CN105373129A - Dry type air-core reactor encapsulation crack detection robot - Google Patents
Dry type air-core reactor encapsulation crack detection robot Download PDFInfo
- Publication number
- CN105373129A CN105373129A CN201510906740.6A CN201510906740A CN105373129A CN 105373129 A CN105373129 A CN 105373129A CN 201510906740 A CN201510906740 A CN 201510906740A CN 105373129 A CN105373129 A CN 105373129A
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- pawl
- type air
- robot body
- dry type
- robot
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- 238000001514 detection method Methods 0.000 title claims abstract description 15
- 238000005538 encapsulation Methods 0.000 title abstract 7
- 238000006073 displacement reaction Methods 0.000 claims abstract description 18
- 230000009194 climbing Effects 0.000 abstract description 4
- 238000009413 insulation Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 abstract 2
- 238000010276 construction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 208000037656 Respiratory Sounds Diseases 0.000 description 3
- 241000826860 Trapezium Species 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 206010011376 Crepitations Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000009736 wetting Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a dry type air-core reactor encapsulation crack detection robot and belongs to the robot technological field. The dry type air-core reactor encapsulation crack detection robot includes a robot body, a pneumatic system, a measurement and control system, a guy wire displacement sensor and an endoscope; the pneumatic system is connected with the robot body; the endoscope is mounted at the front end of the robot body and is responsible for shooting images and videos of dry type air-core reactor encapsulation; the guy wire displacement sensor is connected with the rear end of the robot body and measures the climbing distance of the robot body; and the measurement and control system is connected with the guy wire displacement sensor and mainly controls the climbing state of the robot body. The dry type air-core reactor encapsulation crack detection robot can conveniently climb spaces between encapsulation layers so as to detect whether micro cracks and other conditions exist on insulation encapsulation, and therefore, the equipment condition of a dry type air-core parallel reactor can be evaluated, and the burning accident incidence of the dry type air-core parallel reactor can be reduced, and the reliability of the work of the dry type air-core parallel reactor can be improved.
Description
Technical field
The present invention relates to robotics, be specifically related to a kind of dry-type air-core reactor encapsulating crack detection robot.
Background technology
In recent years, cold season, dry type hollow shunt reactor burning damage accident was multiple northeastward, find that there is many places microcrack on the reactor encapsulating surface that scaling loss occurs by fault analysis, these crackles easily cause watered and wetting, cause turn-to-turn short circuit and cause reactor to break down.
Now commercially and the measuring robots applied for a patent, due to the restriction of himself feature, cannot be applied to air reactor encapsulating crack detection, main cause is:
1, the envelope space of dry-type air-core reactor is very narrow and small and irregular, and the wide of sectional dimension of each encapsulating is only 25mm, and long in the change of (79 ~ 91mm) interval, height is at about 3000mm;
2, present stage is without researching and developing measuring robots for detecting dry-type air-core reactor specially, and due to the difference of testing environment, general measuring robots cannot detect dry-type air-core reactor.
Summary of the invention
The object of the invention is to the defect for prior art and deficiency, a kind of dry-type air-core reactor is provided to encapsulate crack detection robot, it conveniently can be climbed between each encapsulated layer and go to detect in insulation encapsulating whether there is microcrack and other situation, to assess the equipment state of dry type hollow shunt reactor, reduce dry type hollow shunt reactor burning damage accident incidence, improve dry type hollow shunt reactor functional reliability.
For achieving the above object, the technical solution used in the present invention is: it comprises robot body, pneumatic system, TT&C system, stay wire displacement sensor, endoscope; Pneumatic system is connected with robot body, and endoscope is arranged on the front end of robot body, is responsible for image and the video of the encapsulating of shooting dry-type air-core reactor; Stay wire displacement sensor is connected with the rear end of robot body, the distance of creeping of monitoring human body; TT&C system is connected with stay wire displacement sensor, the climbing state of major control robot body.
Described robot body comprises casing, the first pawl bar, paul pawl rest, rubber ratchet, supporting pad, the second pawl bar, cylinder block, minitype cylinder, spring, pawl base, bracing wire web joint, ratchet bracing wire; First pawl bar, the second pawl bar and pawl base three pass through hinge; Supporting pad is connected on pawl base by spring housing, plays the effect of support first pawl bar and the second pawl bar; Paul pawl rest is connected with the first pawl bar and the second pawl bar respectively by bolt, and rubber ratchet is connected with paul pawl rest by bolt; Minitype cylinder is connected with casing by cylinder block; A pawl base is threaded with minitype cylinder, and another is connected with casing by bolt pawl base; Bracing wire web joint one end is connected with stay wire displacement sensor, and the other end is connected with each rubber ratchet by ratchet bracing wire.
Described rubber ratchet is made up of rubber, and cross section is class trapezium structure.
Described pneumatic system comprises air compressor, exsiccator, filtrator, air drum, reduction valve, flow speed control valve; Three-position four-way electromagnetic directional valve; Air compressor is connected with filtrator by exsiccator, and air drum is arranged on the rear end of filtrator, and reduction valve is connected with air drum, and the front end of flow speed control valve is connected with reduction valve, and rear end is connected with three-position four-way electromagnetic directional valve; Three-position four-way electromagnetic directional valve is connected with minitype cylinder, completes the manipulation to robot body by control minitype cylinder.
Principle of work of the present invention is: upper and lower two groups of rubber ratchets open under the action of the spring and make rubber ratchet and duct wall close contact, thus ensure under friction force effect measuring robots hold tube wall prevent fall; Stretch out when minitype cylinder cavity of resorption (rodless cavity) air inlet promotes piston rod and then drive upper rubber ratchet group upwards to climb, now lower rubber ratchet group tube wall of holding avoids robot to glide; When minitype cylinder epicoele (rod chamber) air inlet, the special construction due to upper rubber ratchet group makes piston rod cannot move down (being equivalent to piston rod upper end fix), now whole minitype cylinder moves thus drives whole robot upwards to climb; Minitype cylinder upper and lower cavity replaces air inlet thus drives whole robot constantly upwards to climb; When robot creeps downwards and exits detection, first, piston rod is first allowed all to stretch out, now under casing restriction, upper rubber ratchet group is closed up and rubber ratchet is separated with tube wall, then by pulling the bracing wire of stay wire displacement sensor downwards, make lower rubber ratchet group close up and be separated with tube wall, thus measuring robots skid off pipeline under gravity.
After adopting said structure, beneficial effect of the present invention is:
(1) it can carry endoscope and carries out crack detection, shooting image and video to reactor encapsulating, can carry out the automatic identifying processing of crackle, and assess the state of reactor to captured image;
(2) it has stronger adaptive capacity to environment, can detect the tube wall of different size in a big way;
(3) its ratchet adopts elastic construction, and energy available protecting is detected the encapsulating wall of reactor.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of robot body 1;
Fig. 3 is the structural representation of pneumatic system 2.
Description of reference numerals:
1, robot body; 2, pneumatic system; 3, TT&C system; 4, stay wire displacement sensor; 5, endoscope; 6, casing; 7, the first pawl bar; 8, paul pawl rest; 9, rubber ratchet; 10, supporting pad; 11, the second pawl bar; 12, cylinder block; 13, minitype cylinder; 14, spring; 15, pawl base; 16, bracing wire web joint; 17, ratchet bracing wire; 18, air compressor; 19, exsiccator; 20, filtrator; 21, air drum; 22, reduction valve; 23, flow speed control valve; 24, three-position four-way electromagnetic directional valve.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further illustrated.
Referring to as shown in Figure 1-Figure 3, the technical scheme that this embodiment adopts is: it comprises robot body 1, pneumatic system 2, TT&C system 3, stay wire displacement sensor 4, endoscope 5; Pneumatic system 2 is connected with robot body 1, and endoscope 5 is arranged on the front end of robot body 1, is responsible for image and the video of the encapsulating of shooting dry-type air-core reactor; Stay wire displacement sensor 4 is connected with the rear end of robot body 1, the distance of creeping of monitoring human body 1; TT&C system 3 is connected with stay wire displacement sensor 4, the climbing state of major control robot body 1.
Described robot body 1 comprises casing 6, first pawl bar 7, paul pawl rest 8, rubber ratchet 9, supporting pad 10, second pawl bar 11, cylinder block 12, minitype cylinder 13, spring 14, pawl base 15, bracing wire web joint 16, ratchet bracing wire 17; First pawl bar 7, second pawl bar 11 passes through hinge with pawl base 15 three; Supporting pad 10 is socketed on pawl base 15 by spring 14, plays the effect of support first pawl bar 7 and the second pawl bar 11; Paul pawl rest 8 is connected with the first pawl bar 7 and the second pawl bar 11 respectively by bolt, and rubber ratchet 9 is connected with paul pawl rest 8 by bolt; Minitype cylinder 13 is connected with casing 6 by cylinder block 12; A pawl base 15 is threaded with minitype cylinder 13, and another is connected with casing 6 by bolt pawl base 15; Bracing wire web joint 16 one end is connected with stay wire displacement sensor 4, and the other end is connected with each rubber ratchet 9 by ratchet bracing wire 17.
Described rubber ratchet 9 is made up of rubber, and cross section is class trapezium structure.
Described pneumatic system 2 comprises air compressor 18, exsiccator 19, filtrator 20, air drum 21, reduction valve 22, flow speed control valve 23, three-position four-way electromagnetic directional valve 24; Air compressor 18 is connected with filtrator 20 by exsiccator 19, and air drum 21 is arranged on the rear end of filtrator, and reduction valve 22 is connected with air drum 21, and the front end of flow speed control valve 23 is connected with reduction valve 22, and rear end is connected with three-position four-way electromagnetic directional valve 24; Three-position four-way electromagnetic directional valve 24 is connected with minitype cylinder 13, completes the manipulation to robot body 1 by control minitype cylinder 13.
The principle of work of this embodiment is: upper and lower two groups of rubber ratchets 9 open under action from the spring 14 and make rubber ratchet 9 and duct wall close contact, thus under friction force effect, ensure that measuring robots tube wall of holding prevents from; Stretch out when minitype cylinder 13 cavity of resorption (rodless cavity) air inlet promotes piston rod and then drive upper rubber ratchet group upwards to climb, now lower rubber ratchet group tube wall of holding avoids robot to glide; When minitype cylinder 13 epicoele (rod chamber) air inlet, the special construction due to upper rubber ratchet group makes piston rod cannot move down (being equivalent to piston rod upper end fix), now whole minitype cylinder 13 moves thus drives whole robot upwards to climb; Minitype cylinder 13 upper and lower cavity replaces air inlet thus drives whole robot constantly upwards to climb; When robot creeps downwards and exits detection, first, piston rod is first allowed all to stretch out, now under casing 6 limits, upper rubber ratchet group is closed up and rubber ratchet is separated with tube wall, then by pulling the bracing wire of stay wire displacement sensor 4 downwards, make lower rubber ratchet group close up and be separated with tube wall, thus measuring robots skid off pipeline under gravity.
After adopting said structure, the beneficial effect of this embodiment is:
(1) it can carry endoscope and carries out crack detection, shooting image and video to reactor encapsulating, can carry out the automatic identifying processing of crackle, and assess the state of reactor to captured image;
(2) it has stronger adaptive capacity to environment, can detect the tube wall of different size in a big way;
(3) its ratchet adopts elastic construction, and energy available protecting is detected the encapsulating wall of reactor.
The above, only unrestricted for illustration of technical scheme of the present invention, other amendment that those of ordinary skill in the art make technical scheme of the present invention or equivalently to replace, only otherwise depart from the spirit and scope of technical solution of the present invention, all should be encompassed in the middle of right of the present invention.
Claims (3)
1. dry-type air-core reactor encapsulating crack detection robot, is characterized in that: it comprises robot body (1), pneumatic system (2), TT&C system (3), stay wire displacement sensor (4), endoscope (5); Pneumatic system (2) is connected with robot body (1), and endoscope (5) is arranged on the front end of robot body (1); Stay wire displacement sensor (4) is connected with the rear end of robot body (1), and TT&C system (3) is connected with stay wire displacement sensor (4); Described robot body (1) comprises casing (6), the first pawl bar (7), paul pawl rest (8), rubber ratchet (9), supporting pad (10), the second pawl bar (11), cylinder block (12), minitype cylinder (13), spring (14), pawl base (15), bracing wire web joint (16), ratchet bracing wire (17); First pawl bar (7), the second pawl bar (11) and pawl base (15) three pass through hinge; Supporting pad (10) is socketed on pawl base (15) by spring (14), paul pawl rest (8) is connected with the first pawl bar (7) and the second pawl bar (11) respectively by bolt, and rubber ratchet (9) is connected with paul pawl rest (8) by bolt; Minitype cylinder (13) is connected with casing (6) by cylinder block (12); A pawl base (15) is threaded with minitype cylinder (13), and another is connected with casing (6) by bolt pawl base (15); Bracing wire web joint (16) one end is connected with stay wire displacement sensor (4), and the other end is connected with each rubber ratchet (9) by ratchet bracing wire (17).
2. dry-type air-core reactor encapsulating crack detection robot according to claim 1, is characterized in that described rubber ratchet (9) is made up of rubber.
3. dry-type air-core reactor encapsulating crack detection robot according to claim 1, is characterized in that described pneumatic system (2) comprises air compressor (18), exsiccator (19), filtrator (20), air drum (21), reduction valve (22), flow speed control valve (23), three-position four-way electromagnetic directional valve (24); Air compressor (18) is connected with filtrator (20) by exsiccator (19), air drum (21) is arranged on the rear end of filtrator, reduction valve (22) is connected with air drum (21), the front end of flow speed control valve (23) is connected with reduction valve (22), and rear end is connected with three-position four-way electromagnetic directional valve (24); Three-position four-way electromagnetic directional valve (24) is connected with minitype cylinder (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510906740.6A CN105373129B (en) | 2015-12-10 | 2015-12-10 | Dry-type air-core reactor encapsulating crack detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510906740.6A CN105373129B (en) | 2015-12-10 | 2015-12-10 | Dry-type air-core reactor encapsulating crack detection robot |
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| Publication Number | Publication Date |
|---|---|
| CN105373129A true CN105373129A (en) | 2016-03-02 |
| CN105373129B CN105373129B (en) | 2018-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510906740.6A Active CN105373129B (en) | 2015-12-10 | 2015-12-10 | Dry-type air-core reactor encapsulating crack detection robot |
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| CN (1) | CN105373129B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107818562A (en) * | 2017-10-23 | 2018-03-20 | 广东电网有限责任公司东莞供电局 | Online detection method for cracks of air duct insulation encapsulating layer of dry-type hollow parallel reactor |
| CN110333250A (en) * | 2019-07-16 | 2019-10-15 | 国网吉林省电力有限公司电力科学研究院 | A kind of dry-type air-core reactor encapsulating gap climbing robot and its application method |
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| CN101391625A (en) * | 2008-11-04 | 2009-03-25 | 中国人民解放军空军工程大学 | Wall climbing robot |
| CN202121257U (en) * | 2011-07-26 | 2012-01-18 | 哈尔滨佳泰达科技有限公司 | Intelligent patrol robot for power transmission circuits |
| CN102390453A (en) * | 2011-10-21 | 2012-03-28 | 南京理工大学 | Reconfigurable wall climbing robot and collaborative obstacle-detouring method thereof |
| CN102644245A (en) * | 2012-05-21 | 2012-08-22 | 重庆市鹏创道路材料有限公司 | Intelligent overhaul robot for bridge |
| CN203431506U (en) * | 2013-09-09 | 2014-02-12 | 长沙理工大学 | Electromagnetic ultrasonic automatic detection crawler for exposed pipeline |
| CN204582451U (en) * | 2015-01-22 | 2015-08-26 | 武汉科技大学 | A kind of climbing level robot |
| CN205193593U (en) * | 2015-12-10 | 2016-04-27 | 国网吉林省电力有限公司电力科学研究院 | Dry -type air -core reactor seals crack detection robot |
-
2015
- 2015-12-10 CN CN201510906740.6A patent/CN105373129B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101391625A (en) * | 2008-11-04 | 2009-03-25 | 中国人民解放军空军工程大学 | Wall climbing robot |
| CN202121257U (en) * | 2011-07-26 | 2012-01-18 | 哈尔滨佳泰达科技有限公司 | Intelligent patrol robot for power transmission circuits |
| CN102390453A (en) * | 2011-10-21 | 2012-03-28 | 南京理工大学 | Reconfigurable wall climbing robot and collaborative obstacle-detouring method thereof |
| CN102644245A (en) * | 2012-05-21 | 2012-08-22 | 重庆市鹏创道路材料有限公司 | Intelligent overhaul robot for bridge |
| CN203431506U (en) * | 2013-09-09 | 2014-02-12 | 长沙理工大学 | Electromagnetic ultrasonic automatic detection crawler for exposed pipeline |
| CN204582451U (en) * | 2015-01-22 | 2015-08-26 | 武汉科技大学 | A kind of climbing level robot |
| CN205193593U (en) * | 2015-12-10 | 2016-04-27 | 国网吉林省电力有限公司电力科学研究院 | Dry -type air -core reactor seals crack detection robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107818562A (en) * | 2017-10-23 | 2018-03-20 | 广东电网有限责任公司东莞供电局 | Online detection method for cracks of air duct insulation encapsulating layer of dry-type hollow parallel reactor |
| CN110333250A (en) * | 2019-07-16 | 2019-10-15 | 国网吉林省电力有限公司电力科学研究院 | A kind of dry-type air-core reactor encapsulating gap climbing robot and its application method |
| CN110333250B (en) * | 2019-07-16 | 2024-05-07 | 国网吉林省电力有限公司电力科学研究院 | Dry type air reactor encapsulation gap crawling robot and application method thereof |
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| Publication number | Publication date |
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| CN105373129B (en) | 2018-05-18 |
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