CN212722631U - Robot for detecting large oil-immersed transformer - Google Patents
Robot for detecting large oil-immersed transformer Download PDFInfo
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- CN212722631U CN212722631U CN202020902758.5U CN202020902758U CN212722631U CN 212722631 U CN212722631 U CN 212722631U CN 202020902758 U CN202020902758 U CN 202020902758U CN 212722631 U CN212722631 U CN 212722631U
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Abstract
The utility model relates to a detect robot of large-scale oil-immersed transformer, the robot is the platykurtic, and the whole appearance of the shell of robot is the streamline shape, overlooks the upper surface of shell and is trapezoidal, and the width of robot front end is less than the afterbody. A binocular camera is arranged in the middle of the side face of the front end of the trapezoidal shell, and a first ultrasonic detector, a second ultrasonic detector, a first light source and a second light source are symmetrically arranged on two sides of the binocular camera respectively. The utility model discloses control robot shoots, bypasses the barrier. The utility model has the advantages of convenient operation of the detection work of the transformer and reduction of secondary pollution; the robot has unique appearance design and is suitable for sailing in low-density high-viscosity transformer oil; the robot moves efficiently and comprehensively; the robot camera, the light source and the ultrasonic detector are uniquely arranged, and the detection requirement of the transformer is met by using the least ultrasonic detectors.
Description
Technical Field
The utility model belongs to the technical field of oil-immersed power transformer, concretely relates to detect robot of large-scale oil-immersed transformer.
Background
The large oil-immersed power transformer is core equipment of a power grid, has large capacity, high value and complex structure, and is a key point of attention in power transformation operation. When the transformer is abnormal, the internal defects are often detected and positioned after power failure, the fault type can be confirmed, and then the maintenance scheme is determined.
Because the transformer tank is confined, the unable inside condition of direct observation, often need the oil extraction during inside inspection, dress disjunctor operation clothes by professional technical personnel again, climb into in the equipment box from the manhole, the inside fault point of equipment is look for to the manual work. The traditional manual internal examination mainly has several problems: firstly, the large power transformer has a long internal inspection period and high process requirements, oil drainage before inspection, vacuum oil injection after inspection and hot oil circulation need to be carried out, and the internal inspection work has high requirements on weather conditions and equipment storage conditions. Secondly, the power transformer has a complex internal structure and a compact space, the manual internal inspection channel is narrow, personnel can only move between the transformer body and the box wall, an internal inspection blind area which cannot be reached by a human body exists, and the internal space is dark and blocked, so that great interference is caused to the searching and the judgment of a fault point. In addition, the oil gas pollution of the internal inspection channel is serious, various metal and insulation structural parts are staggered, the personal safety and health of operators are threatened, and when the manual inspection channel enters the oil gas, errors such as bringing in of external impurities and pollution sources, leaving of workpiece appliances and the like can occur, so that secondary damage is caused to the operation of equipment.
The problem that the manual internal inspection work of the power transformer is complex in process, time-consuming, labor-consuming and high in risk is the current problem, so that a robot capable of replacing a person to enter the transformer for operation is urgently needed.
At present, the related patents of the robot at home and abroad mainly include the following: the utility model discloses a patent of patent application number 201710022059.4 "the propulsion of the inside detection robot of oil-immersed transformer arranges the method" the utility model patent, the arbitrary motion in three-dimensional space is realized for the jet pump that the level was arranged and the screw of arranging perpendicularly that it adopted, because its robot appearance is spherical, this kind of arrangement makes it be difficult to stabilize the robot fuselage, influences the efficiency and the rate of accuracy of detection work.
Disclosure of Invention
In order to solve the technical problem, the utility model discloses the basic principle to arranging and moving of appearance, propeller of robot improves, fully considers the needs that the robot stabilized the fuselage in transformer fluid, and the three motor propeller triangle of application is creatively arranged in coordination and is stabilized the robot fuselage to can change the robot gesture in a flexible way, still can go up the floating/dive, and need not realize the floating/dive of robot through special propeller. The utility model provides a transformer in the past defect such as danger, inefficiency, high cost of inside detection, the utility model discloses the technical scheme who adopts as follows:
the robot for detecting the large oil-immersed transformer is flat, the overall appearance of the outer shell of the robot is streamline, the upper surface and the lower surface of the outer shell of the robot are trapezoidal, and the width of the front end of the robot is smaller than that of the tail portion of the robot. The appearance of robot is the streamline form, can reduce transformer fluid resistance to the hindrance of robot well and can pass through the narrow space in the transformer.
A binocular camera is arranged in the middle of the side face of the front end of the trapezoidal shell, and is a sensor integrating a binocular night vision camera and an infrared camera; a first ultrasonic detector, a second ultrasonic detector, a first light source and a second light source are symmetrically arranged on two sides of the binocular camera respectively. The transformer internal inspection is realized by arranging a binocular camera, a light source and an ultrasonic detector.
The third propeller, the fourth propeller and the fifth propeller are arranged at the middle position of the upper surface of the trapezoidal shell and are in an equilateral triangle shape, the fifth propeller is arranged at the position close to the short side surface of the front end of the trapezoidal shell, and the third propeller and the fourth propeller are parallel to the long side surface of the rear end of the trapezoidal shell. Through the cooperation of the three propellers, the robot can not only perform floating/submerging motions, but also perform pitching, auxiliary propulsion, fuselage stabilization and other complex motions.
A fourth ultrasonic detector and a fifth ultrasonic detector are arranged on the central line position between the fifth propeller and the long side surface of the rear end of the trapezoidal shell, and a third ultrasonic detector and a sixth ultrasonic detector which correspond to the fourth ultrasonic detector and the fifth ultrasonic detector are arranged on the lower surface of the trapezoidal shell. Through setting up third ultrasonic detector and sixth ultrasonic detector to and fourth ultrasonic detector and fifth ultrasonic detector, can survey the top of robot and the distance of bottom apart from the barrier, assist the navigation.
The first propeller and the second propeller are arranged at the symmetrical positions of the two ends of the tail part of the trapezoidal shell.
The robot is internally provided with a depth sensor, a gyroscope (the gyroscope can sense the posture of the robot, and can sense an included angle and a change rate between coordinate axes recognizable by the gyroscope in a space coordinate system, the sensor can enable a robot body to sense the posture angle in real time, can be used for posture sensing and navigation, and has a huge navigation effect on the robot body by the gyroscope in a missile), a detection control device and a power supply device, wherein the detection control device is used for controlling the robot to advance and detect in a transformer.
The utility model discloses a robot is provided power by five propellers, according to theory of mechanics motion analysis, the utility model discloses in five propellers of configuration can satisfy the arbitrary gesture navigation of robot in transformer fluid well. The arrangement position of the robot propeller is unique, so that the robot moves efficiently and comprehensively.
The utility model provides a can carry out the robot that detects the activity in large-scale oil-immersed transformer fluid uses in large-scale oil-immersed transformer. The robot satisfies navigation and shooting detection activity in large-scale oil-immersed transformer to according to the navigation ware principle, designed unique streamlined appearance according to the characteristic of working medium, give the propeller with unique water conservancy diversion function in the structure, the robot is furnished with a plurality of ultrasonic detector, has been equipped with high definition digtal camera and light source.
Preferably, the detection control device includes: the robot comprises an ARM Cortex-A35 processor and a detection control module, wherein the detection control module controls the robot to float up, dive down, advance, turn and shoot according to information sent by a depth sensor, a gyroscope, an ultrasonic detector and a binocular camera.
Preferably, the positions of the tail shells of the first propeller and the second propeller are in a barrel shape.
Preferably, the first propeller, the second propeller, the third propeller, the fourth propeller and the fifth propeller are propeller type propellers.
Preferably, the propeller type propeller is a direct current brushless motor vector control propeller type propeller.
Preferably, the propeller is permanently fastened to the robot body by adopting a triangular bracket and adding glue through threads; other parts are fixedly connected to the robot body in a mode of combining glue and clamping grooves.
Preferably, the robot is designed to be flat, and the width of the widest position is less than or equal to 11 cm.
Preferably, the binocular camera is a night vision camera.
The utility model has the advantages that:
(1) the detection work of the transformer is convenient to operate, the secondary pollution is reduced, and the production efficiency, the benefit and the personnel safety are improved. The robot is adopted to replace the manual operation to carry out the internal inspection of the transformer, so that the manual operation is not needed, and the personnel risk is reduced; the oil drainage operation is not performed any more, so that the risk of the transformer being affected with damp is reduced, and the environmental adaptability is improved; the working time is shortened, so that less labor is used, the working time is short, the power failure time is reduced, and the economic benefit can be greatly improved.
(2) The robot has unique appearance design, meets the motion requirement in oil, and is suitable for sailing in low-density and high-viscosity transformer oil.
(3) The arrangement position of the robot propeller is unique, so that the robot moves efficiently and comprehensively.
(4) The robot makes a video recording, light source and ultrasonic detector position arrange uniquely, have utilized minimum ultrasonic detector, realize the detection demand under the transformer fluid operating mode environment, utilize unique camera and light source to arrange, have realized the detection demand, and do not influence the effect of making a video recording because of the light source.
(5) With the acceleration of domestic power grid construction, people increasingly expand the requirements on ultrahigh voltage transformers and transformers with special structures. The robot is suitable for detection in the maintenance process of a large transformer, can be widely used for ultrahigh voltage transformers and large oil-immersed transformers, has the advantages of reducing cost, avoiding secondary pollution of the transformers, protecting detection personnel and the like, and has considerable market prospect in the future.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are illustrative of some embodiments of the invention, and that those skilled in the art will be able to derive other drawings without inventive step from these drawings, which are within the scope of the present application.
Fig. 1 is a front view of a robot according to an embodiment of the present invention;
FIG. 2 is a top view of a robot according to an embodiment of the present invention;
in the figure, 1-a first propeller, 2-a first light source, 3-a first ultrasonic detector, 4-a binocular camera, 5-a third propeller, 6-a fourth propeller, 7-a third ultrasonic detector, 8-a fourth ultrasonic detector, 9-a second ultrasonic detector, 10-a second light source, 11-a second propeller, 12-a fifth propeller, and 13-a fifth ultrasonic detector.
Detailed Description
The invention will be described in more detail below, by way of example, with reference to the accompanying drawings, in which:
the robot for detecting the large oil-immersed transformer is flat, the overall appearance of the outer shell of the robot is streamline, the upper surface of the outer shell is trapezoidal when the outer shell is overlooked, and the width of the front end of the robot is smaller than that of the tail of the robot.
As shown in fig. 1, it is a front view of the robot according to the embodiment of the present invention, and the front view reflects the front end side of the trapezoidal housing. A binocular camera 4 (preferably a sensor integrating a binocular night vision camera and an infrared camera) is arranged in the middle of the side face of the front end of the trapezoidal shell (the position where the trapezoidal shell is short), and a first ultrasonic detector 3, a second ultrasonic detector 9, a first light source 2 and a second light source 10 are symmetrically arranged on two sides of the binocular camera 4 respectively. The state of the transformer oil tank is detected through the binocular camera and the ultrasonic detector on the side face of the front end of the trapezoidal shell, and pictures can be taken for reference of detection personnel. The first ultrasonic detector 3 and the second ultrasonic detector 9, one for transmitting ultrasonic waves and one for receiving ultrasonic waves, play a role in detecting distance.
And a third propeller 5, a fourth propeller 6 and a fifth propeller 12 which are in an equilateral triangle shape are arranged in the middle of the upper surface of the trapezoidal shell and are used for realizing the floating up/submerging of the robot. The fifth propeller 12 is arranged at the short side part close to the front end of the trapezoid, and the third propeller 5 and the fourth propeller 6 are parallel to the long side surface at the rear end of the trapezoid shell; a fourth ultrasonic detector 8 and a fifth ultrasonic detector 13 are arranged on the central line position between the fifth propeller 12 and the long side surface of the rear end of the trapezoidal shell and are used for detecting obstacles on the robot; and a third ultrasonic detector 7 and a sixth ultrasonic detector which correspond to the fourth ultrasonic detector 8 and the fifth ultrasonic detector 13 in position are arranged on the lower surface of the trapezoidal shell and are used for detecting obstacles below the robot.
The first propeller 1 and the second propeller 11 are arranged at the symmetrical positions of the two ends of the tail part (the longer position of the trapezoidal shell) of the trapezoidal shell and are used for pushing the robot to move forward. The positions of the tail shells of the first propeller 1 and the second propeller 11 are in a barrel shape, and the vortex can better push the robot to advance.
As shown in fig. 2, the robot according to the embodiment of the present invention is a top view, and the top view reflects the structure of the upper surface of the trapezoidal housing. Be provided with third propeller 5, fourth propeller 6, fifth propeller 12 at the casing upper surface of trapezoidal casing, three propeller positions are put uniquely, adopt equilateral triangle's triangle point department to place, and fifth propeller 12 disposes at the short side face portion position of the front end that is close to trapezoidal, and third propeller 5, fourth propeller 6 are parallel with the long side of trapezoidal casing. Three propellers which are arranged in an equilateral triangle shape are arranged on the upper surface of the robot, and the three propellers are arranged at special positions in consideration of the stability and the motion characteristics of the body of the robot.
The robot can realize the floating/submerging movement in the space through the third propeller 5, the fourth propeller 6 and the fifth propeller 12. The first propeller 1, the second propeller 11, the third propeller 5, the fourth propeller 6 and the fifth propeller 12 can be preferably selected to be propeller propellers, and the most advanced propeller propellers with direct current brushless motors in the world are preferably selected to be propeller propellers under vector control. The utility model discloses a design theory is that best use of things, kill two birds with one stone, and this kind of design had both satisfied the pleasing to the eye needs of robot outward appearance, had satisfied again and had provided sufficient power and paddle and did not collide and injure the needs of transformer inner ware body (transformer ware body is the most important core built-up spare in the transformer tank includes components such as various coils, iron core and lead wire) again.
The third propeller 5, the fourth propeller 6 and the fifth propeller 12 are provided with three motors which can rotate the robot positively to float upwards and rotate the robot negatively to submerge. After a certain depth is reached, information fed back by a depth sensor (the depth sensor is a built-in pressure sensing device which senses the depth of the robot) can be fixed to be at a certain depth through three horizontally arranged propeller type propellers, and a binocular camera 4 is used for collecting pictures and detecting the internal structure of the transformer. The symmetrically arranged propeller type first propeller 1 and the propeller type second propeller 11 can realize forward movement through simultaneous forward rotation and backward rotation, and realize horizontal rotary motion through forward rotation and backward rotation. The distance detection is carried out by the first ultrasonic detector 3 and the second ultrasonic detector 9 in the forward direction in the movement process, and the detection is carried out by the third ultrasonic detector 7 and the sixth ultrasonic detector, and the detection is carried out by the fourth ultrasonic detector 8 and the fifth ultrasonic detector 13 in the vertical direction, so that the minimum ultrasonic detectors are used, and the omnibearing distance perception of the robot is realized.
Except for the propeller, other parts are fixedly connected to the robot body in a mode of combining glue and clamping grooves. The propeller adopts a triangular bracket and is permanently fastened to the robot body through threads and glue.
The utility model discloses an it has gyroscope, detection control device, power supply unit to embed to have the robot, detection control device be used for controlling the detection achievement of robot in the transformer, include: the robot comprises an ARM Cortex-A35 processor and a detection control module, wherein the detection control module controls the robot to float upwards, submerge downwards, advance forwards, retreat backwards and shoot by a binocular camera according to information sent by an ultrasonic detector and the binocular camera. The power supply device is used for supplying power for the robot. The robot power supply part, the motor fixing, the internal memory and other electronic components and parts of the utility model are all the existing mature technologies; the control method of the detection control module is also the prior art and is not improved, and is not described herein again.
The utility model discloses a robot, the appearance structure of adoption are formulated strictly according to large-scale oil-immersed transformer's inner structure, through many times experimental and theoretical analysis, this appearance structure is fit for the inside usefulness of cruising of large-scale oil-immersed transformer very much.
The utility model discloses the overall structure of robot is the streamline echelonment, and trapezoidal tip head position is similar ellipse, afterbody and builds the curve for art spline to the whole body is the streamline shape. The robot shell sets up the effect that 5 propellers realized the water conservancy diversion, and the position and the working method of arranging of five propellers all are the motion in order to satisfy just better satisfying the robot body, and five propellers provide 5 degrees of freedom for the robot body, and 5 degrees of freedom satisfy completely the utility model discloses all the activity requirement in the large-scale oil-immersed transformer of homemade. Because the large-scale oil-immersed transformer of domestic manufacture satisfies that the narrowest place of operational requirement only is about 11cm, so the utility model discloses a robot design is the platykurtic, and the widest position width of side view must not be greater than 11 cm.
The utility model discloses a robot mainly is in order to detect the inside trouble such as flashover and foreign matter that discharges of transformer, has arranged a two mesh cameras 4 at the prelude position of robot at first. Because the inside of the transformer is a closed environment, a night vision camera with good light sensitivity is adopted.
Finally, it is to be noted that: the above embodiments are only specific embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, and the scope of the present invention is not limited thereto. Those skilled in the art will understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (8)
1. A robot for detecting a large oil-immersed transformer is characterized in that the robot is flat, the overall appearance of the outer shell of the robot is streamline, the upper surface/lower surface of the outer shell of the robot is trapezoidal, and the width of the front end of the robot is smaller than that of the tail part of the robot;
a binocular camera (4) is arranged in the middle of the side face of the front end of the trapezoidal shell, and the binocular camera (4) is a sensor integrating a binocular night vision camera and an infrared camera; a first ultrasonic detector (3), a second ultrasonic detector (9), a first light source (2) and a second light source (10) are symmetrically arranged on two sides of the binocular camera (4) respectively; a third propeller (5), a fourth propeller (6) and a fifth propeller (12) which are equilateral triangles are arranged at the middle position of the upper surface of the trapezoidal shell, the fifth propeller (12) is arranged at the position close to the short side surface part at the front end of the trapezoid, and the third propeller (5) and the fourth propeller (6) are parallel to the long side surface at the rear end of the trapezoidal shell; a fourth ultrasonic detector (8) and a fifth ultrasonic detector (13) are arranged on the central line position between the fifth propeller (12) and the long side surface of the rear end of the trapezoidal shell, and a third ultrasonic detector (7) and a sixth ultrasonic detector which correspond to the fourth ultrasonic detector (8) and the fifth ultrasonic detector (13) are arranged on the lower surface of the trapezoidal shell; a first propeller (1) and a second propeller (11) are symmetrically arranged at two ends of the tail part of the trapezoidal shell;
the robot is internally provided with a depth sensor, a gyroscope, a detection control device and a power supply device, and the detection control device is used for controlling the robot to advance and detect in the transformer.
2. The robot for detecting the large oil-filled transformer according to claim 1, wherein the detection control device comprises: the robot comprises an ARM Cortex-A35 processor and a detection control module, wherein the detection control module controls the robot to float up, dive down, advance, turn and shoot according to information sent by a depth sensor, a gyroscope, an ultrasonic detector and a binocular camera.
3. The robot for detecting the large oil-immersed transformer according to claim 2, wherein the positions of the tail shells of the first propeller (1) and the second propeller (11) are cylindrical.
4. The robot for detecting the large oil-immersed transformer according to claim 3, wherein the first propeller (1), the second propeller (11), the third propeller (5), the fourth propeller (6) and the fifth propeller (12) are propeller-type propellers.
5. The robot for detecting the large oil-immersed transformer according to claim 4, wherein the propeller is a direct current brushless motor vector-controlled propeller.
6. The robot for detecting the large oil-immersed transformer according to any one of claims 1 to 5, wherein the propeller is permanently fastened to the robot body by adopting a triangular bracket and adding glue through threads; other parts are fixedly connected to the robot body in a mode of combining glue and clamping grooves.
7. The robot for detecting the large oil-immersed transformer according to claim 6, wherein the robot is designed to be flat, and the width of the widest position is less than or equal to 11 cm.
8. The robot for detecting the large oil-immersed transformer according to claim 7, wherein the binocular camera (4) is a night vision camera.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020902758.5U CN212722631U (en) | 2020-05-25 | 2020-05-25 | Robot for detecting large oil-immersed transformer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020902758.5U CN212722631U (en) | 2020-05-25 | 2020-05-25 | Robot for detecting large oil-immersed transformer |
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| CN212722631U true CN212722631U (en) | 2021-03-16 |
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| CN202020902758.5U Active CN212722631U (en) | 2020-05-25 | 2020-05-25 | Robot for detecting large oil-immersed transformer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114055495A (en) * | 2021-11-30 | 2022-02-18 | 国网重庆市电力公司电力科学研究院 | Function reconstruction type intelligent robot for detecting inside of transformer |
| CN117053876A (en) * | 2023-10-11 | 2023-11-14 | 深圳市铭昱达电子有限公司 | Transformer fault detection positioning method |
-
2020
- 2020-05-25 CN CN202020902758.5U patent/CN212722631U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114055495A (en) * | 2021-11-30 | 2022-02-18 | 国网重庆市电力公司电力科学研究院 | Function reconstruction type intelligent robot for detecting inside of transformer |
| CN117053876A (en) * | 2023-10-11 | 2023-11-14 | 深圳市铭昱达电子有限公司 | Transformer fault detection positioning method |
| CN117053876B (en) * | 2023-10-11 | 2023-12-19 | 深圳市铭昱达电子有限公司 | Transformer fault detection positioning method |
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