Flaw detection robot and method for post porcelain insulator of transformer substation

Abstract

The invention relates to the technical field of flaw detection equipment accessory devices, in particular to a flaw detection robot and a flaw detection method for a post porcelain insulator of a transformer substation, and provides the flaw detection robot and the flaw detection method for the post porcelain insulator of the transformer substation, the detection probe performs reciprocating detection on the insulator so as to provide equipment detection flexibility, the equipment is hoisted to a voltage tower, a clamping mechanism of the equipment is clamped with a gap between two groups of disc bodies of the insulator so as to fix the equipment on the insulator, and the bottom displacement device rotates and is folded, so that the detection flexibility of the equipment is improved. And the clamp can be clamped through a gap between the clamp and an insulator disc body.

Description

Technical Field

[0001] The invention relates to the technical field of flaw detection equipment attachments, and in particular to a flaw detection robot and method for supporting porcelain insulators of a transformer substation. Background Art

[0002] Post porcelain insulators are components used to rigidly support live parts and insulate them from the ground or another live part. They support conductors or equipment in substations and achieve insulation from the ground. In order to prevent defective post porcelain insulators from entering the grid, ultrasonic flaw detection can be used to detect post porcelain insulators before installation. The most common insulator flaw detection equipment is the flaw detector, which is a device used to detect insulators in daily life and has been widely used in the field of power detection.

[0003] When using existing flaw detectors, choose a suitable coupling agent, such as water, glycerin, engine oil, special ultrasonic coupling agent, etc. When choosing, you should consider the nature of the material to be tested, the testing environment, and whether it will cause pollution to the object to be tested. Gently press the probe coated with coupling agent against the surface to be tested, ensure that there are no bubbles or impurities between the two, start the ultrasonic testing instrument, and scan according to the predetermined testing procedure. During the testing process, it may be necessary to continuously adjust the position and angle of the probe to cover all areas that need to be tested.

[0004] Patent No. CN202211559755.6 discloses a power line flaw detection device and a flaw detection method thereof, which relate to the technical field of power line flaw detection devices, including power cables and a chassis, two support plates are fixedly installed at both ends of the top surface of the chassis, two rotating shafts are fixedly installed between the four support plates, a moving mechanism is sleeved on the outer surface of any of the rotating shafts, and suspension mechanisms are rotatably sleeved at both ends of the two rotating shafts, and a support column is fixedly installed in the middle of the top surface of the chassis. The present invention discloses a power line flaw detection device and a flaw detection method thereof. The device moves on the cable by controlling a motor. The sensor assembly collects data of the outer surface of the cable in real time and sends the data to a control end. The control end is equipped with a flaw detector to analyze the collected data to determine whether there is damage on the outer surface of the cable. The three sensor assemblies can completely cover the outer surface of the cable without blind spots, and the flaw detection data is accurate and reliable. The device in this patent is a single clamp and only detects a single insulator string. In daily life, insulators are mostly arranged in two groups. The device has poor flexibility in switching between the two groups of string detections, resulting in low working efficiency of the device. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a substation pillar porcelain insulator flaw detection robot and method which can be hoisted to hang the equipment on the insulator string, and by moving on the single coil, the detection probe can perform reciprocating detection between two groups of insulator strings, thereby providing equipment detection flexibility.

[0006] A method for detecting flaws in transformer substation support ceramic insulators of the present invention comprises: S1: Hoist the equipment onto the voltage tower, and clamp the equipment's clamping mechanism on the gap between the two sets of insulator discs to make it hoisted on the insulator. By rotating and folding the bottom displacement device, it can be clamped on the gap between the insulator discs, driving the equipment to jump on the insulator. S2: During the process of traveling, the adjustment device is started to make the detection probe of the flaw detector perform semicircular detection on the insulator along the arc track. After detecting one end, the other end is detected by rotating the device angle; S3: In this process, the IOT master control is installed on the equipment, and the flaw detector is controlled and externally protected by sliding the cross slide.

[0007] Preferably, the semicircle detection diameter is 15 cm.

[0008] Preferably, the coupling agent is applied at a frequency of 15 m / time.

[0009] A substation pillar ceramic insulator flaw detection robot of the present invention is suitable for the detection method as described in any one of claims 1 to 3, including a hanging box and a detection device, the detection device is evenly installed on the hanging box, the detection device also includes a flaw detector, a master control power supply, a rotating assembly, an adjustment device, a clamping mechanism and a master control device, a working chamber is provided in the hanging box, the master control power supply and the flaw detector are evenly installed in the working chamber, the connecting end of the master control device is connected to the connecting end of the hanging box, the connecting end of the rotating assembly is connected to the connecting end of the hanging box, a first mounting seat is provided on the rotating assembly, the adjustment device passes through the first mounting seat and is rotatably connected to the rotating assembly, and the connecting end of the clamping mechanism is connected to the connecting end of the hanging box.

[0010] Preferably, the master control device also includes a cover, a master control chip, a signal transmitter, a first foc motor, a first guide rail, a slider, a slide, a first screw rod, a second screw rod, a camera, an image transmitter, a probe, a first electric push rod, a knob and a hinge. The connection end of the master control chip is connected to the connection end of the working chamber, the output end of the signal transmitter is electrically connected to the input end of the master control chip, the two groups of connection ends of the hinge are respectively connected to the connection ends of the hanging box and the cover, a rotating hole is provided on the hanging box, the knob passes through the rotating hole and is threadedly connected to the hanging box, an installation groove is provided on the cover, the connection ends of the two groups of first guide rails are connected to the connection ends of the installation groove, the slide and the slider are provided with slide grooves, the two groups of first guide rails respectively pass through the corresponding slide grooves and are connected to the slide of the slide The first screw rod and the second screw rod are respectively rotatably connected with the blocking cover and the sliding table, threaded holes are arranged on the sliding table and the slider, the first screw rod passes through the corresponding threaded hole and is threadedly connected with the sliding table, the second screw rod passes through the corresponding threaded hole and is threadedly connected with the slider, two groups of first foc motors are evenly installed on the blocking cover and the sliding table, and the output ends of the two groups of first foc motors are respectively connected with the connecting ends of the first screw rod and the second screw rod, the connecting ends of the image transmitter and the first electric push rod are both connected with the connecting end of the slider, the connecting end of the probe is connected with the output end of the first electric push rod, the connecting end of the camera and the connecting end of the probe are fixedly assembled, and the input end of the camera and the output end of the image transmitter are electrically connected.

[0011] Preferably, the clamping mechanism also includes a second guide rail, a second electric push rod, a bracket, an adjustment block, an adjustment knob, a top arc block, a second foc motor, an L-shaped rod, a buckle, a bidirectional screw and a placement box, the connecting ends of the two sets of second guide rails are connected to the connecting end of the suspension box, the connecting end of the second electric push rod is connected to the connecting end of the suspension box, a guide groove is provided on the bracket, the two sets of second guide rails pass through the corresponding guide grooves respectively and are slidably connected to the bracket, the output end of the second electric push rod is connected to the connecting end of the bracket, two sets of adjustment grooves are provided on the bracket, the two sets of adjustment blocks pass through the corresponding adjustment grooves respectively and are connected to the bracket Sliding connection, the connecting ends of the two groups of top arc blocks are respectively connected to the connecting ends of the corresponding adjustment blocks, the two groups of adjustment blocks are provided with adjustment holes, the two groups of adjustment knobs are respectively passed through the corresponding adjustment holes and are threadedly connected to the corresponding adjustment blocks, a second mounting seat is provided on the bracket, the L-shaped frame passes through the second mounting seat and is rotatably connected to the bracket, the connecting end of the placement box is connected to the connecting end of the L-shaped frame, a groove is provided in the placement box, the bidirectional screw rod passes through the groove and is rotatably connected to the placement box, the two groups of buckles are threadedly connected to the connecting end of the bidirectional screw rod, and the three groups of second foc motors are evenly installed on the placement box and the L-shaped frame.

[0012] Preferably, the rotating assembly also includes an electric turntable, a spring, a lateral rod, a sleeve and a limit sleeve. The connecting end of the electric turntable is connected to the connecting end of the suspension box, the connecting end of the lateral rod is connected to the output end of the electric turntable, the connecting end of the sleeve is connected to the connecting end of the lateral rod, the spring is fixedly mounted on the sleeve, the connecting end of the limit sleeve is connected to the connecting end of the spring, and the limit sleeve and the sleeve are slidably connected.

[0013] Preferably, the adjusting device also includes a flaw detection probe, an arc sleeve, a motor, a driving wheel, a third electric push rod and a pull rod. A through hole is provided on the working chamber. The input end of the flaw detection probe is connected to the output end of the flaw detector through the through hole. The pull rod passes through the first mounting seat and is rotatably connected to the lateral rod. The lateral rod and the pull rod are both provided with a third mounting seat. The connecting end and the output end of the third electric push rod respectively pass through the third mounting seat and are rotatably connected to the lateral rod and the pull rod. A fourth mounting seat is provided on the arc sleeve. The pull rod passes through the fourth mounting seat and is rotatably connected to the arc sleeve. The corresponding motors are evenly installed on the fourth mounting seat. An arc groove is provided on the arc sleeve. The output end of the flaw detection probe passes through the arc groove and is slidably connected to the arc sleeve. The corresponding connecting end of the motor is connected to the connecting end of the flaw detection probe. The connecting end of the driving wheel is connected to the output end of the motor. A rack is provided on the arc sleeve, and the output end of the driving wheel is meshed with the rack.

[0014] Compared with the prior art, the present invention has the following beneficial effects: during use, by mounting the device on the insulator, the device can automatically move and detect flaws on the insulators on both sides, thereby reducing manual intervention, improving the level of detection automation, and thus improving the working efficiency of the device; (2) During the inspection process, the equipment is positioned and hoisted by the top arc block, and the bottom buckle is rotated to clamp the buckle between the insulator gaps. After clamping, the top arc block is moved in a jumping manner by driving the equipment to rotate, thereby providing convenience for the equipment to move on the insulator disk; (3) The flaw detection probe slides in the arc sleeve and rotates along the arc track to perform large-angle diameter flaw detection on the insulator gap, thereby improving the efficiency of equipment detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a schematic diagram of the connection structure of the cover and the hinge of the present invention; Figure 3 It is a schematic diagram of the connection structure between the flaw detection probe and the pull rod of the present invention; Figure 4 It is a schematic diagram of the connection structure of the suspension box and the flaw detector of the present invention; Figure 5 It is a schematic diagram of the connection structure between the top arc block and the bracket of the present invention; Figure 6 It is a partial enlarged structural schematic diagram of A of the present invention; Markings in the attached drawings: 1, suspension box; 201, flaw detector; 202, master control power supply; 203, working chamber; 204, first mounting seat; 301, cover; 302, master control chip; 303, signal transmitter; 304, first foc motor; 305, first guide rail; 306, slide table; 307, slider; 308, first screw rod; 309, second screw rod; 310, camera; 311, image transmitter; 312, probe; 313, first electric push rod; 314, knob; 315, hinge; 316, rotating hole; 317, mounting groove; 318, slide groove; 319, threaded hole; 401, second guide rail; 402, second electric push rod; 403, bracket; 404, adjustment Section block; 405, adjustment knob; 406, top arc block; 407, second foc motor; 408, L-shaped rod; 409, buckle; 410, bidirectional screw rod; 411, placement box; 412, guide groove; 413, adjustment groove; 414, adjustment hole; 415, second mounting seat; 416, groove; 501, electric turntable; 502, spring; 503, lateral rod; 504, sleeve; 505, limit sleeve; 601, flaw detection probe; 602, arc sleeve; 603, motor; 604, driving wheel; 605, third electric push rod; 606, pull rod; 607, through hole; 608, third mounting seat; 609, fourth mounting seat; 610, arc groove; 611, rack. DETAILED DESCRIPTION

[0016] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0017] Embodiment: A transformer substation pillar porcelain insulator flaw detection robot and method of the present invention comprises: S1: Hoist the equipment onto the voltage tower, and clamp the equipment's clamping mechanism on the gap between the two sets of insulator discs to make it hoisted on the insulator. By rotating and folding the bottom displacement device, it can be clamped on the gap between the insulator discs, driving the equipment to jump on the insulator. S2: During the process of traveling, the adjustment device is started to make the detection probe of the flaw detector perform semicircular detection on the insulator along the arc track. After detecting one end, the other end is detected by rotating the device angle; S3: In this process, the IOT master control is installed on the equipment, and the flaw detector is controlled and externally protected by sliding the cross slide.

[0018] Embodiment: A transformer substation pillar porcelain insulator flaw detection robot and method of the present invention, the master control device also includes: S1: A master control power supply is built into the device, and the device is supplied with power through the master control power supply, preferably a battery with light weight and long battery life. In this process, the device is controlled to run through the master control chip, and the two sets of first foc motors are controlled to rotate, driving the first screw rod and the second screw rod to rotate in a cross shape, driving the slide on the first screw rod to slide on the first guide rail, and making a lateral movement for the probe and the camera. The second screw rod is rotated to drive the slider to slide on the slide, and the probe and the camera are driven to slide longitudinally; S2: During the sliding process, the button of the flaw detector is located by the camera, and the probe is hovered on the top of the specific button. The image transmitter can be used for manual control, and the button is pressed by starting the first electric push rod; S3: During the probe pressing process, it is necessary to ensure that the baffle cover and the hanging box are in a closed state, and fix one end of the baffle cover and the hanging box through a hinge, and fix the baffle cover by turning the knob. During this process, the hanging box and the baffle cover are in a wrapped state when they are buckled together, which is beneficial to improve the protection of the equipment.

[0019] Embodiment: A transformer substation pillar porcelain insulator flaw detection robot and method of the present invention, the clamping mechanism also includes: S1: In the process of moving the equipment, the hook provided on the suspension box is used for hoisting, so that the equipment is transported to the top of the insulator disk, and the equipment is fixed by hoisting the top arc block and the insulator. In this process, it is necessary to slide the adjustment block in advance according to the different sizes of insulators, so that it slides along the adjustment slot, and adjust the spacing between the two groups of top arc blocks to adapt to different monitoring sites. After adjustment, the adjustment knob is turned to make it move in the thread of the adjustment hole to fix the bracket; S2: Before the equipment needs to be moved, the L-shaped rod is in an inclined state, so that its bottom length becomes lower. By starting the second foc motor to drive the bidirectional screw rod to rotate, the buckle is driven to clamp with the relative insulator gap position; S3: When the device is displaced, the corresponding second foc motor is started to drive the L-shaped rod to swing, drive the bracket to move in a jumping manner, and cooperate with the top arc rod for positioning and clamping.

[0020] Embodiment: A transformer substation pillar porcelain insulator flaw detection robot and method of the present invention, the rotating assembly also includes: S1: When the flaw detector is used for testing, coupling agent needs to be applied to the probe to improve the testing efficiency. The coupling agent is placed in the limit sleeve, and the coupling agent is limited by the limit card protruding from the limit sleeve. The coupling agent is pressed by the flaw detector probe under the drive of the adjustment device to extrude it, so as to apply the coupling agent. S2: During the sliding process of the limit sleeve, it contacts the inverted triangle block in the sleeve, causing it to gradually shrink and increase the contact area, thereby increasing the squeezing force on the coupling agent; S3: After the extrusion is completed, a reaction force is applied to the limit sleeve through the spring to reset the limit sleeve.

[0021] Embodiment: A transformer substation pillar porcelain insulator flaw detection robot and method of the present invention, the adjustment device also includes: S1: During the equipment testing process, the diameter of the insulator gap is tested by adjusting the angle and height of the equipment, and the second electric push rod is started to extend and retract, so that it drives the bracket connected to it to slide along the guide rail, and the bracket is stabilized and limited by the guide rail; S2: In this process, the third electric push rod is started to pull the pull rod to change the angle between the pull rod and the side plate, and the electric turntable is used to flip the pull rod to detect the insulator in multiple directions. When the coupling agent needs to be applied, the arc sleeve is rotated to fold it under the drive of the foc motor, so that the output end of the flaw detection probe contacts the limit sleeve, so as to apply the coupling agent; S3: Start the motor to drive the driving wheel to rotate, and through the meshing relationship between the driving wheel and the rack, drive the flaw detection probe to slide along the trajectory of the arc sleeve to perform semicircular detection.

[0022] The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

[0023] The “first”, “second” and “third” in the present invention do not represent specific quantities and orders, but are merely used to distinguish names.

[0024] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for flaw detection of porcelain insulators in a transformer substation; characterized in that: include: S1: Hoist the equipment onto the voltage tower, and fix it on the insulator by clamping the clamping mechanism of the equipment with the gap between the two sets of discs of the insulator. The bottom displacement device is rotated and folded so that it can be clamped through the gap with the insulator disc, driving the equipment to jump on the insulator. S2: During the process of traveling, the adjustment device is activated so that the detection probe of the flaw detector (201) performs a semicircular detection on the insulator along an arc track, and after detecting one end, the other end is detected by rotating the device angle; S3: In this process, an IOT master control is installed on the equipment, and the flaw detector (201) is controlled and externally protected by sliding the cross slide (306).

2. A method for flaw detection of a transformer substation support porcelain insulator according to claim 1, characterized in that: Also included is a semicircular detection diameter of 15cm.

3. A method for flaw detection of a transformer substation support porcelain insulator according to claim 2, characterized in that: It also includes a coupling agent application frequency of 15m / time.

4. A transformer substation pillar porcelain insulator flaw detection robot, suitable for the detection method according to any one of claims 1 to 3, comprising a suspension box (1) and a detection device, wherein the detection device is evenly mounted on the suspension box (1); characterized in that: The detection device also includes a flaw detector (201), a master control power supply (202), a rotating assembly, an adjustment device, a clamping mechanism and a master control device; a working chamber (203) is provided in the suspension box (1); the master control power supply (202) and the flaw detector (201) are evenly installed in the working chamber (203); a connecting end of the master control device is connected to a connecting end of the suspension box (1); a connecting end of the rotating assembly is connected to a connecting end of the suspension box (1); a first mounting seat (204) is provided on the rotating assembly; the adjustment device passes through the first mounting seat (204) and is rotatably connected to the rotating assembly; and a connecting end of the clamping mechanism is connected to a connecting end of the suspension box (1).

5. A transformer substation support porcelain insulator flaw detection robot as claimed in claim 4, characterized in that: The master control device further comprises a cover (301), a master control chip (302), a signal transmitter (303), a first FOC motor (304), a first guide rail (305), a slider (307), a slide table (306), a first screw rod (308), a second screw rod (309), a camera (310), an image transmitter (311), a probe (312), a first electric push rod (313), a knob (314) and a hinge (315). The connection end of the master control chip (302) is connected to the connection end of the working chamber (203), and the output end of the signal transmitter (303) is connected to the master control chip (3 02), the two groups of connection ends of the hinge (315) are respectively connected to the connection ends of the hanging box (1) and the cover (301), the hanging box (1) is provided with a rotating hole (316), the rotating button (314) passes through the rotating hole (316) and is threadedly connected to the hanging box (1), the cover (301) is provided with a mounting groove (317), the connection ends of the two groups of first guide rails (305) are both connected to the connection ends of the mounting groove (317), the slide table (306) and the slider (307) are both provided with a slide groove (318), and the two groups of first guide rails (305) respectively pass through the corresponding slide grooves (318) The first screw rod (308) and the second screw rod (309) are respectively rotatably connected to the blocking cover (301) and the sliding table (306). The sliding table (306) and the sliding table (307) are both provided with threaded holes (319). The first screw rod (308) passes through the corresponding threaded hole (319) and is threadedly connected to the sliding table (306). The second screw rod (309) passes through the corresponding threaded hole (319) and is threadedly connected to the sliding table (307). The two sets of first FOC motors (304) The two groups of first FOC motors (304) are evenly mounted on the cover (301) and the slide (306), and the output ends of the two groups of first FOC motors (304) are respectively connected to the connecting ends of the first screw rod (308) and the second screw rod (309), the connecting ends of the image transmitter (311) and the first electric push rod (313) are both connected to the connecting end of the slide (307), the connecting end of the probe (312) is connected to the output end of the first electric push rod (313), the connecting end of the camera (310) and the connecting end of the probe (312) are fixedly mounted, and the input end of the camera (310) and the output end of the image transmitter (311) are electrically connected.

6. A transformer substation pillar porcelain insulator flaw detection robot as claimed in claim 5, characterized in that: The clamping mechanism also includes a second guide rail (401), a second electric push rod (402), a bracket (403), an adjustment block (404), an adjustment knob (405), a top arc block (406), a second FOC motor (407), an L-shaped rod (408), a buckle (409), a bidirectional screw rod (410) and a placement box (411). The connecting ends of the two sets of second guide rails (401) are connected to the connecting end of the suspension box (1), the connecting end of the second electric push rod (402) is connected to the connecting end of the suspension box (1), a guide groove (412) is provided on the bracket (403), the two sets of second guide rails (401) respectively pass through the corresponding guide grooves (412) and are slidably connected to the bracket (403), the output end of the second electric push rod (402) is connected to the connecting end of the bracket (403), two sets of adjustment grooves (413) are provided on the bracket (403), and the two sets of adjustment blocks (404) respectively pass through the corresponding adjustment grooves (412). 13) is slidably connected to the bracket (403), the connection ends of the two groups of top arc blocks (406) are respectively connected to the connection ends of the corresponding adjustment blocks (404), the two groups of adjustment blocks (404) are both provided with adjustment holes (414), the two groups of adjustment knobs (405) respectively pass through the corresponding adjustment holes (414) and are threadedly connected to the corresponding adjustment blocks (404), the bracket (403) is provided with a second mounting seat (415), the L-shaped frame passes through the second mounting seat (415) and is rotatably connected to the bracket (403), the connection end of the placement box (411) is connected to the connection end of the L-shaped frame, the placement box (411) is provided with a groove (416), the bidirectional screw rod (410) passes through the groove (416) and is rotatably connected to the placement box (411), the two groups of buckles (409) are both threadedly connected to the connection ends of the bidirectional screw rod (410), and the three groups of second foc motors (407) are evenly installed on the placement box (411) and the L-shaped frame.

7. A transformer substation support porcelain insulator flaw detection robot as claimed in claim 5, characterized in that: The rotating assembly further comprises an electric turntable (501), a spring (502), a lateral rod (503), a sleeve (504) and a limiting sleeve (505); the connecting end of the electric turntable (501) is connected to the connecting end of the suspension box (1); the connecting end of the lateral rod (503) is connected to the output end of the electric turntable (501); the connecting end of the sleeve (504) is connected to the connecting end of the lateral rod (503); the spring (502) and the sleeve (504) are fixedly mounted; the connecting end of the limiting sleeve (505) is connected to the connecting end of the spring (502); and the limiting sleeve (505) and the sleeve (504) are slidably connected.

8. A transformer substation pillar porcelain insulator flaw detection robot as claimed in claim 5, characterized in that: The adjustment device also includes a flaw detection probe (601), an arc sleeve (602), a motor (603), a driving wheel (604), a third electric push rod (605) and a pull rod (606). A through hole (607) is provided on the working chamber (203). The input end of the flaw detection probe (601) passes through the through hole (607) and is connected to the output end of the flaw detector (201). The pull rod (606) passes through the first mounting seat (204) and is rotatably connected to the lateral rod (503). The lateral rod (503) and the pull rod (606) are both provided with a third mounting seat (608). The connection end and the output end of the third electric push rod (605) pass through the third mounting seat (608) and are rotatably connected to the lateral rod (503) and the pull rod (606). A fourth mounting seat (609) is provided on the arc sleeve (602), a pull rod (606) passes through the fourth mounting seat (609) and is rotatably connected to the arc sleeve (602), a corresponding motor (603) is evenly mounted on the fourth mounting seat (609), an arc groove (610) is provided on the arc sleeve (602), an output end of the flaw detection probe (601) passes through the arc groove (610) and is slidably connected to the arc sleeve (602), a corresponding connection end of the motor (603) is connected to a connection end of the flaw detection probe (601), a connection end of the driving wheel (604) is connected to an output end of the motor (603), a rack (611) is provided on the arc sleeve (602), and the output end of the driving wheel (604) is meshed with the rack (611).

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