CN110793969A - Micro-robot fish device for detecting internal defects of large transformer - Google Patents
Micro-robot fish device for detecting internal defects of large transformer Download PDFInfo
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- CN110793969A CN110793969A CN201910971612.8A CN201910971612A CN110793969A CN 110793969 A CN110793969 A CN 110793969A CN 201910971612 A CN201910971612 A CN 201910971612A CN 110793969 A CN110793969 A CN 110793969A
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 119
- 230000007547 defect Effects 0.000 title claims abstract description 18
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 43
- 210000004712 air sac Anatomy 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 230000002572 peristaltic effect Effects 0.000 claims abstract description 14
- 238000002347 injection Methods 0.000 claims abstract description 7
- 239000007924 injection Substances 0.000 claims abstract description 7
- 238000007667 floating Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000009182 swimming Effects 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 abstract description 2
- 230000002349 favourable effect Effects 0.000 abstract 1
- 230000001737 promoting effect Effects 0.000 abstract 1
- 210000004690 animal fin Anatomy 0.000 description 3
- 238000003745 diagnosis Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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Abstract
The invention relates to a micro robotic fish device for detecting internal defects of a large transformer, which is mainly technically characterized in that: the robot fish vision device, the robot swim bladder and the robot fish propulsion device are respectively arranged at the front part, the middle part and the rear part of the interior of the robot fish body; the robot fish body comprises a robot fish body shell, two robot fins and a robot fin driving device; the machine swimming bladder comprises a micro peristaltic pump, an elastic oil sac and a position sensor; the robotic fish propulsion device comprises a micro oil pump, five bionic nozzles and a nozzle steering switch nozzle; the robot fish vision device comprises a micro cradle head and a micro camera installed on the micro cradle head. The invention has reasonable design, is placed in the large transformer through the oil injection channel, directly carries out visual detection on the internal defects of the large transformer under the condition of not influencing the internal environment of the transformer, and is favorable for promoting the intelligent, rapid and accurate detection of the internal defects of the large transformer.
Description
Technical Field
The invention belongs to the technical field of large transformers, and particularly relates to a micro robotic fish device for detecting internal defects of a large transformer.
Background
Large transformers are one of the most expensive and complex devices that are safety critical for power systems. In order to ensure stable and safe operation of the large transformer, scheduled maintenance and state maintenance are required to be regularly carried out on the large transformer. When the transformer is overhauled, some peripheral equipment of the transformer body needs to be detected, the visibility of the inside of the large transformer is poor due to the metal sealing property of the large transformer, and the insulation condition of the inside of the large transformer is difficult to effectively detect under the condition that the large transformer is not disassembled. In order to effectively detect the insulation condition in the large transformer, the conventional method can only be used for hoisting and disassembling the large transformer and manually detecting the large transformer by a maintainer entering the transformer, the whole process is at least 15 days, the power failure time is long, and a large amount of manpower and material resources are consumed to hardly meet the business requirement of lean management of company assets.
The existing transformer robot is large in size, only moves by means of a propeller, energy consumption is large, moving distance is short, large range inspection in a large transformer is difficult, continuous working time is short, and moving is inflexible.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides the micro robotic fish device for detecting the internal defects of the large transformer, and solves the technical problem of carrying out visual detection on the internal defects of the transformer.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a micro robot fish device for detecting internal defects of a large transformer comprises a robot fish body, a robot swim bladder, a robot fish propulsion device and a robot fish vision device, wherein the robot fish vision device, the robot swim bladder and the robot fish propulsion device are respectively arranged at the front part, the middle part and the rear part inside the robot fish body;
the robot fish body comprises a robot fish body shell, two robot fins and a robot fin driving device, wherein the robot fish body shell is of a sealed cavity structure, the two robot fins are respectively arranged on two sides of the middle of the robot fish body shell, the robot fin driving device comprises a micro stepping motor and an angle sensor, the angle sensor is arranged at the end part of the micro stepping motor and connected with an output shaft at the end part of the micro stepping motor, and an output shaft of the micro stepping motor is connected with the two robot fins;
the robot fish maw comprises a micro peristaltic pump, an elastic oil sac and a position sensor, wherein the elastic oil sac is installed on the micro peristaltic pump, one end of the elastic oil sac is connected with the position sensor, and the micro peristaltic pump sucks or removes transformer oil outside the robot fish body into the elastic oil sac to realize the floating and sinking functions of the micro robot fish device;
the robotic fish propulsion device comprises a micro oil pump, five bionic nozzles and nozzle steering switch nozzles, wherein the five nozzles are respectively arranged on the upper side, the lower side, the left side, the right side and the rear side of the tail of the robotic fish body, the nozzle steering switch is connected with an input port and an output port of the micro oil pump, and the micro oil pump controls oil injection of different bionic nozzles through the steering switch to realize the conversion function of the micro robotic fish device in different directions;
the robot fish vision device comprises a miniature holder and a miniature camera installed on the miniature holder, and the omnibearing photographing detection function is realized.
Furthermore, the middle part of the machine fish body shell is a cylindrical sealed cavity structure with two hemispherical ends.
Further, the specific installation positions of the five bionic nozzles are as follows: install a bionic spout in left side on the left side horizontal direction of machine fish afterbody, install a bionic spout in right side on the right side horizontal direction of machine fish afterbody, install a bionic spout in upper end on the perpendicular horizontal direction upper end of machine fish afterbody, install a bionic spout in lower extreme on the perpendicular horizontal direction lower extreme of machine fish afterbody, install a bionical spout in back direction at the axis horizontal direction rear end of machine fish afterbody.
Furthermore, the miniature holder has two degrees of freedom of pitching rotation around a horizontal shaft and rotation around a vertical shaft, and the miniature camera arranged on the miniature holder can carry out 180-degree omnibearing detection.
The invention has the advantages and positive effects that:
1. the invention is provided with the machine swim bladder, the moving position of the top of the elastic oil pocket is measured by the position sensor on the machine swim bladder, the oil quantity of the transformer sucked or discharged by the micro peristaltic pump in the elastic oil pocket can be accurately measured, and the sinking and floating speed of the micro machine swim device can be accurately controlled.
2. The invention realizes the gliding movement of the micro robotic fish device in the unpowered state by controlling the deflection direction and the deflection angle of the fins and matching with the robotic swim bladders, thereby effectively reducing the power consumption of the micro robotic fish device and enlarging the inspection range of the micro robotic fish in the transformer.
3. According to the invention, different bionic nozzles can be connected with the input port and the output port of the micro oil pump through the nozzle reversing switch, so that the number of the micro oil pumps is effectively reduced, the internal space of the micro robotic fish device is saved, and the movement direction and the movement speed of the micro robotic fish device are controlled by changing the oil injection direction of the bionic nozzles.
4. According to the invention, the miniature camera is arranged on the two-degree-of-freedom pan-tilt, the miniature pan-tilt can perform pitching motion along the horizontal axis and swing left and right along the vertical axis, the miniature camera can realize 180-degree omnibearing detection, the camera vision is greatly increased, and the detection efficiency is improved.
5. The intelligent diagnosis and identification device is reasonable in design, the internal defects of the large transformer can be directly visually detected under the condition that the internal environment of the transformer is not influenced by placing the device into the large transformer through the oil injection channel, and the intelligent, quick and accurate detection of the internal defects of the large transformer can be facilitated by carrying out intelligent diagnosis and identification on the internal defects of the large transformer based on the micro robotic fish device.
Drawings
FIG. 1a is a schematic view of the overall structure of the present invention (viewed from the front left side);
FIG. 1b is a schematic view of the overall structure of the present invention (viewed from the left rear side);
FIG. 2 is a schematic structural view of a machine swim bladder of the present invention;
FIG. 3 is a schematic view of the robotic fish propulsion device of the present invention;
FIG. 4 is a schematic view of the robotic fish vision apparatus of the present invention;
wherein: 1-a robotic fish body, 2-a robotic fish swim bladder, 3-a robotic fish propelling device and 4-a robotic fish vision device; 11-machine fish body shell, 12-left machine fish fin, 13-right machine fish fin and 14-machine fish fin driving device; 21-a micro peristaltic pump, 22-an elastic oil bag and 23-a position sensor; 31-a left bionic nozzle, 32-a right bionic nozzle, 33-an upper bionic nozzle, 34-a lower bionic nozzle, 35-a backward bionic nozzle, 36-a nozzle steering switch and 37-a miniature oil pump; 41-miniature camera, 42-miniature cloud platform; 141-micro stepping motor, 142-angle sensor.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings.
A micro robot fish device for detecting internal defects of a large transformer is shown in figures 1a and 1b and comprises a robot fish body 1, a robot swim bladder 2, a robot fish propulsion device 3 and a robot fish vision device 4, wherein the robot fish vision device 4, the robot swim bladder 2 and the robot fish propulsion device are respectively arranged at the front part, the middle part and the rear part inside the robot fish body 1.
As shown in fig. 1a and 1b, the robotic fish body 1 includes a housing 11, a left robotic fin 12, a right robotic fin 13, and a fin driving device 14. The robot fish body shell 11 is of a middle cylindrical sealed cavity structure with two hemispherical ends, and a left robot fin 12 and a right robot fin 13 are respectively arranged on two sides of the middle of the robot fish body shell 11. The machine fin driving device 14 comprises a micro stepping motor 141 and an angle sensor 142, the micro stepping motor 141 is installed in the middle of the inside of the machine fish body shell 11, the angle sensor 142 is installed at the end part of the micro stepping motor 141 and connected with an output shaft at the end part of the micro stepping motor 141, the output shaft of the micro stepping motor 141 is connected with the left machine fin 12 and the right machine fin 13, and gliding movement based on the unpowered state of the micro machine fish device is realized by controlling the deflection direction and the deflection angle of the machine fins and matching with the machine swim bladder 2.
As shown in fig. 2, the machine fish bladder 2 includes a micro peristaltic pump 21, an elastic oil bladder 22 and a position sensor 23, the micro peristaltic pump 21 is installed inside the machine fish body 1, and can suck or discharge the transformer oil outside the machine fish body 1 into or out of the elastic oil bladder 22, which has good self-priming capability and can prevent backflow. The elastic oil bag 22 is arranged on the micro peristaltic pump 21, one end of the elastic oil bag is connected with the position sensor 23, and the position sensor 23 can accurately measure the transformer oil quantity sucked or discharged into the elastic oil bag 22 by the micro peristaltic pump 21 by measuring the moving position of the top of the elastic oil bag 22. The machine swim bladder 2 is integrally arranged at the middle upper part of the machine swim bladder 1, and the elastic oil sac 22 of the machine swim bladder sucks or discharges transformer oil, thereby realizing the functions of floating and sinking of the micro machine fish device.
As shown in fig. 1a, fig. 1b and fig. 3, the robotic fish propulsion device 3 includes a micro oil pump 37, a left bionic nozzle 31, a right bionic nozzle 32, an upper bionic nozzle 33, a lower bionic nozzle 34, a backward bionic nozzle 35 and a nozzle steering switch 36, and the specific installation positions of the five bionic nozzles are: a left bionic nozzle 31 is arranged on the left horizontal direction of the tail part of the machine fish body 1, a right bionic nozzle 32 is arranged on the right horizontal direction of the tail part of the machine fish body 1, an upper end bionic nozzle 33 is arranged on the upper end of the vertical horizontal direction of the tail part of the machine fish body 1, a lower end bionic nozzle 34 is arranged on the lower end of the vertical horizontal direction of the tail part of the machine fish body 1, a backward bionic nozzle 35 is arranged on the rear end of the horizontal direction of the axis of the tail part of the machine fish body 1, the micro oil pump 37 is arranged on the left lower part inside the machine fish body 1, the nozzle steering switch 36 is connected with an input port and an output port of the micro oil pump 37, the nozzle steering switch 36 can connect different bionic nozzles with the input port and the output port of the micro oil pump by changing the nozzle direction, the oil spraying direction of the bionic nozzle is changed, and, the micro oil pump 37 controls the direction of the oil flow by changing the forward and reverse rotation of the impeller, and the micro oil pump changes the rotation speed of the impeller to control the speed of the oil flow. The whole robot fish propulsion unit 3 is arranged at the tail part of the robot fish body 1, and the robot fish propulsion unit 3 controls different bionic nozzle oil spraying through a steering switch 36 so as to realize the flexible conversion of the micro robot fish device in different directions.
As shown in fig. 4, the robotic fish vision device 4 includes a micro pan/tilt 42 and a micro camera 41 mounted on the micro pan/tilt 42, the micro pan/tilt 42 can tilt along a horizontal axis and swing left and right along a vertical axis, and the micro camera 41 can perform 180-degree omni-directional detection. The robot fish vision device 4 is integrally arranged at the front end of the robot fish body 1, and the motion of the robot fish vision device 4 has two degrees of freedom which are a pitching rotation around a horizontal axis and a rotating rotation around a vertical axis respectively.
The working principle of the invention is as follows: the rotation direction of the fish body can be controlled by controlling the oil injection direction of the bionic nozzle at the tail part of the robot fish body 1, and when the left bionic nozzle 31 injects oil, the micro robot fish device rotates leftwards; when the right bionic nozzle 31 sprays oil, the micro robotic fish device rotates to the right direction; when the upper bionic nozzle 33 sprays oil, the micro robotic fish device rotates upwards; when the bionic nozzle 34 at the lower end injects oil, the micro robotic fish device rotates downwards; when oil is sprayed to the bionic nozzle 35, the micro robotic fish device is pushed forwards; the rotation speed and the advancing speed of the micro-robot fish device can be controlled by controlling the oil injection flow speed of the bionic nozzle. The position sensor 23 of the machine swimming bladder 2 is arranged at the left side of the machine swimming bladder 2, the position sensor 23 can accurately measure the transformer oil amount sucked or discharged by the micro peristaltic pump 21 through measuring the moving position of the top of the elastic oil bladder 22, the sinking and floating speed of the micro machine fish device can be accurately controlled, and almost no energy is consumed in the floating and sinking process of the machine fish. The machine fin steerable fin deflect direction and the angle of deflection, the machine fin with machine swim bladder 2 cooperatees, realizes that the transformer intelligence patrols and examines the gliding removal of unpowered state of machine fish, effectively reduces the power consumption of patrolling and examining the machine fish, increases the transformer intelligence and patrols and examines the scope of patrolling and examining of machine fish. The miniature cloud platform 42 of the robotic fish vision device 4 can perform pitching motion along a horizontal shaft and swing left and right along a vertical shaft, and the miniature camera can realize 180-degree omnibearing detection, so that the camera view is greatly increased, and the detection efficiency is improved.
Nothing in this specification is said to apply to the prior art.
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but also includes other embodiments that can be derived from the technical solutions of the present invention by those skilled in the art.
Claims (4)
1. The utility model provides a micro machine fish device for large-scale transformer internal defect detects which characterized in that: the robot fish vision device, the robot swim bladder and the robot fish propulsion device are respectively arranged at the front part, the middle part and the rear part of the interior of the robot fish body;
the robot fish body comprises a robot fish body shell, two robot fins and a robot fin driving device, wherein the robot fish body shell is of a sealed cavity structure, the two robot fins are respectively arranged on two sides of the middle of the robot fish body shell, the robot fin driving device comprises a micro stepping motor and an angle sensor, the angle sensor is arranged at the end part of the micro stepping motor and connected with an output shaft at the end part of the micro stepping motor, and an output shaft of the micro stepping motor is connected with the two robot fins;
the robot fish maw comprises a micro peristaltic pump, an elastic oil sac and a position sensor, wherein the elastic oil sac is installed on the micro peristaltic pump, one end of the elastic oil sac is connected with the position sensor, and the micro peristaltic pump sucks or removes transformer oil outside the robot fish body into the elastic oil sac to realize the floating and sinking functions of the micro robot fish device;
the robotic fish propulsion device comprises a micro oil pump, five bionic nozzles and nozzle steering switch nozzles, wherein the five nozzles are respectively arranged on the upper side, the lower side, the left side, the right side and the rear side of the tail of the robotic fish body, the nozzle steering switch is connected with an input port and an output port of the micro oil pump, and the micro oil pump controls oil injection of different bionic nozzles through the steering switch to realize the conversion function of the micro robotic fish device in different directions;
the robot fish vision device comprises a miniature holder and a miniature camera installed on the miniature holder, and the omnibearing photographing detection function is realized.
2. The micro robotic fish device for internal defect detection of large transformers according to claim 1, wherein: the middle part of the machine fish body shell is cylindrical and the two ends of the machine fish body shell are of hemispherical seal cavity structures.
3. The micro robotic fish device for internal defect detection of large transformers according to claim 1, wherein: the specific installation positions of the five bionic nozzles are as follows: install a bionic spout in left side on the left side horizontal direction of machine fish afterbody, install a bionic spout in right side on the right side horizontal direction of machine fish afterbody, install a bionic spout in upper end on the perpendicular horizontal direction upper end of machine fish afterbody, install a bionic spout in lower extreme on the perpendicular horizontal direction lower extreme of machine fish afterbody, install a bionical spout in back direction at the axis horizontal direction rear end of machine fish afterbody.
4. The micro robotic fish device for internal defect detection of large transformers according to claim 1, wherein: the miniature tripod head has two degrees of freedom of pitching rotation around a horizontal shaft and rotating around a vertical shaft, and a miniature camera arranged on the miniature tripod head can carry out 180-degree omnibearing detection.
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| CN201910971612.8A CN110793969A (en) | 2019-10-14 | 2019-10-14 | Micro-robot fish device for detecting internal defects of large transformer |
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| CN201910971612.8A CN110793969A (en) | 2019-10-14 | 2019-10-14 | Micro-robot fish device for detecting internal defects of large transformer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112345531A (en) * | 2020-10-19 | 2021-02-09 | 国网安徽省电力有限公司电力科学研究院 | Transformer fault detection method based on bionic robot fish |
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| CN110254713A (en) * | 2019-05-28 | 2019-09-20 | 清华大学 | Transformer inspection machine fish |
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2019
- 2019-10-14 CN CN201910971612.8A patent/CN110793969A/en active Pending
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112345531A (en) * | 2020-10-19 | 2021-02-09 | 国网安徽省电力有限公司电力科学研究院 | Transformer fault detection method based on bionic robot fish |
| CN112345531B (en) * | 2020-10-19 | 2024-04-09 | 国网安徽省电力有限公司电力科学研究院 | Transformer fault detection method based on bionic robot fish |
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