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A dynamic balancing method and device for a substation inspection robot

A dynamic balance and robot technology, applied in the direction of manipulators, manufacturing tools, etc., to achieve the effect of small overshoot range, fast response speed, and improve the efficiency of inspection work

Active Publication Date: 2022-06-28
STATE GRID JIANGSU ELECTRIC POWER CO LTD MAINTENANCE BRANCH +2
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Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art, to provide a dynamic balance method and device for substation transportation and inspection robots, and to solve the problem of stable transportation of test instruments by real-time measurement and adjustment of the inclination angle of the load-bearing surface of the robot relative to the horizontal plane

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  • A dynamic balancing method and device for a substation inspection robot
  • A dynamic balancing method and device for a substation inspection robot
  • A dynamic balancing method and device for a substation inspection robot

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Embodiment Construction

[0039] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, and cannot be used to limit the protection scope of the present invention.

[0040] The embodiment of the present invention provides a dynamic balancing method for a substation inspection robot, such as figure 1 shown, including the following steps:

[0041] Step A: Use the gyroscope to measure the inclination angle between the load-bearing surface and the horizontal surface of the inspection robot in real time. The load-bearing surface refers to the plane used to place and transport the test instrument on the inspection robot. Under normal circumstances, the load-bearing surface is parallel to the horizontal plane.

[0042] The specific operation of measuring the inclination is as follows:

[0043] When the substation inspection robot enters the motion st...

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Abstract

The invention discloses a dynamic balancing method and device for a substation operation inspection robot, aiming at solving the technical problem that the smooth transportation of test instruments cannot be guaranteed during the substation operation inspection process. It includes: using the gyroscope to measure the inclination between the load-bearing surface and the horizontal plane of the inspection robot in real time; based on the inclination feedback control technology, selecting the angle adjustment rate of the load-bearing surface according to the collected inclination; adjusting the speed according to the angle of the load-bearing surface. Adjusts the amount of inclination between the load-bearing surface and the horizontal plane. The invention can realize the dynamic balance of the load-bearing surface of the inspection robot, improve the safety and stability of the transportation work of the test instrument, and improve the work efficiency of the inspection robot.

Description

technical field [0001] The invention relates to a dynamic balancing method and device for a substation inspection robot, and belongs to the technical field of substation intelligent inspection. Background technique [0002] The verification of the relay protection device and the electrical test of the primary equipment is a necessary work carried out in the substation to ensure the safe and stable operation of the power grid. It needs to be carried out in the case of a power failure of the equipment. During the maintenance process of substations, transportation equipment with a very low level of artificial intelligence or intelligence is generally used to transport test instruments. This type of transportation is seriously out of line with today's advanced mechanical structure and control technology, and it does not have stable transportation precision instruments in the complex geographical environment of the station. It has greatly affected the orderly and efficient develo...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00
CPCB25J19/0008
Inventor 陈昊朱振池陈轩张海华邓福亮徐鹏孙小磊徐伟伦朱凯
Owner STATE GRID JIANGSU ELECTRIC POWER CO LTD MAINTENANCE BRANCH
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