CN209946056U - Robot for detecting inside of oil-immersed transformer - Google Patents

Abstract

The application relates to an oil-immersed transformer internal inspection robot. At least two vertical jet pumps are arranged in the spherical cavity and located in the upper hemispherical shell. At least three lateral jet pumps are arranged in the spherical cavity and located on the equatorial plane of the spherical shell. The radar device is arranged in the spherical cavity and is located on the equatorial plane of the spherical shell. The radar unit is used to measure the distance of the spherical shell relative to the obstacle ahead. The infrared device is arranged in the spherical cavity and located on the equatorial plane of the spherical shell. The posture and running path of the spherical shell can be flexibly adjusted by the vertical jet pump and the lateral jet pump. Obstacles can be located by the radar device to avoid damage to the detection robot inside the oil-immersed transformer. The infrared device can precisely locate the transformer winding defect. Therefore, the oil-immersed transformer internal detection robot has the characteristics of high detection efficiency and accuracy.

Description

Oil-immersed transformer internal inspection robot

technical field

The present application relates to the field of electrical control, in particular to an oil-immersed transformer internal inspection robot.

Background technique

The rapid development of smart grid and UHV power transmission technology has put forward higher requirements for the reliability of power grid equipment. As one of the core equipment of the power grid, the reliability of its operation directly affects the security and stability of the power grid. The traditional method for internal maintenance of oil-immersed transformers is to empty the transformer oil after a power failure, and inspectors enter the transformer for maintenance, but manual maintenance costs are high, and the efficiency is low and imprecise.

Utility model content

Based on this, it is necessary to provide an oil-immersed transformer internal inspection robot to solve the problems of high internal maintenance and repair costs, low efficiency and inaccuracy of oil-immersed transformers.

An oil-immersed transformer internal inspection robot, comprising:

a spherical shell, including an upper hemisphere shell and a lower hemisphere shell, the upper hemisphere shell and the lower hemisphere shell surround to form a spherical cavity;

at least two vertical jet pumps, arranged in the spherical cavity and located in the upper hemispherical shell;

At least three lateral jet pumps are arranged in the spherical cavity and located on the equatorial plane of the spherical shell;

a radar device, arranged in the spherical cavity and located on the equatorial plane of the spherical shell, for measuring the distance of the spherical shell relative to the obstacle in front;

The infrared device is arranged in the spherical cavity and is located on the equatorial plane of the spherical shell. On the equatorial plane, the infrared device and the radar device are arranged in sequence along the direction toward the center of the spherical shell. set up.

In one embodiment, the spherical shell further comprises:

The middle ring is arranged between the upper hemisphere shell and the lower hemisphere shell, the upper hemisphere shell, the lower hemisphere shell and the middle ring are surrounded to form the spherical shell, the infrared device, The radar device is arranged on the side of the middle ring close to the spherical cavity.

In one embodiment, the radar device includes a laser emitting device, the middle ring is provided with two radar through holes, the two radar through holes are arranged along the extension direction of the equator, and the laser emitting device emits The laser is emitted through the two radar through holes.

In one embodiment, the middle ring is provided with an infrared through hole, the infrared through hole is disposed between the two radar through holes, and is close to the lower hemisphere shell, and the transmitting end of the infrared device is connected to the The infrared through holes are set accordingly.

In one embodiment, an image acquisition device is further included, which is disposed in the spherical cavity and located on the side of the middle ring close to the spherical cavity.

In one embodiment, the middle ring is provided with an image acquisition through hole, which is disposed between the two radar through holes and is close to the upper hemisphere, and the transmitting end of the image acquisition device is connected to the image acquisition through hole. corresponding settings.

In one embodiment, the radar device further includes:

Optical receiving device for receiving reflected signals from obstacles;

A signal analysis device is used for receiving and analyzing the reflected signal to reflect the distance information of the obstacle relative to the detection robot inside the oil-immersed transformer.

In one embodiment, a control device is further included, which is arranged in the spherical cavity and is used for controlling the motion state of the detection robot inside the oil-immersed transformer according to the distance information.

In one embodiment, the middle ring is provided with at least three groups of first pump body communication devices, the first pump body communication devices are provided in a one-to-one correspondence with the lateral jet pumps, and each group of the first pump body communication devices includes A first liquid inlet and a first liquid outlet, the first liquid inlet and the first liquid outlet are respectively communicated with the lateral jet pump.

In one embodiment, the upper hemispherical housing includes at least two groups of second pump body communication devices, the second pump body communication devices are provided in a one-to-one correspondence with the vertical jet pumps, and each group of the second pump The body communication device includes a second liquid inlet and a second liquid outlet, and the second liquid inlet and the second liquid outlet are respectively communicated with the vertical jet pump.

The oil-immersed transformer interior detection robot provided by the embodiment of the present application can flexibly adjust the posture and running path of the spherical shell through a vertical jet pump and a horizontal jet pump, so that it can detect different positions inside the transformer. Obstacles can be located by the radar device to avoid damage to the detection robot inside the oil-immersed transformer. The infrared device can precisely locate the transformer winding defect. Therefore, the oil-immersed transformer internal detection robot has the characteristics of high detection efficiency and accuracy.

Description of drawings

1 is an exploded view of an oil-immersed transformer internal detection robot provided by an embodiment of the application;

2 is an exploded view of an oil-immersed transformer internal detection robot provided by another embodiment of the application;

3 is a schematic diagram of an oil-immersed transformer internal detection robot provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of a robot for detecting the interior of an oil-immersed transformer according to another embodiment of the present application.

Oil-immersed transformer internal inspection robot 10

spherical shell 100

Upper hemisphere housing 110

Lower hemisphere housing 120

Spherical cavity 130

Vertical jet pump 210

Lateral jet pump 220

Radar unit 230

Laser launcher 232

Infrared device 240

Image capture device 250

Control device 260

Central 270

Radar Via 271

Infrared Via 272

Image Acquisition Via 273

The first pump body communication device 280

The first liquid inlet 281

The first liquid outlet 282

The second pump body communication device 290

The second liquid inlet 291

The second liquid outlet 292

Power-on hole 293

Charging hole 294

Detailed ways

In order to make the above objects, features and advantages of the present application more clearly understood, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific implementation disclosed below.

The serial numbers themselves, such as "first", "second", etc., for the components herein are only used to distinguish the described objects, and do not have any order or technical meaning. The "connection" and "connection" mentioned in this application, unless otherwise specified, include both direct and indirect connections (connections). In the description of this application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship indicated by "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description , rather than indicating or implying that the referred device or element must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation on the present application.

In this application, unless otherwise expressly stated and defined, a first feature "on" or "under" a second feature may be in direct contact with the first and second features, or the first and second features indirectly through an intermediary touch. Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

Referring to FIGS. 1-2 , an embodiment of the present application provides an oil-immersed transformer internal inspection robot 10 . The oil-immersed transformer interior inspection robot 10 includes a spherical shell 100 , at least two vertical jet pumps 210 , at least three lateral jet pumps 220 , a radar device 230 and an infrared device 240 . The spherical casing 100 includes an upper hemispherical casing 110 and a lower hemispherical casing 120 . The upper hemispherical casing 110 and the lower hemispherical casing 120 enclose a spherical cavity 130 . The at least two vertical jet pumps 210 are disposed in the spherical cavity 130 and located in the upper hemispherical housing 110 . The at least three lateral jet pumps 220 are disposed in the spherical cavity 130 and located on the equatorial plane of the spherical housing 100 . The radar device 230 is disposed in the spherical cavity 130 and located on the equatorial plane of the spherical casing 100 . The radar device 230 is used to measure the distance of the spherical shell 100 relative to the obstacle ahead. The infrared device 240 is disposed in the spherical cavity 130 and located on the equatorial plane of the spherical casing 100 . On the equatorial plane, the infrared device 240 and the radar device 230 are arranged in sequence along the direction toward the center of the spherical shell 100 .

In this embodiment, the upper hemispherical shell 110 and the lower hemispherical shell 120 may be hemispherical thin shells of non-metallic structure. The vertical jet pump 210 may be a jet propeller. At least two of the vertical jet pumps 210 can maintain the rising and falling of the oil-immersed transformer internal detection robot 10 in a balanced state. The end face of the jet propeller may be a flange structure. The jet propeller can be connected with the mounting boss on the peripheral surface of the upper hemispherical housing 110 by screws. The number of the lateral jet pumps 220 is at least three, and can be arranged at 120° with the center of the equatorial plane as the center. When the number of the lateral jet pumps 220 is four, the lateral jet pumps 220 may be arranged at 90° with respect to the center of the equatorial plane. The vertical jet pump 210 can control the rise and fall of the oil-immersed transformer interior detection robot 10 . The lateral jet pump 220 can control the traveling direction of the oil-immersed transformer interior detection robot 10 . Different combinations of the horizontal jet pump 220 and the vertical jet pump 210 can make the oil-immersed transformer internal detection robot 10 turn over to obtain different postures. It can be understood that the equatorial plane is a cross-section of the spherical shell 100 , and the cross-section is located in the middle of the upper hemispherical shell 110 and the lower hemispherical shell 120 after they are fastened together.

The radar device 230 can be used to measure the distance of the spherical shell 100 relative to the obstacle ahead. According to the distance of the spherical shell 100 relative to the obstacle ahead, the running path and running state of the oil-immersed transformer interior detection robot 10 can be adjusted. The infrared device 240 may be an infrared thermal imager. The infrared thermal imager can choose FLIR T600, which has the characteristics of fast communication and instant image acquisition. The infrared thermal imager can present different images according to different transformer winding states and record them in real time. At the same time, it can also capture the temperature field around the inspection and convert it into temperature parameters, so as to achieve accurate positioning of transformer winding defects. In addition, the Fluke infrared thermal imager can also capture images at night or under poor lighting conditions, so that the oil-immersed transformer internal inspection robot 10 can be accurately inspected.

In the above embodiment, the oil-immersed transformer internal detection robot 10 can flexibly adjust the posture and running path of the spherical shell 100 through the vertical jet pump 210 and the horizontal jet pump 220, so it can detect different positions inside the transformer. . Obstacles can be located by the radar device 230 to avoid damage to the internal detection robot 10 of the oil-immersed transformer. The infrared device 240 can accurately locate the transformer winding defect. Therefore, the oil-immersed transformer internal detection robot 10 has the characteristics of high detection efficiency and accuracy.

In one embodiment, the spherical shell 100 further includes a middle ring 270 . The middle ring 270 is disposed between the upper hemispherical casing 110 and the lower hemispherical casing 120 . The upper hemispherical casing 110 , the lower hemispherical casing 120 and the middle ring 270 surround and form the spherical casing 100 . The infrared device 240 and the radar device 230 are disposed on the side of the middle ring 270 close to the spherical cavity 130 . The radar device 230 realizes the motion ranging of the robot during inspection, performs real-time positioning, and feeds back information to the control system of the electronic control system to avoid motion collisions. In one embodiment, the middle ring 270 may be made of an aluminum alloy material.

Referring to FIGS. 3-4 , in one embodiment, the radar device 230 includes a laser emitting device 232 . The middle ring 270 is provided with two radar through holes 271 , the two radar through holes 271 are arranged along the extension direction of the equator, and the laser light emitted by the laser emitting device 232 is emitted through the two radar through holes 271 . The radar through hole 271 may be disposed on the boss at the upper end of the middle ring 270 . The laser emitting device 232 can be fixed to the radar through hole 271 .

In one embodiment, the middle ring 270 is provided with an infrared through hole 272 . The infrared through hole 272 is disposed between the two radar through holes 271 and is close to the lower hemispherical housing 120 . The transmitting end of the infrared device 240 is arranged corresponding to the infrared through hole 272 . The infrared through hole 272 may have a card slot. The infrared device 240 can be installed in the infrared through hole 272 through the card slot. The infrared device 240 can instantly transmit image information to a matched image receiver for imaging through a wireless module.

In one embodiment, the middle ring 270 is annular in shape. The upper and lower ends of the middle ring 270 may be provided with cylindrical bosses. A sealing groove may be opened on the boss. The inner surfaces of the upper hemispherical housing 110 and the lower hemispherical housing 120 may have cylindrical surfaces. The upper hemispherical housing 110, the middle ring 270, and the lower hemispherical housing 120 may be connected by the cylindrical boss, the cylindrical surface, the sealing groove, and the sealing ring.

In one embodiment, the oil-immersed transformer interior inspection robot 10 further includes an image acquisition device 250 . The image capturing device 250 is disposed in the spherical cavity 130 and is located on the side of the middle ring 270 close to the spherical cavity 130 .

In one embodiment, the middle ring 270 is provided with an image capturing through hole 273 . The image acquisition through hole 273 is disposed between the two radar through holes 271 and is close to the upper hemisphere. The transmitting end of the image capturing device 250 is set corresponding to the image capturing through hole 273 .

The image acquisition device 250 may adopt a CCD camera. The camera lens is installed in the corresponding installation hole of the middle ring 270 . The camera can be fixed on the boss on the inner surface of the middle ring 270 by screws. The resolution of the camera is 750TVL, the CCD type is 1/3"SONY 960H Exview HAD CCD II, and a 3.2mm lens is selected. The overall dimensions of the camera are 20mm (length) × 20mm (width), and the camera can be sealed with an oil-proof cover to prevent The transformer oil enters the body, and the data collected by the camera can be image processed through the image processing device, and the image processor is installed on the control board.

In one embodiment, the oil-immersed transformer interior inspection robot 10 may further include a lighting device, and the lighting device adopts two small LED underwater lighting lamps. into the corresponding mounting holes of the middle ring 270.

In one embodiment, the radar device 230 further includes an optical receiving device and a signal analyzing device. The optical receiving device is used for receiving the reflected signal passing through the obstacle. The signal analysis device is used for receiving and analyzing the reflected signal to reflect the distance information of the obstacle relative to the detection robot 10 inside the oil-immersed transformer. After the signal emitted by the laser emitting device 232 is reflected by the obstacle, the receiving device and the signal processing device receive the distance that can measure the obstacle ahead, and transmit the distance information to the control device 260 in real time, so as to control the propulsion system to ensure that the oil-immersed transformer interior inspection robot 10 travels safely.

In one embodiment, the oil-immersed transformer interior inspection robot 10 further includes a control device 260 . The control device 260 is disposed in the spherical cavity 130 . The control device 260 is configured to control the motion state of the detection robot 10 inside the oil-immersed transformer according to the distance information. The inside of the oil-immersed transformer inspection robot 10 may be provided with a control board. The control device 260 may be provided on the control panel. The control board may be a ring-shaped board structure. A dish-shaped mounting plate may be provided in the middle of the spherical housing 100 . The control device 260 may be mounted on the dish-shaped mounting plate. The control device 260 may be equipped with a sensing system. The sensing system may include a pose sensor and an obstacle perception sensor. The pose sensor adopts a miniature heading reference system. The obstacle sensing sensor adopts an OD laser sensor. The attitude sensor adopts a miniature heading reference system, which is composed of three-axis MEMS gyroscope, three-axis MEMS accelerometer, three-axis magnetoresistive magnetometer and other types of sensors. The obstacle perception sensor adopts an OD laser sensor, which has an intuitive setting process and is easy to operate. CMOS technology ensures high precision and reliability of measurement, and is suitable for precise measurement of short distances.

The control device 260 can transmit the signal to the external control terminal. External control terminals can also transmit signals to the control device 260 . The control device 260 can control the movement state of the detection robot 10 inside the oil-immersed transformer.

In one embodiment, the middle ring 270 is provided with at least three groups of first pump body communication devices 280 . The first pump body communication device 280 is provided in a one-to-one correspondence with the lateral jet pump 220 . Each group of the first pump body communication devices 280 includes a first liquid inlet 281 and a first liquid outlet 282 . The first liquid inlet 281 and the first liquid outlet 282 are respectively communicated with the lateral jet pump 220 . The lateral jet pump 220 may have a liquid inlet connection and a liquid outlet connection. The lateral jet pump 220 may be connected to the first liquid inlet 281 and the first liquid outlet 282 through the liquid inlet joint and the liquid outlet joint.

In one embodiment, the upper hemispherical housing 110 includes at least two sets of second pump body communication devices 290 . The second pump body communication device 290 is provided in a one-to-one correspondence with the vertical jet pump 210 . Each group of the second pump body communication devices 290 includes a second liquid inlet 291 and a second liquid outlet 292 . The second liquid inlet 291 and the second liquid outlet 292 are respectively communicated with the vertical jet pump 210 . The vertical jet pump 210 may have a liquid inlet joint and a liquid outlet joint. The vertical jet pump 210 can be connected to the second liquid inlet 291 and the second liquid outlet 292 through the liquid inlet joint and the liquid outlet joint.

In one embodiment, the oil-immersed transformer interior inspection robot 10 may further include a power storage device. The power storage device can also adopt a ring-shaped polymer lithium-ion battery to adapt to the shape of the spherical shell 100 . In one embodiment, the battery energy reserve of the polymer lithium ion battery is 90Wh.

In one embodiment, the middle ring 270 is further provided with a power-on hole 293 and a charging hole 294 . The power-up hole 293 and the charging hole 294 may be electrically connected to the power storage device. The power-on hole 293 can be used to control the internal detection of the power-on and power-off of the robot 10 in the oil-immersed transformer. The oil-immersed transformer internal inspection robot 10 can be charged through the charging hole 294 .

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent of the present application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (10)

1. The utility model provides an inside inspection robot of oil-immersed transformer which characterized in that includes:

the spherical shell (100) comprises an upper hemispherical shell (110) and a lower hemispherical shell (120), and the upper hemispherical shell (110) and the lower hemispherical shell (120) surround to form a spherical cavity (130);

at least two vertical jet pumps (210) disposed in the spherical cavity (130) and located in the upper hemispherical shell (110);

at least three transverse jet pumps (220) arranged in said spherical cavity (130) and located in the equatorial plane of said spherical shell (100);

a radar device (230) arranged in the spherical cavity (130) and positioned on the equatorial plane of the spherical shell (100) and used for measuring the distance of the spherical shell (100) relative to a front obstacle;

the infrared device (240) is arranged in the spherical cavity (130) and is positioned on the equatorial plane of the spherical shell (100), and the infrared device (240) and the radar device (230) are sequentially arranged along the direction of the sphere center of the spherical shell (100).

2. Oil filled transformer internal inspection robot according to claim 1, characterized in that the spherical shell (100) further comprises:

the middle ring (270) is arranged between the upper hemispherical shell (110) and the lower hemispherical shell (120), the upper hemispherical shell (110), the lower hemispherical shell (120) and the middle ring (270) are enclosed to form the spherical shell (100), and the infrared device (240) and the radar device (230) are arranged on one side, close to the spherical cavity (130), of the middle ring (270).

3. The oil filled transformer internal detection robot according to claim 2, characterized in that the radar device (230) comprises a laser emitting device (232), the middle ring (270) is provided with two radar through holes (271), the two radar through holes (271) are arranged along the extending direction of the equator, and laser emitted by the laser emitting device (232) is emitted through the two radar through holes (271).

4. The oil-filled transformer internal detection robot according to claim 3, wherein the middle ring (270) is provided with an infrared through hole (272), the infrared through hole (272) is arranged between the two radar through holes (271) and close to the lower hemispherical shell (120), and the transmitting end of the infrared device (240) is arranged corresponding to the infrared through hole (272).

5. The oil-filled transformer internal detection robot of claim 4, further comprising an image acquisition device (250) disposed in the spherical cavity (130) and located at a side of the middle ring (270) close to the spherical cavity (130).

6. The oil-filled transformer internal detection robot of claim 5, wherein the middle ring (270) is provided with an image acquisition through hole (273), the image acquisition through hole is arranged between the two radar through holes (271) and close to the upper hemisphere, and a transmitting end of the image acquisition device (250) is arranged corresponding to the image acquisition through hole (273).

7. Oil filled transformer internal inspection robot according to claim 3, characterized in that the radar arrangement (230) further comprises:

an optical receiving device for receiving a reflected signal passing through an obstacle;

and the signal analysis device is used for receiving and analyzing the reflection signal so as to reflect the distance information of the obstacle relative to the oil-immersed transformer internal detection robot.

8. The oil-filled transformer internal detection robot according to claim 7, further comprising a control device (260) disposed in the spherical cavity (130) for controlling a motion state of the oil-filled transformer internal detection robot (10) according to the distance information.

9. The oil immersed transformer internal detection robot as claimed in claim 2, wherein the middle ring (270) is provided with at least three sets of first pump body communication devices (280), the first pump body communication devices (280) are arranged in a one-to-one correspondence with the transverse jet pumps (220), each set of the first pump body communication devices (280) comprises a first liquid inlet (281) and a first liquid outlet (282), and the first liquid inlet (281) and the first liquid outlet (282) are respectively communicated with the transverse jet pumps (220).

10. The oil-filled transformer internal inspection robot according to claim 1, wherein the upper hemispherical shell (110) comprises at least two sets of second pump body communication devices (290), the second pump body communication devices (290) are arranged in one-to-one correspondence with the vertical injection pumps (210), each set of second pump body communication devices (290) comprises a second liquid inlet (291) and a second liquid outlet (292), and the second liquid inlet (291) and the second liquid outlet (292) are respectively communicated with the vertical injection pumps (210).

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