Transformer substation patrol and inspection robot with rod climbing function and drive method for transformer substation patrol and inspection robot

Abstract

The invention discloses a transformer substation patrol and inspection robot with a rod climbing function and a drive method for the transformer substation patrol and inspection robot. The transformer substation patrol and inspection robot comprises a monitoring device, a drive control module and a climbing mechanism. The monitoring device and the drive control module are arranged on the climbing mechanism. The climbing mechanism comprises multiple sections of body units and body joints. The adjacent body units are connected through the body joints. A body joint motor is arranged between every two adjacent body units. Each body unit is provided with a pair of mechanical arms. The ends of each mechanical arm are provided with walking and rotating universal wheels and universal wheel drive mechanisms. The universal wheel drive mechanisms and the body joint motors are connected with the drive control module. The drive method includes the steps that the transformer substation patrol and inspection robot is driven to move on the ground, move up and down a rod column and climb / rotate / stop along the rod column. By the adoption of the robot and the method, the functions that the robot moves on the ground, moves up and down the rod column and climbs / rotates / stops along the rod column can be achieved, the structure is compact, the control accuracy is high, and the operating state of a power transformation device can be monitored in all directions without a dead zone.

Description

technical field [0001] The invention relates to an automatic inspection technology of an electric power system, in particular to a substation inspection robot with a pole-climbing function and a driving method thereof. Background technique [0002] At present, power system substations have been basically unattended. In order to make up for the lack of regular manual inspections, ground mobile robots have been used for inspections at home and abroad to obtain visible light images and infrared thermal image data of substation equipment and conduct status monitoring. , Application report of analysis. Robots can solve the problem of automatic inspection of equipment to a certain extent, but the robot runs along a fixed path on the ground, and there is a monitoring dead zone, especially for high-position substation equipment or equipment components, such as accessories on the top of the transformer, line insulators, and lightning rods etc. Due to the influence of complex environ...

AI Technical Summary

Problems solved by technology

Robots can solve the problem of automatic inspection of equipment to a certain extent, but the robot runs along a fixed path on the ground, and there is a monitoring dead zone, especially for high-position substation equipment or equipment components, such as accessories on the top of the transformer, line insulators, and lightning rods etc. Due to the influence of complex environmental conditions such as distance, viewing angle, fog and night, it is often impossible to clearly and accurately detect its status and identify its defects and hidden dangers. In addition, the robot needs to bury magnetic tracks underground to navigate, and the amount of engineering is large. , the cost is high, and once the path is determined, it is not easy to change, which is not conducive to the application and promotion of robot inspection in substations

Images