Transformer substation indoor detecting robot with linear motor and method

Abstract

The invention discloses a transformer substation indoor detecting robot with a linear motor and a method. The transformer substation indoor detecting robot comprises a robot body and a truss system. The truss system comprises a first direction truss and a second direction truss which have the adjustable opposite positions. The robot body comprises a base horizontal rotating mechanism, multi-stagemechanical arms connected with the base horizontal rotating mechanism, a cradle head arranged at the tail ends of the multi-stage mechanical arms and adjustable in posture between the multi-stage mechanical arms, and detecting equipment carried on the cradle head. Through relative movement of the first direction truss and the second direction truss and multiple adjustment of postures among the multi-stage mechanical arm, the detecting equipment and the multi-stage mechanical arm of the robot body, the detecting robot can move to any point in a coordinate of the indoor space of a transformer substation.

Description

technical field [0001] The invention relates to a linear motor type substation indoor detection robot and a method. Background technique [0002] The normal operation of the indoor equipment of the power system is very important. On the one hand, it needs to have sufficient reliability, and on the other hand, it also needs to be inspected in time to discover and repair potential hidden dangers in the equipment in time to ensure the normal operation of the system. Real-time detection of indoor power equipment is of great significance to ensure its reliable and safe operation. Limited by the indoor space and the layout of other monitored equipment, in order to realize the all-round detection function of the equipment, it is necessary for the robot to be able to achieve a large stroke in both horizontal space and vertical space. Obviously, the existing wheel drive or crawler drive methods are difficult to achieve. [0003] In addition, the location of the equipment to be insp...

AI Technical Summary

Problems solved by technology

Although the structure of rack and pinion is simple and the operation is stable, due to the limitation of processing capacity, it is impossible to make a long stroke, which limits the application in large-area substation rooms; although the synchronous belt transmission method has high positioning accuracy, its operation The speed is low and the load is not high, which cannot meet the needs of robots with large loads; although the load of the driving wheel can meet the demand by itself, it needs to be powered online through trolley lines, which increases the complexity of the project, and the wheeled movement The way is also doomed that the robot cannot provide high positioning accuracy

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