All-angle inspection and cleaning robot for foreign matters in GIS equipment

Abstract

The invention discloses an all-angle inspection and cleaning robot for foreign matters in GIS equipment, and belongs to the technical field of detection equipment. The cleaning robot comprises a vehicle body, a detection module is mounted above the vehicle body, a flexible mechanical arm is mounted on one side of the detection module, a high-definition camera mounting table is mounted at the end, away from the detection module, of the flexible mechanical arm, and a high-definition camera is mounted on the high-definition camera mounting table; an adjusting module is arranged in the detection module; the cleaning robot further comprises a high-definition camera adjusting module capable of being bent and deformed and a moving pipe, one end of the high-definition camera adjusting module and one end of the moving pipe are arranged in the detection module and connected with the adjusting module, and the other end of the high-definition camera adjusting module and the other end of the moving pipe are arranged in the flexible mechanical arm. A high-definition camera adjusting module and a moving pipe which are located in the flexible mechanical arm can deform along with the flexible mechanical arm, and an adjustable flexible module is further assembled in the flexible mechanical arm. The flexible mechanical arm is matched with the camera, so that all-dimensional dead-corner-free inspection in the air chamber can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of detection equipment, and particularly to a robot for full-angle inspection and cleaning of foreign objects inside GIS equipment. Background Art

[0002] According to statistics, in recent years, foreign objects have caused the largest proportion of equipment failures in combined electrical appliances, exceeding 50%. The foreign objects in GIS equipment are mainly manifested in poor assembly processes of moving parts in the in-plant assembly link, poor construction environments in the installation link, or incomplete internal cleaning. During operation, debris is generated by component friction. Through in-plant measurement verification and on-site disassembly inspection in switch factories, it is found that most of the foreign objects inside GIS are millimeter-sized particulate matters. During equipment operation, under the action of high voltage, foreign objects cause distortion of the internal electric field of GIS, leading to surface flashover of components such as pot-type insulators, post insulators, or insulating tie rods inside the equipment, resulting in equipment failures. When a foreign object defect is detected inside GIS and disassembly inspection is carried out, due to the length of a single-section bus being nearly 8 meters, it is difficult to effectively detect the situation of metal particles inside the equipment when entering the cavity for inspection, and it is impossible to achieve a full-range and non-blind-spot inspection inside the gas chamber. Moreover, the inspection and cleaning quality and efficiency cannot be guaranteed. It is impossible to clean foreign objects and dust inside the cavity in a full-range and non-blind-spot manner, and there is no detection function for whether there are toxic gases, discharge powders, etc. inside the faulty gas chamber. Summary of the Invention

[0003] To solve the deficiencies in the prior art, the present invention provides a robot for full-angle inspection and cleaning of foreign objects inside GIS equipment.

[0004] The present invention adopts the following technical solutions:

[0005] A robot for full-angle inspection and cleaning of foreign objects inside GIS equipment includes: a vehicle body, a detection module, a flexible robotic arm, a high-definition camera mounting platform, and a high-definition camera; the detection module is installed above the vehicle body, the flexible robotic arm is installed on one side of the detection module, a high-definition camera mounting platform is installed at the end of the flexible robotic arm away from the detection module, and a high-definition camera is installed on the high-definition camera mounting platform; an adjustment module is provided inside the detection module for driving the operation of the entire device; the cleaning robot further includes: a high-definition camera adjustment module and a motion tube. The high-definition camera adjustment module and the motion tube can be bent and deformed to change the direction of the high-definition camera. One end of the high-definition camera adjustment module and the motion tube is arranged inside the detection module and connected to the adjustment module, and the other end is arranged inside the flexible robotic arm. The high-definition camera adjustment module and the motion tube located in the flexible robotic arm can be deformed along with the flexible robotic arm. An adjustable flexible module is also assembled inside the flexible robotic arm, and the adjustment module is used to control the bending direction and bending radian of the end of the adjustable flexible module away from the detection module.

[0006] According to the GIS equipment internal foreign object full-angle inspection and cleaning robot described above, the adjustable flexible module includes: a link end and a flexible connection end. One end of the link end is connected to the high-definition camera mounting platform, and the other end of the link end is connected to the flexible connection end.

[0007] According to the GIS equipment internal foreign object full-angle inspection and cleaning robot described above, the adjustment module includes: control filaments. The control filaments are arranged inside the adjustable flexible module. Several control filaments are evenly arranged on the link end. The adjustment module regulates the bending direction and bending radian of the link end via the control filaments.

[0008] According to the GIS equipment internal foreign object full-angle inspection and cleaning robot described above, the high-definition camera adjustment module includes: a connecting bar. One end of the connecting bar away from the detection module is connected to the high-definition camera; a moving tube is arranged outside the connecting bar and is in contact with the connecting bar. One end of the moving tube away from the high-definition camera is connected to the adjustment module.

[0009] According to the GIS equipment internal foreign object full-angle inspection and cleaning robot described above, the moving tube includes: a first moving tube and a second moving tube. The first moving tube is connected to the adjustment module. One end of the second moving tube is connected to the end of the first moving tube away from the detection module. The other end of the second moving tube is connected to the high-definition camera mounting platform. The anti-deformation ability of the first moving tube is greater than that of the second moving tube.

[0010] According to the GIS equipment internal foreign object full-angle inspection and cleaning robot described above, the adjustable flexible module is arranged outside the second moving tube and is in contact with the second moving tube. The zigzag deformation of the link end of the adjustable flexible module can drive the second moving tube and the link end to deform together.

[0011] According to the GIS equipment internal foreign object full-angle inspection and cleaning robot described above, the cleaning robot further includes: a wire. The wire is arranged at the center inside the connecting bar. The high-definition camera and the detection module are electrically connected through the wire.

[0012] According to the GIS equipment internal foreign object full-angle inspection and cleaning robot described above, foreign object cleaning and storage modules are also arranged on both sides of the vehicle body. A self-suction cleaning module and a foreign object particle picking module are arranged below the foreign object cleaning and storage module. The self-suction cleaning module is used for cleaning foreign objects and dust inside the GIS cavity in a full-range and dead-angle-free manner. The foreign object particle picking module is used for separating and picking up foreign objects with different positions and properties, and automatically marking the positions of the tanks according to the running track of the robot.

[0013] According to the GIS equipment internal foreign object full-angle inspection and cleaning robot described above, a GIS internal environment perception module is also arranged inside the detection module, which is used for detecting oxygen and SO2 gas inside the equipment.

[0014] According to the GIS equipment internal foreign object full-angle inspection and cleaning robot described above, the cleaning robot is built-in with a wireless transmission module for transmitting the captured video information to the upper computer monitoring platform.

[0015] Compared with the prior art, the beneficial effects of the present invention at least include:

[0016] 1. The flexible robotic arm 3 designed in this application controls the movement of the thin wire through the adjustment module, and then controls the rotation of the high-definition camera, enabling full-angle and dead-angle-free inspection inside the gas chamber;

[0017] 2. The foreign object particle pickup module and the self-priming cleaning module provided below the foreign object cleaning and storage module 10 of this application can automatically switch the foreign object container, realize the sub-packaging and pickup of foreign objects with different positions and properties, and automatically mark the position of the tank body according to the running track of the robot, realizing full-angle and dead-angle-free cleaning of foreign objects and dust inside the cavity;

[0018] 3. The cleaning robot of this application is not affected by the internal environment of the gas chamber and can enter the gas chamber to collect foreign object information in the first time, solving the problem that the toxic gas and discharge powder existing inside the faulty gas chamber will cause harm to maintenance personnel, and improving the efficiency of foreign object inspection and fault handling.

[0019] 4. The cleaning robot is built-in with a wireless transmission module for transmitting the captured video information to the upper computer monitoring platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is the overall structure diagram of the present invention;

[0021] Figure 2 is the structure diagram of the adjustable flexible module of the present invention;

[0022] Figure 3 is the structure diagram of the exposed control thin wire of the present invention;

[0023] Figure 4 is the structure diagram of the bendable end of the present invention;

[0024] Figure 5 is the structure diagram of the connection relationship between the connecting bar and the high-definition camera of the present invention.

[0025] In the figure: 1, vehicle body; 2, detection module; 3, flexible robotic arm; 4, high-definition camera mounting platform; 5, high-definition camera; 602, connecting bar; 704, moving pipe two; 8, adjustable flexible module; 802, link end; 803, flexible connection end; 9, control thin wire; 10, foreign object cleaning and storage module; 11, wire. DETAILED DESCRIPTION OF THE INVENTION

[0026] To make the objectives, technical solutions and advantages of the present invention more clear, the following will clearly and completely describe the technical solutions of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. The embodiments described in this application are only a part of the embodiments of the present invention, rather than all embodiments. Based on the spirit of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0027] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "front", "rear", "inner", "outer", "right", "left", "both ends", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0028] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "equipped with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] As Figures 1-5 shown, the present invention provides a full-angle inspection and cleaning robot for foreign objects inside a GIS device, which is applicable to different voltage levels and can improve the applicability of foreign object inspection.

[0030] This application includes: a vehicle body 1, a detection module 2, and a flexible robotic arm 3; the detection module 2 is installed above the vehicle body 1, the flexible robotic arm 3 is installed on one side of the detection module 2, and a high-definition camera mounting platform 4 is installed at one end of the flexible robotic arm 3 away from the detection module 2, and a high-definition camera 5 is installed on the high-definition camera mounting platform 4.

[0031] Drive wheels are installed on both sides of the vehicle body 1 to control the movement direction of the vehicle body 1.

[0032] The detection module 2 is internally provided with an adjustment module, which can drive the high-definition camera mounting platform 4 to move and thus control the movement of the high-definition camera 5, and is used to control the operation of the entire device.

[0033] This application also includes: a high-definition camera adjustment module and a motion tube for driving the high-definition camera 5. The high-definition camera adjustment module and the motion tube can be bent and deformed to change the direction of the high-definition camera 5, so as to perform photographic recording on any part of the cavity wall. One end of the high-definition camera adjustment module and the motion tube is arranged in the detection module 2 and connected to the adjustment module, and the other end of the high-definition camera adjustment module and the motion tube is arranged inside the flexible robotic arm 3. The high-definition camera adjustment module and the motion tube in the flexible robotic arm 3 can be deformed along with the flexible robotic arm 3. An adjustable flexible module 8 is also assembled in the flexible robotic arm 3. The adjustment module is used to control the bending direction and bending radian of the end of the adjustable flexible module 8 away from the detection module 2. By cooperating the adjustment module that is not easily deformed with the adjustable flexible module 8 that can be deformed in this application, the high-definition camera 5 can photograph any part inside the GIS cavity, greatly improving the detection effect and detection accuracy.

[0034] As Figure 2 or Figure 3 shown, the adjustable flexible module 8 includes: a link end 802 and a flexible connection end 803. One end of the link end 802 is connected to the high-definition camera mounting table 4, and the other end of the link end 802 is connected to the flexible connection end 803. The adjustment module includes: a control filament 9. The control filament 9 is arranged inside the adjustable flexible module 8. A plurality of control filaments 9 are evenly arranged on the link end 802 to achieve the purpose of stable regulation. The adjustment module regulates the bending direction and bending radian of the link end 802 through the control filament 9. The high-definition camera adjustment module, the motion tube, and the corresponding positions of the link end 802 are also made of bendable materials.

[0035] The high-definition camera adjustment module includes: a connecting bar 602. One end of the connecting bar 602 away from the detection module 2 is connected to the high-definition camera 5. The motion tube is arranged outside the connecting bar 602 and is in contact with the connecting bar 602. One end of the motion tube away from the high-definition camera 5 is connected to the adjustment module. The adjustment module can drive the connecting bar 602 to pull the high-definition camera 5 to move towards the end close to the detection module 2, and the adjustment module can also drive the motion tube to push the high-definition camera 5 to move towards the end away from the detection module 2.

[0036] The motion tube includes: moving tube one and moving tube two 704. Moving tube one is connected to the adjustment module. One end of moving tube two 704 is connected to the end of moving tube one away from the detection module 2, and the other end of moving tube two 704 is connected to the high-definition camera mounting platform 4. The anti-deformation ability of moving tube one is greater than that of moving tube two 704. Moving tube two 704 is made of a material that can bend and transmit pushing force. When the robot of the present application performs tasks, the motion tube only needs to transmit the pushing force toward the end away from the detection module 2. Therefore, moving tube one and moving tube two 704 do not need to be assembled and connected. In one embodiment, moving tube one and moving tube two 704 only need to be in contact. The anti-deformation ability of moving tube one of the present application is greater than that of moving tube two 704. Therefore, moving tube one is not likely to generate a large degree of deformation during work and can be made of a synthetic material with high hardness. Moving tube two 704 of the present application is made of a material that can bend and transmit pushing force and can use a silicone material with a small deformation amount in the radial direction.

[0037] The adjustable flexible module 8 is arranged on the outside of moving tube two 704 and is in contact with moving tube two 704. The zigzag deformation of the link end 802 of the adjustable flexible module 8 can drive moving tube two 704 and the link end 802 to deform together.

[0038] The high-definition camera 5 and the detection module 2 are electrically connected through the wire 11. Setting the high-definition camera 5 at one end of the flexible robotic arm 3 facilitates observing and photographing various places on the GIS cavity wall during the cleaning process of the robot, thereby improving the working efficiency of the cleaning robot. At the same time, the cleaning robot is built-in with a wireless transmission module for transmitting the captured video information to the upper computer monitoring platform, facilitating the staff to observe the situation inside the GIS cavity in a timely manner. When an abnormality appears in the GIS cavity wall, it can not only make a record but also enable the staff to quickly respond to the abnormality. The connecting strip 602 of the high-definition camera is made of a material that can bend and transmit pushing force. The hollow design of the connecting strip 602 can also facilitate zigzag deformation. The wire 11 is arranged at the center of the connecting strip 602 without affecting the movement of other structures.

[0039] A GIS internal environment sensing module is also arranged in the detection module 2 for detecting oxygen and SO2 gases inside the equipment to ensure that the internal environment meets the requirements.

[0040] Foreign object cleaning and storage modules 10 are also arranged on both sides of the vehicle body 1. A self-suction cleaning module and a foreign object particle picking module are arranged below the foreign object cleaning and storage module 10. The self-suction cleaning module is used for cleaning foreign objects and dust inside the GIS cavity in a full-range and non-dead-angle manner. The foreign object particle picking module is used for sub-packaging and picking foreign objects with different positions and properties and automatically marking the positions of the tanks according to the running track of the robot.

[0041] Compared with the prior art, the beneficial effects of the present invention at least include:

[0042] 1. The flexible robotic arm 3 designed in this application controls the movement of the fine wire through the adjustment module, and then controls the rotation of the high-definition camera, enabling a full-range and dead-angle-free inspection inside the air chamber;

[0043] 2. The foreign object particle pickup module and the self-priming cleaning module provided below the foreign object cleaning and storage module 10 of this application can automatically switch the foreign object container, realize the sub-packaging and pickup of foreign objects with different positions and properties, and automatically mark the position of the tank body according to the running track of the robot, realizing a full-range and dead-angle-free cleaning of foreign objects and dust inside the cavity;

[0044] 3. The cleaning robot of this application is not affected by the internal environment of the air chamber, can enter the air chamber to collect foreign object information in the first time, solves the problem that the toxic gas and discharge powder existing inside the faulty air chamber will cause harm to maintenance personnel, and improves the efficiency of foreign object inspection and fault handling.

[0045] 4. The cleaning robot is built-in with a wireless transmission module for transmitting the captured video information to the upper computer monitoring platform.

[0046] The foreign object inspection and cleaning robot inside the GIS device can irradiate the inside of the cavity with the internal visible light + ultraviolet light, configure a high-definition camera, and realize the detection of foreign objects inside with dual light sources (fluorescence + white light). The detectable particles can reach the millimeter level; the robot adopts a modular design, and the flexible robotic arm 3 can inspect the top and flange of the internal cavity; at the same time, it is equipped with a GIS internal environment perception module to detect the oxygen and SO2 gas inside the device to ensure that the internal environment meets the requirements.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: the specific implementation manners of the present invention can still be modified or equivalently replaced, and any modification or equivalent replacement without departing from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. A robot for inspecting and cleaning foreign matter in GIS equipment at all angles, comprising: a vehicle body (1), a detection module (2), a flexible mechanical arm (3), a high-definition camera mounting platform (4) and a high-definition camera (5); characterized in that: A detection module (2) is installed above the vehicle body (1); a flexible mechanical arm (3) is installed on one side of the detection module (2); a high-definition camera mounting platform (4) is installed on the end of the flexible mechanical arm (3) away from the detection module (2); and a high-definition camera (5) is installed on the high-definition camera mounting platform (4); The detection module (2) is provided with a regulating module for driving the operation of the entire device; The cleaning robot further comprises: a high-definition camera adjustment module and a motion tube, the high-definition camera adjustment module and the motion tube being bendable and deformable and used to change the direction of the high-definition camera (5), one end of the high-definition camera adjustment module and the motion tube being arranged in the detection module (2) and connected to the adjustment module, the other end of the high-definition camera adjustment module and the motion tube being arranged in the flexible mechanical arm (3), the high-definition camera adjustment module and the motion tube being arranged in the flexible mechanical arm (3) being deformable along with the flexible mechanical arm (3), the flexible mechanical arm (3) being further equipped with an adjustable flexible module (8), the adjustment module being used to control the bending direction and bending curvature of one end of the adjustable flexible module (8) away from the detection module (2).

2. The robot for inspecting and cleaning foreign matter in GIS equipment at all angles according to claim 1 is characterized in that: The adjustable flexible module (8) comprises: a chain link end (802) and a flexible connection end (803), one end of the chain link end (802) is connected to the high-definition camera mounting platform (4), and the other end of the chain link end (802) is connected to the flexible connection end (803).

3. The robot for inspecting and cleaning foreign matter in GIS equipment at all angles according to claim 2 is characterized in that: The adjustment module comprises: a control filament (9), the control filament (9) is arranged inside the adjustable flexible module (8), a plurality of control filaments (9) are evenly arranged on the chain link end (802), and the adjustment module regulates the bending direction and bending curvature of the chain link end (802) via the control filament (9).

4. The robot for inspecting and cleaning foreign matter in GIS equipment at all angles according to claim 1 is characterized in that: The high-definition camera adjustment module comprises: a connection bar (602), wherein one end of the connection bar (602) away from the detection module (2) is connected to the high-definition camera (5); The motion tube is arranged outside the connection bar (602), and the motion tube is in contact with the connection bar (602), and one end of the motion tube away from the high-definition camera (5) is connected to the adjustment module.

5. The robot for inspecting and cleaning foreign matter in GIS equipment at all angles according to claim 4 is characterized in that: The moving tube comprises: a moving tube 1 and a moving tube 2 (704), wherein the moving tube 1 is connected to the adjustment module, one end of the moving tube 2 (704) is connected to an end of the moving tube 1 away from the detection module (2), and the other end of the moving tube 2 (704) is connected to a high-definition camera mounting platform (4), and the anti-deformation capability of the moving tube 1 is greater than that of the moving tube 2 (704).

6. The robot for inspecting and cleaning foreign matter in GIS equipment at all angles according to claim 5 is characterized in that: The adjustable flexible module (8) is arranged on the outer side of the movable tube (704), and the adjustable flexible module (8) is in contact with the movable tube (704). The bending deformation of the chain link end (802) of the adjustable flexible module (8) can drive the movable tube (704) and the chain link end (802) to deform together.

7. The robot for inspecting and cleaning foreign matter in GIS equipment at all angles according to claim 6 is characterized in that: The cleaning robot further comprises: a wire (11), the wire (11) being arranged at the inner center of the connecting bar (602), and the high-definition camera (5) and the detection module (2) being electrically connected via the wire (11).

8. The robot for inspecting and cleaning foreign matter in GIS equipment at all angles according to claim 1 is characterized in that: Foreign matter cleaning and storage modules (10) are also provided on both sides of the vehicle body (1), and a self-priming cleaning module and a foreign matter particle picking module are provided below the foreign matter cleaning and storage module (10). The self-priming cleaning module is used for all-round cleaning of foreign matter and dust inside the GIS cavity without dead angles, and the foreign matter particle picking module is used for packaging and picking up foreign matter at different positions and of different natures, and automatically marking the position of the tank according to the running track of the robot.

9. The robot for inspecting and cleaning foreign matter in GIS equipment at all angles according to claim 1, characterized in that: The detection module (2) is also provided with a GIS internal environment sensing module for detecting oxygen and SO2 gas inside the equipment.

10. The robot for inspecting and cleaning foreign matter in GIS equipment at all angles according to claim 1, characterized in that: The cleaning robot has a built-in wireless transmission module to transmit the captured video information to the host computer monitoring platform.

Images