CN114069454B - Integrated machine nest and substation inspection system - Google Patents
Integrated machine nest and substation inspection system Download PDFInfo
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- CN114069454B CN114069454B CN202111407621.8A CN202111407621A CN114069454B CN 114069454 B CN114069454 B CN 114069454B CN 202111407621 A CN202111407621 A CN 202111407621A CN 114069454 B CN114069454 B CN 114069454B
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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
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- 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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B1/00—Frameworks, boards, panels, desks, casings; Details of substations or switching arrangements
- H02B1/26—Casings; Parts thereof or accessories therefor
- H02B1/30—Cabinet-type casings; Parts thereof or accessories therefor
- H02B1/32—Mounting of devices therein
- H02B1/34—Racks
- H02B1/36—Racks with withdrawable units
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00001—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02B90/20—Smart grids as enabling technology in buildings sector
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
- Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
- Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
- Y04S40/126—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment using wireless data transmission
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manufacturing & Machinery (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an integrated machine nest and a substation inspection system, wherein the integrated machine nest comprises: the machine nest shell is provided with an inner cavity, and the inner cavity is provided with a baffle plate assembly; the inner cavity is divided into a lower storage space for storing the inspection robot and an upper storage space for storing the unmanned aerial vehicle by the partition plate assembly; the lower layer storage space is provided with a lower layer opening; the upper layer storage space is provided with an upper layer opening; the machine nest shell comprises a bottom plate, a first side plate, a second side plate and a third side plate; the first side plate is hinged with the bottom plate and is used for realizing the opening or closing of the lower opening; the third curb plate sets up in lower floor's open-ended one side, and third curb plate one end and bottom plate fixed connection, the third curb plate other end is articulated with the second curb plate for realize upper strata open-ended opening or close, through structural design, the effectual realization patrols and examines the storage of robot and unmanned aerial vehicle, can reach saving storage space, guarantees the clean and tidy purpose of transformer substation's environment.
Description
Technical Field
The invention relates to the technical field of inspection equipment, in particular to an integrated machine nest and a transformer substation inspection system.
Background
With the rapid development of smart power grids, the safety inspection work of a transformer substation is becoming more and more intelligent, at present, inspection work for the transformer substation is often carried out by adopting an inspection robot, so that various problems of manual inspection (such as missing inspection, false inspection, incomplete inspection and the like caused by artificial subjective factors) are avoided, but because the visual angle of the inspection robot is relatively low, and a certain visual blind area exists, so that the inspection is carried out in an auxiliary way by adopting an unmanned aerial vehicle in order to ensure the omnibearing detection of the transformer substation.
Meanwhile, the inspection robot and the unmanned aerial vehicle are adopted, so that the comprehensive detection of a transformer substation can be realized, and the problem that how to effectively utilize the space to realize the storage of the inspection robot and the unmanned aerial vehicle is needed to be solved is urgent.
In view of this, the present application is specifically proposed.
Disclosure of Invention
According to one aspect of the problems in the prior art, the invention provides the integrated machine nest, and through structural design, the purposes of saving storage space and guaranteeing clean environment of a transformer substation can be achieved by effectively storing the inspection robot and the unmanned aerial vehicle; on the other hand, the invention provides a substation inspection system, which can effectively realize the omnibearing inspection of a substation and improve the inspection efficiency through structural design.
The invention is realized by the following technical scheme:
first aspect
The embodiment of the invention provides an integrated machine nest, which comprises: the machine nest shell is provided with an inner cavity, and the inner cavity is provided with a baffle plate assembly; the inner cavity is divided into a lower storage space for storing the inspection robot and an upper storage space for storing the unmanned aerial vehicle by the partition plate assembly; the lower storage space is provided with a lower opening for realizing communication between the lower storage space and the external space; the upper storage space is provided with an upper opening for communicating the upper storage space with the external space; the machine nest shell comprises a bottom plate, a first side plate, a second side plate and a third side plate; the first side plate is hinged with the bottom plate and is used for realizing the opening or closing of the lower opening; the third side plate is arranged on one side of the lower opening, one end of the third side plate is fixedly connected with the bottom plate, and the other end of the third side plate is hinged with the second side plate and used for realizing the opening or closing of the upper opening.
In this scheme, the integration machine nest is provided with the inner chamber that simultaneously stores inspection robot and unmanned aerial vehicle, and will through setting up the baffle subassembly the inner chamber divide into upper strata storage space and lower floor's storage space that stacks the setting, just lower floor's storage space is used for the storage inspection robot, upper strata storage space is used for storing unmanned aerial vehicle, when realizing unmanned aerial vehicle and inspection robot simultaneous storage, through stacking the area that sets up can effectually reduce the integration machine nest can reach saving storage space, guarantee the clean purpose of transformer substation environment, and through the structural design of first curb plate and second curb plate, can effectually realize upper strata storage space with lower floor's storage space's opening and closing to effectual realization unmanned aerial vehicle and inspection robot's business turn over and storage.
Further, the baffle subassembly includes slide rail and movable plate, the one end of slide rail with the third curb plate is close to lower floor's storage space's side is connected, the movable plate with slide rail sliding fit, through the structural design of baffle subassembly, can realize the movable plate for upper strata storage space's relative position changes to make things convenient for unmanned aerial vehicle's release, avoid the machine nest shell to cause the influence to unmanned aerial vehicle's release.
Further, the movable plate is kept away from one side of lower floor's storage space is provided with the arm module, the one end of arm module with the movable plate is articulated, the other end of arm module is provided with the mechanical clamp that is used for centre gripping unmanned aerial vehicle, through the structural design of arm module, can effectually realize the centre gripping to unmanned aerial vehicle, guarantees stability and the accuracy when unmanned aerial vehicle is homing.
Further, the arm module is multiaxis arm, including first pivot, second pivot and the third pivot of connecting in order, first pivot second pivot and third pivot all can be around self axis rotation, the one end of first pivot pass through first horizontal rotating electrical machines with the movable plate is connected, the other end of first pivot pass through second horizontal rotating electrical machines with the one end of second pivot is connected, the other end of second pivot pass through third horizontal rotating electrical machines with the one end of third pivot is connected, the mechanical clamp sets up the other end of third pivot, through the structural design of arm module can realize after accomplishing unmanned aerial vehicle centre gripping, adjusts to unmanned aerial vehicle's gesture, guarantees unmanned aerial vehicle the accuracy of position on the movable plate.
Further, the third pivot be close to with the side of machinery clamp still is provided with the camera subassembly that is used for tracking unmanned aerial vehicle, through the structural design of camera subassembly, can effectually realize the tracking to unmanned aerial vehicle, guarantees the accuracy of centre gripping.
Further, the first horizontal rotating motor is used for driving the first rotating shaft to rotate around the connection position of the first rotating shaft and the moving plate, a plane formed in the rotating process of the first rotating shaft is parallel to the sliding direction of the moving plate, and the horizontal rotating direction of the first rotating shaft is limited by limiting the rotating direction of the first horizontal rotating motor, so that interference with the housing of the machine nest is avoided.
Second aspect
The embodiment of the invention also provides a substation inspection system, which comprises the integrated machine nest, an inspection robot and an unmanned aerial vehicle, wherein the lower storage space is provided with a first charging device for charging the inspection robot, and the upper storage space is provided with a second charging device for charging the unmanned aerial vehicle.
In this scheme, the transformer substation inspection system is provided with unmanned aerial vehicle and inspection robot simultaneously, can effectually realize the omnidirectional monitoring of transformer substation, guarantees the comprehensiveness and the accuracy of monitoring, promotes inspection efficiency, and passes through the structural design of integration machine nest can accomplish inspection robot and unmanned aerial vehicle's charging simultaneously, has practiced thrift the space.
Further, the charging device further comprises a power supply assembly used for being connected with an external power supply, and the first charging device and the second charging device are electrically connected with the power supply assembly.
Further, the second charging device comprises a first magnetic induction coil, a first contact and a second contact, wherein the first contact and the second contact are electrically connected with the first magnetic induction coil, the second contact is electrically connected with the power supply assembly, the second contact is arranged close to the starting end of the sliding rail, the first contact and the first magnetic induction coil are both arranged on the moving plate, the first contact is arranged on the side surface of the moving plate, which is matched with the sliding rail, and the first contact is arranged close to the starting end of the sliding rail, and when the moving plate is completely contained in the upper storage space, the first contact and the second contact are mutually communicated, so that the first magnetic induction coil is electrified; unmanned aerial vehicle includes power module, power module includes the second magnetic induction coil, first magnetic induction coil with the realization that the second magnetic induction coil mutually supports unmanned aerial vehicle's charging, realizes unmanned aerial vehicle's charging through the mode that adopts the magnetic induction coil, can realize unmanned aerial vehicle's charging after unmanned aerial vehicle accomplishes descending and movable plate homing, can effectually avoid adopting the condition of counterpoint that the plug design needs, and through the structural design to second charging device, realize first magnetic induction coil's structure when the movable plate homing, the effectual energy of having practiced thrift.
Further, the inspection robot comprises a travelling wheel and a charging slot, a travelling groove matched with the travelling wheel is formed in the bottom plate, the travelling groove comprises a starting end and a terminating end, and when the first side plate is opened, the starting end is used for realizing communication between the travelling groove and an external space; the first charging device comprises a charging head connected with the power supply assembly, and the charging head and the starting end are oppositely positioned at two sides of the ending end; when the inspection robot moves to the terminal end along the walking groove, the charging head is electrically connected with the charging slot, and the charging efficiency of the inspection robot is effectively improved through the structural design of the bottom plate, so that the inspection robot is charged in place, the searching process of the charging head is avoided, and the charging efficiency is improved.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the integrated machine nest and transformer substation inspection system, through structural design, the inspection robots and the unmanned aerial vehicles can be effectively stored, so that the purposes of saving storage space and guaranteeing clean transformer substation environment can be achieved;
2. according to the integrated machine nest and transformer substation inspection system, through the structural design of the partition plate assembly, the relative position change of the movable plate relative to the upper storage space can be realized, so that the unmanned aerial vehicle can be conveniently released, and the influence of a machine nest shell on the release of the unmanned aerial vehicle is avoided;
3. according to the integrated machine nest and transformer substation inspection system, the unmanned aerial vehicle can be effectively clamped through the structural design of the mechanical arm assembly, stability and accuracy of the unmanned aerial vehicle in homing are guaranteed, tracking of the unmanned aerial vehicle can be effectively achieved through the structural design of the camera assembly, and accuracy of clamping is guaranteed;
4. according to the integrated machine nest and transformer substation inspection system, through the structural design of the mechanical arm assembly, the unmanned aerial vehicle can be adjusted according to the posture of the unmanned aerial vehicle after being clamped, and the accuracy of the position of the unmanned aerial vehicle on the moving plate is ensured;
5. according to the integrated machine nest and transformer substation inspection system, the horizontal rotation direction of the first rotating shaft is limited by limiting the rotation direction of the first horizontal rotating motor, so that interference with a machine nest shell is avoided;
6. according to the integrated machine nest and the substation inspection system, through the structural design of the integrated machine nest, the inspection robot and the unmanned aerial vehicle can be charged at the same time, so that the space is saved;
7. according to the integrated machine nest and transformer substation inspection system, the unmanned aerial vehicle is charged in a magnetic induction coil mode, the unmanned aerial vehicle can be charged after the unmanned aerial vehicle finishes landing and the mobile plate is reset, the situation of alignment required by plug design can be effectively avoided, and the structure of the first magnetic induction coil is realized when the mobile plate is reset through the structural design of the second charging device, so that energy sources are effectively saved;
8. according to the integrated machine nest and transformer substation inspection system, through the structural design aiming at the bottom plate, the charging efficiency of the inspection robot is effectively improved, namely charging is achieved in place, the searching process of a charging head is avoided, and the charging efficiency is improved.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
Fig. 1 is a schematic structural diagram of an integrated machine nest according to an embodiment of the present invention;
fig. 2 is a schematic diagram of the cooperation between a sliding rail and a moving plate according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a mechanical arm assembly according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a base plate of a substation inspection system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a base plate of a substation inspection system according to another embodiment of the present invention;
fig. 6 is a schematic diagram of the cooperation between a sliding rail and a moving board (a first contact is connected with a second contact) of the substation inspection system according to the embodiment of the present invention;
fig. 7 is a schematic diagram of cooperation between a sliding rail and a moving board (a first contact and a second contact are disconnected) of a substation inspection system according to an embodiment of the present invention.
The reference numerals in the figures are in turn:
100-machine nest shell, 110-bottom plate, 111-walking groove, 120-first curb plate, 130-second curb plate, 140-third curb plate, 210-slide rail, 220-movable plate, 300-arm subassembly, 310-first pivot, 320-second pivot, 330-third pivot, 340-first horizontal rotating electrical machines, 350-second horizontal rotating electrical machines, 360-third horizontal rotating electrical machines, 370-mechanical clamp, 380-camera subassembly, 400-inspection robot, 500-unmanned aerial vehicle, 610-first contact, 620-second contact, 630-charging head, 640-first inclined plane, 650-second inclined plane.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention are included in the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: no such specific details are necessary to practice the invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail in order not to obscure the invention.
Throughout the specification, references to "one embodiment," "an embodiment," "one example," or "an example" mean: a particular feature, structure, or characteristic described in connection with the embodiment or example is included within at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an example," or "in an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Moreover, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and that the illustrations are not necessarily drawn to scale. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, it should be understood that the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the scope of the present invention.
Examples
As shown in fig. 1, an embodiment of the present invention provides an integrated machine nest, including: a machine nest housing 100, the machine nest housing 100 having an interior cavity provided with a baffle assembly; the partition board assembly divides the inner cavity into a lower storage space for storing the inspection robot 400 and an upper storage space for storing the unmanned aerial vehicle 500; the lower storage space is provided with a lower opening for realizing communication between the lower storage space and the external space; the upper storage space is provided with an upper opening for communicating the upper storage space with the external space; the nest housing 100 includes a bottom plate 110, a first side plate 120, a second side plate 130, and a third side plate 140; the first side plate 120 is hinged with the bottom plate 110, and is used for opening or closing the lower opening; the third side plate 140 is disposed on one side of the lower opening, one end of the third side plate 140 is fixedly connected with the bottom plate 110, and the other end of the third side plate 140 is hinged to the second side plate 130, so as to open or close the upper opening.
In this embodiment, the integration machine nest is provided with the inner chamber that simultaneously stores inspection robot 400 and unmanned aerial vehicle 500, and will through setting up the baffle subassembly the inner chamber divide into upper strata storage space and lower floor's storage space that stacks the setting, just lower floor's storage space is used for storing inspection robot 400, upper strata storage space is used for storing unmanned aerial vehicle 500, when realizing unmanned aerial vehicle 500 and inspection robot 400 simultaneous storage, can effectually reduce through stacking the area of setting up the integration machine nest, can reach saving storage space, guarantee the clean and tidy purpose of transformer substation's environment, and through the structural design of first curb plate 120 and second curb plate 130, can effectually realize upper strata storage space with lower floor's storage space's opening and closing to effectual realization unmanned aerial vehicle 500 and inspection robot 400's business turn over and storage.
As shown in fig. 2, in some embodiments, the partition board assembly includes a sliding rail 210 and a moving board 220, one end of the sliding rail 210 is connected with a side surface of the third side board 140, which is close to the lower storage space, and the moving board 220 is in sliding fit with the sliding rail 210, when the second side board 130 is opened to realize that the upper storage space is communicated with the external space, the moving board 220 slides on the sliding rail 210, so that a relative position change of the moving board 220 relative to the upper storage space is realized, and through a structural design of the partition board assembly, a relative position change of the moving board 220 relative to the upper storage space can be realized, so that release of the unmanned aerial vehicle 500 is facilitated, and an influence of the release of the nest housing 100 on the unmanned aerial vehicle 500 is avoided.
Specifically, the number of the sliding rails 210 is at least two, at least two sliding rails 210 are arranged at intervals, wherein any one of the sliding rails 210 is arranged at one side of the moving plate 220 relative to the moving direction of the moving plate 220, any other one of the sliding rails 210 is arranged at the other side of the moving plate 220, and the moving plate 220 can be effectively supported by the structural design of at least two sliding rails 210, so that the stability of the moving plate 220 is ensured.
The second side plate 130 is hinged to the third side plate 140, and the second side plate 130 may rotate along the hinge position, so as to change an included angle between the second side plate 130 and the third side plate 140, in some specific embodiments, a retaining member is further provided, and the retaining member is used for retaining an angle formed by the second side plate 130 and the third side plate 140, specifically, the angle is 90 °, and through an angle setting of 90 °, when the moving plate 220 moves out of the upper storage space, the second side plate 130 may play a supporting role on the moving plate 220, so as to ensure structural stability.
As shown in fig. 3, in some embodiments, a mechanical arm assembly 300 is disposed on a side, far away from the lower storage space, of the moving plate 220, one end of the mechanical arm assembly 300 is hinged to the moving plate 220, a mechanical clamp 370 for clamping the unmanned aerial vehicle 500 is disposed on the other end of the mechanical arm assembly 300, and through the structural design of the mechanical arm assembly 300, the clamping of the unmanned aerial vehicle 500 can be effectively achieved, and stability and accuracy of homing of the unmanned aerial vehicle 500 are ensured.
The connection position of the mechanical arm assembly 300 and the moving plate 220 is located at the front end of the moving plate 220 in the moving direction, specifically, when the moving plate 220 is completely located in the upper storage space, the mechanical arm assembly 300 is close to the second side plate 130, and the influence of the nest housing 100 on the mechanical arm assembly 300 can be effectively avoided through the position design of the mechanical arm assembly 300.
In some embodiments, the mechanical arm assembly 300 is a multi-axis mechanical arm, including a first rotating shaft 310, a second rotating shaft 320 and a third rotating shaft 330 that are sequentially connected, the first rotating shaft 310, the second rotating shaft 320 and the third rotating shaft 330 can all rotate around their own axes, one end of the first rotating shaft 310 is connected with the moving plate 220 through a first horizontal rotating motor 340, the other end of the first rotating shaft 310 is connected with one end of the second rotating shaft 320 through a second horizontal rotating motor 350, the other end of the second rotating shaft 320 is connected with one end of the third rotating shaft 330 through a third horizontal rotating motor 360, the mechanical clamp 370 is arranged at the other end of the third rotating shaft 330, and through the structural design of the mechanical arm assembly 300, the posture of the unmanned aerial vehicle 500 can be adjusted after the clamping of the unmanned aerial vehicle 500 is completed, so that the accuracy of the unmanned aerial vehicle 500 on the moving plate 220 is ensured.
The first rotating shaft 310, the second rotating shaft 320 and the third rotating shaft 330 can rotate around their axes, their rotation does not affect each other, and they can rotate independently, so that the mechanical arm assembly 300 can move freely in the area above the moving plate 220.
It should be noted that, the rotation of the rotating shaft and the rotation of the horizontal rotating motor both require driving members, and the structure of the specific driving member is not limited, and the corresponding structural movement can be achieved, which is not described herein.
In some embodiments, the third rotating shaft 330 is close to the side of the mechanical clamp 370 and is further provided with a camera assembly 380 for tracking the unmanned aerial vehicle 500, and tracking of the unmanned aerial vehicle 500 can be effectively realized through the structural design of the camera assembly 380, so that accuracy of clamping is ensured.
In some embodiments, the first horizontal rotating motor 340 is configured to drive the first rotating shaft 310 to rotate around a connection position between the first rotating shaft 310 and the moving plate 220, and a plane formed during the rotation of the first rotating shaft 310 is parallel to a sliding direction of the moving plate 220, so that by limiting the rotation direction of the first horizontal rotating motor 340, the horizontal rotation direction of the first rotating shaft 310 is limited, so as to avoid interference with the housing 100.
As shown in fig. 1, the embodiment of the invention further provides a substation inspection system, which comprises the integrated machine nest, an inspection robot 400 and an unmanned aerial vehicle 500, wherein a first charging device for charging the inspection robot 400 is arranged in a lower storage space, and a second charging device for charging the unmanned aerial vehicle 500 is arranged in an upper storage space.
In this embodiment, the transformer substation inspection system is provided with unmanned aerial vehicle 500 and inspection robot 400 simultaneously, can effectually realize the omnidirectional monitoring of transformer substation, guarantees the comprehensiveness and the accuracy of monitoring, promotes inspection efficiency, and through the structural design of integration machine nest, can accomplish the charging of inspection robot 400 and unmanned aerial vehicle 500 simultaneously, has practiced thrift the space.
In some embodiments, the charging device further comprises a power supply assembly for connecting with an external power source, and the first charging device and the second charging device are both electrically connected with the power supply assembly.
As shown in fig. 6-7, in some embodiments, the second charging device includes a first magnetic induction coil, a first contact 610 electrically connected to the first magnetic induction coil, a second contact 620, the second contact 620 electrically connected to the power supply assembly, and the second contact 620 disposed near a start end of the sliding rail 210, the first contact 610 and the first magnetic induction coil are disposed on the moving plate 220, and the first contact 610 is disposed on a side surface of the moving plate 220 that cooperates with the sliding rail 210, and the first contact 610 is disposed near the start end of the sliding rail 210, and when the moving plate 220 is completely accommodated in the upper storage space, the first contact 610 and the second contact 620 are mutually communicated, thereby realizing the energization of the first magnetic induction coil; unmanned aerial vehicle 500 includes power module, power module includes the second magnetic induction coil, first magnetic induction coil with the realization that the second magnetic induction coil mutually supports unmanned aerial vehicle 500's charges, realizes unmanned aerial vehicle 500's charging through the mode that adopts the magnetic induction coil, can realize unmanned aerial vehicle 500's the condition of counterpointing after unmanned aerial vehicle 500 accomplishes the landing and mobile plate 220 returns to the home position, can effectually avoid adopting the plug design needs, and through the structural design to second charging device, realizes first magnetic induction coil's structure when mobile plate 220 returns to the home position, the effectual energy that has practiced thrift.
In this embodiment, the second charging device adopts the contact to connect, on the one hand, effectually avoided adopting the line to connect the time, the removal of movable plate 220 to the influence of wire, on the other hand can effectually guarantee the neatness of machine nest inner structure, and adopt the wireless mode of charging of constituteing by first magnetic induction coil and second magnetic induction coil, can effectually guarantee the validity of charging, and can avoid the position of unmanned aerial vehicle 500 to the influence of charging.
As shown in fig. 4, in some embodiments, the inspection robot 400 includes a travelling wheel and a charging slot, the base plate 110 is provided with a travelling groove 111 adapted to the travelling wheel, the travelling groove 111 includes a start end and a stop end, and when the first side plate 120 is opened, the start end is used for implementing communication between the travelling groove 111 and an external space; the first charging device comprises a charging head 630 connected with the power supply assembly, and the charging head 630 and the starting end are oppositely positioned at two sides of the ending end; when the inspection robot 400 moves to the terminal end along the walking groove 111, the charging head 630 is electrically connected with the charging slot, and the charging efficiency of the inspection robot 400 is effectively improved through the structural design of the base plate 110, namely, the inspection robot is charged in place, so that the searching process of the charging head 630 is avoided, and the charging efficiency is improved.
When the charging head 630 is electrically connected with the charging slot, the external power supply is connected with the inspection robot, and then the inspection robot is charged.
As shown in fig. 5, further, a limiting member is further disposed on a side surface of the lower storage space, the walking groove 111 is disposed on the limiting member, the limiting member is disposed near the first side plate 120, the limiting member includes a first inclined surface 640 and a second inclined surface 650, one end of the first inclined surface 640 is connected with one end of the bottom plate 110 near the first side plate 120, the other end of the first inclined surface 640 is connected with one end of the second inclined surface 650, and the other end of the second inclined surface 650 is connected with the other end of the bottom plate 110; the included angle formed by the first inclined surface 640 and the second inclined surface 650 is an obtuse angle; the first charging device comprises a charging head 630, the charging head 630 is arranged at one end of the second inclined plane 650 away from the first inclined plane 640, the inspection robot 400 is provided with a charging slot matched with the charging head 630, when the inspection robot 400 moves to the second inclined plane 650, the inspection robot 400 can guarantee the matching strength of the charging head 630 and the charging slot under the action of gravity, and the position of the inspection robot 400 can be maintained through the structural design of a limiting piece.
The above is a preferred embodiment of the present invention, and a person skilled in the art can also make alterations and modifications to the above embodiment, so that the present invention is not limited to the above specific embodiment, and any obvious improvements, substitutions or modifications made by a person skilled in the art on the basis of the present invention are all within the scope of the present invention.
Claims (7)
1. A substation inspection system is characterized in that,
the intelligent inspection robot comprises an integrated machine nest, an inspection robot, an unmanned aerial vehicle and a power supply assembly used for being connected with an external power supply;
the integrated machine nest includes:
the machine nest shell is provided with an inner cavity, and the inner cavity is provided with a baffle plate assembly;
the inner cavity is divided into a lower storage space for storing the inspection robot and an upper storage space for storing the unmanned aerial vehicle by the partition plate assembly;
the lower storage space is provided with a lower opening for realizing communication between the lower storage space and the external space;
the upper storage space is provided with an upper opening for communicating the upper storage space with the external space;
the machine nest shell comprises a bottom plate, a first side plate, a second side plate and a third side plate;
the first side plate is hinged with the bottom plate and is used for realizing the opening or closing of the lower opening;
the third side plate is arranged on one side of the lower opening, one end of the third side plate is fixedly connected with the bottom plate, and the other end of the third side plate is hinged with the second side plate and is used for realizing the opening or closing of the upper opening;
the lower storage space is provided with a first charging device for charging the inspection robot, and the upper storage space is provided with a second charging device for charging the unmanned aerial vehicle; the first charging device and the second charging device are electrically connected with the power supply assembly;
the inspection robot comprises a travelling wheel and a charging slot, a travelling groove matched with the travelling wheel is formed in the bottom plate, the travelling groove comprises a starting end and a terminating end, and when the first side plate is opened, the starting end is used for realizing communication between the travelling groove and an external space; the first charging device comprises a charging head connected with the power supply assembly, and the charging head and the starting end are oppositely positioned at two sides of the ending end; when the inspection robot moves to the terminal end along the walking groove, the charging head is electrically connected with the charging slot;
the side surface of the lower storage space is also provided with a limiting piece, the walking groove is arranged on the limiting piece, the limiting piece is arranged close to the first side plate and comprises a first inclined surface and a second inclined surface, one end of the first inclined surface is connected with one end of the bottom plate close to the first side plate, the other end of the first inclined surface is connected with one end of the second inclined surface, and the other end of the second inclined surface is connected with the other end of the bottom plate; the included angle formed by the first inclined plane and the second inclined plane is an obtuse angle; the first charging device comprises a charging head, the charging head is arranged at one end, far away from the first inclined surface, of the second inclined surface, and the inspection robot is provided with a charging slot matched with the charging head.
2. The substation inspection system of claim 1, wherein the bulkhead assembly comprises a sliding rail and a moving plate, wherein one end of the sliding rail is connected to a side of the third side plate, which is close to the lower storage space, and the moving plate is in sliding fit with the sliding rail.
3. The substation inspection system according to claim 2, wherein a mechanical arm assembly is arranged on one side, far away from the lower storage space, of the moving plate, one end of the mechanical arm assembly is hinged to the moving plate, and a mechanical clamp for clamping the unmanned aerial vehicle is arranged on the other end of the mechanical arm assembly.
4. The substation inspection system according to claim 3, wherein the mechanical arm assembly is a multi-axis mechanical arm, and comprises a first rotating shaft, a second rotating shaft and a third rotating shaft which are sequentially connected, wherein the first rotating shaft, the second rotating shaft and the third rotating shaft can rotate around their axes, one end of the first rotating shaft is connected with the moving plate through a first horizontal rotating motor, the other end of the first rotating shaft is connected with one end of the second rotating shaft through a second horizontal rotating motor, the other end of the second rotating shaft is connected with one end of the third rotating shaft through a third horizontal rotating motor, and the mechanical clamp is arranged at the other end of the third rotating shaft.
5. The substation inspection system of claim 4, wherein a camera assembly for tracking the unmanned aerial vehicle is further disposed on a side of the third shaft adjacent to the mechanical clamp.
6. The substation inspection system according to claim 4, wherein the first horizontal rotating motor is configured to drive the first rotating shaft to rotate around a connection position between the first rotating shaft and the moving plate, and a plane formed during rotation of the first rotating shaft is parallel to a sliding direction of the moving plate.
7. The substation inspection system according to claim 2, wherein the second charging device comprises a first magnetic induction coil, a first contact electrically connected with the first magnetic induction coil, a second contact electrically connected with the power supply assembly, and the second contact is arranged near a start end of the sliding rail, the first contact and the first magnetic induction coil are both arranged on the moving plate, the first contact is arranged on a side surface of the moving plate, which is matched with the sliding rail, and the first contact is arranged near the start end of the sliding rail, and the first contact and the second contact are mutually communicated when the moving plate is completely contained in the upper storage space; unmanned aerial vehicle includes power module, power module includes the second magnetic induction coil, first magnetic induction coil with second magnetic induction coil mutually support and realize unmanned aerial vehicle's charging.
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| US20180323636A1 (en) * | 2014-09-05 | 2018-11-08 | The Wiremold Company | Wireless power charging systems and ecosystem for surface-based wireless charging system |
| JP7233683B2 (en) * | 2018-11-27 | 2023-03-07 | 日本ケーブル株式会社 | Pallet for multi-storey parking system |
| CN210007444U (en) * | 2019-07-20 | 2020-01-31 | 无锡派德文具礼品有限公司 | Wireless charging collector plate of mobile equipment |
| CN112707072B (en) * | 2020-04-08 | 2021-09-28 | 江苏方天电力技术有限公司 | Mobile multi-unmanned-aerial-vehicle automatic intelligent warehouse entry and exit system and warehouse entry and exit method |
| CN112450200A (en) * | 2020-11-20 | 2021-03-09 | 张银侠 | Remote bird repellent device of ridge for agricultural |
| CN112780091A (en) * | 2021-03-01 | 2021-05-11 | 南京激扬智慧信息技术研究院有限公司 | Intelligent recovery and storage system for fixed hangar of unmanned aerial vehicle |
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