Mechanical arm for local discharge detection of switch cabinet and control method

Abstract

The invention discloses a mechanical arm for local discharge detection of a switch cabinet and a control method. A lifting joint, a slide joint, a shoulder rotating joint, an elbow rotating joint and a wrist rotating joint connected in sequence are used; the wrist rotating joint is connected with a local discharge detecting sensor through a flexible connecting mechanism; the slide joint and the lifting joint are arranged in an axis perpendicularity manner, and respectively drive the local discharge detecting sensor to relatively move in the vertical and horizontal directions of the switch cabinet; and through rotating cooperation of the shoulder rotating joint, the elbow rotating joint and the wrist rotating joint, further adjustment of the position of a detecting point and the gesture of the local discharge detecting sensor is realized when relative positions of the local discharge detecting sensor and the switch cabinet are invariable, and precise detection is realized.

Description

technical field [0001] The invention relates to the field of electric power automation and manufacturing, in particular to a mechanical arm and a control method for partial discharge detection of switch cabinets. Background technique [0002] In the power system, metal-enclosed switchgear is widely used. During the operation of electrical equipment, due to high temperature, voltage, vibration and other chemical effects, the insulation performance will be reduced, resulting in partial discharge. Partial discharge accelerates the deterioration of insulation, which will cause large economic losses to the power system. The methods for partial discharge detection of switchgear generally include UHF detection method, ground wave detection method and ultrasonic detection method. Among them, the ultra-high frequency method and the ground wave method require the sensor to be close to the surface of the switch cabinet to detect a specific position, and the ultrasonic detection method...

AI Technical Summary

Problems solved by technology

At present, the above-mentioned detection process is generally carried out manually, so there are problems such as long detection cycle, high detection cost, difficulty in guaranteeing the safety of staff, and due to the influence of the staff's operating level and subjective factors, the detection quality is difficult to guarantee, etc.

[0003] Many research institutions have conducted some research on robot-based partial discharge detection technology for power equipment. For example, the invention patent 201610938100.8 mentions a device for controlling partial discharge detection of inspection robots and a method for controlling partial discharge detection of inspection robots, but The specific implementation of the mechanical arm is not described in the patent, and in addition, according to the accompanying drawings (attached figure 1 ), its mechanical arm is difficult to cover all positions of the equipment under inspection

Invention patent 201410562419.6 mentions a detection device and detection method for substation indoor screen cabinets based on inspection robots (attached figure 2 ), the device adopts orbital operation mode, the activity space is limited, and it can only detect the screen cabinet in a single room

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