A traction substation inspection robot

Abstract

This utility model relates to the field of power equipment maintenance technology, and in particular to a traction substation inspection robot, comprising a motion chassis, a sensing module, a control module, and an actuator. The sensing module and control module are both integrated and installed on the motion chassis, working together to achieve fully autonomous navigation of the chassis. The sensing module is responsible for collecting environmental information and path-related data within the substation and transmitting the collected data to the control module in real time. After receiving the data, the control module analyzes and calculates it using a preset navigation and path planning program. The actuator is mounted on the motion chassis and establishes a data connection with the control module. The actuator receives operation commands from the control module and, by autonomously adjusting its own posture, performs intervention operations on the equipment within the substation, thus forming a complete closed loop of power operation and maintenance from anomaly monitoring and data analysis to proactive intervention, eliminating the need for human intervention and overcoming the technical shortcomings of existing inspection and handling systems that are slow to respond.

Description

Technical Field

[0001] This utility model relates to the field of power equipment maintenance technology, and in particular to a traction substation inspection robot. Background Technology

[0002] In the field of high-speed rail power system operation and maintenance, substations, as the core nodes for power transmission and distribution, directly determine the safety and stability of the high-speed rail power grid based on their equipment operating status. With the development of intelligent technologies, traction substation inspection robots are gradually replacing traditional manual inspections, becoming key equipment for ensuring reliable equipment operation.

[0003] In the current state of the industry, inspection robots use a motion chassis as a carrier and integrate a perception module and a control module: the perception module collects data such as environmental images, equipment temperature, and path obstacles through components such as cameras, lidar, and infrared sensors, while the control module analyzes the data based on a preset program and drives the motion chassis to achieve fully autonomous navigation and inspection operations.

[0004] While existing inspection robots can efficiently complete basic inspection tasks such as equipment status monitoring and anomaly data collection, significantly reducing manual labor intensity and improving inspection efficiency, they have significant functional limitations in practical applications. Specifically, existing inspection robots only have monitoring capabilities and cannot perform necessary intervention operations on equipment within the substation. Inspection robots can only record anomaly information and feed it back to the backend system, still requiring maintenance personnel to travel to the site for manual handling. This not only prolongs the equipment anomaly handling cycle and increases power grid safety risks, but also significantly increases the difficulty of manual maintenance operations in severe weather or remote substation scenarios. Therefore, it is urgent for technical personnel to solve these problems. Utility Model Content The purpose of this invention is to provide a traction substation inspection robot, which aims to solve the problems of existing high-speed railway traction substation inspection robots that only have status monitoring and data acquisition functions, lack equipment intervention operation capabilities, and require workers to be on-site for maintenance.

[0005] This utility model relates to a traction substation inspection robot, including a motion chassis, a sensing module, and a control module. Both the sensing and control modules are integrated and mounted on the motion chassis, working together to achieve fully autonomous navigation. The sensing module collects environmental and path-related data within the substation and transmits it to the control module. Upon receiving the data, the control module analyzes and calculates it using a pre-set navigation and path planning program. The traction substation inspection robot also includes an actuator; the actuator is mounted on the motion chassis and establishes a data connection with the control module to receive operation commands. After receiving the commands, the actuator autonomously adjusts its posture to perform intervention operations on equipment within the substation. As a further improvement to the technical solution disclosed in this utility model, the actuator includes a robotic arm and an end effector; the robotic arm has multiple degrees of freedom; the end effector is used to operate and intervene in the GIS switchgear in the substation, and it is loaded by the robotic arm.

[0006] As a further improvement to the technical solution disclosed in this utility model, the connection port of the robotic arm is equipped with a force feedback sensor; the force feedback sensor collects the contact force data of the end-effector when operating the GIS switch cabinet, and transmits the data synchronously to the control module.

[0007] As a further improvement to the technical solution disclosed in this utility model, the end-effector includes, but is not limited to, clamps for performing pickup operations, wrenches for operating circuit breakers, sleeves for adjusting knobs, and probes for connecting testing equipment, and can be replaced autonomously according to the instructions of the control module.

[0008] As a further improvement to the technical solution disclosed in this utility model, the clamp includes a base, a drive motor, a drive gear, a first-stage driven gear, a second-stage driven gear, a first clamping arm, a second clamping arm, a first linkage transmission assembly, and a second linkage transmission assembly. The base is directly loaded by the robotic arm. The drive motor is fixedly mounted on the base, and its output shaft is connected to the drive gear. The first-stage driven gear meshes with the drive gear, and the second-stage driven gear meshes with the first-stage driven gear, forming a multi-stage gear transmission structure. One end of the first linkage transmission assembly is hinged to the eccentric position of the first-stage driven gear, and the other end is hinged to the middle of the first clamping arm. One end of the second linkage transmission assembly is hinged to the eccentric position of the second-stage driven gear, and the other end is hinged to the middle of the second clamping arm. When the drive motor is running, the first linkage transmission assembly and the second linkage transmission assembly are driven synchronously through the drive gear, the first-stage driven gear, and the second-stage driven gear, so that the first clamping arm and the second clamping arm can rotate in opposite directions to achieve the opening and closing action.

[0009] As a further improvement to the technical solution disclosed in this utility model, the robotic arm is equipped with an attitude compensation algorithm; when the motion chassis deviates in attitude due to uneven ground in the substation, the robotic arm automatically adjusts the joint angles to compensate for the attitude deviation based on the chassis tilt angle data collected by the sensing module.

[0010] As a further improvement to the technical solution disclosed in this utility model, under normal driving conditions, the moving speed of the chassis can be steplessly adjusted within the range of 0.5 to 1 m / s; while when the actuator approaches the target equipment position, the moving speed of the chassis drops to no more than 0.1 m / s.

[0011] As a further improvement to the technical solution disclosed in this utility model, the traction substation inspection robot also includes a digital twin interaction module; the digital twin interaction module is bidirectionally connected to the control module and the sensing module to synchronize the physical environment, equipment status and chassis operation data of the substation in real time, and construct a virtual twin scene.

[0012] In practical applications, the traction substation inspection robot disclosed in this utility model can achieve at least the following beneficial technical effects, specifically: 1) By integrating the actuator with the motion chassis, sensing module, and control module, a complete closed loop for power operation and maintenance is formed, encompassing anomaly monitoring, data analysis, and proactive intervention. When the sensing module detects anomaly information in the power equipment and transmits it to the control module, the control module can directly send operation commands to the actuator. The actuator then automatically adjusts its posture to complete the corresponding intervention action. The entire process eliminates the need for manual intervention, effectively addressing the technical shortcomings of delayed problem detection and handling in the existing inspection system. This transforms the inspection robot's role from a simple inspection device into a comprehensive operation and maintenance terminal with practical capabilities. 2) Addressing the challenges posed by severe weather such as heavy rain and blizzards to substations along high-speed railway lines, and the remote locations of some substations, the publicly disclosed traction substation inspection robot can independently perform intervention operations. This reduces the number of manual on-site operations and lowers the safety risks for maintenance personnel. Furthermore, the simultaneous detection and handling of problems significantly reduces the processing time for equipment anomalies, effectively preventing minor faults from escalating into major issues affecting the stable operation of the high-speed railway power grid, and further ensuring the stability of high-speed railway power transmission and distribution. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a three-dimensional schematic diagram of the traction substation inspection robot disclosed in this utility model.

[0015] Figure 2 This is a three-dimensional schematic diagram of the actuator in the traction substation inspection robot disclosed in this utility model.

[0016] Figure 3 This is a three-dimensional schematic diagram of the clamp in the traction substation inspection robot disclosed in this utility model from one perspective.

[0017] Figure 4This is a three-dimensional schematic diagram of the clamp in the traction substation inspection robot disclosed in this utility model from another perspective.

[0018] 1-Motion chassis; 2-Sensing module; 21-High-definition industrial camera; 22-Infrared thermal imaging camera; 23-LiDAR path detection component; 24-Environmental parameter acquisition component; 3-Actuator; 31-Robotic arm; 32-End of execution tool; 321-Base; 322-Drive motor; 323-Driving gear; 324-First driven gear; 325-Second driven gear; 326-First gripping arm; 327-Second gripping arm; 328-First linkage transmission component; 329-Second linkage transmission component; 4-Rotating base. Detailed Implementation

[0019] The present invention will be further described in detail below with reference to specific embodiments. Figure 1 A three-dimensional schematic diagram of the traction substation inspection robot disclosed in this utility model is shown. It is evident that it mainly consists of a motion chassis 1, a sensing module 2, a control module (not shown), an actuator 3, and a rotating base 4. The motion chassis 1 adopts an all-terrain wheeled structure and is equipped with four high-elasticity rubber wheels. The sensing module 2 and the control module are both integrated and installed on the top of the motion chassis 1, and the two establish a stable data interaction relationship via an Ethernet link. After collecting environmental and path data within the substation, the sensing module 2 transmits it to the control module in real time. The control module analyzes and calculates the data to generate navigation commands, driving the motion chassis 1 to move, thus ensuring that the chassis accurately completes the fully autonomous navigation function. The actuator 3 is indirectly mounted to the front of the motion chassis 1 via a rotating base 4. The rotating base 4 houses a servo motor and an angle sensor (not shown in the figure). In practical applications, the servo motor provides power for the rotation, enabling the actuator 3 to rotate 360° horizontally, effectively expanding the operational coverage area. Simultaneously, the angle sensor provides real-time feedback of the rotation angle data, allowing the control module to precisely control the rotation amplitude of the rotating base 4, ensuring that the actuator 3 can accurately align with target equipment in different directions, laying the positional foundation for subsequent intervention operations. Furthermore, the actuator 3 establishes a data connection with the control module to receive operation commands issued by the control module. Upon receiving a command, the actuator 3 autonomously adjusts its posture according to the command requirements, thereby performing intervention operations such as opening and closing switches and adjusting knobs on equipment such as GIS switchgear and circuit breakers within the substation. like Figure 2As shown, the actuator 3 includes a robotic arm 31 and an end effector 32. The robotic arm 31 adopts a multi-degree-of-freedom design, which can flexibly adapt to the operational needs of different equipment. The end effector 32 includes, but is not limited to, a clamp for picking operations, a wrench for opening and closing circuit breakers, a socket for adjusting knobs, and a probe for connecting detection equipment, and can be autonomously replaced according to the instructions of the control module. The robotic arm 31 can not only receive equipment intervention instructions transmitted by the control module as the basis for action execution, but also transmit real-time status data during the operation (such as the rotation angle of each joint, the contact state between the end effector and the equipment, etc.) back to the control module, providing further assurance for the accuracy and controllability of the intervention action. During routine inspections, when the actuator 3 receives an intervention command from the control module, the rotating base 4 first adjusts its horizontal orientation according to the target equipment coordinates in the command, driving the actuator 3 to complete the initial alignment. Then, the robotic arm 31 adjusts its overall posture autonomously through the coordinated movement of its joints, precisely delivering the end-effector tool 32 to the target equipment operating position (such as the circuit breaker handle or equipment knob). Finally, the end-effector tool 32 completes intervention operations such as opening and closing the circuit breaker and adjusting the knob according to the command. During the operation, the robotic arm 31 continuously feeds back status data to the control module to ensure that the actions meet the preset requirements. In the above technical solution, a complete closed loop for power operation and maintenance is constructed by deeply integrating the actuator 3 with the motion chassis 1, the sensing module 2, and the control module. Specifically, when the sensing module 2 detects abnormal information of the power equipment (such as excessive temperature or appearance defects), it will transmit the data to the control module immediately. After analysis and judgment, the control module will directly issue targeted operation instructions to the actuator 3. The actuator 3 will then automatically adjust its posture according to the instructions (such as aligning with the target by rotating the base 4 and adjusting the movement angle of the robotic arm 31) to complete the corresponding intervention action. The entire process does not require manual intervention. The robotic arm 31 is equipped with a force feedback sensor (not shown in the figure) at its connection port. This sensor establishes a real-time data connection with the control module. When the end effector 32 performs operations such as opening and closing the circuit breaker and adjusting knobs on the GIS switchgear, the force feedback sensor can collect the force data at the point of contact (such as the biting force of the wrench and the circuit breaker handle, and the clamping force of the clamp and the component) in real time, and transmit the data synchronously to the control module. After receiving the data, the control module compares it with a preset safe force threshold. If the actual force exceeds the threshold, it will immediately issue an adjustment command to the robotic arm 31 to reduce the operating force and avoid damaging the operating parts or internal structure of the GIS switchgear due to excessive force. Here, the following two points also need to be explained: 1) The robotic arm 31 is equipped with an attitude compensation algorithm. When the motion chassis 1 deviates in attitude due to uneven ground in the substation, the robotic arm 31 will automatically adjust the joint angle to compensate for the attitude deviation based on the chassis tilt angle data collected by the sensing module 2, ensuring that the end effector tool 32 can always be accurately aligned with the operating position; 2) The speed of the motion chassis 1 can be adaptively adjusted according to the scenario: Under normal driving conditions, the moving speed can be steplessly adjusted within the range of 0.5 to 1 m / s to ensure inspection efficiency; while when the actuator 3 approaches the target equipment position, the moving speed is reduced to no more than 0.1 m / s to avoid problems such as affecting the operating accuracy and damaging the GIS switchgear due to excessive speed.

[0020] In addition, the traction substation inspection robot is also equipped with a digital twin interaction module. The digital twin interaction module, together with the control module and the perception module 2, establishes a two-way data interaction channel to achieve real-time synchronization and integration of multi-dimensional data: on the one hand, it obtains environmental parameters (such as temperature and humidity, dust concentration), equipment appearance images, equipment temperature distribution and path obstacle data from the perception module 2, and obtains the real-time position, driving speed and posture information of the motion chassis 1, as well as the operation instructions and action status (such as the joint angle of the robotic arm and the opening and closing degree of the clamp) of the actuator 3 from the control module; on the other hand, it processes these data according to the preset three-dimensional modeling rules to restore the physical environment of the substation (such as equipment layout, cable trench location), real-time status of equipment (such as equipment temperature presented as a heat map, faulty parts highlighted) and robot running trajectory in the virtual space at a 1:1 ratio, thus constructing a dynamically updated virtual twin scene. In this way, maintenance personnel can intuitively grasp the overall operation of the substation without going to the site. They can quickly determine the cause of the fault by combining the data annotations in the scene (such as equipment model and operating parameter thresholds). Furthermore, if the robot's operation deviation is found, adjustment instructions can be issued through the virtual scene and transmitted to the control module through the digital twin interaction module to correct the robot's actions in real time, further improving the accuracy and efficiency of remote operation and maintenance decision-making. This is especially suitable for the unmanned operation and maintenance needs of remote substations along high-speed rail lines. Depend on Figure 1As clearly shown in the diagram, the perception module 2 includes a high-definition industrial camera 21, an infrared thermal imaging camera 22, a lidar path detection component 23, and an environmental parameter acquisition component 24. These components are arranged in a differentiated layout according to functional requirements, balancing data acquisition efficiency and space utilization. The high-definition industrial camera 21 and the infrared thermal imaging camera 22 are placed side-by-side on the top of the motion chassis 1. The high-definition industrial camera 21 is used to clearly capture the appearance details of power equipment (such as visible defects like insulator damage and cabinet corrosion), while the infrared thermal imaging camera 22 is used to monitor the surface temperature distribution of key equipment such as GIS switchgear and transformers. Together, they provide basic data for subsequent equipment status assessment. Two sets of lidar path detection components 23 are symmetrically arranged on both sides of the front end of the motion chassis 1, with their detection direction consistent with the chassis's driving direction. After scanning for an obstacle, the lidar path detection components 23 quickly generate accurate obstacle coordinate data and transmit it synchronously to the control module, providing a reliable basis for the control module to plan safe detour paths in real time. The environmental parameter acquisition components 24 are also configured in two sets, vertically installed at the top front end of the motion chassis 1 and symmetrically distributed. The environmental parameter acquisition components 24 integrate temperature and humidity sensors and dust concentration sensors to collect environmental data in the substation in a comprehensive and unbiased manner (such as real-time monitoring of changes in ambient temperature, air humidity and dust content), which serves as a key auxiliary basis for subsequent analysis of the causes of equipment malfunctions. Considering that the end effector 32 needs to stably complete operations such as picking, the structure of the clamp is further explained here with reference to the diagram: Figure 3 , Figure 4As shown, the clamp mainly consists of a base 321, a drive motor 322, a drive gear 323, a first-stage driven gear 324, a second-stage driven gear 325, a first clamping arm 326, a second clamping arm 327, a first linkage transmission assembly 328, and a second linkage transmission assembly 329. The base 321 is directly loaded by the robotic arm 31. The drive motor 322 is fixedly mounted on one side of the base 321, and its output shaft is connected to the drive gear 323 via a coupling, serving as the power source for the clamp's opening and closing action. The first-stage driven gear 324 meshes with the drive gear 323, and the second-stage driven gear 325 meshes with the first-stage driven gear 324, together forming a multi-stage gear transmission structure. The first linkage drive assembly 328 is hinged at one end to the eccentric position of the first driven gear 324, and the other end is hinged to the middle region of the first clamping arm 326; the second linkage drive assembly 329 is connected in a symmetrical manner, with one end hinged to the eccentric position of the second driven gear 325, and the other end hinged to the middle of the second clamping arm 327. When the drive motor 322 starts running, the power is transmitted sequentially through the drive gear 323, the first driven gear 324, and the second driven gear 325, driving the first linkage transmission assembly 328 and the second linkage transmission assembly 329 to move in sync. If the drive motor 322 rotates forward, the first linkage transmission assembly 328 and the second linkage transmission assembly 329 work together to pull the first clamping arm 326 and the second clamping arm 327, causing them to rotate in opposite directions, quickly closing the clamps and reliably clamping small maintenance tools, cables, etc. in the substation. If the drive motor 322 rotates in reverse, the first linkage transmission assembly 328 and the second linkage transmission assembly 329 push the first clamping arm 326 and the second clamping arm 327 to rotate in opposite directions, completing the clamp opening action and releasing the clamped items.

[0021] When in operation, the clamps provide uniform and controllable clamping force and smooth and stable movements. Even in the complex environment of a substation, they can ensure reliable execution of operations such as clamping and tidying up loose lines, making them suitable for the needs of precise operation of small objects in maintenance scenarios.

[0022] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A traction substation inspection robot, comprising a motion chassis, a sensing module, and a control module; the sensing module and the control module are both integrated and installed on the motion chassis, and work together to achieve fully autonomous navigation of the motion chassis; the sensing module is used to collect environmental and path-related data within the substation and transmit it to the control module; after receiving the data, the control module analyzes and calculates it in conjunction with a preset navigation and path planning program, characterized in that... It also includes an actuator; the actuator is mounted on the motion chassis and establishes a data connection with the control module to receive operation commands; after receiving the command, the actuator autonomously adjusts its own posture to perform intervention operations on the equipment in the substation; The actuator includes a robotic arm and an end effector; the robotic arm has multiple degrees of freedom; the end effector is used to operate and intervene in the GIS switchgear in the substation, and it is loaded by the robotic arm. The actuator includes a robotic arm and an end effector; the robotic arm has multiple degrees of freedom; the end effector is used to operate and intervene in the GIS switchgear in the substation, and it is loaded by the robotic arm. The robotic arm is equipped with an attitude compensation algorithm; when the motion chassis deviates in attitude due to uneven substation ground, the robotic arm automatically adjusts the joint angles to compensate for the attitude deviation based on the chassis tilt angle data collected by the sensing module. It also includes a digital twin interaction module; the digital twin interaction module is bidirectionally connected to the control module and the sensing module to synchronize the substation physical environment, equipment status and the running data of the moving chassis in real time, and construct a virtual twin scene.

2. The robot for inspecting a traction substation according to claim 1, wherein The execution end tools include clamps for performing pickup operations, wrenches for operating circuit breakers, sockets for adjusting knobs, and probes for connecting testing equipment, and can be replaced autonomously according to the instructions of the control module.

3. The robot of claim 2, wherein the robot is configured to move along a path of the overhead power line. The clamp includes a base, a drive motor, a drive gear, a first-stage driven gear, a second-stage driven gear, a first clamping arm, a second clamping arm, a first linkage transmission assembly, and a second linkage transmission assembly. The base is directly supported by the robotic arm. The drive motor is fixedly mounted on the base, and its output shaft is connected to the drive gear. The first-stage driven gear meshes with the drive gear, and the second-stage driven gear meshes with the first-stage driven gear, forming a multi-stage gear transmission structure. One end of the first linkage transmission assembly is hinged to the eccentric position of the first-stage driven gear, and the other end is hinged to the middle of the first clamping arm. One end of the second linkage transmission assembly is hinged to the eccentric position of the second-stage driven gear, and the other end is hinged to the middle of the second clamping arm. When the drive motor operates, the first linkage transmission assembly and the second linkage transmission assembly are driven synchronously through the sequential transmission of the drive gear, the first-stage driven gear, and the second-stage driven gear, allowing the first clamping arm and the second clamping arm to rotate in opposite directions to achieve opening and closing actions.

4. The robot of claim 1, wherein the robot is configured to be mounted on a vehicle. Under normal driving conditions, the moving speed of the chassis can be steplessly adjusted within the range of 0.5 to 1 m / s; while when the actuator approaches the target equipment position, the moving speed of the chassis drops to no more than 0.1 m / s.

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