CN102152295A - Endoscope and manipulator device for power equipment - Google Patents

Abstract

The invention relates to a non-destructive testing and maintenance equipment for electric equipment, in particular to an endoscope and a manipulator device for electric equipment. The device includes an endoscopic probe, which is connected to the display through a snake bone, and is characterized in that: the manipulator device includes a roughly grab-shaped mechanical gripper, which constitutes a plurality of mechanical grippers. The two gripper flaps are symmetrically fixed on a top end, which is shrunk in a sleeve and connected with a steel wire, the other end of the sleeve is connected with a snake bone, and the steel wire is passed through the snake bone and connected with a grip Hand closure mechanism. The invention has the advantages that: when a foreign object falls into the GIS equipment maintenance process, the portable electronic endoscope and the mechanical grasping device can be used to cooperate to complete the operation tasks such as observation inside the equipment and grasping the foreign matter.

Description

Endoscopes and manipulators for electrical equipment

technical field

The invention relates to a non-destructive testing and maintenance equipment for electric equipment, in particular to an endoscope and a manipulator device for electric equipment.

Background technique

With the continuous improvement of the level of science and technology, the development of power equipment is increasingly miniaturized and sophisticated, which makes the detection and judgment of the internal status of various equipment very complicated. In order to save maintenance costs and reduce maintenance costs, electronic equipment for power equipment The type endoscopic non-destructive testing system becomes a very suitable equipment. For the detailed introduction of the above-mentioned endoscopic non-destructive testing system, please refer to the patent: new industrial electronic endoscope; application number: 200920071267.4.

However, when there is a defect or a foreign object falling into the interior of the power equipment; especially the sulfur hexafluoride gas insulated switch: GIS equipment for short, due to the compact structure of the equipment and the limited space, when the GIS equipment has foreign objects in the maintenance process When falling in, it is very difficult to take it out; if the GIS equipment is disassembled and disassembled, the workload of maintenance will be greatly increased.

Therefore, after the development of a manipulator grabbing device that can be used in conjunction with it, the disassembly and assembly of the sulfur hexafluoride gas insulated switch GIS can be reduced, and the time for repairing failures can be shortened. It can effectively improve the efficiency of maintenance work of electric equipment (especially GIS equipment) and the efficiency of normal operation of equipment, and will play an important role in maintenance work and equipment operation.

Contents of the invention

The object of the present invention is to provide an endoscope and a manipulator device for electric power equipment according to the deficiencies of the above-mentioned prior art. This device combines a steerable endoscope and a gripper to find and take out foreign objects in the equipment. function.

Realization of the present invention is accomplished by the following technical solutions:

An endoscope and manipulator device for electric equipment, including an endoscope probe, the endoscope probe is connected to a display through a snake bone, characterized in that: the manipulator device includes a grab-shaped mechanical gripper , the plurality of gripper petals constituting the mechanical gripper are symmetrically fixed on the top end, the top end is shrunk in a sleeve and connected with a steel wire, the other end of the sleeve is connected with a snake bone, and the steel wire passes through the The said snake bone is connected with a gripper closing mechanism.

A spring is arranged inside the casing, and the steel wire and the top end of the mechanical gripper are sleeved inside the spring.

An operation line for controlling the bending shape of the snake is arranged inside the snake bone, and the operation line is connected with a direction control mechanism.

The snake bone is connected with a snake skin tube, and the snake skin tube is connected with a handle through a metal straight pipe, and the handle closing mechanism and a direction control mechanism are arranged at the end of the handle.

The endoscope probe is composed of a CCD imaging device and an LED light-emitting tube, an endoscope handle is connected to one end of the snake bone, and the display is arranged at the end of the endoscope handle.

The invention has the advantages that: when a foreign object falls into the GIS equipment maintenance process, the portable electronic endoscope and the mechanical grabbing device can cooperate to complete the operation tasks such as observation inside the equipment and grabbing the foreign object.

Description of drawings

Fig. 1 is a schematic diagram of the connection of the portable electronic endoscope system of the present invention;

Fig. 2 is a partial structural diagram of the portable electronic endoscope probe of the present invention;

Fig. 3 is a structural diagram of the mechanical grabbing device of the present invention;

Fig. 4 is a schematic diagram of the structure of the mechanical gripper and the sleeve of the present invention.

Detailed ways

The features of the present invention and other related features will be further described in detail below in conjunction with the accompanying drawings through embodiments, so as to facilitate the understanding of those skilled in the art:

As shown in Figures 1-4, the labels 1-14 represent respectively: endoscopic probe 1, snake bone operable hose 2, metal snake skin tube 3, metal straight tube 4, handle 5, operating mechanism 6, image signal conversion Processing device 7, image display 8, mechanical gripper 9, gripper valve 10, tip 11, sleeve 12, gripper closing mechanism 13, spring 14

Below in conjunction with accompanying drawing and specific embodiment the utility model is described in further detail:

1. Portable electronic endoscope probe part

Referring to Figure 1-2, the endoscopic probe 1 consists of a number of white high-power and high-brightness LED light-emitting tubes placed on the top of the probe to provide illumination to illuminate the part to be inspected. At the same time, the front of the probe is equipped with an imaging objective lens and a color CCD imaging device; Combined into one body and installed at the front end of the probe, a snake-bone-shaped operable hose 2 is connected behind it, and then a metal snake skin tube 3 that can be bent arbitrarily is connected, and then a metal straight tube 4 is connected to the endoscope probe handle 5 And the operating mechanism to control the direction of the top lens. 6. The steel wire used to operate the direction of the probe is directly connected to the control handle of the probe direction, so that the detection direction of the probe can be manually controlled. (The image signal is also routed through the snake-bone type operable hose and the control handle; there is also a power connection line for the high-brightness LED light-emitting tube, etc.) The image signal is then transmitted to the image signal processing device 7 through the image signal transmission line, After signal processing, it is input to the image display 8 installed on the handle to directly and clearly display the image of the inspected part.

2.      Mechanical Grabbing Device

Referring to Figure 3-4, the grabbing head of the mechanical grabbing device is composed of a retractable mechanical gripper 9. The mechanical gripper 9 is roughly in the shape of a grab bucket, and can be opened when the mechanical gripper 9 stretches forward. The jaws of the gripper; when the gripper retracts, the jaws of the gripper can be tightened to clamp the object to be grasped. A plurality of gripper petals 10 constituting the mechanical gripper 9 are symmetrically fixed on a top end 11, and the top end 11 shrinks in a sleeve 12 and is connected with a steel wire. The structure of the remaining parts is basically the same as that of the above-mentioned electronic endoscope probe part, which are snake bone-type operable hose 2, metal snake skin tube 3, metal straight tube 4, handle 5 and control top mechanical gripper 9 direction. Manipulating mechanism6. The expansion and contraction of the gripper is connected to the end of the gripper closing mechanism 13 that controls the contraction and opening and closing of the gripper after the steel wire passes through the snake-bone type operable hose 2, the metal snakeskin tube 3, the metal straight pipe 4, and the handle 5, thereby The opening and closing of the head gripper of the grabbing device can be controlled at the rear end of the handle. The gripper flap 10 of the mechanical gripper 9 has a tendency to expand outwards. With the traction of the steel wire, the top end of the mechanical gripper 9 moves into the sleeve 12, and the outer edge of the sleeve 12 tightens the mechanical gripper 9 so that the mechanical gripper Hand 9 tightens the jaws of the gripper. At the same time, the pulling force of the steel wire is canceled, and the mechanical gripper 9 automatically recovers to the open state under the action of the elastic potential energy. At the same time, considering that there is friction between the outer side of the mechanical gripper 9 and the outer edge of the sleeve 12, it is possible that the frictional force The bottom will not open automatically, so a spring 14 can also be provided in the casing 12, and the top 11 of the steel wire and the mechanical gripper 9 is sleeved in the spring 14. Under the condition that the mechanical gripper 9 shrinks backward and the traction force disappears, the function of automatic opening can be realized under the action of the spring 14 .

Therefore, the portable electronic endoscope of the present invention has the advantages of clear image, vivid color, high resolution, small size, convenient operation and long service life.

The mechanical grabbing device of the present invention has the advantages of convenient and flexible manipulation, can change the direction control of the gripper and the opening and closing of the gripper arbitrarily, and can easily grab objects that need to be grabbed.

Claims (5)

1. a power equipment is with endoscope and robot device, comprise an endoscope probe, described endoscope probe is connected with display by the snake bone, it is characterized in that: described robot device comprises that one is the mechanical handgrip of the shape of grabbing bucket, the a plurality of handgrip lobe symmetries that constitute described mechanical handgrip fix in the top, this top is shunk in a sleeve and is connected with steel wire, and the described sleeve pipe other end is connected with the snake bone, and described steel wire is arranged in the described snake bone and is connected with the handgrip close mechanism.

2. a kind of power equipment according to claim 1 is characterized in that: be provided with a spring in the described sleeve pipe, be set with the top of described steel wire and mechanical handgrip in the described spring with endoscope and robot device.

3. a kind of power equipment according to claim 1 is with endoscope and robot device, and it is characterized in that: be provided with the operating line that is used to control snake cyrtosis shape in the described snake bone, this operating line is connected with a direction control mechanism.

4. a kind of power equipment according to claim 1 is with endoscope and robot device, it is characterized in that: described snake bone is connected with flexible metal conduit, described flexible metal conduit is connected with handle by a metal straight pipe, and described handle end is provided with described handgrip close mechanism and direction control mechanism.

5. a kind of power equipment according to claim 1 is with endoscope and robot device, it is characterized in that: described endoscope probe is made up of CCD image device and LED luminous tube, described snake bone one end is connected with endoscope handle, and described display is arranged at described endoscope handle end.

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