CN218965420U - Dynamic robot is patrolled and examined to thermal power generating unit all-round - Google Patents
Dynamic robot is patrolled and examined to thermal power generating unit all-round Download PDFInfo
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- CN218965420U CN218965420U CN202222183046.4U CN202222183046U CN218965420U CN 218965420 U CN218965420 U CN 218965420U CN 202222183046 U CN202222183046 U CN 202222183046U CN 218965420 U CN218965420 U CN 218965420U
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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Abstract
The utility model relates to the technical field of detection equipment and discloses an omnibearing inspection dynamic robot of a thermal power generating unit, wherein the robot comprises an AGV trolley, and a video monitoring device, a control box, a motor and a manipulator are fixed on the AGV trolley; the mechanical arm is fixedly provided with a first rotating shaft, a first base is fixed on the first rotating shaft, a plurality of grooves are formed in the first base, an electric telescopic rod is fixed in each groove, and a fault inspection assembly is fixed on each electric telescopic rod; the motor is electrically connected with the video monitoring device, the first rotating shaft, the fault inspection assembly and the motor; the control box is electrically connected with the video monitoring device, the manipulator and the fault inspection assembly. The utility model solves the problems of low manual inspection efficiency and unsafe manual inspection in the prior art.
Description
Technical Field
The utility model relates to the technical field of detection equipment, in particular to an omnibearing inspection dynamic robot for a thermal power generating unit.
Background
The main body of the thermal power generation is steam power generation, the steam power generator set comprises a steam system, a combustion system and a power generation system, the steam system of the thermal power generator set comprises a boiler, a steam turbine, a condenser, a high-low pressure heater, a condensate pump, a water supply pump and the like, and the steam power generator set comprises a steam-water circulation system, a chemical water treatment system, a cooling system and the like. The combustion system consists of coal conveying, coal grinding, coarse-fine separation, powder discharging, powder feeding, boiler, dust removing, desulfurizing and the like. The power generation system consists of a secondary exciter, an exciter disc, a main exciter (standby exciter), a generator, a transformer, a high-voltage circuit breaker, a booster station, a power distribution device and the like.
Thermal power presents a significant challenge in the context of "two carbon" strategic targets. Thermal power enterprises can occupy favorable positions under the increasingly vigorous market competition only by timely adjusting working strategies, innovating working concepts and improving scientific management level according to new situations. Along with the rapid development of intelligent energy and intelligent power plant technology research and engineering construction, the realization of intelligent production operation management of power plants by utilizing technologies such as the Internet, artificial intelligence and big data has become a trend.
Therefore, the digital, automatic and intelligent inspection of the thermal power plant is required to be researched, the manual inspection project is disassembled, intelligent equipment is adopted for intelligent inspection, the traditional manual inspection operation mode of the thermal power plant is broken, the new industrial state and mode are promoted, the personal equipment safety and inspection efficiency are improved, the inspection by few people or even no people is realized, the early warning of accidents is realized, and finally the aim of reducing personnel and improving efficiency is achieved.
Disclosure of Invention
The utility model aims to provide an omnibearing inspection dynamic robot for a thermal power generating unit, which solves the problems of low efficiency and unsafe manual inspection of the existing manual inspection.
In order to achieve the above object, the present utility model provides the following solutions: the utility model provides an omnibearing inspection dynamic robot of a thermal power generating unit, which comprises an AGV trolley, wherein a video monitoring device, a control box, a motor and a manipulator are fixed on the AGV trolley;
the mechanical arm is fixedly provided with a first rotating shaft, a first base is fixed on the first rotating shaft, a plurality of grooves are formed in the first base, an electric telescopic rod is fixed in each groove, and a fault inspection assembly is fixed on each electric telescopic rod;
the motor is electrically connected with the video monitoring device, the first rotating shaft, the fault inspection assembly and the motor; the control box is electrically connected with the video monitoring device, the manipulator and the fault inspection assembly.
In some embodiments of the present application, the video surveillance device includes a telescopic sleeve, a telescopic rod is fixed on the telescopic sleeve, a second rotating shaft is fixed on the top end of the telescopic rod, a turntable is fixed on the second rotating shaft, and a camera is fixed on the turntable.
In some embodiments of the application, the camera comprises a high-definition camera, wherein the high-definition camera is used for collecting images of the inspection points in real time and identifying abnormal running states and environment of the thermal power generating unit of the inspection points according to intelligence.
In some embodiments of the present application, the camera includes a thermometry camera for dynamically detecting a thermal power generating unit temperature and forming a temperature field.
In some embodiments of the present application, the AGV bottom is provided with a drive mechanism including a drive wheel and a track, the track being sleeved on the drive wheel, the drive mechanism being electrically connected to the motor.
In some embodiments of the present application, the fault inspection assembly includes a dust concentration detector for detecting a coal dust concentration.
In some embodiments of the present application, the fault patrol assembly includes a first temperature detector for detecting a line bushing temperature of the thermal power generating unit.
In some embodiments of the present application, the fault inspection assembly includes a demagnetizing component for being placed in an exciting coil of the thermal power generating unit for demagnetization.
In some embodiments of the present application, the fault inspection assembly includes a second temperature detector for detecting a post-conduit wall temperature of a steam-water system valve of the thermal power generating unit.
In some embodiments of the present application, the control box sends fault alarm information to a worker after the robot patrols and examines a fault; the fault alarm information comprises push message display to a display screen, voice reminding and alarm information sending to terminal equipment.
The utility model has the technical effects that:
the utility model overcomes the problems of low efficiency, unsafe and the like of manual detection by arranging the video monitoring device and the fault inspection assembly, and saves the labor cost by timing inspection;
the all-round inspection dynamic robot of the thermal power generating unit can intelligently determine inspection sites according to the video monitoring device and the control box, and corresponding detectors are selected for detection at different inspection sites, so that the inspection accuracy is improved.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an omnibearing inspection dynamic robot of a thermal power generating unit, provided by an embodiment of the utility model;
fig. 2 is a top view of an omnibearing inspection dynamic robot of a thermal power generating unit, provided by an embodiment of the utility model;
FIG. 3 is a top view of a first base provided by an embodiment of the present utility model;
wherein: 1. AGV trolley; 2. video monitoring means; 3. a control box; 4. a motor; 5. a manipulator; 6. a first rotating shaft; 7. a first base; 8. a groove; 9. an electric telescopic rod; 10. a fault inspection assembly; 11. a telescopic sleeve; 12. a telescopic rod; 13. a second rotating shaft; 14. a turntable; 15. a camera; 16. a driving wheel; 17. a track.
Detailed Description
The following describes in further detail the embodiments of the present utility model with reference to the drawings and examples. The following examples are illustrative of the utility model and are not intended to limit the scope of the utility model.
In the description of the present application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
In order that the above-recited objects, features and advantages of the present utility model will become more readily apparent, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1-3, the embodiment discloses a thermal power machine 4-group omnibearing inspection dynamic robot, which comprises an AGV trolley 1, wherein a video monitoring device 2, a control box 3, a motor 4 and a manipulator 5 are fixed on the AGV trolley 1;
the mechanical arm 5 is fixedly provided with a first rotating shaft 6, the first rotating shaft 6 is fixedly provided with a first base 7, the first base 7 is provided with a plurality of grooves 8, an electric telescopic rod 129 is fixed in each groove 8, and a fault inspection assembly 10 is fixed on each electric telescopic rod 129;
the motor 4 is electrically connected with the video monitoring device 2, the first rotating shaft 6, the fault inspection assembly 10 and the motor 4; the control box 3 is electrically connected with the video monitoring device 2, the manipulator 5 and the fault patrol assembly 10.
It will be appreciated that in the above embodiment, the AGV car 1 is used for conducting inspection, intelligent detection is achieved through the video monitoring device 2, and simple fault detection is performed through the manipulator 5 and the fault inspection assembly 10. The video monitoring device 2 can find that the fire motor 4 group needs to be identified by human eyes through an AI image algorithm, and has no abnormal condition of monitoring data of a dynamic ring system, such as: equipment leakage/condensation/leakage, battery breakage/swelling/leakage, valve/switch/knob position, rat damage, pest damage, abnormal intrusion, etc. The AI image algorithm can be any existing artificial intelligence algorithm capable of realizing image recognition, such as an artificial neural network algorithm and a modified algorithm thereof.
In some embodiments of the present application, the video monitoring device 2 includes a telescopic sleeve 11, a telescopic rod 12 is fixed on the telescopic sleeve 11, a second rotating shaft 13 is fixed on the top end of the telescopic rod 12, a turntable 14 is fixed on the second rotating shaft 13, and a camera 15 is fixed on the turntable 14.
It will be appreciated that in the above embodiment, the telescopic rod 12 moves up and down on the telescopic sleeve 11 to determine the height of the camera 15, the turntable 14 rotates along with the rotation of the second rotating shaft 13 to change the orientation of the camera 15, and in order to further improve the accuracy of the detection position of the camera 15, the rotatable camera 15 may be selected.
Further explaining, the camera 15 includes a high-definition camera 15, and the high-definition camera 15 is used for collecting images of inspection points in real time, and identifying abnormal running states and environment anomalies of the thermal power machine 4 group of the inspection points according to intelligence.
Specifically, for example, in the combustion system of the thermal power machine 4 group, the high-definition camera 15 can monitor whether the pulverized coal is normally transported on the coal conveying belt in the coal conveying process.
Further illustratively, the camera 15 includes a thermometric camera 15, the thermometric camera 15 being configured to dynamically detect the temperature of the train of fire motors 4 and to form a temperature field.
Specifically, for example, in the combustion system of the thermal power plant 4, the temperature measuring camera 15 may detect whether the boiler is burned to a predetermined temperature.
In some embodiments of the present application, the bottom of the AGV 1 is provided with a driving mechanism, which includes a driving wheel 16 and a crawler 17, the crawler 17 is sleeved on the driving wheel 16, and the driving mechanism is electrically connected with the motor 4.
It will be appreciated that in the above embodiments, the AGV 1 is moved by the drive wheels 16 and tracks 17 to avoid the AGV 1 from tipping over because the ground of the train of fire motors 4 may not be a smooth ground.
In some embodiments of the present application, the fault inspection assembly 10 includes a dust concentration detector for detecting the concentration of pulverized coal.
Specifically, for example, in the combustion system of the thermal power plant 4 groups, the coal powder concentration is detected, so that the phenomenon that the coal powder concentration exceeds the standard and the health of workers is endangered is avoided.
Further illustratively, the fault patrol assembly 10 includes a first temperature detector for detecting a temperature of the wire sleeve of the fire motor 4 set.
Specifically, for example, in the power generation system of the thermal power plant 4, the first temperature detector detects the temperature of the sleeve pipe through the detection line, so that the influence on the power transmission effect due to the breakage of the sleeve pipe during the re-power transmission period is avoided.
Further illustratively, the fault detection assembly 10 includes a demagnetizing component for placement in the field coil of the fire motor 4 set for demagnetization.
Specifically, for example, in the power generation system of the thermal power machine 4 group, after the position of the large axis magnetic fault is determined, the thermal power machine 4 group omnibearing inspection dynamic robot places the demagnetizing part in the exciting coil of the thermal motor 4 group to demagnetize.
Further illustratively, the fault patrol assembly 10 includes a second temperature detector for detecting a post-conduit wall temperature of the steam-water system valve of the fire motor 4 set.
Specifically, for example, in the steam system of the thermal power machine 4 groups, the dynamic robot is patrolled and examined in all directions of the thermal power machine 4 groups through using the steam-water system valve back pipeline wall temperature of second temperature detector detection fire motor 4 groups, avoids influencing heat transfer efficiency.
In some embodiments of the present application, the control box 3 sends fault alarm information to the staff after the robot patrols out the fault; the fault alarm information comprises push message display to a display screen, voice prompt and alarm information sending to terminal equipment.
It can be understood that in the above embodiment, the fire motor 4 group omnibearing inspection dynamic robot is convenient to change the working state of the fire motor 4 group in time or carry out fault maintenance on the thermal power machine 4 group through fault alarm information.
It should be noted that, the solution of the above preferred embodiment is only one specific implementation manner provided in the present application, and those skilled in the art may select the shape and size of the water outlet according to the actual situation, which does not affect the protection scope of the present application.
Those of ordinary skill in the art will appreciate that: the above is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but it is to be understood that the present utility model is described in detail with reference to the foregoing embodiments, and modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (10)
1. The all-dimensional inspection dynamic robot of the thermal power generating unit is characterized by comprising an AGV trolley, wherein a video monitoring device, a control box, a motor and a manipulator are fixed on the AGV trolley;
the mechanical arm is fixedly provided with a first rotating shaft, a first base is fixed on the first rotating shaft, a plurality of grooves are formed in the first base, an electric telescopic rod is fixed in each groove, and a fault inspection assembly is fixed on each electric telescopic rod;
the motor is electrically connected with the video monitoring device, the first rotating shaft, the fault inspection assembly and the motor; the control box is electrically connected with the video monitoring device, the manipulator and the fault inspection assembly.
2. The all-round inspection dynamic robot of thermal power generating unit according to claim 1, wherein the video monitoring device comprises a telescopic sleeve, a telescopic rod is fixed on the telescopic sleeve, a second rotating shaft is fixed at the top end of the telescopic rod, a rotary table is fixed on the second rotating shaft, and a camera is fixed on the rotary table.
3. The all-round dynamic robot of patrolling and examining of thermal power generating unit according to claim 2, characterized in that, the camera includes high definition digtal camera, high definition digtal camera is used for gathering the image of the inspection point in real time to thermal power generating unit running state abnormality and the environment abnormality of inspection point are discerned according to intelligence.
4. The all-round inspection dynamic robot of thermal power generating unit according to claim 2, wherein the camera comprises a temperature measuring camera for dynamically detecting the temperature of the thermal power generating unit and forming a temperature field.
5. The dynamic robot for omnibearing inspection of thermal power generating unit according to claim 1, wherein a driving mechanism is arranged at the bottom of the AGV trolley and comprises a driving wheel and a crawler belt, the crawler belt is sleeved on the driving wheel, and the driving mechanism is electrically connected with the motor.
6. The dynamic robot of all-round inspection of thermal power generating units of claim 1, wherein the fault inspection assembly comprises a dust concentration detector for detecting a concentration of pulverized coal.
7. The dynamic robot of claim 1, wherein the fault inspection assembly comprises a first temperature detector for detecting a temperature of a wire sleeve of the thermal power plant.
8. The all-round inspection dynamic robot of a thermal power generating unit according to claim 1, wherein the fault inspection assembly comprises a demagnetizing part for being placed in an exciting coil of the thermal power generating unit for demagnetization.
9. The dynamic robot of claim 1, wherein the fault inspection assembly comprises a second temperature detector for detecting a wall temperature of a back pipe of a steam-water system valve of the thermal power plant.
10. The all-round inspection dynamic robot of thermal power generating unit according to claim 1, wherein,
after the robot patrols and detects faults, the control box sends fault alarm information to staff; the fault alarm information comprises push message display to a display screen, voice reminding and alarm information sending to terminal equipment.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222183046.4U CN218965420U (en) | 2022-08-18 | 2022-08-18 | Dynamic robot is patrolled and examined to thermal power generating unit all-round |
| DE202022105556.4U DE202022105556U1 (en) | 2022-08-18 | 2022-09-30 | A dynamic robot for all-round inspection of the thermal power plant |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222183046.4U CN218965420U (en) | 2022-08-18 | 2022-08-18 | Dynamic robot is patrolled and examined to thermal power generating unit all-round |
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| Publication Number | Publication Date |
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| CN218965420U true CN218965420U (en) | 2023-05-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202222183046.4U Active CN218965420U (en) | 2022-08-18 | 2022-08-18 | Dynamic robot is patrolled and examined to thermal power generating unit all-round |
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| Country | Link |
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| CN (1) | CN218965420U (en) |
| DE (1) | DE202022105556U1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116890349A (en) * | 2023-09-11 | 2023-10-17 | 南方电网调峰调频发电有限公司储能科研院 | Intelligent device for inspection of pumped storage power plant |
| CN117781196B (en) * | 2024-02-26 | 2024-05-07 | 华能酒泉发电有限公司 | Patrol car for centralized control operation of power plant and application method thereof |
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- 2022-08-18 CN CN202222183046.4U patent/CN218965420U/en active Active
- 2022-09-30 DE DE202022105556.4U patent/DE202022105556U1/en active Active
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| DE202022105556U1 (en) | 2022-11-07 |
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