A patrol robot of a booster station equipment

Abstract

The application discloses a kind of inspection robots of booster station equipment, comprising: mobile carrier, for autonomous reciprocating travel inspection between each electrical equipment in booster station;Detection platform is rotatably arranged on mobile carrier;Contact detection mechanism is foldable and stored in detection platform;Non-contact detection mechanism is arranged on detection platform, for remotely identifying abnormal state of booster station equipment and detecting the distance from mobile carrier.In the application, self-locking joint realizes accurate angle adjustment through micro stepping motor, and is self-locked through worm and gear transmission mechanism after power failure, while the whole is in electrically insulated state, and contact detection is realized in electrically insulated state by pneumatic telescopic swing arm and contact swing arm, to avoid high-voltage discharge and risk of electric leakage from the source, adapt to the use scenario of high voltage and strong electromagnetic in booster station, and the contact swing arm is provided with inductive air release valve and reset elastic element, which can quickly release and retract when detecting leakage current, to drive the detection end to separate from the equipment, and further improve the safety of inspection.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and in particular to an inspection robot for booster station equipment. Background Technology

[0002] As a core hub of the power system, substation equipment operates under high-voltage, strong electromagnetic, humid, and polluted environments for extended periods, making inspection work extremely demanding in terms of safety and accuracy. Existing inspection robots mostly employ non-contact testing, making it difficult to perform in-depth inspections such as transformer vibration and terminal pressure checks. Some robots with contact testing capabilities rely on electrically driven robotic arms that depend on insulating coatings, posing safety hazards such as insulation failure due to coating wear and aging, and induced potential discharge under strong electric fields.

[0003] Furthermore, while purely pneumatic robotic arms without any electrical components can ensure insulation safety, their low posture adjustment accuracy and slow response make them unsuitable for the dense and complex inspection scenarios of substation equipment, hindering accurate contact detection. Therefore, there is an urgent need for a substation inspection robot solution that balances posture adjustment accuracy, contact depth detection requirements, and high-voltage insulation safety, addressing the difficulty in balancing safety and practicality in existing technologies. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings mentioned above by providing an inspection robot for booster station equipment that meets the requirements for posture adjustment accuracy and contact depth detection.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: an inspection robot for booster station equipment, comprising: Mobile carriers are used for autonomous reciprocating inspections between various electrical equipment within the substation. The testing platform is rotatably mounted on a mobile carrier; The contact testing mechanism can be folded and stored on the testing platform. A non-contact detection mechanism, set up on the detection platform, is used to remotely identify abnormal conditions of the booster station equipment and detect the distance to moving carriers; The contact detection mechanism includes a rotating base, a fixed swing arm, a pneumatic telescopic swing arm, a contact swing arm, and a detection fixture. Adjacent components are connected sequentially via self-locking joints. The detection fixture holds a detection sensor; The pneumatic telescopic swing arm includes a first fixed tube, a first pneumatic extension tube, and a stroke adjustment mechanism disposed in the first fixed tube; The first pneumatic extension tube is hollow inside and communicates with the inner cavity of the contact swing arm. The end of the tube away from the contact swing arm is provided with a conduction mechanism that cooperates with the stroke adjustment mechanism to control the air passage opening and closing of the first pneumatic extension tube. The contact swing arm includes a second fixed tube and a second pneumatic extension tube disposed therein; the second fixed tube is provided with a reset elastic element and an inductive vent valve; The inductive vent valve is configured to open and vent when a leakage current is sensed, and the reset elastic element is configured to push the second pneumatic extension tube back and detach from the surface of the device being tested when the inductive vent valve is open.

[0006] Furthermore, a transmission groove is formed on the inner wall of the first fixed tube along its length. The stroke adjustment mechanism includes a first drive unit, and the output end of the first drive unit is provided with a transmission screw located in the transmission groove. It also includes a stroke positioning block that is threadedly engaged with the transmission lead screw and is slidably sealed within the transmission groove; The travel positioning block is equipped with a trigger rod.

[0007] Furthermore, the end of the first pneumatic extension tube away from the contact swing arm is provided with a sealing ring that slides and seals with the inner wall of the first fixed tube. A breathable plate is fixedly provided at the center of the sealing ring, and breathable holes are distributed in a ring on the breathable plate. The sealing ring is rotatably provided with a rotating sealing plate inside, which is coaxially fitted with the vent plate to seal the vent hole; The rotating sealing plate has a rotating insertion hole that mates with the trigger rod. Both the rotating insertion hole and the trigger rod have a mating inclined surface, which is used to drive the rotating sealing plate to rotate when the two come into contact, so that the vent hole is open. The rotating sealing plate is also provided with a return torsion spring at its axis, which is used to keep the rotating sealing plate in a sealing state when it is not subjected to external force.

[0008] Furthermore, the contact swing arm has an exhaust port on its side wall near the self-locking joint, and the inductive vent valve is installed in the exhaust port. The inductive vent valve includes a current sensing unit and a miniature self-locking solenoid valve.

[0009] Furthermore, the self-locking joint includes an insulating housing, and a miniature stepper motor and worm gear transmission mechanism disposed within the insulating housing; The worm gear transmission mechanism is used to realize angle adjustment between adjacent swing arms and self-locking in the event of power failure.

[0010] Furthermore, the detection fixture has a universal ball joint extending into the interior of the contact swing arm at one end near the contact swing arm; The contact swing arm is equipped with a return spring that is fixedly connected to the center of the universal ball joint. The universal joint is used to enable the detection fixture to rotate adaptively at multiple angles, and the return spring is used to restore the detection fixture to a vertical position when no external force is applied.

[0011] Furthermore, the detection platform is also equipped with an air supply pump; The output end of the air pump is connected to an air supply pipe, which is connected to the internal air passage of the pneumatic telescopic arm.

[0012] Furthermore, the detection platform is also equipped with a sensor replacement mechanism for switching different detection sensors to the detection fixture; The sensor replacement mechanism includes a sensor storage tray, which has multiple storage cavities equidistantly spaced around its circumference. Each storage cavity is used to place different types of detection sensors. It also includes an adjustment base, which contains a servo motor. The output of the servo motor is connected to the sensor storage tray to drive it to rotate by a specified angle. The detection platform is also equipped with a drive component for driving the adjustment base to move closer to or further away from the contact detection mechanism.

[0013] Furthermore, the non-contact detection mechanism includes a remote detection unit, an operation warning light, and a status display; The remote detection unit includes a visual camera, a laser temperature and rangefinder, an ultrasonic detector, and a supplementary light. The remote detection unit is rotatably mounted on the detection platform.

[0014] Furthermore, the non-contact detection mechanism includes a remote detection unit, an operation warning light, and a status display; The remote detection unit includes a visual camera, a laser temperature and rangefinder, an ultrasonic detector, and a supplementary light. The remote detection unit is rotatably mounted on the detection platform.

[0015] The beneficial effects of this invention are reflected in: This invention employs a "electronically controlled posture adjustment + power-off self-locking + pneumatic execution" mode. The self-locking joint achieves precise angle adjustment through a micro stepper motor. After power failure, it self-locks through a worm gear transmission mechanism, while the entire structure is in a state of electrical insulation. The pneumatic telescopic swing arm and contact swing arm achieve contact detection in the power-off state, fundamentally avoiding the risks of high-voltage discharge and leakage. It is suitable for high-voltage and strong electromagnetic application scenarios in booster stations. The contact swing arm is equipped with an inductive vent valve and a reset elastic element, which can quickly vent and retract when leakage current is detected, causing the detection end to detach from the equipment, further improving inspection safety and preventing damage to the equipment and robot. Attached Figure Description

[0016] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention; Figure 3This is a schematic diagram of the detection platform structure of the present invention; Figure 4 This is a cross-sectional view of the contact detection mechanism structure of the present invention; Figure 5 For the present invention Figure 4 Enlarged schematic diagram of the structure at point A in the middle.

[0017] In the picture: 1. Mobile carrier; 2. Testing platform; 3. Contact detection mechanism; 31. Rotating base; 32. Fixed swing arm; 33. Pneumatic telescopic swing arm; 331. First fixed tube; 332. First pneumatic extension tube; 333. Stroke adjustment mechanism; 3331. Transmission screw; 3332. Stroke positioning block; 3333. Trigger rod; 334. Ventilation plate; 335. Rotating sealing plate; 3351. Rotating insertion hole; 34. Contact swing arm; 341. Second pneumatic extension tube; 342. Reset elastic element; 343. Inductive vent valve; 35. Detection fixture; 36. Self-locking joint; 4. Non-contact detection mechanism; 41. Remote detection unit; 42. Operation warning light; 43. Status display; 51. Sensor storage tray; 511. Storage cavity; 52. Adjustment base; 6. Air pump; 61. Air supply pipe. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1-5 The purpose of this invention is to solve the problems of existing substation inspection robots being unable to balance the accuracy of contact detection with high-voltage insulation safety, and being prone to insulation failure and induced discharge risks. The invention provides a substation equipment inspection robot that can be electrically controlled for posture adjustment, self-locking upon power failure, pneumatically actuated, and automatically disconnected from leakage, making it suitable for the complex working conditions of substations with high voltage, strong electromagnetic fields, and damp and dirty conditions.

[0020] like Figure 1-2As shown, the inspection robot for the booster station equipment of the present invention mainly includes a mobile carrier 1, a detection platform 2, a contact detection mechanism 3, a non-contact detection mechanism 4, a sensor replacement mechanism, an air supply pump 6, and a control unit. These components work together to achieve non-contact initial inspection, contact-type in-depth inspection, and safety protection of the booster station equipment. The specific structure and connection relationships of each component are as follows: As the foundation for the robot's movement, the mobile carrier 1 adopts a tracked walking structure, adaptable to the uneven ground and equipment gaps within the substation. Internally, it integrates a walking drive motor, navigation module, and obstacle avoidance sensors. Following a preset inspection path, it can autonomously traverse between various electrical equipment (such as transformers, GIS equipment, circuit breakers, etc.) within the substation for inspection. The walking speed can be adjusted according to inspection needs, ensuring thorough and complete inspection. A rotating base is located on top of the mobile carrier 1, through which the inspection platform 2 is rotatably mounted. The rotation angle range is 0-360°, allowing the inspection mechanisms to adjust their orientation to accommodate equipment inspection needs in different locations.

[0021] The detection platform 2 is made of insulating material and has an overall square structure. It integrates the contact detection mechanism 3, the non-contact detection mechanism 4, the sensor replacement mechanism, the air supply pump 6, and the control unit. Its interior has a mounting cavity to accommodate the control unit and various wiring and air lines, preventing interference from high-pressure and strong electromagnetic environments to the electrical control components. The detection platform 2 has a folding storage slot, where the contact detection mechanism 3 can be folded and stored when not in operation, reducing the overall space occupied by the robot and facilitating movement in densely populated areas.

[0022] like Figure 3 As shown, the contact detection mechanism 3 is the core component for achieving depth detection. It includes a rotating base 31, a fixed swing arm 32, a pneumatic telescopic swing arm 33, a contact swing arm 34, and a detection fixture 35. Adjacent components are connected in sequence through self-locking joints 36 to form a foldable, multi-angle adjustable multi-segment swing arm structure, which can adapt to the detection needs of equipment at different heights and positions.

[0023] Specifically, the rotating base 31 is fixedly installed in the folding storage slot of the detection platform 2 and connected to the fixed swing arm 32 through the self-locking joint 36. The self-locking joint 36 is used to realize the swing of the fixed swing arm 32, thereby realizing the three-section folding storage of the contact detection mechanism 3. The rotating base 31 integrates existing conventional components such as a micro servo motor, a reduction gear set, and a power-off self-locking component. The rotation is achieved through the cooperation of various components, thereby fine-tuning the detection position. The above-mentioned components and cooperation structure are existing technologies and will not be described in detail here. The fixed swing arm 32 is a rigid insulating tube with a length preset according to the height of the booster station equipment. Its two ends are connected to the rotating base 31 and the pneumatic telescopic swing arm 33 through the self-locking joint 36, respectively, to provide support and connection. The pneumatic telescopic swing arm 33 is used to realize the extension and retraction of the detection end. The contact swing arm 34 is connected to the end of the pneumatic telescopic swing arm 33. The detection clamp 35 is set at the end of the contact swing arm 34 to hold the detection sensor and realize contact detection with the surface of the equipment being tested.

[0024] The detection fixture 35 adopts an insulated clamping structure, which can be adapted to detection sensors of different sizes (such as vibration sensors, contact temperature probes, partial discharge coupling probes, etc.). The clamping is stable and does not affect the detection accuracy of the sensor. The end of the detection fixture 35 near the contact swing arm 34 is provided with a universal ball joint 351 extending into the contact swing arm 34. The contact swing arm 34 is provided with a return spring 352 fixedly connected to the center of the universal ball joint 351. The universal ball joint 351 enables the detection fixture 35 to achieve 360° multi-angle adaptive rotation, ensuring that the detection sensor can fit the equipment with different surface curvatures. When the detection fixture 35 is not subjected to external force, the return spring 352 can pull the universal ball joint 351 to return to its original position, so that the detection fixture 35 maintains a vertical posture, which is convenient for storage and subsequent testing.

[0025] like Figure 4 As shown, the pneumatic telescopic swing arm 33 includes a first fixed tube 331, a first pneumatic extension tube 332, and a stroke adjustment mechanism 333 disposed in the first fixed tube 331. The first fixed tube 331 and the fixed swing arm 32 are connected by a self-locking joint 36. The first pneumatic extension tube 332 is sleeved in the first fixed tube 331 and can extend and retract along the length direction of the first fixed tube 331.

[0026] The inner wall of the first fixed tube 331 is provided with a transmission groove along its length. The transmission groove is rectangular and is adapted to the stroke adjustment mechanism 333. The stroke adjustment mechanism 333 is used to preset the positions of the stroke positioning block 3332 and the trigger rod 3333. It includes a first drive unit, preferably a micro servo motor, which is insulated and encapsulated. The first drive unit is fixedly installed at the end of the first fixed tube 331. Its output end is provided with a transmission screw 3331 located in the transmission groove. The transmission screw 3331 is arranged parallel to the transmission groove. The stroke adjustment mechanism 333 also includes a stroke positioning block 3332 that is threadedly engaged with the transmission screw 3331 and slidably sealed in the transmission groove. The stroke positioning block 3332 is slidably sealed with the inner wall of the transmission groove and can move along the length of the transmission screw 3331. The stroke positioning block 3332 is provided with a trigger rod 3333, which is arranged perpendicular to the stroke positioning block 3332 and extends toward the first pneumatic extension tube 332.

[0027] The first pneumatic extension tube 332 is hollow inside. At the end away from the contact swing arm 34, there is a sealing ring that slides and seals with the inner wall of the first fixed tube 331. The sealing ring is made of high-pressure resistant insulating sealing material to ensure air passage sealing and prevent air leakage. A vent plate 334 is fixedly provided at the center of the sealing ring. Multiple vent holes are distributed in a ring on the vent plate 334 to enable air passage. A rotating sealing plate 335 is rotatably provided inside the sealing ring. The rotating sealing plate 335 is coaxially fitted with the vent plate 334. The size of the rotating sealing plate 335 is the same as that of the vent plate 334. It is used to block the vent holes and achieve air passage cutoff.

[0028] like Figure 5 As shown, the rotating sealing plate 335 has a rotating insertion hole 3351 that mates with the trigger rod 3333. Both the rotating insertion hole 3351 and the trigger rod 3333 have mating inclined surfaces. The positions of the stroke positioning block 3332 and the trigger rod 3333 are preset. In use, the air pump 6 inflates and pushes the first pneumatic extension tube 332 to move. During this process, the rotating sealing plate 335 on the first pneumatic extension tube 332 moves accordingly. When the rotating insertion hole 3351 on the plate contacts and mates with the preset trigger rod 3333, the mating inclined surface... The surfaces abut against each other, driving the rotating sealing plate 335 to rotate around its axis, so that the rotating sealing plate 335 no longer blocks the vent hole on the vent plate 334, realizing the vent hole is open and the air passage is open; a return torsion spring is also provided at the axis of the rotating sealing plate 335, and the two ends of the return torsion spring are connected to the sealing ring and the rotating sealing plate 335 respectively. It is used to drive the trigger rod 3333 to return to its original position when it is disengaged from the rotating insertion hole 3351 and the rotating sealing plate 335 is not subjected to external force, so as to maintain the blocking state of the vent hole and realize the air passage is cut off.

[0029] The end of the first pneumatic extension tube 332 away from the sealing ring is rotatably connected to the contact swing arm 34 via a self-locking joint 36. The contact swing arm 34 can actively adjust its angle under the drive of the self-locking joint 36 to further adapt to the orientation of the target detection surface, ensuring that the detection fixture 35 can accurately fit the surface of the device being tested. The inner cavity of the first pneumatic extension tube 332 is connected to the inner cavity of the contact swing arm 34, so that the gas output by the air supply pump 6 can enter the contact swing arm 34 sequentially through the first fixed tube 331 and the first pneumatic extension tube 332, driving the second pneumatic extension tube 341 to extend and retract.

[0030] like Figure 4 As shown, the contact swing arm 34 includes a second fixed tube and a second pneumatic extension tube 341 disposed inside the second fixed tube. The second fixed tube is fixedly connected to the first pneumatic extension tube 332. The second pneumatic extension tube 341 is sleeved inside the second fixed tube and can extend and retract along the length direction of the second fixed tube. Its end is fixedly connected to the detection fixture 35.

[0031] The second fixed tube is equipped with a reset elastic element 342 and an inductive vent valve 343. The reset elastic element 342 is preferably a compression spring, which is sleeved on the outside of the second pneumatic extension tube 341. One end of the spring abuts against the end of the second fixed tube, and the other end abuts against the end of the second pneumatic extension tube 341. Under normal conditions, it is in a compressed state and has the tendency to push the second pneumatic extension tube 341 to retract. The contact swing arm 34 has an exhaust hole on its side wall near the self-locking joint 36. The inductive vent valve 343 is installed in the exhaust hole to control the air passage opening and closing of the inner cavity of the contact swing arm 34 and realize the venting function.

[0032] The inductive vent valve 343 includes a current sensing unit and a miniature self-locking solenoid valve. The current sensing unit is used to detect the leakage current around the contact swing arm 34 and the detection fixture 35 in real time. When the detected leakage current reaches a preset threshold, the miniature self-locking solenoid valve is triggered to open, so that the gas in the inner cavity of the contact swing arm 34 is quickly discharged through the exhaust port. At this time, the reset elastic element 342 releases elastic potential energy, pushing the second pneumatic extension tube 341 to retract quickly, causing the detection fixture 35 to detach from the surface of the equipment being tested, thus avoiding damage to the robot and the booster station equipment caused by the leakage current and improving the safety of the inspection.

[0033] The self-locking joint 36 is used to connect the adjacent components of the contact detection mechanism 3 to realize angle adjustment and power-off self-locking. It includes an insulating shell and a miniature stepper motor and worm gear transmission mechanism housed in the insulating shell. The insulating shell is made of high-strength epoxy insulating material, which completely encloses the miniature stepper motor and worm gear transmission mechanism to avoid interference from high voltage and strong electromagnetic environment to the electrical control components, while realizing electrical isolation and improving insulation safety.

[0034] The miniature stepper motor serves as the drive source, and its output end is connected to the worm gear transmission mechanism. The worm gear transmission mechanism has irreversible transmission characteristics, which can achieve precise adjustment of the angle between adjacent swing arms. Moreover, after the miniature stepper motor is powered off, the worm gear transmission mechanism can maintain a self-locking state, keeping the swing arm at its current angle and preventing angle deviation due to external forces or gravity, thus ensuring the stability of contact detection. At the same time, after power failure, the miniature stepper motor has no live parts, and together with the insulating shell, the self-locking joint 36 is in an insulated state, avoiding the risk of induced discharge.

[0035] It should be noted that the self-locking joint 36 is a conventional technical means in the prior art, and therefore it is not described in detail in this application. This structure can be replaced by other structures that are easy for a person skilled in the art to think of.

[0036] The non-contact detection mechanism 4 is set on the detection platform 2 and arranged in parallel with the contact detection mechanism 3. It is used to remotely identify abnormal states of the booster station equipment and detect the distance between the equipment and the mobile carrier 1, providing data support for the attitude adjustment of the contact detection mechanism 3.

[0037] The non-contact testing mechanism 4 includes a remote testing unit 41, an operation warning light 42, and a status display 43. The remote testing unit 41 includes a visual camera, a laser temperature and rangefinder, an ultrasonic detector, and a supplementary light. The remote testing unit 41 is rotatably mounted on the testing platform 2 via a rotating bracket, and the rotation angle can be adjusted by the control unit to achieve all-round testing.

[0038] It is easy to imagine that the vision camera is used to capture images of the equipment's appearance and identify obvious anomalies such as surface damage, stains, looseness, and discharge marks; the laser temperature and distance measuring instrument is used to remotely detect the surface temperature of the equipment and simultaneously measure the distance between the equipment and the moving carrier 1, providing distance parameters for adjusting the posture of the robotic arm; the ultrasonic detector is used to capture ultrasonic signals generated by partial discharge, SF6 gas leakage, abnormal vibration, etc., to achieve preliminary identification of hidden anomalies; and the supplementary light is used to supplement light in low-light environments (such as at night or in the shadow of the equipment) to ensure the detection accuracy of the vision camera and the laser temperature and distance measuring instrument.

[0039] In this application, the operation warning light 42 is used to display the robot's operating status. It displays green during normal inspection and red and flashes when an abnormality is detected. The status display 43 is used to display detection data (such as temperature, distance, ultrasonic signal intensity, etc.) in real time, which is convenient for staff to view on site.

[0040] In this application, the sensor replacement mechanism is set on the detection platform 2 to switch different types of detection sensors to the detection fixture 35 to meet different depth detection needs (such as vibration detection, contact temperature measurement, partial discharge detection, etc.), eliminating the need for manual sensor replacement and improving inspection efficiency.

[0041] The sensor replacement mechanism includes a sensor storage tray 51 and an adjustment base 52. The sensor storage tray 51 has a circular structure with multiple storage cavities 511 evenly spaced around its circumference. Each storage cavity 511 is used to place different types of detection sensors. The storage cavity 511 is equipped with an elastic clamping structure to fix the sensor and prevent the sensor from shaking or falling off during robot walking. The elastic clamping structure is a conventional technical means that can perform functions such as replacement clamping, so it is not described in detail in this application.

[0042] An adjustment base 52 is mounted on the detection platform 2. It contains a servo motor, the output of which is fixedly connected to a sensor storage tray 51. This servo motor drives the sensor storage tray 51 to rotate by a specified angle, positioning the required sensor to correspond to the position of the detection fixture 35. The detection platform 2 also includes a drive assembly (preferably an electric push rod with insulated encapsulation) for driving the adjustment base 52 closer to or further from the contact detection mechanism 3. When the drive assembly is activated, it moves the adjustment base 52 and the sensor storage tray 51, aligning the designated sensor with the detection fixture 35. Simultaneously, it precisely connects the sensor's built-in insulated terminals with the corresponding terminals pre-set at the end of the contact swing arm 34. The detection fixture 35 then releases the current sensor, clamps the new sensor, and simultaneously presses the connected terminals to ensure reliable contact, completing the automatic sensor replacement and wired circuit connection. The terminal block is made of high-voltage resistant insulating material and is connected to the high-voltage resistant insulating transmission line inside the contact arm 34. After docking, the data collected by the sensor can be stably transmitted back to the control unit through this line. The docking structure between the sensor and the line is a conventional wired connection method, which is existing technology and will not be described in detail here. Those skilled in the art can use equivalent docking structures that are easy to conceive of in the art to achieve the connection.

[0043] The air supply pump 6 is fixedly installed on the detection platform 2. It is a silent and insulated air supply pump to avoid interference from operating noise and improve insulation safety. The output end of the air supply pump 6 is connected to the air supply pipe 61. The air supply pipe 61 is a high-pressure insulated air pipe. The end of the air supply pipe away from the air supply pump 6 is connected to the first fixed pipe 331 of the pneumatic telescopic swing arm 33. It is used to provide high-pressure gas to the pneumatic telescopic swing arm 33 and the contact swing arm 34 to drive the first pneumatic extension pipe 332 and the second pneumatic extension pipe 341 to extend and retract.

[0044] The control unit is located inside the mounting cavity of the detection platform 2 and adopts an insulated encapsulation structure to avoid high voltage and strong electromagnetic interference. The control unit is electrically connected to the mobile carrier 1, the contact detection mechanism 3, the non-contact detection mechanism 4, the sensor replacement mechanism, and the air supply pump 6, respectively. It is used to receive feedback information from each component and control the collaborative work of each component to realize the automation of the entire inspection process.

[0045] The components work together to achieve the inspection function. The inspection work of this invention is divided into two stages: non-contact initial inspection and contact depth detection. The specific working process is as follows: The first step is non-contact initial inspection: The control unit controls the mobile carrier 1 to move back and forth along a preset path within the booster station, while simultaneously controlling the rotation of the remote detection unit 41 of the non-contact detection mechanism 4. The visual camera, laser temperature and distance measuring instrument, and ultrasonic detector work together to collect images of the equipment's appearance, surface temperature, ultrasonic signals, and distance data between the equipment and the mobile carrier 1, and feeds the data back to the control unit in real time. The control unit analyzes the feedback data to determine if there are any abnormalities in the equipment (such as appearance damage, excessive temperature, partial discharge, SF6 leakage, etc.). If no abnormality is detected, the robot continues to inspect along the path. If an abnormality is detected, the control unit records the location and type of the abnormality and controls the mobile carrier 1 to stop at a preset safe distance from the abnormal equipment.

[0046] The second step is the preparation for contact-type depth detection: The control unit first uses the laser temperature and rangefinder of the non-contact detection mechanism 4 to accurately determine the distance between the target detection surface and the robot equipment. Then, based on this distance data and the position information of the abnormal equipment, it calculates the angle and extension length that the pneumatic telescopic swing arm 33 needs to be adjusted. Then, it controls the operation of the corresponding self-locking joint 36 and the stroke adjustment mechanism 333 respectively, so that the respective locking joints 36 of the contact-type detection mechanism 3 are activated. The micro stepper motor drives the worm gear transmission mechanism to move, causing the rotating base 31, fixed swing arm 32, pneumatic telescopic swing arm 33, and contact swing arm 34 to adjust to the preset angle, so that the detection fixture 35 is aligned with the abnormal detection point. After the angle adjustment is completed, the control unit controls the micro stepper motor of the respective locking joint 36 to be de-energized, and the worm gear transmission mechanism self-locks, so that the contact-type detection mechanism 3 maintains its current posture. At this time, the self-locking joint 36 is in a state of no electrical insulation.

[0047] Meanwhile, if it is necessary to replace the detection sensor with one that is compatible with the current abnormality type (e.g., if vibration is detected, the vibration sensor needs to be replaced; if temperature is detected, the contact temperature probe needs to be replaced), before the contact detection mechanism 3 is run, the control unit controls the sensor replacement mechanism to start: the servo motor drives the sensor storage tray 51 to rotate, rotating the corresponding sensor to align with the detection fixture 35. The drive component drives the adjustment base 52 to approach the contact detection mechanism 3. The detection fixture 35 releases the original sensor and clamps the new sensor. Then the drive component drives the adjustment base 52 to reset, completing the sensor replacement.

[0048] The third step is pneumatic contact detection: Based on the preset extension length of the pneumatic telescopic arm 33, the control unit activates the first drive unit of the stroke adjustment mechanism 333, driving the transmission screw 3331 to rotate. This causes the stroke positioning block 3332 to move along the transmission groove to the preset position. Subsequently, the air pump 6 starts inflating, pushing the first pneumatic extension tube 332 to move, causing the rotating insertion hole 3351 of the rotating sealing plate 335 to contact and engage with the trigger rod 3333. The inclined plane drives the rotating sealing plate 335 to rotate, opening the vent holes on the vent plate 334. The control unit then controls the air supply. Pump 6 starts, and high-pressure gas enters the first fixed tube 331 through the gas supply pipe 61, and enters the first pneumatic extension tube 332 through the vent hole, pushing the first pneumatic extension tube 332 to extend along the first fixed tube 331; at the same time, gas enters the second fixed tube of the contact swing arm 34 through the inner cavity of the first pneumatic extension tube 332, pushing the second pneumatic extension tube 341 to extend along the second fixed tube, causing the detection fixture (35) to contact the surface of the equipment being tested, and the detection sensor begins to collect depth detection data (such as vibration parameters, precise temperature, partial discharge signal, etc.), and feeds the data back to the control unit.

[0049] Step 4, Safety Protection and Detection Completion: During the contact detection process, the current sensing unit of the inductive vent valve 343 detects the leakage current in real time. If no leakage current is detected, the detection continues. If the detected leakage current reaches the preset threshold, the current sensing unit triggers the miniature self-locking solenoid valve to open, and the gas in the inner cavity of the contact swing arm 34 is quickly discharged through the exhaust port. The reset elastic element 342 pushes the second pneumatic extension tube 341 to retract, causing the detection fixture 35 to detach from the surface of the tested equipment. At the same time, the control unit controls the air supply pump 6 to stop working to avoid safety hazards.

[0050] After the test is completed, the control unit controls the air supply pump 6 to reverse the air supply, causing the first pneumatic extension tube 332 and the second pneumatic extension tube 341 to retract and reset. During this process, since the second pneumatic extension tube 341 is also affected by the reset elastic element 342, it will retract before the first pneumatic extension tube 332. Then, during the retraction of the first pneumatic extension tube 332, the trigger rod 3333 disengages from the rotating insertion hole 3351, and the rotating sealing plate 335 resets under the action of the reset torsion spring, sealing the vent hole. The first drive unit of the stroke adjustment mechanism 333 rotates in the reverse direction, driving the stroke positioning block 3332 to reset, ready for the next movement. Subsequently, the control unit controls the micro stepper motors of each locking joint 36 to start, driving the contact detection mechanism 3 to fold and store in the storage slot of the detection platform 2. The moving carrier 1 continues to inspect along the preset path or goes to the next abnormal point for detection.

[0051] Through the above structural design and workflow, this implementation method achieves the following beneficial effects: Balancing detection accuracy and insulation safety: The system adopts a "electrically controlled attitude adjustment + power-off self-locking + pneumatic execution" mode. The self-locking joint 36 achieves precise angle adjustment through a micro stepper motor. After power failure, it self-locks through a worm gear transmission mechanism, while the whole system is in a state of no electricity and insulation. The pneumatic telescopic swing arm 33 and the contact swing arm 34 achieve contact detection in the state of no electricity, thus avoiding the risk of high voltage discharge and leakage from the source. It is suitable for high voltage and strong electromagnetic application scenarios in booster stations. Reliable safety protection: The contact swing arm 34 is equipped with an inductive vent valve 343 and a reset elastic element 342. When leakage current is detected, it can quickly vent and retract, driving the detection end to detach from the equipment, further improving the safety of the inspection and avoiding damage to the equipment and robot. Comprehensive detection functions: It integrates non-contact initial inspection and contact-type in-depth inspection. The non-contact inspection mechanism 4 enables the initial identification of obvious and hidden abnormalities of the equipment, while the contact inspection mechanism 3 can complete in-depth inspections such as vibration, precise temperature measurement, and partial discharge. The sensor replacement mechanism can realize the automatic switching of different types of sensors to meet diverse detection needs. High adaptability: The contact detection mechanism 3 can be folded and stored, and the mobile carrier 1 adopts a tracked structure, which is suitable for inspection scenarios with dense equipment and complex ground in the booster station. It can move flexibly between various devices to achieve inspection of the entire area without blind spots. High degree of automation: The control unit controls the coordinated work of various components to achieve autonomous walking of the inspection path, automatic anomaly identification, automatic posture adjustment, automatic sensor replacement, and automatic completion of contact detection without human intervention, which greatly improves inspection efficiency and reduces the safety risks of manual inspection.

[0052] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0053] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0054] Additionally, "multiple" refers to two or more.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An inspection robot for booster station equipment, characterized in that, include: Mobile carrier (1) is used for autonomous reciprocating inspection between various electrical equipment in the substation; The detection platform (2) is rotatably mounted on the mobile carrier (1); The contact testing mechanism (3) can be folded and stored in the testing platform (2). A non-contact detection mechanism (4) is set on the detection platform (2) for remotely identifying abnormal states of the booster station equipment and detecting the distance to the mobile carrier (1); The contact detection mechanism (3) includes a rotating base (31), a fixed swing arm (32), a pneumatic telescopic swing arm (33), a contact swing arm (34), and a detection fixture (35). Adjacent components are connected in sequence through self-locking joints (36). The detection fixture (35) holds a detection sensor. The pneumatic telescopic swing arm (33) includes a first fixed tube (331), a first pneumatic extension tube (332), and a stroke adjustment mechanism (333) disposed in the first fixed tube (331). The first pneumatic extension tube (332) is hollow inside and communicates with the inner cavity of the contact arm (34). The end away from the contact arm (34) is provided with a conduction mechanism that cooperates with the stroke adjustment mechanism (333) to control the air passage opening and closing of the first pneumatic extension tube (332). The contact swing arm (34) includes a second fixed tube and a second pneumatic extension tube (341) disposed therein; the second fixed tube is provided with a reset elastic element (342) and an inductive vent valve (343). The inductive vent valve (343) is configured to vent when a leakage current is sensed, and the reset elastic element (342) is configured to push the second pneumatic extension tube (341) back and detach from the surface of the device under test when the inductive vent valve (343) is open.

2. The inspection robot for a booster station as described in claim 1, characterized in that: The inner wall of the first fixed tube (331) is provided with a transmission groove along its length; The stroke adjustment mechanism (333) includes a first drive unit, and the output end of the first drive unit is provided with a transmission screw (3331) located in the transmission groove. It also includes a stroke positioning block (3332) that is threadedly engaged with the transmission lead screw (3331) and is slidably sealed in the transmission groove. The travel positioning block (3332) is equipped with a trigger rod (3333).

3. The inspection robot for a booster station as described in claim 2, characterized in that: The end of the first pneumatic extension tube (332) away from the contact arm (34) is provided with a sealing ring that slides and seals with the inner wall of the first fixed tube (331); A vent plate (334) is fixedly provided at the center of the sealing ring, and vent holes are distributed in a ring on the vent plate (334); The sealing ring is rotatably provided with a rotating sealing plate (335), which is coaxially fitted with the vent plate (334) to seal the vent hole; The rotating sealing plate (335) is provided with a rotating insertion hole (3351) that cooperates with the trigger rod (3333). Both the rotating insertion hole (3351) and the trigger rod (3333) are provided with a mating inclined surface, which is used to drive the rotating sealing plate (335) to rotate when the two come into contact, so that the vent hole is open. The rotating sealing plate (335) is also provided with a reset torsion spring at the axis, which is used to keep the rotating sealing plate (335) in a sealing state when it is not subjected to external force.

4. The inspection robot for a booster station as described in claim 1, characterized in that: The contact swing arm (34) has an exhaust hole on its side wall near the self-locking joint (36), and the inductive vent valve (343) is installed in the exhaust hole. The inductive vent valve (343) includes a current sensing unit and a miniature self-locking solenoid valve.

5. The inspection robot for a booster station as described in claim 1, characterized in that: The self-locking joint (36) includes an insulating shell and a miniature stepper motor and worm gear transmission mechanism disposed within the insulating shell; The worm gear transmission mechanism is used to realize angle adjustment between adjacent swing arms and self-locking in the event of power failure.

6. The inspection robot for a booster station as described in claim 1, characterized in that: The detection fixture (35) has a universal ball joint (351) extending into the interior of the contact arm (34) at one end near the contact arm (34). The contact arm (34) is provided with a return spring (352) that is fixedly connected to the center of the universal ball joint (351). The universal joint (351) is used to enable the detection fixture (35) to rotate adaptively at multiple angles, and the reset spring (352) is used to restore the detection fixture (35) to a vertical position when it is not subjected to external force.

7. The inspection robot for a booster station as described in claim 1, characterized in that: The detection platform (2) is also equipped with an air supply pump (6); The output end of the air pump (6) is connected to an air supply pipe (61), which is connected to the internal air passage of the pneumatic telescopic arm (33).

8. The inspection robot for a booster station as described in claim 1, characterized in that: The detection platform (2) is also equipped with a sensor replacement mechanism for switching different detection sensors to the detection fixture (35). The sensor replacement mechanism includes a sensor storage tray (51), which has multiple storage cavities (511) equidistantly spaced around its perimeter. Each storage cavity (511) is used to place different types of detection sensors. It also includes an adjustment base (52), which is equipped with a servo motor. The output end of the servo motor is connected to the sensor storage tray (51) to drive it to rotate by a specified angle. The detection platform (2) is also provided with a drive component for driving the adjustment base (52) to move closer to or further away from the contact detection mechanism (3).

9. The inspection robot for a booster station as described in claim 1, characterized in that: The non-contact detection mechanism (4) includes a remote detection unit (41), an operation warning light (42), and a status display (43). The remote detection unit (41) includes a visual camera, a laser temperature rangefinder, an ultrasonic detector, and a supplementary light; The remote detection unit (41) is rotatably mounted on the detection platform (2).

10. The inspection robot for a booster station equipment according to any one of claims 1-9, characterized in that: The detection platform (2) is also equipped with a control unit; The control unit is used to determine the abnormal state of the equipment based on the feedback information from the non-contact detection mechanism (4), and to control the locking joints (36) to adjust to the specified angle and then self-lock and cut off the power according to the abnormal state; Then the air supply pump (6) is started, so that the pneumatic telescopic arm (33) and the contact arm (34) extend in sequence by pneumatic means in a non-electrically insulated state and come into contact with the surface of the target equipment to perform contact detection.

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