Intelligent inspection robot for monitoring insulation state
By integrating solar panels and servo motors into the intelligent inspection robot, adjusting the angle of the solar panels, and combining them with partial discharge sensors and infrared thermal imagers, the problem of insufficient battery life was solved, enabling efficient insulation condition monitoring and fault detection.
Patent Information
- Application Number
- CN202520036834.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-08
- Publication Date
- 2026-01-02
- Estimated Expiration
- 2035-01-08
AI Technical Summary
Existing intelligent inspection robots have significant limitations in endurance when inspecting large substations or transmission lines, resulting in longer inspection cycles and difficulty in timely detection of potential hazards in critical equipment.
By combining solar panels with servo motors, the angle of the solar panels can be adjusted, and dual monitoring using partial discharge sensors and infrared thermal imagers can be achieved to ensure continuous power supply and efficient insulation status detection.
This improved the battery life of the inspection robot, reduced the number of charging cycles, enhanced the accuracy and efficiency of insulation condition monitoring, and enabled the timely detection of potential faults.
Smart Images
Figure CN223749661U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the technical field of inspection robot, especially to an intelligent inspection robot for insulation state monitoring. BACKGROUND
[0002] With the continuous development of intelligent technology, in many work places needing inspection, intelligent inspection robots are used to replace manual inspection work, in the power guarantee department, intelligent inspection robots play a key role in insulation state monitoring, let the inspection personnel away from the high voltage area, improve the safety of inspection work, and avoid human factors to cause interference to the monitoring result.
[0003] It can detect whether there is a partial discharge phenomenon in electrical equipment by using a partial discharge sensor, judge the integrity of insulation by analyzing parameters such as amplitude and frequency of partial discharge, measure the temperature of the equipment by using a temperature sensor, and find potential faults in time by monitoring temperature changes when the insulation performance of the equipment decreases, and detect the concentration of characteristic gases produced in the air around the electrical equipment due to the decomposition of insulation materials by using a gas sensor, so as to infer the degree of insulation aging.
[0004] But in the prior art, the intelligent inspection robot is mostly powered by a battery, and in actual application scenarios, especially in large substations or power transmission line inspection, the endurance is short, the current mainstream lithium battery has the advantages of high energy density and relatively good charging and discharging performance, but it is still insufficient compared with the increasing endurance demand of the intelligent inspection robot, on the one hand, with the continuous expansion of the function of the robot, the number of sensors carried by the robot increases, the precision improves, such as high-resolution visual sensor for fine identification of equipment defects, high-sensitivity partial discharge sensor for capturing weak electric signals, and the like, the power consumption of these sensors increases significantly, on the other hand, in order to realize more accurate motion control and rapid response, the power of the motor driving system is also rising, resulting in a much faster battery power consumption than before, in the large substation inspection scene, its area is wide, the layout of electrical equipment is scattered and complex, and the inspection route is often long, so the lack of endurance will cause a lot of time to be spent on the way back and forth, which will lengthen the inspection period and make it difficult to find potential problems in key equipment in time. UTILITY MODEL CONTENTS
[0005] The utility model discloses a kind of intelligent inspection robots for insulating state monitoring.
[0006] To achieve the above object, the utility model adopts the following technical scheme: a kind of intelligent inspection robots for insulating state monitoring, including intelligent inspection robot mechanism, the intelligent inspection robot mechanism includes power supply assembly, driving assembly is installed on the side of power supply assembly, mechanical arm is installed on the upper portion of power supply assembly, the end of mechanical arm is fixedly connected with mounting plate, local discharge sensor is fixedly connected on the surface of mounting plate, and infrared thermal imager is fixedly connected on the surface of mounting plate, the infrared thermal imager is located on the side of local discharge sensor, charging mechanism is fixedly connected on the side of power supply assembly, the charging mechanism includes fixed plate, the upper portion of fixed plate is fixedly connected with No.
[0007] Preferably, the upper portion of the power supply assembly is fixedly connected with a visual navigation assembly.
[0008] Preferably, the upper portion of the power supply assembly is fixedly connected with a motion control assembly.
[0009] Preferably, the power supply assembly is electrically connected with the No.
[0010] Preferably, the local discharge sensor and the infrared thermal imager are internally provided with a data transmission system.
[0011] Preferably, the motion control assembly is electrically connected with the visual navigation assembly, and the motion control assembly is electrically connected with the mechanical arm.
[0012] Compared with the prior art, the utility model has the advantages and positive effects that:
[0013] 1. The utility model discloses a solar energy power generation is carried out through solar energy power generation panel, and the power supply component is charged continuously through solar energy power generation panel, guarantees the power stability of power supply component, reduces the number of times that power supply component needs to charge in the process of inspection, even does not need to carry out shutdown charging to intelligent inspection robot mechanism, one servo motor drives no. 1 mounting bracket rotation, and then no. 2 servo motor drives no. 2 mounting bracket rotation, and then the horizontal angle and vertical angle of solar energy power generation panel are adjusted, so that solar energy power generation panel can carry out angle adjustment according to the angle of sunlight, improve the power generation efficiency of solar energy power generation panel.
[0014] 2. The utility model discloses a local discharge sensor and infrared thermal imager's position are adjusted through mechanical arm, and the insulation state of equipment is monitored to the monitoring position of equipment of accurate arrival of using local discharge sensor and infrared thermal imager, through local discharge sensor's amplitude, frequency and phase etc. Characteristics of electric signal can judge the severity and position of local discharge, and then through infrared thermal imager monitoring equipment's temperature change, can find the overheating failure of equipment, when the insulation material performance drops or electrical connection is bad etc. Problem, equipment local temperature rises, through local discharge sensor and infrared thermal imager double monitoring of equipment, improve the accuracy of monitoring result. BRIEF DESCRIPTION OF DRAWINGS
[0015] Figure 1 The utility model provides a first three -dimensional structure schematic diagram of intelligent inspection robot for insulation state monitoring;
[0016] Figure 2 The utility model provides a second three -dimensional structure schematic diagram of intelligent inspection robot for insulation state monitoring;
[0017] Figure 3 The utility model provides a front view structure schematic diagram of intelligent inspection robot for insulation state monitoring;
[0018] Figure 4 The utility model provides a three -dimensional structure schematic diagram of charging mechanism in intelligent inspection robot for insulation state monitoring.
[0019] Legend: 1, intelligent inspection robot mechanism, 11, power supply component, 12, drive component, 13, visual navigation component, 14, motion control component, 15, mechanical arm, 16, mounting plate, 17, local discharge sensor, 18, infrared thermal imager, 2, charging mechanism, 21, fixed plate, 22, no. 1 servo motor, 23, no. 1 mounting bracket, 24, no. 2 servo motor, 25, no. 2 mounting bracket, 26, solar energy power generation panel. DETAILED DESCRIPTION
[0020] In order to enable the above-mentioned purposes, features and advantages of the present application to be more clearly understood, the following further describes the present application with reference to the drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.
[0021] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can be practiced in different ways from those described herein, therefore, the present application is not limited to the specific embodiments disclosed in the following description.
[0022] Embodiment one: as shown, the utility model provides an intelligent inspection robot for insulating state monitoring, including intelligent inspection robot mechanism 1, intelligent inspection robot mechanism 1 includes power supply assembly 11, and power supply assembly 11 side is equipped with drive assembly 12, and power supply assembly 11 upper portion is equipped with mechanical arm 15, and mechanical arm 15 end is fixedly connected with mounting plate 16, and mounting plate 16 surface is fixedly connected with partial discharge sensor 17, and mounting plate 16 surface is fixedly connected with infrared thermal imager 18, and infrared thermal imager 18 is located partial discharge sensor 17 side, and power supply assembly 11 side is fixedly connected with charging mechanism 2, and charging mechanism 2 includes fixed plate 21, and fixed plate 21 upper portion is fixedly connected with no. Figures 1-4
[0023] The specific settings and effects of the embodiment will be described below. During the operation of the intelligent inspection robot mechanism 1, the solar panels 26 generate solar power, the solar panels 26 continuously charge the power supply assembly 11, ensure the stability of the power of the power supply assembly 11, reduce the number of times the power supply assembly 11 needs to be charged during the inspection process, and even do not need to stop charging the intelligent inspection robot mechanism 1. The first servo motor 22 drives the first mounting frame 23 to rotate, and then the second servo motor 24 drives the second mounting frame 25 to rotate, thereby adjusting the horizontal angle and vertical angle of the solar panels 26, so that the solar panels 26 can adjust the angle according to the angle of the sunlight, and improve the power generation efficiency of the solar panels 26.
[0024] Embodiment two: as shown in Figures 1-4 The installation plate 16 is fixedly connected to the end of the mechanical arm 15, the local discharge sensor 17 is fixedly connected to the surface of the installation plate 16, and the infrared thermal imager 18 is fixedly connected to the surface of the installation plate 16. The infrared thermal imager 18 is located on the side of the local discharge sensor 17.
[0025] The effect of the whole embodiment is that after the intelligent inspection robot mechanism 1 reaches the inspection position, the position of the local discharge sensor 17 and the infrared thermal imager 18 is adjusted by the mechanical arm 15, the insulation state of the equipment is monitored by the local discharge sensor 17 and the infrared thermal imager 18, the severity and position of the local discharge can be judged by the characteristics such as amplitude, frequency and phase of the electric signal of the local discharge sensor 17, and the overheating failure of the equipment can be found by monitoring the temperature change of the equipment by the infrared thermal imager 18. When the insulation material performance decreases or the electrical connection is poor, the temperature of the equipment rises, the equipment is double monitored by the local discharge sensor 17 and the infrared thermal imager 18, and the accuracy of the monitoring result is improved.
[0026] The working principle of the device is as follows: during the operation of the intelligent inspection robot mechanism 1, the solar panels 26 generate solar power, the solar panels 26 continuously charge the power supply assembly 11, ensure the stability of the power of the power supply assembly 11, reduce the number of times the power supply assembly 11 needs to be charged during the inspection process, and even do not need to stop charging the intelligent inspection robot mechanism 1. The first servo motor 22 drives the first mounting frame 23 to rotate, and then the second servo motor 24 drives the second mounting frame 25 to rotate, thereby adjusting the horizontal angle and vertical angle of the solar panels 26, so that the solar panels 26 can adjust the angle according to the angle of the sunlight;
[0027] After the intelligent inspection robot mechanism 1 reaches the inspection position, the positions of the partial discharge sensor 17 and the infrared thermal imager 18 are adjusted through the mechanical arm 15, the insulation state of the equipment is monitored by using the partial discharge sensor 17 and the infrared thermal imager 18, the characteristics such as the amplitude, frequency and phase of the electric signal can be judged by the partial discharge sensor 17, the severity and position of the partial discharge can be judged, and the temperature change of the equipment can be monitored by the infrared thermal imager 18, the overheating failure of the equipment can be found, and when the insulation material performance decreases or the electrical connection is poor, the local temperature of the equipment rises.
[0028] The above is only a preferred embodiment of the present application, and is not intended to limit the present application in other forms. Any skilled person in the art can modify or change the above disclosed technical content to equivalent embodiments applied to other fields, but any simple modification, equivalent change and modification made on the basis of the technical essence of the present application to the above embodiments still falls within the protection scope of the present application technical scheme.
Claims
1. An intelligent inspection robot for monitoring insulation condition, comprising an intelligent inspection robot mechanism (1), wherein the intelligent inspection robot mechanism (1) comprises a power supply assembly (11), and a driving assembly (12) is mounted on the side of the power supply assembly (11), characterized in that: The upper part of the power supply assembly (11) is provided with a mechanical arm (15), the end of the mechanical arm (15) is fixedly connected with a mounting plate (16), the surface of the mounting plate (16) is fixedly connected with a partial discharge sensor (17), and the surface of the mounting plate (16) is fixedly connected with an infrared thermal imager (18), the infrared thermal imager (18) is located on the side of the partial discharge sensor (17), the side of the power supply assembly (11) is fixedly connected with a charging mechanism (2), the charging mechanism (2) comprises a fixed plate (21), the upper part of the fixed plate (21) is fixedly connected with a first servo motor (22), the output end of the first servo motor (22) is fixedly connected with a first mounting frame (23), the upper part of the first mounting frame (23) is fixedly connected with a second servo motor (24), the output end of the second servo motor (24) is fixedly connected with a second mounting frame (25), the upper part of the second mounting frame (25) is fixedly connected with a solar panel (26), and the solar panel (26) is electrically connected with the power supply assembly (11).
2. The intelligent inspection robot for monitoring insulation condition according to claim 1, characterized in that: The upper part of the power supply assembly (11) is fixedly connected with a visual navigation assembly (13). 3.The intelligent inspection robot for insulation state monitoring of claim 1, wherein: The upper part of the power supply assembly (11) is fixedly connected with a motion control assembly (14).
4. The intelligent inspection robot for monitoring insulation condition according to claim 1, characterized in that: The power supply assembly (11) is electrically connected with the first servo motor (22), and the power supply assembly (11) is electrically connected with the second servo motor (24).
5. The intelligent inspection robot for monitoring insulation condition according to claim 1, characterized in that: The partial discharge sensor (17) and the infrared thermal imager (18) are provided with a data transmission system inside.
6. The intelligent inspection robot for monitoring insulation condition according to claim 3, characterized in that: The motion control assembly (14) is electrically connected with the visual navigation assembly (13), and the motion control assembly (14) is electrically connected with the mechanical arm (15), and the driving assembly (12) is electrically connected with the motion control assembly (14).