A robot for electrical equipment inspection

Abstract

The utility model discloses an electrical equipment patrols and examines with robot belongs to electrical equipment inspection technical field. The utility model discloses an electrical equipment patrols and examines with robot, including robot base, the top of support seat is installed with fire -extinguishing gas nozzle, and the front end of rotary frame is provided with visual sensor, and the both sides below robot base are provided with non -contact ultrasonic sensor, and the front end of robot base is provided with laser ranging sensor. The utility model solves the problem that the effect of the existing electrical equipment inspection robot on the leakage position sensing is poor, which affects the inspection effect. The utility model can adjust the monitoring of the non -contact ultrasonic sensor according to the actual electrical equipment type. When the robot walks to the vicinity of the switch cabinet and the transformer, these sensors are automatically started, the local discharge signals that cannot be heard by the human ear are captured, the insulation deterioration problem of the high-voltage equipment can be found in advance, predictive maintenance is realized, sudden failure is avoided, the adaptability is good, and the working effect is improved.

Description

Technical Field

[0001] This utility model relates to the field of electrical equipment inspection technology, specifically to a robot for electrical equipment inspection. Background Technology

[0002] During the operation of power facilities, the electrical equipment inside becomes more dangerous after prolonged use. To prevent electrical fires, fire prevention measures must be taken. With the development and progress of social intelligent technology, robots have also been widely used in electrical fire protection.

[0003] Chinese patent CN116492626A discloses an electrical equipment inspection and fire-fighting robot, comprising a body, a motor protective shell fixed to the top of the body, a nozzle housing mounted on the top of the motor protective shell, sensor assemblies mounted on both sides of the nozzle housing and the surface of the body, a hollow shaft motor fixed inside the motor protective shell, the drive end of the hollow shaft motor fixedly connected to the nozzle housing, a partition fixed inside the body, and a fire extinguishing box mounted on the back of the body, containing a pressurized dry powder spray bottle. This patent, through its fixing mechanism, ensures that before spraying fire at the location of the fire, a first electric push rod drives a friction plate and suction cup to contact the robot's track, increasing friction between the robot and the track, thus fixing the robot's position and preventing movement caused by the recoil of the dry powder sprayed during fire extinguishing.

[0004] The electrical equipment inspection robot described in the above patent has poor sensing effect on leakage location during actual use, which affects the inspection effect; therefore, it cannot meet the existing needs. In response, we propose an electrical equipment inspection robot. Summary of the Invention

[0005] The purpose of this utility model is to provide a robot for inspecting electrical equipment, which solves the problem mentioned in the background art that the robot for inspecting electrical equipment has poor sensing effect on leakage location during actual use, thus affecting the inspection effect.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a robot for inspecting electrical equipment, comprising a robot base, a fire extinguishing gas cylinder and a support base disposed on the top of the robot base, a fire extinguishing gas nozzle mounted on the top of the support base, a gas guide pipe and a solenoid valve connected between the fire extinguishing gas nozzle and the fire extinguishing gas cylinder, a steel frame disposed at the front end of the robot base, a rotating frame disposed at the upper end of the steel frame, a vision sensor disposed at the front end of the rotating frame, non-contact ultrasonic sensors disposed on both sides of the lower part of the robot base, and a laser rangefinder sensor disposed at the front end of the robot base.

[0007] Preferably, the bottom of the robot base is provided with electric wheels, and an electric motor is installed at the rear end of the electric wheels. The electric motor and the electric wheels are connected by a speed regulator.

[0008] Preferably, two connecting brackets are installed at the bottom of the robot base. The connecting brackets are slidably connected to the robot base via guide rails, and the non-contact ultrasonic sensor is connected to the connecting brackets via fixing screws.

[0009] Preferably, the bottom of the fire extinguishing gas cylinder is fixedly connected to the robot base, the support base is fixedly connected to the robot base, a motor is installed inside the support base, and the movable frame of the support base, and the motor shaft of the motor is fixedly connected to one end of the movable frame through a coupling.

[0010] Preferably, a connecting rod is fixedly connected to the upper end of the movable frame, a fixed frame is fixedly connected to the upper end of the connecting rod, an mounting frame is installed on the upper end of the fixed frame, a stepper motor is installed inside the mounting frame, a combination frame is connected to the motor shaft of the stepper motor, and the combination frame and the mounting frame are rotatably connected by bearings.

[0011] Preferably, an electric motor is installed inside the assembly frame, and a hollow shaft is installed at the front end of the electric motor. The hollow shaft is fixedly connected to the rear end of the fire extinguishing gas nozzle through a coupling.

[0012] Preferably, the steel frame is welded to the robot base, the rotating frame is rotatably connected to the steel frame via a rotating shaft, a servo motor is installed at the upper end of the steel frame, the servo motor is fixedly connected to one end of the rotating frame via a coupling, and the rear end of the vision sensor is fixedly connected to the rotating frame.

[0013] Compared with the prior art, the beneficial effects of this utility model are: The connecting frame on the outside of the robot base of this utility model can be used to install non-contact ultrasonic sensors for detection. During the movement of the robot base with the non-contact ultrasonic sensors, the position of electrical equipment can be detected by laser rangefinders and vision sensors, thereby quickly performing positioning and movement work, confirming the partial discharge location of electrical equipment. After confirmation, the monitoring of the non-contact ultrasonic sensors can be adjusted according to the actual type of electrical equipment. When the robot moves near switch cabinets or transformers, these sensors are automatically activated to capture partial discharge signals that are inaudible to the human ear. This can detect insulation degradation problems of high-voltage equipment in advance, realize predictive maintenance, avoid sudden failures, and improve work efficiency.

[0014] The fire extinguishing gas cylinder mounted on the robot base of this utility model, along with a support base, allows the position and angle of the fire extinguishing gas nozzle to be adjusted via a motor, stepper motor, and electric motor. Based on the detected fault location, the fire extinguishing gas is preemptively sprayed through the nozzle to provide sufficient protection for local leakage points in electrical equipment, achieving precise protection, which is beneficial for long-term operation and improves safety. Attached Figure Description

[0015] Figure 1 This is an axonometric view of the front view of this utility model; Figure 2 This utility model Figure 1 Enlarged view of a portion of area A in the middle; Figure 3 This is an axonometric view of the side of this utility model; Figure 4 This utility model Figure 3 A magnified view of a section in area B.

[0016] In the diagram: 1. Robot base; 101. Electric wheel; 102. Electric motor; 103. Connecting frame; 2. Fire extinguishing gas canister; 3. Support base; 301. Movable frame; 302. Connecting rod; 303. Fixed frame; 304. Mounting frame; 305. Combination frame; 306. Fire extinguishing gas nozzle; 307. Stepper motor; 308. Electric motor; 309. Hollow shaft; 4. Steel frame; 401. Rotating frame; 402. Vision sensor; 403. Servo motor; 5. Non-contact ultrasonic sensor; 6. Laser rangefinder sensor. Detailed Implementation

[0017] 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.

[0018] To address the issue of existing electrical equipment inspection robots failing to effectively detect leakage locations and thus impacting inspection results during practical use, please refer to... Figure 1 - Figure 4 This embodiment provides the following technical solution: An electrical equipment inspection robot includes a robot base 1, a fire extinguishing gas cylinder 2 and a support base 3 on the top of the robot base 1, a fire extinguishing gas nozzle 306 installed on the top of the support base 3, and a gas guide pipe and a solenoid valve connecting the fire extinguishing gas nozzle 306 and the fire extinguishing gas cylinder 2. A steel frame 4 is provided at the front end of the robot base 1, and a rotating frame 401 is installed at the upper end of the steel frame 4. A vision sensor 402 is provided at the front end of the rotating frame 401. Non-contact ultrasonic sensors 5 are provided on both sides of the bottom of the robot base 1, and a laser rangefinder sensor 6 is provided at the front end of the robot base 1. A connecting frame 103 provided on the outside of the robot base 1 can be used to install the non-contact ultrasonic sensors 5 for detection. During the movement of the robot base 1 with the non-contact ultrasonic sensors 5, the position of the electrical equipment can be detected by the laser rangefinder sensor 6 and the vision sensor 402, thereby enabling rapid positioning and movement.

[0019] The steel frame 4 is welded to the robot base 1. The rotating frame 401 is rotatably connected to the steel frame 4 via a rotating shaft. A servo motor 403 is installed on the upper end of the steel frame 4. The servo motor 403 is fixedly connected to one end of the rotating frame 401 via a coupling. The rear end of the vision sensor 402 is fixedly connected to the rotating frame 401.

[0020] The robot base 1 has two connecting brackets 103 installed at its bottom. The connecting brackets 103 are slidably connected to the robot base 1 via guide rails. The non-contact ultrasonic sensor 5 is connected to the connecting brackets 103 via fixing screws. The non-contact ultrasonic sensor 5 confirms the location of partial discharge in the electrical equipment. After confirmation, the monitoring of the non-contact ultrasonic sensor 5 can be adjusted according to the actual type of electrical equipment. When the robot walks near the switch cabinet or transformer, these sensors are automatically activated to capture partial discharge signals that are inaudible to the human ear. This allows for early detection of insulation degradation problems in high-voltage equipment, enabling predictive maintenance, avoiding sudden failures, and improving work efficiency.

[0021] Specifically, the connecting frame 103 on the outside of the robot base 1 can be equipped with a non-contact ultrasonic sensor 5 for detection. During the movement of the robot base 1 and the non-contact ultrasonic sensor 5, the position of the electrical equipment can be detected by the laser rangefinder 6 and the vision sensor 402, thereby quickly performing positioning and movement work, confirming the partial discharge position of the electrical equipment. After confirmation, the monitoring of the non-contact ultrasonic sensor 5 can be adjusted according to the actual type of electrical equipment. When the robot walks near the switch cabinet or transformer, these sensors are automatically activated to capture partial discharge signals that are inaudible to the human ear. This can detect insulation degradation problems of high-voltage equipment in advance, realize predictive maintenance, avoid sudden failures, and improve work efficiency.

[0022] To address the issue of existing electrical equipment inspection robots' poor fire suppression effectiveness and their inadequacy in localized fire protection during practical use, please refer to... Figure 1 - Figure 4 This embodiment provides the following technical solution: The robot base 1 has an electric wheel 101 at the bottom and an electric motor 102 at the rear end of the electric wheel 101. The electric motor 102 is connected to the electric wheel 101 through a speed regulator. According to the location of the detected fault, fire extinguishing gas is sprayed in advance through the fire extinguishing gas nozzle 306 to fully protect the local leakage location of the electrical equipment, achieve precise protection effect, facilitate long-term operation and improve safety.

[0023] Among them, the bottom of the fire extinguishing gas tank 2 is fixedly connected to the robot base 1, the support base 3 is fixedly connected to the robot base 1, the support base 3 is equipped with a motor, and the movable frame 301 of the support base 3 is fixedly connected to one end of the movable frame 301 by a coupling.

[0024] In addition, a connecting rod 302 is fixedly connected to the upper end of the movable frame 301, a fixed frame 303 is fixedly connected to the upper end of the connecting rod 302, an mounting frame 304 is installed on the upper end of the fixed frame 303, a stepper motor 307 is installed inside the mounting frame 304, a combination frame 305 is connected to the motor shaft of the stepper motor 307, and the combination frame 305 and the mounting frame 304 are rotatably connected by bearings.

[0025] In fact, an electric motor 308 is installed inside the combination frame 305. A hollow shaft 309 is installed at the front end of the electric motor 308. The hollow shaft 309 is fixedly connected to the rear end of the fire extinguishing gas nozzle 306 through a coupling. The fire extinguishing gas tank 2 set on the robot base 1, together with the support base 3, can adjust the position and angle of the fire extinguishing gas nozzle 306 through the motor, stepper motor 307 and electric motor 308.

[0026] Specifically, the fire extinguishing gas cylinder 2 installed on the robot base 1, together with the support base 3, can adjust the position and angle of the fire extinguishing gas nozzle 306 through the motor, stepper motor 307 and electric motor 308. According to the detected fault location, the fire extinguishing gas is sprayed in advance through the fire extinguishing gas nozzle 306 to fully protect the local leakage location of the electrical equipment, achieve precise protection effect, which is conducive to long-term operation and improves safety.

[0027] Working Principle: During use, the connecting frame 103 on the outside of the robot base 1 can be equipped with a non-contact ultrasonic sensor 5 for detection. As the robot base 1 moves with the non-contact ultrasonic sensor 5, the position of the electrical equipment can be detected by the laser rangefinder 6 and the vision sensor 402, thereby quickly positioning and moving the robot to confirm the partial discharge location of the electrical equipment. After confirmation, the monitoring of the non-contact ultrasonic sensor 5 can be adjusted according to the actual type of electrical equipment. When the robot moves near the switch cabinet or transformer, these sensors are automatically activated to capture partial discharge signals that are inaudible to the human ear, which can detect insulation degradation problems of high-voltage equipment in advance. The fire extinguishing gas tank 2 on the robot base 1, together with the support base 3, can adjust the position and angle of the fire extinguishing gas nozzle 306 through the motor, stepper motor 307 and electric motor 308. According to the detected fault location, the fire extinguishing gas is sprayed in advance through the fire extinguishing gas nozzle 306 to fully protect the local leakage location of the electrical equipment, achieve precise protection effect, facilitate long-term operation, improve safety, realize predictive maintenance, avoid sudden failures, have good adaptability, and improve work efficiency.

[0028] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0029] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention.

Claims

1. A robot for inspecting electrical equipment, comprising a robot base (1), characterized in that, The robot base (1) is provided with a fire extinguishing gas cylinder (2) and a support base (3) on top. A fire extinguishing gas nozzle (306) is installed on top of the support base (3). A gas guide pipe and a solenoid valve are connected between the fire extinguishing gas nozzle (306) and the fire extinguishing gas cylinder (2). A steel frame (4) is provided at the front end of the robot base (1). A rotating frame (401) is installed at the upper end of the steel frame (4). A vision sensor (402) is provided at the front end of the rotating frame (401). Non-contact ultrasonic sensors (5) are provided on both sides of the bottom of the robot base (1). A laser rangefinder sensor (6) is provided at the front end of the robot base (1).

2. The robot for inspecting electrical equipment according to claim 1, characterized in that, The robot base (1) has an electric wheel (101) at its bottom. An electric motor (102) is installed at the rear end of the electric wheel (101). The electric motor (102) and the electric wheel (101) are connected by a speed regulator.

3. The robot for inspecting electrical equipment according to claim 1, characterized in that, Two connecting brackets (103) are installed at the bottom of the robot base (1). The connecting brackets (103) are slidably connected to the robot base (1) via guide rails. The non-contact ultrasonic sensor (5) is connected to the connecting brackets (103) via fixing screws.

4. The robot for inspecting electrical equipment according to claim 1, characterized in that, The bottom of the fire extinguishing gas canister (2) is fixedly connected to the robot base (1), the support base (3) is fixedly connected to the robot base (1), a motor is installed inside the support base (3), and the movable frame (301) of the support base (3) is fixedly connected to one end of the movable frame (301) by a coupling.

5. The robot for inspecting electrical equipment according to claim 4, characterized in that, The upper end of the movable frame (301) is fixedly connected to a connecting rod (302), the upper end of the connecting rod (302) is fixedly connected to a fixed frame (303), the upper end of the fixed frame (303) is equipped with an mounting frame (304), the mounting frame (304) is provided with a stepper motor (307), the motor shaft of the stepper motor (307) is connected to a combination frame (305), and the combination frame (305) and the mounting frame (304) are rotatably connected by bearings.

6. The robot for inspecting electrical equipment according to claim 5, characterized in that, An electric motor (308) is installed inside the assembly frame (305). A hollow shaft (309) is installed at the front end of the electric motor (308). The hollow shaft (309) is fixedly connected to the rear end of the fire extinguishing gas nozzle (306) through a coupling.

7. A robot for inspecting electrical equipment according to claim 6, characterized in that, The steel frame (4) is welded to the robot base (1). The rotating frame (401) is rotatably connected to the steel frame (4) through a rotating shaft. A servo motor (403) is installed on the upper end of the steel frame (4). The servo motor (403) is fixedly connected to one end of the rotating frame (401) through a coupling. The rear end of the vision sensor (402) is fixedly connected to the rotating frame (401).

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