CN114055495A - Function reconstruction type intelligent robot for detecting inside of transformer - Google Patents
Function reconstruction type intelligent robot for detecting inside of transformer Download PDFInfo
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- CN114055495A CN114055495A CN202111446490.4A CN202111446490A CN114055495A CN 114055495 A CN114055495 A CN 114055495A CN 202111446490 A CN202111446490 A CN 202111446490A CN 114055495 A CN114055495 A CN 114055495A
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- 238000005286 illumination Methods 0.000 claims abstract description 51
- 238000001514 detection method Methods 0.000 claims abstract description 31
- 230000006378 damage Effects 0.000 abstract description 3
- 239000002184 metal Substances 0.000 abstract description 3
- 230000000903 blocking effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 230000007547 defect Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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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
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent robot for detecting the interior of a function reconstruction type transformer, which comprises a shell, wherein a ballast unit is arranged at the bottom of the shell, a distance measuring unit and an oil detecting unit are arranged at the front end of the shell, and a plurality of lighting camera units and a propelling unit are arranged on the shell. The device replaces the existing manual detection, on one hand, the problem that the existing detection blind area cannot be reached due to limited activities of detection personnel is effectively solved, and meanwhile, the problem that the fault point is searched and judged to cause large interference due to dark blocking of the internal space is solved through the illumination camera unit, so that the detection quality is improved; on the other hand, manual detection is replaced by a machine, so that the personal safety of operators is prevented from being threatened due to serious oil and gas pollution of an internal detection channel and the interleaving of various metal and insulating structural parts; on the other hand, the secondary damage to the equipment operation caused by errors such as leaving workpiece appliances after manual detection is avoided.
Description
Technical Field
The invention relates to an intelligent detection robot, in particular to an intelligent detection robot for the interior of a function reconstruction type transformer.
Background
The large oil-immersed power transformer is core equipment of a power grid, has large capacity, high value and complex structure, and is a key point of attention in power transformation operation. When the transformer is abnormal, the internal defects are often detected and positioned after power failure, the fault type can be confirmed, and then the maintenance scheme is determined.
The traditional internal detection method of the traditional converter transformer mainly depends on manual work, because a transformer oil tank is closed, the internal condition can not be directly observed, oil drainage is often needed during internal inspection, a professional technician wears the one-piece operation suit, and the internal fault point of the equipment is manually searched in the manhole climbing equipment box. However, the manual detection method has the following defects:
1) the power transformer has a complex internal structure, a narrow space and limited movement of detection personnel, an internal detection blind area which cannot be reached by a human body easily exists, and the internal space is dark and blocked, so that great interference is caused to the searching and the judgment of a fault point.
2) Interior passageway oil gas pollution of examining is serious, and all kinds of metal and insulating structure parts are crisscross, threaten operating personnel personal safety and health, and when the manual work was gone into, probably take place outside impurity and pollution sources and bring into, errors such as work piece utensil is left over, cause secondary harm to equipment operation.
Therefore, those skilled in the art have made an effort to provide a function reconfigurable intelligent robot for internal detection of a transformer, which can effectively solve the above technical problems.
Disclosure of Invention
In view of the above-mentioned defects in the prior art, an object of the present invention is to provide an intelligent robot for internal inspection of a function-reconfigurable transformer, which can effectively solve the above-mentioned problems.
In order to achieve the purpose, the invention provides an intelligent robot for detecting the interior of a function reconstruction type transformer, which comprises a shell, wherein a ballast unit is arranged at the bottom of the shell, a distance measuring unit and an oil detecting unit are arranged at the front end of the shell, and a plurality of lighting camera units and propelling units are arranged on the shell.
Further, the housing includes an upper case and a lower case detachably connected.
Further, the propulsion unit comprises a plurality of first propellers and a plurality of second propellers, each first propeller is arranged on the upper shell, and each second propeller is arranged on the lower shell.
Further, the illumination camera shooting unit comprises a front view illumination camera, a bottom view illumination camera, a top view illumination camera, a left view illumination camera and a right view illumination camera;
the foresight illumination camera, the top view illumination camera, the left view illumination camera and the right view illumination camera are all arranged on the upper shell, and the distance measurement unit, the oil detection unit and the bottom view illumination camera are all arranged on the lower shell.
Further, the front end of the upper half section of the upper shell is provided with an upper inclined plane, the top view illumination camera is arranged at the upper inclined plane, and the left view illumination camera and the right view illumination camera are respectively arranged on two sides of the upper half section of the upper shell; the front-view lighting camera is arranged at the front end of the lower half section of the upper shell, and the first propellers are arranged on two sides of the lower half section of the upper shell;
the lower half section front end of casing is provided with down the inclined plane, the illumination camera setting of looking at the end is in on the inclined plane down, the range unit with the unit is examined to oil all sets up the first half section of casing down.
Further, the upper end of shell is provided with charge mouthful and switch.
The ballast unit comprises a ballast tank, the ballast tank is arranged at the bottom outside the lower shell, and the ballast unit is assembled in the ballast tank.
The invention has the beneficial effects that: the device replaces the existing manual detection, on one hand, the problem that the existing detection blind area cannot be reached due to limited activities of detection personnel is effectively solved, and meanwhile, the problem that the fault point is searched and judged to cause large interference due to dark blocking of the internal space is solved through the illumination camera unit, so that the detection quality is improved; on the other hand, manual detection is replaced by a machine, so that the personal safety of operators is prevented from being threatened due to serious oil and gas pollution of an internal detection channel and the interleaving of various metal and insulating structural parts; on the other hand, the secondary damage to the equipment operation caused by errors such as leaving workpiece appliances after manual detection is avoided.
Drawings
Fig. 1 is a first perspective view of an embodiment of the present invention.
Fig. 2 is a second perspective view of the present invention.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
in the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 2, the intelligent robot for detecting the inside of the function-reconfigurable transformer comprises a shell, wherein the whole shell is in a streamline shape, so that the obstruction of the oil resistance of the transformer to the robot can be well reduced, and the robot can pass through a narrow space inside the transformer. The bottom of shell is provided with ballast unit 1, the front end of shell is provided with range unit 7 and oil and examines unit 8, be provided with a plurality of illumination camera unit and propulsion unit on the shell. Through setting up ranging unit 7, be used for measuring the distance when using, avoid leading to this device to bump because the sight is unclear.
To facilitate installation and maintenance of the components inside the housing, the housing includes a removably attached upper housing 15 and lower housing 17.
The propulsion unit comprises a first propeller 11 and a plurality of second propellers 14, each first propeller 11 is arranged on the upper shell 15, and each second propeller 14 is arranged on the lower shell 17. In use the first pusher 11 is used to drive the entire device back and forth and the second pusher 14 is used to drive the entire device up and down. And meanwhile, the first propellers and the second propellers are used for pitching, assisting in propelling, stabilizing the fuselage and other complex motions.
The illumination camera shooting unit comprises a front view illumination camera 3, a bottom view illumination camera 2, a top view illumination camera 4, a left view illumination camera 6 and a right view illumination camera 5; each illumination camera comprises an illumination lamp and a camera. The camera is a high-definition camera, so that the quality of a shot image is higher.
For better distance measurement and illumination, the front view illumination camera 3, the top view illumination camera 4, the left view illumination camera 6 and the right view illumination camera 5 are all arranged on the upper shell 15, and the distance measurement unit 7, the oil detection unit 8 and the bottom view illumination camera 2 are all arranged on the lower shell 17.
The front end of the upper half section of the upper shell 15 is provided with an upper inclined plane 33, the top view illuminating camera 4 is arranged at the upper inclined plane 33, and the left view illuminating camera 6 and the right view illuminating camera 5 are respectively arranged at two sides of the upper half section of the upper shell 15; the front-view lighting camera 3 is arranged at the front end of the lower half section of the upper shell 15, and the first propeller 11 is arranged on both sides of the lower half section of the upper shell 15;
The ballast unit 1 is arranged at the lower part of the device, so that the device can be used for both oil and water, and the load is increased when the device is used in water; in this embodiment, the ballast unit 1 includes a ballast tank provided at the outer bottom of the lower case 17, and the ballast unit is fitted in the ballast tank. The ballast unit 1 in the present invention is filled in the ballast tank at the bottom of the hull, but the arrangement of the ballast unit 1 is not limited to this manner, and any other alternative structure that can achieve this function is within the scope of the present invention.
The ballast unit 1 is filled in the ballast tank at the bottom of the shell, and the invention has the following advantages:
1) leveling is facilitated, and valuable space occupied by the ballast unit 1 in the shell is avoided;
2) the ballast is externally arranged in the ballast tank, so that the appearance of the overall structure cannot be changed, and the static posture of the ballast tank cannot be influenced;
3) does not change its fluidic properties;
4) the external ballast can quickly adjust the self-gravity-floating balance so as to adapt to different working environments quickly and further improve the practicability.
The upper end of the housing is provided with a charging port 9 and a switch 10. The charging port 9 is used for connecting with a power supply (not shown in the figure) arranged inside the shell, the switch 10 is used for controlling the on and off of the power supply, in addition, a transmission module for transmitting data, a storage module for storing data and the like are also arranged inside the shell, and all the components of the device are powered by the power supply. Meanwhile, when the ultrasonic testing device is used, a plurality of ultrasonic detectors can be arranged, so that the internal detection of the transformer is more comprehensive and efficient.
When the intelligent charging device is used, the power supply is charged through the charging port to maintain power during operation, the switch 10 is turned on, illumination and data acquisition are carried out through the illumination camera unit, the acquired data are stored in the storage module in the shell for standby, and meanwhile, the acquired data are wirelessly transmitted to the ground control device through the transmission module. Thereby realizing the replacement of manual detection.
The transformer is detected through the device, the existing mode of manual detection is replaced, the working strength of detection is reduced, potential safety hazards are avoided, and the detection efficiency is improved.
In addition, the invention also has the following advantages:
1. function reconfigurable
The invention can realize different functions by changing the structure on the basis of the original functions. The practicability of the robot is more comprehensive, the practicability of the device is further improved, and specifically, the function reconstruction is applied to a plurality of scenes through adjusting the ballast in the ballast tank outside the cabin.
2. Oil-water dual-purpose
Because the density of oil is less than that of water, the oil-submerged robot is not suitable for underwater operation, the buoyancy of the oil-submerged robot can be changed through the ballast unit, the oil-submerged robot is not only suitable for sailing in low-density and high-viscosity transformer oil, but also can flexibly operate in high-density water, the efficient and comprehensive motion function can be kept, and the oil and water are two purposes, which are a great bright point of the robot.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (7)
1. The utility model provides an inside intelligent robot that detects of function restructuring type transformer, characterized by: the device comprises a shell, the bottom of shell is provided with ballast unit (1), the front end of shell is provided with range unit (7) and oil detection unit (8), be provided with a plurality of illumination camera unit and propulsion unit on the shell.
2. The intelligent robot for detecting the inside of the functionally reconfigurable transformer as claimed in claim 1, wherein: the housing comprises an upper shell (15) and a lower shell (17) which are detachably connected.
3. The intelligent robot for detecting the inside of the functionally reconfigurable transformer as claimed in claim 2, wherein: the propulsion unit comprises a plurality of first propellers (11) and a plurality of second propellers (14), each first propeller (11) is arranged on the upper shell (15), and each second propeller (14) is arranged on the lower shell (17).
4. The intelligent robot for detecting the inside of the functionally reconfigurable transformer as claimed in claim 3, wherein: the illumination camera shooting unit comprises a front view illumination camera (3), a bottom view illumination camera (2), a top view illumination camera (4), a left view illumination camera (6) and a right view illumination camera (5);
foresight illumination camera (3), top view illumination camera (4), left side view illumination camera (6) and right side view illumination camera (5) all set up go up casing (15), ranging unit (7), oil examine unit (8) and end view illumination camera (2) all set up casing (17) down.
5. The intelligent robot for detecting the inside of the functionally reconfigurable transformer as claimed in claim 4, wherein: the front end of the upper half section of the upper shell (15) is provided with an upper inclined plane (33), the top view illumination camera (4) is arranged at the upper inclined plane (33), and the left view illumination camera (6) and the right view illumination camera (5) are respectively arranged at two sides of the upper half section of the upper shell (15); the front-view lighting camera (3) is arranged at the front end of the lower half section of the upper shell (15), and the first propellers (11) are arranged on two sides of the lower half section of the upper shell (15);
lower half section front end of casing (17) is provided with down inclined plane (22), end is looked illumination camera (2) and is set up on inclined plane (22) down, range unit (7) with oil is examined unit (8) and is all set up lower half section of casing (17).
6. The intelligent robot for detecting the inside of the functionally reconfigurable transformer as claimed in claim 1, wherein: the upper end of the shell is provided with a charging port (9) and a switch (10).
7. The intelligent robot for detecting the inside of the functionally reconfigurable transformer as claimed in claim 1, wherein: the ballast unit (1) comprises a ballast tank arranged at the outer bottom of the lower shell (17), and the ballast unit (1) is assembled in the ballast tank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111446490.4A CN114055495A (en) | 2021-11-30 | 2021-11-30 | Function reconstruction type intelligent robot for detecting inside of transformer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111446490.4A CN114055495A (en) | 2021-11-30 | 2021-11-30 | Function reconstruction type intelligent robot for detecting inside of transformer |
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| Publication Number | Publication Date |
|---|---|
| CN114055495A true CN114055495A (en) | 2022-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111446490.4A Pending CN114055495A (en) | 2021-11-30 | 2021-11-30 | Function reconstruction type intelligent robot for detecting inside of transformer |
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| CN (1) | CN114055495A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117245677A (en) * | 2023-11-14 | 2023-12-19 | 国网天津市电力公司电力科学研究院 | Internal inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09159614A (en) * | 1995-12-11 | 1997-06-20 | Kitashiba Denki Kk | Robot for inspecting inside of tank |
| CN106908259A (en) * | 2017-01-12 | 2017-06-30 | 深圳供电局有限公司 | Propelling arrangement method of oil-immersed transformer internal detection robot |
| CN110161335A (en) * | 2019-05-28 | 2019-08-23 | 深圳供电局有限公司 | Detection robot |
| CN110161339A (en) * | 2019-06-03 | 2019-08-23 | 深圳供电局有限公司 | Transformer internal detection robot |
| CN110402468A (en) * | 2016-12-07 | 2019-11-01 | Abb瑞士股份有限公司 | System and method for inspection machine |
| CN110758694A (en) * | 2019-10-31 | 2020-02-07 | 西安交通大学 | Archaeological operation-oriented underwater robot and vector control method thereof |
| CN110979604A (en) * | 2019-12-28 | 2020-04-10 | 中国科学院沈阳自动化研究所 | Emergency load rejection device for underwater robot |
| CN111687825A (en) * | 2020-05-15 | 2020-09-22 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Rectangular submersible robot applied to internal inspection of large converter transformer |
| CN212722631U (en) * | 2020-05-25 | 2021-03-16 | 山东电力设备有限公司 | Robot for detecting large oil-immersed transformer |
-
2021
- 2021-11-30 CN CN202111446490.4A patent/CN114055495A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09159614A (en) * | 1995-12-11 | 1997-06-20 | Kitashiba Denki Kk | Robot for inspecting inside of tank |
| CN110402468A (en) * | 2016-12-07 | 2019-11-01 | Abb瑞士股份有限公司 | System and method for inspection machine |
| CN106908259A (en) * | 2017-01-12 | 2017-06-30 | 深圳供电局有限公司 | Propelling arrangement method of oil-immersed transformer internal detection robot |
| CN110161335A (en) * | 2019-05-28 | 2019-08-23 | 深圳供电局有限公司 | Detection robot |
| CN110161339A (en) * | 2019-06-03 | 2019-08-23 | 深圳供电局有限公司 | Transformer internal detection robot |
| CN110758694A (en) * | 2019-10-31 | 2020-02-07 | 西安交通大学 | Archaeological operation-oriented underwater robot and vector control method thereof |
| CN110979604A (en) * | 2019-12-28 | 2020-04-10 | 中国科学院沈阳自动化研究所 | Emergency load rejection device for underwater robot |
| CN111687825A (en) * | 2020-05-15 | 2020-09-22 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Rectangular submersible robot applied to internal inspection of large converter transformer |
| CN212722631U (en) * | 2020-05-25 | 2021-03-16 | 山东电力设备有限公司 | Robot for detecting large oil-immersed transformer |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117245677A (en) * | 2023-11-14 | 2023-12-19 | 国网天津市电力公司电力科学研究院 | Internal inspection robot |
| CN117245677B (en) * | 2023-11-14 | 2024-03-19 | 国网天津市电力公司电力科学研究院 | Internal inspection robot |
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Application publication date: 20220218 |
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