Wall-climbing robot for partial discharge detection of composite apparatus

Abstract

The invention provides a wall-climbing robot for partial discharge detection of a combined electric appliance, and relates to the technical field of discharge detection of combined electric appliances, the wall-climbing robot comprises a wall-climbing connecting piece, and the wall-climbing connecting piece is provided with a rotary point changing piece; the rotary point changing piece is used for rotating around the bus air chamber; two driving devices are mounted on the wall climbing connecting piece; the two driving devices are used for driving the rotary point changing piece to move; a coupling cover fastener is mounted on the inner side of the rotary point changing piece; the environment test piece can detect environment sound waves, eliminates environment interference, improves the accuracy of ultrasonic detection data, and solves the problems that a conventional combined electric appliance partial discharge detection robot is inconvenient to eliminate environment sound source interference and is liable to cause false detection.

Description

Technical Field

[0001] This invention relates to the field of discharge detection technology for combined electrical appliances, and more particularly to a wall-climbing robot for partial discharge detection of combined electrical appliances. Background Technology

[0002] Switchgear (GIS) can perform various electrical control tasks such as switching, protection, signaling, and operation. The high-voltage busbar in a GIS requires atmosphere protection using a busbar gas chamber. GIS uses sulfur hexafluoride gas as an insulating and arc-quenching medium, exhibiting excellent insulation performance and high insulation strength. This allows GIS equipment to achieve high-voltage insulation within a relatively small volume, while also improving the equipment's reliability and stability. Currently, ultrasonic testing is generally performed by maintenance personnel using handheld ultrasonic testing equipment. While current ultrasonic equipment can detect partial discharges, generating an acoustic intensity array, the location of the partial discharge can be determined using this array. However, current GIS partial discharge detection robots are not suitable for climbing walls on the gas chamber pipes, resulting in low testing efficiency and poor flexibility. Furthermore, ultrasonic testing is not easy to eliminate environmental noise interference, leading to false detections. It is also inconvenient to use ultrasonic coupling agents to test the surface coating quality of the busbar gas chamber; leakage of coupling agents can generate bubbles, affecting the accuracy of ultrasonic testing. Summary of the Invention

[0003] This disclosure relates to a wall-climbing robot for partial discharge detection of combined electrical appliances. Its environmental testing component can detect ambient sound waves, eliminate environmental interference, and improve the accuracy of ultrasonic detection data. This solves the problem that current robots for partial discharge detection of combined electrical appliances are not good at eliminating environmental sound source interference and are prone to false detection.

[0004] This invention provides a wall-climbing robot for partial discharge detection of combined electrical appliances, comprising a wall-climbing connector, on which a rotating switching component is mounted; the rotating switching component is used to rotate around a busbar air chamber; two driving devices are mounted on the wall-climbing connector; the two driving devices are used to drive the rotating switching component to move; a coupling cover fastener is mounted inside the rotating switching component; an ultrasonic detection component is mounted inside the coupling cover fastener; the ultrasonic detection component is used to detect partial discharge of the busbar; an environmental testing component is mounted on the rotating switching component; the environmental testing component is used to detect environmental acoustic interference; a steering control component is mounted on the coupling cover fastener; the steering control component is used to control the swing of the ultrasonic detection component to adjust the detection angle; an outer wall detection component is mounted on the coupling cover fastener; the outer wall detection component is used to detect the surface flatness of the busbar air chamber.

[0005] In at least some embodiments, the wall-climbing connector includes: a wall-climbing frame, a clamping threaded rod, a clamping push plate, a push shaft, a spring limiting ring, a clamping spring, a push frame, rollers, and an indicator light. The wall-climbing frame has an arc-shaped structure. Two clamping threaded rods are rotatably mounted on the wall-climbing frame. Clamping push plates are threadedly connected to the two clamping threaded rods respectively. Two push shafts are slidably mounted on the two clamping push plates respectively. Four push shafts are slidably mounted on the wall-climbing frame respectively. Spring limiting rings are fixedly mounted on the four push shafts respectively. Clamping springs are sleeved on the four push shafts respectively. Push frames are fixedly mounted at the ends of the four push shafts respectively. Motors are provided on the four push frames respectively. Rollers are rotatably mounted on the four push frames respectively, and the rollers have an inwardly concave structure. The four rollers are respectively connected to the motor output shafts on the four push frames. An indicator light is fixedly mounted on the wall-climbing frame. The clamping push plate is used to compress the clamping springs.

[0006] In at least some embodiments, the wall-climbing connector includes: a wall-climbing frame, a clamping threaded rod, a clamping push plate, and a push shaft. The wall-climbing frame has an arc-shaped structure. Two clamping threaded rods are rotatably mounted on the wall-climbing frame. Clamping push plates are threadedly connected to the two clamping threaded rods respectively. Two push shafts are slidably mounted on the two clamping push plates respectively. Four push shafts are slidably mounted on the wall-climbing frame respectively.

[0007] In at least some embodiments, the rotating switching component includes: a rotating slide bar and a lifting cylinder; the rotating slide bar is slidably installed on the inner side of the wall-climbing connecting frame; a row of toothed grooves is provided on the outer side of the rotating slide bar; the lifting cylinder is fixedly installed on the inner side of the rotating slide bar; and a hexagonal hole is provided in the middle of the lifting cylinder.

[0008] In at least some embodiments, the wall-climbing connector further includes: a spring limiting ring, a clamping spring, a push frame, rollers, and an indicator light; spring limiting rings are fixedly installed on each of the four push shafts; clamping springs are sleeved on each of the four push shafts; push frames are fixedly installed at the ends of each of the four push shafts, and motors are provided on each of the four push frames; rollers are rotatably installed on each of the four push frames, and the rollers have an inwardly concave structure; the four rollers are respectively connected to the motor output shafts on the four push frames; an indicator light is fixedly installed on the wall-climbing connector; and the clamping push plate is used to compress the clamping springs.

[0009] In at least some embodiments, the steering control component includes: a steering control shaft and a steering tension spring, the steering control shaft being slidably mounted on the lower pressure sealing cover; a steering tension spring being sleeved on the steering control shaft, and the end of the steering tension spring being connected to the steering control shaft; the other end of the steering tension spring being fixedly mounted inside the lower pressure sealing cover; the end of the steering control shaft being attached to the swing frame; and the end of the steering control shaft being used to compress the busbar air chamber flange.

[0010] In at least some embodiments, the driving device includes: a switching motor and a drive gear, with two switching motors fixedly mounted on the wall-climbing connecting frame; drive gears are fixedly mounted on the output shafts of the two wall-climbing connecting frames respectively; the drive gears mesh with the tooth grooves on the outer side of the rotating slide bar.

[0011] In at least some embodiments, the coupling cover fastener includes: a lifting column, a downward sealing cover, a downward spring, and a liquid-absorbing sponge ring. The lifting column is slidably inserted into the lifting cylinder. The downward sealing cover is fixedly installed at the bottom of the lifting column, and a rubber gasket is provided at the bottom edge of the downward sealing cover. The rubber gasket at the bottom of the downward sealing cover is attached to the outer surface of the busbar air chamber. The downward spring is fixedly installed on the lifting column, and the top of the downward spring is connected to the inner side of the lifting cylinder. A liquid-absorbing sponge ring is fixedly sleeved at the bottom of the downward sealing cover, and the liquid-absorbing sponge ring is used to absorb the coupling agent.

[0012] In at least some embodiments, the environmental test component includes: a test frame, a rotating wheel, and a test ultrasonic probe. The test frame is fixedly mounted on the side of the lifting cylinder by bolts. The rotating wheel is rotatably mounted on the test frame. The rotating wheel is a soft rubber structure. The test ultrasonic probe is fixedly mounted on the side of the rotating wheel and is used to detect acoustic interference. The rotating wheel elastically conforms to the outer surface of the busbar air chamber.

[0013] In at least some embodiments, the ultrasonic detection component includes: a swing frame, a discharge ultrasonic probe, and a positive positioning spring. The swing frame is rotatably mounted inside the pressure sealing cover. The discharge ultrasonic probe is fixedly mounted on the swing frame. The discharge ultrasonic probe is used to detect the discharge in the busbar gas chamber. Two positive positioning springs are fixedly mounted on the swing frame, and the ends of the two positive positioning springs are respectively fixedly mounted inside the pressure sealing cover.

[0014] In at least some embodiments, the outer wall detection component further includes: a push column, an elastic compression piston, a pressure spring, and a micro switch; the push column is rotatably mounted on the end of a pressure bolt; the elastic compression piston is slidably inserted into the push column; a pressure spring is fixedly mounted inside the elastic compression piston, and the end of the pressure spring is connected to the push column; the elastic compression piston is slidably sleeved inside the detection push cylinder; a micro switch is fixedly mounted inside the elastic compression piston, and the micro switch is attached to the inside of the push column; the micro switch is electrically connected to an indicator light.

[0015] In at least some embodiments, the outer wall detection component includes: a detection push cylinder, an exhaust pipe, and a pressure bolt. The detection push cylinder is fixedly mounted on a lifting column. An exhaust pipe is fixedly mounted on the detection push cylinder, and a valve is provided on the exhaust pipe. A pressure bolt is threadedly connected to the detection push cylinder, and a handwheel is provided on the pressure bolt.

[0016] This invention provides a wall-climbing robot for partial discharge detection of combined electrical appliances, which has the following beneficial effects: The invention employs a drive device that works in conjunction with a wall-climbing connector to enable movement and wall-climbing operation outside the busbar gas chamber pipeline. This structure eliminates the need for a multi-axis robot to move and adjust the detection position on the ground, allowing it to operate directly outside the busbar gas chamber pipeline, resulting in more comprehensive detection and making it more suitable for confined spaces.

[0017] Furthermore, the use of a steering control component allows for automatic tilting of the discharge ultrasonic probe when it detects the flange of the busbar gas chamber pipeline, enabling discharge detection of the busbar area at the flange connection. This improves the comprehensiveness of the inspection, reduces the missed detection rate, and facilitates more efficient discharge detection of the busbar gas chamber pipeline by the staff.

[0018] In addition, the use of environmental testing components can detect environmental interference, which can prevent false detections of the discharge ultrasonic probe caused by environmental interference. This structure can perform comprehensive detection of the outside of the busbar gas chamber pipeline in real time, avoiding false detections caused by external electronic equipment and other factors.

[0019] Furthermore, the use of external wall detection components allows for pressurization of the coupling agent, enabling the detection of the smoothness of the outer side of the busbar gas chamber pipe. This improves the leak detection effect of the structure and prevents safety hazards caused by factors such as paint peeling on the surface of the busbar gas chamber pipe. If the paint peels or bulges on the surface of the busbar gas chamber pipe, the coupling agent will leak, allowing for timely detection. Timely detection of the external pipe reduces safety hazards and also avoids leaks caused by inadequate sealing of the pressure sealing cover, which can lead to air bubbles in the coupling agent and affect the sound wave transmission quality. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below.

[0021] The accompanying drawings described below are only related to some embodiments of the invention and are not intended to limit the invention.

[0022] In the attached diagram: Figure 1 This paper shows a schematic diagram of the position of the wall-climbing robot for partial discharge detection of combined electrical appliances after docking with the busbar gas chamber pipeline of this application; Figure 2 This diagram shows a rotary switching component of this application after it has moved on the wall-climbing connector; Figure 3 A schematic diagram of the rear structure of the wall-climbing robot for partial discharge detection of combined electrical appliances according to this application is shown; Figure 4A cross-sectional view of the internal structure of the wall-climbing robot for partial discharge detection of combined electrical appliances according to this application is shown; Figure 5 This application shows Figure 1 Enlarged view of the structure of region B in the middle; Figure 6 A schematic diagram of the overall structure of the rotary switching component of this application is shown; Figure 7 A schematic diagram of the overall structure of the wall-climbing connector of this application is shown; Figure 8 A schematic diagram of the overall structure of the coupling cover fastener of this application is shown; Figure 9 This application shows Figure 3 Enlarged view of the structure of region C in the middle; Figure 10 A schematic diagram of the overall structure of the steering control component of this application is shown; Figure 11 A cross-sectional view of the structure of the outer wall detection component of this application is shown; Figure 12 This application shows Figure 4 Enlarged view of the structure of the F region.

[0023] List of reference numerals in the attached diagram: 1. Wall-climbing connector; 101. Wall-climbing frame; 102. Clamping threaded rod; 103. Clamping push plate; 104. Push shaft; 105. Spring limit ring; 106. Clamping spring; 107. Push frame; 108. Roller; 109. Indicator light; 2. Rotary point-changing component; 201. Rotary slide bar; 202. Lifting cylinder; 3. Drive device; 301. Point-changing motor; 302. Drive gear; 4. Coupling cover fastener; 401. Lifting column; 4011. Downward sealing cover; 402. Downward spring; 403. 5. Liquid-absorbing sponge ring; 6. Environmental test component; 7. Test frame; 8. Rotary wheel; 9. Test ultrasonic probe; 10. Ultrasonic detection component; 11. Swing frame; 12. Discharge ultrasonic probe; 13. Positive positioning tension spring; 14. Steering control component; 15. Steering control shaft; 16. Steering tension spring; 17. Outer wall detection component; 18. Detection propulsion cylinder; 19. Exhaust pipe; 20. Pressure bolt; 21. Propulsion column; 22. Elastic compression piston; 33. Pressure spring; 44. Micro switch. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Example 1: Please refer to Figures 1 to 12 : This invention proposes a wall-climbing robot for partial discharge detection of combined electrical appliances, comprising a wall-climbing connector 1, on which a rotating switching component 2 is mounted; the rotating switching component 2 is used to rotate around the busbar air chamber; two drive devices 3 are mounted on the wall-climbing connector 1; the two drive devices 3 are used to drive the rotating switching component 2 to move; a coupling cover fastener 4 is mounted inside the rotating switching component 2; an ultrasonic detection component 6 is mounted inside the coupling cover fastener 4; the ultrasonic detection component 6 is used to detect partial discharge of the busbar; an environmental testing component 5 is mounted on the rotating switching component 2; the environmental testing component 5 is used to detect environmental acoustic interference; and a steering control component 7 is mounted on the coupling cover fastener 4; the steering control component 7... The ultrasonic testing component 6 is used to control the swing of the ultrasonic testing component 6 to adjust the testing angle; the coupling cover fastener 4 is equipped with an outer wall testing component 8; the outer wall testing component 8 is used to test the surface flatness of the busbar air chamber; the wall climbing connector 1 includes: a wall climbing connector 101, a clamping threaded rod 102, a clamping push plate 103 and a push shaft 104, the wall climbing connector 101 has an arc-shaped structure; two clamping threaded rods 102 are rotatably installed on the wall climbing connector 101; the two clamping threaded rods 102 are respectively threadedly connected to the clamping push plate 103; two push shafts 104 are respectively slidably installed on the two clamping push plates 103; the four push shafts 104 are respectively slidably installed on the wall climbing connector 101.

[0026] In this embodiment, the wall-climbing connector 1 further includes: a spring limiting ring 105, a clamping spring 106, a pusher frame 107, a roller 108, and an indicator light 109. Spring limiting rings 105 are fixedly mounted on each of the four pusher shafts 104; clamping springs 106 are sleeved on each of the four pusher shafts 104; pusher frames 107 are fixedly mounted on the ends of each of the four pusher shafts 104, and motors are mounted on each of the four pusher frames 107; rollers 108 are rotatably mounted on each of the four pusher frames 107, and the rollers 108 have a concave structure; the four rollers 108 are respectively connected to the motor output shafts on the four pusher frames 107; and the wall-climbing connector 101 is fixedly mounted on... There is an indicator light 109; the clamping push plate 103 is used to compress the clamping spring 106; the rotating point changing component 2 includes: a rotating slide bar 201 and a lifting cylinder 202, the rotating slide bar 201 is slidably installed on the inner side of the wall climbing connecting frame 101; a row of toothed grooves is provided on the outer side of the rotating slide bar 201; the lifting cylinder 202 is fixedly installed on the inner side of the rotating slide bar 201; a hexagonal hole is provided in the middle of the lifting cylinder 202; the driving device 3 includes: a point changing motor 301 and a drive gear 302, two point changing motors 301 are fixedly installed on the wall climbing connecting frame 101; drive gears 302 are respectively fixedly installed on the output shafts of the two wall climbing connecting frames 101; the drive gears 302 mesh with the rotating... The toothed grooves on the outer side of the slide bar 201, with the drive device 3, can cooperate with the wall-climbing connector 1 to achieve wall-climbing operation outside the busbar gas chamber pipeline. This structure eliminates the need for a multi-axis robot to move and adjust the detection position on the ground. This structure can operate directly outside the busbar gas chamber pipeline, providing more comprehensive detection. It can perform point-by-point detection around the busbar gas chamber pipeline. This structure is easy to install and disassemble, and has greater operational flexibility. The four rollers 108 can be used to concentrically clamp the wall-climbing connector 101 on the outside of the busbar gas chamber pipeline, ensuring that the subsequent ultrasonic testing component 6 is stably attached to the outside of the busbar gas chamber pipeline for movement and position adjustment. The rollers are driven by motors on the four pusher frames 107. The 108-rotation mechanism allows the device to move and adjust its position on the outside of the busbar gas chamber pipe. After the climbing frame 101 moves axially a certain distance on the busbar gas chamber pipe, it stops. Two switching motors 301 drive the drive gear 302 to rotate, which in turn drives the rotating slide bar 201 to slide. At this time, the rotating slide bar 201 can slide on the climbing frame 101 to adjust the detection position of the ultrasonic testing component 6. The rotating slide bar 201, with its arc-shaped structure, can move back and forth on the climbing frame 101 to achieve comprehensive detection of the outside of the busbar gas chamber pipe. Two switching motors 301 are set to ensure that at least one drive gear 302 can engage with and drive the rotating slide bar 201 to move.

[0027] In this embodiment, the coupling cover fastener 4 includes: a lifting column 401, a downward sealing cover 4011, a downward spring 402, and a liquid-absorbing sponge ring 403. The lifting column 401 is slidably inserted into the lifting cylinder 202. The downward sealing cover 4011 is fixedly installed at the bottom of the lifting column 401, and a rubber gasket is provided at the bottom edge of the downward sealing cover 4011. The rubber gasket at the bottom of the downward sealing cover 4011 is attached to the outer surface of the busbar air chamber. The downward spring 402 is fixedly installed on the lifting column 401, and the top of the downward spring 402 is connected to the inner side of the lifting cylinder 202. The liquid-absorbing sponge ring 403 is fixedly sleeved at the bottom of the downward sealing cover 4011, and the liquid-absorbing sponge ring 403 is used to absorb the coupling agent. The ultrasonic detection component 6 includes: a swing frame 601 and a discharge ultrasonic wave. The device includes a probe 602 and a positive positioning spring 603, and a swing frame 601 rotatably mounted inside the pressure sealing cover 4011. A discharge ultrasonic probe 602 is fixedly mounted on the swing frame 601. The discharge ultrasonic probe 602 is used to detect discharge in the busbar gas chamber. Two positive positioning springs 603 are fixedly mounted on the swing frame 601, and the ends of the two positive positioning springs 603 are respectively fixedly mounted inside the pressure sealing cover 4011. The steering control component 7 includes a steering control shaft 701 and a steering spring 702. The steering control shaft 701 is slidably mounted on the pressure sealing cover 4011. A steering spring 702 is sleeved on the steering control shaft 701, and the end of the steering spring 702 is connected to the steering control shaft 701. The other end of the steering spring 702 is fixedly mounted inside the pressure sealing cover 4011. The inner side of the cover 4011; the end of the steering control shaft 701 is attached to the swing frame 601; the end of the steering control shaft 701 is used to squeeze the busbar gas chamber flange. The steering control component 7, in conjunction with the ultrasonic detection component 6, automatically controls the tilting of the discharge ultrasonic probe 602 when the flange of the busbar gas chamber pipeline is detected, performing discharge detection on the busbar area at the flange connection. This improves the comprehensiveness of the detection, reduces the missed detection rate, and facilitates more efficient discharge detection of the busbar gas chamber pipeline by operators. Operation is simple and convenient; the angle is automatically adjusted when the flange connection is reached. Simultaneously, the downward-pressing sealing cover 4011 can store coupling agent, which further ensures ultrasonic wave transmission, reduces loss, and improves detection accuracy. Meanwhile, the pressure sealing cover 4011 can be attached to the outside of the busbar gas chamber pipe to prevent leakage of coupling agent. Under the compression of the pressure spring 402, the pressure lifting column 401 is pushed down, which drives the sealing gasket at the bottom of the pressure sealing cover 4011 to be attached to the surface of the busbar gas chamber pipe for sealing. The inside of the pressure sealing cover 4011 is filled with coupling agent. When the climbing connection frame 101 moves close to the flange of the busbar gas chamber pipe, taking advantage of the large diameter of the flange, the side of the flange will squeeze the steering control shaft 701 and stretch the steering tension spring 702. At this time, the steering control shaft 701 will squeeze the swing frame 601. After being compressed, the swing frame 601 rotates inside the pressure sealing cover 4011 to adjust the detection angle of the discharge ultrasonic probe 602 and rotate towards the busbar at the flange connection.

[0028] In this embodiment, the environmental testing component 5 includes: a test frame 501, a rotary wheel 502, and a test ultrasonic probe 503; a QXJF-H type discharge ultrasonic probe 602 and a test ultrasonic probe 503 can be used. The test frame 501 is fixedly installed on the side of the lifting cylinder 202 by bolts; the rotary wheel 502 is rotatably mounted on the test frame 501; the rotary wheel 502 is a soft rubber structure; the test ultrasonic probe 503 is fixedly installed on the side of the rotary wheel 502, and the test ultrasonic probe 503 is used to detect acoustic interference; the rotary wheel 502 elastically fits against the outer surface of the busbar gas chamber. The use of the environmental testing component 5 can perform environmental interference detection, which can prevent environmental interference from causing false detections by the discharge ultrasonic probe 602. This structure can perform comprehensive detection of the outside of the busbar gas chamber pipeline in real time, avoiding false detections caused by external electronic equipment and other factors, and can play a prompting role.

[0029] In Example 2, based on Example 1, the outer wall detection component 8 includes: a detection push cylinder 801, an exhaust pipe 802, and a pressure bolt 803. The detection push cylinder 801 is fixedly mounted on the lifting column 401; the exhaust pipe 802 is fixedly mounted on the detection push cylinder 801, and a valve is provided on the exhaust pipe 802; the pressure bolt 803 is threadedly connected to the detection push cylinder 801, and a handwheel is provided on the pressure bolt 803; the outer wall detection component 8 also includes: a push column 804, an elastic compression piston 805, a pressure spring 806, and a micro switch 8. 07. The push column 804 is rotatably mounted on the end of the pressure bolt 803; an elastic compression piston 805 is slidably inserted into the push column 804; a pressure spring 806 is fixedly installed inside the elastic compression piston 805, and the end of the pressure spring 806 is connected to the push column 804; the elastic compression piston 805 is slidably sleeved inside the detection push cylinder 801; a micro switch 807 is fixedly installed inside the elastic compression piston 805, and the micro switch 807 is attached to the inside of the push column 804; the micro switch 807 is electrically connected to the indicator light 109, using an external... The wall inspection component 8 can utilize pressurization to apply pressure to the coupling agent, enabling the detection of the flatness of the outer side of the busbar gas chamber pipe. This improves the leak detection effect of the structure, avoids safety hazards, and prevents safety risks caused by factors such as paint peeling on the surface of the busbar gas chamber pipe. The pressure sealing cover 4011 can be attached to the outside of the busbar gas chamber pipe. If the paint peels or bulges on the surface of the busbar gas chamber pipe, the coupling agent will leak, allowing for timely detection and reducing safety hazards. It also prevents leaks caused by incomplete sealing of the pressure sealing cover 4011, thus avoiding coupling issues. Bubbles generated within the coupling agent affect the quality of sound wave transmission, thereby affecting the detection accuracy of the discharge ultrasonic probe 602. If the sealing cover 4011 fails to seal properly with the outside of the pipeline and leaks, the coupling agent is squeezed out by the pressure spring 806. The liquid is then absorbed by the liquid-absorbing sponge ring 403 to reduce pipeline contamination. At the same time, the elastic compression piston 805 moves under the pressure of the pressure spring 806, causing the micro switch 807 to stop squeezing and adhering to the push column 804. At this time, the indicator light 109 will light up to indicate this, making it convenient for staff to make timely adjustments and inspections.

[0030] The working principle of this embodiment is as follows: First, the climbing connection frame 101 is placed outside the busbar air chamber pipe. Simultaneously, the two clamping threaded rods 102 are rotated, pushing the two clamping push plates 103 inward, compressing the clamping spring 106. At this time, the compressed clamping spring 106 pushes the set push shaft 104, causing the push frame 107 to move inward, driving the roller 108 to be centered and clamped outside the air chamber pipe. The roller 108 can then be rotated by the motors on the four push frames 107, thus achieving movement and position adjustment outside the busbar air chamber pipe. After the climbing connection frame 101 moves axially a certain distance on the busbar air chamber pipe, it stops. The two... The joist motor 301 drives the drive gear 302 to rotate, which in turn drives the rotating slide bar 201 to slide. At this time, the rotating slide bar 201 can slide on the wall-climbing connecting frame 101 to adjust the detection position of the ultrasonic testing component 6. Utilizing the arc-shaped structure of the rotating slide bar 201, it can move back and forth on the wall-climbing connecting frame 101 to achieve comprehensive inspection of the outside of the busbar air chamber pipe. Under the pressure of the downward spring 402, the pressing lifting column 401 moves downward, causing the sealing gasket at the bottom of the downward-pressing sealing cover 4011 to adhere to the surface of the busbar air chamber pipe for sealing. A coupling agent can be injected into the downward-pressing sealing cover 4011 at the exhaust pipe 802 using a syringe; the coupling agent will fill... When the pressure seal 4011 is fully depressed and the outside of the pipeline is exposed, water overflows from the exhaust pipe 802. At this time, the valve on the exhaust pipe 802 is closed. The discharge ultrasonic probe 602 performs real-time discharge detection on the busbar gas chamber pipeline. As the climbing connection frame 101 moves, when it approaches the flange of the busbar gas chamber pipeline, taking advantage of the large diameter of the flange, the side of the flange will press against the steering control shaft 701, stretching the steering tension spring 702. At this time, the steering control shaft 701 will press against the swing frame 601. After being compressed, the swing frame 601 rotates inside the pressure seal 4011, thereby adjusting the detection of the discharge ultrasonic probe 602. As the discharge detection at the flange is completed, the control wall-climbing connecting frame 101 moves away from the flange connection. At this time, the steering control shaft 701 is no longer squeezed. Under the pull of the two positive tension springs 603, the swing frame 601 can pull the discharge ultrasonic probe 602 to be aligned. When the rotating slide bar 201 moves, it can drive the rotary wheel 502 to roll against the outside of the busbar gas chamber pipe, thereby driving the test ultrasonic probe 503 to rotate and perform comprehensive sound source detection on the outside of the pipe. The staff can detect abnormal sound sources in real time. After the rotating slide bar 201 has circled once, it can be controlled to move in the opposite direction by the point-changing motor 301 to continue the point-changing detection.Rotating the pressure bolt 803 advances the elastic compression piston 805, increasing pressure. The pressure spring 806 is compressed. At this time, the micro switch 807 presses against the push column 804. If the sealing cover 4011 leaks due to poor pipe flatness, the coupling agent is squeezed out by the pressure spring 806 and can be absorbed by the liquid-absorbing sponge ring 403. Simultaneously, the elastic compression piston 805 moves under the pressure of the pressure spring 806, causing the micro switch 807 to stop pressing against the push column 804. At this time, the indicator light 109 will light up to indicate the leak.

[0031] The following points should be noted in this article: 1. The accompanying drawings of the embodiments disclosed herein only relate to the structures involved in the embodiments disclosed herein; other structures can be referred to in general design.

[0032] 2. Where there is no conflict, the embodiments of this disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

[0033] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A wall-climbing robot for partial discharge detection of combined electrical appliances, comprising a wall-climbing connector (1), wherein a rotating switching component (2) is mounted on the wall-climbing connector (1); characterized in that: The rotating point-changing component (2) is used to rotate around the busbar air chamber; two driving devices (3) are installed on the wall-climbing connector (1); the two driving devices (3) are used to drive the rotating point-changing component (2) to move; a coupling cover fastener (4) is installed inside the rotating point-changing component (2); an ultrasonic testing component (6) is installed inside the coupling cover fastener (4); the ultrasonic testing component (6) is used to detect partial discharge of the busbar; an environmental testing component (5) is installed on the rotating point-changing component (2); the environmental testing component (5) is used to detect environmental acoustic interference; a steering control component (7) is installed on the coupling cover fastener (4); the steering control component (7) is used to control the ultrasonic testing component (6) to swing and adjust the detection angle; an outer wall testing component (8) is installed on the coupling cover fastener (4); the outer wall testing component (8) is used to detect the surface flatness of the busbar air chamber.

2. The wall-climbing robot for partial discharge detection of combined electrical appliances according to claim 1, characterized in that, The wall-climbing connector (1) includes: a wall-climbing frame (101), a clamping threaded rod (102), a clamping push plate (103), a push shaft (104), a spring limiting ring (105), a clamping spring (106), a push frame (107), a roller (108), and an indicator light (109). The wall-climbing frame (101) has an arc-shaped structure. Two clamping threaded rods (102) are rotatably mounted on the wall-climbing frame (101). Clamping push plates (103) are threadedly connected to the two clamping threaded rods (102). Two push shafts (104) are slidably mounted on the two clamping push plates (103). The four push shafts (104) are slidably mounted on the wall-climbing frame (101). Spring limiting rings (105) are fixedly installed on each of the four propulsion shafts (104); clamping springs (106) are sleeved on each of the four propulsion shafts (104); propulsion frames (107) are fixedly installed at the ends of each of the four propulsion shafts (104), and motors are provided on each of the four propulsion frames (107); rollers (108) are rotatably installed on each of the four propulsion frames (107), and the rollers (108) have a concave structure; the four rollers (108) are respectively connected to the motor output shafts on the four propulsion frames (107); an indicator light (109) is fixedly installed on the wall climbing connecting frame (101); and the clamping propulsion plate (103) is used to squeeze the clamping springs (106).

3. The wall-climbing robot for partial discharge detection of combined electrical appliances according to claim 2, characterized in that, The rotating switching component (2) includes: a rotating slide bar (201) and a lifting cylinder (202). The rotating slide bar (201) is slidably installed on the inner side of the climbing connecting frame (101). A row of toothed grooves is provided on the outer side of the rotating slide bar (201). The lifting cylinder (202) is fixedly installed on the inner side of the rotating slide bar (201). A hexagonal hole is provided in the middle of the lifting cylinder (202).

4. The wall-climbing robot for partial discharge detection of combined electrical appliances according to claim 3, characterized in that, The drive device (3) includes: a switching motor (301) and a drive gear (302). Two switching motors (301) are fixedly installed on the climbing frame (101). Drive gears (302) are fixedly installed on the output shafts of the two climbing frames (101). The drive gears (302) mesh with the tooth grooves on the outside of the rotating slide bar (201).

5. The wall-climbing robot for partial discharge detection of combined electrical appliances according to claim 3, characterized in that, The coupling cover fastener (4) includes: a lifting column (401), a pressure sealing cover (4011), a pressure spring (402), and a liquid-absorbing sponge ring (403). The lifting column (401) is slidably inserted into the lifting cylinder (202). The pressure sealing cover (4011) is fixedly installed at the bottom of the lifting column (401), and a rubber gasket is provided at the bottom edge of the pressure sealing cover (4011). The rubber gasket at the bottom of the pressure sealing cover (4011) is attached to the outer surface of the busbar gas chamber. The pressure spring (402) is fixedly installed on the lifting column (401), and the top of the pressure spring (402) is connected to the inner side of the lifting cylinder (202). The liquid-absorbing sponge ring (403) is fixedly sleeved at the bottom of the pressure sealing cover (4011), and the liquid-absorbing sponge ring (403) is used to absorb the coupling agent.

6. The wall-climbing robot for partial discharge detection of combined electrical appliances according to claim 3, characterized in that, The environmental test component (5) includes: a test frame (501), a rotary wheel (502), and a test ultrasonic probe (503). The test frame (501) is fixedly installed on the side of the lifting cylinder (202) by bolts. The rotary wheel (502) is rotatably installed on the test frame (501). The rotary wheel (502) is a soft rubber structure. The test ultrasonic probe (503) is fixedly installed on the side of the rotary wheel (502), and the test ultrasonic probe (503) is used to detect sound wave interference. The rotary wheel (502) elastically fits against the outer surface of the busbar air chamber.

7. The wall-climbing robot for partial discharge detection of combined electrical appliances according to claim 5, characterized in that, The ultrasonic testing component (6) includes: a swing frame (601), a discharge ultrasonic probe (602), and a positive tension spring (603). The swing frame (601) is rotatably mounted inside the pressure sealing cover (4011). The discharge ultrasonic probe (602) is fixedly mounted on the swing frame (601). The discharge ultrasonic probe (602) is used to detect the discharge of the busbar gas chamber. Two positive tension springs (603) are fixedly mounted on the swing frame (601), and the ends of the two positive tension springs (603) are respectively fixedly mounted inside the pressure sealing cover (4011).

8. The wall-climbing robot for partial discharge detection of combined electrical appliances according to claim 7, characterized in that, The steering control component (7) includes a steering control shaft (701) and a steering tension spring (702). The steering control shaft (701) is slidably mounted on the lower pressure sealing cover (4011). The steering tension spring (702) is sleeved on the steering control shaft (701), and the end of the steering tension spring (702) is connected to the steering control shaft (701). The other end of the steering tension spring (702) is fixedly mounted on the inner side of the lower pressure sealing cover (4011). The end of the steering control shaft (701) is attached to the swing frame (601). The end of the steering control shaft (701) is used to compress the busbar air chamber flange.

9. The wall-climbing robot for partial discharge detection of combined electrical appliances according to claim 5, characterized in that, The outer wall detection component (8) includes: a detection push cylinder (801), an exhaust pipe (802), and a pressure bolt (803). The detection push cylinder (801) is fixedly installed on the lifting column (401). The exhaust pipe (802) is fixedly installed on the detection push cylinder (801), and a valve is provided on the exhaust pipe (802). The pressure bolt (803) is threadedly connected to the detection push cylinder (801), and a handwheel is provided on the pressure bolt (803).

10. The wall-climbing robot for partial discharge detection of combined electrical appliances according to claim 9, characterized in that, The outer wall detection component (8) further includes: a push column (804), an elastic compression piston (805), a pressure spring (806), and a micro switch (807). The push column (804) is rotatably mounted on the end of the pressure bolt (803). The elastic compression piston (805) is slidably inserted into the push column (804). The pressure spring (806) is fixedly installed on the inner side of the elastic compression piston (805), and the end of the pressure spring (806) is connected to the push column (804). The elastic compression piston (805) is slidably sleeved inside the detection push cylinder (801). The micro switch (807) is fixedly installed on the inner side of the elastic compression piston (805), and the micro switch (807) is attached to the inner side of the push column (804). The micro switch (807) is electrically connected to the indicator light (109).

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