CN114243544B - Robot-based GIS vertical cavity overhauling system and overhauling method - Google Patents
Robot-based GIS vertical cavity overhauling system and overhauling method Download PDFInfo
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- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
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Abstract
A robot-based GIS vertical cavity overhauling system and an overhauling method are suitable for carrying out overhauling and maintenance operations such as robotized detection, fault point identification and the like on the inside of a GIS vertical cavity. The maintenance system mainly comprises a mobile unit, a lifting unit and an all-dimensional cradle head, wherein an operation arm control unit and a flexible operation arm are fixed on the all-dimensional cradle head. The mobile unit and the lifting unit are used for adjusting the position of the maintenance system equipment, the omnibearing cradle head is used for adjusting the posture of the maintenance system equipment, and the operation arm control unit and the flexible operation arm are used for realizing maintenance operation inside the GIS vertical cavity. The maintenance system is powered by a lithium battery unit. Through the mode, the invention provides the equipment and the method which are robotized, compact in structure, simple and convenient to operate, good in detection effect and specially suitable for maintenance of the interior of the GIS vertical cavity, so that the maintenance processing time of GIS equipment can be greatly shortened, and the maintenance operation efficiency is improved.
Description
Technical Field
The invention relates to the technical field of intelligent operation and maintenance of power transmission and transformation equipment, in particular to a robot-based GIS vertical cavity maintenance system and a robot-based GIS vertical cavity maintenance method.
Background
The large-scale application of GIS (gas insulated metal enclosed switch) equipment in China begins in the 70 th 20 th century and is widely applied in the 110(66) -1000 kV voltage level. Along with the development of economy, the urbanization speed is accelerated, the power load is increased rapidly, and the trend that high-voltage power supply enters the urban center is great. The urban power construction inevitably encounters the problems of land acquisition, environmental protection and the like. Therefore, the urban transformer substation construction must be miniaturized, and the GIS equipment is greatly popularized. The GIS is similar to GIS structure or function and comprises HGIS (hybrid switchgear assembly) and GIL (gas insulated metal enclosed transmission line) and other equipment. The GIS equipment has compact structure and is filled with SF6Gas, making it a great difficulty in maintenance and repair.
At present, the maintenance management of the GIS equipment mainly comprises daily management and maintenance in operation. Daily management can be solved by the manual work, can be gone on by the endoscope to the inside patrol and examine of GIS equipment cavity, nevertheless because the endoscope exists the inspection dead angle and can not be in the inside operation of cavity, realizes that the inside maintenance of cavity must carry out the operation of disintegrating, has increased the power off time intangibly, has reduced the operating efficiency. With the development and progress of the electric power robot application technology, for GIS spaced horizontal cavities, a miniature internal inspection robot can enter the cavities to complete the maintenance operation, but flexible and effective robot maintenance operation equipment and method are still lacked for GIS spaced vertical cavities, particularly vertical breaker air chambers.
Prior art 1 (CN 207603078U) proposes a "tracked power inspection robot" for inspecting cables in a cable trench, which is composed of a moving platform part, a driving motor, a detachable power supply bin, a lifting push rod, a cradle head and a camera part, and the track of the robot can be well applied to the uneven ground of an underground cable trench; the prior art 2 (CN 108791548A) provides a "two-wheel-leg-track combined type moving mechanism", which comprises a moving seat body, a moving wheel, a track-swinging driving mechanism and a track-swinging component, wherein when the moving wheel is contacted with the ground and rotates, the track leaves the ground, and when the track is contacted with the ground and rotates, the moving wheel leaves the ground, so that the problems of insufficient maneuvering flexibility, low moving efficiency and the like of the existing robot moving mechanism on complex terrains are solved; the crawler robots represented by the prior art 1 and the prior art 2 cannot adjust the self horizontal degree of the robots and cannot be suitable for overhauling a vertical cavity at intervals of a GIS; prior art 3 (CN 113814953A) discloses "a method, a system, and an electronic device for automatically leveling a track of an inspection robot", which obtains a current pose of the inspection robot by using an image processing technology, and obtains a reference plane by performing plane fitting by using a ground laser point set; adjusting the track of the inspection robot according to the reference plane to enable the current pose to be parallel to the reference plane; prior art 3 makes the robot of patrolling and examining constantly parallel with ground, has improved the balance performance of patrolling and examining the robot, but in such space of the vertical cavity of GIS interval, the error that image processing brought can lead to the balanced disorder of robot.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide a robot-based GIS vertical cavity overhauling system and an overhauling method, the overhauling system is robotized, has a compact structure, is simple and convenient to operate, has a good detection effect, is specially suitable for overhauling and maintaining inside a GIS vertical cavity, can enter the GIS vertical cavity after flexible adjustment to carry out overhauling and maintaining work such as micro defect identification, cleaning and the like, can greatly shorten the overhauling and processing time of GIS equipment, and improves the overhauling and operating efficiency.
The invention adopts the following technical scheme.
A robot-based GIS vertical cavity overhaul system comprises a mobile unit, a lifting unit and an omnibearing tripod head; one end of the lifting unit is connected with the mobile unit, and the other end of the lifting unit is connected with the omnibearing holder; the mobile unit is used for realizing the advancing, obstacle crossing and steering of the maintenance system; the lifting unit is used for realizing the vertical lifting of the omnibearing pan-tilt.
The omnibearing tripod head comprises a horizontal rotating unit, a pitching rotating unit and a rotary disk; the pitching rotation unit is fixed on the horizontal rotation unit, and the rotary disc is fixed on the pitching rotation unit; the rotary disc is fixedly provided with an operating arm control unit and a flexible operating arm; one end of the working arm control unit is connected with the flexible working arm; the flexible working arm can horizontally and continuously rotate for 360 degrees and vertically rotate for 60 degrees in an upward swinging mode and 60 degrees in a downward swinging mode; the mobile unit includes: the bicycle comprises a bicycle body chassis, a left front swing leg, a right front swing leg, a left rear swing leg and a right rear swing leg; the left front side, the right front side, the left rear side and the right rear side of the chassis of the vehicle body are respectively provided with a left front swing leg, a right front swing leg, a left rear swing leg and a right rear swing leg; the rotation motions of the four swing legs are mutually independent, and the four swing legs can rotate 360 degrees.
The maintenance system also comprises a mobile monitoring platform; the mobile monitoring platform obtains the inclination angle of the vehicle body chassis through an electronic level meter in the vehicle body chassis, and the level of the vehicle body chassis is adjusted by adjusting the rotation angles of the four swing legs.
And the tail end of the flexible working arm is provided with a visual identification device or an overhaul operation device.
The moving unit further comprises a left walking crawler and a right walking crawler; the left front swing leg, the left walking crawler belt and the left rear swing leg form a left three-folding crawler belt structure, and the right front swing leg, the right walking crawler belt and the right rear swing leg form a right three-folding crawler belt structure; the left three-folding crawler structure and the right three-folding crawler structure are respectively positioned on the left side and the right side of the vehicle body chassis;
the chassis of the vehicle body adopts a sleeve shaft transmission mode, and the rotary motion of each swing leg is independent to the rotary motion of each walking crawler;
a left front swing leg driving motor, a right front swing leg driving motor, a left rear swing leg driving motor, a right rear swing leg driving motor, a left walking crawler driving motor and a right walking crawler driving motor are arranged in the vehicle body chassis;
when the maintenance system is over-barrier or steered, each swing leg is in contact with the ground; when the maintenance system advances, each walking track contacts the ground.
The electronic level meter monitors the inclination angle of a chassis of the vehicle body in real time and feeds the inclination angle back to the mobile monitoring platform through Bluetooth, and the mobile monitoring platform respectively controls the left front swing leg driving motor to adjust the rotation angle of the left front swing leg, controls the right front swing leg driving motor to adjust the rotation angle of the right front swing leg, controls the left rear swing leg driving motor to adjust the rotation angle of the left rear swing leg and controls the right rear swing leg driving motor to adjust the rotation angle of the right rear swing leg; when the inclination angle is less than 0.5 degrees, the chassis of the vehicle body reaches the level.
The lifting unit comprises a lifting motor, a lifting motor reducer, a lifting reduction gearbox and a lifting telescopic arm; the lifting motor, the lifting motor reducer and the lifting reduction gearbox are arranged inside the vehicle body chassis, and the vehicle body chassis is fixedly connected with the lifting telescopic arm;
the lifting motor realizes two-stage speed reduction through the lifting motor speed reducer and the lifting reduction gearbox and then transmits power to the driving screw in the lifting telescopic arm, so that the whole lifting telescopic arm is driven to realize a lifting function; the lifting telescopic arm is a square hollow column, the side length of the cross section of the lifting telescopic arm is sequentially reduced from bottom to top, and the lifting telescopic arm is internally used for controlling cables and power cables to run.
The omnibearing pan-tilt adopts a hollow shaft structure form to realize internal wiring, the space angle of the rotary disk is adjusted through the horizontal rotating unit and the pitching rotating unit, the horizontal rotating unit can realize 360-degree horizontal continuous rotation of the rotary disk, and the pitching rotating unit realizes vertical rotation of 60-degree upward swinging and 60-degree downward swinging of the rotary disk; the rotation angles of the horizontal rotation unit and the pitching rotation unit can be self-locked at any position;
the rotation speed of the horizontal rotation unit and the pitching rotation unit is controlled by the mobile monitoring platform.
When visual identification is carried out, a monocular camera and a light supplement lamp are carried at the tail end of the flexible operation arm; the monocular camera is connected with the operation arm control unit by using a USB (universal serial bus) which is wired along the flexible operation arm, and performs real-time imaging on a screen of the mobile monitoring platform after imaging by a main control system in the chassis of the vehicle body; the light supplementing lamp is positioned at the tail part of the flexible operation arm and is used for polishing along with the movement position of the flexible operation arm;
when the maintenance operation is carried out, the tail end of the flexible operation arm is provided with a dust collection hole and a white cleaning ball; the dust suction holes are connected with a vacuum adsorption device arranged in the operation arm control unit by using guide pipes distributed in the flexible operation arm, the vacuum adsorption device generates negative pressure, adsorbed dust particles are stored in a temporary foreign body bin of the operation arm control unit, and the dust particles are removed after the maintenance operation is finished.
The flexible working arm adopts a double-joint flexible working arm; the flexible working arm shell is connected in a mode that a plurality of universal joints are connected through Hooke joints, and the length of the flexible working arm is adjusted by increasing or reducing the number of the universal joints;
the flexible work arm comprises a flexible strut; and a flexible support column is adopted to support the flexible working arm, and the flexible support column is positioned inside the flexible working arm.
Each gimbal has 2 degrees of freedom; the universal joint is made of aluminum alloy materials; the flexible support column is made of elastic stainless steel metal materials.
The front end of the operation arm control unit is connected with the flexible operation arm, the rear end of the operation arm control unit is provided with a control cable interface, and a flexible operation arm control mechanism is carried in the operation arm control unit.
A GIS vertical cavity overhauling method based on a robot comprises the following steps:
step 6, operating the lifting unit to enable the rotary disc to rise to the same height as the overhaul position;
step 7, controlling the omnibearing pan-tilt to adjust the space angle of the rotary disk, so that the space angle of the flexible operation arm is suitable for entering a GIS vertical cavity to be overhauled;
step 8, operating the operation arm control unit to enable the flexible operation arm to avoid obstacles in the cavity and carry out visual identification or detection operation;
and 9, operating the maintenance system to quit the GIS vertical cavity to be maintained, recovering the initial state and completing the maintenance task.
The beneficial effects of the invention include:
1) as most of GIS vertical cavities are breaker air chambers, field overhaul cannot be realized, and breaker air chamber overhaul holes are generally positioned at a high position and have the size not exceeding 400mm, in the invention, a moving and lifting unit of an overhaul system can flexibly move and adjust the position of the overhaul system, and an omnibearing cradle head can rotate in an omnibearing manner to adjust the posture of the overhaul system, so that a flexible operation arm can be controlled to enter the GIS vertical cavity from a narrow inlet, unnecessary equipment disassembly is avoided, and time and labor are saved;
2) because the inner space of the GIS vertical cavity is limited and is shielded by barriers, in the invention, the overhauling and maintenance work such as micro defect identification, cleaning and the like can be carried out according to the manual overhauling and processing standard through different operation units carried by the front end of the flexible operation arm, the GIS equipment is prevented from being disassembled and overhauled on site, the identification and detection of fault points in the GIS equipment can be rapidly completed, and the operation efficiency is greatly improved;
3) the appearance, the model and the structure of various GIS equipment cavities are different, the lifting height of the maintenance system in the invention exceeds 3m, the flexible operation arm exceeds 500mm, the maintenance system can adapt to 220kV and above GIS equipment of different manufacturers, the problem of GIS system failure caused by foreign matters in the cavities can be directly solved by utilizing the maintenance system, the maintenance system is stable and efficient, and the maintenance system has important significance for saving maintenance cost, quickly recovering power supply and creating higher economic benefit and social benefit;
4) the inclination angle of the vehicle body chassis is monitored and obtained in real time, the level of the vehicle body chassis is adjusted by adjusting the rotation angles of the four swing legs, and the gravity center of the vehicle body is stable in the process of adjusting the level of the vehicle body chassis through the weight balance distribution of the vehicle body chassis.
Drawings
Fig. 1 is a schematic structural diagram of a robot-based GIS vertical cavity inspection system in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot-based GIS vertical cavity inspection system in an attitude adjustment state according to an embodiment of the present invention;
FIG. 3 is a schematic view of an omni-directional pan/tilt head configuration according to an embodiment of the present invention;
fig. 4 is a schematic view of a maintenance working state of the maintenance system in the GIS vertical cavity in one embodiment of the present invention;
the reference numerals in fig. 1 to 4 are explained as follows:
1-a mobile unit; 2-a lifting unit; 3-omnibearing tripod head; 4-a work arm control unit; 5-a flexible working arm; 6-typical GIS interval;
11-a vehicle body chassis; 12 a-left front leg swing; 12 b-right front swing leg; 13 a-left walking track; 13 b-a right walking track; 14 a-left rear swing leg; 14 b-right rear swing leg;
21-a base; 22-lifting telescopic arm; 23-a fixed flange;
31-a horizontal rotation unit; 32-a pitch rotation unit; 33-a rotating disc;
41-control cable interface;
61-first bus gas chamber; 62-first bus bar disconnector plenum; 63-a second busbar plenum; 64-a second bus bar disconnector plenum; 65-a breaker operating mechanism; 66-breaker gas chamber; 67-line isolation switch air chamber; 68-a voltage transformer; 69-a wire outlet sleeve; 661-breaker gas chamber top cover; 662-breaker air chamber manhole.
Detailed Description
The present application is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present application is not limited thereby.
Example 1.
As shown in fig. 1 to 3, a robot-based maintenance system for a GIS vertical cavity includes a mobile unit 1, a lifting unit 2, and an omnidirectional pan-tilt 3; one end of the lifting unit 2 is connected with the mobile unit 1, and the other end is connected with the omnibearing pan-tilt 3; the mobile unit 1 is used for realizing the advancing, obstacle crossing and steering of the maintenance system; the lifting unit 2 is used for realizing the vertical lifting of the omnibearing pan-tilt 3.
The omnibearing tripod head 3 comprises a horizontal rotating unit 31, a pitching rotating unit 32 and a rotary disk 33; the pitching rotation unit 32 is fixed on the horizontal rotation unit 31, and the revolving disc 33 is fixed on the pitching rotation unit 32; the operation arm control unit 4 and the flexible operation arm 5 are fixed on the rotary disc 33; one end of the working arm control unit 4 is connected with a flexible working arm 5; the flexible working arm 5 can horizontally and continuously rotate for 360 degrees and vertically rotate for 60 degrees in an upward swinging mode and 60 degrees in a downward swinging mode; the mobile unit 1 includes: the bicycle comprises a bicycle body chassis 11, a left front swing leg 12a, a right front swing leg 12b, a left rear swing leg 14a and a right rear swing leg 14 b; a left front swing leg 12a, a right front swing leg 12b, a left rear swing leg 14a and a right rear swing leg 14b are respectively arranged on the left front side, the right front side, the left rear side and the right rear side of the vehicle body chassis 11; the rotation motions of the four swing legs are mutually independent, and the four swing legs can rotate 360 degrees.
The maintenance system also comprises a mobile monitoring platform; the mobile monitoring platform obtains the inclination angle of the vehicle body chassis 11 through an electronic level meter in the vehicle body chassis 11, the level of the vehicle body chassis 11 is adjusted by adjusting the rotation angles of the four swing legs, the obstacle crossing of an overhauling system can be realized, and the height of the vehicle body chassis 11 is improved.
The tail end of the flexible working arm 5 is provided with a visual identification device or an overhaul operation device.
The moving unit 1 further includes a left traveling crawler 13a and a right traveling crawler 13 b; the left front swing leg 12a, the left walking crawler belt 13a and the left rear swing leg 14a form a left three-folding crawler belt structure, and the right front swing leg 12b, the right walking crawler belt 13b and the right rear swing leg 14b form a right three-folding crawler belt structure; the left side three-folding crawler structure and the right side three-folding crawler structure are respectively positioned on the left side and the right side of the vehicle body chassis 11.
The chassis of the vehicle body adopts a sleeve shaft transmission mode, and the rotary motion of each swing leg is independent to the rotary motion of each walking crawler. Particularly, the four swing legs can rotate 360 degrees freely, and more posture changes are realized.
A left front swing leg driving motor, a right front swing leg driving motor, a left rear swing leg driving motor, a right rear swing leg driving motor, a left walking crawler driving motor and a right walking crawler driving motor are arranged in the vehicle body chassis 11. In the preferred embodiment of the invention, the vehicle body chassis is driven by 6 driving motors, wherein 4 drive the leg swinging systems, and the other 2 drive 2 walking tracks on two sides of the vehicle body chassis respectively, so that the rotating motion of the 4 leg swinging systems is separated from the rotating motion of the 2 walking tracks, the maintenance system can adjust the self posture at any time according to the change of the terrain, and the vehicle body level is adjusted by finely adjusting the leg swinging angle after the maintenance system moves in place.
When the maintenance system is over-barrier or steered, each swing leg is in contact with the ground; when the maintenance system advances, each walking track contacts the ground. It can be understood that the triple-folding crawler structure of the mobile unit 1 can be completed by lowering the front swing leg and the rear swing leg in cooperation when obstacles are crossed or steering, and can be completed by folding the front swing leg and the rear swing leg and the walking crawler when a large speed is needed for traveling.
The electronic level meter monitors the inclination angle of a chassis of the vehicle body in real time and feeds the inclination angle back to the mobile monitoring platform through Bluetooth, and the mobile monitoring platform respectively controls the left front swing leg driving motor to adjust the rotation angle of the left front swing leg, controls the right front swing leg driving motor to adjust the rotation angle of the right front swing leg, controls the left rear swing leg driving motor to adjust the rotation angle of the left rear swing leg and controls the right rear swing leg driving motor to adjust the rotation angle of the right rear swing leg; when the inclination angle is less than 0.5 degrees, the chassis of the vehicle body is horizontal.
Further, the shell of the vehicle body chassis 11 is of a light-weight aluminum alloy structure, a built-in 72V/100Ah lithium iron phosphate battery pack is arranged inside the shell, and charging is carried out through a built-in lithium battery charging interface. Simultaneously, the inside electron spirit level that is fixed with of automobile body chassis, the real-time supervision automobile body slope condition to give the mobile monitoring platform through the bluetooth real-time feedback and supply in time to adjust the automobile body levelness. The rear four-wheel drive type vehicle is arranged in a vehicle body chassis 11, wherein a battery pack is arranged at the front part of the vehicle body chassis, a lifting assembly is arranged at the bottom of a lifting unit at the middle position, driving assemblies are mainly arranged at the rear part and two sides of the vehicle body chassis, the weights of all parts are distributed in a balanced manner, and the gravity center stability and the vehicle body level of a vehicle body are jointly guaranteed.
In addition, still be provided with the major control system who overhauls the system in automobile body chassis 11, possess functions such as high performance master control core, power management, drive, communication and sensing detection, major control system and actuating system possess the function of independent operation simultaneously, satisfy the debugging maintenance work demand in later stage. The processing capacity of the main control core meets the requirement that enough redundancy needs to be reserved outside the operation of the visual algorithm of the maintenance system, and the expansion and the upgrade of the algorithm are facilitated. The main control system comprises STM32F7 and Jetson Xavier NX two core computing modules. The STM32F7 calculation module is mainly responsible for acquisition and fusion of maintenance system sensing data and has six functional modules of power management, bottom layer driving, motion control algorithm, sensor data fusion, maintenance system logic control, communication and data storage; the Jetson Xavier NX calculation module is mainly responsible for video acquisition, and simultaneously operates a maintenance system operating system (ROS), machine vision and a positioning algorithm, so that the real-time performance of the whole control system is improved.
Usually, the service system communicates in two ways, namely wired or wireless. It can be understood that, because the maintenance system in the invention does not completely enter the GIS cavity, the communication requirement of the maintenance system in the all-metal GIS cavity shielding shell is not required to be met, and simultaneously, the cleanliness requirement in the GIS cavity is met, and during the use period in the cavity, the cable of the maintenance system is required to be always kept in a clean state, the control mode of the maintenance system adopts a Bluetooth +2.4G dual-mode wireless communication mode, and the communication connection is established with the mobile monitoring platform through a rod antenna. In addition, the debugging interface is used for debugging and modifying each controller program in the maintenance system.
The lifting unit comprises a lifting motor, a lifting motor reducer, a lifting reduction box and a lifting telescopic arm; the vertical lifting function of the loads such as the omnibearing tripod head 3, the operation arm control unit 4, the flexible operation arm 5 and the like is realized. The lifting motor, the lifting motor reducer and the lifting reduction gearbox are arranged inside the vehicle body chassis 11, and the vehicle body chassis 11 is fixedly connected with the lifting telescopic arm 22 through bolts. As shown in fig. 2, the telescopic lifting arm 22 is connected to the vehicle chassis 11 through the base 21 and connected to the omni-directional pan/tilt head 3 through the fixing flange 23.
The lifting motor realizes two-stage speed reduction through the lifting motor speed reducer and the lifting reduction gearbox and then transmits power to the driving screw in the lifting telescopic arm, so that the whole lifting telescopic arm is driven to realize a lifting function; the lifting telescopic arm is a square hollow column, the side length of the cross section of the lifting telescopic arm is sequentially reduced from bottom to top, and the lifting telescopic arm is internally used for controlling cables and power cables to run. The load-bearing design of the lifting telescopic arm 22 is 60kg, the lifting height is larger than 3m, 2-4 sections are arranged, and the lifting telescopic arm can receive the instruction of the mobile monitoring platform to realize one-key lifting (telescopic).
The all-round cloud platform adopts the quill shaft structural style, realizes inside walking, through the space angle of horizontal rotation unit and the rotatory unit adjustment gyration of every single move, guarantees that operation arm control unit 4 and flexible operation arm 5 have sufficient space degree of freedom. The horizontal rotating unit can realize 360-degree horizontal continuous rotation of the rotary disc, and the pitching rotating unit realizes vertical rotation of 60-degree upward swinging and 60-degree downward swinging of the rotary disc; the rotation angles of the horizontal rotation unit and the pitching rotation unit can be self-locked at any position.
The rotational speeds of the horizontal rotation unit and the pitch rotation unit are controlled by the mobile monitoring platform and are set within their defined maximum rotational speeds.
As shown in fig. 4, the flexible work arm 5 enters the cavity from the vertically arranged breaker air chamber top cover 661 and breaker air chamber access hole 662, and bypasses obstacles such as internal components, thereby completing visual recognition and maintenance operations. The visual identification mode adopts a mode that the tail end of the flexible operation arm carries a monocular camera. The maintenance operation adopts the modes of carrying dust absorption holes, white balls and the like at the tail end of the flexible operation arm.
When visual identification is carried out, a monocular camera and a light supplement lamp are carried at the tail end of the flexible operation arm; the monocular camera is connected with the operation arm control unit by using a USB (universal serial bus) which is wired along the flexible operation arm, and performs real-time imaging on a screen of the mobile monitoring platform after imaging by a main control system in the chassis of the vehicle body; the light filling lamp is located flexible operation arm afterbody, follows the motion position of flexible operation arm and polishes.
When the maintenance operation is carried out, the tail end of the flexible operation arm is provided with a dust collection hole and a white cleaning ball; the dust absorption hole utilizes the pipe of arranging along flexible operation arm in to link to each other with the built-in vacuum adsorption device of operation arm the control unit, and vacuum adsorption device produces the negative pressure, stores the dust granule that adsorbs in operation arm the control unit's interim foreign matter storehouse, clears away the dust granule after the maintenance operation is accomplished.
Example 2.
Fig. 2 is a schematic structural diagram of an inspection system in an attitude adjustment state according to an embodiment of the present invention. In the process of posture adjustment, the lifting unit 2 can receive the instruction of the remote controller to carry out lifting operation. In the ascending process, the lifting telescopic arms 22 are sequentially started from bottom to top, and after a certain section of lifting telescopic arm 22 positioned below ascends to the limit position, the next section of lifting telescopic arm 22 positioned above the certain section of lifting telescopic arm is started again. Conversely, during the descending process, the telescopic lifting arms 22 are sequentially started from top to bottom, and after a section of telescopic lifting arm 22 above the telescopic lifting arm is descended to the limit position, the next section of telescopic lifting arm 22 below the telescopic lifting arm is started. The lifting speed may be controlled by the mobile monitoring platform and set within its defined maximum lifting speed.
Example 3.
Fig. 3 is a schematic view of an omni-directional pan-tilt structure of an inspection system according to an embodiment of the present invention. In the attitude adjustment process, the omnibearing cradle head 3 can receive the instruction of a remote controller to carry out horizontal and pitching rotation operations. The omnibearing tripod head 3 adopts a hollow shaft structure form to realize internal wiring, the posture adjustment of the rotary disk is realized through the horizontal rotating unit 31 and the pitching rotating unit 32, and the upper end working arm control unit 4 and the flexible working arm 5 are ensured to have enough space freedom. The horizontal rotation unit 31 can realize 360-degree horizontal continuous revolution of the revolution disk 33, and the pitch rotation unit 32 can complete 60-degree upward and 60-degree downward swinging rotation operations of the revolution disk 33. The rotation angles of the horizontal rotation unit 31 and the pitch rotation unit 32 can be self-locked at any position. The rotational speed may be controlled by the mobile monitoring platform, set within its defined maximum rotational speed.
Example 4.
Fig. 4 is a schematic view of the maintenance operation state of the maintenance system inside the GIS vertical cavity in one embodiment of the present invention. The GIS is a typical double-bus configuration 220kV outdoor GIS outlet interval. The typical GIS bay 6 comprises a first bus air chamber 61 and a second bus air chamber 63 arranged in a low position, a first bus disconnector air chamber 62 and a second bus disconnector air chamber 64, a vertically arranged breaker air chamber 66 and a breaker actuator 65 arranged at the bottom thereof, a line disconnector air chamber 67 arranged in a high position, and a voltage transformer 68 and an outlet bushing 69. The breaker plenum 66 is shown in a vertical configuration and is the most typical application scenario for the service system of the present invention.
It can be understood that the breaker gas chamber 66 in the figure has the most compact internal space and the most complex elements, and the diameter is about 800mm, so that the inspection and the maintenance are very complicated, the inspection and the maintenance are limited by field inspection conditions and cleanliness, the breaker gas chamber generally needs to be disassembled and then returned to an equipment manufacturer for inspection and maintenance, the maintenance period is very long due to the processes of disassembly, transportation, returning to the factory and the like, and the operation reliability of a power grid is seriously influenced. For the breaker air chamber 66, the application and maintenance system can enter the cavity for inspection and maintenance through the breaker air chamber top cover 661 and the breaker air chamber maintenance hole 662, and the field application significance of the system is self-evident.
As shown in fig. 4, the arm control unit 4 has dimensions of 350mm × 270mm × 60mm, and is fixed to the turn plate 33 so as not to fall down with the spatial angle adjustment. The arm control unit 4 has a front end connected to the flexible arm 5, a rear end provided with a control cable interface 41, and a flexible arm control mechanism mounted inside.
The flexible working arm 5 adopts a double-joint flexible working arm; the double-joint flexible operation arm comprises a flexible strut, a joint base, a universal joint and a driving wire; the diameter of the double-joint flexible working arm is not more than 25 mm.
The flexible operation arm 5 is configured into a double-joint flexible operation arm, an arm shell adopts a plurality of universal joints to be connected in a Hooke hinge mode, a section of flexible support column is selected to support the whole flexible operation arm inside, the movement of the whole flexible operation arm is controlled through the matching of a ball screw sliding table and a nickel-titanium alloy wire, the length range of the flexible operation arm can be set to be 480 plus 520mm through increasing or reducing the number of the universal joints, and in addition, the total length can reach more than 600mm through a driving part in the operation arm control unit 4. The flexible working arm 5 is composed of a flexible support column, a joint base, a universal joint and a driving line, and the diameter of the flexible working arm is not more than 25 mm. The flexible work arm is formed of a plurality of joints, each joint having 2 degrees of freedom. The universal joint is formed by processing high-performance aluminum alloy materials, and the flexible supporting column material of the flexible operation arm is an elastic stainless steel metal material, so that the flexible operation arm can support the whole shape of the flexible operation arm and provide a rigid support effect in the bending process of the flexible operation arm.
It can be understood that the GIS cavity is narrow and small, the environment is complex and changeable, the flexible operation arm 5 needs to reach the designated posture quickly, accurately and stably, and the precision requirement on the flexible operation arm driving motor is high. Therefore, in the invention, the performance parameters of the flexible operation arm driving motor are estimated according to the relevant mechanical parameters of the flexible operation arm, and then a proper driving motor is selected. A GM12-N20 encoder micro direct current speed reducing motor is selected as a flexible working arm driving motor, and an all-metal structure, a copper speed reducing box and a full-steel precision micro gear are adopted. The length of a motor shaft is 10 mmD-shaped, the thickness of D is 2.5mm, the diameter of the shaft is a 3 mmD-shaped shaft, the voltage is 12V, and the reduction ratio is 1: 100, weighing about 13 g.
The flexible working arm 5 has two joints, 6 groups of ball screw sliding tables are connected with a driving wire to drive the flexible working arm. The ball screw sliding table is directly connected with the flexible working arm driving motor through the D-shaped coupler and is directly driven by the flexible working arm driving motor, and in order to enable the flexible working arm to stably run, the control precision of the position of the single flexible working arm driving motor needs to be ensured, and the coordinated motion control among the 6 flexible working arm driving motors needs to be ensured.
In the maintenance state, the flexible working arm 5 can enter the interior of the equipment from the equipment opening position, and can bypass obstacles such as internal elements, for example, enter the cavity through the breaker air chamber maintenance hole 662 and move to the lower part of the breaker air chamber 66 in fig. 4, so that the visual identification and maintenance operation can be carried out.
The visual identification mode adopts a mode that the tail end of the flexible operation arm carries a monocular camera. The imaging system of maintenance system comprises monocular camera and light filling lamp, and the light filling lamp designs the light filling for the monocular camera, promotes the degree of accuracy of environment formation of image under the dim condition, improves the resolution ratio that the image was received to the host computer.
In order to make the flexible operation arm more visual during operation and to cooperate with operators to have a clearer detection visual field, a monocular camera is installed at the tail end of the flexible operation arm, the camera adopts a 500 ten thousand pixel HD1080P high-definition digital camera and is connected with the operation arm control unit 4 by a USB, and real-time imaging is carried out on a screen of a mobile monitoring platform after imaging through a main control system in a vehicle body chassis 11. The size of the camera is 22mm multiplied by 22mm, the camera is small in size, convenient to install, high in image quality and high in definition, a high-end scheme DSP and a standard UVC protocol are adopted, the OTG function is supported, the system compatibility is high, and the camera can be used for a Linux system. The light filling lamp is located flexible operation arm afterbody, can follow the motion position of flexible operation arm and polish.
The maintenance operation adopts the modes of carrying dust absorption holes, white balls and the like at the tail end of the flexible operation arm. For satisfying the dust absorption function that the maintenance system accomplished dust and tiny granule in the GIS cavity, the maintenance system is provided with the vacuum adsorption device at operation arm the control unit 4, produce the negative pressure through the vacuum adsorption device, be connected flexible operation arm terminal dust absorption hole and this device through the pipe of arranging in following flexible operation arm, realize vacuum adsorption, the dust granule that adsorbs will be stored in operation arm the control unit 4 temporary foreign matter storehouse, the foreign matter clearance after the operation of being convenient for overhaul is accomplished.
In the operation process in the GIS cavity, according to visual system detection and remote control operator observation, can discover the certain amount of dust, the tiny particle of certain diameter size and the relic that leads to because of manual work overhauls carelessly and leaks that exist in the GIS cavity (especially bottom), like screw nut. To the great screw nut foreign matter of size, need press from both sides through the terminal centre gripping instrument of flexible operation arm and get the clearance, but the less granule of size and dust then need vacuum adsorption device to clear up.
The vacuum adsorption device adopts a miniature diaphragm air suction negative pressure pump, the rated voltage is 12VDC, the rated current is less than or equal to 200mA, the power is 2W-3W, the vacuum flow is 2.5L-3.0L/min, the vacuum suction is more than or equal to-60 kPa, the inflation pressure is more than or equal to 100kPa, the working noise is less than or equal to 60dB, the working medium is non-corrosive gas, and the weight is 60 g.
Except for the flexible working arm 5, the maintenance system is designed by IP54 protection grade, and the cover sealing positions of all the parts of the maintenance system meet the protection grade requirement of IP 54.
Example 5.
A robot-based GIS vertical cavity overhauling method comprises the following steps:
step 6, operating the lifting unit to enable the rotary disc to rise to the same height as the overhaul position;
step 7, controlling the omnibearing pan-tilt to adjust the space angle of the rotary disk, so that the space angle of the flexible operation arm is suitable for entering a GIS vertical cavity to be overhauled;
step 8, operating the operation arm control unit to enable the flexible operation arm to avoid the internal obstacle of the cavity and carry out visual identification or detection operation;
and 9, operating the maintenance system to quit the GIS vertical cavity to be maintained, recovering the initial state and completing the maintenance task.
The present applicant has described and illustrated embodiments of the present invention in detail with reference to the accompanying drawings, but it should be understood by those skilled in the art that the above embodiments are merely preferred embodiments of the present invention, and the detailed description is only for the purpose of helping the reader to better understand the spirit of the present invention, and not for limiting the scope of the present invention, and on the contrary, any improvement or modification made based on the spirit of the present invention should fall within the scope of the present invention.
Claims (9)
1. A robot-based GIS vertical cavity overhaul system comprises a mobile unit, a lifting unit and an omnibearing cradle head; one end of the lifting unit is connected with the mobile unit, and the other end of the lifting unit is connected with the omnibearing holder; the all-dimensional tripod head is characterized by comprising a horizontal rotating unit, a pitching rotating unit and a rotary disc, wherein the pitching rotating unit is fixed on the horizontal rotating unit, and the rotary disc is fixed on the pitching rotating unit; an operation arm control unit and a flexible operation arm are fixed on the rotary disc, and one end of the operation arm control unit is connected with the flexible operation arm; the flexible working arm can horizontally and continuously rotate for 360 degrees, and vertically rotate for 60 degrees by swinging upwards and 60 degrees by swinging downwards; the moving unit comprises a vehicle body chassis, and a left front swing leg, a right front swing leg, a left rear swing leg and a right rear swing leg are respectively arranged on the left front side, the right front side, the left rear side and the right rear side of the vehicle body chassis; the four swing legs can rotate 360 degrees independently; the maintenance system comprises a mobile monitoring platform; the mobile monitoring platform obtains the inclination angle of the vehicle body chassis through an electronic level gauge in the vehicle body chassis, and the level of the vehicle body chassis is adjusted by adjusting the rotation angles of the four swing legs; carrying visual identification equipment or maintenance operation equipment at the tail end of the flexible operation arm, and enabling the flexible operation arm to enter a GIS vertical cavity to be maintained during maintenance;
wherein, the flexible operation arm adopts a double-joint flexible operation arm, and the diameter of the double-joint flexible operation arm is not more than 25 mm; the flexible working arm shell is connected in a mode that a plurality of universal joints are connected through Hooke joints, and the length of the flexible working arm is adjusted by increasing or reducing the number of the universal joints;
the flexible working arm comprises a flexible strut, and the flexible strut is positioned inside the flexible working arm; the flexible support is adopted to support the overall shape of the flexible operation arm and provide rigid support for the flexible operation arm in the bending process;
the mobile unit is controlled to enable the side face of the vehicle body chassis to be close to the projection of the GIS vertical cavity to be overhauled on the ground, and the ascending space of the flexible working arm is not shielded by obstacles; the lifting unit is controlled to enable the rotary disc to rise to the same height as the overhauling position; controlling the omnibearing pan-tilt to adjust the space angle of the rotary disc to enable the space angle of the flexible operation arm to be suitable for entering a GIS vertical cavity to be overhauled; and operating the operation arm control unit to enable the flexible operation arm to avoid the internal obstacles of the cavity and carry out visual identification or detection operation.
2. The robot-based GIS vertical cavity inspection system of claim 1,
the mobile unit is used for realizing the advancing, obstacle crossing and steering of the maintenance system;
the moving unit further comprises a left walking crawler and a right walking crawler; the left front swing leg, the left walking crawler belt and the left rear swing leg form a left three-folding crawler belt structure, and the right front swing leg, the right walking crawler belt and the right rear swing leg form a right three-folding crawler belt structure; the left three-folding crawler structure and the right three-folding crawler structure are respectively positioned on the left side and the right side of the vehicle body chassis;
the chassis of the vehicle body adopts a sleeve shaft transmission mode, and the rotary motion of each swing leg is independent to the rotary motion of each walking crawler;
a left front swing leg driving motor, a right front swing leg driving motor, a left rear swing leg driving motor, a right rear swing leg driving motor, a left walking crawler driving motor and a right walking crawler driving motor are arranged in the vehicle body chassis;
when the maintenance system is over obstacles or turns, each swing leg is contacted with the ground; when the maintenance system advances, each walking track contacts the ground.
3. The robot-based GIS vertical cavity inspection system of claim 2,
the electronic level meter monitors the inclination angle of the chassis of the vehicle body in real time and feeds the inclination angle back to the mobile monitoring platform through Bluetooth, and the mobile monitoring platform respectively controls the left front swing leg driving motor to adjust the rotation angle of the left front swing leg, controls the right front swing leg driving motor to adjust the rotation angle of the right front swing leg, controls the left rear swing leg driving motor to adjust the rotation angle of the left rear swing leg and controls the right rear swing leg driving motor to adjust the rotation angle of the right rear swing leg; when the inclination angle is less than 0.5 degrees, the chassis of the vehicle body is horizontal.
4. The robot-based GIS vertical cavity inspection system of claim 1,
the lifting unit is used for realizing the vertical lifting of the omnibearing pan-tilt;
the lifting unit comprises a lifting motor, a lifting motor reducer, a lifting reduction box and a lifting telescopic arm; the lifting motor, the lifting motor reducer and the lifting reduction gearbox are arranged inside the vehicle body chassis, and the vehicle body chassis is fixedly connected with the lifting telescopic arm;
the lifting motor realizes two-stage speed reduction through the lifting motor speed reducer and the lifting speed reduction box and then transmits power to the driving screw in the lifting telescopic arm, so that the whole lifting telescopic arm is driven to realize a lifting function; the lifting telescopic arm is a square hollow column, the side length of the cross section of the lifting telescopic arm is sequentially reduced from bottom to top, and the lifting telescopic arm is internally used for controlling cables and power cables to run.
5. The robot-based GIS vertical cavity inspection system of claim 1,
the omnibearing pan-tilt adopts a hollow shaft structure form to realize internal wiring, the space angle of the rotary disk is adjusted through the horizontal rotating unit and the pitching rotating unit, the horizontal rotating unit can realize 360-degree horizontal continuous rotation of the rotary disk, and the pitching rotating unit realizes vertical rotation of 60-degree upward swinging and 60-degree downward swinging of the rotary disk; the rotation angles of the horizontal rotation unit and the pitching rotation unit can be self-locked at any position;
the rotation speed of the horizontal rotation unit and the pitching rotation unit is controlled by the mobile monitoring platform.
6. The robot-based GIS vertical cavity inspection system of claim 1,
when visual identification is carried out, a monocular camera and a light supplement lamp are carried at the tail end of the flexible operation arm; the monocular camera is connected with the operation arm control unit by using a USB (universal serial bus) which is wired along the flexible operation arm, and performs real-time imaging on a screen of the mobile monitoring platform after imaging by a main control system in the chassis of the vehicle body; the light supplementing lamp is positioned at the tail part of the flexible operation arm and is used for polishing along with the movement position of the flexible operation arm;
when the maintenance operation is carried out, the tail end of the flexible operation arm is provided with a dust collection hole and a white cleaning ball; the dust absorption hole utilizes the pipe of arranging along flexible operation arm in to link to each other with the built-in vacuum adsorption device of operation arm the control unit, and vacuum adsorption device produces the negative pressure, stores the dust granule that adsorbs in operation arm the control unit's interim foreign matter storehouse, clears away the dust granule after the maintenance operation is accomplished.
7. The robot-based GIS vertical cavity inspection system of claim 1,
each gimbal has 2 degrees of freedom; the universal joint is made of aluminum alloy materials; the flexible support column is made of elastic stainless steel metal materials.
8. The robot-based GIS vertical cavity inspection system of claim 1,
the front end of the operation arm control unit is connected with the flexible operation arm, the rear end of the operation arm control unit is provided with a control cable interface, and a flexible operation arm control mechanism is carried in the operation arm control unit.
9. A robot-based GIS vertical cavity overhaul method implemented by a robot-based GIS vertical cavity overhaul system according to any one of claims 1 to 8,
the overhaul method comprises the following steps:
step 1, determining the maintenance position in a GIS vertical cavity to be maintained, and recovering SF6Gas is filled, and the sealing cover is opened;
step 2, mounting a fixed working arm control unit and a flexible working arm on the rotary disc, and carrying visual identification equipment or maintenance operation equipment on the flexible working arm according to the operation requirement;
step 3, starting the maintenance system to complete self-inspection; the maintenance system establishes communication connection with the mobile monitoring platform;
step 4, operating the mobile unit to enable the side face of the vehicle body chassis to be close to the projection of the GIS vertical cavity to be overhauled on the ground, wherein no obstacle exists in the ascending space of the flexible working arm;
step 5, the mobile monitoring platform obtains the inclination angle of the vehicle body chassis through an electronic level gauge in the vehicle body chassis, and the level of the vehicle body chassis is adjusted by adjusting the rotation angles of the four swing legs; when the inclination angle is less than 0.5 degrees, the chassis of the vehicle body reaches the level;
step 6, operating the lifting unit to enable the rotary disc to rise to the same height as the overhaul position;
step 7, controlling the omnibearing pan-tilt to adjust the space angle of the rotary disk, so that the space angle of the flexible operation arm is suitable for entering a GIS vertical cavity to be overhauled;
step 8, operating the operation arm control unit to enable the flexible operation arm to avoid obstacles in the cavity and carry out visual identification or detection operation;
and 9, operating the maintenance system to quit the GIS vertical cavity to be maintained, recovering the initial state and completing the maintenance task.
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| CN112864920A (en) * | 2021-03-05 | 2021-05-28 | 国网山东省电力公司潍坊供电公司 | Disconnecting switch overhauling device |
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| CN100354171C (en) * | 2004-06-30 | 2007-12-12 | 中国科学院沈阳自动化研究所 | Dangerous operation robot with wheel-leg-crawler combined moving mechanism |
| CN101279618B (en) * | 2007-10-24 | 2010-08-25 | 杨德智 | Crawler type multi-arm rod mobile robot |
| CN105500331B (en) * | 2015-12-31 | 2023-09-22 | 上海灿星文化传媒股份有限公司 | Multipurpose intelligent camera robot |
| CN207593771U (en) * | 2017-10-12 | 2018-07-10 | 北京京金吾高科技股份有限公司 | Explosive-removal robot and remote control robot |
| CN207830927U (en) * | 2018-01-04 | 2018-09-07 | 杭州申昊科技股份有限公司 | A kind of lifting gear for hanging rail intelligent inspection robot |
| CN109877800B (en) * | 2019-04-10 | 2024-02-13 | 合肥工业大学 | Service robot for transportation |
| CN112589796A (en) * | 2020-12-08 | 2021-04-02 | 国网辽宁省电力有限公司电力科学研究院 | GIS cavity internal maintenance robot and maintenance method |
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| JP2007041657A (en) * | 2005-07-29 | 2007-02-15 | Sony Corp | Moving body control method, and moving body |
| CN112864920A (en) * | 2021-03-05 | 2021-05-28 | 国网山东省电力公司潍坊供电公司 | Disconnecting switch overhauling device |
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