Oil-immersed transformer internal inspection robot and control system and method

Abstract

The invention relates to a oil-immersed transformer internal inspection robot. The robot comprises a sealed cylindrical shell with a variable volume, wherein the cylindrical shell is internally provided with the following components: a horizontal propelling device used for realizing horizontal linear motion, lateral movement, in-situ rotation motion and heading motion of the robot, a vertical propelling device used for achieving floating motion and diving motion of the robot and based on the buoyancy adjusting principle, a control device used for achieving robot communication control, motion control, navigation positioning and shooting control, and the control device being electrically connected with the horizontal propelling device and the vertical propelling device to achieve data interaction. The invention further relates to a control system and a control method of the oil-immersed transformer internal inspection robot. The robot is exquisite in cylindrical structure and high in maneuverability, internal parts can be conveniently installed through the sectional type shell, layout of horizontal and vertical propelling devices can be conveniently achieved, and meanwhile an instrument cabin and a power cabin can be isolated. Processing is convenient and cost is low.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot for internal inspection of oil-immersed transformers and a control system and method. Background technique [0002] At present, the internal maintenance method of oil-immersed transformers in domestic power systems is manually inspected after draining the oil and cooling. This method has the disadvantages of low efficiency, high cost, and easy to cause internal pollution of the transformer. [0003] With the development of robots, robots for internal inspection of oil-immersed transformers have begun to appear. The technical schemes of the existing inspection robot inside the oil-immersed transformer mainly include: [0004] 1. The world's first practical liquid-immersed transformer inspection robot: ABB Ability TM TXplore. [0005] In 2018, ABB launched the world's first practical liquid-immersed transformer inspection robot ABB Ability TM TXplore, the de...

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Problems solved by technology

[0006] Disadvantages: The horizontal propulsion system of this technical solution uses two propeller propellers, which do not have the function of moving left and right; A propeller rotates and consumes more energy

[0009] Disadvantages: The robot of this technical solution adopts the shape of a sphere, and it is not easy to control the motion performance and balance stability of the sphere

[0012] Disadvantages: The vertical propulsion device uses a jet pump. When the spherical detection robot moves up and down, it needs to drive the vertical jet pump to work in real time, which consumes more energy, which is not conducive to accurate depth positioning and fixed-depth shooting.

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