaborative inspection device according to claim 5, characterized in that: A rubber pad (33) is provided on the upper surface of the bottom beam seat (30), and the guide rail (20) is pressed against the rubber pad (33).

7. The integrated high and low voltage remote power outage and restoration and robot collaborative inspection device according to claim 6, characterized in that: Multiple vertically arranged guide posts (32) are fixedly installed on the upper surface of the bottom beam seat (30). Multiple guide assembly holes (34) are provided on the rubber pad (33). The guide posts (32) are located in the guide assembly holes (34) and are inserted into the guide assembly holes (34).

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