Substation equipment live inspection robot

Abstract

The invention discloses a charged maintenance operation robot for transformer substation equipment. The charged maintenance operation robot includes a robot body; the robot body comprises a moving chassis and an insulating lifting arm arranged on the moving chassis; a small flying arm is connected to the front end of the insulating lifting arm, a charged operating platform used for storing a charged operating tool is arranged at the front end of the small flying arm, and the small flying arm is connected with the charged operating tool through a fast connecting device; and the charged operating tool includes a foreign body cleaning tool, a wire repairing tool, and an insulator cleaning tool. The charged maintenance operation robot has the beneficial effects that a multi-sensor informationfusion technology is adopted, various sensors installed on the robot are used to sense the information of the robot body and the surrounding environment, and the safety and reliability of the robot operation are improved.

Description

Technical field [0001] The invention relates to the technical field of on-line maintenance operations for substations, in particular to a robot for on-line maintenance operations of substation equipment. Background technique [0002] With the continuous development of society, the development of power grids faces the demands of high power supply reliability, high load density, and high power quality. Users have increasingly strict requirements on outage time. It is difficult to arrange outages for important and key lines, and there are more and more opportunities for outage maintenance. less. [0003] Substation equipment is prone to pollution flashover during long-term operation, leading to frequent power system grounding accidents, which seriously affects the safe operation of the power system; in order to prevent insulator pollution flashover from causing power outages and other accidents, it is necessary to regularly clean insulators and replace bad insulators. . [0004] In ad...

AI Technical Summary

Problems solved by technology

[0009] (1) Live work has high requirements on the insulation performance of the robotic arm of the robot. The existing method of insulating the robotic arm of the live working robot is to achieve insulation by setting an insulating sleeve outside the mechanical arm or outsourcing other insulating materials. This method is implemented It is more difficult, and even affects the free movement of the robotic arm

The small flying arm at the end of the mechanical arm is connected to the telescopic arm by a connecting rod structure. Due to the flutter phenomenon of the connecting rod mechanism, it is easy to cause the small flying arm to vibrate during live work, which seriously affects the working accuracy and efficiency.

[0010] (2) The existing mechanical arm structure can only be fixedly connected to one working tool, which cannot realize flexible and quick replacement of working tools, which seriously affects the efficiency of live working

The existing wire repairing device and cleaning device cannot realize intelligent repair and intelligent cleaning;

[0012] (4) The material of the wire repair tool in the prior art is metal, which cannot realize live work and has poor safety

This structure and operation method cause great physical and psychological burden to the operator, and the cleaning effect can only be observed manually from the ground, and the judgment error is large.

Moreover, there is only one brush head, which cannot clean the insulators in an encircling manner. The degree of automation is low, and there are potential safety hazards. If the operation is not done properly, it will cause serious damage to equipment and personal safety.

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