Dynamic balance method and device used for transformer substation transporting and detection robot

• Main Authors: CHEN XUAN, SUN XIAOLEI, CHEN HAO, ZHANG HAIHUA, XU PENG, ZHU ZHENCHI, ZHU KAI, DENG FULIANG, XU WEILUN
• Format: Patent
• Language: Chinese; English
• Published: 13.11.2020
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention discloses a dynamic balance method and device used for a transformer substation transporting and detection robot, and aims at solving the technical problem that stable transporting of test instruments cannot be guaranteed in the transformer substation transporting and detection process. The method comprises the steps that a gyroscope is used for measuring the tilt angle quantity between the bearing face of the transporting and detection robot and the horizontal face in real time; based on the tilt angle quantity feedback control technology, the bearing face angle adjusting speedis selected according to the collected tilt angle quantity; and the bearing face is rotated according to the bearing face angle adjusting speed, and the tilt angle quantity between the bearing face and the horizontal face is adjusted. According to the dynamic balance method and device, dynamic balance of the bearing face of the transporting and detection robot can be achieved, safety and stabilityof test instrument transp