Transformer substation foot-type robot, inspection system and method

Abstract

The invention provides a transformer substation foot-type robot, an inspection system and an inspection method, a plurality of rotatable supporting legs are arranged under a robot platform to bear and drive the robot platform to move, the robot platform is provided with a connecting part, and the connecting part is detachably connected with a detection assembly or / and a mechanical arm. The mechanical arm is used for executing an overhaul operation task, and the detection assembly is used for executing a detection operation task; each rotatable supporting leg is provided with an independent driving piece, and the control unit controls the actions of all the driving pieces or / and the mechanical arms according to the situation of on-site obstacles and adjusts the posture of the robot platform or / and the mechanical arms so as to meet the walking requirements of different tasks. And intelligent inspection and light-weight maintenance operation tasks in the open-type transformer substation can be completed.

Description

technical field [0001] The invention belongs to the technical field of electric power system intelligent inspection, and in particular relates to a substation legged robot, an inspection system and a method. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] At present, substation inspection robots all use wheeled chassis, which are suitable for running on relatively flat roads. However, there are steps, gravel roads, stairs and other terrains in substations, which make it difficult to achieve full coverage of the inspection area. The ground will leave black marks and other problems, which is not conducive to long-term operation. The footholds of the leg-footed mobile mechanism are discrete, which has better terrain passability. [0004] However, as far as the inventor knows, the existing legged robot platform is a universal platform, and it...

AI Technical Summary

Problems solved by technology

[0003] At present, substation inspection robots all use wheeled chassis, which are suitable for running on relatively flat roads. However, there are steps, gravel roads, stairs and other terrains in substations, which make it difficult to achieve full coverage of the inspection area. The ground will leave black marks and other problems, which is not conducive to long-term operation. The footholds of the leg-footed mobile mechanism are discrete, and it has better terrain passability

[0004] However, as far as the inventor knows, the existing legged robot platform is a universal platform, and its outriggers adopt a rigid structure. There is only one degree of freedom in the thigh and calf, and the leg structure is single. It can walk on steps, gravel roads, and stairs in substations. Poor passability

At the same time, during detection, the foot movement platform usually needs to be equipped with inspection equipment such as pan / tilt, detection sensor, multi-degree-of-freedom robotic arm, electronically controlled hand grip and tools, which will affect the position of the center of gravity of the platform and affect the posture of the motion platform. Stability control takes a toll

Therefore, the current substation inspection robot can only complete the inspection tasks of open substations, and cannot complete lightweight maintenance operations. Substation maintenance operation robots are suitable for cleaning and cleaning operations in low altitudes. For open substation ground switch cabinets and other equipment, the insulation distance is limited. unable to work

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