A partial discharge inspection robot

Abstract

The present invention provides a partial discharge inspection robot, comprising a mobile platform, a rotating platform and a detection platform, wherein the mobile platform is hung on a track and slidably connected to the track, the rotating platform is rotatably connected to the lower end of the mobile platform, the detection platform is connected to the rotating platform in a lifting manner, and a partial discharge detection component is arranged on the detection platform. The present invention provides a partial discharge inspection robot, which can replace the repeated equipment inspection work of staff and ensure the long-term safe operation of power equipment.

Description

Technical Field

[0001] The invention relates to the technical field of power detection equipment, and in particular to a partial discharge inspection robot. Background Art

[0002] When power equipment fails, partial discharge generally occurs. If it is not repaired in time, it will cause equipment breakdown, causing the power equipment to fail to operate normally. Since there is no reliable real-time detection system to detect partial discharge sites in time, power equipment breakdown accidents occur from time to time, and manual detection cannot guarantee uninterrupted operation and is not reliable. If the discharge site can be found in time before the accident occurs, it is possible to avoid the accident and avoid greater economic losses. Summary of the invention

[0003] The purpose of the present invention is to provide a partial discharge inspection robot, which is used to replace the repeated equipment inspection work of staff and ensure the long-term safe operation of power equipment.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] A partial discharge inspection robot comprises a mobile platform, a rotating platform and a detection platform. The mobile platform is hung on a track and slidably connected to the track. The rotating platform is rotatably connected to the lower end of the mobile platform. The detection platform is connected to the rotating platform in a liftable manner. A partial discharge detection component is arranged on the detection platform.

[0006] Furthermore, a busbar is provided along the track, the mobile platform comprises a frame, a current collector, a driving wheel, a driven wheel and a balancing wheel group, the current collector is fixedly connected to the frame, the contact sheet of the current collector is in electrical contact with the busbar to supply power to the partial discharge inspection robot, the driving wheel rolls on the bottom surface of the track, the driving wheel is fixedly mounted on the driving wheel shaft, the driving wheel shaft is connected to a driving motor via a reduction mechanism, the driving motor is fixedly mounted on the frame, the reduction mechanism comprises a small pulley, a large pulley and a reduction belt, the small pulley is fixedly mounted to the output shaft of the driving motor The large pulley is fixedly connected with the driving wheel shaft, the small pulley is connected with the large pulley through the speed reduction belt, the driven wheel is fixedly mounted on the driven wheel shaft, the driven wheel shaft is mounted on the frame, the driven wheel and the driving wheel are symmetrically arranged with respect to the track, the balancing wheel group comprises a plurality of balancing wheels symmetrically arranged with respect to the track, the balancing wheel rolls on the side of the track, the balancing wheel is fixedly mounted on the balancing wheel shaft, the balancing wheel shaft is mounted on the balancing wheel frame, the balancing wheel frame is connected with the frame through a linear damper, and the linear damper is horizontally arranged.

[0007] Furthermore, the local discharge inspection robot also includes a controller and a data collector, the controller controls the movement of the local discharge inspection robot, the data collector includes a central processing unit and a memory, the central processing unit processes local discharge data and stores the processed data in the memory, the collector is connected to modem 1, the modem 1, the local discharge detection component, the controller and the data collector are connected through switch 1, the modem 1 is connected to the collector, the busbar is connected to modem 2, the modem 2 is connected to switch 2, the switch 2 is connected to a background host, the background host and the local discharge inspection robot realize signal transmission through a power carrier, the background host inputs a control signal to the local discharge inspection robot, and the local discharge inspection robot inputs a feedback signal to the background host.

[0008] Furthermore, the rotating platform is cylindrical, and is provided with a ring gear, gear one, gear two and gear three. The ring gear is fixedly connected to the inner wall of the rotating platform, gear one is fixedly set on gear shaft one, gear one is meshed with the ring gear, gear shaft one is connected to a rotating motor, gear two is meshed with gear three, gear two is fixedly set on gear shaft two, the lower end of gear shaft two is connected to a screw mechanism, gear shaft two is fixedly connected to the screw of the screw mechanism, the lifting platform is fixedly connected to the screw nut of the screw mechanism, gear three is fixedly set on gear shaft three, gear shaft three is connected to a lifting motor, and the rotating motor and the lifting motor are both fixedly connected to the mobile platform.

[0009] Furthermore, the rotating platform is provided with mounting plate 1 and mounting plate 2, and the mounting plate 1 and mounting plate 2 are provided with bearing mounting holes corresponding to gear shaft 1, gear shaft 2 and gear shaft 3, and bearings are installed in the bearing mounting holes. The inner wall of the rotating platform is provided with mounting bosses for mounting mounting plate 1 and mounting plate 2, and the inner diameter of the mounting boss for mounting mounting plate 1 is larger than the outer diameter of mounting plate 2.

[0010] Furthermore, the partial discharge detection component is connected to the detection platform via a telescopic mechanism, and the telescopic direction of the telescopic mechanism is perpendicular to the lifting direction of the detection platform.

[0011] Furthermore, the partial discharge detection component includes a magnetic attraction component that can attract the partial discharge detection component to the substation switch cabinet.

[0012] Furthermore, the partial discharge detection component includes a transient ground wave sensor, an ultra-high frequency sensor and a pulse current sensor.

[0013] Furthermore, the detection platform is also provided with a video detection component, and the video detection component includes an infrared thermal imaging camera and a visible light camera.

[0014] Furthermore, the video detection component is connected to the detection platform via a pitch mechanism.

[0015] After adopting the above technical solution, the present invention has the following advantages:

[0016] 1. The partial discharge inspection robot slides on the track set in the substation room. When detecting the discharge part of the power equipment, the mobile platform of the partial discharge inspection robot moves to the top of the equipment to be inspected. Through the rotation of the rotating platform and the lifting of the detection platform, the partial discharge detection component is aligned with the part to be inspected to detect the discharge of the power equipment at this part. The partial discharge inspection robot of the present invention can replace the repeated equipment inspection work of the staff, ensure the long-term safe operation of the power equipment, and has the characteristics of reliable operation and unlimited working time, and is particularly suitable for important power system equipment with a long operating cycle.

[0017] 2. The mobile platform is supported by a single track hoisting, with a simple and compact structure, small size, and small space occupation. It can be used in narrow spaces, and greatly reduces the difficulty of track installation. With the use of a balancing wheel set, during the movement of the partial discharge inspection robot, due to the deflection or vibration of the fuselage or the centripetal force during the turning process, the balancing wheels on both sides of the track are subjected to unequal forces. Under the action of the linear damper, the forces on both sides are balanced, so that the mobile mechanism runs smoothly without derailment or body shaking.

[0018] 3. The background host communicates with the partial discharge inspection robot through the power carrier. The background host sends an inspection command to the inspection robot, so that the controller controls the inspection robot to move to the inspection point. The partial discharge detection component collects partial discharge data. The central processor processes the partial discharge data and stores the processed data in the memory. The partial discharge data is fed back to the background host. After the background host receives the partial discharge data, it controls the inspection robot to move to the next inspection point. The inspection robot replaces manual entry into the site to perform partial discharge detection operations to avoid possible personal injury; and partial discharge detection operations can be performed at fixed times and locations, and the trend of changes can be automatically analyzed and the inspection results can be output. The detection results are highly referenceable, reducing the workload of operation and maintenance personnel in data processing, and solving the technical problems that the online partial discharge detection method in the prior art requires a large number of partial discharge devices to be detected, which is too costly, and the portable partial discharge detection requires the operation and maintenance personnel to carry a portable partial discharge detector for detection, and the safety of personnel cannot be guaranteed, and the referenceability of the detection results is not high.

[0019] 4. The rotating motor drives gear 1 to rotate, gear 1 drives the gear ring meshing with it to rotate, so that the rotating platform rotates; the lifting motor drives gear 3 to rotate, gear 3 drives gear 2 meshing with it to rotate, gear 2 drives the screw to rotate, and the screw nut rises and falls to drive the detection platform to rise and fall. The rotation and lifting of the partial discharge inspection robot of the present invention adopt a parallel structure, and the two degrees of freedom of rotation and lifting are independent of each other and do not interfere with each other, which is convenient for control; and the robot has a simple and compact structure, is easy to process, and is easy to install and disassemble.

[0020] 5. Gear shaft 1, gear shaft 2 and gear shaft 3 are installed in the rotating platform through mounting plate 1, mounting plate 2 and bearings arranged on the mounting plates. Mounting plate 1 and mounting plate 2 are limited by mounting bosses. The inner diameter of the mounting boss for mounting mounting plate 1 is larger than the outer diameter of mounting plate 2, which facilitates the sequential installation of mounting plate 2 and mounting plate 1.

[0021] 6. After the inspection robot reaches the location of the power equipment to be inspected, the partial discharge detection component is aligned with the part to be tested of the power equipment by rotating the rotating platform and lifting the detection platform. The telescopic mechanism is extended to make the partial discharge detection component close to the part to be tested of the power equipment to perform partial discharge detection.

[0022] 7. The partial discharge detection component includes a magnetic attraction member that can attract the partial discharge detection component to the power equipment in the substation, so as to make the partial discharge detection component closely attached to the part to be tested of the power equipment and prevent the partial discharge detection component from slipping.

[0023] 8. The partial discharge detection component includes a transient ground wave sensor, an ultra-high frequency sensor and a pulse current sensor. The transient ground wave sensor detects the main characteristic quantities of the partial discharge signal of the power equipment in real time, including the number of partial discharge pulses and the pulse amplitude. By studying the relationship between the time domain phase, the number of pulses and the measurement threshold under different defect models, combined with the ultra-high frequency sensor and the pulse current sensor, the field interference signal is eliminated and the insulation fault of the power equipment is alarmed.

[0024] 9. The detection platform is also equipped with a video detection component, which includes an infrared thermal imaging camera and a visible light camera. According to the image acquisition information of the visible light camera, the data of the meter with readings is read, automatically recorded and judged, and an alarm is raised, so that the inspection robot can automatically identify the status of various indicator lights, pressure plates arranged on the cabinet surface of power equipment, circuit breakers, transfer switches and other secondary equipment in the image. The infrared thermal imaging camera is used for thermal monitoring of various indoor power equipment, distribution boxes and other equipment. It can measure the temperature of indoor heating equipment in the substation and form a dual-view system with the visible light camera.

[0025] 10. The video detection component is connected to the detection platform via a pitch mechanism, so that the video detection component can rotate up and down to increase the detection range of the video detection component. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below in conjunction with the accompanying drawings:

[0027] Figure 1 The figure is a schematic structural diagram of a partial discharge inspection robot of the present invention.

[0028] Figure 2 The figure is a side view of a partial discharge inspection robot according to the present invention.

[0029] Figure 3 It is a structural schematic diagram of the mobile platform in the present invention.

[0030] Figure 4 It is a schematic diagram of the control system of the present invention.

[0031] Figure 5 The figure is a schematic structural diagram of a partial discharge inspection robot of the present invention when viewed in section on a rotating platform.

[0032] Figure 6 for Figure 5 A partial enlarged view of point A in the middle. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0034] like Figure 1 As shown, a partial discharge inspection robot includes a mobile platform 1, a rotating platform 2 and a detection platform 3. The mobile platform 1 is hung on a track 4 and is slidably connected to the track 4. The rotating platform 2 is rotatably connected to the lower end of the mobile platform 1. The detection platform 3 is connected to the rotating platform 2 in a liftable manner. A partial discharge detection component 5 is provided on the detection platform 3.

[0035] like Figure 2 , Figure 3As shown, a busbar 21 is provided along the track 4. The mobile platform includes a frame 101, a current collector 22, a driving wheel 23, a driven wheel 24 and a balancing wheel set. The current collector 22 is fixedly connected to the frame 101, and the contact piece of the current collector 22 is in electrical contact with the busbar 21 to supply power to the mobile platform. The driving wheel 23 rolls on the bottom surface of the track 4, and the driving wheel 23 is fixedly mounted on the driving wheel shaft 25. The driving wheel shaft 25 is connected to a driving motor 26 through a reduction mechanism. The driving motor 26 is fixedly mounted on the frame 101. The reduction mechanism includes a small pulley 27, a large pulley 28 and a reduction belt 29. The small pulley 27 is fixedly connected to the output shaft of the driving motor 26, the large pulley 28 is fixedly connected to the driving wheel shaft 25, and the small pulley 27 and the large pulley 28 are connected through a reduction belt 29. The driven wheel 24 is fixedly mounted on the driven wheel shaft 30, which is mounted on the frame 101. The driven wheel 24 and the driving wheel 23 are symmetrically arranged about the track 4. The balancing wheel group includes a plurality of balancing wheels 31 symmetrically arranged about the track 4. The balancing wheels 31 roll on the side of the track 4. The balancing wheels 31 are fixedly mounted on the balancing wheel shaft 32, which is mounted on the balancing wheel frame 33. The balancing wheel frame 33 is connected to the frame 101 through a linear damper 34, which is horizontally arranged.

[0036] The mobile platform is supported by a single track hoisting, with a simple and compact structure, small size, and small space occupation. It can be used in narrow spaces, and greatly reduces the difficulty of track installation. With the use of a balancing wheel set, during the movement of the partial discharge inspection robot, due to the deflection or vibration of the fuselage or the centripetal force during the turning process, the balancing wheels on both sides of the track are subjected to unequal forces. Under the action of the linear damper, the forces on both sides are balanced, so that the mobile platform runs smoothly without derailment or body shaking.

[0037] In this embodiment, the linear damper 34 is an electromagnetic linear damper. Since the linear damper always keeps working during the movement of the inspection robot, its operating life is an issue that the inspection robot needs to consider. The mechanical linear damper is easily damaged when the inspection robot is subjected to a large impact force, while the electromagnetic linear damper adopts the principle of electromagnetic induction and has low friction, which increases the operating life of the linear damper; it can withstand large impact forces and is not easily damaged; it has high balancing accuracy, which improves the running stability of the inspection robot.

[0038] In this embodiment, the speed reduction mechanism is arranged outside the driving wheel 23 and the driving motor 26, and then the driving wheel 23 and the driving motor 26 are located on the same side, so that the mobile platform has a compact structure.

[0039] like Figure 4As shown, the local discharge inspection robot also includes a controller 46 and a data collector 47. The controller 46 controls the movement of the local discharge inspection robot. The data collector 47 includes a central processing unit and a memory. The central processing unit processes local discharge data and stores the processed data in the memory. The collector 22 is connected to a modem 48. The modem 48, the local discharge detection component 5, the controller 46 and the data collector 47 are connected through a switch 49. The modem 48 is connected to the collector 22. The busbar 21 is connected to a modem 410. The modem 410 is connected to a switch 411. The switch 411 is connected to the background host 41. The background host 41 and the local discharge inspection robot realize signal transmission through the power carrier. The background host 41 inputs a control signal to the local discharge inspection robot, and the local discharge inspection robot inputs a feedback signal to the background host 41.

[0040] In this embodiment, Figure 1 , Figure 4 As shown, the detection platform 3 is also provided with a video detection component, which includes an infrared thermal imaging camera 6 and a visible light camera 7. The video detection component 412 is connected to the data collector 47. According to the image acquisition information of the visible light camera, the data of the reading mark is read, automatically recorded and judged, and an alarm is raised, so that the inspection robot can automatically identify the status of various indicator lights, pressure plates arranged on the cabinet surface of the power equipment, circuit breakers, transfer switches and other secondary equipment in the image. The infrared thermal imaging camera is used for thermal monitoring of various indoor power equipment, distribution boxes and other equipment. It can measure the temperature of the indoor heating equipment of the substation and form a dual-view system with the visible light camera.

[0041] In this embodiment, the video detection component is connected to the detection platform 3 via a pitch mechanism, so that the video detection component can rotate up and down to increase the detection range of the video detection component.

[0042] The background host communicates with the partial discharge inspection robot through the power carrier. The background host sends an inspection command to the inspection robot, so that the controller controls the inspection robot to move to the inspection point. The partial discharge detection component collects partial discharge data, and the central processing unit processes the partial discharge data and stores the processed data in the memory. The partial discharge data is fed back to the background host. After the background host receives the partial discharge data, it controls the inspection robot to move to the next inspection point.

[0043] like Figure 5 , Figure 6As shown, the rotating platform 2 is cylindrical, and is provided with a ring gear 8, a gear one 9, a gear two 10 and a gear three 11 in the rotating platform 2. The ring gear 8 is fixedly connected to the inner wall of the rotating platform 2, the gear one 9 is fixedly set on the gear shaft one 12, the gear one 9 is meshed with the ring gear 8, the gear shaft one 12 is connected to a rotating motor 13, the gear two 10 is meshed with the gear three 11, the gear two 12 is fixedly set on the gear shaft two 14, the lower end of the gear shaft two 14 is connected to a screw mechanism 15, the gear shaft two 14 is fixedly connected to the screw of the screw mechanism 15, the detection platform 3 is fixedly connected to the screw nut of the screw mechanism 15, the gear three 11 is fixedly set on the gear shaft three 16, the gear shaft three 16 is connected to the lifting motor 17, and the rotating motor 13 and the lifting motor 17 are both fixedly connected to the mobile platform 1.

[0044] The rotating motor 13 drives the gear 1 9 to rotate, and the gear 1 9 drives the gear ring 8 meshing therewith to rotate, so that the rotating platform 2 rotates; the lifting motor 17 drives the gear 3 11 to rotate, and the gear 3 11 drives the gear 2 10 meshing therewith to rotate, and the gear 2 10 drives the screw rod to rotate, and the screw rod nut is lifted and lowered to drive the detection platform 3 to lift and lower. The rotation and lifting of the substation partial discharge inspection robot of the present invention adopt a parallel structure, and the two degrees of freedom of rotation and lifting are independent of each other and do not interfere with each other, which is convenient for control; and the robot has a simple and compact structure, is easy to process, and is easy to install and disassemble.

[0045] The rotating platform 2 is also provided with a mounting plate 18 and a mounting plate 2 19. The mounting plate 18 and the mounting plate 2 19 are both provided with bearing mounting holes corresponding to the gear shaft 1 12, the gear shaft 2 14 and the gear shaft 3 16. The bearing mounting holes are all provided with bearings 20. The inner wall of the rotating platform 2 is provided with mounting bosses for mounting the mounting plate 1 18 and the mounting plate 2 19. The inner diameter of the mounting boss for mounting the mounting plate 1 18 is larger than the outer diameter of the mounting plate 2 19. The gear shaft 12, the gear shaft 2 14 and the gear shaft 3 16 are mounted in the rotating platform 2 through the mounting plate 1 18, the mounting plate 2 19 and the bearings 20 arranged on the mounting plates. The mounting plate 1 18 and the mounting plate 2 19 are limited by the mounting bosses. The inner diameter of the mounting boss for mounting the mounting plate 1 18 is larger than the outer diameter of the mounting plate 2 19, so that the mounting plate 2 19 and the mounting plate 1 18 can be installed in sequence.

[0046] In this embodiment, Figure 2 As shown, the partial discharge detection component 5 is connected to the detection platform 3 through a telescopic mechanism, and the telescopic direction of the telescopic mechanism is perpendicular to the lifting direction of the detection platform 3. After the inspection robot reaches the position of the power equipment to be inspected, the partial discharge detection component is aligned with the part to be tested of the power equipment through the rotation of the rotating platform and the lifting of the detection platform, and the telescopic mechanism is extended so that the partial discharge detection component is close to the part to be tested of the power equipment, so as to perform partial discharge detection.

[0047] In this embodiment, the partial discharge detection component 5 includes a magnetic attraction component that can attract the partial discharge detection component to the substation power equipment, so as to make the partial discharge detection component 5 close to the part to be tested of the power equipment and prevent the partial discharge detection component 5 from slipping.

[0048] The partial discharge detection component 5 includes a transient ground wave sensor, an ultra-high frequency sensor and a pulse current sensor. The transient ground wave sensor detects the main characteristic quantities of the partial discharge signal of the power equipment in real time, including the number of partial discharge pulses and the pulse amplitude. By studying the relationship between the time domain phase, the number of pulses and the measurement threshold under different defect models, combining the ultra-high frequency sensor and the pulse current sensor, the field interference signal is eliminated and an alarm is issued for the insulation fault of the power equipment.

[0049] In addition to the above preferred embodiments, the present invention has other implementation modes. Those skilled in the art may make various changes and modifications based on the present invention. As long as they do not depart from the spirit of the present invention, they should all fall within the scope defined by the claims attached to the present invention.

Claims

1. A partial discharge inspection robot, characterized in that: include A mobile platform, the mobile platform is hung on the track and slidably connected to the track; A rotating platform, the rotating platform is rotatably connected to the lower end of the mobile platform; and a detection platform, the detection platform is connected to the rotating platform in a liftable manner, and a partial discharge detection component is provided on the detection platform, A busbar is provided along the track, and the mobile platform includes a frame, a current collector, a driving wheel, a driven wheel and a balancing wheel group. The current collector is fixedly connected to the frame, and the contact sheet of the current collector is in electrical contact with the busbar to supply power to the partial discharge inspection robot. The driving wheel rolls on the bottom surface of the track, and the driving wheel is fixedly mounted on the driving wheel shaft. The driving wheel shaft is connected to a driving motor through a reduction mechanism, and the driving motor is fixedly mounted on the frame. The reduction mechanism includes a small pulley, a large pulley and a reduction belt. The small pulley is fixedly connected to the output shaft of the driving motor, and the large pulley is fixedly connected to the driving wheel shaft. The small pulley is connected to the large pulley through the reduction belt, and the driven wheel is fixedly connected to the driving wheel shaft. The wheel is fixedly mounted on the driven wheel shaft, the driven wheel shaft is mounted on the frame, the driven wheel and the driving wheel are symmetrically arranged about the track, the balancing wheel group includes a plurality of balancing wheels symmetrically arranged about the track, the balancing wheel rolls on the side of the track, the balancing wheel is fixedly mounted on the balancing wheel shaft, the balancing wheel shaft is mounted on the balancing wheel frame, the balancing wheel frame is connected to the frame through a linear damper, the linear damper is horizontally arranged, the partial discharge inspection robot also includes a controller and a data collector, the controller controls the movement of the partial discharge inspection robot, the data collector includes a central processing unit and a memory, the central processing unit processes partial discharge data and converts the processed data into The data is stored in the memory, the collector is connected to modem 1, the modem 1, the partial discharge detection component, the controller and the data collector are connected through switch 1, the modem 1 is connected to the collector, the busbar is connected to modem 2, the modem 2 is connected to switch 2, the switch 2 is connected to the background host, the background host and the partial discharge inspection robot realize signal transmission through the power carrier, the background host inputs a control signal to the partial discharge inspection robot, and the partial discharge inspection robot inputs a feedback signal to the background host, the rotating platform is cylindrical, and a gear ring, gear 1, gear 2 and gear 3 are arranged in the rotating platform, and the gear ring is connected to the rotating The inner wall of the platform is fixedly connected, gear one is fixedly arranged on gear shaft one, gear one is meshed with the gear ring, gear shaft one is connected with a rotating motor, gear two is meshed with gear three, gear two is fixedly arranged on gear shaft two, the lower end of gear shaft two is connected with a lead screw mechanism, gear shaft two is fixedly connected with the lead screw of the lead screw mechanism, the detection platform is fixedly connected with the lead screw nut of the lead screw mechanism, gear three is fixedly arranged on gear shaft three, gear shaft three is connected with a lifting motor, the rotating motor and the lifting motor are fixedly connected with the moving platform, and mounting plate one and mounting plate two are also arranged in the rotating platform, and mounting plate one and mounting plate two are provided with bearing mounting holes corresponding to gear shaft one, gear shaft two and gear shaft three, and bearings are installed in the bearing mounting holes,The inner wall of the rotating platform is provided with mounting bosses for mounting the mounting plate 1 and the mounting plate 2, respectively. The inner diameter of the mounting boss for mounting the mounting plate 1 is larger than the outer diameter of the mounting plate 2. The partial discharge detection assembly is connected to the detection platform through a telescopic mechanism, and the telescopic direction of the telescopic mechanism is perpendicular to the lifting direction of the detection platform.

2. A partial discharge inspection robot according to claim 1, characterized in that: The partial discharge detection component comprises a magnetic attraction member which can attract the partial discharge detection component to the substation switch cabinet.

3. A partial discharge inspection robot according to claim 1, characterized in that: The partial discharge detection component includes a transient ground wave sensor, an ultra-high frequency sensor and a pulse current sensor.

4. A partial discharge inspection robot according to claim 1, characterized in that: The detection platform is also provided with a video detection component, which includes an infrared thermal imaging camera and a visible light camera.

5. A partial discharge inspection robot according to claim 4, characterized in that: The video detection component is connected to the detection platform via a pitch mechanism.

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