Transformer internal inspection underwater robot based on propellers, water pump and sinking and floating mechanism
By adopting a combined driving method of propeller, water pump and sinking and floating mechanism in the underwater inspection robot in the transformer, the problems of unstable control methods and poor maneuverability in the prior art are solved, stable and flexible movement inside the transformer are achieved, and detection efficiency and safety are improved.
Patent Information
- Application Number
- CN202421215050.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-30
- Publication Date
- 2025-03-18
- Estimated Expiration
- 2034-05-30
AI Technical Summary
The existing internal inspection robot control methods of transformer internal inspection are not stable enough, have poor mobility, cannot adapt to the complex environment inside the transformer, and are prone to damage to the transformer.
The underwater robot is used to detect internal water in transformers based on propellers, water pumps and sinking and floating mechanisms. The propeller provides propulsion force, and the water pump realizes up and down, and the sinking and floating mechanism adjusts the buoyancy to ensure the stable movement of the robot inside the transformer.
It improves the motion stability and control accuracy of the underwater robot, can move flexibly in a small and complex environment, avoids damage to the transformer, and improves detection efficiency and safety.
Smart Images
Figure CN222629546U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of underwater robots, in particular to an underwater robot for internal inspection of transformers based on a propeller, a water pump and a sinking and floating mechanism. Background Art
[0002] At present, how to efficiently, timely and accurately complete the confirmation and maintenance of transformer faults and defective states is of great practical significance for the safe and stable operation of the power grid system. The driving system of the robot used to inspect the equipment inside the transformer is mostly composed of two horizontal propulsion propellers and two vertical propulsion propellers. However, due to the complex movement control operation of the robot in the underwater environment, this driving method is not stable enough and has poor maneuverability. It cannot adapt to the complex environment inside the transformer and is easy to damage the transformer. At present, the control method combining multiple propulsion methods is rarely used. The main reason is that the small environment inside the transformer limits the volume, size and payload of the robot, resulting in the related internal inspection robots tending to use a single propulsion method.
[0003] The shortcomings of the prior art are as follows:
[0004] 1. The control method of the two horizontal propellers and the two vertical propellers is not stable enough, and the maneuverability is poor. It is easy to roll over and cannot maintain a hovering attitude.
[0005] 2. The control method of a single propulsion mode is difficult to achieve high-flexibility and high-control precision driving, cannot adapt to the complex environment inside the transformer, and is prone to damage the transformer.
[0006] 3. The small and complex environment inside the transformer has strict requirements on the size of the robot, and the control method of a single propulsion mode is difficult to take into account both high control accuracy and small size.
[0007] 4. The current single propulsion control method has poor functionality and high cost, and is difficult to meet the needs of transformer internal inspection. Summary of the invention
[0008] The purpose of the utility model is to overcome the above-mentioned shortcomings and provide a transformer internal inspection underwater robot based on a propeller, a water pump and a sinking and floating mechanism, so as to solve the problems that the existing transformer internal inspection robot control method is not stable enough, has poor maneuverability, cannot adapt to the complex environment inside the transformer, and is easy to damage the transformer.
[0009] In order to solve the above technical problems, the technical solution adopted by the utility model is: a transformer internal inspection underwater robot based on a propeller, a water pump and a sinking and floating mechanism, including a propeller, a water pump and a sinking and floating mechanism located on a submersible body, propellers are arranged on both sides of the tail of the submersible body, water pumps are arranged on both sides of the vertical line of the center of gravity of the submersible body, each water pump output end is connected to a corresponding vertically arranged water outlet pipe, and the sinking and floating mechanism is used to suck and discharge oil to change the self-gravity of the submersible body.
[0010] Preferably, the propeller includes a motor fixedly connected to a mounting plate, the mounting plate is fixed to the submersible body, the motor output shaft is connected to the center of the blade, and the blade faces the rear of the submersible body.
[0011] Preferably, the output pipe of the water pump is connected to the side of the vertically arranged water outlet pipe, the upper end and the lower end of the water outlet pipe are open, and corresponding valves are provided on the upper side and the lower side of the water outlet pipe.
[0012] Preferably, the sinking and floating mechanism includes a sleeve fixedly arranged in the body of the submersible, a piston slidably matched therewith is arranged in the sleeve, a push rod motor is arranged on one side of the piston, and the sleeve on the other side is connected to one end of the guide tube, and the other end of the guide tube extends to the outside of the submersible body.
[0013] Preferably, one end of the push rod motor is fixed to the surface of the end cover, and the output shaft end of the other end is connected to one side of the piston.
[0014] Preferably, a limiting bracket is provided on the surface of the output shaft of the push rod motor, and the limiting bracket is slidably matched with the inner side of the sleeve.
[0015] Beneficial effects of the utility model:
[0016] 1. The utility model can improve the stability of the underwater robot movement and has the advantages of high flexibility and high control accuracy.
[0017] 2. The propeller, water pump and sinking and floating mechanism adopted in the utility model can keep the underwater robot in a hovering state, and has the advantages of low hovering difficulty and small error.
[0018] 3. The utility model enables the robot to move flexibly in a narrow underwater environment, can adapt to the narrow and complex environment inside the transformer, and avoid damage to the transformer.
[0019] 4. The structure of the utility model can improve the detection efficiency of the transformer internal inspection robot, reduce manpower, material and time costs, and reduce risks. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1A schematic diagram of the three-dimensional structure of a propeller, a water pump and a sinking and floating mechanism connected in an underwater robot for transformer internal inspection based on the propeller, the water pump and the sinking and floating mechanism;
[0021] Figure 2 The figure is a schematic diagram of the internal structure of a transformer internal inspection underwater robot based on a propeller, a water pump and a sinking and floating mechanism;
[0022] Figure 3 A schematic diagram of the internal structure of another transformer internal inspection underwater robot based on a propeller, a water pump and a sinking and floating mechanism;
[0023] Figure 4 It is a schematic diagram of the internal structure of a sinking and floating mechanism;
[0024] Figure 5 It is a schematic diagram of the cross-sectional structure of a sinking and floating mechanism;
[0025] Figure 6 The figure is a working principle diagram of a valve of a water outlet pipe. DETAILED DESCRIPTION
[0026] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.
[0027] like Figure 1-6 As shown, a transformer internal inspection underwater robot based on a propeller, a water pump and a sinking and floating mechanism comprises a propeller 2, a water pump 3 and a sinking and floating mechanism 4 located on a submersible body 1. The propellers 2 are arranged on both sides of the tail of the submersible body 1, and water pumps 3 are arranged on both sides of the vertical line of the center of gravity of the submersible body 1. The output end of each water pump 3 is connected to a corresponding vertically arranged water outlet pipe 5. The sinking and floating mechanism 4 is used for sucking and discharging oil to change the self-gravity of the submersible body 1.
[0028] Preferably, the propeller 2 includes a motor 2.2 fixedly connected to a mounting plate 2.1, the mounting plate 2.1 is fixed to the submersible body 1, the output shaft of the motor 2.2 is connected to the center of a blade 2.3, and the blade 2.3 faces the rear of the submersible body 1. The propeller 2 is a propulsion device of the submersible, similar to the tail fin of a fish, and by adjusting the speed and direction of the propeller 2, the submersible can be pushed forward, backward or turn in the oil.
[0029] Preferably, the output pipe of the water pump 3 is connected to the side of the vertically arranged water outlet pipe 5, the upper and lower ends of the water outlet pipe 5 are open, and corresponding valves are provided on the upper and lower sides of the water outlet pipe 5. The water pump 3 is also a propulsion device for the submersible, but unlike the propeller 2, the thrust generated by the jet of the water pump 3 is used to push the submersible to rise and dive in the oil; the specific implementation method is that the water outlet of the pump is connected to a double-pass water outlet pipe 5, one of which is vertically upward and the other is vertically downward, and the reversal of the jet thrust is achieved by changing the opening and closing of the upper and lower ports, thereby pushing the submersible to rise and dive.
[0030] Preferably, the sinking and floating mechanism 4 includes a sleeve 4.1 fixedly arranged in the submersible body 1, a piston 4.2 slidably matched therewith is arranged in the sleeve 4.1, a push rod motor 4.3 is arranged on one side of the piston 4.2, and the sleeve 4.1 on the other side is connected to one end of a guide tube 4.4, and the other end of the guide tube 4.4 extends to the outside of the submersible body 1.
[0031] Preferably, one end of the push rod motor 4.3 is fixed to the surface of the end cover 4.5, and the output shaft end of the other end is connected to one side of the piston 4.2.
[0032] Preferably, a limiting bracket 4.6 is provided on the output shaft surface of the push rod motor 4.3, and the limiting bracket 4.6 is slidably matched with the inner side of the sleeve 4.1.
[0033] The sinking and floating mechanism 4 is used to adjust the buoyancy of the submersible body 1 in the oil, so as to control its floating or sinking, and to keep it in a better hovering state.
[0034] The working principle of this embodiment is as follows:
[0035] The utility model is provided with two horizontal propellers 2 and two vertical water outlet pipes 5, wherein the two horizontal propellers 2 are placed at the tail to provide driving force for forward, backward and turning;
[0036] Two water pumps 3 are placed around the vertical line of the center of gravity. The water outlets of the pumps are connected to a double-pass water outlet pipe 5, one of which is vertically upward and the other is vertically downward. By changing the opening and closing of the upper and lower ports, the jet thrust is reversed, thereby pushing the submersible to rise and dive; in addition, the opening and closing of the upper and lower ports can be controlled by a relay, such as Figure 6 As shown, when the water pipe needs to be connected, the coil is powered off, and the magnet will retreat to the groove under the action of the spring tension, thereby connecting the water pipe. When the water pipe needs to be closed, the coil is powered on, and the magnet will move from the groove to the water pipe channel under the action of the magnetic force, thereby closing the water pipe. By controlling the relay device of the upper and lower ports, the opening and closing states of the upper and lower ports can be changed, thereby realizing the reversal of the jet thrust and driving the submersible to ascend and dive.
[0037] On this basis, a sinking and floating mechanism 4 is added to flexibly change the buoyancy, making the attitude control of the internal inspection device submersible more stable. And the PD feedback control of the robot fish's moving attitude is combined with the IMU to ensure the stability of the robot fish's movement. For example, if the submersible needs to move forward, it can increase the propulsion force of the propeller in the horizontal direction and adjust the sinking and floating mechanism accordingly, so that the submersible maintains an appropriate buoyancy state to achieve forward movement. Similarly, if the submersible needs to float or sink, the sinking and floating mechanism 4 can be adjusted to absorb or discharge oil, and the propulsion force of the water pump 3 can be adjusted to achieve the required lifting and lowering movement.
[0038] This embodiment has the following beneficial effects:
[0039] 1. The two water pumps 3 and the two horizontal propellers 2 work together to improve the propulsion stability of the vehicle.
[0040] like Figure 2 and 3 As shown, the two horizontal propellers 2 provide the submersible with the freedom to move forward and backward along the x-axis and the freedom to rotate along the z-axis, corresponding to the submersible's ability to move forward and backward, and turn left and right.
[0041] In addition, it can cooperate with the two water pumps 3, that is, when the submersible has a tendency to flip along the y-axis, the two water pumps 3 can provide a reverse torque to avoid the situation, so that the vehicle has better propulsion stability.
[0042] 2. The sinking and floating mechanism 4 makes the aircraft hover more stably and with less vibration.
[0043] like Figure 4 and 5 As shown, the sinking and floating mechanism 4 can adjust its own weight by controlling the internal air pressure of the submersible in the form of oil suction and oil discharge, so that the relationship between its own gravity and buoyancy can be flexibly changed. When it is necessary to ascend slowly and steadily, its own gravity can be reduced by discharging oil, so that the buoyancy is slightly greater than the gravity; when it is necessary to dive slowly and steadily, its own gravity can be increased by sucking oil, so that the gravity is slightly greater than the buoyancy. When it is necessary to hover, the method of sucking oil or discharging oil can be selected according to the previous gravity and buoyancy conditions to make the gravity and buoyancy equal, so that the submersible can hover. Compared with using a propeller to achieve the above purpose, the use of the sinking and floating mechanism 4 can make the control of the submersible more stable, with less jitter, which helps to obtain clearer pictures and higher quality videos. In addition, the sinking and floating mechanism 4 can be used for the submersible to change its own motion state according to the gravity and buoyancy conditions, which can reduce energy loss and improve the endurance of the submersible.
[0044] 3. The two water pumps 3 work together with the sinking and floating mechanism 4 to make the vehicle ascend and descend faster, more stable and more flexible.
[0045] like Figure 2 and 3 As shown, the two water pumps 3 provide the submersible with the freedom to rise and dive along the z-axis and the freedom to rotate along the x-axis, corresponding to the submersible's ability to snorkel and hover, and can prevent the submersible from tipping over. On this basis, a sinking and floating mechanism 4 is set up to make the submersible's ability to rise and dive faster, more stable and more flexible through the cooperation of the two water pumps 3 and the sinking and floating mechanism 4. This technology is particularly important in the case of emergency surfacing due to a fault.
[0046] In addition, the two water pumps 3 and the sinking and floating mechanism 4 form a "plane triangle", which can ensure that the submersible moves in a direction perpendicular to the plane, thereby preventing the submersible from tipping over or falling forward and backward.
[0047] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limitations of the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.
Claims
1. A transformer internal inspection underwater robot based on a propeller, a water pump and a sinking and floating mechanism, comprising a propeller (2), a water pump (3) and a sinking and floating mechanism (4) located on a submersible body (1), characterized in that: The submersible body (1) is provided with propellers (2) on both sides of the tail, and water pumps (3) are provided on both sides of the vertical line of the center of gravity of the submersible body (1). The output end of each water pump (3) is connected to a corresponding vertically arranged water outlet pipe (5). The sinking and floating mechanism (4) is used to absorb and discharge oil to change the self-gravity of the submersible body (1).
2. The transformer internal inspection underwater robot based on a propeller, a water pump and a sinking and floating mechanism according to claim 1 is characterized by: The propeller (2) comprises a motor (2.2) fixedly connected to a mounting plate (2.1), the mounting plate (2.1) being fixed to a submersible body (1), an output shaft of the motor (2.2) being connected to the center of a blade (2.3), and the blade (2.3) being directed toward the rear of the submersible body (1).
3. The transformer internal inspection underwater robot based on a propeller, a water pump and a sinking and floating mechanism according to claim 1 is characterized in that: The output pipe of the water pump (3) is connected to the side of a vertically arranged water outlet pipe (5); the upper and lower ends of the water outlet pipe (5) are both open; and corresponding valves are provided on the upper and lower sides of the water outlet pipe (5).
4. The transformer internal inspection underwater robot based on a propeller, a water pump and a sinking and floating mechanism according to claim 1 is characterized in that: The sinking and floating mechanism (4) comprises a sleeve (4.1) fixedly arranged in the submersible body (1), a piston (4.2) slidably matched therewith being arranged in the sleeve (4.1), a push rod motor (4.3) being arranged on one side of the piston (4.2), and the sleeve (4.1) on the other side being connected to one end of a flow guide tube (4.4), and the other end of the flow guide tube (4.4) extending outward from the submersible body (1).
5. The transformer internal inspection underwater robot based on a propeller, a water pump and a sinking and floating mechanism according to claim 4 is characterized in that: One end of the push rod motor (4.3) is fixed to the surface of the end cover (4.5), and the output shaft end of the other end is connected to one side of the piston (4.2).
6. The transformer internal inspection underwater robot based on a propeller, a water pump and a sinking and floating mechanism according to claim 4 is characterized in that: A limit bracket (4.6) is provided on the surface of the output shaft of the push rod motor (4.3), and the limit bracket (4.6) is slidably matched with the inner side of the sleeve (4.1).