A high-voltage switch robot integrating patrol and operation

Abstract

The application discloses a kind of high-voltage switch robot of integrated patrol operation, it is related to high-voltage power distribution equipment operation and maintenance technical field. Including mobile chassis mechanism, inspection host shell, patrol operation component, lifting drive component and grounding knife gap body;Patrol operation component contains multi-degree-of-freedom mechanical arm mechanism, end operation executor and partial discharge monitoring device, can complete equipment insulation inspection simultaneously while executing opening and closing operation;Lifting drive component can drive grounding knife gap body vertical lifting, adapts to the ground position height of different models switch cabinet.Robot integrates monitoring component, navigation module and intelligent linkage unit, can be connected to digital two-ticket system, realize task receiving, self-moving alignment, automatic operation to the whole-process management and control of data archiving.Can replace artificial to complete high-voltage distribution room patrol, operation, monitoring integration unmanned operation, eliminate human bias and electric shock risk, improve operation and maintenance efficiency and standardization level, adapt to power distribution operation and maintenance intelligent development needs.

Description

Technical Field

[0001] This invention relates to the field of high-voltage power distribution equipment operation and maintenance technology, and in particular to a high-voltage switch robot that integrates patrol, operation and monitoring. Background Technology

[0002] 10kV switchgear is the core power distribution equipment in a power distribution network system, playing a crucial role in power distribution, circuit on / off control, fault isolation, and protection. Its operational reliability directly determines the power supply stability and electrical safety of the power distribution network. A typical 10kV switchgear consists of functional units such as the cabinet, busbar compartment, circuit breaker compartment, cable compartment, and secondary equipment compartment. Under normal operating conditions, electrical energy is efficiently transmitted from the power source side to each power supply branch via the busbar. The circuit breaker remains closed, working with components such as disconnecting switches to complete power transmission. The secondary equipment collects and monitors operating parameters such as voltage, current, and power in real time, ensuring the circuit operates safely and stably under rated conditions. When a short circuit or overload fault occurs, the protection device responds quickly and sends a trip command to the circuit breaker. The circuit breaker rapidly disconnects the faulty circuit, preventing the fault from spreading and protecting the line and downstream electrical equipment from damage. With its precise on / off control capabilities, robust fault protection mechanisms, and real-time parameter monitoring functions, 10kV switchgear is widely used in various power distribution scenarios, including industrial and mining enterprises, commercial buildings, and municipal power supply, making it an indispensable core device in power systems.

[0003] The long-term stable operation of 10kV switchgear relies heavily on routine inspections and maintenance, as well as standardized switching operations. Currently, the industry generally adopts a manual mode for the operation and maintenance of 10kV switchgear: maintenance personnel regularly enter the distribution room to conduct manual inspections, checking for equipment defects through visual observation and handheld instrument testing, while manually performing switching operations such as switching and grounding switch operations.

[0004] The aforementioned manual operation and maintenance model has many shortcomings in practical applications: First, the quality of inspection and operation is significantly affected by human factors. The fatigue, experience level, and emotional state of maintenance personnel may lead to missed inspections, misjudgments of status, or even operational errors, making it difficult to ensure the consistency and accuracy of maintenance results and creating potential safety hazards for equipment operation. Secondly, 10kV switchgear is high-voltage live equipment, and manual close-range inspection and operation pose a direct risk of electric shock, especially in the humid and narrow environment of the power distribution room, where the personal safety hazards are more prominent. Third, the inspection, operation, and environmental monitoring processes are separated from each other, requiring multiple batches of personnel to enter the site sequentially. This results in fragmented operation and maintenance processes, low work efficiency, and a lack of closed-loop management for the entire process, making it difficult to adapt to the development trend of unmanned and intelligent power distribution operation and maintenance. In summary, the traditional manual operation and maintenance mode can no longer meet the requirements of modern power distribution networks for the safety, accuracy and efficiency of 10kV switchgear operation and maintenance. There is an urgent need for an automated and integrated device to replace manual labor in the inspection, operation and monitoring of switchgear, and to comprehensively improve the level of intelligence in high-voltage power distribution operation and maintenance. Summary of the Invention

[0005] The purpose of this invention is to provide a high-voltage switch robot that integrates inspection, operation, and monitoring to solve the problems existing in the prior art. It can effectively replace manual labor in the operation and maintenance of high-voltage switchgear, avoid the risk of electric shock from close contact with high-voltage equipment, effectively eliminate operational and inspection deviations caused by human factors, simplify the operation and maintenance process, improve work efficiency, and adapt to the development needs of unmanned and intelligent operation and maintenance of high-voltage power distribution.

[0006] To achieve the above objectives, the present invention provides the following solution: a high-voltage switch robot integrating inspection, operation and monitoring, including a mobile chassis mechanism, wherein an inspection host housing is provided on the top of the mobile chassis mechanism; The top of the inspection host housing is connected to an inspection and operation assembly, which includes a robotic arm mechanism, an end effector, and a partial discharge monitoring device. The end effector is located at the execution end of the robotic arm mechanism, and the partial discharge monitoring device is located on the end effector. The side wall of the inspection host housing is fixedly connected to a lifting drive assembly, and the execution end of the lifting drive assembly is connected to the grounding switch body.

[0007] As one embodiment, the top of the mobile chassis mechanism is provided with a height support housing, and the top of the height support housing is fixedly connected to the inspection host housing.

[0008] As one implementation, a monitoring component is also connected to the top of the inspection host housing, the monitoring component including a camera and an environmental sensing module.

[0009] As one embodiment, the monitoring component further includes a monitoring station and a connecting station. The bottom end of the monitoring station is fixedly connected to the inspection host housing, and the top end of the monitoring station is fixedly connected to the bottom end of the connecting station. An angle seat is fixedly installed on the top end of the connecting station, and an angle frame is rotatably connected inside the angle seat via a rotating shaft. The camera is fixedly installed on the top end of the angle frame. The environmental sensing module is fixedly installed on the side wall of the connecting station.

[0010] In one embodiment, a displacement cylinder is installed on the angle seat, and a sliding plate is fixedly connected to the movable end of the displacement cylinder. The sliding plate is slidably disposed at the bottom of the angle seat in the horizontal direction. A gear is installed on the angle frame, and the top end of the sliding plate is evenly provided with locking teeth in the length direction. The gear is engaged with the locking teeth of the sliding plate.

[0011] In one embodiment, the robotic arm mechanism includes a mounting base, a first robotic arm, a second robotic arm, and a third robotic arm; the bottom end of the mounting base is fixedly connected to the top surface of the inspection host housing, and the bottom end of the first robotic arm is hinged to the interior of the mounting base; the top end of the first robotic arm is rotatably connected to one end of the second robotic arm, and the other end of the second robotic arm is rotatably connected to one end of the third robotic arm; the end of the third robotic arm is fixedly connected to the end effector.

[0012] As one embodiment, a first servo motor is fixedly installed on the top sidewall of the first robotic arm, and the output shaft of the first servo motor is fixedly connected to the second robotic arm. A second servo motor is fixedly installed on the top side wall of the second robotic arm, and the output shaft of the second servo motor is fixedly connected to the third robotic arm.

[0013] As one embodiment, a depth positioning camera is fixedly mounted on the top end face of the end effector.

[0014] In one embodiment, the lifting drive assembly includes a lifting plate, a linear track, a limiting plate, a lifting block, a lifting cylinder, and a cylinder base. One side of the lifting plate is fixedly connected to the side wall of the inspection host housing. The linear track is vertically arranged on the other side of the lifting plate. The lifting block is slidably mounted on the linear track. The limiting plate is fixedly connected to the lifting block, and the surface of the limiting plate is fixedly connected to the grounding switch body. The cylinder base is fixedly installed at the top of the side of the lifting plate with the linear track. The lifting cylinder is vertically fixed to the bottom of the cylinder base, and the output end of the lifting cylinder is fixedly connected to the top surface of the limiting plate.

[0015] As one embodiment, a navigation radar is provided at the top of the mobile chassis mechanism, and the navigation radar is electrically connected to the main control module in the inspection host housing; anti-collision strips are fixedly connected to the side circumferentially of the mobile chassis mechanism.

[0016] The present invention achieves the following technical effects compared to the prior art: This invention utilizes a mobile chassis mechanism to carry the main inspection unit and all functional components, enabling automated robots to replace manual labor in high-voltage power distribution rooms for maintenance work. This avoids the risk of electric shock from close contact with high-voltage equipment. By integrating an inspection module consisting of a robotic arm, an end effector, and a partial discharge monitoring device at the top of the main inspection unit, the robotic arm drives the end effector to precisely perform switchgear opening and closing operations. This replaces manual labor, eliminating operational errors and inspection judgment biases caused by human factors such as fatigue and experience differences, ensuring the stability and accuracy of maintenance results. Meanwhile, the partial discharge monitoring device operates synchronously with the end effector, enabling simultaneous inspection of equipment insulation status during operation. This achieves integrated operation and inspection procedures, solving the problems of separation between inspection and operation, fragmented workflow, and low efficiency in traditional manual operation. By installing a lifting drive component and grounding switch body on the side wall of the main inspection unit, the grounding switch operation function is integrated into the same robot platform, eliminating the need for separate manual grounding operations. This further simplifies the operation and maintenance process, provides support for operation and maintenance management, and effectively adapts to the industry demand for unmanned and intelligent development of high-voltage power distribution operation and maintenance. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a side view of the structure of the present invention; Figure 2 This is a side view of the patrol assembly of the present invention. Figure 3 This is a side view of the monitoring component of the present invention. Figure 4 This is a schematic diagram of the camera architecture of the present invention; Figure 5 This is a side view of the lifting assembly of the present invention. Figure 6 This is a schematic diagram of the architecture of the main inspection unit housing of the present invention.

[0019] Among them, 1. mobile chassis mechanism; 2. inspection main unit housing; 3. Patrol components; 301. End effector; 3011. Mounting base; 3012. Handle operating head; 302. Partial discharge monitoring device; 303. Mounting base; 304. First robotic arm; 305. First servo motor; 306. Second robotic arm; 307. Second servo motor; 308. Third robotic arm; 309. Depth positioning camera; 4. Lifting drive assembly; 401. Lifting plate; 402. Linear rail; 403. Limit plate; 404. Lifting block; 405. Lifting cylinder; 406. Cylinder base; 5. Grounding switch body; 6. Height support housing; 7. Monitoring components; 701. Camera; 702. Environmental sensing module; 703. Monitoring console; 704. Connecting platform; 705. Angle mount; 706. Angle bracket; 707. Displacement cylinder; 708. Sliding plate; 709. Gear; 8. Navigation radar; 9. Anti-collision strips; 10. Casters; 11. Smart circuit breaker; 12. Panoramic camera. Detailed Implementation

[0020] 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 some embodiments of the present invention, and not all embodiments. 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.

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] This embodiment provides a high-voltage switch robot that integrates patrol and monitoring. Please refer to [reference needed]. Figures 1-6 As shown, it includes a mobile chassis mechanism 1, with an inspection host housing 2 mounted on top of the mobile chassis mechanism 1. The bottom of the inspection host housing 2 is fixedly connected to the top surface of the mobile chassis mechanism 1 through a support structure. The mobile chassis mechanism 1 is used to support the entire machine and drive the entire machine to complete the movement within the power distribution room scenario.

[0023] The inspection host housing 2 is fixedly connected to one side of the top of the inspection unit housing 2. The inspection unit housing 3 includes a robotic arm mechanism, an end effector 301, and a partial discharge monitoring device 302. The bottom end of the robotic arm mechanism is fixedly installed on the top surface of the inspection host housing 2. The robotic arm mechanism is a multi-degree-of-freedom joint robotic arm, and its end effector can adjust its position in space. The end effector 301 is fixedly connected to the end effector of the robotic arm mechanism and is used to dock with the switchgear operating handle and perform opening and closing actions. The partial discharge monitoring device 302 is fixedly installed on the side of the end effector 301 and is used to move synchronously with the end effector 301 to collect partial discharge detection data of the switchgear equipment.

[0024] A lifting drive assembly 4 is fixedly connected to the side wall of the main inspection unit housing 2. The execution end of the lifting drive assembly 4 is fixedly connected to the grounding switch body 5. The operating end of the grounding switch body 5 corresponds to the working position of the end-operation actuator 301. The lifting drive assembly 4 drives the grounding switch body 5 to move vertically up and down, adjusting the operating height of the grounding switch body 5 to match the operating height of the end-operation actuator 301. The end-operation actuator 301 then drives the grounding switch body 5 to complete the opening and closing action. The grounding switch body 5 is a high-voltage maintenance grounding switch structure used to connect the high-voltage circuit to the grounding terminal during switchgear de-energization maintenance. The grounding switch body 5 is fixed to the movable end of the lifting drive assembly 4 and can adjust its working height vertically with the lifting drive assembly 4 to adapt to the grounding point height of different switchgear models. Its operating end corresponds to the position of the end-operation actuator 301, which can drive the opening and closing action, replacing manual operation and achieving unmanned grounding work.

[0025] The working method includes the following steps: I. Overall machine movement and positioning: After receiving the work instruction, the mobile chassis mechanism 1 drives the inspection host housing 2 and the inspection and operation components 3, lifting drive components 4, and grounding switch body 5 mounted on it to move to the corresponding work position of the target 10kV switchgear, completes the initial position calibration of the whole machine, and makes the operation range of the inspection and operation components 3 cover the operation points of the switchgear and the operation area of ​​the grounding switch.

[0026] II. Grounding switch height adaptation When the grounding switch needs to be opened or closed, the lifting drive assembly 4 is started, and its actuator is driven to move up and down vertically, which drives the grounding switch body 5 to move vertically in sync, adjusting the operating end of the grounding switch body 5 to the preset working height, so that the operating end of the grounding switch body 5 matches the working height of the end operating actuator 301, and completing the alignment preparation in the height direction.

[0027] III. Precise alignment of the operating terminal The multi-degree-of-freedom jointed robotic arm of the patrol component 3 is started. Through the coordinated rotation of multiple joints, the spatial posture is adjusted, driving the end effector 301 to move to the target operation point. For the opening and closing operation of the switch cabinet body, the end effector 301 directly aligns with and engages the opening and closing handle of the switch cabinet. For the opening and closing operation of the grounding switch, the end effector 301 aligns with and engages the operation end of the grounding switch body 5.

[0028] IV. Operation of Opening and Closing Switches After alignment, the multi-degree-of-freedom articulated robotic arm outputs the rated operating torque, which drives the corresponding operating component to rotate through the end effector 301, thereby completing the opening and closing operation of the switch cabinet body or the grounding switch body 5.

[0029] V. Synchronous Inspection of Partial Discharge Throughout the entire process of the robotic arm adjusting its position and performing operations, the partial discharge monitoring device 302, fixed to the side of the end effector 301, moves synchronously with the end effector 301 to collect partial discharge signals from the corresponding parts of the switchgear at close range, and simultaneously completes the inspection and detection of the insulation status of the switchgear equipment, realizing the integrated operation of operation and inspection.

[0030] VI. Reset after operation After the opening and closing operation and inspection data collection are completed, the multi-degree-of-freedom articulated robotic arm drives the end effector 301 to leave the operation point and reset to the initial position; the lifting drive component 4 drives the grounding switch body 5 to reset to the initial height; finally, the mobile chassis mechanism 1 drives the whole machine to leave the work station, completing a single complete operation process.

[0031] In one embodiment, a height support housing 6 is fixedly installed at the top center of the mobile chassis mechanism 1. The bottom of the height support housing 6 is rigidly fixed to the top surface of the mobile chassis mechanism 1, and the top end face of the height support housing 6 is fixedly connected to the bottom of the inspection host housing 2. The function of the height support housing 6 is to raise the overall working height of the inspection host housing 2 and the inspection and operation components 3, lifting drive components 4, and grounding switch body 5 mounted on it, adapting to the operating position height of different specifications of 10kV switchgear in the power distribution room; at the same time, the height support housing 6 forms a hollow cavity inside, which can be used to store the whole machine wiring and power module, isolate the chassis walking power components from the upper high voltage operation components, and avoid wiring interference; in addition, as an independent load-bearing intermediate body, the height support housing 6 can be used to quickly adjust the overall machine working reference height by replacing the housing with different height specifications, improving the robot's adaptability to multiple models of power distribution equipment.

[0032] In one embodiment, the top of the inspection host housing 2 is also connected to a monitoring component 7. The monitoring component 7 includes a camera 701 and an environmental sensing module 702. The environmental sensing module 702 is preferably an all-in-one environmental sensing module. The environmental sensing module 702 can collect parameters such as temperature and humidity, SF6 gas concentration, and smoke concentration in the power distribution room environment for monitoring the safety status of the power distribution room environment.

[0033] In this embodiment, the monitoring component 7 further includes a monitoring station 703 and a connecting station 704. The bottom end of the monitoring station 703 is fixedly connected to the inspection host housing 2, and the top end of the monitoring station 703 is fixedly connected to the bottom end of the connecting station 704. An angle seat 705 is fixedly installed on the top end of the connecting station 704. An angle bracket 706 is rotatably connected inside the angle seat 705 through a rotating shaft. A camera 701 is fixedly installed on the top end of the angle bracket 706. An environmental sensing module 702 is fixedly installed on one side wall of the connecting station 704.

[0034] Displacement cylinders 707 are fixedly installed on both side walls of the angle seat 705. The movable ends of the two displacement cylinders 707 are fixedly connected to sliding plates 708. The sliding plates 708 are slidably disposed at the bottom of the angle seat 705 in the horizontal direction. Gears 709 are fixedly installed at both ends of the angle frame 706. Several locking teeth are evenly arranged along the length direction at the top of the sliding plate 708. The two gears 709 respectively mesh with the locking teeth of the corresponding sliding plate 708.

[0035] When it is necessary to adjust the monitoring direction of the camera 701, the displacement cylinder 707 performs telescopic movement, pushing or pulling the sliding plate 708 to slide back and forth in the horizontal direction; the sliding plate 708 drives the angle bracket 706 to rotate around the rotating shaft inside the angle seat 705 through the meshing of the top teeth and gear 709, thereby adjusting the pitch angle of the camera 701, expanding the monitoring field of view, and realizing comprehensive monitoring of the status of switch cabinet equipment at different heights and in different directions.

[0036] In this embodiment, the camera 701 is equipped with a static recognition module and a dynamic recognition module. Both the static recognition module and the dynamic recognition module are image processing units mounted on the internal hardware chip of the camera 701. Both modules are electrically connected to the main control module inside the inspection host housing 2. The image detection data generated by the modules can be transmitted to the main control module in real time for unified processing. The static recognition module uses AI vision algorithms to analyze and process images, based on target detection, image segmentation, and image classification technologies. The dynamic recognition module identifies and tracks dynamic scenes, such as the trajectory of falling water droplets and the trajectory of gas movement. It uses optical flow, target detection, and behavior recognition AI algorithms to dynamically detect whether there are leaks or spills through continuous frame analysis and comparison. Both image and video analysis are performed for recognition, and further analysis and recognition of abnormal human and environmental behaviors are also possible. The static recognition module and the dynamic recognition module are integrated inside the same camera 701, which can simultaneously complete the identification of static defects of equipment and the monitoring of dynamic anomalies in the scene without the need for additional independent image acquisition equipment. Together with the angle adjustment mechanism of the monitoring component 7, it can achieve full-area monitoring of the power distribution room without blind spots, and fully improve the integrated operation and maintenance functions of this robot for inspection, operation and monitoring.

[0037] In one embodiment, the patrol assembly 3 includes a mounting base 303, a first robotic arm 304, a second robotic arm 306, a third robotic arm 308, a first servo motor 305, a second servo motor 307, an end effector 301, a partial discharge monitoring device 302, and a depth positioning camera 309. The bottom end of the mounting base 303 is fixedly connected to the top surface of the inspection host housing 2. The bottom end of the first robotic arm 304 is hinged inside the mounting base 303, and the first robotic arm 304 can rotate relative to the mounting base 303. The top side wall of the first robotic arm 304 is fixedly mounted with a first servo motor 305, and the output shaft of the first servo motor 305 is connected to one end of the second robotic arm 306. The top side wall of the second robotic arm 306 is fixedly mounted with a second servo motor 307, and the output shaft of the second servo motor 307 is fixedly connected to one end of the third robotic arm 308. The end of the third robotic arm 308 away from the second servo motor 307 is rigidly fixed to the end effector 301 through a flange. A partial discharge monitoring device 302 is fixedly mounted on the top side of the end effector 301, and a depth positioning camera 309 is fixedly mounted on the top end face of the end effector 301.

[0038] When the first servo motor 305 is powered on, it can drive the second robotic arm 306 to rotate relative to the first robotic arm 304. When the second servo motor 307 is powered on, it can drive the third robotic arm 308 to rotate relative to the second robotic arm 306. Together with the hinged rotation of the first robotic arm 304 and the mounting base 303, the end effector 301 can achieve spatial multi-degree-of-freedom pose adjustment. The first servo motor 305, the second servo motor 307, the partial discharge monitoring device 302, and the depth positioning camera 309 are all electrically connected to the main control module inside the inspection host housing 2. The depth positioning camera 309 collects spatial position images of the switchgear and grounding switch body 5 in real time and transmits them back to the main control module to assist the end-operation actuator 301 in accurately aligning the operation points. The partial discharge monitoring device 302 moves synchronously with the end-operation actuator 301 to collect insulation detection data of high-voltage equipment at close range. The multi-joint linkage adjustment structure can be adapted to 10kV switchgear of different heights and orientations in the power distribution room, and can simultaneously complete the switch opening and closing operations and partial discharge inspections, realizing integrated operation and inspection.

[0039] In one embodiment, the end effector 301 includes a mounting base 3011 and a handle operating head 3012. The mounting base 3011 is the main structure of the end effector 301. Its rear end is fixedly connected to the end flange of the third robotic arm 308, and its front end is used to install a replaceable operating head. It also serves as a mounting carrier for the depth positioning camera 309 and the partial discharge monitoring device 302.

[0040] The handle operating head 3012 is an actuator that directly works with the 10kV switchgear opening and closing handle. The end has a slot adapted to the standard handles of mainstream switchgear, which is used to detect the operating torque and realize overload protection.

[0041] In one embodiment, the lifting drive assembly 4 includes a lifting plate 401, two vertically arranged linear rails 402, a limiting plate 403, two lifting blocks 404, a lifting cylinder 405, and a cylinder base 406. One side of the lifting plate 401 is fixedly connected to the side wall of the inspection host housing 2, and both ends of the other side of the lifting plate 401 are fixedly connected to the two linear rails 402 respectively. The two linear rails 402 are arranged vertically parallel. A lifting block 404 is slidably mounted on each linear rail 402. A limiting plate 403 is horizontally fixedly connected between the two lifting blocks 404. The surface of the limiting plate 403 is fixedly connected to the grounding switch body 5.

[0042] A cylinder base 406 is fixedly installed on the top of the same side panel of the lifting plate 401, and a lifting cylinder 405 is fixedly installed on the bottom of the cylinder base 406. The lifting cylinder 405 is arranged vertically, and its piston rod output end is fixedly connected to the top surface of the limit plate 403. The lifting cylinder 405 is electrically connected to the main control module inside the inspection host housing 2. When it is necessary to adjust the working height of the grounding switch body 5, the piston rod of the lifting cylinder 405 performs a telescopic movement. When it extends downward, it pushes the limit plate 403, and when it retracts upward, it pulls the limit plate 403, causing the two lifting blocks 404 to slide smoothly vertically along the straight track 402, thereby causing the grounding switch body 5 to rise and fall vertically. This adapts to the grounding point height of different types of switch cabinets, ensuring that the operating end of the grounding switch body 5 and the working height of the end-operation actuator 301 are precisely matched, thus ensuring the reliability of the docking operation.

[0043] In one embodiment, a navigation radar 8 is mounted on the top of the mobile chassis mechanism 1. Two navigation radars 8 are symmetrically mounted on both sides of the mobile chassis mechanism 1. The navigation radars 8 are electrically connected to the main control module inside the inspection host housing 2, and are used to collect real-time information on the contours of the surrounding environment and the distance to obstacles. After transmitting the detection data back to the main control module, the mobile chassis mechanism 1 is driven to move autonomously along a preset planned path, realizing the switching of work positions and mobile inspection within the power distribution room scenario. A collision protection strip 9 is fixedly connected to the side of the mobile chassis mechanism 1. The collision protection strip 9 is made of buffer insulation material, used to buffer the impact of accidental collisions during movement, protecting the chassis and the entire structure, while meeting the insulation protection requirements for high-voltage power distribution room operations. A mobile wheel 10 is mounted at the bottom of the mobile chassis mechanism 1. The mobile wheel 10 adopts an omnidirectional walking wheel structure, which can support the entire machine to complete multi-directional translation and on-the-spot turning movements, adapting to the passage and alignment requirements of narrow cabinet passages in the power distribution room.

[0044] In one embodiment, a smart circuit breaker 11 is fixedly installed on one side wall of the inspection host housing 2. The smart circuit breaker 11 is connected in series in the main power supply circuit of the robot, and its control terminal is electrically connected to the main control module inside the inspection host housing 2. Under normal working conditions, the main control module can send commands to remotely control the on / off of the power supply circuit of the whole machine, realizing remote power-on and power-off operations of the robot. When the power supply circuit of the whole machine experiences electrical abnormalities such as current overload or short circuit, the smart circuit breaker 11 can automatically cut off the power supply circuit to prevent the fault from expanding and damaging the internal electrical components. In the event of a safety abnormality in a high-voltage operation scenario, the main control module can also trigger an emergency power cut-off to improve the electrical safety and reliability of the robot's live-line maintenance operations.

[0045] In one embodiment, a panoramic camera 12 is fixedly installed on the upper side wall of the inspection host housing 2. The acquisition lens of the panoramic camera 12 is arranged circumferentially facing the outer side of the entire machine, and its signal output terminal is electrically connected to the main control module inside the inspection host housing 2. The panoramic camera 12 can acquire panoramic environmental images around the robot and transmit them back to the main control module in real time, assisting the mobile chassis mechanism 1 in completing global environmental perception and working with the navigation radar 8 to improve path planning and obstacle prediction. On the other hand, it can also transmit panoramic images to a remote operation and maintenance platform, allowing operation and maintenance personnel to remotely monitor the overall on-site working conditions of the power distribution room. At the same time, it can record and store the entire operation process of the robot in a panoramic view for operation and maintenance work review and process management.

[0046] The panoramic camera 12, together with the camera 701 of the monitoring component and the depth positioning camera 309 on the end effector 301, form a hierarchical image acquisition system: the panoramic camera 12 is responsible for macroscopic monitoring of the entire environment, the camera 701 is responsible for precise monitoring of local areas, and the depth positioning camera 309 is responsible for high-precision positioning of the work point. The three work together to complete the robot's multi-dimensional image perception capabilities and further improve the integrated unmanned operation and maintenance function of "inspection, operation and monitoring".

[0047] In one embodiment, the inspection host housing 2 is equipped with an intelligent linkage module. This intelligent linkage unit can be integrated into the main control module and interacts with an external power ticket management system via a communication unit. The intelligent linkage unit is also electrically connected to the patrol operation component 3, the lifting drive component 4, and the monitoring component 7, respectively, to realize ticket management and task linkage control throughout the entire operation and maintenance process. The intelligent linkage module includes a work ticket filling and issuance submodule, a work ticket three-level review submodule, a work ticket signing and collection submodule, an operation ticket filling submodule, an operation ticket three-level review submodule, an operation ticket simulation and rehearsal submodule, and a task receiving, processing, and archiving submodule.

[0048] The work order filling and issuance sub-module page adopts a clear modular design, providing drop-down menus or selection boxes to simplify the filling process; The three-level review submodule for work orders ensures the accuracy and security of work orders through a three-level review process, with maximum review, minimum submission, and maximum submission. The work ticket signing and recycling submodule lists detailed information about typical tickets, such as serial number, department, task, risk level, and status, for easy viewing and management; The operation ticket filling submodule clearly lists the operation tasks and related information, making it easy to quickly understand the work content; The three-level review submodule for operation tickets provides query, insert, and delete operation options, making it convenient for users to make necessary adjustments and modifications during the review process; The operation ticket simulation and rehearsal submodule simulates and rehearses the operation ticket in advance to ensure accurate and safe operation; The task receiving, processing, and archiving submodule can receive operation tickets from the two ticketing systems in real time, promptly display pop-up notifications when tickets arrive, manage operation ticket information in a list, and support viewing operation ticket details and task execution.

[0049] By setting up intelligent linkage units, power ticket management is deeply integrated with robot on-site operations, realizing closed-loop control of the entire process from ticket approval to on-site execution, and improving the compliance and automation efficiency of high-voltage switch operation and maintenance.

[0050] In this embodiment, the intelligent patrol robot system integrates the digital two-ticket system and connects to the data of the comprehensive automation system. Its functions include operation ticket management, ticket library management, approval management, as well as robot operation, patrol tasks, and AI data analysis instructions. The robot performs indoor equipment operation and patrol work, and links with intelligent air switches and macro cameras in real time to upload operation results, patrol data, and collected files to the system platform. The multi-functional linkage adapts to diverse scenario requirements and ensures stable equipment operation.

[0051] In one embodiment, the operation process of the integrated patrol and monitoring high-voltage switch robot specifically includes the following steps: Step 1: Task Receiving and Job Preparation The intelligent linkage unit inside the inspection host housing 2 receives the work tasks issued by the external power two-ticket management system through the communication unit. After the work ticket and operation ticket are reviewed and verified by simulation, a standardized operation execution instruction is generated. The intelligent circuit breaker 11 turns on the main power supply circuit of the whole machine, and the various functional modules such as the inspection and operation component 3, lifting drive component 4, monitoring component 7, and navigation radar 8 complete the power-on self-test, and the whole machine enters the standby operation state.

[0052] Step Two: Autonomous Movement and Workstation Positioning of the Whole Machine The navigation radar 8 and the panoramic camera 12 work together to collect information on the surrounding environment contours, obstacle distances, and the entire field of view, and transmit this information back to the main control module. After the main control module plans the optimal travel path, it drives the moving wheels 10 at the bottom of the mobile chassis mechanism 1 to move along the preset path to the work position corresponding to the target 10kV switchgear. During the movement, the anti-collision strips 9 on the circumference of the mobile chassis mechanism 1 form a collision buffer protection. The panoramic camera 12 transmits the global environment image back in real time to ensure travel safety. Finally, the initial work position of the entire machine is accurately calibrated, so that the working range of the patrol and operation component 3 covers the switchgear operation point and the grounding switch operation area.

[0053] Step 3: Environmental monitoring and surveillance perspective adjustment Upon arrival at the workstation, monitoring component 7 initiates environmental and equipment monitoring: the environmental sensing module 702 collects environmental parameters such as room temperature and humidity, SF6 gas concentration, and smoke concentration in real time and transmits them back to the main control module; the displacement cylinder 707 performs a telescopic action, pushing the sliding plate 708 to slide back and forth in the horizontal direction, and through the meshing transmission of the top tooth and gear 709, it drives the angle frame 706 to rotate around the rotating shaft inside the angle seat 705, adjusting the pitch angle of the camera 701 to the optimal observation position; the static recognition module and dynamic recognition module built into the camera 701 are activated simultaneously. The static recognition module identifies the instrument readings of the switch cabinet, the switch opening and closing status, and the appearance defects of the equipment, while the dynamic recognition module performs real-time detection of dynamic scenarios such as liquid dripping, gas leakage, and unauthorized personnel entry, realizing full-area environmental and equipment status monitoring of the work area.

[0054] Step 4: Adapting the working height of the grounding switch When performing the opening and closing operation of the grounding switch, the lifting drive assembly 4 starts the height adjustment: the piston rod of the lifting cylinder 405 moves in a telescopic motion. When it extends downward, it pushes the limit plate 403; when it retracts upward, it pulls the limit plate 403, causing the lifting block 404 to slide smoothly along the vertically arranged straight track 402, thereby causing the grounding switch body 5 to rise and fall vertically. This adjusts the operating end of the grounding switch body 5 to a preset position that matches the operating height of the end-operation actuator 301, completing the alignment preparation in the height direction and adapting to the grounding point height of different switchgear models.

[0055] Step 5: Precise alignment of the end effector The patrol operation component 3 initiates posture adjustment: the first servo motor 305 drives the second robotic arm 306 to rotate relative to the first robotic arm 304, and the second servo motor 307 drives the third robotic arm 308 to rotate relative to the second robotic arm 306. This, combined with the hinged rotation of the first robotic arm 304 around the mounting base 303, allows for multi-joint coordinated adjustment of spatial posture. The depth positioning camera 309 collects spatial images of the target operation point in real time and transmits them back to the main control module, assisting in correcting the end position deviation and driving the end operation actuator 301 to accurately align with the target. When performing the opening and closing of the switchgear body, the slot at the front end of the handle operation head 3012 engages the switchgear opening and closing handle. When performing the opening and closing of the grounding switch, the handle operation head 3012 engages the operation end of the grounding switch body 5.

[0056] Step Six: Execution of Opening and Closing Operations and Overload Protection After alignment, the multi-joint robotic arm outputs the rated operating torque, which drives the corresponding operating component to rotate through the end effector 301, completing the opening and closing operation of the switchgear body or the grounding switch body 5; the torque sensing unit built into the handle operating head 3012 collects the operating torque value in real time. When the torque exceeds the preset safety threshold, it immediately feeds back a signal to the main control module and stops the robotic arm drive, realizing overload protection and avoiding damage to the switchgear operating mechanism and the robot execution end.

[0057] Step 7: Multi-dimensional synchronous inspection operation Throughout the entire process of adjusting the position of the robotic arm and performing opening and closing operations, the partial discharge monitoring device 302, fixed to the side of the end effector 301, moves synchronously with the end effector to collect partial discharge signals of the switchgear equipment at close range, and completes synchronous inspection of the equipment insulation status. The static and dynamic recognition module of the camera 701 continuously monitors the equipment status and environmental anomalies, and the environmental sensing module 702 collects environmental parameters synchronously, realizing the synchronous execution of switch operation, insulation inspection and environmental monitoring during the operation process, achieving integrated "inspection, operation and monitoring" operation.

[0058] Step 8: Complete the task, reset, and archive the work. After all operations and data collection are completed, the patrol component 3 drives the end effector 301 to leave the operation point and reset to the initial position; the lifting drive component 4 drives the grounding switch body 5 to fall back to the initial height; the monitoring component 7 resets to the initial observation angle; finally, the mobile chassis mechanism 1 drives the whole machine to leave the work station and return to the standby position; the intelligent linkage unit archives the operation record, inspection data, environmental parameters, and ticket information of this operation and uploads them to the external two-ticket management system to complete the single complete operation process.

[0059] It should be noted that, for those skilled in the art, it is obvious that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0060] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A high-voltage switch robot integrating patrol and monitoring, characterized in that, It includes a mobile chassis mechanism (1), and an inspection host housing (2) is provided on the top of the mobile chassis mechanism (1). The top of the inspection host housing (2) is connected to the inspection operation component (3). The inspection operation component (3) includes a robotic arm mechanism, an end effector (301), and a partial discharge monitoring device (302). The end effector (301) is located at the execution end of the robotic arm mechanism, and the partial discharge monitoring device (302) is located on the end effector (301). The side wall of the inspection host housing (2) is fixedly connected to a lifting drive assembly (4), and the execution end of the lifting drive assembly (4) is connected to the grounding switch body (5).

2. The high-voltage switch robot integrating patrol and monitoring according to claim 1, characterized in that, The top of the mobile chassis mechanism (1) is provided with a height support shell (6), and the top of the height support shell (6) is fixedly connected to the inspection host shell (2).

3. The high-voltage switch robot integrating patrol and monitoring according to claim 1, characterized in that, The top of the inspection host housing (2) is also connected to a monitoring component (7), which includes a camera (701) and an environmental sensing module (702).

4. The high-voltage switch robot integrating patrol and monitoring according to claim 3, characterized in that, The monitoring component (7) further includes a monitoring station (703) and a connecting station (704). The bottom end of the monitoring station (703) is fixedly connected to the inspection host housing (2), and the top end of the monitoring station (703) is fixedly connected to the bottom end of the connecting station (704). An angle seat (705) is fixedly installed on the top end of the connecting station (704). An angle frame (706) is rotatably connected inside the angle seat (705) through a rotating shaft. The camera (701) is fixedly installed on the top end of the angle frame (706). The environmental sensing module (702) is fixedly installed on the side wall of the connecting station (704).

5. The high-voltage switch robot integrating patrol and monitoring according to claim 4, characterized in that, A displacement cylinder (707) is installed on the angle seat (705). A sliding plate (708) is fixedly connected to the movable end of the displacement cylinder (707). The sliding plate (708) is slidably disposed at the bottom of the angle seat (705) in the horizontal direction. A gear (709) is installed on the angle frame (706). The top of the sliding plate (708) is evenly provided with locking teeth in the length direction. The gear (709) meshes with the locking teeth of the sliding plate (708).

6. The high-voltage switch robot integrating patrol and monitoring according to claim 1, characterized in that, The robotic arm mechanism includes a mounting base (303), a first robotic arm (304), a second robotic arm (306), and a third robotic arm (308); the bottom end of the mounting base (303) is fixedly connected to the top surface of the inspection host housing (2), and the bottom end of the first robotic arm (304) is hinged to the inside of the mounting base (303); the top end of the first robotic arm (304) is rotatably connected to one end of the second robotic arm (306), and the other end of the second robotic arm (306) is rotatably connected to one end of the third robotic arm (308); the end of the third robotic arm (308) is fixedly connected to the end effector (301).

7. The high-voltage switch robot integrating patrol and monitoring according to claim 6, characterized in that, A first servo motor (305) is fixedly installed on the top side wall of the first robotic arm (304), and the output shaft of the first servo motor (305) is fixedly connected to the second robotic arm (306). A second servo motor (307) is fixedly installed on the top side wall of the second robotic arm (306), and the output shaft of the second servo motor (307) is fixedly connected to the third robotic arm (308).

8. The high-voltage switch robot integrating patrol and monitoring according to claim 6, characterized in that, A depth positioning camera (309) is fixedly mounted on the top end face of the end effector (301).

9. The high-voltage switch robot integrating patrol and monitoring according to claim 1, characterized in that, The lifting drive assembly (4) includes a lifting plate (401), a linear rail (402), a limiting plate (403), a lifting block (404), a lifting cylinder (405), and a cylinder base (406). One side of the lifting plate (401) is fixedly connected to the side wall of the inspection host housing (2). The linear rail (402) is vertically arranged on the other side of the lifting plate (401). The lifting block (404) is slidably mounted on the linear rail (402). The limiting plate (403) is fixedly connected to the lifting block (404), and the plate surface of the limiting plate (403) is fixedly connected to the grounding switch body (5). The cylinder base (406) is fixedly installed on the top of the side plate of the lifting plate (401) with the linear track (402). The lifting cylinder (405) is vertically fixed to the bottom end of the cylinder base (406), and the output end of the lifting cylinder (405) is fixedly connected to the top surface of the limiting plate (403).

10. The high-voltage switch robot integrating patrol and monitoring according to claim 1, characterized in that, The top of the mobile chassis mechanism (1) is equipped with a navigation radar (8), which is electrically connected to the main control module in the inspection host housing (2); the side of the mobile chassis mechanism (1) is fixedly connected with a collision protection strip (9).

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