Oil-immersed transformer internal inspection robot and control system and method

Abstract

The invention relates to an inspection robot inside an oil-immersed transformer, comprising: a sealed cylindrical shell with a variable volume, and the cylindrical shell is arranged with: used to realize the robot's horizontal linear motion, lateral movement, The horizontal propulsion device for in-situ rotation and heading movement, the vertical propulsion device based on the buoyancy adjustment principle for realizing the robot's floating and diving movements, and the control for robot communication control, motion control, navigation and positioning, and shooting control device, the control device is electrically connected with the horizontal propulsion device and the vertical propulsion device to realize data interaction. The invention also relates to a control system and a control method for an internal inspection robot of an oil-immersed transformer. The robot of the invention has a delicate cylindrical structure and high maneuverability. The segmented shell facilitates the installation of internal parts, the layout of horizontal and vertical propulsion devices, and the isolation of the instrument cabin and the power cabin. It is easy to process and low in cost.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot for internal inspection of oil-immersed transformers and a control system and method. Background technique [0002] At present, the internal maintenance method of oil-immersed transformers in domestic power systems is manually inspected after draining the oil and cooling. This method has the disadvantages of low efficiency, high cost, and easy to cause internal pollution of the transformer. [0003] With the development of robots, robots for internal inspection of oil-immersed transformers have begun to appear. The technical schemes of the existing inspection robot inside the oil-immersed transformer mainly include: [0004] 1. The world's first practical liquid-immersed transformer inspection robot: ABB Ability TM TXplore. [0005] In 2018, ABB launched the world's first practical liquid-immersed transformer inspection robot ABB Ability TM TXplore, the det...

AI Technical Summary

Problems solved by technology

[0006] Disadvantages: The horizontal propulsion system of this technical solution uses two propeller propellers, which do not have the function of moving left and right; A propeller rotates and consumes more energy

[0009] Disadvantages: The robot of this technical solution adopts the shape of a sphere, and it is not easy to control the motion performance and balance stability of the sphere

[0012] Disadvantages: The vertical propulsion device uses a jet pump. When the spherical detection robot moves up and down, it needs to drive the vertical jet pump to work in real time, which consumes more energy, which is not conducive to accurate depth positioning and fixed-depth shooting.

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