CN107192509A - A kind of SF6Leakage inspection robot - Google Patents
A kind of SF6Leakage inspection robot Download PDFInfo
- Publication number
- CN107192509A CN107192509A CN201710347953.9A CN201710347953A CN107192509A CN 107192509 A CN107192509 A CN 107192509A CN 201710347953 A CN201710347953 A CN 201710347953A CN 107192509 A CN107192509 A CN 107192509A
- Authority
- CN
- China
- Prior art keywords
- aerial ladder
- insulation
- moving cart
- leak detector
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
Abstract
The invention discloses a kind of SF6Leakage inspection robot, is related to gas leakage detection technique field.The present invention realizes the motion of motion arm by insulating transmission aerial ladder, so as to which leak detector air inlet is sent into position to be detected, leak detector air inlet is realized to approach, travel through the positions such as the sleeve pipe that may be leaked, pipeline, valve and carry out gas leakage detection, analyze, reduce the influence that flow perturbation is detected to gas, improve the accuracy and operating efficiency of gas detection, and can realize live detection, overcome traditional detection method need to have a power failure and manually detect up to it is difficult, labor intensity is big the problems such as.The present invention realizes the control of moving cart by ground base station and hand held controller, and ground base station and hand held controller are wirelessly realized to the control of moving cart, simple to operate, control is flexible, the whole day leak detection in the case of not raining can be achieved, it is ensured that promptness.
Description
Technical field
The present invention relates to gas leakage detection technique field, more particularly to a kind of SF6Leakage inspection robot.
Background technology
Due to sulfur hexafluoride（SF6）Gas has excellent insulation and arc extinction performance, at present, in China's power system,
SF6Electrical equipment particularly SF6Switch, SF6Current transformer, SF6The application of voltage transformer is quite extensive.However, in recent years
Come, SF6Gas leakage has become SF6Accounting highest defect in charger defect, and SF6Gas leakage detection be
Equipment investment operation or the important step of line service.
To avoid due to SF6Accident occurs for leakage, and the common detection methods of gas leakage include offline inspection and with electric-examination
Survey.Off-line checking method has vacuum leak hunting, soap bubble leak detection and leak detector leak detection, and vacuum leak hunting is mainly used for GIS device
After installation or disassembling overhaul, cooperation vacuumizes drying equipment progress.First to SF6Equipment is evacuated to 133pa, then proceedes to
Vacuumize lasting 30 minutes, stop vavuum pump, watch after 30 minutes reading vacuum A quietly, then watch reading vacuum B after 5 hours quietly,
B-A≤133pa, can tentatively assert favorable sealing property, but this method is not helped searching leakage point.Soap bubble is hunted leak
It is a kind of simple qualitative leak hunting method, can accurate discovery air leakage point.Two parts of water, which are added, with a neutral soap prepares fertilizer
Soap water, is coated in detected position, if foaming shows gas leakage at this, bubbles more much more anxious, illustrates that gas leakage is more serious；It is this
Method can not effectively search leakage point, and the leakage point of suspection can only be investigated；This is most ancient gas leak detection side
Method, almost zero cost, can intuitively reflect the accurate location and leakage rate of larger leak source.But foam is smeared at position one by one
And it is very big to examine the workload of bubble-free.And for non-flange, valve, the pipeline stage casing of joint, GIS tank bodies leakage
Point is searched just as " looking for a needle in a haystack ", it is impossible to which equipment live body is hunted leak.Leak detector leak detection is general using by check and correction
Sulfur hexafluoride leak detector device in higher sensitivity, is pressed close to and is moved along tested surface with about 20-25mm/s speed, detector
Device can not detect releasing for sulfur hexafluoride, as qualified.The shortcoming of qualitative leak detector leak detection is that probe is mobile unstable or has wind
Can occur false alarm, it is necessary to verify repeatedly；Though can determine that the scope of leak source, specific leak source can not be positioned；It can not detect powered
Apparatus body.Above method, which all exists, needs power failure, detection position manually to reach the shortcomings of difficult, labor intensity is big.
Conventional powered leak hunting method mainly has infrared test and SF6Leak detector is hunted leak.But due to both approaches distance
Farther out, concentration is reduced after gas diffusion, therefore is often difficult to find leak source after powered position gas leakage at powered position.In addition, infrared
Test is needed in the case where sunshine condition is good, just can guarantee that accuracy and precision, at night and cloudy day, Detection accuracy compared with
It is low.According to statistics, SF of the general alarm frequency within 3 months6The possibility of equipment detection leak source reaches 80%, and alert frequency is 3
More than individual month, the possibility of detection leak source then drastically declined.If leak source can not accurately be found, equipment will be run with defect, or
Person maintains operation with leaking tonifying Qi at any time at any time, has had a strong impact on the reliability of operational outfit.
The content of the invention
Not enough for more than, the present invention, which provides one kind, can approach carry out live detection, overcome traditional detection method
The working method that need to have a power failure and manually detect, and the influence that flow perturbation is detected to gas is reduced, improve gas inspection
The accuracy and operating efficiency of survey.
To reach above-mentioned purpose, the present invention is adopted the following technical scheme that：
A kind of SF6Leakage inspection robot, includes moving cart, insulation transmission aerial ladder, motion arm, leak detector, ground
Base station, hand held controller and robot body controller, the insulation transmission aerial ladder are equipped on above the moving cart, institute
State motion arm and be fixed on the insulation transmission aerial ladder upper end；It is gentle that the leak detector includes leak detector air inlet, leak detector body
Pipe, the leak detector air inlet is arranged at the motion arm front end, and the leak detector body is arranged in the moving cart, and
It is connected with the robot body controller, the tracheae two ends connect the leak detector air inlet and leak detector body respectively；
The robot body controller is arranged in the moving cart；The ground base station passes through radio connection and robot
Body Controller is connected, and controls the moving cart and the insulation to transmit aerial ladder by the robot body controller；
The hand held controller is connected by radio connection with the robot body controller, and passes through the robot body
Controller controls the moving cart and insulation transmission aerial ladder.
Further, the insulation transmission aerial ladder includes dimensional turntable, elevator conveyer, the first insulation aerial ladder and second
Insulate aerial ladder, and the first insulation aerial ladder and the second insulation aerial ladder are slidably connected, the dimensional turntable and the described first insulation cloud
Ladder is flexibly connected, and dimensional turntable control the first insulation aerial ladder carries out pitching and yawing rotation, the elevator transmission dress
The body put is fixed on the first insulation aerial ladder bottom position, and the elevator conveyer passes through rope and the described second insulation
Aerial ladder is connected, and controls the second insulation aerial ladder to do stretching motion.
Further, the dimensional turntable uses motor drive mode.
Further, the elevator conveyer uses motor drive mode.
Further, the moving cart takes four-wheel drive, and power supply mode is lithium battery power supply.
Further, the ground base station is communicated with the robot body controller by less radio-frequency.
Further, the hand held controller is communicated with the robot body controller by less radio-frequency.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention realizes motion arm by insulating transmission aerial ladder
Motion, motion arm is moved to target location, so that leak detector air inlet is sent to position to be detected to detect gas
Whether leak, this detection mode can realize that leak detector air inlet approaches, travels through the sleeve pipe that may be leaked, pipeline, valve
Deng position and carry out gas leakage detection, analysis, approach detection reduce the influence that flow perturbation is detected to gas, improve gas
Accuracy and operating efficiency that physical examination is surveyed, and live detection can be realized, overcoming traditional detection method need to have a power failure and manually examine
Measure and reach the problems such as difficult, labor intensity is big.The present invention realizes the control of moving cart by ground base station and hand held controller
System, and ground base station and hand held controller wirelessly realize to the control of moving cart, simple to operate, control spirit
It is living, the whole day leak detection in the case of not raining can be achieved, it is ensured that promptness.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, being used required in being described below to embodiment
Accompanying drawing be briefly described.
Fig. 1 is structural representation of the invention；
Fig. 2 transmits the structural representation of aerial ladder for present invention insulation.
Wherein, it is labeled as shown in figure：1：Moving cart；21：Two-dimensional pan-tilt；22：Elevator conveyer；23：First is exhausted
Edge aerial ladder；24：Second insulation aerial ladder；3：Motion arm；41：Leak detector air inlet；42：Leak detector body；43：Tracheae；5：Ground
Base station；6：Hand held controller；7：Robot body controller.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described.Obviously, described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Embodiment
Referring to Fig.1 and 2, the present invention provides a kind of SF6Leakage inspection robot, mainly includes moving cart
1st, insulation transmission aerial ladder, motion arm 3, leak detector, ground base station 5, hand held controller 6 and robot body controller 7.
As depicted in figs. 1 and 2, insulation transmission aerial ladder is equipped on above moving cart 1, and moving cart 1 takes four-wheel drive,
Using lithium battery power supply.As depicted in figs. 1 and 2, insulation transmission aerial ladder mainly include dimensional turntable 21, elevator conveyer 22,
The first insulation insulation aerial ladder 24 of aerial ladder 23 and second, dimensional turntable 21 is arranged at the top of moving cart 1, dimensional turntable 21 and first
Insulation aerial ladder 23 is flexibly connected, and the control of dimensional turntable 21 first insulation aerial ladder 23 carries out pitching and yawing rotation, the first insulation cloud
The insulation aerial ladder 24 of ladder 23 and second is slidably connected, and the second insulation aerial ladder 24 is arranged at the front end of the first insulation aerial ladder 23, and elevator is passed
The body of device 22 is sent to be fixed on the bottom position of the first insulation aerial ladder 23, elevator conveyer 22 passes through rope and the second insulation cloud
Ladder 24 is connected, and controls the second insulation aerial ladder 24 to do stretching motion.Dimensional turntable 21 and elevator conveyer 22 are driven using motor
Flowing mode.As shown in figure 1, motion arm 3 is fixed on insulation transmission aerial ladder upper end, the top of the specially second insulation aerial ladder 24.
As shown in figure 1, leak detector includes leak detector air inlet 41, leak detector body 42 and tracheae 43, leak detector air inlet 41 is arranged at
The front end of motion arm 3, leak detector body 42 is arranged in moving cart 1, and is connected with robot body controller 7,43 liang of tracheae
End connects leak detector air inlet 41 and leak detector body 42 respectively.Robot body controller 7 is arranged in moving cart 1, machine
Device human body controller 7 can realize moving cart and insulation transmission aerial ladder and motion arm 3 thereon, and recordable detection thing
.Ground base station 5 is connected by radio connection with robot body controller 7, and is controlled by robot body controller 7
Moving cart 1 processed and insulation transmission aerial ladder；Hand held controller 6 is connected by radio connection with robot body controller 7,
And moving cart 1 and insulation transmission aerial ladder are controlled by robot body controller 7.Ground base station 5 and hand held controller 6 and machine
Device human body controller 7 is communicated by less radio-frequency, and ground base station 5 has programming and operating function, hand held controller 6
There is operating function, ground base station 5 and hand held controller 6 can send operational order to robot body controller 7, and receive anti-
Feedforward information, but the priority of hand held controller 6 is high compared with ground base station 5.
The present invention operation principle be：Whole detection robot system is after scene is transported to, device power self-inspection, after the completion of
The first insulation insulation aerial ladder 24 of aerial ladder 23 and second is arranged on two-dimensional pan-tilt 21, hand held controller 6 is operated or in ground base
Stand and path and working procedure are set on 5, pass through robot body controller 7 and control moving cart 1 to carry insulation transmission aerial ladder, behaviour
Make arm 3 and leak detector is reached near gas leakage equipment, control dimensional turntable 21 makes the first insulation aerial ladder 23 and the second insulation aerial ladder
24 progress pitching and yawing rotation, control elevator conveyer 22 make the second insulation aerial ladder 24 carry out stretching motion, control operation
Arm 3 drives leak detector air inlet 41 to carry out multifreedom motion, and each position of equipment, leak detector air inlet are traveled through from down to up
Gas near 41 sucks leak detector body 42 by tracheae 43 and carries out gas composition analysis, when leak detector body 42 sends alarm
Signal, show the current position of leak detector air inlet 41 find leak source, robot body controller 7 will record the positional information and
Detection information, and detection information can be sent to ground base station 5 or hand held controller 6, traversal is then proceeded by until completing
The detection of all positions, then carries out repetition measurement by emphasis to the alarm position.When moving cart 1 automatically control failure or by
Measurement equipment discharges, and can be operated or emergency shutdown using hand held controller 6.After detection to be done, ground base is checked
After 5 data of standing are without exception, insulation aerial ladder is withdrawn, control moving cart 1 withdraws scene.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, the change or replacement that can be readily occurred in, all should
It is included within the scope of the present invention.Therefore, protection scope of the present invention should using the scope of the claims as
It is accurate.
Claims (7)
1. a kind of SF6Leakage inspection robot, includes moving cart（1）, insulation transmission aerial ladder, motion arm（3）, leak detection
Instrument, ground base station（5）, hand held controller（6）And robot body controller（7）, it is characterised in that：The insulation transmission cloud
Ladder is equipped on the moving cart（1）Above, the motion arm（3）It is fixed on the insulation transmission aerial ladder upper end；The leak detection
Instrument includes leak detector air inlet（41）, leak detector body（42）And tracheae（43）, the leak detector air inlet（41）It is arranged at institute
State motion arm（3）Front end, the leak detector body（42）It is arranged on the moving cart（1）On, and with the robot body
Controller（7）Connection, the tracheae（43）Two ends connect the leak detector air inlet respectively（41）With leak detector body（42）；Institute
State robot body controller（7）It is arranged at the moving cart（1）On；The ground base station（5）Pass through radio connection
With robot body controller（7）It is connected, and passes through the robot body controller（7）Control the moving cart（1）With
The insulation transmission aerial ladder（2）；The hand held controller（6）Pass through radio connection and the robot body controller
（7）It is connected, and passes through the robot body controller（7）Control the moving cart（1）With the insulation transmission aerial ladder
（2）.
2. SF according to claim 16Leakage inspection robot, it is characterised in that：The insulation transmission aerial ladder includes
Dimensional turntable（21）, elevator conveyer（22）, first insulation aerial ladder（23）With the second insulation aerial ladder（24）, first insulation
Aerial ladder（23）With the second insulation aerial ladder（24）It is slidably connected, the dimensional turntable（21）With the described first insulation aerial ladder（23）Activity
Connection, the dimensional turntable（21）Control the first insulation aerial ladder（23）Carry out pitching and yawing rotation, the elevator transmission
Device（22）Body be fixed on it is described first insulation aerial ladder（23）Bottom position, the elevator conveyer（22）Pass through rope
With the described second insulation aerial ladder（24）It is connected, and controls the second insulation aerial ladder（24）Do stretching motion.
3. SF according to claim 26Leakage inspection robot, it is characterised in that：The dimensional turntable（21）Using
Motor drive mode.
4. SF according to claim 26Leakage inspection robot, it is characterised in that：The elevator conveyer（22）
Using motor drive mode.
5. SF according to claim 16Leakage inspection robot, it is characterised in that：The moving cart（1）Take
Four-wheel drive, power supply mode is lithium battery power supply.
6. SF according to claim 16Leakage inspection robot, it is characterised in that：The ground base station（5）With institute
State robot body controller（7）Communicated by less radio-frequency.
7. SF according to claim 16Leakage inspection robot, it is characterised in that：The hand held controller（6）With
The robot body controller（7）Communicated by less radio-frequency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710347953.9A CN107192509A (en) | 2017-05-17 | 2017-05-17 | A kind of SF6Leakage inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710347953.9A CN107192509A (en) | 2017-05-17 | 2017-05-17 | A kind of SF6Leakage inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107192509A true CN107192509A (en) | 2017-09-22 |
Family
ID=59873899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710347953.9A Pending CN107192509A (en) | 2017-05-17 | 2017-05-17 | A kind of SF6Leakage inspection robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107192509A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107498568A (en) * | 2017-10-16 | 2017-12-22 | 云南电网有限责任公司电力科学研究院 | A kind of robot arm device |
| CN108507725A (en) * | 2018-04-20 | 2018-09-07 | 国网江苏省电力有限公司电力科学研究院 | A kind of sulfur hexafluoride gas Leakage Detection device |
| CN108687742A (en) * | 2018-08-23 | 2018-10-23 | 合肥合安智为科技有限公司 | A kind of pole incipient fire early warning intelligent inspection robot |
| CN110315547A (en) * | 2018-03-31 | 2019-10-11 | 世博生态环保技术股份有限公司 | A kind of method that robotic arm detects toxic waste liquid in waste liquid barrel |
| CN110530687A (en) * | 2019-09-18 | 2019-12-03 | 国网山东省电力公司莱芜供电公司 | A kind of SF6 gas-detecting device |
| CN111579168A (en) * | 2019-12-24 | 2020-08-25 | 杭州超钜科技有限公司 | Multi-probe automatic leak detection system and leak detection method |
| CN114965896A (en) * | 2022-05-31 | 2022-08-30 | 广东电网有限责任公司 | Method and device for detecting concentration of indoor sulfur hexafluoride |
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| CN105716810A (en) * | 2016-01-29 | 2016-06-29 | 国家电网公司 | SF6 leakage detection system and method of GIS of transformer station |
| CN106500917A (en) * | 2016-12-02 | 2017-03-15 | 广州供电局有限公司 | SF6Powered leak detector |
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| JPH1172411A (en) * | 1997-08-28 | 1999-03-16 | Tokyo Gas Co Ltd | Gas detecting device and method therefor |
| CN202133510U (en) * | 2011-06-27 | 2012-02-01 | 常州爱特科技有限公司 | Air suction sampling type multi-channel SF6 quantitative leakage alarm system |
| CN102661834A (en) * | 2011-12-30 | 2012-09-12 | 昆山和智电气设备有限公司 | High sensitive multipath SF6 on-line leak detector and detection method thereof |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107498568A (en) * | 2017-10-16 | 2017-12-22 | 云南电网有限责任公司电力科学研究院 | A kind of robot arm device |
| CN107498568B (en) * | 2017-10-16 | 2024-02-06 | 云南电网有限责任公司电力科学研究院 | Mechanical arm device |
| CN110315547A (en) * | 2018-03-31 | 2019-10-11 | 世博生态环保技术股份有限公司 | A kind of method that robotic arm detects toxic waste liquid in waste liquid barrel |
| CN108507725A (en) * | 2018-04-20 | 2018-09-07 | 国网江苏省电力有限公司电力科学研究院 | A kind of sulfur hexafluoride gas Leakage Detection device |
| CN108687742A (en) * | 2018-08-23 | 2018-10-23 | 合肥合安智为科技有限公司 | A kind of pole incipient fire early warning intelligent inspection robot |
| CN110530687A (en) * | 2019-09-18 | 2019-12-03 | 国网山东省电力公司莱芜供电公司 | A kind of SF6 gas-detecting device |
| CN110530687B (en) * | 2019-09-18 | 2022-04-29 | 国网山东省电力公司莱芜供电公司 | Gaseous detection device of SF6 |
| CN111579168A (en) * | 2019-12-24 | 2020-08-25 | 杭州超钜科技有限公司 | Multi-probe automatic leak detection system and leak detection method |
| CN111579168B (en) * | 2019-12-24 | 2022-07-29 | 杭州超钜科技有限公司 | Multi-probe automatic leak detection system and leak detection method |
| CN114965896A (en) * | 2022-05-31 | 2022-08-30 | 广东电网有限责任公司 | Method and device for detecting concentration of indoor sulfur hexafluoride |
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| PB01 | Publication | ||
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Application publication date: 20170922 |