CN110763965A - Pneumatic flexible laminating device of ultrasonic probe of GIS ultrasonic partial discharge detection robot - Google Patents
Pneumatic flexible laminating device of ultrasonic probe of GIS ultrasonic partial discharge detection robot Download PDFInfo
- Publication number
- CN110763965A CN110763965A CN201911116795.1A CN201911116795A CN110763965A CN 110763965 A CN110763965 A CN 110763965A CN 201911116795 A CN201911116795 A CN 201911116795A CN 110763965 A CN110763965 A CN 110763965A
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- Prior art keywords
- pneumatic
- probe
- air bag
- ultrasonic
- partial discharge
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- 239000000523 sample Substances 0.000 title claims abstract description 44
- 238000010030 laminating Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 title abstract description 19
- 238000007689 inspection Methods 0.000 claims description 7
- 210000003437 trachea Anatomy 0.000 claims description 4
- 238000009423 ventilation Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 2
- 238000011900 installation process Methods 0.000 abstract 1
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 238000012423 maintenance Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000009413 insulation Methods 0.000 description 3
- 230000015556 catabolic process Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010073 coating (rubber) Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
- 238000000825 ultraviolet detection Methods 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1209—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using acoustic measurements
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/02—General constructional details
- G01R1/04—Housings; Supporting members; Arrangements of terminals
- G01R1/0408—Test fixtures or contact fields; Connectors or connecting adaptors; Test clips; Test sockets
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Acoustics & Sound (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The invention discloses an ultrasonic probe pneumatic flexible laminating device of a GIS ultrasonic partial discharge detection robot, which comprises a cylindrical ultrasonic partial discharge probe, wherein the cylindrical ultrasonic partial discharge probe is arranged at the front end of a pneumatic elastic extension rubber air bag column, the rear end of the pneumatic elastic extension rubber air bag column is arranged on the end surface of a cylindrical terminal, the cylindrical terminal is used for being connected with a mechanical arm of the detection robot, an air hole is formed in the end surface of the cylindrical terminal and communicated with the inner cavity of the pneumatic elastic extension rubber air bag column, an air pipe is led out from the air hole and connected to an output port of a pneumatic electromagnetic valve, and an air inlet of the pneumatic electromagnetic valve is connected with an air pump. The invention adopts pneumatic drive, greatly simplifies the structure of the tail end of the mechanical arm, the ultrasonic partial discharge probe is clamped by the pneumatic flexible structure, the connection mode is much milder than the traditional mechanical installation, the probe is prevented from being damaged mechanically in the installation process, and the service life of the probe is prolonged.
Description
Technical Field
The invention relates to a pneumatic flexible laminating device for an ultrasonic probe of a GIS ultrasonic partial discharge detection robot.
Background
A Gas Insulated metal enclosed Switchgear (Gas Insulated Switchgear-GIS) using SF6 as an insulating medium is also called an enclosed Switchgear. Compared with conventional equipment, the GIS has the advantages of small occupied area, compact structure, good electromagnetic compatibility, safe and reliable operation and the like, and the GIS is more and more widely applied to a power system. But the structure is complex and the requirement on manufacturing quality is high; the maintenance time is long, the influence of the power failure range is large, the maintenance process requirement is very fine, and the maintenance quality problem can be caused by carelessness. Partial discharges may occur to various degrees within a GIS due to latent insulation defects occurring during manufacturing or long-term operation, which may cause insulation degradation. If not discovered and handled in a timely manner, it can even result in breakdown or flashover with serious consequences. Therefore, GIS equipment partial discharge detection has an important role in timely finding insulation defects inside GIS equipment, avoiding equipment sudden faults and guaranteeing safe operation of a power system.
GIS equipment partial discharge can produce the sound wave, consequently can detect GIS equipment inside partial discharge trouble through surveying the sound wave signal on the GIS shell. A commonly used ultrasonic detection method receives an ultrasonic signal through a sensor attached to the outside of a metal housing and converts the ultrasonic signal into an electrical signal to detect the magnitude, frequency characteristics, and the like of a discharge signal. Although the ultrasonic positioning method has good sensitivity and high positioning accuracy, the effective range is small, a plurality of positions need to be detected, and the work is heavy when the ultrasonic positioning method is applied on site.
In recent years, the application of robot technology in substation inspection is more and more extensive. However, the items detected by the inspection of the robot up to now mainly include optical detection such as visible light camera shooting, infrared thermography detection, ultraviolet detection and other non-contact detection. And for GIS equipment, important partial discharge detection items such as ultrasonic waves and ultrahigh frequency partial discharge detection are still developed regularly by technicians. However, the close fitting of the ultrasonic partial discharge probe of the detection robot on the GIS cylindrical cavity in the detection process is not well solved, and the stability and the accuracy of ultrasonic signal detection are influenced.
Disclosure of Invention
The invention aims to provide an ultrasonic probe pneumatic flexible laminating device of a GIS ultrasonic partial discharge detection robot, which is a probe positioning laminating device based on a pneumatic flexible structure.
In order to achieve the purpose, the technical scheme of the invention is as follows: the utility model provides a GIS supersound office is put inspection robot's pneumatic flexible laminating device of ultrasonic probe, puts the probe including cylindricality supersound office, wherein, the probe setting is put in cylindricality supersound office at the front end that a aeroelasticity extended rubber gasbag post, and the rear end that aeroelasticity extended rubber gasbag post sets up on the terminal surface of a cylindricality terminal, and the cylindricality terminal is used for being connected with inspection robot's arm, is provided with the gas pocket on the terminal surface of cylindricality terminal, and the gas pocket extends rubber gasbag post inner chamber intercommunication with aeroelasticity, and a trachea is drawn forth from the gas pocket and is connected the delivery outlet at a pneumatic solenoid valve, and an air pump is connected to the pneumatic solenoid valve air inlet.
The scheme is further as follows: the aeroelastic stretching rubber air bag column is an accordion bellows type air bag column or a thread tubular air bag column.
The scheme is further as follows: the cylindrical ultrasonic partial discharge probe is fixed at the front end of the pneumatic telescopic rubber air bag column in a bonding mode.
The scheme is further as follows: the length of the pneumatic elastic stretching rubber air bag column stretched after ventilation is not less than 50 mm.
The scheme is further as follows: the diameter of the aeroelastic stretching rubber air bag column is larger than that of the cylindrical ultrasonic partial discharge probe.
The invention has the beneficial effects that:
1. and the pneumatic driving is adopted, so that the structure of the tail end of the mechanical arm is greatly simplified, the weight is reduced, and the working efficiency of the robot is improved.
2. The probe is put in supersound office through pneumatic flexible construction centre gripping, and this kind of connected mode is gentler than traditional mechanical mounting and needs much, avoids the probe to receive mechanical damage in the installation, has improved the life of probe.
3. And the flexible pneumatic device is adopted, so that the structure is simple, and the disassembly, the replacement and the maintenance are convenient.
4. The invention can realize the fast self-adaptive fitting of the probe to the required detection equipment under the condition of not being damaged by machinery.
The invention is described in detail below with reference to the figures and examples.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view showing the deployment of the aeroelastically stretchable rubber airbag pillar of the present invention.
Detailed Description
The utility model provides a GIS supersound office puts pneumatic flexible laminating device of inspection robot's ultrasonic probe, as shown in figure 1, the pneumatic flexible laminating device of ultrasonic probe includes that cylindricality supersound office puts probe 1, wherein, the probe setting is put in the cylindricality supersound office at the front end that a pneumatic elasticity extended rubber air bag post 2, in this embodiment, the probe is put in the cylindricality supersound office through the mode that the rubber coating bonds or vulcanize the bonding fix the front end at pneumatic flexible rubber air bag post 2. Of course, other means are possible, such as a screw-on fastening with a pressure plate. The rear end that pneumatic elasticity extends rubber air bag post 2 sets up on the terminal surface of a cylindricality terminal 3, and the cylindricality terminal is used for being connected with detection robot's arm, and of course, the cylindricality terminal also can be a part of arm, is provided with the gas pocket on the terminal surface of cylindricality terminal, and the gas pocket communicates with pneumatic elasticity extension rubber air bag post inner chamber, fixes or inside fixed or is provided with pneumatic solenoid valve 4 on the robot car on the cylindricality terminal, and pneumatic solenoid valve's delivery outlet passes through trachea 5 and connects the gas pocket, pneumatic solenoid valve air inlet pass through a trachea and connect an air pump 6. In the application: the robot trolley drives the laminating device to move to the front end of the GIS equipment to be tested through the sight distance sensor, the mechanical arm of the robot stretches the laminating device to the identified test point, after the mechanical arm sends the laminating device to a distance away from the test point, an air pump 6 of the robot is started, and the rest distance is completed by inflating the pneumatic flexible probe. The mechanical arm can feed back to the computer when reaching the target position, the computer can send a command to the air pump after obtaining the feedback information, and the air pump starts to inflate the pneumatic telescopic rubber air bag column. The pneumatic flexible structure of the pneumatic telescopic rubber air bag column can deform. When the ultrasonic probe is attached to the surface of the GIS cavity, the pneumatic flexible structure can deform in a self-adaptive manner according to the distribution of the contact force, so that the probe is attached tightly.
In order to achieve close fitting and self-adaptive deformation of a pneumatic flexible structure: the diameter of the aeroelastic stretching rubber air bag column is larger than that of the cylindrical ultrasonic partial discharge probe, and the aeroelastic stretching rubber air bag column is an accordion bellows type air bag column or a threaded tubular air bag column or a structure which is stretched into a sphere. The flexible threaded pipe structure, the spherical deformation structure and the accordion bellows type column can be bent to adapt to the tight fit of the probe, and moreover, the length of the pneumatic elastic stretching rubber air bag column stretched after ventilation is not less than 50mm and is between 50mm and 100mm, so that the pneumatic elastic stretching rubber air bag column has a compression deformation space.
The embodiment adds a pneumatic flexible structure made of flexible rubber between the probe and the mechanical arm, thereby avoiding the mechanical hard connection between the probe and the mechanical arm and playing a certain protection role for the probe. The GIS tank body is cylindrical in shape generally, and the flexible structure can enable the probe to be self-adaptive to the surface of the tank body when in contact, rotate by a certain angle, and well adhere to the surface of the tank body for detection.
Claims (5)
1. The utility model provides a GIS supersound office puts inspection robot's pneumatic flexible laminating device of ultrasonic probe, puts the probe including cylindricality supersound office, a serial communication port, cylindricality supersound office is put the probe setting and is extended the front end of rubber gasbag post at a aeroelasticity, and the rear end that the aeroelasticity extended the rubber gasbag post sets up on the terminal surface of a cylindricality terminal, and the cylindricality terminal is used for being connected with inspection robot's arm, is provided with the gas pocket on the terminal surface of cylindricality terminal, and the gas pocket extends rubber gasbag post inner chamber intercommunication with aeroelasticity, and a trachea is drawn forth the delivery outlet of connecting at a pneumatic solenoid valve from the gas pocket, and an air pump is connected to the pneumatic solenoid valve air.
2. The ultrasonic probe pneumatic flexible laminating device of claim 1, wherein the aeroelastically stretchable rubber air bag column is an accordion bellows type air bag column or a threaded tubular air bag column.
3. The pneumatic flexible laminating device of the ultrasonic probe according to claim 1, wherein the cylindrical ultrasonic partial discharge probe is fixed at the front end of the pneumatic telescopic rubber air bag column in a bonding mode.
4. The ultrasonic probe pneumatic flexible laminating device of claim 1, wherein the length of the expanded pneumatic elastic rubber air bag column after ventilation is not less than 50 mm.
5. The ultrasonic probe pneumatic flexible laminating device of claim 1, wherein the diameter of the aeroelastic stretched rubber air bag column is larger than that of the cylindrical ultrasonic partial discharge probe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911116795.1A CN110763965A (en) | 2019-11-15 | 2019-11-15 | Pneumatic flexible laminating device of ultrasonic probe of GIS ultrasonic partial discharge detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911116795.1A CN110763965A (en) | 2019-11-15 | 2019-11-15 | Pneumatic flexible laminating device of ultrasonic probe of GIS ultrasonic partial discharge detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110763965A true CN110763965A (en) | 2020-02-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911116795.1A Pending CN110763965A (en) | 2019-11-15 | 2019-11-15 | Pneumatic flexible laminating device of ultrasonic probe of GIS ultrasonic partial discharge detection robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN110763965A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111228931A (en) * | 2020-02-16 | 2020-06-05 | 周美花 | Industrial oil smoke purifier capable of intensively recycling waste oil |
-
2019
- 2019-11-15 CN CN201911116795.1A patent/CN110763965A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111228931A (en) * | 2020-02-16 | 2020-06-05 | 周美花 | Industrial oil smoke purifier capable of intensively recycling waste oil |
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