Transformer substation foot-type robot, inspection system and method

A technology for robots and substations, applied in motor vehicles, electrical components, switch devices, etc., can solve problems such as inability to work, single leg structure, poor walking ability, etc., to improve versatility, improve movement stability, and enhance adaptability. Effect

Active Publication Date: 2021-04-23
STATE GRID INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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.

Method used

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  • Transformer substation foot-type robot, inspection system and method
  • Transformer substation foot-type robot, inspection system and method
  • Transformer substation foot-type robot, inspection system and method

Examples

Experimental program
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Effect test

Embodiment 1

[0111] A substation legged robot comprising a robot platform, a detection assembly, a rotatable outrigger, a robotic arm and a control unit, wherein:

[0112] A plurality of rotatable outriggers are arranged under the robot platform to carry and drive the robot platform to move, and a connecting part is arranged on the robot platform, and the connecting part is detachably linked with the detection component or / and the mechanical arm, The mechanical arm is used to perform maintenance tasks, and the detection component is used to perform detection tasks;

[0113] Each rotatable outrigger is equipped with an independent drive, and the control unit controls the action of each drive or / and the mechanical arm according to the obstacles on the site, and adjusts the posture of the robot platform or / and the mechanical arm to meet the walking of different tasks Require.

[0114] The legged robot platform adopts a unified interface form. The pan-tilt detection component and the robotic ...

Embodiment 2

[0142] Based on the substation legged robot in Embodiment 1, a multi-robot joint inspection system is provided, including several substation legged robots, substation wheeled robots and a central processing unit, wherein:

[0143] The substation legged robot conducts inspections in the first area, and the substation wheeled robot performs inspections in the second area, and both the first area and the second area have multiple inspection points;

[0144] The central processor communicates with the substation legged robots and substation wheeled robots, receives the inspection information obtained by all the robots at the corresponding inspection points, and is configured to analyze the inspection information, locate the power equipment and identify the location of the power equipment. state.

[0145] As an optional implementation, the inspection range formed by all the inspection points in the first area and the second area can cover the entire substation inspection area;

[...

Embodiment 3

[0152] A substation legged robot operation method, comprising the following steps:

[0153] When inspection is required, according to the obstacles on site, control the robot to reach the designated position, adjust the posture of the robot, and use the detection components to perform detection tasks on the corresponding substation equipment;

[0154] When maintenance is required, install the robotic arm, adjust the posture of the robot, and perform maintenance tasks.

[0155] According to the obstacles on the site, control the robot to reach the designated position and adjust the robot's posture. When the legged robot is walking, the legs are divided into supporting legs and swinging legs according to the supporting state. The supporting legs push the ground, and the feet move backward to push the trunk. Proceed; swing leg soars forward in preparation for touchdown. Wherein, the swinging stage of the swinging leg is divided into an ascending stage and a descending stage acco...

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PUM

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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...

Claims

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Application Information

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IPC IPC(8): B62D57/032H02B3/00
Inventor 孟健董旭李建祥许玮周大洲郭锐王海鹏许乃媛孙虎赵亚博杨尚伟韩铠泽肖鹏李希智张峰刘丕玉
Owner STATE GRID INTELLIGENCE TECH CO LTD
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