Weeding robot suitable for the electrified environment within the filter enclosure of a converter station

Abstract

This invention provides a weeding robot suitable for the electrified environment within the filter enclosure of a converter station. The robot body comprises two parts: a first shell and a second shell. Each shell has a set of drive wheels at its lower part. The first and second shells can rotate relative to each other via a suspension mechanism, allowing the two sets of drive wheels to move independently in different planes. This invention connects the first and second shells via a suspension mechanism, enabling the two sets of drive wheels to move independently in different planes. This effectively adapts to the uneven terrain of the converter station, significantly reducing the risk of slippage, tilting, and overturning when the weeding robot travels on bumpy surfaces, ensuring continuous and safe operation.

Description

Technical Field

[0001] This utility model relates to the field of electrified weeding technology in converter stations, specifically to a weeding robot suitable for electrified environments within filter enclosures of converter stations. Background Technology

[0002] Converter stations are key facilities in power systems that enable the conversion between AC and DC power. Their safe and stable operation is of paramount importance. In the daily maintenance of converter stations, weeding within the filter enclosure is an essential task. Summer, when vegetation grows rapidly, is often a peak electricity consumption period, and power outage windows are limited. Applying for weeding after a filter outage is usually time-consuming, labor-intensive, and not always approved. Therefore, there is an urgent need for a device for live weeding within the filter enclosure.

[0003] In existing technologies, most converter station weeding robots do not limit the robot's height. This can lead to insufficient safe distance between the robot and the live equipment when weeding within the fenced area, resulting in serious consequences such as the equipment discharging and tripping the circuit breaker.

[0004] The converter station site contains various complex terrains (due to equipment layout, cable laying, etc.), and the ground often has many bumpy and uneven areas. However, existing weeding robots are prone to instability during operation due to road bumps, resulting in slippage, tilting, and even overturning (because existing weeding robots are equipped with control modules, such as the control principle of sweeping robots, which can automatically weed the areas that need weeding after scanning the site, but after overturning, they need to be manually lifted out). This affects the efficiency and effectiveness of weeding operations and cannot meet the actual needs of weeding operations at the converter station. Utility Model Content

[0005] In view of this, this utility model provides a weeding robot suitable for the electrified environment within the filter enclosure of a converter station. A suspension mechanism connects the first and second housings, allowing the two sets of drive wheels to move independently in different planes. This effectively adapts to the uneven terrain of the converter station, significantly reducing the risk of slippage, tilting, and overturning when the weeding robot travels on bumpy surfaces, ensuring operational continuity and safety. Simultaneously, it limits the overall height of the weeding robot to prevent insufficient safe distance between the robot and the equipment during weeding, which could lead to power outages.

[0006] To solve the above-mentioned technical problems, this utility model provides a weeding robot suitable for the electrified environment within the filter enclosure of a converter station. The robot body consists of two parts: a first shell and a second shell. The first shell contains a weeding module for removing weeds. The second shell contains a drive module, a control module, and a battery module for driving the four wheels and controlling the robot body. The upper surfaces of the first and second shells are on the same plane. Each of the first and second shells has a set of drive wheels at its lower part, with each set consisting of two wheels; that is, wheels are symmetrically arranged at the lower parts of both the first and second shells.

[0007] The first housing and the second housing are connected by a suspension mechanism. After connection, the first housing (101) and the second housing (102) can rotate relative to each other through the suspension mechanism. Specifically, the suspension mechanism enables the two ends of the first housing and the second housing to rotate relative to each other in the vertical direction with the suspension mechanism as the center (for example, when the wheels of the first housing pass over a bumpy road, the first housing tilts to one side, that is, the two wheels of the first housing are not on the same plane, while the two wheels of the second housing that have not passed over a bumpy road will remain unchanged, that is, the two wheels of the second housing are on the same plane, and vice versa). This allows the two sets of drive wheels to move independently in different planes to adapt to the undulations of the complex ground of the converter station and improve the driving stability of the weeding robot body on bumpy roads.

[0008] The suspension mechanism includes a first mounting block at the bottom of a first housing and a second mounting block at the bottom of a second housing, which are bolted together. The first and second mounting blocks are respectively mounted on a fixed shaft and are rotatable around the fixed shaft. Specifically, the first and second mounting blocks are respectively mounted on the fixed shaft using radial bearings. Alternatively, a first thrust bearing is provided between the first and second mounting blocks.

[0009] Both the first and second mounting blocks have mounting holes. During installation, the fixed shaft passes through the mounting holes, and a limit block is fixedly connected to the end of the fixed shaft away from the first mounting block to prevent the fixed shaft from coming out of the mounting holes. A fastener is provided at the end of the fixed shaft near the first mounting block to enable the fixed shaft to be disassembled, installed, and locked, and to increase the stability of the connection between the first and second mounting blocks.

[0010] The fastener is a nut, which is connected to one end of the fixed shaft through a threaded connection. Tightening the nut clamps and fixes the first and second mounting blocks.

[0011] A second thrust bearing is provided between the nut and the vertical surface of one side of the first mounting block. The second thrust bearing is sleeved on the fixed shaft to reduce the frictional resistance between the nut and the first mounting block and improve the sensitivity of the suspension mechanism when rotating.

[0012] Mounting grooves are provided on both vertical surfaces of the first mounting block. The first thrust bearing and the second thrust bearing are respectively embedded in the corresponding mounting grooves to limit the first thrust bearing and the second thrust bearing, prevent the first thrust bearing and the second thrust bearing from coming out during use, and shorten the connection distance between the first housing and the second housing to optimize the compactness of the overall structure.

[0013] The first mounting block is installed on the bottom of the first housing via a pad. The second mounting block has symmetrically inserted limit bolts on one side, with one end of the limit bolts extending to the bottom of the pad and fixed by nuts. This is used to limit the excessive flipping of the first housing on bumpy roads and ensure the stability of the weeding robot body during its movement.

[0014] The beneficial effects of the above-mentioned technical solution of this utility model are as follows:

[0015] 1. Improve driving stability in complex terrain: The suspension mechanism connects the first and second housings, allowing the two sets of drive wheels to move independently in different planes. This effectively adapts to the undulations of the converter station ground, significantly reducing the risk of slippage, tilting, and rollover when the weeding robot is driving on bumpy roads, ensuring the continuity and safety of operations.

[0016] 2. Enhance the support capacity of the suspension mechanism: Thrust bearings are used as the first and second thrust bearings, which can withstand the vertical force generated when the shell rotates, improve the support capacity of the suspension mechanism for the weight of the robot body, and ensure structural stability and reliability.

[0017] 3. Enables rapid disassembly and maintenance: The fixed shaft and nut fasteners can quickly clamp and fix the first and second mounting blocks by tightening the nut, which not only meets the requirements for connection stability, but also facilitates disassembly and assembly during later maintenance, reducing maintenance costs and improving assembly efficiency.

[0018] 4. Optimize rotation sensitivity and durability: A second thrust bearing is set between the nut and the first mounting block to effectively reduce frictional resistance during relative rotation, making the suspension mechanism more responsive and the housing able to quickly adapt to ground undulations; at the same time, it avoids excessive wear of parts and extends service life.

[0019] 5. Limiting excessive rotation to ensure balance: The second mounting block, through the cooperation of the limit bolt and the pad, can limit the excessive rotation of the first housing when it is bumpy and overturned, preventing imbalance or wheel suspension caused by the shift of the center of gravity, and further improving driving stability in complex terrain.

[0020] 6. Compact structure and reliable limiting: The mounting groove design of the first mounting block realizes the embedded limiting of the bearing, prevents the bearing from falling out and shortens the connection distance of the housing, optimizes the overall structural compactness, and at the same time maintains the coaxiality of the bearing and the fixed shaft, ensuring the long-term stable operation of the suspension mechanism. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the overall structure of the other side of this utility model;

[0023] Figure 3 For the present utility model Figure 2 A partially enlarged structural diagram;

[0024] Figure 4 This is a schematic diagram of the suspension mechanism structure of this utility model;

[0025] Figure 5 This is a schematic diagram of the suspension mechanism on the other side of this utility model;

[0026] Figure 6 This is a cross-sectional view of the suspension mechanism of this utility model.

[0027] In the figure: 101, first housing; 102, second housing; 103, first mounting block; 104, second mounting block; 105, first thrust bearing; 201, fixed shaft; 202, limiting block; 301, nut; 401, second thrust bearing; 501, pad; 502, limiting bolt. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the following will be described in conjunction with the accompanying drawings of the embodiments of this utility model. Figure 1-6 The technical solutions of the embodiments of this utility model are clearly and completely described herein. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model are within the protection scope of this utility model.

[0029] A weeding robot suitable for the electrified environment within the filter enclosure of a converter station, such as... Figure 1 , 2As shown: This includes the main body of the weeding robot. The overall height of the main body of the weeding robot is less than 10cm, ensuring that the main body of the weeding robot can enter the fence through the bottom gap and work inside, avoiding the safety hazards caused by opening the fence door (such as: possible electric shock due to accidental contact with high-voltage components; opening the door may bring in foreign objects such as dust and leaves, which may accumulate on the surface or inside the equipment, causing poor heat dissipation, reduced insulation performance, or even short circuits). The main body of the weeding robot consists of two parts: a first shell 101 and a second shell 102. The first shell 101 is equipped with a weeding module for removing weeds, and the second shell 102 is equipped with a drive module, a control module, and a battery module, which are used to drive the four wheels and control the main body of the weeding robot.

[0030] The upper surfaces of the first housing 101 and the second housing 102 are set on the same plane, so that they can pass smoothly when entering the narrow gap under the fence. The lower part of the first housing 101 and the second housing 102 is provided with a set of drive wheels, and each set of drive wheels includes two wheels, that is, the lower part of the first housing 101 and the second housing 102 are symmetrically provided with wheels.

[0031] like Figure 1 , 2 As shown: The first housing 101 and the second housing 102 are connected by a suspension mechanism. The suspension mechanism allows the two ends of the first housing 101 and the second housing 102 to rotate relative to each other in the vertical direction with the suspension mechanism as the center (for example, when the wheels of the first housing 101 pass over a bumpy road, the first housing 101 tilts to one side, that is, the two wheels of the first housing 101 are not on the same plane, while the two wheels of the second housing 102 that have not passed over a bumpy road will remain unchanged, that is, the two wheels of the second housing 102 are on the same plane, and vice versa). This allows the two sets of drive wheels to move independently in different planes to adapt to the undulations of the complex ground of the converter station and improve the driving stability of the weeding robot body on bumpy roads.

[0032] like Figure 3 , 4 As shown in Figure 5, the suspension mechanism includes a first mounting block 103, a second mounting block 104, and a fixed shaft 201. The first mounting block 103 is vertically connected to the bottom of the first housing 101 by bolts, and the second mounting block 104 is vertically connected to the bottom of the second housing 102 by bolts. The first mounting block 103 and the second mounting block 104 are respectively mounted on the fixed shaft 201, and the first mounting block 103 and / or the second mounting block 104 can rotate around the fixed shaft 201.

[0033] Specifically, a first thrust bearing 105 is provided between the first mounting block 103 and the second mounting block 104 (the two sides of the first thrust bearing 105 can be fixedly connected between the first mounting block 103 and the second mounting block 104, so that the first mounting block 103 and the second mounting block 104 can be fixed).

[0034] When connected using the first thrust bearing 105, the first mounting block 103 and the second mounting block 104 can tilt to both sides under the action of the first thrust bearing 105. This allows the first housing 101 and the second housing 102 to automatically adjust to uneven road surfaces when encountering bumpy roads through the adaptive adjustment capability of the first thrust bearing 105. This enables the weeding robot body to be suitable for various complex road surfaces and to drive normally, preventing the weeding robot body from slipping, tilting, or tipping over.

[0035] In this embodiment, a first thrust bearing 105 is used to withstand the vertical force generated when the first housing 101 and the second housing 102 rotate, thereby improving the suspension mechanism's ability to support the weight of the weeding robot. Of course, in practical applications, the first mounting block 103 and the second mounting block 104 can also be mounted on the fixed shaft 201 using radial bearings, with the inner ring of the radial bearing fixed to the fixed shaft and the outer ring fixedly connected to the mounting block, thus achieving relative rotation as well.

[0036] like Figure 4 , 5 As shown: Both the first mounting block 103 and the second mounting block 104 are provided with mounting holes, and a fixed shaft 201 is inserted into the mounting holes. The fixed shaft 201 is used to connect the first mounting block 103, the second mounting block 104 and the first thrust bearing 105, so that there will be no gap between the first mounting block 103, the second mounting block 104 and the first thrust bearing 105 during use, and to prevent jamming when the first mounting block 103 and the second mounting block 104 rotate.

[0037] A limiting block 202 is fixedly connected to the end of the fixed shaft 201 away from the first mounting block 103 (the limiting block 202 can also be fixedly installed at both ends of the fixed shaft 201 to improve the connection effect of the fixed shaft 201 with the first mounting block 103, the second mounting block 104 and the first thrust bearing 105), which is used to prevent the fixed shaft 201 from coming out of the mounting hole.

[0038] like Figure 5 , 6As shown: A fastener is provided at one end of the fixed shaft 201 near the first mounting block 103 to enable quick disassembly and locking of the fixed shaft 201, and to increase the stability of the connection between the first mounting block 103 and the second mounting block 104. (The fastener can be a snap-on quick-release structure: using the deformation of elastic material (such as metal spring or engineering plastic) to achieve locking, and the fixed shaft 201 can be released by pressing or flipping the snap; or a quick-release pin can be used: a pin with a handle, one end of which is provided with a spring lock or a limiting boss, and the other end is fixed through a pin hole. During operation, the pin can be quickly pulled out by pressing the handle or flipping the lock to disassemble the fixed shaft 201.)

[0039] Further fasteners are used, such as nuts 301. Nuts 301 are connected to one end of the fixed shaft 201 by thread engagement. Tightening nuts 301 clamps and fixes the first mounting block 103 and the second mounting block 104. Since nuts 301 are standard mechanical connection parts, they are not easy to loosen during bumps and vibrations, which improves the connection reliability of the suspension mechanism. In addition, the procurement cost is low, which facilitates mass production and later maintenance and replacement.

[0040] The first mounting block 103, the second mounting block 104, and the first thrust bearing 105 are connected by the fixed shaft 201 and the nut 301, which facilitates subsequent maintenance and disassembly, and improves the maintenance and assembly speed.

[0041] like Figure 4 , 5 As shown in Figure 6: A second thrust bearing 401 is provided between the nut 301 and the vertical surface of one side of the first mounting block 103. The second thrust bearing 401 is sleeved on the fixed shaft 201. The second thrust bearing 401 is provided to reduce the frictional resistance between the nut 301 and the first mounting block 103 and improve the sensitivity of the suspension mechanism when rotating. (The second thrust bearing 401 is sleeved on the fixed shaft 201. When the first housing 101 and the second housing 102 rotate relative to each other due to the undulation of the ground, the nut 301 and the first mounting block 103 will generate a relative motion tendency, so that the two housings can rotate relative to each other more smoothly in the vertical direction, thereby allowing the wheels to adapt to the undulation of the ground more quickly and improving the driving stability of the robot on bumpy roads).

[0042] The second thrust bearing 401 also protects the first mounting block 103 and the nut 301, extending their service life. Specifically, it prevents long-term friction between the nut 301 and the first mounting block 103, thus preventing excessive wear on the contact surfaces. The second thrust bearing 401 is used to withstand the vertical force generated when the first housing 101 and the second housing 102 rotate, enhancing the suspension mechanism's ability to support the weight of the weeding robot.

[0043] like Figure 6As shown: Mounting grooves are provided on both vertical surfaces of the first mounting block 103. The size and shape of the mounting grooves are adapted to the first thrust bearing 105 and the second thrust bearing 401. The first thrust bearing 105 and the second thrust bearing 401 are respectively embedded in the corresponding mounting grooves to limit the first thrust bearing 105 and the second thrust bearing 401, prevent the first thrust bearing 105 and the second thrust bearing 401 from coming out during use, and shorten the connection distance between the first housing 101 and the second housing 102 to optimize the compactness of the overall structure.

[0044] By designing an installation groove on the first mounting block 103, the bearing can be embedded and limited, preventing the bearing from coming out and shortening the housing connection distance, thus optimizing the overall structural compactness. At the same time, it maintains the coaxiality of the bearing and the fixed shaft, extends the service life of the first thrust bearing 105 and the second thrust bearing 401, and ensures the long-term stable operation of the suspension mechanism.

[0045] like Figure 3 , 5 As shown in Figure 6: The first mounting block 103 is mounted on the bottom of the first housing 101 via the pad 501. The second mounting block 104 has symmetrically inserted limit bolts 502 on one side. One end of the limit bolt 502 extends to the bottom of the pad 501 and is fixed by the limit nut. The cooperation between the limit bolt (502) and the pad (501) is used to limit the excessive flipping of the first housing 101 on bumpy roads and ensure the stability of the weeding robot body during its movement.

[0046] Because the suspension mechanism allows the first housing 101 and the second housing 102 to rotate relative to each other in the vertical direction to adapt to the undulation of the ground, but when the road surface is bumpy, the housing may shift its center due to excessive rotation, or even tip over. Therefore, a limit bolt 502 is set in conjunction with a pad 501. When the first housing 101 is rotated to a certain angle, the limit bolt 502 will contact the pad 501 to prevent it from continuing to rotate, thus avoiding the weeding robot body from becoming unbalanced or the wheels from being suspended in the air due to excessive tilting, and further ensuring the driving stability in complex terrain.

[0047] Furthermore, it should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0048] The above description is the preferred embodiment of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

Claims

1. A weeding robot suitable for use in a live environment within a filter fence of a converter station, comprising a weeding robot body, characterised in that: The weeding robot body includes a first shell (101) and a second shell (102), and a set of drive wheels is provided at the lower part of both the first shell (101) and the second shell (102); The first housing (101) and the second housing (102) are connected by a suspension mechanism. The first housing (101) and the second housing (102) can rotate relative to each other through the suspension mechanism, so that the two sets of drive wheels can move independently in different planes.

2. The weeding robot suitable for use in a live environment within a filter fence of a converter station according to claim 1, characterized in that: The suspension mechanism includes a first mounting block (103) disposed at the bottom of the first housing (101), a second mounting block (104) disposed at the bottom of the second housing (102), and a fixed shaft (201). The first mounting block (103) and the second mounting block (104) are respectively mounted on the fixed shaft (201), and the first mounting block (103) and / or the second mounting block (104) can rotate around the fixed shaft (201).

3. The weeding robot suitable for use in a live environment within a filter fence of a converter station according to claim 2, characterized in that: The first mounting block (103) and the second mounting block (104) are respectively mounted on the fixed shaft by radial bearings.

4. The weeding robot suitable for use in a live environment within a filter fence of a converter station according to claim 2, characterized in that: A first thrust bearing (105) is provided between the first mounting block (103) and the second mounting block (104).

5. The weeding robot suitable for use in a live environment within a filter fence of a converter station according to claim 4, characterized in that: Both the first mounting block (103) and the second mounting block (104) have mounting holes for the fixed shaft (201). A limit block (202) is provided at the end of the fixed shaft (201) away from the first mounting block (103) to prevent the fixed shaft (201) from coming out of the mounting hole. A fastener is provided at the end of the fixed shaft (201) close to the first mounting block (103) to realize the disassembly, assembly and locking of the fixed shaft (201).

6. The weeding robot suitable for use in a live environment within a filter fence of a converter station according to claim 5, characterized in that: The fastener is a nut (301), which is connected to one end of the fixed shaft (201) by thread engagement. By tightening the nut (301), the first mounting block (103) and the second mounting block (104) are clamped and fixed.

7. The weeding robot suitable for use in a live environment within a filter fence of a converter station according to claim 6, characterized in that: A second thrust bearing (401) is provided between the nut (301) and the vertical surface of one side of the first mounting block (103).

8. The weeding robot suitable for use in a live environment within a filter fence of a converter station according to claim 7, characterized in that: The first mounting block (103) has mounting grooves on both vertical surfaces, and one end of the first thrust bearing (105) and the second thrust bearing (401) are respectively embedded in the corresponding mounting grooves.

9. A weeding robot suitable for use in a live environment within a filter fence of a converter station according to any of claims 2-4, characterized in that: A limiting bolt (502) is symmetrically fixedly installed on one side of the second mounting block (104). One end of the limiting bolt (502) extends to the bottom of the first housing (101) to limit the flipping of the first housing (101).

10. The weeding robot suitable for use in a live environment within a filter fence of a converter station according to claim 9, characterized in that: The first mounting block (103) is installed at the bottom of the first housing (101) through the pad (501). The first housing (101) is limited to rotate by the contact engagement between the limiting bolt (502) and the pad (501).

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