CN214446368U - A inside detection micro-robot for transformer oiliness condition - Google Patents
A inside detection micro-robot for transformer oiliness condition Download PDFInfo
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- CN214446368U CN214446368U CN202120424864.1U CN202120424864U CN214446368U CN 214446368 U CN214446368 U CN 214446368U CN 202120424864 U CN202120424864 U CN 202120424864U CN 214446368 U CN214446368 U CN 214446368U
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Abstract
The utility model relates to an inside detection micro robot for transformer oiliness condition, including shell, control module, image acquisition module, navigation module, propulsion module and power, control module, image acquisition module, navigation module and power are installed in sealed shell, offer on the shell and be used for holding propulsion module's recess, control module connects image acquisition module, navigation module and propulsion module respectively. Compared with the prior art, the utility model has the advantages of compact structure, convenient use, safety and reliability, etc.
Description
Technical Field
The utility model relates to a detection robot for transformer especially relates to an inside detection micro robot that is used for transformer oiliness condition.
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 inside of the transformer breaks down, the inside defects are often detected and positioned after power failure, and then the fault type can be confirmed, so that 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 interior passageway oil gas that examines pollutes seriously, and all kinds of metals and insulating structure parts are crisscross, threaten operating personnel personal safety and health, and when the manual work was gone into, take place outside impurity and pollution sources and bring in, errors such as multiplexer utensil is left over, cause secondary harm to equipment operation.
Based on the problems, the automation equipment for detecting the inside of the oil-immersed power transformer is produced. However, the existing automation equipment has the problems of large structure, inconvenient use and the like.
Disclosure of Invention
The utility model aims at providing an inside detection micro-robot that is used for transformer oiliness condition compact structure, convenient to use for overcoming the defect that above-mentioned prior art exists.
The purpose of the utility model can be realized through the following technical scheme:
the utility model provides an inside detection micro robot for transformer oiliness condition, includes shell, control module, image acquisition module, navigation module, propulsion module and power, control module, image acquisition module, navigation module and power are installed in sealed shell, offer on the shell and be used for holding propulsion module's recess, control module connects image acquisition module, navigation module and propulsion module respectively.
Further, the image acquisition module includes camera and lighting apparatus, first through-hole and second through-hole have been seted up on the shell lateral wall, first through-hole covers has the glass panels that supplies the camera to carry out the outside shooting, lighting apparatus inlays through sealed sleeve and locates in the second through-hole.
Further, the glass panel is fixedly connected with the shell through a gland.
Furthermore, the camera is fixed in the shell through a first fixing frame.
Further, the lighting device is a high-brightness white light bead.
Furthermore, the control module comprises a circuit board, a main control chip and a propelling controller, wherein the main control chip and the propelling controller are mounted on the circuit board, and the propelling controller is connected with the propelling module.
Furthermore, the control module also comprises a dual-channel wireless communication chip which can communicate in two frequency bands of 2.4G and 5G.
Further, the propulsion controller adopts an R1141-H40A chip.
Further, the propulsion module comprises a plurality of propellers arranged in different directions, and each propeller is fixed in the groove of the shell through a second fixing frame.
Further, the propeller can meet the motion requirements of fixed-point suspension, lifting, submergence and rotation of the robot in the transformer oil, and the maximum moving speed is not less than 0.1 m/s.
Further, the shell is made of high-strength plastic materials and comprises a cylinder body and cover plates for packaging two ends of the cylinder body, and the groove is formed by sinking the middle of the cylinder body.
Furthermore, a handle is arranged on one cover plate.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the utility model has the advantages of it is miniaturized, safe and reliable, with control module, the image acquisition module, navigation module and power are installed in sealed shell, will impel the module to install in the recess on the shell, overall structure is compact, effectively reduce inside detection robot's volume, realize micro-robot, can conveniently be suitable for the transformer internal work of different models, replace the artifical work of examining in the tradition, and can open up the quick internal inspection of expansion under the transformer oil drain condition, promote the diagnosis efficiency of transformer internal fault.
2. The utility model discloses a glass panels's design guarantees that other parts except the propeller are in encapsulated situation, and does not influence the field of vision of image acquisition module, improves the reliability.
3. The utility model discloses lighting apparatus inlays through sealed sleeve and locates in the shell, does not influence the use of illumination effect when guaranteeing to seal, and the reliability is high.
4. The utility model discloses still be provided with binary channels wireless communication chip, realize the real-time transmission of data, and redundant communication link design, guaranteed the unblocked of robot communication, ensure that the during operation does not take place the robot problem of being out of control.
5. The utility model discloses be provided with navigation module, can provide the positioning data of high accuracy for the robot under the inside no signal environment of transformer, can take notes detection path, the robot safe and reliable of being convenient for returns.
6. The utility model discloses a shell adopts the high strength plastics material, when guaranteeing hardness, for inside components and parts provide sealed environment, protects inside components and parts work not influenced in transformer oil, does not produce the spark to outer when also guaranteeing the robot work, does not arouse transformer oil burning.
7. The utility model discloses the propeller is provided with a plurality ofly, can satisfy the robot fixed point suspension in transformer oil, rise, dive, rotatory motion requirement, convenient to use.
8. Compared with the prior art, the utility model discloses can follow transformer top pressure release valve position and get into the transformer, consequently applicable transformer scope is wider, gets into the transformer through the robot inside, can realize quick, the accurate purpose that detects the inside defect point of transformer under the condition that the transformer does not put oil.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a top view of the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 1;
FIG. 4 is a cross-sectional view taken along line B-B of FIG. 1;
in the figure, 1, a cylinder, 2, a propeller, 3, a lamp bead, 4, a camera, 5, a compass, 6, a glass panel, 7, a gland, 8, a sealing sleeve, 9, a first fixing frame, 10, a cover plate, 11, a main control chip, 12, a wireless communication chip, 13, a circuit board, 14, a groove, 15, a vulcanization shaft sleeve, 16, a second fixing frame, 17, a propulsion controller, 18, a battery end cover, 19, a handle, 20 and a pressing block.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
The following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
As shown in fig. 1-4, the present embodiment provides an internal detection micro-robot for oil-containing condition of a transformer, which comprises a housing, a control module, an image acquisition module, a navigation module, a propulsion module and a power supply, wherein the control module, the image acquisition module, the navigation module and the power supply are installed in the sealed housing, the housing is provided with a groove 14 for accommodating the propulsion module, the control module is respectively connected with the image acquisition module, the navigation module and the propulsion module, and a battery provides a working power supply for the modules.
Referring to fig. 1 and 2, the image acquisition module includes a camera 4 and an illumination device, a first through hole and a second through hole are provided on the side wall of the housing, the first through hole is covered with a glass panel 6 for the camera 4 to perform external shooting, and the illumination device is embedded in the second through hole through a sealing sleeve 8. The glass panel 6 is fixedly connected with the shell through a gland 7, and the whole shell is sealed. The camera 4 is fixed in the housing by a first fixing frame 9.
The lighting device is a lamp bead 3, preferably a high-brightness white lamp bead, is turned on when the robot camera works, and provides illumination for the camera to acquire image data.
The control module comprises a circuit board 13, a main control chip 11 and a propulsion controller 17, wherein the main control chip 11 and the propulsion controller 17 are mounted on the circuit board 13, and the propulsion controller 17 is connected with the propulsion module. In a preferred embodiment, the propulsion controller employs an R1141-H40A chip.
The control module further comprises a dual-channel wireless communication chip 12, and is connected with external control through a wireless network by adopting wireless dual-mode WIFI. In a preferred embodiment, the dual-channel wireless communication chip 12 can automatically switch between 2.4G and 5G frequencies, and the requirement of reliability of wireless communication inside the transformer is met.
The propulsion module comprises a plurality of propellers 2 arranged in different directions, each propeller 2 being fixed in a recess 14 of the housing by means of a second holder 16. In a preferred embodiment, the propulsion module comprises 5 independent micro-propellers, 2 are vertically arranged, 1 is upward, 1 is downward, and the other 3 are horizontally arranged and are at an angle of 120 degrees with each other, and a vulcanized shaft sleeve 15 is adopted, so that the service life of the propellers is prolonged.
The shell is made of high-strength plastic materials and comprises a cylinder body 1 and cover plates 10 for packaging two ends of the cylinder body 1, and the groove 14 is formed by sinking the middle part of the cylinder body 1. The shell can provide a sealed environment for internal components while guaranteeing the hardness, protects the internal components from being influenced in the work of transformer oil, and also guarantees that the robot does not generate sparks outwards when working, thereby not causing the combustion of the transformer oil.
Referring to fig. 4, a handle 19 is provided on the cover plate 10, and the handle 19 may be fixed to the housing by a press block 20.
In this embodiment, the navigation module includes compass 5, can provide high accuracy location data for the robot under the inside no signal environment of transformer.
In this embodiment, the battery is a lithium ion battery, and a battery end cap 18 for packaging the battery is disposed on the housing.
When the robot works, the battery supplies power to the robot;
the lighting equipment is turned on, the camera collects image data in real time and transmits the image data to the external control end in real time through the two-channel wireless communication chip;
the double-channel wireless communication chip receives an external control command and transmits the command to the propulsion controller;
calculating the instruction by the propulsion controller to obtain the action instruction of each propeller;
each propeller works according to an action instruction sent by the propulsion controller;
the compass records positioning information in real time according to the motion of the robot, and transmits data to the remote control end through the dual-channel wireless communication chip.
The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the teachings of the present invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. The utility model provides an inside detection micro robot for transformer oiliness condition, its characterized in that, includes shell, control module, image acquisition module, navigation module, propulsion module and power, control module, image acquisition module, navigation module and power are installed in sealed shell, offer on the shell and be used for holding propulsion module's recess (14), control module connects image acquisition module, navigation module and propulsion module respectively.
2. The internal detection micro-robot for the oil-containing condition of the transformer according to claim 1, characterized in that the image acquisition module comprises a camera (4) and an illumination device, the side wall of the housing is provided with a first through hole and a second through hole, the first through hole is covered with a glass panel (6) for the camera (4) to take an external photograph, and the illumination device is embedded in the second through hole through a sealing sleeve (8).
3. The internal detection micro-robot for oil-containing conditions of transformers according to claim 2, characterized in that said glass panel (6) is fixedly connected to said housing by means of a gland (7).
4. The internal detection micro-robot for oily conditions of transformers according to claim 2, characterized in that said camera (4) is fixed inside the casing by means of a first fixing frame (9).
5. The internal detection micro-robot for oil content of transformer of claim 2, characterized in that said lighting device is a high brightness white light bead.
6. The internal detection micro-robot for oil content of transformer according to claim 1, characterized in that, the control module comprises a circuit board (13) and a main control chip (11) and a propulsion controller (17) mounted on the circuit board (13), the propulsion controller (17) is connected with the propulsion module.
7. The internal detection micro-robot for oily conditions of transformers according to claim 6, characterized in that said control module further comprises a dual channel wireless communication chip (12).
8. The internal detection micro-robot for oil-impregnated conditions of transformers according to claim 1, characterized in that said propulsion module comprises a plurality of thrusters (2) arranged in different directions, each said thruster (2) being fixed in a recess (14) of the casing by means of a second fixing frame (16).
9. The internal detection micro-robot for the oil-impregnated condition of the transformer according to claim 1, characterized in that the housing is made of high-strength plastic material, comprising a cylinder (1) and cover plates (10) enclosing both ends of the cylinder (1), the groove (14) is formed by the middle part of the cylinder (1) being concave down.
10. The internal detection micro-robot for oil-filled conditions of transformers according to claim 9, characterized in that a handle (19) is provided on one of said cover plates (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120424864.1U CN214446368U (en) | 2021-02-26 | 2021-02-26 | A inside detection micro-robot for transformer oiliness condition |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120424864.1U CN214446368U (en) | 2021-02-26 | 2021-02-26 | A inside detection micro-robot for transformer oiliness condition |
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| Publication Number | Publication Date |
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| CN214446368U true CN214446368U (en) | 2021-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120424864.1U Active CN214446368U (en) | 2021-02-26 | 2021-02-26 | A inside detection micro-robot for transformer oiliness condition |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114012752A (en) * | 2021-11-16 | 2022-02-08 | 国家电网有限公司 | Extra-high voltage alternating current transformer internal inspection submersible robot |
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2021
- 2021-02-26 CN CN202120424864.1U patent/CN214446368U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114012752A (en) * | 2021-11-16 | 2022-02-08 | 国家电网有限公司 | Extra-high voltage alternating current transformer internal inspection submersible robot |
| CN114012752B (en) * | 2021-11-16 | 2024-01-19 | 国家电网有限公司 | Oil-submersible detection robot in extra-high voltage alternating-current transformer |
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