High-voltage mutual inductor inspection robot

Abstract

The inspection robot comprises an upper track ring, a lower track ring, a camera shooting structure, a driving structure and an upper computer, wherein the upper track ring and the lower track ring horizontally sleeve the outer sides of the upper end and the lower end of the high-voltage transformer respectively; the camera shooting structure is arranged between the upper track ring and the lower track ring; the driving structure is used for driving the camera shooting structure to do annular motion; a cleaning structure is further arranged between the upper track ring and the lower track ring and connected with the camera shooting structure. The mobile robot is located below the high-voltage mutual inductor and on the ground, and is used for observing a screen of the upper computer. According to the high-voltage transformer inspection robot provided by the invention, the expander on the high-voltage transformer can be clearly and quickly observed at a low point, accurate observation of all positions of the high-voltage transformer up and down and around the high-voltage transformer is realized, and the automation degree is relatively high.

Description

Technical Field

[0001] The invention belongs to the technical field of electric power detection equipment, and in particular relates to a high-voltage transformer inspection robot. Background Art

[0002] High voltage transformer is a transformer suitable for converting high voltage into low voltage or high current into low current in 1kv to 220kv power systems for measurement, protection and use.

[0003] Most of the existing high-voltage transformers are electromagnetic induction transformers, which have the same working principle as transformers and the basic structure of iron core and primary and secondary windings. The main functions of high-voltage transformers are as follows: converting high voltage into low voltage and high current into low current, and then providing them for measurement, control and protection. This not only increases the range of measuring instruments, facilitates instrument standardization, reduces the voltage and current of control and protection equipment, but also separates the instrument from the equipment or high-voltage circuit to ensure the safety of the instrument, equipment and staff.

[0004] Most of the existing high-voltage transformer inspection devices are filming expanders. The main body of the metal expander is actually an elastic element. When the volume of the transformer oil in the transformer changes due to temperature changes, the volume of the expander body changes accordingly, playing a volume compensation role. Therefore, it is a common idea to judge whether the performance of the high-voltage transformer has changed by observing the changes in the expander.

[0005] However, due to the high position of the high-voltage transformer, the current inspection robot camera is at a low position. Although the camera can be equipped with a telescope function, the walking space between the high-voltage transformers makes the camera's elevation angle larger, especially the expander on the top of the high-voltage transformer is the focus of visual inspection. The current camera's elevation angle is inconvenient to observe the expander. Therefore, how to clearly and quickly observe the expander on the high-voltage transformer at a low point has become a key technical problem to be solved in this solution. Summary of the invention

[0006] The purpose of the present invention is to provide a high-voltage transformer inspection robot, which solves the technical problem of how to clearly and quickly observe the expander on the high-voltage transformer at a low point, realizes accurate observation of various positions above and below and around the high-voltage transformer, and has a high degree of automation.

[0007] A high-voltage transformer inspection robot comprises an upper track ring and a lower track ring respectively horizontally sleeved on the outer sides of the upper and lower ends of the high-voltage transformer, a camera structure arranged between the upper track ring and the lower track ring, a driving structure for driving the camera structure to perform circular motion, and a host computer connected to the camera structure through a wire;

[0008] A cleaning structure is also provided between the upper track ring and the lower track ring, and the cleaning structure is connected to the camera structure; and a mobile robot is also included, which is located below the high-voltage transformer and on the ground and is used to observe the screen of the host computer.

[0009] The camera structure includes a vertically arranged piston cylinder, a camera assembly slidably arranged inside the piston cylinder, and a power structure for driving the camera assembly to move up and down. The bottom end of the piston cylinder is closed and connected to the driving structure, and the top end of the piston cylinder is closed and slidably arranged in the bottom opening groove arranged on the bottom surface of the upper track ring through an embedded column; the piston cylinder is made of transparent glass material.

[0010] The camera assembly includes a piston, a camera fixed on the upper end of the piston, and an upper travel switch and a lower travel switch fixedly arranged on the upper and lower ends of the piston cylinder, respectively, wherein the upper travel switch and the lower travel switch are connected to the power structure through a PLC controller respectively;

[0011] The camera is connected to the host computer via a wire.

[0012] The power structure comprises an upper air intake pump, an upper air intake pipe connected to the upper air intake pump at one end, an upper air extraction pump, and an upper air extraction pipe connected to the upper air extraction pump at one end, wherein the other ends of the upper air intake pipe and the upper air extraction pipe are both connected to the upper end of the piston cylinder;

[0013] It also includes a lower air intake pump, a lower air intake pipe connected to the lower air intake pump at one end, a lower air extraction pump, and a lower air extraction pipe connected to the lower air extraction pump at one end, wherein the other ends of the lower air intake pipe and the lower air extraction pipe are both connected to the lower end of the piston cylinder;

[0014] The upper air intake pump, the upper air exhaust pump, the lower air intake pump, and the lower air exhaust pump are all fixed on the outside of the piston cylinder.

[0015] The driving structure includes a moving seat, a driving shaft vertically rotatably arranged on the moving seat, a driving gear coaxially connected to the driving shaft, and a motor connected to the driving shaft, wherein the motor is fixed on the moving seat, and the moving seat is clamped on the lower track ring;

[0016] The driving gear is meshedly connected with the outer side of the toothed belt, and the toothed belt is fixed around the outer side of the lower track ring.

[0017] The winding structure includes a driven gear meshingly connected with the outer side of the driving gear, a driven shaft vertically passing through the center of the driven gear, a bevel gear 1 coaxially connected to the top of the driven shaft, a fixing seat 1 arranged at the bottom of the driven shaft, a bevel gear 2 meshingly connected with the bevel gear 1, a winding shaft passing through the center of the bevel gear 2, a winding wheel coaxially connected to the outer end of the winding shaft, and a fixing seat 2 arranged at the inner end of the winding shaft, wherein a wire is wound on the winding wheel;

[0018] The first fixed seat is fixedly connected to the movable seat, and the second fixed seat is fixed on the outer side of the piston cylinder.

[0019] The cleaning structure comprises a vertically arranged positioning cylinder, an air blowing pipe vertically passing through the positioning cylinder, an air inlet pipe having one end connected to the top end of the air blowing pipe, and a cleaning air pump connected to the other end of the air inlet pipe;

[0020] The outer side of the positioning cylinder is provided with a long open groove, the outer side of the blowing tube is provided with a blowing hole, the blowing hole is exposed at the position of the long open groove, a sponge layer is fixed on the outer side of the long open groove, and the sponge layer is in active contact with the inner side of the piston cylinder.

[0021] The host computer is provided with a printing laser engraving detection system for receiving the photographed photos. The printing laser engraving detection system has pre-entered good product images, which are compared with the actual photographed photos and the comparison results are presented on the screen. When the mobile robot moves to the position of the host computer, the observation and recording of the screen information is realized.

[0022] A plurality of upper supporting ribs are arranged on the inner side of the upper track ring, and a plurality of lower supporting ribs are arranged on the inner side of the lower track ring. The upper supporting ribs and the lower supporting ribs are both fixedly arranged on the outer side of the high-voltage transformer.

[0023] The positive effects of the present invention are as follows:

[0024] (1) Setting up the camera structure has the following technical effects:

[0025] First, under the action of the upper air intake pump, the upper air exhaust pump, the lower air intake pump, and the lower air exhaust pump, the piston drives the camera to move up and down. Since the piston cylinder is made of transparent glass, the camera can shoot the upper and lower positions of the high-voltage transformer;

[0026] Second, under the shielding of the piston cylinder, it helps to protect the piston and the camera, and helps to increase the protection of the camera, the upper travel switch and the lower travel switch;

[0027] (2) A driving structure is provided. On the one hand, the camera structure can move around the outer circumference of the lower track ring, so that the camera can take pictures of various positions around the high-voltage transformer. On the other hand, when the driving gear moves, it will also drive the winding structure to operate. Since the wire is wound on the winding wheel, the forward and reverse rotation of the winding wheel can realize the winding and release of the wire, ensuring that the wire is always in a tensioned state.

[0028] (3) A cleaning structure is provided. Under the action of a cleaning air pump, air is blown into the air pipe, and air is blown out from the air hole and collides with the sponge layer. Since the sponge layer contacts the outer side of the piston cylinder, dust on the piston cylinder is wiped off. The airflow in the air hole removes dust in the sponge layer, which helps the piston cylinder to continuously clean.

[0029] (4) This scheme is equipped with a host computer and a printed laser engraving detection system, which cleverly transmits the photos taken of the high-voltage transformer to the bottom of the high-voltage transformer, thereby avoiding the disadvantage of needing to set the camera at an elevation angle to observe the expander in the past, and this scheme has higher observation clarity. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the inspection robot in the present invention.

[0031] Figure 2 It is a structural schematic diagram of the annular bypass structure in the present invention.

[0032] Figure 3 It is a schematic diagram of the connection structure between the driving structure and the winding structure in the present invention.

[0033] Figure 4 It is a structural schematic diagram of the air blowing cleaning structure in the present invention.

[0034] Figure 5 It is a schematic structural diagram of the upper track ring in the present invention.

[0035] Figure 6 It is a schematic diagram of the structure of the piston cylinder in the present invention.

[0036] Figure 7 It is a structural schematic diagram of the camera assembly in the present invention.

[0037] Among them, the accompanying drawings are marked as follows: 1, protective box; 2, wire; 21, camera; 22, piston; 3, lower track ring; 4, lower supporting rib; 5, upper track ring; 51, bottom opening groove; 6, upper supporting rib; 7, air intake pipe; 8, air blowing pipe; 81, air blowing hole; 9, sponge layer; 10, positioning cylinder; 101, notch; 12, upper air intake pipe; 13, upper air intake pump; 131, lower air intake pump; 14, lower air intake pipe; 15, piston cylinder; 151, embedded column; 16, driving structure; 161, driving shaft; 162, driving gear; 163, motor; 17, winding structure; 171, fixed seat one; 172, driven gear; 173, bevel gear one; 174, winding wheel; 175, bevel gear two; 176, winding shaft; 177, fixed seat two. DETAILED DESCRIPTION

[0038] In order to more clearly illustrate the technical features of this solution, this solution is described below through specific implementation methods.

[0039] See also Figure 1-Figure 7 A high-voltage transformer inspection robot comprises an upper track ring 5 and a lower track ring 3 respectively horizontally sleeved on the outer sides of the upper and lower ends of the high-voltage transformer, a camera structure arranged between the upper track ring 5 and the lower track ring 3, a driving structure 16 for driving the camera structure to perform circular motion, and a host computer connected to the camera structure through a wire 2;

[0040] A cleaning structure is also provided between the upper track ring 5 and the lower track ring 3, and the cleaning structure is connected to the camera structure; a mobile robot located below the high-voltage transformer and on the ground is also included, which is used to observe the screen of the host computer.

[0041] It should be noted that the mobile robot patrolling on the ground is a prior art and will not be described in detail here; the mobile robot in this solution no longer detects the high-voltage transformer above at an elevation angle, but directly detects the screen of the upper computer on the ground; the upper computer is arranged inside the protection box 1, and a glass panel is arranged on the top of the protection box 1 to facilitate observation by the mobile robot.

[0042] The camera structure includes a vertically arranged piston cylinder 15, a camera assembly sliding up and down inside the piston cylinder 15, and a power structure for driving the camera assembly to move up and down. The bottom end of the piston cylinder 15 is closed and connected to the driving structure 16, and the top end of the piston cylinder 15 is closed and slidingly arranged in the bottom opening groove 51 arranged on the bottom surface of the upper track ring 5 through an embedded column 151; the piston cylinder 15 is made of transparent glass material.

[0043] Preferably, the piston cylinder 15 in this solution is a square structure, which helps to limit the piston 22 so that the camera 21 is always facing the direction of the high-voltage transformer; the camera assembly slides up and down on the piston cylinder 15 according to the principle of a syringe, which will not be described in detail here.

[0044] The camera assembly includes a piston 22, a camera 21 fixed to the upper end of the piston 22, and an upper travel switch and a lower travel switch fixedly arranged at the upper and lower ends of the piston cylinder 15, respectively. The upper travel switch and the lower travel switch are connected to the power structure through a PLC controller respectively;

[0045] The camera 21 is connected to the host computer via a wire 2 .

[0046] When the piston 22 is close to the upper stroke switch or the lower stroke switch position, that is, when the piston 22 is close to the end position of the piston cylinder 15, the upper stroke switch or the lower stroke switch senses and transmits the signal to the PLC controller, and the PLC controller controls the operation or stop of the power structure.

[0047] The power structure includes an upper air intake pump 13, an upper air intake pipe 12 connected to the upper air intake pump 13 at one end, an upper air extraction pump, and an upper air extraction pipe connected to the upper air extraction pump at one end. The other ends of the upper air intake pipe 12 and the upper air extraction pipe are both connected to the upper end of the piston cylinder 15.

[0048] It also includes a lower air intake pump 131, a lower air intake pipe 14 connected to the lower air intake pump 131 at one end, a lower air extraction pump, and a lower air extraction pipe connected to the lower air extraction pump at one end, and the other ends of the lower air intake pipe 14 and the lower air extraction pipe are both connected to the lower end of the piston cylinder 15;

[0049] The upper air intake pump 13 , the upper air exhaust pump, the lower air intake pump 131 , and the lower air exhaust pump are all fixed on the outer side of the piston cylinder 15 .

[0050] The working principle of the upper air intake pump 13, the upper air exhaust pump, the lower air intake pump 131, and the lower air exhaust pump is essentially to carry out the process of air intake and exhaust in the space inside the piston cylinder 15 and above and below the piston 22, and to use the air pressure difference above and below the piston 22 to push the piston 22 to drive the camera 21 to move up and down.

[0051] In order to simplify the design, the upper air pump, the upper air pipe, the lower air pump and the lower air pipe are no longer marked in the attached drawings. They have been clearly described in the text and will not be described in detail here.

[0052] The driving structure 16 includes a moving seat, a driving shaft 161 vertically rotatably arranged on the moving seat, a driving gear 162 coaxially connected to the driving shaft 161, and a motor 163 connected to the driving shaft 161. The motor 163 is fixed on the moving seat, and the moving seat is clamped on the lower track ring 3.

[0053] The driving gear 162 is meshedly connected with the outer side of the toothed belt, and the toothed belt is fixed around the outer side of the lower track ring 3.

[0054] Under the meshing action of the driving gear 162 and the external toothed belt, the moving seat is driven to rotate around the lower track ring 3.

[0055] The winding structure 17 includes a driven gear 172 meshingly connected to the outer side of the driving gear 162, a driven shaft vertically passing through the center of the driven gear 172, a bevel gear 173 coaxially connected to the top of the driven shaft, a fixing seat 171 arranged at the bottom of the driven shaft, a bevel gear 175 meshingly connected to the bevel gear 173, a winding shaft 176 passing through the center of the bevel gear 175, a winding wheel 174 coaxially connected to the outer end of the winding shaft 176, and a fixing seat 177 arranged at the inner end of the winding shaft 176, and a wire 2 is wound around the winding wheel 174;

[0056] The first fixed seat 171 is fixedly connected to the movable seat, and the second fixed seat 177 is fixed to the outer side of the piston cylinder 15.

[0057] Since the camera 21 is connected to the host computer through the wire 2, the wire 2 extends several meters from top to bottom and can easily be entangled under the high-voltage transformer, or sway and break in windy weather, causing an accident; when the motor 163 is running, it drives the bevel gear 1 173 and the bevel gear 2 175 to rotate, driving the winding wheel 174 to rotate, and the winding wheel 174 drives the wire 2 to wind or release, maintaining a certain tension of the wire 2.

[0058] The cleaning structure includes a vertically arranged positioning cylinder 10, an air blowing pipe 8 vertically passing through the positioning cylinder 10, an air inlet pipe 7 having one end connected to the top of the air blowing pipe 8, and a cleaning air pump 13 connected to the other end of the air inlet pipe 7;

[0059] A long open groove is arranged on the outside of the positioning cylinder 10 , and a blowing hole 81 is arranged on the outside of the blowing tube 8 . The blowing hole 81 is exposed at the position of the long open groove. A sponge layer 9 is fixed on the outside of the long open groove, and the sponge layer 9 is in active contact with the inner side of the piston cylinder 15 .

[0060] Preferably, a notch 101 is provided at the bottom end of the positioning tube 10 to facilitate the passage of the moving seat.

[0061] When the piston cylinder 15 moves to the position of the sponge layer 9, it contacts the sponge layer 9. Under the friction of the sponge layer 9, the outer side of the glass piston cylinder 15 is cleaned, which helps to maintain the clarity of the photo.

[0062] The host computer is equipped with a printing laser engraving detection system for receiving the taken photos. The printing laser engraving detection system has pre-entered good product images, which are compared with the actual photos taken and the comparison results are presented on the screen. When the mobile robot moves to the position of the host computer, the screen information is observed and recorded.

[0063] The printed laser engraving detection system is a software system used in industry and will not be described in detail here.

[0064] A plurality of upper supporting ribs 6 are arranged on the inner side of the upper track ring 5, and a plurality of lower supporting ribs 4 are arranged on the inner side of the lower track ring 3. The upper supporting ribs 6 and the lower supporting ribs 4 are both fixedly arranged on the outer side of the high voltage transformer.

[0065] The power systems in this solution are all connected to the PLC controller and are uniformly controlled and regulated by the PLC controller, which will not be described in detail here.

[0066] The specific working process of the present invention is:

[0067] A camera structure is provided. Under the action of the upper air intake pump 13, the upper air exhaust pump, the lower air intake pump 131 and the lower air exhaust pump, the piston 22 drives the camera 21 to move up and down. Since the piston cylinder 15 is made of transparent glass, the camera 21 can shoot the upper and lower positions of the high-voltage transformer.

[0068] Under the shielding of the piston cylinder 15, it helps to protect the piston 22 and the camera 21, and helps to increase the protection of the camera 21, the upper travel switch and the lower travel switch;

[0069] A driving structure 16 is provided. On the one hand, the camera structure can move around the outer periphery of the lower track ring 3, so that the camera 21 can take pictures of various positions of the high-voltage transformer in the circumference. On the other hand, when the driving gear 162 moves, it will also drive the winding structure 17 to operate. Since the wire 2 is wound on the winding wheel 174, the winding and release of the wire 2 are realized under the forward and reverse rotation of the winding wheel 174, ensuring that the wire 2 is always in a tensioned state.

[0070] A cleaning structure is provided. Under the action of the cleaning air pump 13, air is blown into the air blowing pipe 8, and the air is blown out from the air blowing hole 81, which collides with the sponge layer 9. Since the sponge layer 9 is in contact with the outer side of the piston cylinder 15, the dust on the piston cylinder 15 is wiped off. The airflow in the air blowing hole 81 removes the dust in the sponge layer 9, which helps the piston cylinder 15 to continuously clean.

[0071] In this solution, a host computer and a printed laser engraving detection system are provided, which cleverly transmit the photos taken of the high-voltage transformer to the bottom of the high-voltage transformer, thereby avoiding the disadvantage of requiring the camera 21 to set an elevation angle to observe the expander in the past, and this solution has higher observation clarity.

[0072] Technical features not described in the present invention can be achieved through or by adopting existing technologies and will not be described in detail here. Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the scope of protection of the present invention.

Claims

1. A high voltage transformer inspection robot, characterized in that: It comprises an upper track ring (5) and a lower track ring (3) respectively sleeved horizontally on the outer sides of the upper and lower ends of the high-voltage transformer, a camera structure arranged between the upper track ring (5) and the lower track ring (3), a driving structure (16) for driving the camera structure to perform circular motion, and a host computer connected to the camera structure via a wire (2); A cleaning structure is also provided between the upper track ring (5) and the lower track ring (3), and the cleaning structure is connected to the camera structure; and a mobile robot is also included, which is located below the high-voltage transformer and on the ground and is used to observe the screen of the host computer.

2. The high-voltage transformer inspection robot according to claim 1, characterized in that: The camera structure comprises a vertically arranged piston cylinder (15), a camera assembly slidably arranged inside the piston cylinder (15), and a power structure for driving the camera assembly to move up and down. The bottom end of the piston cylinder (15) is closed and connected to the driving structure (16), and the top end of the piston cylinder (15) is closed and slidably arranged in a bottom opening groove (51) provided on the bottom surface of the upper track ring (5) through an embedded column (151); the piston cylinder (15) is made of transparent glass material.

3. The high-voltage transformer inspection robot according to claim 2, characterized in that: The camera assembly comprises a piston (22), a camera (21) fixed to the upper end of the piston (22), and an upper travel switch and a lower travel switch respectively fixed to the upper and lower ends of the piston cylinder (15), wherein the upper travel switch and the lower travel switch are respectively connected to the power structure via a PLC controller; The camera (21) is connected to the host computer via a wire (2).

4. The high-voltage transformer inspection robot according to claim 3, characterized in that: The power structure comprises an upper air intake pump (13), an upper air intake pipe (12) connected to the upper air intake pump (13) at one end, an upper air extraction pump, and an upper air extraction pipe connected to the upper air extraction pump at one end, wherein the other ends of the upper air intake pipe (12) and the upper air extraction pipe are both connected to the upper end of the piston cylinder (15); It also includes a lower air intake pump (131), a lower air intake pipe (14) having one end connected to the lower air intake pump (131), a lower air extraction pump, and a lower air extraction pipe having one end connected to the lower air extraction pump, wherein the other ends of the lower air intake pipe (14) and the lower air extraction pipe are both connected to the lower end of the piston cylinder (15); The upper air intake pump (13), the upper air extraction pump, the lower air intake pump (131), and the lower air extraction pump are all fixed on the outside of the piston cylinder (15).

5. The high-voltage transformer inspection robot according to claim 1, characterized in that: The driving structure (16) comprises a moving seat, a driving shaft (161) vertically rotatably arranged on the moving seat, a driving gear (162) coaxially connected to the driving shaft (161), and a motor (163) connected to the driving shaft (161); the motor (163) is fixed on the moving seat, and the moving seat is clamped on the lower track ring (3); The driving gear (162) is meshedly connected with the outer side of a toothed belt, and the toothed belt is fixed around the outer side of the lower track ring (3).

6. The high-voltage transformer inspection robot according to claim 5, characterized in that: The winding structure (17) comprises a driven gear (172) meshingly connected to the outer side of the driving gear (162), a driven shaft vertically passing through the center of the driven gear (172), a bevel gear (173) coaxially connected to the top end of the driven shaft, a fixing seat (171) arranged at the bottom end of the driven shaft, a bevel gear (175) meshingly connected to the bevel gear (173), a winding shaft (176) passing through the center of the bevel gear (175), a winding wheel (174) coaxially connected to the outer end of the winding shaft (176), and a fixing seat (177) arranged at the inner end of the winding shaft (176), wherein a wire (2) is wound around the winding wheel (174); The first fixed seat (171) is fixedly connected to the movable seat, and the second fixed seat (177) is fixed to the outside of the piston cylinder (15).

7. The high-voltage transformer inspection robot according to claim 5, characterized in that: The cleaning structure comprises a vertically arranged positioning cylinder (10), an air blowing pipe (8) vertically passing through the positioning cylinder (10), an air inlet pipe (7) one end of which is connected to the top end of the air blowing pipe (8), and a cleaning air pump connected to the other end of the air inlet pipe (7); The outer side of the positioning cylinder (10) is provided with a long open groove, the outer side of the blowing pipe (8) is provided with a blowing hole (81), the blowing hole (81) is exposed at the position of the long open groove, a sponge layer (9) is fixed on the outer side of the long open groove, and the sponge layer (9) is in active contact with the inner side of the piston cylinder (15).

8. The high-voltage transformer inspection robot according to claim 5, characterized in that: The host computer is provided with a printing laser engraving detection system for receiving the photographed photos. The printing laser engraving detection system has pre-entered good product images, which are compared with the actual photographed photos and the comparison results are presented on the screen. When the mobile robot moves to the position of the host computer, the observation and recording of the screen information is realized.

9. The high-voltage transformer inspection robot according to claim 1, characterized in that: A plurality of upper supporting ribs (6) are arranged on the inner side of the upper track ring (5), a plurality of lower supporting ribs (4) are arranged on the inner side of the lower track ring (3), and the upper supporting ribs (6) and the lower supporting ribs (4) are both fixedly arranged on the outer side of the high-voltage transformer.

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