CN115524582A - Automatic insulation measuring device and method for high-voltage motor - Google Patents

Abstract

The invention discloses an automatic insulation measuring device and method for a high-voltage motor, wherein the method comprises the following steps: including the AGV dolly, the AGV dolly includes the casing, the casing is equipped with programmable controller, digital resistance tester, three-phase electroscope, acousto-optic generator, touch-sensitive screen, manipulator, arm, the three-dimensional binocular camera of AI degree of depth, acousto-optic generator U type metal frame, the manipulator is connected with the arm, the arm pass through the base with the casing is connected, programmable controller control the manipulator with the arm, the manipulator is connected with the three-phase electroscope, the three-phase electroscope passes through E type epoxy insulating support and is connected with the manipulator, install three-phase metal probe on the E type epoxy insulating support, the high-tension motor is researched and is surveyed insulator arrangement and replace traditional artifical electrical equipment operation, can effectively improve efficiency, accuracy and the security of surveying insulating operation.

Description

Automatic insulation measuring device and method for high-voltage motor

Technical Field

The application relates to the technical field of electric power operation and maintenance equipment, in particular to an automatic insulation measuring device and method for a high-voltage motor.

Background

In recent years, computer technology and artificial intelligence technology are greatly improved and developed, no automatic insulation measuring device for high-voltage electrical equipment exists in domestic power stations, transformer substations and markets, and the traditional conventional mode is still used for manually measuring the insulation of the high-voltage electrical equipment. Checking electroscope, checking electricity, checking a meter, measuring insulation and analyzing insulation numerical values are all necessary working steps in the work, and the electricity checking and insulation measuring work of the equipment requires an electric operator to wear a heavy protective article, the operator needs to visit into a high-voltage switch cable bin with narrow space and poor light when measuring insulation, the cable end of the high-voltage motor is indirectly contacted or closely approached, the operation is inconvenient, and the operator who suffers induced electricity or is electrified by mistake to bring the risk of electric shock. The manual insulation data measurement is single isolated data, a digital insulation numerical value file is not established, the insulation change condition of the equipment cannot be accurately judged, and the equipment is easy to be damaged due to untimely maintenance.

Disclosure of Invention

The invention discloses an automatic insulation measuring device for a high-voltage motor, which is used for solving the technical problem of manually measuring insulation of high-voltage electrical equipment in the prior art. The device includes:

the utility model provides an insulator arrangement is surveyed in high voltage motor automation, includes the AGV dolly, the AGV dolly includes the casing, the casing is equipped with programmable controller, digital resistance tester, three-phase electroscope, acousto-optic generator, touch-sensitive screen, manipulator, arm, the three-dimensional binocular camera of AI degree of depth, digital insulation resistance tester and display screen electric connection, digital resistance tester and three-phase electroscope electric connection, the three-dimensional binocular camera of AI degree of depth and programmable controller, display screen electric connection, the manipulator is connected with the arm, the arm pass through the base with the AGV dolly is connected, programmable controller control the manipulator with the arm, the manipulator is connected with three-phase electroscope, three-phase electroscope includes E epoxy type resin insulating support, E type epoxy resin insulating support is connected with the manipulator, install three-phase metal probe on the E type epoxy resin insulating support, E type epoxy resin insulating support still is equipped with the electroscope.

Preferably, the arm includes the base install first axis of rotation, first fixed arm, second axis of rotation, second fixed arm, third axis of rotation and third fixed arm on the base in proper order, the third fixed arm with manipulator fixed connection, the inside driving motor who is used for driving the arm of arm that is equipped with of base.

Preferably, the manipulator comprises a first transverse manipulator and a second transverse manipulator, the first transverse manipulator comprises a shell, a servo motor, a connecting spring, a sliding plate and a guide rod, the shell is fixedly mounted on the mechanical arm, a sliding hole for sliding the second transverse manipulator is formed in the upper portion of the shell, the guide rod is fixedly mounted in the shell, the servo motor is arranged at one end of the guide rod, the sliding plate is arranged on the guide rod in a sliding mode, and the connecting spring is fixedly connected between the servo motor and the sliding plate.

Preferably, the second transverse manipulator is fixedly installed on the sliding plate, the second transverse manipulator comprises a sliding rod, the sliding rod is slidably installed on the fixing plate, and one end of the sliding rod is provided with an E-type epoxy resin insulating bracket.

Preferably, programmable controller includes microprocessor, memory, input unit, output unit, programmer and is used for the power of power supply, the programmer is connected to the memory for carry out storage logic operation and sequence control, timing, count, programmer and input unit and output unit connect respectively in microprocessor, the AGV dolly still is equipped with supply socket and is used for the battery to charge, the casing top still is equipped with pilot lamp, switch and scram button, the pilot lamp is including power indicator, fault indicator and warning pilot lamp.

Correspondingly, the automatic insulation measuring method for the high-voltage motor comprises the following steps:

the method comprises the following steps: inputting an electroscope checking instruction to the programmable controller, and checking the electroscope by the AGV;

step two: inputting a coordinate position of a three-phase cable to be detected to a programmable controller of an AGV trolley, wherein the AGV trolley approaches the position of the three-phase cable to be detected, and an AI depth three-dimensional binocular camera of the AGV trolley identifies and analyzes a target to be detected and transmits information of the target to be detected to the programmable controller;

the target information to be detected comprises the position of the end of the three-phase cable of the target to be detected;

step three: the programmable controller sends an electroscope to the position of the end of the three-phase cable of the target to be tested for electricity testing;

step four: the programmable controller controls a grounding wire relay of the digital resistance tester to be connected with a grounding end, and the three-phase metal probes are disconnected and connected with the electronic tester power connection wires item by item to perform meter calibration self-checking;

step five: the programmable controller sends out an instruction to send the three-phase metal probe to the position of the three-phase cable position end head to be tested, and the programmable controller controls the connection of the ground wire relay of the digital resistance tester and the grounding end to test the insulation;

step six: the programmable controller controls the grounding wire relay of the digital resistance tester to be grounded, and the three-phase metal probe relay is connected with the grounding wire one by one to discharge.

Preferably, the three-phase electroscope calibration comprises that the programmable controller downwards presses the three-phase electroscope to the three acousto-optic generator U-shaped metal frame, the electroscope acousto-optic generator is started, the three-phase electroscope emits qualified light to display when the calibration is normal, and the three-phase electroscope is unqualified, stops the next step and gives an alarm. Preferably, the AI deep stereo binocular camera can actively perform stereo vision observation and instant positioning.

Preferably, the programmable controller sends the electroscope to the position of the three-phase cable end of the target to be tested for electroscopy, and the method comprises the steps that the programmable controller adjusts the corresponding height of the mechanical arm according to the position of the three-phase cable end, and the mechanical arm adjusts the corresponding position to send the electroscope to the three-phase cable end of the target to be tested.

Preferably, the insulation testing further comprises the steps that a programmable controller automatically records an insulation value, the insulation value is analyzed, if the insulation value is unqualified, an audible and visual alarm gives an alarm, if the insulation value is unqualified, the program is stopped, and if the insulation value is qualified, the next step is carried out.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a structural diagram illustrating an automatic insulation measuring device for a high-voltage motor according to an embodiment of the present invention;

fig. 2 is a structural diagram illustrating a manipulator of an automatic insulation measuring device for a high-voltage motor according to an embodiment of the present invention;

fig. 3 shows a structure diagram of an indicator light, a switch and a touch screen of an automatic insulation measuring device for a high-voltage motor according to an embodiment of the invention;

fig. 4 shows a flowchart of an automatic insulation measuring method for a high-voltage motor according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention discloses an automatic insulation measuring device for a high-voltage motor, which has the potential hazards of safe distance, electromagnetic interference of a protection device and accidental touch on electrical equipment in consideration of operation of the device on the high-voltage electrical equipment, selects high-voltage-resistant epoxy resin insulation materials meeting electrical standards, and is provided with accidental touch prevention, accidental operation protection and auxiliary nodes to protect the high-voltage electrical equipment and the device. Aiming at the characteristics that the high-voltage switch room has no internal network, the external network has poor signals and many identification points, and the automatic cruise positioning needs to be carried out by means of an external network or an internal network scheduling system, a built-in two-dimensional code scanning and identifying cruise scheduling system is cooperatively developed, so that the electromagnetic interference of the device on a switch protection device depending on the high-strength signals of the external network or the internal network is avoided, and the network safety of the internal network of a unit is ensured.

The automatic insulation device that surveys of high-voltage motor comprises components such as PLC programmable industrial control all-in-one, AGV, arm 14, manipulator 15, AI visual system 13, electroscope, acoustic-optical generator, digital insulation resistance tester, E type epoxy insulating support 22, insulation resistance appearance metal probe, automatic charging device, and the device specifically includes, as shown in fig. 1-3:

the utility model provides an insulator arrangement is surveyed automatically to high voltage motor, includes the AGV dolly, the AGV dolly includes casing 11, casing 11 is equipped with programmable controller, digital resistance tester, three-phase electroscope 21, acousto-optic generator, touch-sensitive screen 7, manipulator 15, arm 14, the three-dimensional binocular camera of AI degree of depth 13, acousto-optic generator U type metal frame 19, digital insulation resistance tester and 7 electric connection of display screen, digital resistance tester and three-phase electroscope 21 electric connection, the two mesh camera of AI degree of depth 13 and programmable controller, 7 electric connection of display screen, manipulator 15 is connected with arm 14, arm 14 pass through base 18 with casing 11 connects, programmable controller controls manipulator 15 with arm 14, manipulator 15 is connected with three-phase electroscope 21, three-phase electroscope 21 includes E type epoxy insulating support 22, E type epoxy insulating support 22 is connected with manipulator 15, install three-phase metal probe 20 on E type epoxy insulating support 22, programmable controller includes microprocessor, memory, input unit, output power supply unit and power supply lamp are used for the input indicator light and power supply lamp input indicator 36 and the charge indicator light is used for quick-time switch ware and input indicator light input switch ware and AGV control switch control dolly, and be equipped with AGV 34 in order control switch.

In the embodiment, the programmable controller is used for implanting the functions of checking an electroscope, checking equipment, checking an insulation resistance tester, testing insulation, storing and analyzing insulation values, diagnosing equipment health, discharging equipment, automatically charging a storage battery and the like in the insulation testing process of the motor into the controller for operation.

In this embodiment, the E-shaped insulating support 22 is made of glass fiber reinforced plastic epoxy resin or a voltage-resistant material, the withstand voltage is greater than 12kV (rated voltage 6 kV), and the minimum safety distance between three-phase branches is greater than 15CM. The product has the advantages of fire resistance, insulation, wear resistance and high mechanical strength. The adjustable cable connecting terminal has an adjustable function and is suitable for two types of cable connecting terminals of a 6kV vacuum switch and an FC switch. The electroscope, the acousto-optic generator and other equipment are convenient to independently overhaul and maintain, and the inspection requirements of electrical safety tools and instruments are met.

The AI depth stereo binocular camera 13 can automatically recognize the target, analyze the target and transmit the analyzed information to the programmable controller, wherein the information comprises the target coordinate position comprising an X-axis coordinate value, a Y-axis coordinate value and a Z-axis coordinate value, the programmable controller sends an instruction according to the coordinate information to drive the mechanical arm to reach a specified height and then drive the mechanical arm to reach a specified position, and the programmable controller can analyze and compare various positions and acousto-optic alarm feedback signals at the same time to realize accurate and anti-error control. When some assemblies are in fault, the AGV trolley can perform self-detection and stop operating, sends out corresponding fault alarm indication, and completes the subsequent operation of motor insulation measurement by manually judging and switching to the next step or switching to manual operation when the electrical insulation measurement rule is met and the insulation measurement process is not influenced. The automatic storage of the insulation data and the comparison and analysis of historical data achieve the diagnosis of the equipment insulation condition change. Real-time visual near-remote operation and real-time visual remote operation help operators to master the actual operation condition of the device, and the operators can stop the operation urgently when encountering emergency, so that equipment and the device are prevented from being damaged.

The mechanical arm comprises a base 18, a first rotating shaft 17, a first fixing arm 16, a second rotating shaft 8, a second fixing arm 9, a third rotating shaft 10 and a third fixing arm 6 are sequentially mounted on the base 18, the third rotating shaft 10 is fixedly connected with the third fixing arm 6, a driving motor for driving the mechanical arm 14 is arranged inside the base 18, the mechanical arm comprises a first transverse mechanical arm 4 and a second transverse mechanical arm 5, the first transverse mechanical arm 4 comprises a shell 24, a servo motor 25, a connecting spring 26, a sliding plate 28 and a guide rod 27, the shell 24 is fixedly mounted on the mechanical arm 14, a sliding hole 29 for sliding the second transverse mechanical arm 5 is formed above the shell 24, the guide rod 27 is fixedly mounted in the shell 24, the servo motor 25 is arranged at one end of the shell 27, the sliding plate 28 is slidably arranged on the guide rod 27, the connecting spring 26 is fixedly connected between the servo motor 25 and the sliding plate 28, the second transverse mechanical arm 5 is fixedly mounted on the sliding plate 28, the second transverse mechanical arm 5 comprises a sliding rod 30, the sliding rod 30 is slidably mounted on a fixing plate 31, and an insulation epoxy resin ring 22 is mounted at one end of the sliding rod 30.

In this embodiment, can be more sensitive test to the target that awaits measuring through setting up arm 14, arm 14 can confirm the y axle coordinate of the target that awaits measuring, and X axle coordinate is confirmed to first horizontal manipulator 4, and z axle coordinate can be confirmed to second manipulator 5, and this structure can survey the insulation to the target that awaits measuring of different heights, arm 14 manipulator 15 adopts high strength corrosion-resistant support, marching type direct current motor, step driver and precision to be greater than the lead screw of + -0.05 mm, can satisfy the requirement of precision height, location accuracy, operation stability, adjustable speed and high mechanical strength. The module has limit function and excessive moment protection, prevents that switch end striking from damaging and device motor, support damage.

Correspondingly, the embodiment of the present application further provides an automatic insulation measuring method for a high-voltage motor, where the method is as shown in fig. 4, and the method includes:

401: inputting a checking instruction of an electroscope 21 to a programmable controller, checking the electroscope 21 by the AGV trolley, wherein the checking of the three-phase electroscope 21 comprises the steps that the programmable controller presses the three-phase electroscope 21 downwards to three sound and light generator U-shaped metal frames 19, the sound and light generator of the electroscope is started, the three-phase electroscope 21 sends out qualified light to display when the checking is normal, and the three-phase electroscope 21 stops the next step and gives an alarm when the checking is unqualified;

402: inputting a coordinate position of a three-phase cable to be detected to a programmable controller of an AGV (automatic guided vehicle), wherein the AGV approaches the position of the three-phase cable to be detected, an AI (artificial intelligence) depth three-dimensional binocular camera 13 of the AGV identifies and analyzes a target to be detected, and transmits the end position of the three-phase cable of the target to be detected to the programmable controller;

in this embodiment, the AI three-dimensional depth camera 13 has the functions of 3D scanning recognition, automatic positioning and tracking, and recognition and positioning for electroscope, insulation resistance meter, and motor or transformer cable end;

403: the programmable controller sends an electroscope to the position of the end head of the three-phase cable of the target to be tested for electricity testing, the programmable controller adjusts the corresponding height of the mechanical arm 14 according to the position of the end head of the three-phase cable, and the mechanical arm 15 adjusts the corresponding position to send the three-phase electroscope 21 to the end head of the three-phase cable of the target to be tested;

404: the programmable controller controls a grounding wire relay of the digital resistance tester to be connected with a grounding end, the three-phase metal probes 20 are disconnected and connected with a connecting wire of the electronic tester one by one, and meter calibration self-checking is carried out;

405: the programmable controller sends out an instruction, the three-phase metal probe 20 is sent to the position of a three-phase cable position end head to be detected, the programmable controller controls a grounding wire relay of the digital resistance tester to be connected with a grounding end for testing insulation, the insulation testing further comprises the step that the programmable controller automatically records an insulation value, the insulation value is analyzed, if the insulation value is unqualified, an audible and visual alarm gives an alarm, if the value is unqualified, the program is stopped, and if the value is qualified, the next step of program is started;

406: the programmable controller controls the digital resistance tester ground wire relay to be grounded, and the three-phase metal probe 20 relay is connected with the ground wire item by item to discharge.

In this embodiment, the programmable controller first completes self-check and reset, self-check of the voltage and the electric quantity of the storage battery, automatic calibration of the AI-depth stereoscopic binocular camera 13, reset of the relevant relay, and reset of sound, light and alarm item by item according to a program. And alarming and stopping the next procedure when the programmable controller cannot be reset, the electric quantity of the storage battery is insufficient, the automatic calibration of the AI depth stereoscopic binocular camera 13 is abnormal and the like, and entering the next electroscope verification after all self-checks and normal resetting of the system.

In this embodiment, the AGV dolly still is equipped with the charger, the charger is according to AGV dolly battery height, the automatic function that charges of low-voltage threshold value and stop. The real-time voltage or electric quantity display data of the storage battery is transmitted to the PLC controller, and the low-voltage alarm is given

In this embodiment, after the device finishes measuring the insulation calibration program, the programmable controller controls the manipulator to automatically recover to the initial position, and the operator records the insulation value of the device and the health diagnosis level.

Therefore, the AGV automatic detection and control system integrates the technologies of intelligent identification and positioning AI technology, modular programming technology, intelligent analysis and diagnosis technology, visual control technology and the like with the traditional electric equipment for verification, measurement and analysis operation, the position of an automatic cruise positioning switch of the AGV trolley, the secondary automatic positioning electroscope electricity testing position of the AI vision system and the insulation position of an insulation resistance instrument metal probe are programmed through the PLC, and the functions of automatic verification of the instrument, insulation measurement, data analysis and storage are integrated, automatic, visual, manual-automatic and one-key start-stop. The high-voltage motor insulation testing device is developed to replace the traditional manual electrical equipment operation, and the high efficiency, accuracy and safety of insulation testing operation can be effectively improved. Meanwhile, the product of the same type is available in the market at present, the application prospect is wide, the product can be widely popularized and applied to various power stations, transformer substations and industrial and mining enterprises, and the commercial potential is huge.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

Claims (10)

1. The utility model provides an automatic insulator arrangement that surveys of high tension motor, includes the AGV dolly, the AGV dolly includes the casing, the casing is equipped with programmable controller, digital resistance tester, three-phase electroscope, acousto-optic generator, touch-sensitive screen, manipulator, arm, the three-dimensional binocular camera of AI degree of depth, acousto-optic generator U type metal frame, digital resistance tester and display screen electric connection, digital resistance tester and three-phase electroscope electric connection, the three-dimensional binocular camera of AI degree of depth and programmable controller, display screen electric connection, its characterized in that, the manipulator is connected with the arm, the arm pass through the base with the casing is connected, programmable controller control the manipulator with the arm, the manipulator is connected with the three-phase electroscope, the three-phase electroscope passes through E type epoxy insulating support and is connected with the manipulator, install three-phase metal probe on the E type epoxy insulating support.

2. The automatic insulation testing device according to claim 1, wherein the mechanical arm comprises a base, a first rotating shaft, a first fixing arm, a second rotating shaft, a second fixing arm, a third rotating shaft and a third fixing arm are sequentially mounted on the base, the third fixing arm is fixedly connected with the mechanical arm, and a driving motor for driving the mechanical arm is arranged inside the base.

3. The automatic insulation testing device of claim 1, wherein the manipulator comprises a first transverse manipulator and a second transverse manipulator, the first transverse manipulator comprises a housing, a servo motor, a connecting spring, a sliding plate and a guide rod, the housing is fixedly mounted on the manipulator, a sliding hole for sliding the second transverse manipulator is formed above the housing, the guide rod is fixedly mounted in the housing, the servo motor is arranged at one end of the guide rod, the sliding plate is slidably arranged on the guide rod, and the connecting spring is fixedly connected between the servo motor and the sliding plate.

4. The automatic insulation measuring device according to claim 3, wherein the second transverse manipulator is fixedly mounted on the sliding plate, the second transverse manipulator comprises a sliding rod, the sliding rod is slidably mounted on the fixed plate, the sliding rod is provided with a servo motor, and one end of the sliding rod is provided with an E-type epoxy resin insulation bracket.

5. The automatic insulation testing device of claim 1, wherein the programmable controller comprises a microprocessor, a memory, an input unit, an output unit, a programmer and a power supply for supplying power, the memory is connected with the programmer and used for executing storage logic operation and sequence control, timing and counting, the programmer, the input unit and the output unit are respectively connected with the microprocessor, the trolley is further provided with a power socket for charging the storage battery, an indicator lamp, a power switch and an emergency stop button are further arranged above the shell, and the indicator lamp comprises a power indicator lamp, a fault indicator lamp and an alarm indicator lamp.

6. An automatic insulation measuring method for a high-voltage motor is characterized by comprising the following steps:

the method comprises the following steps: inputting an electroscope calibration instruction to the programmable controller, and performing three-phase electroscope calibration on the AGV trolley;

step two: inputting a coordinate position of a three-phase cable to be detected to a programmable controller of an AGV (automatic guided vehicle), wherein the AGV approaches the position of the three-phase cable to be detected, and an AI (artificial intelligence) depth three-dimensional binocular camera of the AGV identifies and analyzes a target to be detected and transmits information of the target to be detected to the programmable controller;

the target information to be detected comprises the position of the three-phase cable end of the target to be detected;

step three: the programmable controller sends an electroscope to the position of the end of the three-phase cable of the target to be tested for electricity testing;

step four: the programmable controller controls a grounding wire relay of the digital resistance tester to be connected with a grounding end, and the three-phase metal probes are disconnected and connected with a connecting wire of the electronic tester one by one to perform meter calibration self-checking;

step five: the programmable controller sends out an instruction to send the three-phase metal probe to the position of the three-phase cable position end head to be tested, and the programmable controller controls the connection of the ground wire relay of the digital resistance tester and the grounding end to test the insulation;

step six: the programmable controller controls the grounding wire relay of the digital resistance tester to be grounded, and the three-phase metal probe relay is connected with the grounding wire one by one to discharge.

7. The automatic insulation testing method of claim 6, wherein the three-phase electroscope calibration comprises the programmable controller pressing the three-phase electroscope down to three acousto-optic generator U-shaped metal frames, starting the acousto-optic generator of the electroscope, displaying qualified light when the three-phase electroscope is calibrated normally, stopping the next sequence and giving an alarm when the three-phase electroscope is not qualified.

8. The automatic insulation measuring method of claim 6, wherein the AI depth stereo binocular camera is capable of active stereo vision viewing and instantaneous positioning.

9. The automatic insulation testing method according to claim 6, wherein the programmable controller sends a three-phase electroscope to the position of the three-phase cable end of the target to be tested for testing, and comprises the programmable controller adjusts a mechanical arm to a corresponding height according to the position of the three-phase cable end, and adjusts a corresponding position by a mechanical hand to send the electroscope to the three-phase cable end of the target to be tested.

10. The automatic insulation testing method according to claim 6, wherein the insulation testing further comprises a programmable controller automatically recording insulation values, analyzing the insulation values, alarming by an audible and visual alarm if the insulation values are unqualified, stopping the program if the insulation values are unqualified, and entering the next program if the insulation values are qualified.

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