A substation inspection robot's end execution device

Abstract

The utility model discloses a transformer substation inspection robot's end execution device, including execution unit, including connecting assembly, the bottom of setting connecting assembly and be used for the state monitoring of transformer substation equipment provides high definition image data's high definition image acquisition module, the bottom of setting connecting assembly and be used for the infrared temperature measurement module of non -contact temperature measurement to transformer substation equipment, the bottom of setting connecting assembly and be used for the partial discharge detection module of the local partial discharge phenomenon detection of transformer substation equipment. The utility model discloses through connecting assembly can connect high definition image acquisition module, infrared temperature measurement module, partial discharge detection module and audio acquisition module simultaneously, and then can make execution unit integrated high definition image acquisition module, infrared temperature measurement module, partial discharge detection module and audio acquisition module, can simultaneously to transformer substation equipment carries out visual inspection, temperature monitoring, local partial discharge detection and sound anomaly detection, has improved the inspection efficiency greatly.

Description

Technical Field

[0001] This utility model relates to the technical field of end effector devices for substation inspection robots, specifically an end effector device for a substation inspection robot. Background Technology

[0002] With the rapid development of power systems and the continuous improvement of their intelligence level, the safe and stable operation of substations, as the hub nodes of the power network, is particularly crucial. Against this backdrop, inspection robot technology has emerged and is gradually shining in the field of substation inspection. This high-tech product, the inspection robot, is usually equipped with a sophisticated end effector. As the core component of the robot, this device directly shoulders the important task of meticulously inspecting, precisely operating, and comprehensively collecting data on substation equipment, thereby achieving all-round monitoring and detailed recording of equipment and efficiently completing the substation inspection mission.

[0003] In practical applications, the operation of substation inspection robots demonstrates intelligence and flexibility. First, based on the substation's inspection plan and actual needs, staff carefully plan specific inspection paths and task nodes for the robot. Then, according to the specific items to be monitored in a single inspection, staff quickly and accurately install the corresponding end effector on the robot. Once everything is ready, the inspection robot autonomously carries out its inspection work according to the preset route and task points. At each stage of the inspection, the end effector captures various data from the substation equipment in real time and transmits this valuable information to the back-end control system in real time through an efficient transmission module. The system then performs in-depth analysis of this data to accurately determine whether there are any abnormalities in the equipment's operating status.

[0004] However, despite the technological advancements of existing end-effectors, they still exhibit numerous limitations in practical applications. The most significant issue is that a single inspection often only completes a single monitoring item. This means that during each inspection, staff need to frequently switch between different end-effectors and drive the robot for multiple inspections. This functional limitation not only severely restricts the scope and efficiency of inspections but also leads to a significant increase in inspection costs and unnecessary time consumption. More seriously, multiple inspections may cause unnecessary interference with the normal operation of substations and affect the overall stability of the power system. Therefore, developing more multifunctional and efficient end-effectors is of paramount importance for improving the intelligence level of substation inspections and the overall operation and maintenance capabilities of the power system. Utility Model Content

[0005] The purpose of this invention is to provide an end effector for a substation inspection robot, which has the advantages of performing multiple inspection tasks simultaneously without the need for multiple inspections and has high inspection efficiency. It solves the problem that a single inspection can only complete a specific monitoring item, which leads to the need for personnel to frequently change different end effectors and drive the robot to perform multiple inspections each time. Its single function limits the application scope of inspection, which not only increases the inspection cost and time, but also may cause unnecessary interference to the normal operation of the substation due to multiple inspections.

[0006] To achieve the above objectives, this utility model provides the following technical solution: an end effector for a substation inspection robot, comprising,

[0007] The inspection unit includes a trolley, a support mounted on the top of the trolley, a control main board mounted inside the support, and a robotic arm mounted on the top of the support.

[0008] The execution unit includes a connection component, a high-definition image acquisition module disposed at the bottom of the connection component for providing high-definition image data for status monitoring of substation equipment, an infrared temperature measurement module disposed at the bottom of the connection component for non-contact temperature measurement of substation equipment, a partial discharge detection module disposed at the bottom of the connection component for detecting partial discharge phenomena of substation equipment, and an audio acquisition module disposed at the bottom of the connection component for collecting abnormal sounds during operation of substation equipment.

[0009] The connecting assembly includes a shaft bracket, a connecting slot opened at one end of the shaft bracket, a positioning rod movably connected to the top of the shaft bracket, and a spring sleeved on the surface of the positioning rod;

[0010] The high-definition image acquisition module includes a first housing, a first cover connected to one side of the first housing by screws, a first connecting block fixedly connected to the top of the first housing, and an image processor and a high-definition camera disposed in the inner cavity of the first housing.

[0011] The infrared temperature measurement module includes a second housing, a second cover connected to one side of the second housing by screws, a second connecting block fixedly connected to the top of the second housing, and a temperature data processing module and an infrared temperature sensor disposed in the inner cavity of the second housing.

[0012] The partial discharge detection module includes a third housing, a third cover connected to one side of the third housing by screws, a third connecting block fixedly connected to the top of the third housing, and a signal analysis and processing module and an ultrasonic sensor disposed in the inner cavity of the third housing.

[0013] The audio acquisition module includes a fourth housing, a fourth cover connected to one side of the fourth housing by screws, a fourth connecting block fixedly connected to the top of the fourth housing, and an audio processor and a microphone array disposed in the inner cavity of the fourth housing.

[0014] Preferably, the first connecting block, the second connecting block, the third connecting block, and the fourth connecting block are all located in the inner cavity of the connecting groove and are movably connected to the inner cavity of the connecting groove. One end of the spring is fixedly connected to the shaft frame, and the other end is fixedly connected to the positioning rod. The bottom of the positioning rod passes through the shaft frame and extends to the inner cavities of the first connecting block, the second connecting block, the third connecting block, and the fourth connecting block, and is movably connected to the inner cavities of the first connecting block, the second connecting block, the third connecting block, and the fourth connecting block. The first cover, the first cover, the second cover, and the second cover are all made of zinc selenide material, and the third cover, the third cover, the fourth cover, and the fourth cover are all made of microporous plate material.

[0015] Preferably, a first electromagnet is fixedly connected to the bottom of one end of the robotic arm, and a second electromagnet is fixedly connected to the bottom of the inner cavity of the shaft frame. The bottom of the first electromagnet extends into the inner cavity of the shaft frame and contacts the second electromagnet. The second electromagnet and the first electromagnet are magnetically connected. The input ends of both the first and second electromagnets are connected to the input ends of the control motherboard.

[0016] Preferably, the high-definition image acquisition module, infrared temperature measurement module, partial discharge detection module, and audio acquisition module are all connected to the control motherboard via a wireless communication transmission module. The output terminals of the control motherboard are respectively connected to the input terminals of the trolley and the robotic arm, and the control motherboard is connected to an external monitoring platform via a wireless communication transmission module.

[0017] Preferably, the output of the high-definition camera is connected to the input of the image processor, the output of the infrared temperature sensor is connected to the input of the temperature data processing module, the output of the ultrasonic sensor is connected to the input of the signal analysis and processing module, and the output of the microphone array is connected to the input of the audio processor.

[0018] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0019] This utility model can simultaneously connect a high-definition image acquisition module, an infrared temperature measurement module, a partial discharge detection module, and an audio acquisition module through a connecting component. This allows the execution unit to integrate a high-definition image acquisition module, an infrared temperature measurement module, a partial discharge detection module, and an audio acquisition module, enabling simultaneous visual inspection, temperature monitoring, partial discharge detection, and sound anomaly detection of substation equipment, greatly improving inspection efficiency.

[0020] By connecting to the robotic arm via a connecting component, the inspection unit drives the high-definition image acquisition module, infrared temperature measurement module, partial discharge detection module, and audio acquisition module in the execution unit to move in position, which facilitates different monitoring and inspection operations on substation equipment according to the inspection task requirements, thereby improving the quality of inspection. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this utility model;

[0022] Figure 2 This is a cross-sectional structural diagram of the support of this utility model;

[0023] Figure 3 This is a schematic diagram of the execution unit structure of this utility model;

[0024] Figure 4 This is a schematic diagram of the structure of the shaft frame and the robotic arm in the separated state of this utility model;

[0025] Figure 5 This is a cross-sectional structural diagram of the high-definition image acquisition module of this utility model;

[0026] Figure 6 This is a cross-sectional structural diagram of the infrared temperature measurement module of this utility model;

[0027] Figure 7 This is a cross-sectional structural diagram of the partial discharge detection module of this utility model;

[0028] Figure 8 This is a cross-sectional structural diagram of the audio acquisition module of this utility model;

[0029] Figure 9 This is a schematic diagram of the system principle of this utility model.

[0030] In the diagram: 100, Inspection unit; 110, Cart; 120, Support; 130, Control motherboard; 140, Robotic arm; 141, First electromagnet; 200, Execution unit; 210, Connecting assembly; 211, Shaft bracket; 212, Connecting slot; 213, Positioning rod; 214, Spring; 215, Second electromagnet; 220, High-definition image acquisition module; 221, First cover; 222, First cover; 223, First connecting block; 224, Image processor; 225, High-definition camera; 230, Infrared... Temperature measurement module; 231, second housing; 232, second cover; 233, second connecting block; 234, temperature data processing module; 235, infrared temperature sensor; 240, partial discharge detection module; 241, third housing; 242, third cover; 243, third connecting block; 244, signal analysis and processing module; 245, ultrasonic sensor; 250, audio acquisition module; 251, fourth housing; 252, fourth cover; 253, fourth connecting block; 254, audio processor; 255, microphone array. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Example 1

[0033] like Figure 1-9 The image shown is the first embodiment of this utility model. This embodiment provides an end effector for a substation inspection robot, comprising:

[0034] The inspection unit 100 includes a trolley 110, a support 120 disposed on the top of the trolley 110, a control main board 130 disposed in the inner cavity of the support 120, and a robotic arm 140 disposed on the top of the support 120.

[0035] The execution unit 200 includes a connection component 210, a high-definition image acquisition module 220 disposed at the bottom of the connection component 210 and used for providing high-definition image data for status monitoring of substation equipment, an infrared temperature measurement module 230 disposed at the bottom of the connection component 210 and used for non-contact temperature measurement of substation equipment, a partial discharge detection module 240 disposed at the bottom of the connection component 210 and used for detecting partial discharge phenomena of substation equipment, and an audio acquisition module 250 disposed at the bottom of the connection component 210 and used for collecting abnormal sounds during operation of substation equipment.

[0036] The connecting assembly 210 includes a shaft frame 211, a connecting slot 212 opened at one end of the shaft frame 211, a positioning rod 213 movably connected to the top of the shaft frame 211, and a spring 214 sleeved on the surface of the positioning rod 213.

[0037] The high-definition image acquisition module 220 includes a first housing 221, a first cover 222 connected to one side of the first housing 221 by screws, a first connecting block 223 fixedly connected to the top of the first housing 221, and an image processor 224 and a high-definition camera 225 disposed in the inner cavity of the first housing 221.

[0038] The infrared temperature measurement module 230 includes a second housing 231, a second cover 232 connected to one side of the second housing 231 by screws, a second connecting block 233 fixedly connected to the top of the second housing 231, and a temperature data processing module 234 and an infrared temperature sensor 235 disposed in the inner cavity of the second housing 231.

[0039] The partial discharge detection module 240 includes a third housing 241, a third cover 242 connected to one side of the third housing 241 by screws, a third connecting block 243 fixedly connected to the top of the third housing 241, and a signal analysis and processing module 244 and an ultrasonic sensor 245 disposed in the inner cavity of the third housing 241.

[0040] The audio acquisition module 250 includes a fourth housing 251, a fourth cover 252 connected to one side of the fourth housing 251 by screws, a fourth connecting block 253 fixedly connected to the top of the fourth housing 251, and an audio processor 254 and a microphone array 255 disposed in the inner cavity of the fourth housing 251.

[0041] like Figure 1-9As shown, the high-definition image acquisition module 220, infrared temperature measurement module 230, partial discharge detection module 240, and audio acquisition module 250 can be simultaneously connected via the connecting component 210. This allows the execution unit 200 to integrate these modules, enabling simultaneous visual inspection, temperature monitoring, partial discharge detection, and sound anomaly detection of substation equipment, significantly improving inspection efficiency. The connecting component 210 connects to the robotic arm 140, thereby allowing the inspection unit 100 to drive the high-definition image acquisition module 220 and infrared temperature measurement module 250 within the execution unit 200. The 230, partial discharge detection module 240, and audio acquisition module 250 can be moved to facilitate different monitoring and inspection operations on substation equipment according to the inspection task requirements, thereby improving the inspection quality. Furthermore, the control motherboard 130 is connected to each execution module, realizing intelligent control of each execution module. It is convenient to start the execution module to carry out inspection and monitoring operations according to preset inspection requirements. The application of high-precision sensors such as high-definition camera 225, infrared temperature sensor 235, ultrasonic sensor 245, and microphone array 255 ensures the accuracy and reliability of monitoring data, providing a strong guarantee for the safe operation of the substation.

[0042] Example 2

[0043] Reference Figure 2-9 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0044] In this embodiment, the first connecting block 223, the second connecting block 233, the third connecting block 243, and the fourth connecting block 253 are all located in the inner cavity of the connecting slot 212 and are movably connected to the inner cavity of the connecting slot 212. One end of the spring 214 is fixedly connected to the shaft frame 211, and the other end is fixedly connected to the positioning rod 213. The bottom of the positioning rod 213 passes through the shaft frame 211 and extends to the inner cavities of the first connecting block 223, the second connecting block 233, the third connecting block 243, and the fourth connecting block 253, and is movably connected to the inner cavities of the first connecting block 223, the second connecting block 233, the third connecting block 243, and the fourth connecting block 253. The first cover 221, the first cover 222, the second cover 231, and the second cover 232 are all made of zinc selenide. The third cover 241, the third cover 242, the fourth cover 251, and the fourth cover 252 are all made of microporous plate material.

[0045] A first electromagnet 141 is fixedly connected to the bottom of one end of the robotic arm 140, and a second electromagnet 215 is fixedly connected to the bottom of the inner cavity of the shaft frame 211. The bottom of the first electromagnet 141 extends into the inner cavity of the shaft frame 211 and contacts the second electromagnet 215. The second electromagnet 215 and the first electromagnet 141 are magnetically connected. The input terminals of the first electromagnet 141 and the second electromagnet 215 are both connected to the input terminals of the control motherboard 130.

[0046] like Figure 2-9 As shown, the first housing 221, the first cover 222, the second housing 231, and the second cover 232 are all made of zinc selenide. Zinc selenide has good light transmittance and corrosion resistance, which not only protects the internal components from interference from the external environment, but also ensures the normal operation of the high-definition image acquisition module 220 and the infrared temperature measurement module 230. The third housing 241, the third cover 242, the fourth housing 251, and the fourth cover 252 are all made of microporous plate material. Microporous plate material is lightweight and has good sound insulation and heat dissipation performance, which not only allows for the proper functioning of the internal components. The components are protected, and this can help improve the working efficiency and stability of the partial discharge detection module 240 and the audio acquisition module 250. When the robotic arm 140 needs to be connected to the execution unit 200, the first electromagnet 141 enters the inner cavity of the shaft frame 211 and contacts the second electromagnet 215. Then, the control motherboard 130 sends an energizing signal to the first electromagnet 141 and the second electromagnet 215. After being energized, a magnetic attraction will be generated between the first electromagnet 141 and the second electromagnet 215, thereby achieving a stable connection. Conversely, the two can be separated and disassembled.

[0047] Example 3

[0048] Reference Figure 5-9 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0049] In this embodiment, the high-definition image acquisition module 220, the infrared temperature measurement module 230, the partial discharge detection module 240, and the audio acquisition module 250 are all connected to the control motherboard 130 through a wireless communication transmission module. The output terminal of the control motherboard 130 is connected to the input terminal of the trolley 110 and the robotic arm 140, respectively, and the control motherboard 130 is connected to the external monitoring platform through a wireless communication transmission module.

[0050] The output of the high-definition camera 225 is connected to the input of the image processor 224, the output of the infrared temperature sensor 235 is connected to the input of the temperature data processing module 234, the output of the ultrasonic sensor 245 is connected to the input of the signal analysis and processing module 244, and the output of the microphone array 255 is connected to the input of the audio processor 254. The high-definition camera 225 uses a TMS320 series DSP, the image processor 224 uses a Sony IMX series, the infrared temperature sensor 235 uses a Melexis MLX906 series, the temperature data processing module 234 uses an STM32 microcontroller, the ultrasonic sensor 245 uses a Piezoelectric ultrasonic sensor, and the signal analysis and processing module 244 uses an STM32 microcontroller.

[0051] In use, the operator first pulls the positioning rod 213, which causes the spring 214 to stretch and deform. Then, the first connecting block 223, the second connecting block 233, the third connecting block 243, and the fourth connecting block 253 are placed sequentially into the inner cavity of the connecting slot 212, achieving initial connection of each execution module. Next, the positioning rod 213 is released, and the restoring force of the spring 214 causes the positioning rod 213 to enter the first connecting block 223, the second connecting block 233, the third connecting block 243, and the fourth connecting block 253. The internal cavity enables the positioning of each execution module. It is connected to the connection component 210 through the high-definition image acquisition module 220, infrared temperature measurement module 230, partial discharge detection module 240 and audio acquisition module 250. This allows the execution unit 200 to integrate the high-definition image acquisition module 220, infrared temperature measurement module 230, partial discharge detection module 240 and audio acquisition module 250, enabling simultaneous visual inspection, temperature monitoring, partial discharge detection and sound anomaly detection of substation equipment, thereby improving the efficiency of subsequent inspections.

[0052] When a substation inspection is required, personnel first formulate a specific inspection path and task nodes through an external monitoring platform based on the substation's inspection plan and actual needs. The formulated inspection path and task nodes are then transmitted to the control motherboard 130. The control motherboard 130 will operate the trolley 110 and robotic arm 140. The trolley 110, in coordination with the robotic arm 140, will move the execution unit 200 to the equipment to be monitored. Next, the control motherboard 130 can activate various execution modules to perform monitoring operations according to the inspection task. The high-definition camera 225 in the high-definition image acquisition module 220 captures real-time images of the substation equipment and transmits these image data to the image processor 224 for processing, such as image enhancement and noise reduction, to improve image quality and clarity, facilitating later monitoring of the substation equipment status. The infrared temperature sensor 235 in the infrared temperature measurement module 230 captures infrared radiation signals from the substation equipment and converts these signals into electrical signals. These electrical signals are then transmitted to the temperature data processing module 234 for processing, such as temperature calculation and calibration, to promptly detect overheating or abnormally sized equipment. The ultrasonic sensor 245 in the partial discharge detection module 240 is responsible for capturing ultrasonic signals generated when the substation equipment experiences partial discharge. These signals are transmitted to the signal analysis and processing module 244 for processing, such as signal filtering, amplification, and feature extraction. The processed signal data can be used to determine whether the equipment has partial discharge, as well as the severity and location of the discharge. The microphone array 255 in the audio acquisition module 250 is responsible for capturing sound signals during the operation of the substation equipment and transmitting these signals to the audio processor 254 for processing. The audio processor 254 performs filtering, enhancement, and recognition on the sound signals to extract the characteristics of abnormal sounds, such as abnormal noises and fuzz. Based on the processed audio data, the operating status of the equipment and whether there is a fault can be determined. Finally, the high-definition image acquisition module 220, infrared temperature measurement module 230, partial discharge detection module 240, and audio acquisition module 250 transmit the monitored and processed data to the control motherboard 130. The control motherboard 130 transmits the data to an external monitoring platform through a wireless communication transmission module, which facilitates timely understanding and handling of the substation equipment status by the staff.

[0053] All standard parts used in this application can be purchased from the market, and can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art and is common knowledge in the field. Since this application is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail in this application.

[0054] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0055] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An end effector device for a substation inspection robot, characterized by: include, The inspection unit (100) includes a trolley (110), a support (120) disposed on the top of the trolley (110), a control main board (130) disposed in the inner cavity of the support (120), and a robotic arm (140) disposed on the top of the support (120). The execution unit (200) includes a connection component (210), a high-definition image acquisition module (220) disposed at the bottom of the connection component (210) and used for providing high-definition image data for status monitoring of substation equipment, an infrared temperature measurement module (230) disposed at the bottom of the connection component (210) and used for non-contact temperature measurement of substation equipment, a partial discharge detection module (240) disposed at the bottom of the connection component (210) and used for detecting partial discharge phenomena of substation equipment, and an audio acquisition module (250) disposed at the bottom of the connection component (210) and used for collecting abnormal sounds during operation of substation equipment. The connecting assembly (210) includes a shaft frame (211), a connecting slot (212) opened at one end of the shaft frame (211), a positioning rod (213) movably connected to the top of the shaft frame (211), and a spring (214) sleeved on the surface of the positioning rod (213). The high-definition image acquisition module (220) includes a first housing (221), a first cover (222) connected to one side of the first housing (221) by screws, a first connecting block (223) fixedly connected to the top of the first housing (221), and an image processor (224) and a high-definition camera (225) disposed in the inner cavity of the first housing (221); The infrared temperature measurement module (230) includes a second housing (231), a second cover (232) connected to one side of the second housing (231) by screws, a second connecting block (233) fixedly connected to the top of the second housing (231), and a temperature data processing module (234) and an infrared temperature sensor (235) disposed in the inner cavity of the second housing (231); The partial discharge detection module (240) includes a third housing (241), a third cover (242) connected to one side of the third housing (241) by screws, a third connecting block (243) fixedly connected to the top of the third housing (241), and a signal analysis and processing module (244) and an ultrasonic sensor (245) disposed in the inner cavity of the third housing (241). The audio acquisition module (250) includes a fourth housing (251), a fourth cover (252) connected to one side of the fourth housing (251) by screws, a fourth connecting block (253) fixedly connected to the top of the fourth housing (251), and an audio processor (254) and a microphone array (255) disposed in the inner cavity of the fourth housing (251).

2. The end effector device of the substation inspection robot according to claim 1, characterized in that: The first connecting block (223), the second connecting block (233), the third connecting block (243), and the fourth connecting block (253) are all located in the inner cavity of the connecting slot (212) and are movably connected to the inner cavity of the connecting slot (212). One end of the spring (214) is fixedly connected to the shaft frame (211), and the other end is fixedly connected to the positioning rod (213). The bottom of the positioning rod (213) passes through the shaft frame (211) and extends to the first connecting block (223), the second connecting block (233), the third connecting block (243), and the fourth connecting block (253), respectively. The inner cavity of the block (243) and the fourth connecting block (253) is movably connected to the inner cavity of the first connecting block (223), the second connecting block (233), the third connecting block (243) and the fourth connecting block (253). The first cover (221), the first cover (222), the second cover (231) and the second cover (232) are all made of zinc selenide. The third cover (241), the third cover (242), the fourth cover (251) and the fourth cover (252) are all made of microporous plate material.

3. The end effector device of the substation inspection robot according to claim 1, characterized in that: A first electromagnet (141) is fixedly connected to the bottom of one end of the robotic arm (140), and a second electromagnet (215) is fixedly connected to the bottom of the inner cavity of the shaft frame (211). The bottom of the first electromagnet (141) extends into the inner cavity of the shaft frame (211) and contacts the second electromagnet (215). The second electromagnet (215) and the first electromagnet (141) are magnetically connected. The input terminals of the first electromagnet (141) and the second electromagnet (215) are both connected to the input terminal of the control motherboard (130).

4. The end effector device of the substation inspection robot according to claim 1, characterized in that: The high-definition image acquisition module (220), infrared temperature measurement module (230), partial discharge detection module (240) and audio acquisition module (250) are all connected to the control motherboard (130) through a wireless communication transmission module. The output end of the control motherboard (130) is connected to the input end of the trolley (110) and the robotic arm (140) respectively, and the control motherboard (130) is connected to the external monitoring platform through a wireless communication transmission module.

5. The end effector device of the substation inspection robot according to claim 1, characterized in that: The output of the high-definition camera (225) is connected to the input of the image processor (224), the output of the infrared temperature sensor (235) is connected to the input of the temperature data processing module (234), the output of the ultrasonic sensor (245) is connected to the input of the signal analysis and processing module (244), and the output of the microphone array (255) is connected to the input of the audio processor (254).

Images