CN206161750U - Inside fault detection robot of transformer - Google Patents
Inside fault detection robot of transformer Download PDFInfo
- Publication number
- CN206161750U CN206161750U CN201621032768.8U CN201621032768U CN206161750U CN 206161750 U CN206161750 U CN 206161750U CN 201621032768 U CN201621032768 U CN 201621032768U CN 206161750 U CN206161750 U CN 206161750U
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- transformer
- joint
- base
- robot
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- 238000001514 detection method Methods 0.000 title abstract description 15
- 238000004804 winding Methods 0.000 abstract description 9
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- 238000000034 method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 239000002828 fuel tank Substances 0.000 description 3
- 230000005021 gait Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000012800 visualization Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
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- 230000008439 repair process Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000011179 visual inspection Methods 0.000 description 2
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- 230000007613 environmental effect Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model relates to an inside fault detection robot of transformer. Its characteristics are: including base (1), install six machinery sufficient (2) in the side reason of this base (1), every machinery sufficient (2) are constituteed by the upper segment that connects gradually, first joint, middle section, second joint and hypomere to install bottom the hypomere sucking disc (3). The utility model provides an inside fault detection robot of transformer has realized measuring outside visual position offset distance such as transformer inside winding distortion, swell or aversions, the measurement of insulating blackening or spark tracking area size etc..
Description
Technical field
The utility model is related to a kind of power transformer interior fault detection robot.
Background technology
Great mass of data shows that the main cause for causing Power Transformer Faults is the deterioration of its insulating properties.Power transformer
When there is the failures such as multipoint earthing of iron core, winding deformation, shelf depreciation in device, it usually needs interruption maintenance.In order to accurate before maintenance
The manhole arranged in failure judgement type, abort situation, it is often necessary to the insulating oil being allowed to dry in transformer, then artificial Jing transformers
Enter into inside transformer to be reconnoitred.
At present, for the detection means of large-scale power transformer interior insulation is also only limitted to comprehensive visual inspection, endoscopy
The testing inspection such as macroscopic examination and D.C. resistance, the wave of oscillation such as look into.In visual inspection, various remnants, this detection are checked
Method needs power worker to enter transformer by manhole, and the personal safety to workman is very unfavorable, and workload is very big, holds
Easily pollution is brought due to being manually entered.Endoscope is referred to as Video Peep Technology, and the method is difficult to carry out Transformer Winding entirely
Face checks, and pops one's head in and its to enter inside transformer with sleeve optic cable, easily brings impurity into.Vibratory drilling method is by being attached to transformer
The vibrating sensor of fuel tank with device, monitors the situation of winding and iron core on-line.The advantage of this method be test system with it is whole
Individual power system is not electrically connected, and can reliably and securely realize the purpose monitored on-line.It is the disadvantage is that, power transformer
May be short-circuited at any time failure in running, if the inside transformer winding in suddenly-applied short circuit breaks down, will lead
Band electric winding is caused to contact with fuel tank, fuel tank may be with very high voltage, in addition, transient state sensing also can be produced on transformer body
High potential, all has an impact to tester and personal safety.
Utility model content
The purpose of this utility model is to provide a kind of power transformer interior fault detection robot, can realize live transformer
Repair based on condition of component, fault detect and fault location.
A kind of power transformer interior fault detects robot, and it is particular in that：Including base, in the lateral edges of the base
Six machinery foots are installed, per only machinery foot by the epimere being sequentially connected, the first joint, stage casing, second joint and hypomere group
Into, and sucker is installed in hypomere bottom.
Wherein side is installed in the base top and drives platform, and it is flat to be provided with ground driving in the base bottom
Platform.
Wherein drive in side and camera is installed on platform, and servomotor is installed in base top, the servo electricity
Machine output shaft drives platform to be connected so as to drive side to drive platform rotation with side.
Wherein the first joint and second joint adopts the anglec of rotation for 180 ° of servomotor.
The utility model provides a kind of power transformer interior fault and detects robot, realizes and inside transformer winding is turned round
The offset distance measurement of the external visualization position such as bent, bulge or displacement, the measurement of insulate blackening or spark tracking size etc..
Important reference role is played in judgement of the utility model to transformer fault.Meanwhile, the inside for also making transformer is detected gradually
Realize unmanned, both saved a large amount of manpowers, the probability that inside transformer breaks down is reduced again.General Promotion transformer
Repair based on condition of component, fault detect and fault location level, closely efficiently reduce because power transformer interior fault is to equipment and electrical network band
The harm for coming.
Description of the drawings
Accompanying drawing 1 is structural representation of the present utility model.
Specific embodiment
As shown in figure 1, the utility model provides a kind of power transformer interior fault detects robot, including base 1, at this
The lateral edges of base 1 are provided with six machinery foots 2, per only machinery foot 2 by the epimere being sequentially connected, the first joint, stage casing, the
Two joints and hypomere are constituted, and are provided with sucker 3 in hypomere bottom, and first joint and second joint adopt the anglec of rotation
For 180 ° of servomotor.Side is installed at the top of the base 1 and drives platform, and ground is installed in the bottom of base 1
Drive platform.Drive in side and be provided with platform camera, and servomotor is installed at the top of base 1, the servomotor
Output shaft drives platform to be connected so as to drive side to drive platform rotation with side.
Come that the utility model is described in more detail below in conjunction with the accompanying drawings：
1st, robot part's design can be divided mainly into following components：
A, robotic's structure design：
Based on the movement mechanism of six-foot crawling animal, a kind of new bionic 6-leg structure is designed.The utility model machine
The leg mechanism of people increases the contact area with ground using circular sucker 3, so that stability is more preferably, to prevent out
There is the phenomenon skidded when now working.The node configuration mode and the free degree are analyzed, based on ADAMS Kinematics Simulations
Software carries out kinematics simulation analysis, and according to different poses the movement angle in each joint of robot is solved, and six foots are climbed
The feasibility that row robot can effectively creep is verified.
B, robot gait analysis：
The utility model sets up the servo-actuated seat with total body center of mass as the origin of coordinates during the gait planning of robot
Mark system, obtains the barycenter of robot at any time relative to the situation of total body center of mass.According to the change of robot barycenter
Rule, analyzes gait planning process.
The each joint moment analysis of c, robot：
The each sufficient structure of the utility model robot is essentially identical, is symmetrically distributed in robot both sides.
The exploitation of d, sensor and data communication technology：
The utility model is using Multi-freedom-degreemanipulator manipulator arm (machinery foot 2) is as the head of radio monitoring camera device and holds
Luggage is put, wherein from 360 degree of electric rotating machines as pedestal, 180 degree servomotor used as the joint of mechanical arm, install by base 1
Platform and side is driven to drive between platform in ground, mechanical arm may be arranged within platform space after shrinking.By base 1
With the cooperative work of arm joint such that it is able to make camera head realize the functions such as lifting, angular adjustment, camera head to the greatest extent may
Ground near and observe the major failure region of inside transformer, to planar to a directive fault zone supervise
Survey.
Inside transformer detection, is related to IMAQ, lighting source；In order to reduce the energy consumption of IMAQ, using super
Sonic sensor mode carries out the detection of obstacle and transformer inwall seam crossing.In terms of data communication, plan adopts radio communication
Mode avoiding robot various inconvenience for bringing of circuit winding when inside transformer is moved.
2nd, the inside transformer typical fault visual analyzing based on robot technology：
The visualization detection of a, typical fault：
The visualization fault database that the utility model is set up based on previous section, by Intellectualized bionic robot electric power is entered
Inside transformer, using high-definition camera 360 degree of high definition scan camera shootings are carried out to transformer.Using digital camera, monocular, from
Multiple angles, in a straight line also can be in a plane or or even in a cube distributed acquisition image not in the same time.Using image
Process application program, to camera acquisition to image carries out real-time processing. include doing image monochromatic extraction, filter, two-value
Change, corrode the image procossings such as an expansion.
The power transformer interior fault point three-dimensional of b, view-based access control model Global localization and position tracking is accurately positioned：
The utility model is tracked by vision global location and position so that virtual reality software can in real time be presented robot
In the position of inside transformer and status gestures, and calculate the accurate three-dimensional position of the trouble point.Using computational methods bag
Include：Image pair algorithm, target's center's point extraction of depth information, SIFT feature are extracted
C, based on monocular vision inside transformer three-dimensional structure rebuild and obstacle detection：
The utility model obtains the several picture information such as transformer coil position shape by video camera, rebuilds in transformer
The three-dimensional structure in portion.Meanwhile, robot is moved in inside transformer independent navigation, and needs are detected to three-dimensional barrier, with
Adjustment pose simultaneously carries out avoidance.The three-dimensional structure of inside transformer is rebuild and obstacle detection includes：Environmental goals three-dimensional reconstruction,
Robot Relative attitude and displacement estimation, robot global pose are estimated.
D, the detection of inside transformer winding deformation and deformation range finding：
The principle of the detection of obstacles algorithm of three-dimensional reconstruction of the present utility model is caused according to the motion of monocular-camera
Image parallactic, recover its movable information, and then from the depth information and relative depth of characteristic point in two dimensional image restoration scenario,
The three-dimensional information of characteristic point is clustered, steric hindrance thing is partitioned into, the purpose of detection of obstacles is reached.
Claims (4)
1. a kind of power transformer interior fault detects robot, it is characterised in that：Including base (1), in the lateral edges of the base (1)
Be provided with six machinery foot (2), per only machinery foot (2) by the epimere being sequentially connected, the first joint, stage casing, second joint and
Hypomere is constituted, and is provided with sucker (3) in hypomere bottom.
2. power transformer interior fault as claimed in claim 1 detects robot, it is characterised in that：Wherein in the base (1)
Top is provided with side and drives platform, and is provided with ground in base (1) bottom and drives platform.
3. power transformer interior fault as claimed in claim 2 detects robot, it is characterised in that：Wherein drive platform in side
On camera is installed, and servomotor is installed at base (1) top, the servo motor output shaft drives platform to pass with side
Dynamic connection drives platform rotation so as to drive side.
4. the power transformer interior fault as described in any one in claims 1 to 3 detects robot, it is characterised in that：Wherein
First joint and second joint adopt the anglec of rotation for 180 ° of servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621032768.8U CN206161750U (en) | 2016-08-31 | 2016-08-31 | Inside fault detection robot of transformer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621032768.8U CN206161750U (en) | 2016-08-31 | 2016-08-31 | Inside fault detection robot of transformer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206161750U true CN206161750U (en) | 2017-05-10 |
Family
ID=58651016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621032768.8U Expired - Fee Related CN206161750U (en) | 2016-08-31 | 2016-08-31 | Inside fault detection robot of transformer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206161750U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109405870A (en) * | 2018-08-21 | 2019-03-01 | 深圳供电局有限公司 | Detection robot |
| CN109991892A (en) * | 2017-12-29 | 2019-07-09 | 中国科学院沈阳自动化研究所 | A kind of inside transformer detection robot control system and control method |
| CN110254713A (en) * | 2019-05-28 | 2019-09-20 | 清华大学 | Transformer inspection machine fish |
-
2016
- 2016-08-31 CN CN201621032768.8U patent/CN206161750U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109991892A (en) * | 2017-12-29 | 2019-07-09 | 中国科学院沈阳自动化研究所 | A kind of inside transformer detection robot control system and control method |
| CN109405870A (en) * | 2018-08-21 | 2019-03-01 | 深圳供电局有限公司 | Detection robot |
| CN110254713A (en) * | 2019-05-28 | 2019-09-20 | 清华大学 | Transformer inspection machine fish |
| CN110254713B (en) * | 2019-05-28 | 2021-03-26 | 清华大学 | Transformer inspection robot fish |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170510 Termination date: 20200831 |