CN110340899A - Robot for overhauling for oil-immersed transformer - Google Patents
Robot for overhauling for oil-immersed transformer Download PDFInfo
- Publication number
- CN110340899A CN110340899A CN201910532024.4A CN201910532024A CN110340899A CN 110340899 A CN110340899 A CN 110340899A CN 201910532024 A CN201910532024 A CN 201910532024A CN 110340899 A CN110340899 A CN 110340899A
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- CN
- China
- Prior art keywords
- shell
- robot
- oil
- horizontal
- transformer
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The present invention relates to a kind of robot for overhauling for oil-immersed transformer, including shell, controller, detection device, scalable mechanical arm and the first perpendicular jetting device.The robot for overhauling is placed in the transformer full of transformer oil, the detection device of robot for overhauling obtains the detection data information including the velocity information of shell and the internal environment parameter of oil-immersed transformer, if detection device detects that inside transformer needs repairing, then by the first perpendicular jetting device the robot can be moved up in transformer oil, after being moved to the operable position of operator, then operator's installation and maintenance tool on the installation position of scalable mechanical arm again puts down robot, and scalable mechanical arm is controlled by controller and is stretched so that installation position is close to the position to need repairing, to repair.Oil-immersed transformer is overhauled without artificial craft, it is time saving and energy saving without by oil-immersed transformer draining and dismantling, reduce the cost of overhaul.
Description
Technical field
The present invention relates to Repair of Transformer equipment technical fields, more particularly to a kind of maintenance for oil-immersed transformer
Robot.
Background technique
With the fast development of science and technology, the high speed therewith of smart grid and extra-high voltage electric power transmission technology is promoted, and
Smart grid and extra-high voltage electric power transmission technology have higher requirement to the operational reliability of grid equipment, and transformer is as electricity
One of net core equipment, reliability of operation directly affect the safety of entire power grid.
Transformer is generally divided into dry-type transformer and oil-immersed transformer according to the insulation type of cooling, and dry-type transformer is main
It is to use under special circumstances, more the most commonly used is oil-immersed transformers.Oil-immersed transformer be by the iron core of transformer and around
Group all enters in the fuel tank for having filled transformer oil, and insulation and heat dissipation effect are preferable, but needs periodically to be checked.And it is existing
Oil-immersed transformer it is usually manual by hand maintenance, time-consuming and laborious, the cost of overhaul is higher.
Summary of the invention
Based on this, it is necessary to for existing oil-immersed transformer using artificial maintenance by hand, time-consuming and laborious, the cost of overhaul
Higher problem, ambient condition in transformer can be detected automatically by providing one kind, be used for oil-immersed transformer without manual
Robot for overhauling.
A kind of robot for overhauling for oil-immersed transformer, comprising:
Shell goes out liquid along first inlet of first direction the same end and first including accommodating cavity and with the shell is set to
Mouthful；
First perpendicular jetting device is set in the accommodating cavity, and first perpendicular jetting device is respectively with described
One inlet and first liquid outlet connection, for sucking transformer oil from first inlet and going out liquid from described first
Mouth sprays the transformer oil, to provide the thrust that the shell is moved along first direction；
Detection device is set to the shell, for obtaining detection data information；The detection data information includes described
The internal environment parameter of the velocity information of shell and the oil-immersed transformer；
Scalable mechanical arm, one end are connected to relatively fixedly on the shell, and the scalable mechanical arm is far from institute
The one end for stating shell has an installation position, and the scalable mechanical arm is scalable along its longitudinally, so that the scalable machine
The one end of tool arm with the installation position is separate or close to the shell；And
Controller is set in the accommodating cavity, the controller respectively with the detection device, the scalable machinery
Arm and first perpendicular jetting device electrical connection.
By the way that the above-mentioned robot for overhauling for oil-immersed transformer is arranged, which is placed on full of change
In the transformer of depressor oil, the detection device acquisition of robot for overhauling includes the velocity information and oil-immersed transformer of shell
The detection data information of internal environment parameter can pass through if detection device detects that inside transformer needs repairing
One perpendicular jetting device moves up the robot in transformer oil, after being moved to the operable position of operator,
Then operator's installation and maintenance tool on the installation position of scalable mechanical arm again puts down robot, and passes through controller
Scalable mechanical arm is controlled to stretch so that installation position is close to the position to need repairing, to repair.In this way, being not necessarily to artificial hand
Work overhauls oil-immersed transformer, time saving and energy saving without by oil-immersed transformer draining and dismantling, and reduces maintenance
Cost.
In one of the embodiments, the shell along first direction far from one end of first inlet be additionally provided with
The second inlet and the second liquid outlet of the accommodating cavity connection；
The robot for overhauling further includes the second perpendicular jetting device, and second perpendicular jetting device is located at the accommodating
Chamber, and second perpendicular jetting device is connected to second inlet and second liquid outlet respectively, is used for from described
Second inlet sucks the transformer oil and sprays from second liquid outlet by the transformer oil, to provide the shell
Along the thrust of the second direction opposite with first direction.
The robot for overhauling further includes three horizontal-jet devices, three levels in one of the embodiments,
Injection apparatus is arranged along the shell circumferential direction uniform intervals, and is fixedly connected in the shell, for providing institute respectively
State the thrust that shell is moved along first level direction, the second horizontal direction or third horizontal direction；
Wherein first level direction, the second horizontal direction and third horizontal direction eccentric setting.
The shell further includes three horizontal inlets set on the shell circumferential side wall in one of the embodiments,
And three horizontal liquid outlets, three horizontal inlets and three horizontal liquid outlets are equal along the shell circumferential direction
It is even to be intervally arranged, and there are a prepsetting gaps between each horizontal inlet horizontal liquid outlet corresponding with one；
Three horizontal-jet devices are respectively positioned on the accommodating cavity, and each horizontal-jet device is fixedly connected with
In the shell, each horizontal-jet device respectively with a horizontal inlet and a corresponding horizontal liquid outlet
Connection, for sucking the transformer oil from the horizontal inlet and being sprayed from the horizontal liquid outlet by the transformer oil
Out, to provide the thrust that the shell is moved along first level direction, the second horizontal direction or third horizontal direction respectively.
The shell includes upper housing, main casing and lower case in one of the embodiments, the upper housing and described
Lower case is connected to the main casing both ends opposite along first direction, to form the accommodating cavity to enclose to set；
First inlet and first inlet are set to the lower case, and the scalable mechanical arm is relatively fixed
Ground is connected to the main casing.
The robot for overhauling further includes driving motor in one of the embodiments, and the driving motor is located at described
Accommodating cavity, and be fixedly connected on the shell, the rotary shaft of the driving motor are arranged in the shell and from the accommodating cavities
It stretches out, described scalable mechanical arm one end is fixedly connected on the rotary shaft of the driving motor；
The controller is electrically connected with the driving motor, for controlling the driving electricity according to the detection data information
The movement of machine.
The scalable mechanical arm includes sequentially connected rotating part, interconnecting piece and installation in one of the embodiments,
Portion；
Described rotating part one end is fixedly connected on the rotary shaft of the driving motor, can be rotated with the driving motor,
The interconnecting piece is slidedly arranged on the rotating part along the rotating part longitudinally, and the mounting portion is along the rotating part longitudinally
It is slidedly arranged on the interconnecting piece, so that the scalable mechanical arm is scalable along the rotating part longitudinally；
The installation position is set to the one end of the mounting portion far from the interconnecting piece.
The robot for overhauling further includes wireless communication module in one of the embodiments, the wireless communication module
Be set in the accommodating cavity, and the wireless communication module is electrically connected with the controller, for realizing the controller with
Wireless connection between extraneous host.
The robot for overhauling further includes power supply unit in one of the embodiments, and the power supply unit includes energy storage
Battery and wireless charger, the energy-storage battery and the wireless charger are all set in the accommodating cavity, the energy storage electricity
Pond is electrically connected with the controller, the detection device, the scalable mechanical arm and first perpendicular jetting device respectively,
The wireless charger is electrically connected with the energy-storage battery, for charging to the energy-storage battery.
The detection device includes sensor module and camera assembly, the sensor group in one of the embodiments,
Part is set in the accommodating cavity, for obtaining the velocity information of the shell and the internal environment parameter of the transformer；Institute
It states camera assembly and is connected to the shell, for obtaining the internal environment parameter of the transformer.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the robot for overhauling for oil-immersed transformer that one embodiment of the invention provides；
Fig. 2 is the explosive view of robot for overhauling shown in FIG. 1；
Fig. 3 is the stress analysis schematic diagram of the horizontal direction of robot for overhauling shown in Fig. 2；
Fig. 4 is the structural schematic diagram of another angle of robot for overhauling shown in FIG. 1；
Fig. 5 is the main casing and its interior arrangement structural schematic diagram of robot for overhauling shown in FIG. 1；
Fig. 6 is the structural schematic diagram of the scalable mechanical arm of robot for overhauling shown in FIG. 1.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give preferred embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, purpose of providing these embodiments is keeps the understanding to the disclosure more saturating
It is thorough comprehensive.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " it include one or more phases
Any and all combinations of the listed item of pass.
As shown in Figures 1 and 2, the robot for overhauling 10 for oil-immersed transformer that one embodiment of the invention provides, packet
Include shell, controller 14, detection device 16, scalable mechanical arm 18 and the first perpendicular jetting device 19.
Shell includes accommodating cavity and the first inlet and the first liquid outlet set on shell along first direction the same end.
First perpendicular jetting device 19 be arranged accommodating cavity in, and the first perpendicular jetting device 19 respectively with the first inlet and
First liquid outlet connection, for sucking transformer oil from the first inlet and being sprayed from the first liquid outlet by transformer oil, to mention
The thrust moved for shell 12 along first direction.
Detection device 16 is set to shell, and for obtaining detection data information, detection data information includes the speed of shell
The internal environment parameter of information and oil-immersed transformer.Scalable 18 one end of mechanical arm is connected on shell relatively fixedly, and
Scalable mechanical arm 18 has an installation position far from one end of shell, to be used for installation and maintenance tool, scalable 18 edge of mechanical arm
Its longitudinally is scalable so that the scalable mechanical arm 18 have one end of installation position far from or close to shell.
Controller 14 is electrically connected with detection device 16, scalable mechanical arm 18 and the first perpendicular jetting device 19 respectively.
By the way that the above-mentioned robot for overhauling for oil-immersed transformer is arranged, which is placed on full of change
In the transformer of depressor oil, the detection device 16 of robot for overhauling obtains velocity information and oil-immersed transformer including shell
The detection data information of internal environment parameter can lead to if detection device 16 detects that inside transformer needs repairing
Crossing the first perpendicular jetting device 19 moves up the robot in transformer oil, is moved to the operable position of operator
It postpones, then operator's installation and maintenance tool on the installation position of scalable mechanical arm 18 again puts down robot, and leads to
It crosses controller 14 and controls that scalable mechanical arm 18 is flexible so that installation position is close to the position to need repairing, to repair.In this way,
Oil-immersed transformer is overhauled without artificial craft, without by oil-immersed transformer draining and dismantling, time saving province
Power reduces the cost of overhaul.
In some embodiments, shell includes upper housing 122, main casing 124 and lower case 126, upper housing 122 and lower casing
Body 126 is connected to the both ends opposite along first direction of main casing 124, to form accommodating cavity to enclose to set.First inlet and
Two inlets 1222 are set to lower case 126, and scalable mechanical arm 18 is relatively-stationary to be connected to main casing 124.
Further, main casing 124 is substantially cylindrical, and upper housing 122 and lower case 126 are substantially hemispherical,
And upper housing 122 and lower case 126 cover at cylindrical main casing 124 along the opposite end of first direction, also respectively
It is to say, the size of accommodating cavity is inner cavity and the sum of the upper housing 122 and the inner cavity of lower case 126 of main casing 124.
In practical application, shell 12 further includes sealing strip, between upper housing 122 and main casing 124 and 126 He of lower case
It is provided with sealing strip between main casing 124, so that upper housing 122 and lower case 126 are tightly connected with main casing 124.Tool
Body, sealing strip is that rubber washer, upper housing 122 and lower case 126 are linked together by screw with main casing 124.
In some embodiments, shell is additionally provided with the second inlet 1222 far from one end of the first inlet along first direction
With the second liquid outlet 1224.Further, the second inlet 1222 and the second liquid outlet 1224 are respectively positioned on the separate of upper housing 122
One end of main casing 124, i.e., the top dome position of upper housing 122 hemispherical, corresponding first inlet and the first liquid outlet
It is positioned at the top dome position of lower case 126 hemispherical.
In some embodiments, robot for overhauling further includes the second perpendicular jetting device, and the second perpendicular jetting device is located at
Accommodating cavity, and the second perpendicular jetting device is connected to the second inlet 1222 and the second liquid outlet 1224 respectively, is used for from second
Inlet 1222 sucks transformer oil and sprays transformer oil from the second liquid outlet 1224, to provide shell edge and first direction
The thrust of opposite second direction.
It is understood that first direction is direction straight up, second direction is vertically downward direction, and first hangs down
Direct-injection injection device 19 and the second perpendicular jetting device are to realize that the robot can be moved freely up and down in transformer inner wall.
In some embodiments, shell further includes the three horizontal inlets 1242 and three water set on shell circumferential side wall
Flat liquid outlet 1244, three horizontal mouths and three horizontal liquid outlets 1244 are arranged along shell circumferential direction uniform intervals, and every
There are a prepsetting gaps between one horizontal inlet 1242 horizontal liquid outlet 1244 corresponding with one.
It is understood that corresponding inlet and liquid outlet close on setting, i.e., as shown in the figure, prepsetting gap is
It is determined according to the actual situation, cannot be too small, in case inlet and liquid outlet influence each other；And if gap is larger,
It will affect the layout of other structures, therefore prepsetting gap needs to be configured according to the actual situation.
Further, three horizontal inlets 1242 and three horizontal liquid outlets 1244 are equal along 124 circumferential direction of main casing
It is even to be intervally arranged in the side wall of main casing 124.
In some embodiments, robot for overhauling further includes three horizontal-jet devices 11, three horizontal-jet devices 11
Arrange, and be fixedly connected in shell along shell circumferential direction uniform intervals, for provide respectively shell along first level direction,
Second horizontal direction or the thrust of third horizontal direction movement.
Wherein first level direction, the second horizontal direction and third horizontal direction eccentric setting.That is first level direction,
Two horizontal directions and third horizontal direction will not intersect at same point.In this way, resultant force and third of the two of them thrust to shell
Action center is different between a power, and also allow for shell can be rotated under these three thrusts.
Specifically as shown in figure 3, three horizontal-jet devices 11 are to the F that the thrust of shell is respectively in figure1、F2、F3, and scheme
Middle up and down direction is front-rear direction in practice.When robot needs to move forward, F2And F3Effect, resultant force forward, push shell
Body direction is mobile；When robot needs to move backward, F1Effect, resultant force backward, push shell to move backward；When robot needs
When being moved to the left, F1And F3Effect, resultant force to the left, push shell to be moved to the left；When robot needs to move right, F1With
F2Effect, resultant force to the right, push shell to move right, and when robot needs to rotate, three resultant forces act on simultaneously, push shell
Body rotation.
In this way, robot only can be realized in horizontal four direction movement by three horizontal-jet devices 11, and
Itself is also rotatable, simplifies structure, reduces the production cost.
Referring to Fig. 5, in some embodiments, three horizontal-jet devices 11 are respectively positioned on accommodating cavity, and each horizontal spray
Injection device 11 is fixedly connected in shell, each horizontal-jet device 11 respectively with a horizontal inlet 1242 and a corresponding water
Flat liquid outlet 1244 is connected to, for sucking transformer oil from horizontal inlet 1242 and spraying from horizontal liquid outlet by transformer oil
Out, to provide the thrust that shell is moved along first level direction, the second horizontal direction or third horizontal direction respectively.
Further, main casing 124 includes main part 1241 and three boss portions 1243, and main part 1241 is substantially in cylinder
Shape, three boss portions 1243 are fixedly connected on the inner sidewall of main part 1241, and along 1241 circumferential direction uniform intervals of main part
Arrangement, the hollow setting of three boss portions 1243, and each boss portion 1243 goes out with a horizontal inlet 1242 and level respectively
Liquid mouth 1244 is connected to, and each horizontal-jet device 11 is fixedly connected in the one end of boss portion 1243 far from main part 1241,
To realize the connection between horizontal-jet device 11 and horizontal inlet 1242 and horizontal liquid outlet 1244.
It is understood that being set to shell along the inlet and liquid outlet of first direction opposite end and being set to shell week
It is to be connected to multiple horizontal inlets 1242 from accommodating cavity to side wall and horizontal liquid outlet 1244, but perpendicular jetting device
Be sealedly attached to shell with horizontal-jet device, and these devices be connected to above-mentioned liquid in-out mouth, so these
Device is exactly to be sealedly connected at the liquid in-out mouth of shell, and after these devices are connected on shell, these devices can break
It drives the connection between liquid outlet and accommodating cavity into, is entered in accommodating cavity to avoid extraneous transformer oil.
In some embodiments, perpendicular jetting device and horizontal-jet device 11 include the jet pump being fixedly secured to one another
And jet-sub, jet-sub are used to be connected to inlet and liquid outlet, jet pump and controller 14 for connecting with shell
Electrical connection.In this way, controller 14 can control jet pump to control and push shell movement, to realize that control robot is mobile.
In some embodiments, which further includes circuit board 13, and circuit board 13 is set in accommodating cavity, and even
It is connected to shell, controller 14 is set on circuit board 13.Specifically, which is plectane.
In some embodiments, robot for overhauling further includes wireless communication module 15, and wireless communication module 15 is set to appearance
It sets intracavitary, and is set on circuit board 13, wireless communication module 15 is electrically connected with controller 14, for realizing controller 14 and outer
Wireless connection between boundary's host.Specifically, controller 14 is the single-chip microcontroller of model STM8L101F3P6, wireless communication module
15 be the ZM470X module based on LoRa wireless communication technique.
It is understood that controller 14 by the detection data information received carry out edit after by wireless communication
Module 15 is transmitted to extraneous host, and operator can be appreciated that the inner case of transformer, and operator by extraneous host
Member can equally send manipulation instruction to wireless communication module 15 by extraneous host, controller 14 is then sent to, to realize
Control to robot.
Fig. 4 and Fig. 5 is please referred to, in some embodiments, detection device 16 includes sensor module 162 and camera assembly
164, sensor module 162 is set in accommodating cavity, for obtaining the velocity information of shell and the internal environment parameter of transformer；
Camera assembly 164 is connected to shell, for obtaining the internal environment parameter of transformer.
Need to be illustrated, detection device 16 be available robot itself velocity information and transformer it is interior
Portion's environmental parameter, and it is outer only to illustrate that internal environment parameter is delivered to by controller 14 and wireless communication module 15 in above-described embodiment
Boundary's host, and outside actually the velocity information of robot itself can also be also delivered to by controller 14 and wireless communication module 15
Boundary's host can be configured according to demand.
In some embodiments, sensor module 162 includes velocity sensor 1622, angular-rate sensor 1624 and pickup
Device sensor 1626, three sensors are all set in circuit board 13, and are electrically connected with controller 14,1622 He of velocity sensor
Angular-rate sensor 1624 is used to obtain the speed and angular speed of robot itself, i.e. velocity information, trigger sensor 1626
Then whether available inside transformer has noise, i.e. the internal environment parameter of transformer.
In some embodiments, camera assembly 164 includes high-definition camera 1642 and infrared camera 1644, and shell also wraps
Two the first mounting holes are included, high-definition camera 1642 and infrared camera 1644 are installed in respectively in two the first mounting holes, and
High-definition camera 1642 and infrared camera 1644 are electrically connected with controller 14, to acquire inside transformer ambient image information
With equipment state image information.Specifically, two mounting holes are located at the same side, and are disposed adjacent, to facilitate the robot simultaneously
Inside transformer the same area is observed.
It can also be appreciated that two camera acquired image information are also can be preliminary whole by controller 14
Then reason is transmitted to extraneous host by wireless communication module 15, so that operator directly observes on extraneous host
The inner case of transformer.
In some embodiments, shell further includes multiple second mounting holes, and multiple second mounting holes are located at the first mounting hole
Side, camera assembly 164 further includes multiple light compensating lamps 1646, and multiple light compensating lamps 1646 are installed in multiple second mounting holes,
And be electrically connected with controller 14, light compensating lamp 1646 is mainly used for carrying out light filling when high-definition camera 1642 images, to improve
The quality of the image of acquisition.Specifically, light compensating lamp 1646 is LED light, and quantity is four.
Simultaneously need be illustrated, above-mentioned mounting hole be located at 124 side wall of main casing, and camera and
Light compensating lamp 1646 is to reach surface of shell from inside, in order to avoid transformer oil enters in accommodating cavity, camera and light filling
Lamp 1646 ensure that leakproofness when installing.Meanwhile it being provided with oil shield on camera and light compensating lamp 1646, with into one
Step ensures leakproofness, prevents transformer oil from entering accommodating cavity or entering inside camera and light compensating lamp 1646, to influence to make
With.
In some embodiments, robot for overhauling further includes mounting plate 20, and mounting plate 20 is set to accommodating cavity, and fixed company
It is connected to shell, high-definition camera 1642, infrared camera 1644 and light compensating lamp 1646 are assembled on mounting plate 20.Further,
Mounting plate 20 is fixedly connected on main casing 124, and is connected between two boss portions 1243.
In some embodiments, robot for overhauling further includes power supply unit, and power supply unit includes energy-storage battery 172 and wireless
Charger 174, energy-storage battery 172 and wireless charger 174 are all set in accommodating cavity, energy-storage battery 172 respectively with controller
14, detection device 16, scalable mechanical arm 18 and the electrical connection of the first perpendicular jetting device 19, wireless charger 174 and energy storage electricity
Pond 172 is electrically connected, for charging to energy-storage battery 172.
Further, power supply unit further includes voltage adapter 176, and voltage adapter 176 is installed on circuit board 13, and
And energy-storage battery 172 by voltage adapter 176 respectively with controller 14, detection device 16, scalable mechanical arm 18 and the
One perpendicular jetting device 19 electrical connection, to realize that multiple-channel output is suitble to the voltage of each device or component operation.
In some embodiments, wireless charger 174 is installed in lower case 126, and energy-storage battery 172 is set to wireless charging
Side of the device 174 far from lower case 126 is electrically connected between wireless charger 174 and energy-storage battery 172 by conducting wire, wireless charging
Magnetic field energy is converted into electrical energy transportation to energy-storage battery 172 by electric appliance 174 by electromagnetic induction principle, to realize to energy storage
The charging of battery 172.
It needs to be illustrated, power supply unit is not only controller 14, detection device 16, scalable mechanical arm 18
And first perpendicular jetting device 19 power, other power devices or device are also to be powered by power supply unit.In addition,
Circuit board 13 is similar to pcb board, and the device or device being installed on circuit board 13 can not have to connect by conducting wire, is installed in other
The power device or device of position then need to realize being electrically connected between other devices or device by conducting wire, but energy storage
Battery 172 is only needed the voltage adapter 176 in power Transmission to circuit board 13.
In further embodiments, shell is additionally provided with into power port 1246, which further includes jointing, and connection connects
Head is installed in into power port 1246, and is electrically connected respectively with perpendicular jetting device and horizontal-jet device 11, which uses
It is connect in extraneous power supply.So, that is to say, that injection apparatus is powered by external power supply, i.e., robot enters transformer oil
A conducting wire is circumscribed with when middle, on shell.
It needs to be illustrated, it is to extend robot that extraneous power supply is powered to injection apparatus in the embodiment
Cruising ability, since robot moves or keep to be ignorant of in transformer oil to be required to injection apparatus movement, and spray dress
Electric power needed for setting movement is more with respect to for other devices or device, in order to avoid electric power more in energy-storage battery 172 is used for
It sprays and causes cruise duration shorter, therefore injection apparatus is powered using the mode of external power supply.
In some embodiments, robot for overhauling further includes driving motor 21, and driving motor 21 is located at accommodating cavity, and fixed
It is connected to shell, the rotary shaft of driving motor 21 is arranged in shell and stretches out from accommodating cavity, and scalable 18 one end of mechanical arm is fixed
It is connected to the rotary shaft of driving motor 21.
Further, shell is equipped with mounting groove, and scalable mechanical arm 18 is installed in mounting groove, and the rotation of driving motor 21 is stretched
Enter mounting groove and is connect with scalable mechanical arm 18.Specifically, the rotary shaft of driving motor 21 is connected to scalable mechanical arm 18
Side so that scalable mechanical arm 18 can be turned to horizontal direction or turn to vertical direction, and work as scalable mechanical arm
18 turn to horizontal direction, are that scalable mechanical arm 18 needs to safeguard transformer；When scalable mechanical arm 18 turns to
Vertical direction, scalable mechanical arm 18 are retracted in mounting groove.
Further, controller 14 is electrically connected with driving motor 21, for controlling driving motor according to detection data information
21 movement.In this way, when inside transformer occurs needing to turn the grease stain of screw or wiping in need, it can rotation rotation
Spanner or cleaning ball be installed on the installation position of scalable mechanical arm 18, then controller 14 controls robot and is moved to correspondence
Position, and spanner is connected to screw or cleaning ball is contacted with grease stain, spanner or the cleaning ball rotation then rotated automatically, with reality
Existing spanner drives screw rotation or cleaning ball to wipe grease stain.
Referring to Fig. 6, in some embodiments, scalable mechanical arm 18 include sequentially connected rotating part, interconnecting piece and
Mounting portion.Rotating part one end is fixedly connected on the rotary shaft of driving motor 21, and can be rotated with driving motor 21, interconnecting piece is along rotation
Transfer part longitudinally is slidedly arranged on rotating part, and mounting portion is slidedly arranged on interconnecting piece along rotating part longitudinally, so that scalable mechanical arm
18 is scalable along rotating part longitudinally, and installation position is set to the one end of mounting portion far from interconnecting piece.
Wherein, interconnecting piece is slidedly arranged on rotating part, and it is to realize that scalable mechanical arm 18 can that mounting portion, which is slidedly arranged on interconnecting piece,
Flexible, and control the flexible of the scalable mechanical arm 18 and can be by being provided with micro-machine and lead screw in mechanical arm, it should
Micro-machine is electrically connected with controller 14, while mounting portion and interconnecting piece linkage setting, i.e., when interconnecting piece skids off rotating part, installation
Portion also skids off interconnecting piece, and interconnecting piece is withdrawn, and corresponding mounting portion also will withdraw, therefore only need to be connected to connection by threads of lead screw
The sliding in portion avoids lead screw too long to control the sliding of interconnecting piece.Certainly, the flexible of mechanical arm is also possible to pass through it
The mode of his routine.
Further, scalable mechanical arm 18 further includes back springing type machine handgrip, and back springing type mechanical gripper is set to described
The one end of mounting portion far from interconnecting piece, to form above-mentioned installation position.The installation position can be used for assembly wrench or cleaning ball.
Technical solution to facilitate the understanding of the present invention is illustrated the robot substantially course of work at this:
Robot enters after inside transformer, and controller 14 passes through control perpendicular jetting device and horizontal-jet device
11 move up and down or control revolute to control robot, certainly, robot is mobile or rotation when, can also lead to
It crosses velocity sensor 1622 and angular-rate sensor 1624 cooperates the shooting of camera, then obtain current robot by calculating
Present position, while can also pass through the information that trigger sensor 1626 and camera obtain inside transformer.
When one loosened screw of inside transformer, robot is taken and that the image notification of loosening is extraneous by camera
Host, operator control robot by extraneous host after observing and float, float to after designated position, controller 14
It controls scalable mechanical arm 18 to extend, and is stretched out from transformer mouth, operator pacifies on the scalable mechanical arm 18 of robot
A corresponding spanner is filled, robot is then controlled and returns to the position of transformer loosened screw, and spanner is connected to the spiral shell loosened
Silk, by screw tightening.Robot can turn also to above-mentioned designated position after completion, and scalable mechanical arm 18 is extended,
So that operator removes spanner.
It needs to be illustrated, above-mentioned designated position just refers to that the telescopic manipulator for facilitating robot stretches out transformation
The position of device and the operable position of operator in above-described embodiment.
Compared with prior art, at least have provided by the present invention for the robot for overhauling of oil-immersed transformer following excellent
Point:
1) the detection data information of transformer can be obtained by detection device so that operator can after understand transformation
The inner case of device, and when needing to safeguard can by installing corresponding maintenance tool on the installation position of scalable mechanical arm,
Transformer can be safeguarded by robot, it is time saving and energy saving without will check and safeguard after the disassembly of transformer draining, it reduces
The cost of overhaul；
2) robot only can be realized by three horizontal-jet devices to move freely and rotate in the horizontal direction, structure letter
Single, cost is relatively low for support.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of robot for overhauling for oil-immersed transformer characterized by comprising
Shell, including accommodating cavity and be set to the shell along first direction the same end the first inlet and the first liquid outlet；
First perpendicular jetting device is set in the accommodating cavity, first perpendicular jetting device respectively with described first into
Liquid mouth and first liquid outlet connection, for sucking transformer oil from first inlet and being incited somebody to action from first liquid outlet
The transformer oil sprays, to provide the thrust that the shell is moved along first direction；
Detection device is set to the shell, for obtaining detection data information；The detection data information includes the shell
Velocity information and the oil-immersed transformer internal environment parameter；
Scalable mechanical arm, one end are connected to relatively fixedly on the shell, and the scalable mechanical arm is far from the shell
One end of body has an installation position, and the scalable mechanical arm is scalable along its longitudinally, so that the scalable mechanical arm
One end with the installation position is separate or close to the shell；And
Controller is set in the accommodating cavity, the controller respectively with the detection device, the scalable mechanical arm and
The first perpendicular jetting device electrical connection.
2. the robot for overhauling according to claim 1 for oil-immersed transformer, which is characterized in that the shell is along
One direction is additionally provided with the second inlet and the second liquid outlet far from one end of first inlet；
The robot for overhauling further includes the second perpendicular jetting device, and second perpendicular jetting device is located at the accommodating cavity,
And second perpendicular jetting device is connected to second inlet and second liquid outlet respectively, is used for from described second
Inlet sucks the transformer oil and simultaneously sprays from second liquid outlet by the transformer oil, with provide the shell along with
The thrust of the opposite second direction of first direction.
3. the robot for overhauling according to claim 1 for oil-immersed transformer, which is characterized in that described to overhaul machine
People further includes three horizontal-jet devices, and three horizontal-jet devices are arranged along the shell circumferential direction uniform intervals,
And be fixedly connected in the shell, for providing the shell respectively along first level direction, the second horizontal direction or
The mobile thrust of three horizontal directions；
Wherein first level direction, the second horizontal direction and third horizontal direction eccentric setting.
4. the robot for overhauling according to claim 3 for oil-immersed transformer, which is characterized in that the shell also wraps
Include the three horizontal inlets and three horizontal liquid outlets set on the shell circumferential side wall, three horizontal inlets and three
A horizontal liquid outlet is arranged along the shell circumferential direction uniform intervals, and each horizontal inlet is corresponding with one
The horizontal liquid outlet between there are a prepsetting gaps；
Three horizontal-jet devices are respectively positioned on the accommodating cavity, and each horizontal-jet device is fixedly connected in institute
Shell is stated, the horizontal liquid outlet corresponding with a horizontal inlet and one connects each horizontal-jet device respectively
It is logical, for sucking the transformer oil from the horizontal inlet and being sprayed from the horizontal liquid outlet by the transformer oil,
To provide the thrust that the shell is moved along first level direction, the second horizontal direction or third horizontal direction respectively.
5. the robot for overhauling according to claim 1 for oil-immersed transformer, which is characterized in that the shell includes
Upper housing, main casing and lower case, the upper housing and the lower case are connected to the main casing along first direction phase
Pair both ends, to form the accommodating cavity to enclose to set；
First inlet and first inlet are set to the lower case, and the scalable mechanical arm connects relatively fixedly
It is connected to the main casing.
6. the robot for overhauling according to claim 1 for oil-immersed transformer, which is characterized in that described to overhaul machine
People further includes driving motor, and the driving motor is located at the accommodating cavity, and is fixedly connected on the shell, the driving motor
Rotary shaft be arranged in the shell and from the accommodating cavity stretch out, described scalable mechanical arm one end is fixedly connected on the drive
The rotary shaft of dynamic motor；
The controller is electrically connected with the driving motor, for controlling the driving motor according to the detection data information
Movement.
7. the robot for overhauling according to claim 6 for oil-immersed transformer, which is characterized in that the scalable machine
Tool arm includes sequentially connected rotating part, interconnecting piece and mounting portion；
Described rotating part one end is fixedly connected on the rotary shaft of the driving motor, described can be rotated with the driving motor
Interconnecting piece is slidedly arranged on the rotating part along the rotating part longitudinally, and the mounting portion is set along rotating part longitudinally cunning
In the interconnecting piece, so that the scalable mechanical arm is scalable along the rotating part longitudinally；
The installation position is set to the one end of the mounting portion far from the interconnecting piece.
8. the robot for overhauling according to claim 1-7 for oil-immersed transformer, which is characterized in that described
Robot for overhauling further includes wireless communication module, and the wireless communication module is set in the accommodating cavity, and the channel radio
Letter module is electrically connected with the controller, for realizing the wireless connection between the controller and extraneous host.
9. the robot for overhauling according to claim 1-7 for oil-immersed transformer, which is characterized in that described
Robot for overhauling further includes power supply unit, and the power supply unit includes energy-storage battery and wireless charger, the energy-storage battery and
The wireless charger is all set in the accommodating cavity, the energy-storage battery respectively with the controller, the detection device,
The scalable mechanical arm and first perpendicular jetting device electrical connection, the wireless charger are electrically connected with the energy-storage battery
It connects, for charging to the energy-storage battery.
10. the robot for overhauling according to claim 1-7 for oil-immersed transformer, which is characterized in that institute
Stating detection device includes sensor module and camera assembly, and the sensor module is set in the accommodating cavity, for obtaining
The internal environment parameter of the velocity information of the shell and the transformer；The camera assembly is connected to the shell, is used for
Obtain the internal environment parameter of the transformer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910532024.4A CN110340899A (en) | 2019-06-19 | 2019-06-19 | Robot for overhauling for oil-immersed transformer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910532024.4A CN110340899A (en) | 2019-06-19 | 2019-06-19 | Robot for overhauling for oil-immersed transformer |
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| CN110340899A true CN110340899A (en) | 2019-10-18 |
Family
ID=68182395
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910532024.4A Pending CN110340899A (en) | 2019-06-19 | 2019-06-19 | Robot for overhauling for oil-immersed transformer |
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| CN (1) | CN110340899A (en) |
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| CN111168673A (en) * | 2020-01-06 | 2020-05-19 | 清华大学 | Miniature integrated sensing robot for monitoring running state of transformer in real time |
| CN111745658A (en) * | 2020-05-25 | 2020-10-09 | 山东电力设备有限公司 | Robot for detecting large oil-immersed transformer and intelligent control method |
| CN114012752A (en) * | 2021-11-16 | 2022-02-08 | 国家电网有限公司 | Extra-high voltage alternating current transformer internal inspection submersible robot |
| CN117053876A (en) * | 2023-10-11 | 2023-11-14 | 深圳市铭昱达电子有限公司 | Transformer fault detection positioning method |
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