GIS bus partial discharge detection crawler

Abstract

The invention provides a GIS (Gas Insulated Switchgear) bus partial discharge detection crawler, which belongs to the technical field of electric power inspection and comprises a bearing vehicle body and an obstacle crossing vehicle body. Wherein the bearing vehicle body is provided with a detection mechanism for partial discharge detection. The obstacle crossing vehicle body is hinged to the front end of the advancing direction of the bearing vehicle body. First crawler walking assemblies are symmetrically arranged on the two sides of the obstacle crossing vehicle body, each first crawler walking assembly is provided with an advancing section, a climbing section and a return stroke section, and the advancing sections, the climbing sections and the return stroke sections define a triangular structure. The advancing section extends along the axis of the tube shell and is attached to the outer wall of the tube shell. The climbing section is located in front of the advancing section and extends obliquely upwards. When the obstacle crossing vehicle body moves to the position of the protrusion, the climbing section can abut against the top of the protrusion so that the climbing section can drive the front end of the obstacle crossing vehicle body to tilt up and cross the protrusion. The GIS bus partial discharge detection crawler provided by the invention can automatically cross the bulge on the tube shell during advancing.

Description

Technical Field

[0001] This invention belongs to the field of power line inspection technology, and more specifically, relates to a tracked vehicle for detecting partial discharge of GIS busbars. Background Technology

[0002] GIS busbars are fluid conductors used in gas-insulated, metal-enclosed switchgear for connecting and distributing electrical energy. A typical structure consists of an aluminum or copper tube conductor placed within a grounded, enclosed metal casing. The casing is filled with an insulating gas as the primary insulating medium, and basin-type insulators are used to support and fix the conductor and separate the gas chambers.

[0003] According to the maintenance manual, maintenance personnel are required to conduct offline partial discharge testing (partial discharge detection) on the GIS busbar once a month to ensure the normal operation of the equipment. Currently, maintenance personnel generally use a tracked trolley that can travel along the top of the GIS busbar casing to replace manual labor. This trolley is equipped with an ultrasonic partial discharge detector, and a single-chip microcomputer control system controls the lifting mechanism to automatically contact the ultrasonic probe with the casing surface, thereby achieving autonomous acquisition and detection of partial discharge signals.

[0004] At the installation location of the basin-type insulator, there is an outwardly protruding ring structure on the shell, which prevents the trolley from crossing directly. Manual intervention is required for segmented movement, which not only reduces the inspection efficiency but also increases the complexity of the operation, thus restricting the further improvement of the automation level of GIS busbar inspection. Summary of the Invention

[0005] The purpose of this invention is to provide a tracked vehicle for detecting partial discharge on GIS busbars, which aims to automatically cross protrusions on the pipe shell during travel.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: to provide a tracked vehicle for detecting partial discharge of GIS busbars, comprising: The vehicle body is equipped with a detection mechanism for partial discharge detection; and The obstacle-crossing vehicle body is hinged to the front end of the carrier vehicle body in the direction of travel; first tracked walking components are symmetrically arranged on both sides of the obstacle-crossing vehicle body, and each first tracked walking component has a traveling section, a climbing section and a return section, the traveling section, the climbing section and the return section forming a triangular structure; The traveling section extends along the axis of the tube shell and is in contact with the outer wall of the tube shell; the climbing section is located in front of the traveling section and extends diagonally upward; when the obstacle-crossing vehicle travels to the protrusion, the climbing section can abut against the top of the protrusion, so that the climbing section causes the front end of the obstacle-crossing vehicle to lift up and cross the protrusion.

[0007] In one possible implementation, each of the first tracked walking components includes: The first track wheel is rotatably mounted at one end of the obstacle-crossing vehicle body near the carrier vehicle body; The second track wheel is rotatably mounted at the end of the obstacle-crossing vehicle body away from the carrier vehicle body; The third track wheel is rotatably mounted on the obstacle-crossing vehicle body and is located diagonally above the second track wheel; The first track is wound around the first track wheel, the second track wheel and the third track wheel; The first motor is fixedly mounted on the obstacle-crossing vehicle body, and its output end is connected to the third track wheel; Wherein, the first track between the first track wheel and the second track wheel forms the travel section; the first track between the second track wheel and the third track wheel forms the climbing section; and the first track between the third track wheel and the second track wheel forms the return section.

[0008] In one possible implementation, the distance between the third track wheel and the outer wall of the casing is greater than the height of the protrusion, so that when the obstacle-crossing vehicle moves along the casing, the third track wheel can abut against the top of the protrusion.

[0009] In one possible implementation, support members are symmetrically arranged on both sides of the carrier body, each support member having a telescopic end that moves toward and away from the tube shell, and each telescopic end is provided with an adsorption member. During the testing process, the telescopic end drives the adsorption component to contact and adsorb with the tube shell to fix the carrier vehicle body.

[0010] In one possible implementation, the support member includes: The first bracket is rotatably mounted on the side of the carrier body via the first servo motor; The second bracket is mounted on the first bracket by rotating it via a second servo motor. A support electric cylinder is fixedly mounted on the second bracket; the adsorption element is mounted on the piston rod of the support electric cylinder. The supporting electric cylinder has a supporting state and a retracted state; When the supporting electric cylinder is in the supported state, the first servo motor and the second servo motor jointly drive the supporting electric cylinder to move to the side position of the carrier body, and the axis of the supporting electric cylinder is perpendicular to the axis of the tube shell; When the support electric cylinder is in the retracted state, the first servo motor and the second servo motor jointly drive the support electric cylinder to move above the carrier body, and the axis of the support electric cylinder is parallel to the axis of the tube shell.

[0011] In one possible implementation, the adsorption element includes: The support block is hinged to the piston rod of the support electric cylinder and has an arc-shaped contact surface adapted to the outer wall of the tube shell; An electromagnet is embedded in the support block.

[0012] In one possible implementation, a buffer is hinged between the carrier vehicle body and the obstacle-crossing vehicle body, the buffer being used to absorb impacts when relative pitching rotation occurs between the carrier vehicle body and the obstacle-crossing vehicle body.

[0013] In one possible implementation, the buffer includes: The damping rod is hinged at one end to the carrier vehicle body and at the other end to the obstacle crossing vehicle body; The buffer spring has one end connected to the cylinder of the damping rod and the other end connected to the piston rod of the damping rod.

[0014] In one possible implementation, a counterweight is fixedly installed at the front end of the obstacle-crossing vehicle body; When the obstacle-crossing vehicle body drives the counterweight block over the protrusion, the front end of the obstacle-crossing vehicle body drops down and causes the front end of the carrying vehicle body to tilt up, so that the front end of the carrying vehicle body can pass over the protrusion.

[0015] In one possible implementation, second tracked traveling assemblies are symmetrically arranged on both sides of the carrier vehicle body, and each second tracked traveling assembly includes: Two fourth track wheels are arranged sequentially along the axis of the tube shell and are rotatably connected to the carrier body; The second track is wound around the two fourth track wheels; The second motor is fixedly mounted on the carrier body, and its output end is connected to the fourth track wheel located at the rear end of the carrier body.

[0016] The present invention provides a tracked vehicle for partial discharge detection of GIS busbars. Compared with the prior art, the advantages are as follows: the traveling section, climbing section, and return section of the first tracked walking component form a triangular structure. The traveling section extends along the axis of the tube shell and fits against the outer wall of the tube shell, ensuring stable movement of the tracked vehicle on flat sections. The climbing section extends diagonally upward, and when the obstacle-crossing vehicle body travels to a raised position, the climbing section can abut against the top of the raised position, thereby pushing the front end of the obstacle-crossing vehicle body to lift up and complete the obstacle-crossing action.

[0017] During its journey along the top of the casing, when encountering a protrusion, the obstacle-crossing vehicle first approaches the protrusion. After the climbing section contacts the protrusion, due to the continuous movement of the tracks, the climbing section rolls along the surface of the protrusion, converting the horizontal movement force into a vertical lifting force. This causes the front end of the obstacle-crossing vehicle to gradually lift and cross the protrusion. The articulated design between the obstacle-crossing vehicle and the carrier vehicle allows the two vehicles to pitch relative to each other during obstacle crossing. This enables the obstacle-crossing vehicle to lift the front end of the carrier vehicle after crossing the protrusion, allowing it to subsequently cross the protrusion. This solves the problem in existing technologies where tracked vehicles cannot directly cross annular protrusions, avoids the manual intervention required for traditional segmented operations, and reduces the workload and working time of maintenance personnel. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the tracked vehicle for partial discharge detection of GIS busbars provided in an embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the support member in a supported state according to an embodiment of the present invention.

[0021] Figure 3 This is a schematic diagram of the support member provided in an embodiment of the present invention in a stowed state.

[0022] Figure 4 This is another schematic diagram of the support member provided in the embodiment of the present invention in a stowed state.

[0023] Figure 5 This is another schematic diagram of the support member provided in the embodiment of the present invention in a supported state.

[0024] In the diagram: 1. Carrier vehicle body; 11. Detection mechanism; 2. Obstacle-crossing vehicle body; 21. Counterweight block; 3. First tracked walking assembly; 31. Traveling section; 32. Climbing section; 33. Return section; 34. First track wheel; 35. Second track wheel; 36. Third track wheel; 37. First track; 38. First motor; 41. Tube shell; 42. Protrusion; 5. Support component; 51. First bracket; 52. First servo motor; 53. Second bracket; 54. Second servo motor; 55. Support cylinder; 6. Adsorption component; 61. Support block; 62. Electromagnet; 7. Buffer component; 71. Damping rod; 72. Buffer spring; 8. Second tracked walking assembly; 81. Fourth track wheel; 82. Second track; 83. Second motor. Detailed Implementation

[0025] To make the technical problems, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0026] It should be further noted that the accompanying drawings and embodiments of the present invention mainly describe the concept of the present invention. Based on this concept, some specific forms and arrangements of connection relationships, positional relationships, power mechanisms, power supply systems, hydraulic systems and control systems may not be fully described. However, under the premise that those skilled in the art understand the concept of the present invention, they can implement the above-mentioned specific forms and arrangements in a well-known manner.

[0027] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways, and the spatial relative descriptions used herein will be interpreted accordingly.

[0028] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, and "several" means one or more, unless otherwise explicitly specified.

[0029] Please see Figure 1 , Figure 2 and Figure 3The present invention will now describe a tracked vehicle for partial discharge detection of GIS busbars. The tracked vehicle for partial discharge detection of GIS busbars includes a carrier body 1 and an obstacle-crossing body 2. The carrier body 1 is equipped with a detection mechanism 11 for partial discharge detection. The obstacle-crossing body 2 is hinged to the front end of the carrier body 1 in the direction of travel. First tracked traveling components 3 are symmetrically arranged on both sides of the obstacle-crossing body 2. Each first tracked traveling component 3 has a traveling section 31, a climbing section 32, and a return section 33, which form a triangular structure.

[0030] The travel section 31 extends along the axis of the casing 41 and fits against the outer wall of the casing 41 to move the obstacle-crossing vehicle body 2. The climbing section 32 is located in front of the travel section 31 and extends diagonally upward. When the obstacle-crossing vehicle body 2 travels to the position of the protrusion 42, the climbing section 32 can abut against the top of the protrusion 42, so that the climbing section 32 causes the front end of the obstacle-crossing vehicle body 2 to lift up and cross the protrusion 42.

[0031] The carrier body 1 serves as the supporting foundation, and the detection mechanism 11 mounted on it performs partial discharge detection. The existing detection mechanism 11 includes an ultrasonic partial discharge detector, a control system, and a lifting mechanism. The control system controls the lifting mechanism, which in turn drives the ultrasonic probe to automatically contact the surface of the casing 41. The ultrasonic probe, attached to the surface of the casing 41, captures the ultrasonic signals generated by internal partial discharge. The signals are amplified by a signal conditioning unit and then analyzed through data acquisition and analysis to determine the internal insulation condition. The detection mechanism 11 is existing technology and will not be described in detail here.

[0032] The articulated design of the obstacle-crossing vehicle body 2 and the supporting vehicle body 1 allows for relative pitch freedom, facilitating the crossing of the protrusion 42. The travel section 31 extends along the axis of the shell 41 and fits tightly against the outer wall of the shell 41, ensuring stable support and driving force for the obstacle-crossing vehicle body 2 during normal travel. The upward-extending climbing section 32 is adapted to the structure of the protrusion 42 on the shell 41, facilitating the crossing of the protrusion 42.

[0033] When the tracked vehicle moves along the axis of the casing 41, the obstacle-crossing vehicle 2 remains in front of the carrier vehicle 1. When the obstacle-crossing vehicle 2 reaches the protrusion 42, the climbing section 32 first contacts the top of the protrusion 42. As the first track travel assembly 3 continues to output power, the climbing section 32 and the top of the protrusion 42 form a stable support point, which in turn causes the front end of the obstacle-crossing vehicle 2 to tilt upwards. Under the continuous drive of the track transmission, the obstacle-crossing vehicle 2 gradually crosses the protrusion 42. After the front end of the obstacle-crossing vehicle 2 crosses the protrusion 42, the rear end of the obstacle-crossing vehicle 2 tilts upwards under the support of the protrusion 42, thereby causing the front end of the carrier vehicle 1 to also tilt upwards, facilitating the smooth passage of the carrier vehicle 1 through the area of ​​the protrusion 42 without the need for manual intervention for segmented movement.

[0034] In some possible embodiments, please refer to Figure 4 and Figure 5 Each first tracked walking assembly 3 includes a first track wheel 34, a second track wheel 35, a third track wheel 36, a first track 37, and a first motor 38. The first track wheel 34 is rotatably mounted on the end of the obstacle-crossing vehicle body 2 closest to the carrier vehicle body 1. The second track wheel 35 is rotatably mounted on the end of the obstacle-crossing vehicle body 2 away from the carrier vehicle body 1. The third track wheel 36 is rotatably mounted on the obstacle-crossing vehicle body 2 and located diagonally above the second track wheel 35. The first track 37 is wound around the first track wheel 34, the second track wheel 35, and the third track wheel 36. The first motor 38 is fixedly mounted on the obstacle-crossing vehicle body 2, and its output end is connected to the third track wheel 36. The axes of the first track wheel 34, the second track wheel 35, and the third track wheel 36 are all perpendicular to the axis of the casing 41.

[0035] The first track 37 between the first track wheel 34 and the second track wheel 35 forms the traveling section 31. The first track 37 between the second track wheel 35 and the third track wheel 36 forms the climbing section 32. The first track 37 between the third track wheel 36 and the second track wheel 35 forms the return section 33.

[0036] Furthermore, in order to increase the stability of the obstacle-crossing vehicle body 2 when moving on the tube shell 41, the outer side of the first track 37 can be set as an arc-shaped surface that fits against the outer wall of the tube shell 41, thereby increasing the contact area with the outer wall of the tube shell 41.

[0037] It should be noted that a support roller is also provided on the obstacle crossing vehicle body 2 between the second track roller 35 and the third track roller 36. The support roller is a conventional feature in the track mechanism and will not be described in detail here.

[0038] The first motor 38 is positioned at the front end of the obstacle-crossing vehicle body 2, shifting the center of gravity of the vehicle body 2 forward. This allows the front end of the vehicle body 2 to droop after crossing the protrusion 42, thereby lifting the rear end of the vehicle body 2 and consequently the front end of the supporting vehicle body 1. Simultaneously, the first motor 38 is connected to the third track wheel 36, enabling direct power transmission to the critical climbing section 32, ensuring sufficient power output during climbing.

[0039] When the tracked vehicle is moving normally, the first motor 38 drives the third track wheel 36 to rotate. Through the coordinated action of the third track wheel 36, the first track wheel 34, and the second track wheel 35, the first track 37 is driven to move in a cycle. At this time, the traveling section 31 between the first track wheel 34 and the second track wheel 35 is in close contact with the outer wall of the tube shell 41. The friction between the first track 37 and the tube shell 41 drives the obstacle crossing vehicle 2 to move smoothly, ensuring the continuity of the overall movement.

[0040] When encountering protrusion 42, the obstacle-crossing vehicle 2 continues to move, causing the second track wheel 35 to gradually approach the bottom of protrusion 42. Subsequently, the climbing section 32 between the second track wheel 35 and the third track wheel 36 comes into contact with protrusion 42. As the first motor 38 continues to output power, the power is converted into an upward supporting force through the transmission of the first track 37, causing the front end of the obstacle-crossing vehicle 2 to slowly lift up. With the continuous movement of the first track 37, the obstacle-crossing vehicle 2 gradually crosses protrusion 42.

[0041] In some possible embodiments, please refer to Figure 1 , Figure 2 and Figure 3 The distance between the third track wheel 36 and the outer wall of the tube shell 41 is greater than the height of the protrusion 42, so that when the obstacle crossing vehicle 2 moves along the tube shell 41, the third track wheel 36 can abut against the top of the protrusion 42.

[0042] When the tracked vehicle is moving normally along the axis of the casing 41, the third track wheel 36 will not contact the surface of the casing 41 because there is a reasonable distance between the third track wheel 36 and the outer wall of the casing 41. At this time, the traveling section 31 of the first track walking assembly 3 undertakes the support and driving tasks alone, ensuring the smoothness of the traveling action.

[0043] When the obstacle-crossing vehicle 2 moves to the position of the protrusion 42, the obstacle-crossing vehicle 2 continues to move forward, so that the climbing section 32 of the first track walking component 3 first contacts the protrusion 42. As the obstacle-crossing vehicle 2 further advances, the climbing section 32 moves upward along the side of the protrusion 42. Since the distance between the third track wheel 36 and the outer wall of the tube shell 41 is greater than the height of the protrusion 42, the climbing section 32 can move smoothly and abut against the top of the protrusion 42 to form a stable support point.

[0044] The first motor 38 drives the third track wheel 36 to rotate, and through the transmission of the first track 37, the power is transmitted to the climbing section 32, causing the climbing section 32 to generate an upward driving force, which lifts the front end of the obstacle-crossing vehicle body 2 and gradually crosses the protrusion 42. If the distance between the third track wheel 36 and the outer wall of the tube shell 41 is too small, the third track wheel 36 will abut against the side of the protrusion 42 along the axial direction of the tube shell 41, thus affecting the force on the climbing section 32 and the obstacle-crossing action.

[0045] In some possible embodiments, please refer to Figure 1 , Figure 2 and Figure 3 The carrier body 1 is symmetrically provided with support members 5 on both sides. Each support member 5 has a telescopic end that moves towards and away from the tube shell 41, and each telescopic end is provided with an adsorption member 6. When the detection mechanism 11 performs the detection, the telescopic end drives the adsorption member 6 to contact and adsorb with the tube shell 41 to fix the carrier body 1.

[0046] It should be noted that the support 5 is located at the rear end of the carrying vehicle body 1, which makes the center of gravity of the carrying vehicle body 1 rearward. After the obstacle-crossing vehicle body 2 crosses the protrusion 42, it is easier to make the front end of the carrying vehicle body 1 tilt up.

[0047] When the tracked vehicle moves to the designated testing position, the carrier vehicle 1 stops moving. At this time, the telescopic end of the support 5 extends towards the tube shell 41, driving the adsorption component 6 to gradually approach the outer wall of the tube shell 41 until the adsorption component 6 is in close contact with the outer wall of the tube shell 41. Then, the adsorption component 6 generates an adsorption force to fix the carrier vehicle 1 on the tube shell 41, avoiding poor contact between the ultrasonic probe of the testing mechanism 11 and the surface of the tube shell 41 due to slight shaking of the vehicle body during the testing process, and ensuring the accuracy and integrity of the partial discharge signal acquisition.

[0048] Once the inspection is complete, the telescopic end of the support 5 retracts away from the shell 41, the adsorption component 6 separates from the outer wall of the shell 41, the carrier vehicle 1 regains its ability to move, and continues to move along the axis of the shell 41 or follow the obstacle-crossing vehicle 2 to cross the protrusion 42.

[0049] The adsorption and fixation effect of the adsorption component 6 significantly improves the stability of the carrier vehicle 1 during testing. At the same time, the telescopic design of the support component 5 automates the switching between the fixed and moving states without manual assistance, further improving the automation level of the testing process and solving the problem of low efficiency caused by manual fixation. This ensures that the testing mechanism 11 can continuously and accurately collect partial discharge signals, providing accurate testing data for the reliable operation of the GIS bus.

[0050] In some possible embodiments, please refer to Figure 4 and Figure 5The support component 5 includes a first bracket 51, a second bracket 53, and a support cylinder 55. The first bracket 51 is rotatably mounted on the side of the carrier body 1 via a first servo motor 52. The second bracket 53 is rotatably mounted on the first bracket 51 via a second servo motor 54. The support cylinder 55 is fixedly mounted on the second bracket 53. The suction component 6 is mounted on the piston rod of the support cylinder 55.

[0051] The support cylinder 55 has a supported state and a retracted state. When the support cylinder 55 is in the supported state, the first servo motor 52 and the second servo motor 54 jointly drive the support cylinder 55 to move to the side position of the carrier body 1, and the axis of the support cylinder 55 is perpendicular to the axis of the housing 41. When the support cylinder 55 is in the retracted state, the first servo motor 52 and the second servo motor 54 jointly drive the support cylinder 55 to move above the carrier body 1, and the axis of the support cylinder 55 is parallel to the axis of the housing 41.

[0052] When the testing state is required, the support cylinder 55 switches to the support state. The first servo motor 52 starts and drives the first bracket 51 to rotate around the connection point with the carrier body 1. At the same time, the second servo motor 54 drives the second bracket 53 to rotate around the connection point with the first bracket 51. The combined action of the two moves the support cylinder 55 to the side of the carrier body 1, so that the support cylinder 55 extends from the side of the carrier body 1. At the same time, the axis of the support cylinder 55 is perpendicular to the axis of the tube shell 41. At this time, the piston rod of the support cylinder 55 extends, which can drive the adsorption component 6 to move towards the tube shell 41 and adsorb and fix it to the tube shell 41, ensuring the stability of the carrier body 1.

[0053] When the test is completed, the support cylinder 55 switches to the storage state, the adsorption component 6 separates from the tube shell 41, the piston rod of the support cylinder 55 retracts, and the first servo motor 52 and the second servo motor 54 work together again to move the support cylinder 55 above the carrier body 1, and make the axis of the support cylinder 55 parallel to the axis of the tube shell 41, so as to prevent the support cylinder 55 and the adsorption component 6 from protruding from the side of the carrier body 1.

[0054] Through the coordinated control of dual servo motors and the design of multi-stage supports, the position of support component 5 can be flexibly adjusted. In the supported state, it can provide stable lateral support force to ensure the adsorption and fixation effect of adsorption component 6. In the retracted state, it can fully avoid obstacles and does not affect the normal movement and obstacle-crossing actions of the tracked vehicle, further ensuring the stability and automation level of the inspection process.

[0055] In some possible embodiments, please refer to Figure 4 and Figure 5 The adsorption component 6 includes a support block 61 and an electromagnet 62. The support block 61 is hinged to the piston rod of the support cylinder 55 and has an arc-shaped contact surface adapted to the outer wall of the tube shell 41. The electromagnet 62 is embedded in the support block 61.

[0056] The support block 61 is hinged to the piston rod of the support cylinder 55 and has an arc-shaped contact surface adapted to the outer wall of the tube shell 41. This allows the support block 61 to automatically adjust its angle according to the curvature of the tube shell 41, resulting in a tighter and more fitting contact between the support block 61 and the tube shell 41. The electromagnet 62 is embedded in the support block 61. Utilizing the characteristic that the GIS busbar tube shell 41 is made of grounded metal, it achieves stable fixation through electromagnetic adsorption. Compared with mechanical clamping and other methods, this method offers faster response and more reliable fixation.

[0057] When the support cylinder 55 drives the adsorption component 6 to move towards the tube shell 41, the arc-shaped contact surface of the support block 61 first contacts the outer wall of the tube shell 41. Because the support block 61 is hinged, under the contact pressure, it automatically adjusts its angle to ensure the arc-shaped contact surface fully fits the outer wall of the tube shell 41, maximizing the contact area. Subsequently, the electromagnet 62 is energized, generating a strong magnetic force that forms a strong adsorption force with the metal tube shell 41, firmly adsorbing the support block 61 onto the tube shell 41. This, in turn, stabilizes the carrier vehicle 1 via the support component 5, preventing displacement of the ultrasonic probe of the detection mechanism 11 due to external interference during testing, thus ensuring the accuracy of partial discharge signal acquisition. After the test is completed, the electromagnet 62 is de-energized, the magnetic force disappears, and the support cylinder 55 drives the adsorption component 6 to reset, without affecting the movement of the carrier vehicle 1.

[0058] In some possible embodiments, please refer to Figure 1 , Figure 2 and Figure 3 A buffer 7 is hinged between the carrier vehicle body 1 and the obstacle crossing vehicle body 2. The buffer 7 is used to absorb the impact when the carrier vehicle body 1 and the obstacle crossing vehicle body 2 undergo relative pitching rotation.

[0059] By hinged buffer 7 between the carrier vehicle body 1 and the obstacle-crossing vehicle body 2, the impact generated by their relative pitching during obstacle crossing is effectively absorbed, avoiding adverse effects on the vehicle body and the detection mechanism 11. When the climbing section 32 of the obstacle-crossing vehicle body 2 contacts the protrusion 42 and causes the front end to tilt upward, the obstacle-crossing vehicle body 2 pitches upward around the hinge point with the carrier vehicle body 1. At this time, the buffer 7 is subjected to the force transmitted by the obstacle-crossing vehicle body 2, and absorbs the impact energy by utilizing its elastic degree of freedom, preventing the impact from being directly transmitted to the carrier vehicle body 1 and preventing the carrier vehicle body 1 from shaking violently.

[0060] After the obstacle-crossing vehicle 2 completely crosses the protrusion 42, its front end falls under the action of gravity. At this time, the buffer 7 is subjected to downward pressure and absorbs the impact energy generated by the fall again, so that the falling action of the obstacle-crossing vehicle 2 is stable and will not cause sudden pulling on the supporting vehicle 1.

[0061] During normal operation, if there are slight unevenness on the surface of the casing 41, the buffer 7 can absorb minor impacts through slight expansion and contraction, maintaining the overall stability of the vehicle body.

[0062] In some possible embodiments, please refer to Figure 4 and Figure 5 The buffer component 7 includes a damping rod 71 and a buffer spring 72. One end of the damping rod 71 is hinged to the carrier vehicle body 1, and the other end is hinged to the obstacle-crossing vehicle body 2. One end of the buffer spring 72 is connected to the cylinder of the damping rod 71, and the other end is connected to the piston rod of the damping rod 71.

[0063] The damping rod 71 connects the two vehicle bodies, and the buffer spring 72 is associated with its piston rod and cylinder. During relative movement, the buffer spring 72 is compressed or extended to buffer, and the damping rod 71 provides damping force to suppress the rebound of the buffer spring 72. The structure is simple and reliable, easy to maintain, and low in cost, ensuring smooth movement of the vehicle body.

[0064] In some possible embodiments, please refer to Figure 4 A counterweight 21 is fixedly installed at the front end of the obstacle-crossing vehicle body 2. When the obstacle-crossing vehicle body 2 moves the counterweight 21 over the protrusion 42, the front end of the obstacle-crossing vehicle body 2 drops down and causes the front end of the supporting vehicle body 1 to lift up, so that the front end of the supporting vehicle body 1 can pass over the protrusion 42.

[0065] When the climbing section 32 of the obstacle-crossing vehicle 2 abuts against the top of the protrusion 42, driven by the power of the first tracked walking assembly 3, the front end of the obstacle-crossing vehicle 2 gradually lifts up and slowly crosses the protrusion 42. As the obstacle-crossing vehicle 2 continues to move forward, the counterweight 21 at its front end gradually crosses the top of the protrusion 42. After the counterweight 21 has completely crossed the protrusion 42, it naturally falls downward under the action of gravity. The falling of the counterweight 21 generates a continuous and stable downward force, which is transmitted to the front end of the carrier vehicle 1 through the hinge point between the obstacle-crossing vehicle 2 and the carrier vehicle 1, forming an upward traction force that causes the front end of the carrier vehicle 1 to lift upward.

[0066] In some possible embodiments, please refer to Figure 1 , Figure 4 and Figure 5 A second tracked traveling assembly 8 is symmetrically arranged on both sides of the carrier body 1. Each second tracked traveling assembly 8 includes two fourth track wheels 81, a second track 82, and a second motor 83. The two fourth track wheels 81 are arranged sequentially along the axis of the casing 41 and are rotatably connected to the carrier body 1. The second track 82 is wound around the two fourth track wheels 81. The second motor 83 is fixedly mounted on the carrier body 1, and its output end is connected to the fourth track wheel 81 located at the rear end of the carrier body 1. The axis of the fourth track wheel 81 is perpendicular to the axis of the casing 41.

[0067] By placing the second motor 83 at the rear end of the carrier vehicle 1, the center of gravity of the carrier vehicle 1 is closer to the rear end, making it easier to lift the front end of the carrier vehicle 1 after the obstacle-crossing vehicle 2 crosses the protrusion 42.

[0068] In summary, the GIS busbar partial discharge detection tracked vehicle provided by this invention, compared with the prior art, has a triangular structure formed by the traveling section 31, climbing section 32, and return section 33 of the first tracked walking component 3. The traveling section 31 extends along the axis of the casing 41 and fits against the outer wall of the casing 41, ensuring stable movement of the tracked vehicle on flat sections. The climbing section 32 extends obliquely upward, and when the obstacle-crossing vehicle 2 travels to the position of the protrusion 42, the climbing section 32 can abut against the top of the protrusion 42, thereby pushing the front end of the obstacle-crossing vehicle 2 to lift up and complete the obstacle-crossing action.

[0069] During its journey along the top of the casing 41, when encountering a protrusion 42, the obstacle-crossing vehicle 2 first approaches the protrusion 42. After the climbing section 32 contacts the protrusion 42, due to the continuous movement of the tracks, the climbing section 32 rolls along the surface of the protrusion 42, converting the horizontal movement force into a vertical lifting force, causing the front end of the obstacle-crossing vehicle 2 to gradually lift and cross the protrusion 42. The articulated design of the obstacle-crossing vehicle 2 and the carrier vehicle 1 allows the two vehicles to pitch relative to each other during obstacle crossing. This enables the obstacle-crossing vehicle 2 to lift the front end of the carrier vehicle 1 after crossing the protrusion 42, thus solving the problem in the prior art where tracked vehicles cannot directly cross annular protrusions, avoiding the manual intervention required for traditional segmented operations, and reducing the workload and working time of maintenance personnel.

[0070] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0071] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0072] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

Claims

1. A tracked vehicle for detecting partial discharge of GIS busbars, characterized in that, include: The vehicle body is equipped with a detection mechanism for partial discharge detection; as well as The obstacle-crossing vehicle body is hinged to the front end of the carrier vehicle body in the direction of travel; first tracked walking components are symmetrically arranged on both sides of the obstacle-crossing vehicle body, and each first tracked walking component has a traveling section, a climbing section and a return section, the traveling section, the climbing section and the return section forming a triangular structure; The traveling section extends along the axis of the tube shell and is in contact with the outer wall of the tube shell; the climbing section is located in front of the traveling section and extends diagonally upward; when the obstacle-crossing vehicle travels to the protrusion, the climbing section can abut against the top of the protrusion, so that the climbing section causes the front end of the obstacle-crossing vehicle to lift up and cross the protrusion.

2. The tracked vehicle for detecting partial discharge of GIS busbars as described in claim 1, characterized in that, Each of the first track travel components includes: The first track wheel is rotatably mounted at one end of the obstacle-crossing vehicle body near the carrier vehicle body; The second track wheel is rotatably mounted at the end of the obstacle-crossing vehicle body away from the carrier vehicle body; The third track wheel is rotatably mounted on the obstacle-crossing vehicle body and is located diagonally above the second track wheel; The first track is wound around the first track wheel, the second track wheel and the third track wheel; The first motor is fixedly mounted on the obstacle-crossing vehicle body, and its output end is connected to the third track wheel; Wherein, the first track between the first track wheel and the second track wheel forms the travel section; the first track between the second track wheel and the third track wheel forms the climbing section; and the first track between the third track wheel and the second track wheel forms the return section.

3. The tracked vehicle for detecting partial discharge of GIS busbars as described in claim 2, characterized in that, The distance between the third track wheel and the outer wall of the tube shell is greater than the height of the protrusion, so that when the obstacle-crossing vehicle moves along the tube shell, the third track wheel can abut against the top of the protrusion.

4. The tracked vehicle for detecting partial discharge of GIS busbars as described in claim 1, characterized in that, The two sides of the carrier body are symmetrically provided with support members, each of the support members having a telescopic end that moves toward and away from the tube shell, and each of the telescopic ends is provided with an adsorption member; During the testing process, the telescopic end drives the adsorption component to contact and adsorb with the tube shell to fix the carrier vehicle body.

5. A tracked vehicle for detecting partial discharge of GIS busbars as described in claim 4, characterized in that, The support member includes: The first bracket is rotatably mounted on the side of the carrier body via the first servo motor; The second bracket is mounted on the first bracket by rotating it via a second servo motor. A support electric cylinder is fixedly mounted on the second bracket; the adsorption element is mounted on the piston rod of the support electric cylinder. The supporting electric cylinder has a supporting state and a retracted state; When the supporting electric cylinder is in the supported state, the first servo motor and the second servo motor jointly drive the supporting electric cylinder to move to the side position of the carrier body, and the axis of the supporting electric cylinder is perpendicular to the axis of the tube shell; When the support electric cylinder is in the retracted state, the first servo motor and the second servo motor jointly drive the support electric cylinder to move above the carrier body, and the axis of the support electric cylinder is parallel to the axis of the tube shell.

6. The tracked vehicle for detecting partial discharge of a GIS busbar as described in claim 5, characterized in that, The adsorption element includes: The support block is hinged to the piston rod of the support electric cylinder and has an arc-shaped contact surface adapted to the outer wall of the tube shell; An electromagnet is embedded in the support block.

7. A tracked vehicle for detecting partial discharge of GIS busbars as described in claim 1, characterized in that, A buffer is hinged between the carrier vehicle body and the obstacle-crossing vehicle body, and the buffer is used to absorb impact when the carrier vehicle body and the obstacle-crossing vehicle body undergo relative pitching rotation.

8. The tracked vehicle for detecting partial discharge of GIS busbars as described in claim 7, characterized in that, The buffer includes: The damping rod is hinged at one end to the carrier vehicle body and at the other end to the obstacle crossing vehicle body; The buffer spring has one end connected to the cylinder of the damping rod and the other end connected to the piston rod of the damping rod.

9. A tracked vehicle for detecting partial discharge of GIS busbars as described in claim 1, characterized in that, A counterweight is fixedly installed at the front end of the obstacle-crossing vehicle. Specifically, when the obstacle-crossing vehicle body drives the counterweight block over the protrusion, the front end of the obstacle-crossing vehicle body drops down and causes the front end of the carrying vehicle body to tilt up, so that the front end of the carrying vehicle body can pass over the protrusion.

10. A tracked vehicle for detecting partial discharge of a GIS busbar as described in claim 1, characterized in that, The two sides of the carrier body are symmetrically provided with second track running assemblies, and each second track running assembly includes: Two fourth track wheels are arranged sequentially along the axis of the tube shell and are rotatably connected to the carrier body; The second track is wound around the two fourth track wheels; The second motor is fixedly mounted on the carrier body, and its output end is connected to the fourth track wheel located at the rear end of the carrier body.

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