A 220kV booster substation indoor rail-mounted inspection robot

Abstract

This utility model belongs to the field of inspection robot technology and discloses an indoor rail-mounted inspection robot for a 220KV step-up substation. The utility model includes a guide rail and a robotic arm. A drive assembly for moving the robotic arm is slidably connected inside the guide rail. A storage box is installed at the lower end of the drive assembly, and a base is installed on the top of the inner wall of the storage box. The robotic arm is mounted on the lower surface of the base. An adjustment assembly for multi-angle inspection equipment is installed at the end of the robotic arm away from the storage box. A cleaning assembly for cleaning particles accumulated on the outer surface of the adjustment assembly is installed on the top of the inner wall of the storage box. A filter assembly is rotatably connected inside the cleaning assembly. By activating the adjustment assembly, the inspection equipment inside the adjustment assembly rotates, allowing the adjustment assembly to adjust the shooting angle during use, thereby expanding the inspection range of the adjustment assembly and avoiding blind spots during inspection, thus improving the reliability of the device during use.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, specifically to an indoor rail-mounted inspection robot for a 220KV booster substation. Background Technology

[0002] In the indoor environment of a 220KV step-up substation, the rail-mounted inspection robot undertakes the task of real-time monitoring of key parts such as high-voltage equipment, line connections, and instrument readings. The comprehensiveness of its inspection range and the cleanliness of the camera directly affect the accuracy of equipment fault diagnosis.

[0003] However, traditional rail-mounted inspection robots often use cameras installed at fixed angles or with manual adjustment. When faced with complex station layouts (such as multi-layer switchgear and multi-level busbar bridges), the limited shooting angle can easily create blind spots, preventing the effective capture of details of some equipment and increasing the risk of missing potential faults. At the same time, the air inside the station often contains dust, moisture, and trace amounts of oil from equipment operation. The camera lens is exposed to this environment for a long time, which can easily accumulate pollutants, causing blurred images and reduced recognition accuracy. Existing robot cleaning methods mostly rely on manual periodic wiping or fixed brush cleaning. Manual wiping requires interrupting the inspection process and poses safety hazards due to working at height. Fixed brushes are difficult to adapt to the multi-angle rotation of the camera, resulting in limited cleaning effectiveness. Especially when the camera lens is stained with stubborn stains, incomplete cleaning can affect the reliability of the inspection.

[0004] To address this, an indoor rail-mounted inspection robot for 220KV booster substations is proposed. Utility Model Content

[0005] The purpose of this invention is to provide an indoor rail-mounted inspection robot for a 220KV booster substation, in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] An indoor rail-mounted inspection robot for a 220kV substation includes a guide rail and a robotic arm. A drive assembly for moving the robotic arm is slidably connected inside the guide rail. A storage box is mounted at the lower end of the drive assembly. A base is mounted on the top inner wall of the storage box. The robotic arm is mounted on the lower surface of the base. An adjustment assembly for multi-angle inspection is mounted at the end of the robotic arm away from the storage box. A cleaning assembly for cleaning particles accumulated on the outer surface of the adjustment assembly is mounted on the top inner wall of the storage box. A filter assembly is rotatably connected inside the cleaning assembly.

[0008] Furthermore, the adjustment assembly includes a connecting shell, which is installed at the end of the robotic arm away from the storage box. The camera body is rotatably connected inside the connecting shell, and a cleaning sponge is installed on the top of the inner wall of the connecting shell, with the cleaning sponge positioned along the rotation path of the camera body.

[0009] Furthermore, the drive assembly includes a motor mounted on the front of the storage box. Multiple sets of rollers are rotatably connected to the upper surface of the storage box, and all sets of rollers are slidably connected inside the guide rail. The output shaft of the motor passes through the storage box and is equipped with a gear. The external teeth of the gear are meshed with a rack, and the rack is installed inside the guide rail.

[0010] Furthermore, the cleaning component includes an airbag mounted on the top of the inner wall of the storage box, a connecting pipe being installed at the exhaust end of the airbag, an air nozzle being installed on the inner wall of the storage box, and the exhaust end of the connecting pipe being installed inside the air inlet of the air nozzle.

[0011] Furthermore, the filter assembly includes a fixed frame, which is rotatably connected to the inside of the air nozzle. A filter screen is installed inside the fixed frame, and the inner wall of the fixed frame is attached to the inner wall of the air nozzle.

[0012] Furthermore, the airbag is inlaid with a nickel-titanium alloy memory strip.

[0013] The beneficial effects of this utility model are as follows:

[0014] 1. This utility model involves installing the adjustment component at the end of the robotic arm furthest from the storage box. The operator activates the electromagnetic ring to rotate the magnetic rod, which in turn drives the camera body to rotate inside the connecting shell. This allows the camera body to adjust its shooting angle, expanding its inspection range and preventing blind spots during equipment inspection, thus improving the device's reliability. Furthermore, by activating the electromagnetic ring to drive the magnetic rod, the camera body is rotated and placed against the lower surface of the cleaning sponge. As the camera body rotates, the cleaning sponge continuously wipes the camera body's mirror surface, preventing dust accumulation from affecting normal inspection.

[0015] 2. This utility model installs an airbag on the top of the inner wall of the storage box. At this time, the airbag is positioned on the rotation and reset path of the adjustment component. When the robotic arm drives the adjustment component to reset to the storage box, it squeezes the airbag, and the gas accumulated inside the airbag is transported along the connecting tube to the inside of the air nozzle. Then, because the camera body is located on one side of the air nozzle, the air nozzle blows away the particles accumulated on the surface of the camera body mirror when it sprays gas. This avoids the cleaning sponge from moving the particles on the mirror surface when cleaning the camera body mirror surface, which would cause the camera body mirror surface to be scratched by the particles. Attached Figure Description

[0016] Figure 1 This is a front structural diagram of the robotic arm of this utility model;

[0017] Figure 2 This is a schematic diagram of the top structure of the storage box of this utility model;

[0018] Figure 3 This is a schematic diagram of the bottom structure of the storage box of this utility model;

[0019] Figure 4 This is a schematic diagram of the bottom structure of the guide rail of this utility model;

[0020] Figure 5 This is a side view of the filter assembly of this utility model;

[0021] Figure 6 This is a side view of the adjustment component of this utility model.

[0022] Reference numerals: 1. Guide rail; 2. Drive assembly; 201. Motor; 202. Rotating rod; 203. Roller; 204. Fixing rod; 205. Gear; 206. Rack; 3. Storage box; 4. Base; 5. Adjustment assembly; 501. Connecting shell; 502. Camera body; 503. Cleaning sponge; 504. Magnetic rod; 505. Electromagnetic ring; 6. Robotic arm; 7. Cleaning assembly; 701. Airbag; 702. Connecting tube; 703. Positioning block; 704. Air nozzle; 801. Fixing frame; 802. Filter screen; 9. Nickel-titanium alloy memory strip. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0025] like Figures 1 to 5 As shown, a 220kV booster substation indoor rail-mounted inspection robot includes a guide rail 1 and a robotic arm 6. A drive assembly 2 for moving the robotic arm 6 is slidably connected inside the guide rail 1. A storage box 3 is installed at the lower end of the drive assembly 2. A base 4 is installed on the top of the inner wall of the storage box 3. The robotic arm 6 is mounted on the lower surface of the base 4. An adjustment assembly 5 for multi-angle inspection is installed at the end of the robotic arm 6 away from the storage box 3. A cleaning assembly 7 for cleaning particles accumulated on the outer surface of the adjustment assembly 5 is installed on the top of the inner wall of the storage box 3. The cleaning assembly 7... The unit is rotatably connected to a filter assembly; specifically, by activating the adjustment assembly 5, the internal inspection device of the adjustment assembly 5 is driven to rotate, allowing the adjustment assembly 5 to adjust the shooting angle during use, thereby expanding the inspection range of the adjustment assembly 5 and avoiding blind spots when the adjustment assembly 5 is inspecting the equipment, thus improving the reliability of the device during use; while activating the adjustment assembly 5 to drive the internal inspection device to rotate, the internal mirror surface of the adjustment assembly 5 is wiped, preventing dust accumulation on the surface of the internal mirror surface of the adjustment assembly 5 from affecting the normal inspection of the adjustment assembly 5.

[0026] The adjustment component 5 includes a connecting shell 501, which is installed on the end of the robotic arm 6 away from the storage box 3. A camera body 502 is rotatably connected inside the connecting shell 501. A cleaning sponge 503 is installed on the top of the inner wall of the connecting shell 501, positioned along the rotation path of the camera body 502. Grooves are formed on both the front and rear inner walls of the connecting shell 501. A magnetic rod 504 is rotatably connected inside the grooves of the connecting shell 501. An electromagnetic ring 505 is installed on the inner wall of the grooves of the connecting shell 501, and the electromagnetic ring 505 is sleeved on the outer end of the magnetic rod 504. The input end of the electromagnetic ring 505 is electrically connected to the output end of the robotic arm 6. Specifically, by installing the adjustment component 5 on the end of the robotic arm 6 away from the storage box 3, the operator can activate the electromagnetic ring 505 to drive the magnetic rod 504. The rotation of rod 504 causes the magnetic rod 504 to drive the camera body 502 to rotate inside the connecting shell 501, thereby allowing the camera body 502 to adjust its shooting angle during use. This expands the inspection range of the camera body 502, avoids blind spots when inspecting equipment, and improves the reliability of the device. By activating the electromagnetic ring 505, the magnetic rod 504 is driven to rotate the camera body 502, causing the mirror surface of the camera body 502 to rotate and adhere to the lower surface of the cleaning sponge 503. As the camera body 502 continues to rotate, the cleaning sponge 503 wipes the mirror surface of the camera body 502, preventing dust accumulation on the mirror surface from affecting the normal inspection of the camera body 502.

[0027] The drive assembly 2 includes a motor 201, which is mounted on the front of the storage box 3. Multiple sets of rollers 203 are rotatably connected to the upper surface of the storage box 3, and these rollers 203 are slidably connected inside the guide rail 1. The output shaft of the motor 201 passes through the storage box 3 and is fitted with a gear 205. The external teeth of the gear 205 mesh with a rack 206, which is mounted inside the guide rail 1. Two sets of sliding grooves are formed on the lower surface of the guide rail 1, and the four sets of rollers 203 are slidably connected inside the two sets of sliding grooves. A through hole is formed on the front of the storage box 3, and a fixing rod 204 is mounted through the through hole of the motor 201. The gear 205 is mounted on the outer surface of the fixing rod 204. A positioning groove is formed on the upper surface of the storage box 3, and the gear 205 is positioned inside the positioning groove of the storage box 3. The upper surface of the storage box 3 has four sets of grooves. The interior of each of the four sets of grooves is rotatably connected to a rotating rod 202, and rollers 203 are installed at the top of the rotating rods 202. Specifically, by installing the four sets of rollers 203 into the two sets of sliding grooves of the guide rail 1, the operator turns on the motor 201. The output shaft of the motor 201 rotates, driving the fixed rod 204 to rotate. The fixed rod 204 then drives the gear 205 to rotate. Since the gear 205 is meshed with the lower end of the rack 206, the gear 205 will move along the length of the rack 206 during rotation, thereby driving the storage box 3 to move synchronously. At this time, the four sets of rollers 203 connected to the upper surface of the storage box 3 through the rotating rods 202 will roll in the two sets of sliding grooves of the guide rail 1, realizing the smooth movement of the storage box 3, and finally completing the position adjustment of the adjustment component 5 at the lower end of the guide rail 1.

[0028] The cleaning component 7 includes an airbag 701, which is installed on the top of the inner wall of the storage box 3. A connecting pipe 702 is installed at the exhaust end of the airbag 701. An air nozzle 704 is installed on the inner wall of the storage box 3. The exhaust end of the connecting pipe 702 is installed inside the air inlet of the air nozzle 704. A positioning block 703 is installed on the inner wall of the storage box 3. A groove is formed on the side of the positioning block 703 away from the inner wall of the storage box 3. The air nozzle 704 is installed inside the groove of the storage box 3. A through hole is formed on the upper surface of the storage box 3. The exhaust end of the connecting pipe 702 passes through the through hole inside the positioning block 703 and is installed inside the air inlet of the air nozzle 704. Specifically, by installing the airbag 701 on the storage box... At the top of the inner wall of 3, the airbag 701 is located on the rotation reset path of the adjustment component 5. When the robotic arm 6 drives the adjustment component 5 to reset to the storage box 3, it squeezes the airbag 701, and the gas accumulated inside the airbag 701 is transported along the connecting pipe 702 to the inside of the air nozzle 704. Then, the position of the camera body 502 is located on one side of the air nozzle 704, so that when the air nozzle 704 sprays out gas, it blows away the particles accumulated on the mirror surface of the camera body 502. This avoids the cleaning sponge 503 from moving the particles on the mirror surface when cleaning the mirror surface of the camera body 502, which would cause the mirror surface of the camera body 502 to be scratched by the particles.

[0029] The filter assembly includes a fixed frame 801, which is rotatably connected to the inside of an air nozzle 704. A filter screen 802 is installed inside the fixed frame 801. The inner wall of the fixed frame 801 is fitted to the inner wall of the air nozzle 704. A groove is formed at the bottom of the inner wall of the air nozzle 704, and the fixed frame 801 is elastically rotatably connected to the groove of the air nozzle 704. Specifically, by rotatably connecting the fixed frame 801 to the groove of the air nozzle 704, the filter screen 802 is installed inside the exhaust end of the air nozzle 704, allowing the filter screen 802 to filter the air drawn into the air nozzle 704. The filter is designed to prevent particulate matter from being drawn into the nozzle 704, which could cause the cleaning component 7 to impact the mirror inside the adjustment component 5 during air jet cleaning. The fixed frame 801 is rotatably connected to the groove inside the nozzle 704, so that when the nozzle 704 blows air, it blows the filter screen 802, causing the fixed frame 801 to rotate and blow the filter component out of the air blowing path of the nozzle 704, thus preventing the filter component from affecting the normal air blowing of the nozzle 704. The fixed frame 801 is elastically rotatably connected to the groove inside the nozzle 704, so that the fixed frame 801 automatically resets after rotation.

[0030] The airbag 701 is inlaid with a nickel-titanium alloy memory strip 9. Specifically, by inlaying the nickel-titanium alloy memory strip 9 into the airbag 701, when the robotic arm 6 drives the adjustment component 5 to move out of the storage box 3, the nickel-titanium alloy memory strip 9 uses its own rebound characteristics to drive the outer wall of the airbag 701 to reset, so that the airbag 701 can automatically reset and inhale after use, thus preventing the airbag 701 from being unusable again.

[0031] In summary: By installing the adjustment component 5 onto the end of the robotic arm 6 furthest from the storage box 3, the operator can activate the electromagnetic ring 505 to rotate the magnetic rod 504. This rotation of the magnetic rod 504 simultaneously drives the camera body 502 to rotate inside the connecting shell 501, allowing the camera body 502 to adjust its shooting angle and thus expanding its inspection range. Furthermore, by activating the electromagnetic ring 505 to drive the magnetic rod 504 to rotate the camera body 502, the mirror surface of the camera body 502 rotates and adheres to the lower surface of the cleaning sponge 503. This allows the cleaning sponge 503 to wipe the mirror surface of the camera body 502 as it continues to rotate.

[0032] Meanwhile, by installing the airbag 701 on the top of the inner wall of the storage box 3, the position of the airbag 701 is located on the rotation reset path of the adjustment component 5. When the robotic arm 6 drives the adjustment component 5 to reset to the storage box 3, it squeezes the airbag 701, and the gas accumulated inside the airbag 701 is transported along the connecting pipe 702 to the inside of the air nozzle 704. Then, because the position of the camera body 502 is located on one side of the air nozzle 704, the air nozzle 704 blows away the particles accumulated on the mirror surface of the camera body 502 when it sprays out gas.

[0033] 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 principles of this 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 220KV step-up substation indoor rail-mounted inspection robot, comprising a guide rail (1) and a robotic arm (6), characterized in that: The guide rail (1) is internally slidably connected to a drive assembly (2) for moving the robotic arm (6). A storage box (3) is installed at the lower end of the drive assembly (2). A base (4) is installed on the top of the inner wall of the storage box (3). The robotic arm (6) is installed on the lower surface of the base (4). An adjustment assembly (5) for multi-angle inspection equipment is installed at the end of the robotic arm (6) away from the storage box (3). A cleaning assembly (7) for cleaning particles accumulated on the outer surface of the adjustment assembly (5) is installed on the top of the inner wall of the storage box (3). A filter assembly is rotatably connected inside the cleaning assembly (7).

2. The indoor rail-mounted inspection robot for a 220KV step-up substation according to claim 1, characterized in that: The adjustment component (5) includes a connecting shell (501), which is installed on the end of the robotic arm (6) away from the storage box (3). The camera body (502) is rotatably connected inside the connecting shell (501). A cleaning sponge (503) is installed on the top of the inner wall of the connecting shell (501), and the cleaning sponge (503) is located on the rotation path of the camera body (502).

3. The indoor rail-mounted inspection robot for a 220KV step-up substation according to claim 1, characterized in that: The drive assembly (2) includes a motor (201), which is mounted on the front of the storage box (3). Multiple sets of rollers (203) are rotatably connected to the upper surface of the storage box (3). The multiple sets of rollers (203) are slidably connected inside the guide rail (1). The output shaft of the motor (201) passes through the storage box (3) and is equipped with a gear (205). The external teeth of the gear (205) are meshed with a rack (206), which is mounted inside the guide rail (1).

4. The indoor rail-mounted inspection robot for a 220KV step-up substation according to claim 1, characterized in that: The cleaning component (7) includes an airbag (701) installed on the top of the inner wall of the storage box (3). A connecting pipe (702) is installed at the exhaust end of the airbag (701). An air nozzle (704) is installed on the inner wall of the storage box (3). The exhaust end of the connecting pipe (702) is installed inside the air inlet of the air nozzle (704).

5. The indoor rail-mounted inspection robot for a 220KV step-up substation according to claim 4, characterized in that: The filter assembly includes a fixed frame (801) which is rotatably connected to the inside of the air nozzle (704). A filter screen (802) is installed inside the fixed frame (801), and the inner wall of the fixed frame (801) is attached to the inner wall of the air nozzle (704).

6. The indoor rail-mounted inspection robot for a 220KV step-up substation according to claim 4, characterized in that: The airbag (701) is inlaid with a nickel-titanium alloy memory strip (9).

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