Intelligent inspection robot for valve hall of converter station

Abstract

The invention discloses an intelligent patrol robot for a convertor station valve hall. The robot comprises a robot terminal system, wherein the terminal system comprises a profile track; the profile track is vertically mounted on the wall surface of a valve hall; a motion mechanism, a motion driving mechanism and a detection mechanism are mounted on the profile track; the terminal system comprises a first control box and a second control box, so that communication control and power supply to equipment are achieved; the detection mechanism comprises a cradle head and a detection component; the motion mechanism drives the detection mechanism to move vertically along the profile guide rail, and together with horizontal rotation and pitching motion of the cradle head, wide-range detection on tested equipment is achieved. The intelligent patrol robot for the convertor station valve hall is compact and attractive in structure, rapid and convenient to mount, stable and reliable in operation, high in positioning precision, wide in detection range and high in automation degree.

Description

technical field [0001] The invention relates to an intelligent inspection robot for a valve hall of a converter station. Background technique [0002] The valve hall is an important part of the converter station, and it is very important to ensure the normal operation of the equipment in the valve hall. On the one hand, the valve hall equipment such as the valve tower needs to have sufficient reliability, on the other hand, it also needs to be detected in time to find and repair potential hidden dangers and ensure the normal operation of the converter station system. Real-time detection of valve hall equipment is of great significance to ensure its reliable and safe operation. The use of orbital robots can conveniently and flexibly detect the equipment in the valve hall in real time and understand the operating status of the equipment. [0003] The main equipment in the valve hall is the valve tower, which is arranged in rows and layers, and the total height of each row is...

AI Technical Summary

Problems solved by technology

[0006] 1. The converter valve obtains the desired DC voltage and realizes power control by sequentially connecting the three-phase AC voltage to the DC terminal, and generates a large amount of electromagnetic interference during operation, resulting in strong electromagnetic interference in the valve hall. The existing The mobile robot cannot complete the set work requirements, and the work accuracy is low;

[0007] 2. In terms of communication methods, the existing mobile robots generally use wireless communication and cannot meet the requirements of stable and reliable data transmission in the valve hall;

[0008] 3. The space of the valve hall is relatively small. In addition, the equipment in the valve hall is generally required to enter once a year for maintenance. This requires the robot in the valve hall to be flexible in use and high in safety. Existing robots Can not meet the needs of the valve hall;

[0009] 4. Restricted by the layout of the valve tower and other monitored equipment, in order to realize the all-round detection function of the equipment, the robot needs to be able to move in the vertical direction

The existing traditional wheel drive or crawler drive method needs to overcome its own gravity when realizing vertical movement, and requires a large friction force, which is difficult to achieve, and the battery cannot be replaced at any time due to the closed space of the valve hall, and the power supply method of carrying the battery cannot be used

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