CN110271012A - A kind of robot and robot system for substation SF6 detection - Google Patents

A kind of robot and robot system for substation SF6 detection Download PDF

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Publication number
CN110271012A
CN110271012A CN201910427935.0A CN201910427935A CN110271012A CN 110271012 A CN110271012 A CN 110271012A CN 201910427935 A CN201910427935 A CN 201910427935A CN 110271012 A CN110271012 A CN 110271012A
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CN
China
Prior art keywords
detection
robot
module
information
substation
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Granted
Application number
CN201910427935.0A
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Chinese (zh)
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CN110271012B (en
Inventor
刘劲松
汪洋
禹晋云
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Kunming Bureau of Extra High Voltage Power Transmission Co
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Kunming Bureau of Extra High Voltage Power Transmission Co
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Priority to CN201910427935.0A priority Critical patent/CN110271012B/en
Publication of CN110271012A publication Critical patent/CN110271012A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/0004Gaseous mixtures, e.g. polluted air

Abstract

The invention discloses a kind of robots and robot system for substation SF6 detection, it is related to substation IED technical field, robot of the invention includes robot body and detection module, the robot body is the mobile vehicle and information collection control vector of entire robot, the detection module is used to detect the SF6 concentration in environment, equipped with multivariant mechanical arm module on the robot body, the detection module is mounted in the end of mechanical arm module, the present invention passes through in such a way that mechanical arm is carried in robot body part, increase effectively effective detection space of SF6 sensor, more information can be obtained, improve the routing inspection efficiency of robot and the detection accuracy of SF6.

Description

A kind of robot and robot system for substation SF6 detection
Technical field
The present invention relates to substation IED technical fields, detect more particularly to one kind for substation SF6 Robot and robot system.
Background technique
For a long time, manual type is mostly used to carry out substation inspection work, traditional manual inspection mode is not only deposited In large labor intensity, working efficiency is low, detection mass-dispersion, in place of the deficiencies of means are single, and it is subsequent also can not will be artificial Data detected are accurately and timely transmitted in management information system to use in work.
In recent years, with the fast development of unattended intelligent substation, robot used for intelligent substation patrol has been obtained extensively General application.Intelligent Mobile Robot is mainly used in outdoor substation, can carry out infrared survey to transformer equipment in substation The functions such as temperature, table note reading, the identification of division executing agency and exceptional state alarm, and the real-time upload sum number of inspection data is provided According to analysis, information is shown and the background functions such as auto report completing, and having can also open under the adverse circumstances such as routing inspection efficiency height, sleet The advantages that opening up inspection, effectively increases substation equipment operational reliability.
SF6 (sulfur hexafluoride) is good gaseous insulator, is widely used in the gas-insulated of electronics, electrical equipment, Typical application is to be used as gas-insulated in the high-tension switch cabinet of the power transmission and transformation institute of power supply department, power plant etc..Pure SF6 poison Property it is lower, character is stable, but people sucking 80%SF6 and 20%O2 mixed gas a few minutes after, numb limb will occur, Slight Agitation.SF6, which is filled in high-tension switch cabinet, certain pressure, and therefore, the probability of gas leakage is higher, and in air Oxygen content it is sufficient, after leaking SF6 with oxygen ining conjunction with generation toxicity sufficient condition;Once and SF6 is met To high fever, high temperature, such as electric arc, by-product sulfur oxide and hydrogen fluoride gas can be produced, they coexist with undecomposed SF6, oxygen Changing sulphur is a kind of sulfuric anhydride, and the mucomembranous surface easily moistened by human body, which absorbs, generates sulfuric acid and sulfurous acid, to eye and respiratory mucosa There is strong impulse effect;Hydrogen fluoride is soluble easily in water, is equally easily absorbed by the mucomembranous surface that human body moistens and generates hydrofluoric acid, wears Transdermal surface forms ulcer and necrosis to percdation, and is not easy to cure.
Substation is usually that crusing robot is used to build the method for SF6 gas sensor to the SF6 gas in environment at present Bulk concentration is detected, and as crusing robot does not stop to move in substation, detects that the SF6 in power grid environment is dense Degree, but existing detection method, since sensor device is mounted on robot theme, detection space is limited, is only able to detect The SF6 concentration on robot periphery, detection range is smaller, can not accurately obtain the SF6 concentration in current environment, influence inspection machine Task efficiency.
Summary of the invention
It is an object of the invention to: robot periphery is only able to detect in order to solve existing substation SF6 detection method SF6 concentration, detection space is limited, and the problem of can not accurately obtain the SF6 concentration in current environment, the present invention provides one kind Robot and robot system for substation SF6 detection.
The present invention specifically uses following technical scheme to achieve the goals above:
A kind of robot for substation SF6 detection, including robot body and detection module, the robot body It is the mobile vehicle and information collection control vector of entire robot, the detection module is used to detect the SF6 concentration in environment, It is characterized by: the detection module is mounted in equipped with multivariant mechanical arm module on the robot body The end of mechanical arm module.
Further, the mechanical arm module includes machine assembly, sensing unit and control unit, the machine assembly by A series of kinematic pair of connecting rods, joint or other forms forms;
The sensing unit includes internal sensor module, and the internal sensor module is used for the shape of collection machinery arm State, such as fold, stretching, extension, the positional distance information for rotating angle and opposed robots' main body, it obtains in internal environment state Useful information;
Information of the described control unit according to the internal sensor module feedback received and the letter from detection module feedback It ceases output operation instruction and dominates priming and function as defined in machine assembly completion.
Further, described control unit includes information storage module and mechanical arm control module, the information storage Module with detection module and internal sensor module communication, receives detection module SF6 concentration information detected and interior respectively The mechanical arm status information of portion's sensor module acquisition is accurately calculated according to the historical information recorded in information storage module SF6 concentration in current region, and output operation is instructed to mechanical arm control module;Mechanical arm control module and machine assembly connect It connects, mechanical arm control module controls the stretching, extension of machine assembly according to the job instruction received, is moved to detection module next It is detected in region.
Further, the detection module includes the SF6 detection sensor that mechanical arm end of module is arranged in.
Further, the robot body uses four-wheel wheel type mobile trolley, and preceding 2 wheel is driving wheel, by the same electricity Machine respectively drives, differential steering, and rear 2 wheel is universal driven wheel.
A kind of robot system for substation SF6 detection, including base station, moving body, moving body kinetic control system And power station equipment detection system, it is characterised in that: further include the machine described in claim 1 for substation SF6 detection People, the power station equipment detection system are mounted on robot body, are responsible for substation equipment appearance images and internal information Acquisition and processing, for moving body for driving robot body to move, moving body control system is used to control the movement of moving body, machine Information communication is carried out between device human agent and base station, and data detected by power station equipment detection system are transmitted to base station.
Further, further include communication system, information transmitting carried out by communication system between the moving body and base station, The data such as information detected by power station equipment detection system and moving body kinetic control system information are transmitted to through communication system Base station.The information of the comprehensive internal sensor module of information storage module, determines the extensible all directions of current location mechanical arm After all detection is completed, by moving body kinetic control system, robot body is moved into another region and is detected.
Further, the communication system includes network hub and the WLAN that is made of wireless bridge, power station The data such as information detected by device detection system and moving body kinetic control system information are after network hub is collected, warp Wireless bridge is transmitted to the operation monitor terminal of WLAN internal network, and operation monitor terminal is right in real time according to access authority Power station equipment is monitored, and is controlled the movement of moving body.
Further, the power station equipment detection system includes that visible images video camera, infrared radiation thermometer and sound are visited Survey device.
The operation principle of the present invention is that:
When crusing robot stops working, mechanical arm module may be folded in robot body part, reduce space hold;
When crusing robot is started to work, the expansion of mechanical arm module, while detection module is started to work, and is detected in environment SF6 concentration, and the SF6 concentration information that will test is transmitted to control module, historical information of the control module according to record, essence The SF6 concentration in current region is really calculated, and the direction of extension of mechanical arm module can be controlled according to environmental information.
Beneficial effects of the present invention are as follows:
1, the present invention is increasing effectively having for SF6 sensor in such a way that mechanical arm is carried in robot body part Effect detection space, can obtain more information, improve the routing inspection efficiency of robot and the detection accuracy of SF6, and stretch The design of formula mechanical arm can effectively increase the inspection space of robot, help detection module to obtain more information, work as stopping When work, mechanical arm module is folded to robot body part, reduces space hold, increases the stability of robot body, When operating, mechanical arm module is unfolded, stretches detection module, can be improved inspection machine task efficiency, and control module Design, robot can be helped to improve detection accuracy and utilization rate of equipment and installations.
Detailed description of the invention
Fig. 1 is Global Information flow diagram of the invention.
Fig. 2 is the information flow schematic diagram of control unit of the present invention.
Specific embodiment
In order to which those skilled in the art better understand the present invention, with reference to the accompanying drawing with following embodiment to the present invention It is described in further detail.
Embodiment 1
As shown in Figure 1, the present embodiment provides it is a kind of for substation SF6 detection robot, including robot body and Detection module, the robot body are the mobile vehicle and information collection control vector of entire robot, the detection module For detecting the SF6 concentration in environment, equipped with multivariant mechanical arm module, the inspection on the robot body Survey the end that module is mounted in mechanical arm module;The mechanical arm module includes machine assembly, sensing unit and control unit, institute Machine assembly is stated to be made of a series of kinematic pair of connecting rods, joint or other forms;The sensing unit includes internal sensor Module, the internal sensor module are used for the state of collection machinery arm, such as fold, stretching, extension, rotate angle and opposed robots The information such as the positional distance of main body obtain the useful information in internal environment state;Described control unit is interior according to what is received The information of portion's sensor module feedback and the information output operation instruction fed back from detection module dominate machine assembly and complete regulation Priming and function.
As shown in Fig. 2, described control unit includes information storage module and mechanical arm control module, the information storage Module with detection module and internal sensor module communication, receives detection module SF6 concentration information detected and interior respectively The mechanical arm status information of portion's sensor module acquisition is accurately calculated according to the historical information recorded in information storage module SF6 concentration in current region, and output operation is instructed to mechanical arm control module;Mechanical arm control module and machine assembly connect It connects, mechanical arm control module controls the stretching, extension of machine assembly according to the job instruction received, is moved to detection module next It is detected in region.
In the present embodiment, the detection module includes the SF6 detection sensor that mechanical arm end of module is arranged in, robot Main body uses four-wheel wheel type mobile trolley, and preceding 2 wheel is driving wheel, is respectively driven by the same motor, differential steering, and rear 2 wheel is Universal driven wheel.
A kind of robot system for substation SF6 detection, including base station, moving body, moving body kinetic control system And power station equipment detection system, it further include the robot for substation SF6 detection, the power station equipment detection system installation On robot body, it is responsible for the acquisition and processing of substation equipment appearance images and internal information, moving body is used for band motivation Device human agent movement, moving body control system are used to control the movement of moving body, information are carried out between robot body and base station Data detected by power station equipment detection system are transmitted to base station by communication.
In the present embodiment, robot system further includes communication system, passes through communication system between the moving body and base station Information transmitting is carried out, the data such as information and moving body kinetic control system information detected by power station equipment detection system are through logical Letter system is transmitted to base station.The information of the comprehensive internal sensor module of information storage module, determines that current location mechanical arm can be stretched After all directions of exhibition all detect completion, by moving body kinetic control system, by robot body move to another region into Row detection.
The communication system includes network hub and the WLAN that is made of wireless bridge, power station equipment detection system The data such as the detected information of system and moving body kinetic control system information pass after network hub is collected through wireless bridge Be delivered to the operation monitor terminal of WLAN internal network, operation monitor terminal according to access authority in real time to power station equipment into Row monitoring, and controls the movement of moving body, and the power station equipment detection system includes visible images video camera, infrared Temperature measurer and sound-detection gear.
The working principle of the present embodiment are as follows:
When crusing robot stops working, mechanical arm module may be folded in robot body part, reduce space hold;
When crusing robot is started to work, the expansion of mechanical arm module, while detection module is started to work, and is detected in environment SF6 concentration, and the SF6 concentration information that will test is transmitted to control module, historical information of the control module according to record, essence The SF6 concentration in current region is really calculated, and the direction of extension of mechanical arm module can be controlled according to environmental information.
The above, only presently preferred embodiments of the present invention, are not intended to limit the invention, patent protection model of the invention It encloses and is subject to claims, it is all to change with equivalent structure made by specification and accompanying drawing content of the invention, similarly It should be included within the scope of the present invention.

Claims (9)

1. a kind of robot for substation SF6 detection, including robot body and detection module, the robot body be The mobile vehicle and information collection control vector of entire robot, the detection module are used to detect the SF6 concentration in environment, Be characterized in that: equipped with multivariant mechanical arm module on the robot body, the detection module is mounted in machine The end of tool arm module.
2. a kind of robot for substation SF6 detection according to claim 1, it is characterised in that: the mechanical arm Module includes machine assembly, sensing unit and control unit, and the machine assembly is by a series of connecting rods, joint or other forms Kinematic pair composition;
The sensing unit includes internal sensor module, and the internal sensor module is used for the state of collection machinery arm, is obtained Take the useful information in internal environment state;
Described control unit is defeated according to the information of the internal sensor module feedback received and from the information of detection module feedback Job instruction dominates machine assembly and completes defined priming and function out.
3. a kind of robot for substation SF6 detection according to claim 2, it is characterised in that: the control is single Member include information storage module and mechanical arm control module, the information storage module respectively with detection module and internal sensor Device module communication receives the mechanical arm state of detection module SF6 concentration information detected and the acquisition of internal sensor module Information accurately calculates the SF6 concentration in current region, and export work according to the historical information recorded in information storage module Industry is instructed to mechanical arm control module;Mechanical arm control module is connect with machine assembly, and mechanical arm control module is according to receiving Job instruction, control the stretching, extension of machine assembly, so that detection module is moved to subsequent region and detected.
4. a kind of robot for substation SF6 detection according to claim 1, it is characterised in that: the detection mould Block includes the SF6 detection sensor that mechanical arm end of module is arranged in.
5. a kind of robot for substation SF6 detection according to claim 1, it is characterised in that: the robot Main body uses four-wheel wheel type mobile trolley, and preceding 2 wheel is driving wheel, is respectively driven by the same motor, differential steering, and rear 2 wheel is Universal driven wheel.
6. a kind of robot system for substation SF6 detection, including base station, moving body control system and power station equipment inspection Examining system, it is characterised in that: further include the robot described in claim 1 for substation SF6 detection, the power station equipment Detection system is mounted on robot body, is responsible for the acquisition and processing of substation equipment appearance images and internal information, mobile Body control system is used to control the movement of robot body, and information communication is carried out between robot body and base station, power station is set Data detected by standby detection system are transmitted to base station.
7. a kind of robot system for substation SF6 detection according to claim 6, it is characterised in that: the machine Device human agent includes moving body, moving body kinetic control system and communication system, passes through communication system between moving body and base station Information transmitting is carried out, the data such as information and moving body kinetic control system information detected by power station equipment detection system are through logical Letter system is transmitted to base station.
8. a kind of robot system for substation SF6 detection according to claim 7, it is characterised in that: described logical Letter system includes network hub and the WLAN that is made of wireless bridge, letter detected by power station equipment detection system The data such as breath and moving body kinetic control system information are transmitted to WLAN through wireless bridge after network hub is collected The operation monitor terminal of internal network, operation monitor terminal are in real time monitored power station equipment according to access authority, and to shifting The movement of kinetoplast is controlled.
9. a kind of robot system for substation SF6 detection according to claim 6, it is characterised in that: the electricity Station equipment detection system includes visible images video camera, infrared radiation thermometer and sound-detection gear.
CN201910427935.0A 2019-05-22 2019-05-22 Robot and robot system for SF6 detection of transformer substation Active CN110271012B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910427935.0A CN110271012B (en) 2019-05-22 2019-05-22 Robot and robot system for SF6 detection of transformer substation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910427935.0A CN110271012B (en) 2019-05-22 2019-05-22 Robot and robot system for SF6 detection of transformer substation

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CN110271012B CN110271012B (en) 2021-06-29

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020179123A1 (en) * 2001-05-31 2002-12-05 Charles Toward Fluidized cleaning and scarification apparatus and method
CN202474607U (en) * 2012-02-06 2012-10-03 河海大学常州校区 Automatic patrol inspection robot system of intelligent transformer substation
CN103235562A (en) * 2013-03-07 2013-08-07 河海大学常州校区 Patrol-robot-based comprehensive parameter detection system and method for substations
CN103712654A (en) * 2014-01-07 2014-04-09 北京联合大学 Intelligent monitoring system for warehouse environment
CN204101538U (en) * 2014-09-03 2015-01-14 广西电网公司钦州供电局 A kind of gas-detecting device of the movement based on Intelligent Mobile Robot
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CN207677341U (en) * 2017-12-15 2018-07-31 三峡大学 Intelligent babinet substation " prison-inspection-dimension " integral system based on robot
CN208044007U (en) * 2018-04-03 2018-11-02 湖北南邦创电科技有限公司 Cubicle switch cabinet Partial Discharge Detection robot of substation

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