GIS设备内部检查机器人的模块化设计及实现

由于GIS设备内部存在缺陷或故障需要进行检查时，GIS罐体较长、管径细小，采用人工的方法无法有效查看内部状态并难以进入内部进行检修作业，因此本文研究了GIS设备内部检查机器人，采用模块化设计并实现了柔性机械臂功能、异物清扫功能及环境感知监测功能的模块化替换，可根据不同的作业场所选择对应的机器人功能模块进行内部工作。在实验室搭建了GIS设备罐体进行功能模块实验验证，实验结果表明：柔性机械臂模块旋转角、弯曲角满足GIS内部复杂环境作业要求，异物清扫模块能够完全清理GIS腔体底部的不同类型微小异物，环境监测感知模块可实现罐体内O2、H2S、SO2成分检测，确保机器人在110 kV及以上GIS设备内部发挥效用。

Modular design and implementation of inspection robot in GIS equipment

There are defects or faults in the inner part of GIS equipment that need to be inspected, the GIS tank body is long and the pipe diameter is small, so it is difficult to check the inner state effectively and enter the inner part for maintenance by manual method.The inner inspection robot of GIS equipment is researehed, and adopts the modular design to realize the functions of flexible mechanical arm, foreign matter cleaning and environmental perception monitoring. According to different workplaces, the corresponding robot function modules can be selected for internal work. In the laboratory, GIS equipment tank is built for functional module experiment verification. The experimental results show that the rotation angle and bending angle of flexible mechanical arm module meet the requirements of GIS internal complex environment operation. The foreign body cleaning module can completely clean up different types of small foreign bodies at the bottom of GIS cavity. The environmental monitoring and sensing module can realize the detection of oxygen, hydrogen sulfide and sulfur dioxide in the tank, and ensure the robot to play its role in 110kV and above GIS equipment.