阅读说明：本技术 一种变电站监控巡检智能机器人 (Intelligent robot is patrolled and examined in transformer substation's control ) 是由 郭玲艳 刘朵 刘梦茹 于 2019-11-15 设计创作，主要内容包括：本发明涉及一种变电站监控巡检智能机器人,包括安装板,安装板的下端开设有燕尾槽,燕尾槽内通过穿插方式固定有安装架,安装架的下端安装有电动滑块,电动滑块的下端安装有角度转动装置,角度转动装置的下端安装有调节摄影装置。本发明可以解决现有变电站监控在使用过程中存在的以下难题,a,传统的监控摄像头监控的区域辐射有限,单个摄像头无法达到全面监控的效果,传统的摄像头无法控制监控的角度,需要安装多组摄像设备相互配合监控,增加了监控的成本。b、监控摄像头在使用中表面容易蒙上灰尘,需要维护人员定期进行擦拭,安装在高处的摄像头需要作业人员借助梯子等工具进行登高作业,操作复杂,浪费人力。(The invention relates to a transformer substation monitoring and inspection intelligent robot which comprises an installation plate, wherein a dovetail groove is formed in the lower end of the installation plate, an installation frame is fixed in the dovetail groove in an inserting mode, an electric sliding block is installed at the lower end of the installation frame, an angle rotating device is installed at the lower end of the electric sliding block, and a camera adjusting device is installed at the lower end of the angle rotating device. The invention can solve the following problems existing in the use process of the existing transformer substation monitoring, a, the radiation of the monitored area of the traditional monitoring camera is limited, the single camera cannot achieve the effect of comprehensive monitoring, the traditional camera cannot control the monitoring angle, a plurality of groups of camera devices need to be installed for mutual cooperation monitoring, and the monitoring cost is increased. b. The monitoring camera in use surface covers the dust easily, needs maintainer regularly to clean, and the camera of installing in the eminence needs the operation personnel to ascend a height with the help of instruments such as ladders, and the operation is complicated, extravagant manpower.)

1. The utility model provides an intelligent robot is patrolled and examined in transformer substation control, includes mounting panel (1), its characterized in that: the lower end of the mounting plate (1) is provided with a dovetail groove, a mounting frame (2) is fixed in the dovetail groove in an inserting mode, an electric slider (3) is mounted at the lower end of the mounting frame (2), an angle rotating device (4) is mounted at the lower end of the electric slider (3), and a regulating photographing device (5) is mounted at the lower end of the angle rotating device (4);

the angle rotating device (4) comprises a supporting base frame (41) arranged on the electric sliding block (3), a supporting ball hinge (42) is arranged at the lower end of the supporting base frame (41), a supporting vertical plate (43) is arranged at the lower end of the supporting ball hinge (42), supporting springs (44) are uniformly arranged on the supporting vertical plate (43) along the circumferential direction of the supporting vertical plate, the upper ends of the supporting springs (44) are arranged on the supporting base frame (41), a fixed frame (45) in an annular structure is arranged at the lower end of the supporting base frame (41), a sliding groove in the annular structure is arranged at the lower end of the fixed frame (45), and an angle control branched chain (46) is arranged in the sliding groove in a sliding fit mode;

the adjustable photographing device (5) comprises an adjusting motor (51) arranged on a supporting vertical plate (43), an output shaft of the adjusting motor (51) is provided with a mounting shell (52) with a spherical structure, the outer part of the lower end of the mounting shell (52) is provided with a protective cover (53), the lower end of the mounting shell (52) is uniformly provided with threaded holes, an executing photographing branched chain (54) is arranged in the threaded holes, the inner wall of the mounting shell (52) is provided with a battery (55), and the inner wall of the upper end of the mounting shell (52) is provided with an executing adjusting branched chain (56);

carry out photographic branch (54) including set up threaded rod (541) in the threaded hole through screw thread transmission mode, hexagonal groove has been seted up to threaded rod (541) one end that is located installation shell (52) inboard, install spool (542) on the other end of threaded rod (541), mount (545) are installed through the bearing to the lower extreme of spool (542), install camera (544) on mount (545), the winding has wire (543) on spool (542), the one end of wire (543) is connected on camera (544), the other end of wire (543) is connected on battery (55).

2. The substation monitoring and inspection intelligent robot according to claim 1, characterized in that: the angle control branch chain (46) comprises a control sliding frame (461) arranged in a sliding groove in a sliding fit mode, a control motor (462) is installed on the control sliding frame (461) through a motor base, a control gear (463) is installed on an output shaft of the control motor (462), a control rack (464) is evenly arranged on the inner wall of the fixed frame (45) along the circumferential direction of the fixed frame, the control rack (464) is meshed on the control gear (463), a control rod (465) is arranged at the lower end of the control sliding frame (461) through a pin shaft, and a control cylinder (466) is arranged between the control rod (465) and the control sliding frame (461) through a pin shaft.

3. The substation monitoring and inspection intelligent robot according to claim 2, characterized in that: locking chamber (4611) have been seted up at the middle part of control carriage (461), and locking groove has been seted up to locking chamber (4611) left and right sides symmetry, installs locking frame (4613) through locking spring (4612) in the locking groove, installs on the inner wall of locking frame (4613) and leans on piece (4614), leans on piece (4614) from last triangle-shaped structure down for leaning out, installs locking cylinder (4615) on the inner wall of locking chamber (4611), is provided with latch segment (4616) on locking cylinder (4615).

4. The substation monitoring and inspection intelligent robot according to claim 3, characterized in that: the inner wall of the sliding groove is evenly provided with fixing grooves matched with the locking frame (4613) in use along the circumferential direction of the inner wall, and the width of each fixing groove is larger than that of the locking frame (4613).

5. The substation monitoring and inspection intelligent robot according to claim 1, characterized in that: the camera cleaning device is characterized in that a telescopic groove matched with the camera (544) for use is formed in the protective cover (53), a cleaning sponge (531) used for cleaning the camera (544) is arranged at the telescopic groove, the cleaning sponge (531) is of a circular structure, and the cleaning sponge (531) is formed by combining a plurality of sponge pieces of fan-shaped structures.

6. The substation monitoring and inspection intelligent robot according to claim 1, characterized in that: carry out and adjust branch chain (56) and include actuating lever (561) of installing on installation shell (52) inner wall through the round pin axle, the upper end of actuating lever (561) is provided with circular arc frame (562), evenly install regulation rack (563) on circular arc frame (562), it has adjusting gear (564) to mesh on regulation rack (563), adjusting gear (564) are installed on actuating motor (565), actuating motor (565) are installed on the inner wall of installation shell (52) through the motor cabinet, driving motor (566) are installed to the lower extreme of actuating lever (561), install telescopic cylinder (567) on the output shaft of driving motor (566), install hexagonal pole (568) on telescopic cylinder (567).

Technical Field

The invention relates to the technical field of transformer substation monitoring, in particular to a transformer substation monitoring and inspection intelligent robot.

Background

The inspection system of the substation is an effective measure for ensuring the normal and safe operation of equipment. Besides the patrol inspection of the operators on duty, a camera can be installed for monitoring the condition of the transformer substation in real time, so that the mode of camera monitoring is also one of the specific modes of transformer substation inspection. Therefore, the transformer substation should make a specific inspection method according to the actual working conditions of the operating equipment and the experience training of handling equipment accidents, obstacles and defects in the past.

However, the following difficult problems of the existing transformer substation monitoring in the using process include that a, the radiation of the area monitored by the traditional monitoring camera is limited, a single camera cannot achieve the effect of comprehensive monitoring, the angle of the traditional camera cannot be controlled, multiple groups of camera devices need to be installed to cooperate with one another for monitoring, and the monitoring cost is increased. b. The monitoring camera in use surface covers the dust easily, needs maintainer regularly to clean, and the camera of installing in the eminence needs the operation personnel to ascend a height with the help of instruments such as ladders, and the operation is complicated, extravagant manpower.

For the technical problems existing in the use of the existing textile roller, people in the related technical field make adaptive improvements after research, for example, the transformer substation monitoring system of the chinese patent with patent number 2014103616138 solves the problem that the transformer substation is difficult to be monitored in real time in the prior art, but the problem of the transformer substation monitoring in the use process is not mentioned.

Disclosure of Invention

In order to solve the problems, the invention provides a transformer substation monitoring inspection intelligent robot which can solve the problems of the transformer substation monitoring inspection intelligent robot in the using process.

In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose: the utility model provides an intelligent robot is patrolled and examined in transformer substation control, includes the mounting panel, and the dovetail has been seted up to the lower extreme of mounting panel, is fixed with the mounting bracket through the mode of alternating in the dovetail, and electronic slider is installed to the lower extreme of mounting bracket, and angle rotating device is installed to the lower extreme of electronic slider, and regulation camera device is installed to angle rotating device's lower extreme.

The angle rotating device comprises a supporting base frame installed on an electric sliding block, a supporting ball hinge is installed at the lower end of the supporting base frame, a supporting vertical plate is installed at the lower end of the supporting ball hinge, supporting springs are evenly arranged on the supporting vertical plate along the circumferential direction of the supporting vertical plate, the upper end of each supporting spring is installed on the supporting base frame, a fixed frame in an annular structure is installed at the lower end of the supporting base frame, a sliding groove in the annular structure is formed in the lower end of the fixed frame, and an angle control branched chain is arranged in the sliding groove in a sliding fit mode.

The adjustable photographing device comprises an adjustable motor arranged on a supporting vertical plate, an output shaft of the adjustable motor is provided with an installation shell of a spherical structure, the outer part of the lower end of the installation shell is provided with a protective cover, the lower end of the installation shell is uniformly provided with threaded holes, an executing photographing branched chain is arranged in the threaded holes, a battery is arranged on the inner wall of the installation shell, and an executing adjusting branched chain is arranged on the inner wall of the upper end of the installation shell;

the camera is characterized in that the photographing branch chain comprises a threaded rod arranged in a threaded hole in a threaded transmission mode, a hexagonal groove is formed in one end, located on the inner side of the mounting shell, of the threaded rod, a winding shaft is mounted at the other end of the threaded rod, a fixing frame is mounted at the lower end of the winding shaft through a bearing, a camera is mounted on the fixing frame, a wire is wound on the winding shaft, one end of the wire is connected to the camera, and the other end of the wire is connected to the battery.

The angle control branch chain includes and sets up the control carriage in the sliding tray through the sliding fit mode, installs the control motor through the motor cabinet on the control carriage, installs the control gear on the output shaft of control motor, evenly is provided with the control rack along its circumference on fixed frame's the inner wall, and control rack meshing is on the control gear, and the lower extreme of control carriage is provided with the control lever through the round pin axle, is provided with the control cylinder through the round pin axle on the control lever between with the control carriage.

The locking chamber has been seted up at the middle part of control carriage, and the locking groove has been seted up to locking chamber left and right sides symmetry, and the locking frame is installed through locking spring in the locking inslot, installs on the inner wall of locking frame to lean on the piece, lean on the piece from last triangle-shaped structure down for leaning out, install the locking cylinder on the inner wall in locking chamber, be provided with the latch segment on the locking cylinder.

The inner wall of the sliding groove is evenly provided with fixing grooves matched with the locking frame in the circumferential direction, and the width of each fixing groove is larger than that of the locking frame.

Be provided with the flexible groove that the cooperation camera used on the safety cover, flexible groove department is provided with the clearance sponge that is used for clearing up the camera, and the clearance sponge is circular structure, and the clearance sponge is formed by the sponge piece combination of a plurality of fan-shaped structures.

The actuating adjusting branched chain comprises an actuating rod which is installed on the inner wall of the installation shell through a pin shaft, an arc frame is arranged at the upper end of the actuating rod, an adjusting rack is evenly installed on the arc frame, an adjusting gear is meshed on the adjusting rack and is installed on an actuating motor, the actuating motor is installed on the inner wall of the installation shell through a motor base, a driving motor is installed at the lower end of the actuating rod, a telescopic cylinder is installed on an output shaft of the driving motor, and a hexagonal rod is installed on the telescopic cylinder.

1. The invention can solve the following problems existing in the use process of the existing transformer substation monitoring, a, the radiation of the monitored area of the traditional monitoring camera is limited, the single camera cannot achieve the effect of comprehensive monitoring, the traditional camera cannot control the monitoring angle, a plurality of groups of camera devices need to be installed for mutual cooperation monitoring, and the monitoring cost is increased. b. The monitoring camera in use surface covers the dust easily, needs maintainer regularly to clean, and the camera of installing in the eminence needs the operation personnel to ascend a height with the help of instruments such as ladders, and the operation is complicated, extravagant manpower. The present invention can solve the problems mentioned above, and has unexpected effects.

2. The electric sliding block designed by the invention can control the camera to carry out movement monitoring operation, and the angle rotating device can control the camera to carry out angle adjustment operation in operation, so that the effect of comprehensive monitoring can be achieved, and the monitoring cost is reduced.

3. The adjustable photographing device designed by the invention can automatically control the camera to stretch and retract during operation, can adjust the stretching distance of the camera, and can automatically clean dust on the surface of the camera by matching with the cleaning sponge when controlling the camera to stretch and retract.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic plan view of the present invention;

FIG. 2 is an enlarged view of the invention taken from the direction I of FIG. 1;

FIG. 3 is a schematic diagram of the structure of the cleaning sponge of the present invention;

Detailed Description

The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.

As shown in fig. 1 to 3, the intelligent robot for monitoring and routing inspection of the transformer substation comprises a mounting plate 1, wherein a dovetail groove is formed in the lower end of the mounting plate 1, a mounting frame 2 is fixed in the dovetail groove in an inserting mode, an electric slider 3 is installed at the lower end of the mounting frame 2, an angle rotating device 4 is installed at the lower end of the electric slider 3, and an adjusting photographing device 5 is installed at the lower end of the angle rotating device 4. The mounting plate is fixed above the monitoring area, the control mounting frame 2 is inserted into the dovetail groove to be fixed, the electric sliding block 3 controls the angle rotating device 4 to carry out moving operation, the angle rotating device 4 controls the adjusting photographing device 5 to carry out angle adjustment, and the adjusting photographing device 5 carries out photographing operation.

The angle rotating device 4 comprises a supporting base frame 41 installed on the electric sliding block 3, a supporting ball hinge 42 is installed at the lower end of the supporting base frame 41, a supporting vertical plate 43 is installed at the lower end of the supporting ball hinge 42, supporting springs 44 are evenly arranged on the supporting vertical plate 43 along the circumferential direction of the supporting vertical plate, the upper end of each supporting spring 44 is installed on the supporting base frame 41, a fixed frame 45 with an annular structure is installed at the lower end of the supporting base frame 41, a sliding groove with the annular structure is formed in the lower end of the fixed frame 45, and an angle control branched chain 46 is arranged in the sliding groove in a sliding fit mode. The supporting ball hinge 42 and the supporting spring 44 cooperate with each other to support the supporting vertical plate 43, and at the same time, the angle control branched chain 46 can control the supporting vertical plate 43 to adjust the angle.

The angle control branched chain 46 comprises a control sliding frame 461 arranged in a sliding groove in a sliding fit mode, a control motor 462 is installed on the control sliding frame 461 through a motor base, a control gear 463 is installed on an output shaft of the control motor 462, a control rack 464 is evenly arranged on the inner wall of the fixed frame 45 along the circumferential direction of the inner wall, the control rack 464 is meshed on the control gear 463, a control rod 465 is arranged at the lower end of the control sliding frame 461 through a pin shaft, and a control cylinder 466 is arranged between the control rod 465 and the control sliding frame 461 through a pin shaft.

Control carriage 461's middle part has been seted up locking chamber 4611, the locking groove has been seted up to locking chamber 4611 left and right sides symmetry, locking frame 4613 is installed through locking spring 4612 in the locking groove, install on locking frame 4613's the inner wall and lean on piece 4614, lean on piece 4614 from the last triangle-shaped structure of down for leaning out, ensure that latch segment 4616 can control locking frame 4613 and carry out concertina movement in the elevating movement operation, install locking cylinder 4615 on locking chamber 4611's the inner wall, be provided with latch segment 4616 on the locking cylinder 4615.

The inner wall of the sliding groove is evenly provided with fixing grooves matched with the locking frame 4613 in the circumferential direction, and the width of each fixing groove is larger than that of the locking frame 4613. The locking bracket 4613 can be inserted into the fixing groove to fix the position of the control sliding bracket 461.

When the angle rotating device 4 works, the control motor 462 drives the control rack 464 to rotate, the control rack 464 is matched with the control rack 464 in the rotating operation to drive the control sliding frame 461 to move to a proper working position in the sliding groove, the locking cylinder 4615 drives the locking block 4616 to stretch and retract, then the abutting block 4614 is extruded, the control locking frame 4613 is inserted into the fixing groove to fix the position of the control sliding frame 461, the control cylinder 466 drives the control rod 465 to extrude the supporting vertical plate 43, and the supporting vertical plate 43 is controlled to incline.

The adjustable photographing device 5 comprises an adjusting motor 51 installed on the supporting vertical plate 43, an installation shell 52 with a spherical structure is installed on an output shaft of the adjusting motor 51, a protective cover 53 is arranged outside the lower end of the installation shell 52, threaded holes are evenly formed in the lower end of the installation shell 52, an executing photographing branched chain 54 is arranged in the threaded holes, a battery 55 is installed on the inner wall of the installation shell 52, and an executing adjusting branched chain 56 is installed on the inner wall of the upper end of the installation shell 52.

The adjusting motor 51 drives the mounting shell 52 to rotate, and the mounting shell 52 controls the camera to carry out 360-degree dead-angle-free monitoring operation in operation.

The execution adjusting branched chain 56 comprises an executing rod 561 which is installed on the inner wall of the installation shell 52 through a pin shaft, an arc frame 562 is arranged at the upper end of the executing rod 561, an adjusting rack 563 is evenly installed on the arc frame 562, an adjusting gear 564 is meshed on the adjusting rack 563, the adjusting gear 564 is installed on an executing motor 565, the executing motor 565 is installed on the inner wall of the installation shell 52 through a motor base, a driving motor 566 is installed at the lower end of the executing rod 561, a telescopic cylinder 567 is installed on an output shaft of the driving motor 566, and a hexagonal rod 568 is installed on the telescopic cylinder 567.

The actuating motor 565 controls the adjusting gear 564 to rotate, the adjusting gear 564 is matched with the adjusting rack 563 during rotation to control the actuating rod 561 to perform angle adjustment, the telescopic cylinder 567 controls the hexagonal rod 568 to be inserted into the hexagonal groove, and the driving motor 566 works to control the threaded rod 541 to rotate.

The photographing branch 54 includes a threaded rod 541 disposed in the threaded hole through a thread transmission manner, a hexagonal slot is formed in one end of the threaded rod 541 located inside the mounting case 52, a spool 542 is mounted at the other end of the threaded rod 541, a fixing frame 545 is mounted at the lower end of the spool 542 through a bearing, a camera 544 is mounted on the fixing frame 545, a wire 543 is wound on the spool 542, one end of the wire 543 is connected to the camera 544, the other end of the wire 543 is connected to the battery 55, and the battery 55 supplies power to the camera 544 through the wire 543.

The threaded rod 541 is matched with the threaded hole to perform rotary telescopic operation during rotary operation, the threaded rod 541 controls the winding shaft 542 to synchronously rotate during operation, the rotating winding shaft 542 controls the lead 543 to be wound and unwound, and the threaded rod 541 controls the fixing frame 545 to extend and retract during rotary operation.

Be provided with the flexible groove that cooperation camera 544 used on the protection casing 53, flexible groove has played spacing effect to camera 544, and flexible groove department is provided with the clearance sponge 531 that is used for clearing up camera 544, and clearance sponge 531 is circular structure, and clearance sponge 531 is formed by the sponge piece combination of a plurality of fan-shaped structures. When the camera 544 passes through the telescopic slot, the cleaning sponge 531 can wipe dust on the surface of the camera 544.

The adjusting photographing device 5 drives the mounting shell 52 to rotate through the adjusting motor 51 during operation, the mounting shell 52 controls the camera to perform 360-degree dead-angle-free monitoring operation during operation, the adjusting branch chain 56 is executed to control the camera 544 to perform telescopic operation, and the cleaning sponge 531 cleans the camera 544 of dust.

When the device works, the mounting plate is fixed above a monitoring area, the control mounting frame 2 is inserted into a dovetail groove to be fixed, the electric slider 3 controls the angle rotating device 4 to move, when the angle rotating device 4 works, the control motor 462 drives the control rack 464 to rotate, the control rack 464 is matched with the control rack 464 in the rotating operation to drive the control sliding frame 461 to move to a proper working position in a sliding groove, the locking cylinder 4615 drives the locking block 4616 to extend and retract, and further extrudes the abutting block 4614, the control locking frame 4613 is inserted into the fixed groove to fix the position of the control sliding frame 461, the control cylinder 466 drives the control rod 465 to extrude the supporting vertical plate 43, the supporting vertical plate 43 is controlled to incline, the adjusting motor 51 drives the mounting shell 52 to rotate in the operation, and the mounting shell 52 performs 360-degree dead angle-free monitoring operation on the operation control camera, the execution adjusting branch chain 56 controls the camera 544 to perform telescopic operation, and the cleaning sponge 531 cleans the camera 544 of dust.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.