CN105373129B - Dry-type air-core reactor encapsulating crack detection robot - Google Patents
Dry-type air-core reactor encapsulating crack detection robot Download PDFInfo
- Publication number
- CN105373129B CN105373129B CN201510906740.6A CN201510906740A CN105373129B CN 105373129 B CN105373129 B CN 105373129B CN 201510906740 A CN201510906740 A CN 201510906740A CN 105373129 B CN105373129 B CN 105373129B
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- pawl
- robot body
- dry
- robot
- rubber
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- 238000001514 detection method Methods 0.000 title claims abstract description 21
- 238000006073 displacement reaction Methods 0.000 claims abstract description 18
- 230000009194 climbing Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000009413 insulation Methods 0.000 abstract description 2
- 239000011229 interlayer Substances 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 208000037656 Respiratory Sounds Diseases 0.000 description 3
- 238000010586 diagram Methods 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
- 206010011376 Crepitations Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
Dry-type air-core reactor encapsulating crack detection robot, it is related to robotic technology field；It includes robot body, pneumatic system, TT＆C system, stay wire displacement sensor, endoscope；Pneumatic system is connected with robot body, and endoscope is mounted on the front end of robot body, is responsible for the image and video of shooting dry-type air-core reactor encapsulating；The rear end of stay wire displacement sensor and robot body connects, the distance of creeping of robot measurement body；TT＆C system is connected with stay wire displacement sensor, the climbing state of major control robot body.It can conveniently climb to each encapsulating interlayer and go in detection insulation encapsulating with the presence or absence of microcrack and other situations, to assess the equipment state of dry type hollow shunt reactor, dry type hollow shunt reactor burning damage accident incidence is reduced, improves dry type hollow shunt reactor functional reliability.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of dry-type air-core reactor encapsulates crack detection machine
People.
Background technology
In recent years, in northeast, cold season dry type hollow shunt reactor burning damage accident was multiple, was found by accident analysis
There is many places microcrack on the reactor encapsulating surface that scaling loss occurs, these crackles be easy to cause watered and wetting, cause turn-to-turn short
Road and reactor is caused to break down.
Currently on the market and the detection robot that applies for a patent, due to the limitation of its own feature, can not be applied to hollow
Reactor encapsulates crack detection, and main cause is：
1st, the envelope space of dry-type air-core reactor is very narrow and small and irregular, and the width for the sectional dimension each encapsulated is only
25mm is grown（79~91mm）Section changes, highly in 3000mm or so；
2nd, at this stage without detection robot is researched and developed exclusively for detection dry-type air-core reactor, due to detection environment not
Together, general detection robot can not detect dry-type air-core reactor.
The content of the invention
In view of the defects and deficiencies of the prior art, the present invention intends to provide a kind of encapsulating of dry-type air-core reactor is split
Line detects robot, it can conveniently climb to each encapsulating interlayer and go in detection insulation encapsulating with the presence or absence of microcrack and other shapes
Condition to assess the equipment state of dry type hollow shunt reactor, reduces dry type hollow shunt reactor burning damage accident incidence, carries
High dry type hollow shunt reactor functional reliability.
To achieve the above object, the technical solution adopted by the present invention is：It includes robot body, pneumatic system, observing and controlling
System, stay wire displacement sensor, endoscope；Pneumatic system is connected with robot body, and endoscope is mounted on robot body
The image and video of shooting dry-type air-core reactor encapsulating are responsible in front end；The rear end of stay wire displacement sensor and robot body
Connection, the distance of creeping of robot measurement body；TT＆C system is connected with stay wire displacement sensor, major control robot body
Climbing state.
The robot body include babinet, the first pawl bar, paul pawl rest, rubber pawl, supporting pad, the second pawl bar,
Cylinder block, minitype cylinder, spring, pawl base, bracing wire connecting plate, pawl bracing wire；First pawl bar, the second pawl bar and pawl base
Three is hinged by axis pin；Supporting pad is socketed in by spring on pawl base, plays the first pawl bar of support and the second pawl bar
Effect；Paul pawl rest is connected by bolt with the first pawl bar and the second pawl bar respectively, and rubber pawl passes through bolt and pawl
Support connection；Minitype cylinder is connected by cylinder block with babinet；One pawl base is threadedly coupled with minitype cylinder, another passes through spiral shell
Bolt pawl base is connected with babinet；Bracing wire connecting plate one end is connected with stay wire displacement sensor, and the other end is by pawl bracing wire and respectively
Rubber pawl connects.
The rubber pawl is made of rubber, and section is class trapezium structure.
The pneumatic system includes air compressor, drier, filter, gas receiver, pressure reducing valve, speed governing valve；Three four
Electric change valve；Air compressor is connected by drier with filter, and gas receiver is arranged on the rear end of filter, pressure reducing valve
It is connected with gas receiver, the front end of speed governing valve is connected with pressure reducing valve, and rear end is connected with three-position four-way electromagnetic directional valve；3-position 4-way electricity
Magnetic reversal valve is connected with minitype cylinder, by the way that minitype cylinder is controlled to complete the manipulation to robot body.
The present invention operation principle be：Upper and lower two groups of rubber pawls open and make rubber pawl and pipe under the action of the spring
Road wall is in close contact, and prevents from falling so as to ensure that tube wall is held by detection robot under frictional force effect；When minitype cylinder cavity of resorption
（Rodless cavity）Air inlet promotes piston rod to stretch out and then upper rubber pawl group is driven to climb upwards, and lower rubber pawl group is grabbed at this time
Firm tube wall avoids robot from gliding；When minitype cylinder epicoele（Rod chamber）Air inlet, due to the special construction of upper rubber pawl group
Make piston rod that can not move down（Piston rod upper end is equivalent to fix）, at this time entire minitype cylinder move up to drive entire robot
Climbing upwards；Minitype cylinder upper and lower cavity replaces air inlet so as to which entire robot be driven constantly to climb upwards；Robot creeps downwards
When exiting detection, first, piston rod is first allowed all to stretch out, upper rubber pawl group is closed up and rubber under babinet limitation at this time
Pawl is separated with tube wall, then by pulling downward on the bracing wire of stay wire displacement sensor, make lower rubber pawl group close up and with
Tube wall separates, and pipeline is skidded off under the effect of gravity so as to detect robot.
With the above structure, the present invention has the beneficial effect that：
(1) it can carry endoscope and progress crack detection, captured image and video are encapsulated to reactor, can be to captured
Image carry out crackle automatic identification processing, and assess the state of reactor；
(2) it has stronger adaptive capacity to environment, and interior various sizes of tube wall in a big way can be detected；
(3) its pawl uses elastic construction, can effectively protect the encapsulating wall of detected reactor.
Description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the structure diagram of robot body 1；
Fig. 3 is the structure diagram of pneumatic system 2.
Reference sign：
1st, robot body；2nd, pneumatic system；3rd, TT＆C system；4th, stay wire displacement sensor；5th, endoscope；6th, babinet；
7th, the first pawl bar；8th, paul pawl rest；9th, rubber pawl；10th, supporting pad；11st, the second pawl bar；12nd, cylinder block；13rd, miniature gas
Cylinder；14th, spring；15th, pawl base；16th, bracing wire connecting plate；17th, pawl bracing wire；18th, air compressor；19th, drier；20th, mistake
Filter；21st, gas receiver；22nd, pressure reducing valve；23rd, speed governing valve；24th, three-position four-way electromagnetic directional valve.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention is further illustrated.
Referring to as shown in Figure 1-Figure 3, present embodiment the technical solution adopted is that：It includes robot body 1, gas
Dynamic system 2, TT＆C system 3, stay wire displacement sensor 4, endoscope 5；Pneumatic system 2 is connected with robot body 1, endoscope 5
Mounted on the front end of robot body 1, it is responsible for image and video that shooting dry-type air-core reactor is encapsulated；Stay wire displacement sensor
4 are connected with the rear end of robot body 1, the distance of creeping of robot measurement body 1；TT＆C system 3 and stay wire displacement sensor 4
Connection, the climbing state of major control robot body 1.
The robot body 1 includes babinet 6, the first pawl bar 7, paul pawl rest 8, rubber pawl 9, supporting pad 10, second
Pawl bar 11, cylinder block 12, minitype cylinder 13, spring 14, pawl base 15, bracing wire connecting plate 16, pawl bracing wire 17；First pawl
Bar 7, the second pawl bar 11 are hinged with 15 three of pawl base by axis pin；Supporting pad 10 is socketed in pawl base 15 by spring 14
On, play the role of supporting the first pawl bar 7 and the second pawl bar 11；Paul pawl rest 8 by bolt respectively with the first pawl bar 7 and
Second pawl bar 11 connects, and rubber pawl 9 is connected by bolt with paul pawl rest 8；Minitype cylinder 13 passes through cylinder block 12 and babinet 6
Connection；One pawl base 15 is threadedly coupled with minitype cylinder 13, another is connected by bolt pawl base 15 with babinet 6；Bracing wire
16 one end of connecting plate is connected with stay wire displacement sensor 4, and the other end is connected by pawl bracing wire 17 with each rubber pawl 9.
The rubber pawl 9 is made of rubber, and section is class trapezium structure.
The pneumatic system 2 includes air compressor 18, drier 19, filter 20, gas receiver 21, pressure reducing valve 22, tune
Fast valve 23, three-position four-way electromagnetic directional valve 24；Air compressor 18 is connected by drier 19 with filter 20, and gas receiver 21 is set
It puts in the rear end of filter, pressure reducing valve 22 is connected with gas receiver 21, and the front end of speed governing valve 23 is connected with pressure reducing valve 22, rear end and three
Position four-way electromagnetic reversing valve 24 connects；Three-position four-way electromagnetic directional valve 24 is connected with minitype cylinder 13, by controlling minitype cylinder
13 complete the manipulation to robot body 1.
The operation principle of present embodiment is：Upper and lower two groups of rubber pawls 9 are opened and made under action from the spring 14
Rubber pawl 9 is in close contact with duct wall, prevents from falling so as to ensure that tube wall is held by detection robot under frictional force effect；When
13 cavity of resorption of minitype cylinder（Rodless cavity）Air inlet promotes piston rod to stretch out and then upper rubber pawl group is driven to climb upwards, this is at present
Portion's rubber pawl group holds tube wall and robot is avoided to glide；When 13 epicoele of minitype cylinder（Rod chamber）Air inlet, due to upper rubber
The special construction of pawl group makes piston rod that can not move down（Piston rod upper end is equivalent to fix）, at this time entire minitype cylinder 13 move up
So as to which entire robot be driven to climb upwards；13 upper and lower cavity of minitype cylinder replaces air inlet so as to drive entire robot constantly upward
Climbing；Robot creeps downwards when exiting detection, first, piston rod is first allowed all to stretch out, at this time the top rubber under the limitation of babinet 6
Glue pawl group is closed up and rubber pawl is separated with tube wall, then by pulling downward on the bracing wire of stay wire displacement sensor 4, under making
Portion's rubber pawl group is closed up and is separated with tube wall, and pipeline is skidded off under the effect of gravity so as to detect robot.
With the above structure, present embodiment has the beneficial effect that：
(1) it can carry endoscope and progress crack detection, captured image and video are encapsulated to reactor, can be to captured
Image carry out crackle automatic identification processing, and assess the state of reactor；
(2) it has stronger adaptive capacity to environment, and interior various sizes of tube wall in a big way can be detected；
(3) its pawl uses elastic construction, can effectively protect the encapsulating wall of detected reactor.
The above is merely to illustrate technical scheme and unrestricted, and those of ordinary skill in the art are to this hair
The other modifications or equivalent substitution that bright technical solution is made, without departing from the spirit and scope of technical solution of the present invention,
It should be covered by the scope of the claims of the present invention.
Claims (3)
1. dry-type air-core reactor encapsulating crack detection robot, it is characterised in that：It includes robot body (1), pneumatic system
It unites (2), TT＆C system (3), stay wire displacement sensor (4), endoscope (5)；Pneumatic system (2) is connected with robot body (1),
Endoscope (5) is mounted on the front end of robot body (1)；Stay wire displacement sensor (4) and the rear end of robot body (1) connect
It connects, TT＆C system (3) is connected with stay wire displacement sensor (4)；The robot body (1) includes babinet (6), the first pawl bar
(7), paul pawl rest (8), rubber pawl (9), supporting pad (10), the second pawl bar (11), cylinder block (12), minitype cylinder (13),
Spring (14), pawl base (15), bracing wire connecting plate (16), pawl bracing wire (17)；First pawl bar (7), the second pawl bar (11)
It is hinged with pawl base (15) three by axis pin；Supporting pad (10) is socketed in by spring (14) on pawl base (15), paul pawl rest
(8) it is connected respectively with the first pawl bar (7) and the second pawl bar (11) by bolt, rubber pawl (9) passes through bolt and pawl
Hold in the palm (8) connection；Minitype cylinder (13) is connected by cylinder block (12) with babinet (6)；One pawl base (15) and minitype cylinder
(13) it is threadedly coupled, another is connected by bolt pawl base (15) with babinet (6)；Bracing wire connecting plate (16) one end and bracing wire position
Displacement sensor (4) connects, and the other end is connected by pawl bracing wire (17) with each rubber pawl (9).
2. dry-type air-core reactor encapsulating crack detection robot according to claim 1, it is characterised in that the rubber
Pawl (9) is made of rubber.
3. dry-type air-core reactor encapsulating crack detection robot according to claim 1, it is characterised in that described pneumatic
System (2) includes air compressor (18), drier (19), filter (20), gas receiver (21), pressure reducing valve (22), speed governing valve
(23), three-position four-way electromagnetic directional valve (24)；Air compressor (18) is connected by drier (19) with filter (20), gas storage
Cylinder (21) is arranged on the rear end of filter, and pressure reducing valve (22) is connected with gas receiver (21), the front end of speed governing valve (23) and pressure reducing valve
(22) connect, rear end is connected with three-position four-way electromagnetic directional valve (24)；Three-position four-way electromagnetic directional valve (24) and minitype cylinder
(13) connect.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105373129A CN105373129A (en) | 2016-03-02 |
| CN105373129B true CN105373129B (en) | 2018-05-18 |
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ID=55375410
Family Applications (1)
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105373129B (en) |
Families Citing this family (1)
| 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 | Insulate encapsulated layer crackle online test method in a kind of dry type hollow shunt reactor air channel |
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 |
-
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 |
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| Publication number | Publication date |
|---|---|
| CN105373129A (en) | 2016-03-02 |
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