CN106936085B - Intelligent robot for power equipment inspection - Google Patents
Intelligent robot for power equipment inspection Download PDFInfo
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- CN106936085B CN106936085B CN201710279035.7A CN201710279035A CN106936085B CN 106936085 B CN106936085 B CN 106936085B CN 201710279035 A CN201710279035 A CN 201710279035A CN 106936085 B CN106936085 B CN 106936085B
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- reel
- central axis
- solar panel
- power equipment
- solar battery
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses the intelligent robots for power equipment inspection, including ontology, it is equipped with walking mechanism on the body, motor, controller and detector, it is provided with cavity on the body, cover board is hingedly arranged on the body, it is provided with multiple interconnected grooves on the body, cover board bottom is equipped with stupefied item, elastic sheet rubber is equipped on the two sidewalls of stupefied item, the middle section of elastic sheet rubber protrudes outward, macroporous silica gel particles are filled in gap, annular groove is provided on reel lower section inner wall, the horizontal segment both ends of T-block are slidably arranged in annular groove, the output end of cylinder is connect with the bottom of T-block horizontal segment, central axis is connect with T-block vertical section end.Artificial progress inspection is substituted using robot, it can avoid the influence of numerous environmental factors and keep carrying out each equipment in substation real-time monitoring, and in time store inspection information, so that the technology segment of substation carries out data analysis, finally ensure the job stability of the numerous equipment of substation.
Description
Technical field
The present invention relates to power domains, and in particular to the intelligent robot for power equipment inspection.
Background technique
It is well known that in substation equipment state of the art and equipment running status how, it is necessary to by being carried out to equipment
Just it can be concluded that corresponding result after tours of inspection.In order to improve the utilization rate of equipment, equipment reliability of operation reduces maintenance
Cost is reinforced being an important measures for improving the operation and management level of equipment to equipment routing inspection and defect management, it can be effective
Ground is assessment equipment state, determines the reasonable method of operation, arranges maintenance to provide reliable, detailed data and help to do in time
It analyses scientifically out.Substation person on duty carries out manual inspection, and the simple qualitative judgement of sense organ is carried out to running equipment, main logical
It crosses and sees, touches, listening, smelling etc. that sense organs go realization.Manual patrol is visible to device external, the audible, defect that can smell it can be found that, example
Such as: oil level oil temperature, pressure, leakage of oil, outer damage, is corroded, is smoldered, catching fire, peculiar smell, abnormal sound, secondary device instruction letter
Number exception etc..Manual inspection is by the physiology of personnel, psychological quality, sense of responsibility, external operating environment, working experience, skill
A possibility that horizontal is affected, and there are leakages to patrol, defect leakage discovery.And for the defect inside equipment, operations staff is without special
Industry instrument or instrument precision are too low, are not detectable by simply making an inspection tour, for example oil gas pilot project is exceeded, equipment
Privileged sites fever is insulated the defects of unqualified；There are also a kind of defects could find during operation, such as mechanical card
It is puckery, plug-in strip division is not in place, switch blade mechanism chamber door damage etc..On the other hand, since unattended substation increases, many power transformations
The distance stood farther out, cannot also make an inspection tour after occurring accident or strong wind, heavy snow and thunderstorm in station because concentrator station can not go out vehicle in time
When, it causes concentrator station person on duty that cannot understand field equipment state in time, scents a hidden danger in time, the safe operation of critical power grid.
The substation's situation to go wrong can not be especially understood in time, lose the chance for processing of giving priority in arranging for.Tour personnel makes an inspection tour and sets
It needs to stand when standby also to have certain threat to the personal safety of tour personnel, especially in exception from the closer place of equipment
Phenomenon is checked, bad weather spy patrols, and risk is bigger when cause of accident is searched.
In conclusion there are timeliness, poor reliability for the manual inspection of unattended substation, cost is artificial more, deposits
In biggish traffic risk and make an inspection tour process risk.
Summary of the invention
It is an object of that present invention to provide the intelligent robots for power equipment inspection, to solve drawbacks described above.
The present invention is achieved through the following technical solutions:
For the intelligent robot of power equipment inspection, including ontology, it is equipped with walking mechanism on the body, for driving
Motor, controller and the detector being electrically connected with the controller of dynamic walking mechanism, are provided with cavity, the electricity on the body
Machine is fixed in the cavity, and cover board is hingedly arranged on the body, is provided with multiple interconnected grooves, the lid on the body
Board bottom portion surrounds the stupefied item for constituting rectangle there are four setting, and is equipped with elastic sheet rubber on the two sidewalls of the stupefied item, elasticity
The middle section of sheet rubber protrudes outward, so that being formed between a longitudinal cross-section semicircular in shape between elastic sheet rubber and stupefied side wall
Gap, and in the gap be filled with macroporous silica gel particles, when cover board is sealed cavity, elastic sheet rubber deformation occurs and
Its lateral wall is bonded with the inner sidewall of groove, and the lower end of reel extends through the cover board to cavity bottom, under the reel
It is provided with annular groove on the inner wall of end, the horizontal segment both ends of T-block are slidably arranged in annular groove, the output end of cylinder and the T-type
The bottom of block horizontal segment connects, and further includes that the central axis being located in reel and multiple be circumferentially hingedly arranged along the central axis exist
Solar battery board group on its outer wall, the central axis are connect with T-block vertical section end；When charging, the output end of cylinder
Upper heading tape moves multiple solar battery board groups and is moved to outside reel, and multiple solar battery board groups are turned by initial winding state
Become diastole state, it is flat that the diastole state refers to that multiple solar battery board groups are radially spliced into a daylighting along central axis
Face.For in the prior art, the numerous defects occurred when carrying out manual inspection to power transformation station equipment, inventor utilizes machine
Device people substitution is artificial to carry out inspection, i.e., drives walking mechanism, walking mechanism to drive ontology, while holding by detector using motor
Inspection continuously is carried out to the operating condition of equipment and the stability of itself, the influence of numerous environmental factors is can avoid and keeps to power transformation
Each equipment in standing carries out real-time monitoring, and in time stores inspection information, so that the technology segment of substation carries out data point
Analysis, finally ensures the job stability of the numerous equipment of substation；
Wherein, when not needing charging, the electricity pieces such as motor, cylinder and solar battery board group are respectively provided in the cavity,
It is to prevent extraneous dust or other foreign matters from entering in cavity, that is, needs to be sealed cavity, while must assure that chamber
Body can be realized opening and closing function, and therefore, inventor offers multiple interconnected grooves on the body, and multiple grooves are connected to structure
At the notch of a rectangle, and the bottom of cover board is provided with multiple stupefied items matched with the notch, stupefied item
Elastic sheet rubber is equipped on two sidewalls, and the elastic sheet rubber is fully wrapped around by the lateral wall of stupefied item or inner sidewall, and
And the middle section of the longitudinal direction elastic sheet rubber of stupefied item protrudes outward, so that stupefied form slection between side wall and elastic sheet rubber is at one
The gap of a section semicircular in shape, in use, cover board pushes so that four stupefied items are sequentially entered to the notch of rectangle, this
When, the lateral wall of elastic sheet rubber is contacted with the side wall of groove, deformation takes place after being squeezed, so that elastic sheet rubber
Increase with the contact area of recess sidewall, while the relative motion between stupefied item and groove is buffered, to realize the two
Between flexible connection, and guarantee the good seal performance between cover board and ontology.Since four stupefied items enter the sequence of groove
Have successively, and finally enter reason of the stupefied item due to interaction force of groove, the resistance which generates it is maximum, i.e., should
The frictional force between elastic sheet rubber and recess sidewall on stupefied side wall also reaches maximum, and then accelerates elastic sheet rubber
The degree of wear, in this regard, being filled with macroporous silica gel particles in gap, the outstanding deformability using macro porous silica gel is elastic rubber
Piece provides certain support strength, and then the last one is avoided to send out into the excessive deformation of elastic sheet rubber on the stupefied item of groove
Raw rupture, to ensure the sealing performance between cover board and ontology.
Further, during robot carries out inspection, robot will appear electric power not after a period of operation
The situation of foot, needs to return to special accumulator plant in time or charging pile nearby carries out electric power supplement, due to the land occupation of substation
Area is relatively large and the position of device distribution is more scattered so that need additionally to create in substation multiple accumulator plants or
Charging pile, in this regard, cavity on the basis of crusing robot, is arranged in inventor on the body, cover board is then used to seal the cavity,
When ontology carries out conventional routine inspection under the drive of walking mechanism, cylinder moving, so that T-block starts to move up, simultaneously
It will be ejected outside reel on central axis and multiple solar battery board groups, since solar battery board group and central axis outer wall are cut with scissors
It connects, so that multiple solar battery board groups are directly changed into diastole state by winding state after the limitation for being detached from reel, wherein
Winding state refers to that multiple solar battery board groups are uniformly distributed along the circumferential direction of central axis, and is similar to umbrella umbrella frame when closed
The state drawn close to umbrella handle, and diastole state refers to that multiple solar battery board groups constitute a daylighting plane, utilizes sun electricity
Absorption of the pond board group to light, when robot not enough power supply occurs during inspection, is led to so that solar energy is converted into electric energy
The electric energy for crossing multiple solar panel group conversion deposits can guarantee the duration of robot work, and then improve robot
Cruising ability avoids repeatedly turning back between accumulator plant and test point, to improve inspecting substation equipment efficiency.And when charging,
In the state conversion process of multiple solar battery board groups, the horizontal segment of T-block is slidably arranged in annular groove, and T-block
Vertical section then directly connect with central axis lower end, T-block can limit excessively moving up or move down for cylinder output, and T
The preferred plastics of the material of type block, while reducing cylinder lifting load, moreover it is possible to block solar battery board group and two, cylinder
Connection between electricity piece, with reduction interfering with each other between the two.
The axis of reel described in the central axis upper end edge upwardly extends, and is fixed with top in central axis extended segment end
Lid, the top cover are used to seal the upper end of the reel.Further, the upper end of central axis upwardly extends, and in central axis
Extended segment on be fixed with top cover so that multiple solar battery board groups are after charging, cylinder drives T-block and multiple
Solar battery board group moves down, and multiple solar battery board groups are changed into winding state, while top cover by diastole state again
Directly the upper surface of reel is directly sealed, to prevent when idle, opening of the extraneous foreign matter along reel upper end enters to it
Normal work that is internal and influencing solar battery board group, reduces the risk of electrical part short circuit.
The vertical segment length of T-block is 2/3rds of the reel axial length, and the annular groove is in spool shaft
Upward length is the one third of the reel axial length.Preferably, being risen in multiple solar battery board groups easypro
When the state of opening, after the vertical section of T-block is moved to the upper end of reel, the horizontal segment of T-block is limited to annular groove, so that T-block
It can not continue to rise, at this point, multiple solar battery board groups are just supported by reel upper surface, then guarantee multiple solar energy
The daylighting plane that cell plate group is constituted keeps smooth, to realize the maximization of lighting efficiency.
The axial height of the reel is less than the level height where the detector.Preferably, detector needs pair
The monitoring of power equipment progress indices, it is therefore necessary to meet 360 degree of rotations of detector without dead angle, by the axial high of reel
Degree is set smaller than the level height where the detector, so that circumferentially rotating for detector will not be hindered, to ensure
The normal work of detector.
The solar battery board group includes a solar panelAn and solar panel, it is described too
Positive energy solar panelPass through connectorIt is hinged with central axis outer wall, the solar panelPass through connectorWith central axis
Hingedly.Solar battery board group includes solar panelWith solar panel, and solar panelPass through connection
Part, solar panelPass through connectorBe flexibly connected respectively with central axis, when charging in the circumferential direction of central axis the sun
It can solar panelWith solar panelIt is interspersed to form a daylighting plane, utilizes two different solar panels
When so that being wound in reel, it will not generate and interfere with each other between adjacent solar panel, in order to solar panel
It is quick winding or diastole.
The connectorPositioned at the connectorLower section, the connectorWith connectorIt is arc-shaped, and meets
When multiple solar battery board groups are changed into diastole state by initial winding state, multiple solar panelsAnd it is more
A solar panelIt is spliced into a continuous and annular in shape daylighting plane.In use process, solar panelWith
And solar panelIn winding or diastole, arc-shaped connector can carry out smoothed with reel upper end end face
It crosses, avoids solar panelAnd solar panelMovement there is abrupt change, to prevent solar panel
And solar panelIt is impaired；And connectorPositioned at the connectorLower section, so that multiple solar battery board groups
When winding, multiple solar panelsIt is close to the outer circle wall of central axis, that is, is in internal layer, and multiple solar panels
It is then evenly distributed on outer layer, further, multiple solar panelsAnd multiple solar panelsIt is staggered, so that
It is spliced to form a continuous cyclic annular daylighting plane when multiple solar battery board group diastoles, that is, guarantees in robot ambulation
Daylighting area reaches maximum, photoelectric conversion efficiency highest.
The solar panelAnd solar panelIt is connect by conducting wire with the intracorporal battery of chamber.It is logical
Cross solar panelAnd solar panelThe electric energy converted is fed directly in battery, to be intrinsic
Walking mechanism, motor, cylinder and motor provide reserve power, improve the cruising ability of crusing robot.
Compared with prior art, the present invention having the following advantages and benefits:
1, the present invention is used for the intelligent robot of power equipment inspection, substitutes artificial progress inspection using robot, i.e., sharp
With motor drive walking mechanism, walking mechanism drive ontology, while by detector constantly to the operating condition of equipment and itself
Stability carry out inspection, can avoid the influence of numerous environmental factors and keep supervising each equipment in substation in real time
It surveys, and in time stores inspection information, so that the technology segment of substation carries out data analysis, finally ensure that substation is numerous and set
Standby job stability；
2, the present invention is used for the intelligent robot of power equipment inspection, and macroporous silica gel particles are filled in gap, utilizes
The outstanding deformability of macro porous silica gel provides certain support strength for elastic sheet rubber, and then the last one is avoided to enter groove
Stupefied item on the excessive deformation of elastic sheet rubber and rupture, to ensure the sealing performance between cover board and ontology；
3, the present invention is used for the intelligent robot of power equipment inspection, rises to diastole shape in multiple solar battery board groups
When state, after the vertical section of T-block is moved to the upper end of reel, the horizontal segment of T-block is limited to annular groove, so that T-block can not
Continue to rise, at this point, multiple solar battery board groups are just supported by reel upper surface, then guarantees multiple solar batteries
The daylighting plane that board group is constituted keeps smooth, to realize the maximization of lighting efficiency；
4, the present invention is used for the intelligent robot of power equipment inspection, and the axial height of reel is set smaller than the inspection
Level height where gauge head, so that circumferentially rotating for detector will not be hindered, to ensure the normal work of detector.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of reel；
Fig. 3 is schematic diagram when solar battery board group is wound completely；
Schematic diagram when Fig. 4 is the complete diastole of solar battery board group plate；
Schematic diagram when Fig. 5 is the part diastole of solar battery board group;
Fig. 6 is the cooperation figure of cover board and ontology.
Label and corresponding parts title in attached drawing:
1- ontology, 2- cavity, 3- reel, 4- cover board, 41- elastic sheet rubber, 42- macroporous silica gel particles, 5- detector, 6-
Solar battery board group, 61- solar panel, 62- connector, 63- solar panel, 64- connector, in 65-
Mandrel, 7- cylinder, 8- T-block, 9- annular groove, 10- top cover.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to embodiment and attached drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation for explaining only the invention, are not made
For limitation of the invention.
Embodiment 1
As shown in Figure 1 and 2, the present embodiment includes ontology 1, walking mechanism is equipped on the ontology 1, for driving walking
Motor, controller and the detector 5 being electrically connected with the controller of mechanism, are provided with cavity 2, the motor on the ontology 1
It is fixed in cavity 2, cover board 4 is hingedly arranged on ontology 1, and multiple interconnected grooves are provided on the ontology 1, described
The stupefied item for constituting rectangle is surrounded there are four setting in 4 bottom of cover board, and is equipped with elastic sheet rubber 41 on the two sidewalls of the stupefied item,
The middle section of elastic sheet rubber 41 protrudes outward, so that forming a longitudinal cross-section between elastic sheet rubber 41 and stupefied side wall in half
Circular gap, and macroporous silica gel particles 42, when cover board 4 is sealed cavity 2, elastic rubber are filled in the gap
Deformation occurs and its lateral wall is bonded with the inner sidewall of groove for piece 41, and the cover board 4 is run through to cavity 2 in the lower end of the reel 3
Bottom extends, and annular groove 9 is provided on 3 lower end inner wall of reel, the horizontal segment both ends of T-block 8 are slidably arranged in annular groove 9
Interior, the output end of cylinder 7 is connect with the bottom of 8 horizontal segment of T-block, further include central axis 65 in the reel 3 and
Multiple solar battery board groups 6 along the circumferential hinged setting of the central axis 65 on its external wall, the central axis 65 and T-block
The connection of 8 vertical section ends；When charging, heading tape moves multiple solar battery board groups 6 and is moved to outside reel 3 on the output end of cylinder 7,
And multiple solar battery board groups 6 are changed into diastole state by initial winding state, the diastole state refers to multiple sun
Energy cell plate group 6 is spliced into a daylighting plane along 65 radial direction of central axis.For in the prior art, to power transformation station equipment into
The numerous defects occurred when row manual inspection, inventor are substituted artificial progress inspection using robot, i.e., are driven using motor
Walking mechanism, walking mechanism drive ontology 1, while by detector 5 constantly to the operating condition of equipment and the stability of itself
Inspection is carried out, the influence of numerous environmental factors is can avoid and keeps carrying out each equipment in substation real-time monitoring, and in time
Inspection information is stored, so that the technology segment of substation carries out data analysis, finally ensures the work of the numerous equipment of substation
Stability；
Wherein, when not needing charging, the electricity pieces such as motor, cylinder 7 and solar battery board group 6 are arranged at cavity 2
It is interior, it is to prevent extraneous dust or other foreign matters from entering in cavity 2, that is, needs to be sealed cavity 2, while must protect
Card cavity 2 can be realized opening and closing function, and therefore, inventor offers multiple interconnected grooves, multiple grooves on ontology 1
Connection constitutes the notch of a rectangle, and the bottom of cover board 4 is provided with multiple stupefied items matched with the notch,
Elastic sheet rubber 41 is equipped on the two sidewalls of stupefied item, and the elastic sheet rubber 41 is complete by the lateral wall of stupefied item or inner sidewall
Full package, and the middle section of the longitudinal direction elastic sheet rubber 41 of stupefied item protrudes outward, so that stupefied side wall and elastic sheet rubber
Between 41 form slection at a section semicircular in shape gap, in use, cover board 4 push so that four stupefied items are sequentially entered to rectangle
Notch in, at this point, the lateral wall of elastic sheet rubber 41 is contacted with the side wall of groove, shape takes place after being squeezed
Become so that the contact area of elastic sheet rubber 41 and recess sidewall increases, while to the relative motion between stupefied item and groove into
Row buffering to realize flexible connection between the two, and guarantees the good seal performance between cover board 4 and ontology 1.Due to four
The sequence that a stupefied item enters groove has successively, and finally enters reason of the stupefied item due to interaction force of groove, the groove pair
Its resistance generated is maximum, i.e. elastic sheet rubber 41 on the stupefied side wall and the frictional force between recess sidewall also reaches most
Greatly, and then the degree of wear of elastic sheet rubber 41 is accelerated, in this regard, be filled with macroporous silica gel particles 42 in gap, using big
The outstanding deformability of hole silica gel provides certain support strength for elastic sheet rubber, and then the last one is avoided to enter groove
The excessive deformation of elastic sheet rubber 4 on stupefied item and rupture, to ensure the sealing performance between cover board 4 and ontology 1.
Further, during robot carries out inspection, robot will appear electric power not after a period of operation
The situation of foot, needs to return to special accumulator plant in time or charging pile nearby carries out electric power supplement, due to the land occupation of substation
Area is relatively large and the position of device distribution is more scattered so that need additionally to create in substation multiple accumulator plants or
Charging pile, in this regard, cavity 2 on the basis of crusing robot, is arranged in inventor on ontology 1, cover board 4 is then for sealing the chamber
Body 2, when ontology 1 carries out conventional routine inspection under the drive of walking mechanism, cylinder 7 is moved, so that on T-block 8 starts
It moves, while will be ejected outside reel 3 on central axis 65 and multiple solar battery board groups 6, since solar battery board group 6 is in
65 outer wall of mandrel is hinged, so that multiple solar battery board groups 6 are directly changed by winding state after the limitation for being detached from reel 3
For diastole state, wherein winding state refers to that multiple solar battery board groups 6 are uniformly distributed along the circumferential direction of central axis 65, and similar
In the umbrella state that umbrella frame is drawn close to umbrella handle when closed, and diastole state refers to that multiple solar battery board groups 6 constitute one
Daylighting plane, the absorption using solar cell board group to light, so that solar energy is converted into electric energy, when robot is in inspection process
In when there is not enough power supply, holding for robot work can be guaranteed by the electric energy of multiple solar battery board groups 6 conversion deposit
Continuous property, and then the cruising ability of robot is improved, it avoids repeatedly turning back between accumulator plant and test point, be set with improving substation
Standby routing inspection efficiency.And when charging, in the state conversion process of multiple solar battery board groups 6, the horizontal segment of T-block 8 is slided
It is arranged in annular groove 9, and the vertical section of T-block 8 is then directly connect with 65 lower end of central axis, T-block 8 can limit cylinder 7
Output end is excessively moved up or is moved down, and the preferred plastics of material of T-block 8, while reducing 7 lifting load of cylinder, also
The connection between 7 two electricity pieces of solar battery board group 6 and cylinder can be blocked, with reduction interfering with each other between the two.
In the present embodiment, the axis of reel 3 described in 65 upper end edge of central axis is upwardly extended, and is extended in central axis 65
Section end is fixed with top cover 10, and the top cover 10 is used to seal the upper end of the reel 3.Further, central axis 65 is upper
End upwardly extends, and top cover 10 is fixed on the extended segment of central axis 65, so that multiple solar battery board groups 6 are charging
Bi Hou, cylinder 7 drives T-block 8 and multiple solar battery board groups 6 to move down, and multiple solar battery board groups 6 are again by relaxing
The state of opening is changed into winding state, while top cover 10 directly directly seals the upper surface of reel 3, to prevent when idle, outside
Opening of the foreign matter on boundary along 3 upper end of reel enters to the normal work for inside it and influencing solar battery board group 6, reduces electric appliance
The risk of part short circuit.
Preferably, the vertical section of T-block 8 is moved to volume when multiple solar battery board groups 6 rise to diastole state
Behind the upper end of cylinder 3, the horizontal segment of T-block 8 is limited to annular groove 9, so that T-block 8 can not continue to rise, at this point, multiple sun
Energy cell plate group 6 is just supported by 3 upper surface of reel, then guarantees that the daylighting that multiple solar battery board groups 6 are constituted is flat
Face keeps smooth, to realize the maximization of lighting efficiency.
Preferably, detector 5 needs to carry out power equipment the monitoring of indices, it is therefore necessary to meet detector 5
360 degree of rotations without dead angle, the level height axial height of reel 3 being set smaller than where the detector 5, so that inspection
Circumferentially rotating for gauge head 5 will not be hindered, to ensure the normal work of detector 5.
Embodiment 2
As shown in Fig. 1 ~ 6, on the basis of embodiment 1, the solar battery board group 6 includes a sun to the present embodiment
It can solar panel61 and a solar panel63, the solar panel61 pass through connector62 and central axis
65 outer walls are hinged, the solar panel63 pass through connector64 is hinged with central axis 65.Solar battery board group 6 is wrapped
Include solar panel61 and solar panel63, and solar panel61 pass through connector62, solar battery
Plate63 pass through connector64 are flexibly connected with central axis 65 respectively, when charging in the circumferential direction of central axis 65 solar battery
Plate61 and solar panel63, which are interspersed, to form a daylighting plane, is made using two different solar panels
When must be wound in reel 3, it will not generate and interfere with each other between adjacent solar panel, in order to solar panel
Quickly winding or diastole.
Further, the connector62 are located at the connector64 lower sections, the connector62 and connector64
It is arc-shaped, and meets the Duo Getai when multiple solar battery board groups 6 are changed into diastole state by initial winding state
Positive energy solar panel61 and multiple solar panels63 are spliced into a continuous and annular in shape daylighting plane.It uses
In the process, solar panel61 and solar panel63 in winding or diastole, the equal energy of arc-shaped connector
It is enough to be seamlessly transitted with 3 upper end end face of reel, avoid solar panel61 and solar panel63 move out
Existing abrupt change, to prevent solar panel61 and solar panel63 is impaired；And connector62 are located at institute
State connector64 lower sections, when so that multiple solar battery board groups 6 being wound, multiple solar panels63 are close to central axis
65 outer circle wall is in internal layer, and multiple solar panels61 are evenly distributed on outer layer, further, multiple sun
It can solar panel61 and multiple solar panels63 are staggered, so that splicing when multiple 6 diastoles of solar battery board group
A continuous cyclic annular daylighting plane is constituted, that is, guarantees that the daylighting area in robot ambulation reaches maximum, photoelectric conversion effect
Rate highest.
Preferably, passing through solar panel61 and solar panel63 electric energy converted directly transport
To battery, to provide reserve power for walking mechanism, motor, cylinder 7 and the motor 8 in ontology 1, inspection machine is improved
The cruising ability of people.
Preferably, solar panel61 and solar panel63 are all made of sector, so that before solar panel
Phase processing is more easy, and under diastole state, adjacent solar panel61 and solar panelBetween 63
Gap it is minimum, and the lighting efficiency of continuous daylighting plane formed reaches best.
Preferably, enabling crusing robot to setting in substation by video camera and infrared thermal imager
It is standby to carry out conventional monitoring of working condition and confirm situations such as whether equipment inside is generated heat or damaged, and number will be monitored
It is backed up according to storage, so that controlling terminal is as decision-making foundation.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (7)
1. being used for the intelligent robot of power equipment inspection, including ontology (1), it is equipped with walking mechanism on the ontology (1), uses
In motor, controller and the detector (5) being electrically connected with the controller of driving walking mechanism, it is characterised in that: at described
It is provided on body (1) cavity (2), the motor is fixed in cavity (2), and cover board (4) is hingedly arranged on ontology (1), described
It is provided with multiple interconnected grooves on ontology (1), cover board (4) bottom is set there are four surrounding the stupefied item for constituting rectangle, and
It is equipped on the two sidewalls of the stupefied item elastic sheet rubber (41), the middle section of elastic sheet rubber (41) protrudes outward, so that bullet
Property sheet rubber (41) and stupefied side wall between form the gap of a longitudinal cross-section semicircular in shape, and be filled in the gap
Macroporous silica gel particles (42), when cover board (4) is sealed cavity (2), deformation occurs and its lateral wall for elastic sheet rubber (41)
It is bonded with the inner sidewall of groove, the lower end of reel (3) extends through the cover board (4) to cavity (2) bottom, in the reel
(3) it is provided on lower end inner wall annular groove (9), the horizontal segment both ends of T-block (8) are slidably arranged in annular groove (9), cylinder (7)
Output end connect with the bottom of the T-block (8) horizontal segment, further include central axis (65) in reel (3) and more
A solar battery board group (6) along the circumferential hinged setting of the central axis (65) on its external wall, the central axis (65) and T
The connection of type block (8) vertical section end；When charging, heading tape moves multiple solar battery board groups (6) and removes on the output end of cylinder (7)
Outside to reel (3), and multiple solar battery board groups (6) by initial winding state are changed into diastole state, the diastole shape
State refers to that multiple solar battery board groups (6) are radially spliced into a daylighting plane along central axis (65).
2. the intelligent robot according to claim 1 for power equipment inspection, it is characterised in that: the central axis
(65) axis of reel described in upper end edge (3) upwardly extends, and is fixed with top cover (10), institute in central axis (65) extended segment end
Top cover (10) are stated for sealing the upper end of the reel (3).
3. the intelligent robot according to claim 1 for power equipment inspection, it is characterised in that: the T-block (8)
Vertical segment length is 2/3rds of the reel (3) axial length, and length of the annular groove (9) in reel (3) axial direction
Degree is the one third of the reel (3) axial length.
4. the intelligent robot according to claim 1 for power equipment inspection, it is characterised in that: the reel (3)
Axial height be less than the detector (5) where level height.
5. the intelligent robot according to claim 1 for power equipment inspection, it is characterised in that: the solar-electricity
Pond board group (6) includes a solar panel(61) and a solar panel(63), the solar panel(61) pass through connector(62) hinged with central axis (65) outer wall, the solar panel(63) pass through connector
(64) hinged with central axis (65).
6. the intelligent robot according to claim 5 for power equipment inspection, it is characterised in that: the connector
(62) it is located at the connector(64) lower section, the connector(62) and connector(64) it is arc-shaped, and meets
When multiple solar battery board groups (6) are changed into diastole state by initial winding state, multiple solar panels(61) with
And multiple solar panels(63) it is spliced into a continuous and annular in shape daylighting plane.
7. the intelligent robot according to claim 5 or 6 for power equipment inspection, it is characterised in that: the sun
It can solar panel(61) and solar panel(63) it is connect by conducting wire with the battery in cavity (2).
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| CN106936085B true CN106936085B (en) | 2018-12-18 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108171343A (en) * | 2017-12-26 | 2018-06-15 | 广州供电局有限公司 | Power equipment patrols dimension method, system, readable storage medium storing program for executing and computer equipment |
| CN108789351A (en) * | 2018-06-29 | 2018-11-13 | 江苏亿莱顿智能科技有限公司 | Intelligent robot inspection |
| CN109397236A (en) * | 2018-09-10 | 2019-03-01 | 中化兴中石油转运（舟山）有限公司 | A kind of oil depot global function crusing robot |
| CN109725233B (en) * | 2018-12-12 | 2020-12-08 | 杭州申昊科技股份有限公司 | A kind of substation intelligent inspection system and inspection method thereof |
| CN113567887B (en) * | 2021-08-10 | 2024-04-09 | 江苏久创电气科技有限公司 | Monitoring device for insulating equipment |
| CN117984349A (en) * | 2024-04-07 | 2024-05-07 | 国网江苏省电力有限公司常州供电分公司 | Embodied intelligent inspection robot for substation and use method thereof |
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| CH695707A5 (en) * | 2003-04-07 | 2006-07-31 | Robert Niederer | Supply unit for electricity and water on the basis of renewable energies. |
| FR2883913A1 (en) * | 2005-04-05 | 2006-10-06 | Bubendorff Sa | Roll up tube driving device for roller blind, has battery, extending inside tubular section part to supply electrical energy to electric motor, recharged by photovoltaic solar sensor through electric wires |
| CN100444411C (en) * | 2007-01-31 | 2008-12-17 | 黄上立 | Spin-deployable thin-film solar cell array and its application in space |
| CN101790945A (en) * | 2009-12-30 | 2010-08-04 | 郑州大学 | Agricultural solar irradiation device |
| CN201582712U (en) * | 2009-12-30 | 2010-09-15 | 郑州大学 | Agricultural solar energy irradiation device |
| CN103915874B (en) * | 2014-04-04 | 2015-11-18 | 深圳市创益科技发展有限公司 | A kind of Scroll rechargeable solar battery device |
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| CN105234921B (en) * | 2015-11-19 | 2019-06-25 | 国网宁夏电力公司检修公司 | Indoor intelligent crusing robot system based on H-type combined orbit |
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