The tadpole-imitating capsule robot for overhauling the oil-immersed transformer comprises a capsule-shaped shell, a swimming mechanism, a steering mechanism, a floating and sinking mechanism and an overhauling mechanism. The maintenance mechanism is located at the head of the capsule-shaped shell and used for completing maintenance of the transformer. The floating and sinking mechanism is located in the capsule type shell and used for achieving floating and diving of the capsule robot. The steering mechanism is located at the tail of the capsule-shaped shell and used for adjusting the advancing direction of the capsule robot. The swimming mechanism is located at the bottom of the capsule type shell and comprises a first motor and four flippers, and the first motor drives the four flippers to synchronously swing in a reciprocating mode; a door capable of being opened and closed is arranged on the flipper, and when the flipper swings backwards, the door is closed under the action of liquid flow; when the flipper swings forwards, the door is unfolded under the action of liquid flow, and advancing of the capsule robot is achieved. The capsule robot is compact in overall structure and adapts to a narrow space in a transformer; movement of the robot simulates a leg movement mode and a flipper form of a deformation form tadpole, and the robot has the advantages of being stable in swimming, flexible in steering, accurate in positioning, easy to control and the like.
本发明为一种用于油浸式变压器检修的仿蝌蚪胶囊机器人,包括胶囊型壳体、游动机构、转向机构、浮沉机构和检修机构;检修机构位于胶囊型壳体的头部,用于完成变压器的检修;浮沉机构位于胶囊型壳体内部,用于实现胶囊机器人的上浮和下潜;转向机构位于胶囊型壳体的尾部,用于调整胶囊机器人前进的方向;游动机构位于胶囊型壳体底部,游动机构包括电机一和四个脚蹼,电机一驱动四个脚蹼同步往复摆动;脚蹼上设有能够开合的门,当脚蹼向后摆动时,门在液流作用下关闭;当脚蹼向前摆动时,门在液流作用下展开,实现胶囊机器人的前进。该胶囊机器人整体结构紧凑,适应变压器内部的狭小空间;其运动模仿了变形形态蝌蚪的腿部运动方式和脚蹼形态,具有游动平稳、转向灵活、定位精准、易于控制等优点。
Tadpole-imitating capsule robot for overhauling oil-immersed transformer
一种用于油浸式变压器检修的仿蝌蚪胶囊机器人
27.10.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B23P Sonstige Metallbearbeitung , OTHER WORKING OF METAL / B25J Manipulatoren , MANIPULATORS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
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