CN102608474B - Robot for electrified detection insulator string - Google Patents

Robot for electrified detection insulator string Download PDF

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Publication number
CN102608474B
CN102608474B CN201210096177.7A CN201210096177A CN102608474B CN 102608474 B CN102608474 B CN 102608474B CN 201210096177 A CN201210096177 A CN 201210096177A CN 102608474 B CN102608474 B CN 102608474B
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China
Prior art keywords
insulator
robot
guide pole
detection
drive motor
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CN201210096177.7A
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CN102608474A (en
Inventor
郭锐
曹雷
贾娟
仲亮
张峰
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State Grid Intelligent Technology Co Ltd
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Shandong Luneng Intelligence Technology Co Ltd
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Publication of CN102608474A publication Critical patent/CN102608474A/en
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Abstract

The invention discloses a robot for electrified detection of an insulator string. The robot comprises a plurality of guide rod mechanisms, at least one insulator detection device, a control device and at least one rotary driving device, wherein the guide rod mechanisms are connected on the two sides of the rotary driving device, the control device and the insulator detection device are all fixed on the guide rod mechanisms, and the insulator detection device and a driving motor of the rotary driving device are all electrically connected with the control device. According to the robot, the structure is compact, the movement speed is quick, the number of short-circuit insulator sheets is few, the abrasion on the insulators is little, the safety protection is good, the using range is wide, and the robot is suitable for duplex-parallel insulator strings, single strain insulator strings, suspension insulator strings and V-shaped insulator strings.

Description

Insulator chain live detection robot
Technical field
The present invention relates to a kind of mobility detect machine, especially a kind of testing that can be used to high-tension line level, pendency, V-type insulator, to replace the edge string live-wire measuring robots of manual work.
Background technology
Along with the development of China's electric system, power grid security, stable operation more and more come into one's own.Especially in the UHV (ultra-high voltage) greatly developed in recent years, system for ultra-high voltage transmission, the safe operation of insulator directly determines investment and the security level of whole system, for ensureing the electrical safety of ultra-high-tension power transmission line, after ultra-high-tension power transmission line runs use a period of time, need the electric property of detection line, particularly the insulation safety performance of insulator, prevents the generation of the phenomenon such as short circuit or short circuit.
The domestic traditional detection mode substantially still adopting artificial work high above the ground at present, staff carries the instruments such as insulator detector and climbs up shaft tower, by insulators all on string detection tower, this mode labour intensity is large, operation surrounding enviroment are severe, and live-working safety is low.
Chinese patent ZL200820232350.0 discloses a kind of insulator detecting robot, comprise the first Athey wheel, casing, the second Athey wheel, displacement telescoping mechanism and probe driving mechanism, casing is provided with displacement telescoping mechanism, first and second Athey wheel is positioned at casing both sides, is hinged with displacement telescoping mechanism respectively, first and second Athey wheel is connected to first and second stroke sensor; The below of casing is provided with probe driving mechanism.Comprehensive analysis, this patent mainly contains following shortcoming: its travel mechanism adopts the form of two Athey wheels, can only walk, cannot detect detection level list string strain insulator string, suspension insulator and V-type insulator chain along the two insulator string serial of level.
Chinese patent ZL201120069946.5 discloses the isolator detecting equipment of a kind of high pressure and extra high voltage network, comprise symmetrically arranged two ring supports, two ring supports are respectively arranged with climbing mechanism, are connected by web joint between two climbing mechanisms; Climbing mechanism comprises symmetrically arranged two guide rails, and two guide rails arrange card base mechanism respectively; Card base mechanism comprises carriage and pendulous device, and carriage comprises the card base slide block be slidably arranged on guide rail, and pendulous device comprises rocking key cover, and rocking key cover is connected on card base slide block by bearing; Rocking key cover is set on rocking key axle, and rocking key puts and is installed with card base; Card base slide block is connected with active drive step-servo motor, and rocking key axle is connected with card base wobble drive servo control mechanism.Comprehensive analysis, this patent mainly contains following shortcoming: its and detection of vertically disposed insulator paired mainly for high pressure, cannot run on level list string strain insulator string and V-type insulator chain; Further, its travel mechanism adopts claw to block insulator alternately rising, and translational speed is slow, and detection efficiency is low.
Chinese patent application 01102273.6 discloses a kind of high-voltage transmission line insulator live intelligent monitor, it includes the ring support that can be set in insulator body periphery, the body of ring support is provided with can along insulator bottle along the climbing mechanism of creeping, detection probe is arranged on ring support or climbing mechanism, its control circuit exports the control end connecing and control climbing mechanism, probe, input connects the output terminal of probe, control circuit controls the detection action of climbing mechanism, probe, and the output signal of receiving transducer.Comprehensive analysis, this patent mainly contains following shortcoming: its its travel mechanism have employed claw equally and blocks insulator edge, alternately rises, and translational speed is slow, and detection efficiency is low; Main detection level insulator chain, when detecting pendency, V-type insulator chain, due to insulator surface very smooth, caterpillar belt structure is creeped and is easily skidded, and runs inconvenience.
U.S. Patent Application Publication No. is: US2010/0100239A 1 discloses a kind of insulator chain measuring robots physical construction, robot body is along charged suspension insulator to-and-fro movement, comprise upper and lower adjustable ring around insulator bracket, be arranged on the driver module of robot body movement, electronic detecting module, for the link block that robot body is connected with installation feel trim actuator, the switch wing module of manually robot being removed from insulator, the measurement module of both sides insulator electrical characteristics, the controller of control machine human action and the defect probe unit of detection insulator defect.But, this patented claim mainly for be the detection of charged suspension insulator, its structure comprises 3 driver modules, and each driver module is driven by 3 motors respectively, in control procedure, control 3 motor in synchrony more difficult, be easy to cause the overall centre-of gravity shift of robot to be difficult to control.
Summary of the invention
The object of the invention is for overcoming above-mentioned the deficiencies in the prior art; a kind of insulator chain live detection robot is provided; its compact conformation; translational speed is fast; short circuit insulation sub-pieces number is few, and little to insulator wearing and tearing, security protection is good; usable range is wide, can adapt to duplex horizontal insulator substring, singly go here and there strain insulator string, suspension insulator and V-type insulator chain.
For achieving the above object, the present invention adopts following technical proposals:
A kind of insulator chain live detection robot, comprise some guide pole mechanisms, at least one insulator detection device, control device and at least a set of rotating driving device, described guide pole mechanism is connected in the both sides of rotating driving device, control device and insulator detection device are all fixed in guide pole mechanism, and the drive motor on described insulator detection device, rotating driving device is all electrically connected with control device.
Described rotating driving device comprises at least one group of running gear, described running gear comprises driving arm, rolling wheel support, some rollers, drive motor, gearing and bracing or strutting arrangement, described gearing comprises gear wheel and pinion wheel, and described bracing or strutting arrangement comprises yoke plate, motor cabinet and back shaft; Described motor cabinet is fixed on inside yoke plate, and back shaft runs through the center of motor cabinet and is fixedly connected with yoke plate, and the back shaft between motor cabinet and driving arm is equipped with gear wheel by bearing holder (housing, cover); Described motor cabinet is installed with drive motor, the output shaft of drive motor is connected with pinion wheel, and pinion wheel gear wheel is meshed, and gear wheel outside surface is fixed with driving arm, fix some rolling wheel supports at driving arm end, rolling wheel support is provided with at least one roller.
Described driving arm is one or more, and driving arm shape can be triangle (3 bars) or cross type or five rod-type, creeps as long as its shape can realize continuous rotation in robot operational process and does not interfere with insulator.
On the every one end of described rolling wheel support, all front and back are misplaced and are distributed with two rollers, and roller adopts nylon material, reduces the friction to insulator surface, certainly, also can not arrange roller and rolling wheel support, directly utilize driving arm as the supporting leg of whole travel mechanism.
Described drive motor is one or two, can be rotated, or driven by two drive motor by the driving arm that driven by motor is all.
The geared portions of rotating driving device also can by replacements such as toothed belt transmission or chain sprocket transmissions, or drive motor is directly connected with the driving arm rotated.
Described yoke plate is provided with the framework being positioned at drive motor periphery, framework fixes suspension ring.
Described each guide pole mechanism includes two sled type guide poles, and connected by coupling arrangement between described two sled type guide poles, one of them sled type guide pole is provided with the cantilever be connected with rotating driving device.
Described coupling arrangement comprises two web joints, connecting link, outside are turned round frame, register pin, torsion spring and inner side and turned round frame, described two web joints are arranged on two sled type guide poles respectively, all turn round frame and outside respectively with inner side by connecting link outside each web joint to turn round frame and fix, Niu Jia center, medial and lateral is run through by register pin and torsion spring, and the outside of one of them web joint is also fixed with cantilever.
The length of described sled type guide pole is greater than two panels and is less than the axial length of three insulator chains.
Some needle rollers that distributes also can be designed in the place that described sled type guide pole contacts with insulator surface, reduce the friction of guide pole and insulator.
Described insulator detection device comprises steering wheel, steering engine seat, probe rotating shaft, crank connecting link and two probes, probe rotating shaft is connected with steering engine seat by bearing, probe rotating shaft two ends are respectively arranged with probe, steering wheel is fixed on one end of steering engine seat, and is connected with one of them probe by toggle; Probe is connected with insulator charged detection instrument by wire.
Insulator charged detection instrument in the present invention is commercial products, and structure used adopts structure described in Chinese granted patent ZL200510063334.4 patent.
The present invention includes at least a set of rotating driving device, guide pole mechanism and insulator detection device; Guide pole branch construction is in the both sides of rotating driving device; whole robot holds insulator chain tightly by the torsion spring in guide pole mechanism; the overall insulator detection device that plays a protective role of robot is fixed on to the side of guide pole; drive probes touch by steering wheel, arrange insulator chain, realize isolator detecting.
Principle of work of the present invention:
The present invention go here and there on not work time, under the effect of torsion spring, the guide pole mechanism of both sides all departs from toward centre, and opening is less, is less than the diameter of insulator chain; When robot goes here and there, suspension ring place is lifted on insulating cord, after arriving installation site, suspension ring are pushed away with strength with insulating bar, allowing insulator chain be strutted by the opening of guide pole mechanism, is that insulator chain enters robot open centre, and under the effect of both sides torsion spring, robot can hold insulator tightly by the guide pole of 4 around insulator chain, guide pole all adopts nylon material, reduces the wearing and tearing to insulator; Now move up and down robot, ensure that the roller of rotating driving device end steps down on the upper surface of insulator.
After insulator chain held tightly by robot, drive motor work, drives and rotates with the rotating driving device be fixed on gear wheel, and the roller being fixed on end alternately rises or declines, and slams the surface of insulator, realizes advance or the retrogressing of whole robot; Roller all adopts nylon material, reduces the wearing and tearing to insulator surface.The insulator detection device being wherein fixed on guide pole side is when robot often advances the distance of the sub-pieces that insulate, steering wheel receives action command, two probe actions are driven by toggle, the steel of connect insulator sheet emits, detected value is carried out self to store, after detecting complete insulator chain, can manually and database contrast; Probe is two elastic metallic bars.
The invention has the beneficial effects as follows, the present invention is owing to adopting said structure, and Liang Tao guide pole mechanism encircles in insulator chain, adopts the guide pole mechanism of nylon material, and little to insulator wearing and tearing, motion continuity is good, smooth running; Easy for installation, security is high, and short circuit insulation sub-pieces number is few, and maximum short circuit 3 insulator chains, meet electric operating rule, and the testing of High-Voltage Insulation substring has been become from artificial work high above the ground the robot manipulating task be safe from harm to the person; Applied widely, be applicable to the isolator detecting work of all porcelains and glass.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention;
Fig. 2 is rotating driving device structural representation of the present invention;
Fig. 3 is that the present invention's two groups of rotating driving devices combinationally use perspective view;
Fig. 4 is guide pole mechanism structure schematic diagram of the present invention;
Fig. 5 is insulator detection device structural representation of the present invention;
Wherein: 1 guide pole mechanism, 2 rotating driving devices, 3 control device, 4 is insulator detection device, 5 is sled type guide pole, 6 is web joint, 7 is cantilever, 8 is connecting link, 9 for turning round frame in outside, 10 is register pin, 11 is torsion spring, 12 for turning round frame in inner side, 13 is probe, 14 is connecting rod, 15 is crank, 16 is steering wheel, 17 is probe rotating shaft, 18 is steering engine seat, 19 is roller, 20 is rolling wheel support, 21 is driving arm, 22 is back shaft, 23 is yoke plate, 24 is framework, 25 is suspension ring, 26 is drive motor, 27 is pinion wheel, 28 is gear wheel, 29 is motor cabinet.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further described.
The present invention runs on level insulation substring, as shown in Figure 1, comprises guide pole mechanism 1, rotating driving device 2, control device 3 and insulator detection device 4; Insulator detection device 4 and control device 3 are fixed on the outside of guide pole mechanism 1; The guide pole of guide pole mechanism 1 is close to the surface of insulator, and 2 guide pole mechanisms 1 are distributed in the both sides of rotating driving device 2.Drive motor 26 on insulator detection device, drive unit is all electrically connected with control device.
As shown in Figure 1, 2, rotating driving device 2 comprises roller 19, rolling wheel support 20, driving arm 21, back shaft 22, yoke plate 23, framework 24, suspension ring 25, drive motor 26, pinion wheel 27, gear wheel 28, motor cabinet 29.Wherein, motor cabinet 29 is fixed on inside yoke plate 23, and back shaft 22 through motor cabinet 29 center, and is fixedly connected with yoke plate 23; Motor cabinet 29 is provided with drive motor 26, and pinion wheel 27 is fixed on the output shaft of drive motor 26, and back shaft 22 is arranged with the gear wheel 28 engaged with pinion wheel 27; Driving arm 21 is fixed on the outside of gear wheel 28, forms travel mechanism skeleton; Rolling wheel support 20 is provided with at least one roller 19, and is fixed on the end of driving arm 21.
The present invention can also be used by the textural association organizing previous embodiment more.As shown in Figure 3, be used by two groups of textural associations.
Driving arm 21 is one or more, and driving arm 21 shape can be triangle (3 bars) or cross type or five rod-type, creeps as long as its shape can realize continuous rotation in robot operational process and does not interfere with insulator.
On the every one end of rolling wheel support 20, all front and back are misplaced and are distributed with two rollers 19, and roller 19 adopts nylon material, reduces the friction to insulator surface, certainly, also can not arrange roller, directly utilizes driving arm 21 as the supporting leg of whole travel mechanism.
Drive motor 26 is one or two, can be rotated, or driven by two drive motor 26 by the driving arm 21 that driven by motor is all.
The geared portions of rotating driving device 2 also can by replacements such as toothed belt transmission or chain sprocket transmissions, or drive motor is directly connected with the driving arm 21 rotated.
As shown in Fig. 1,4, guide pole mechanism 1 has 2, and structure is identical, be fixed on the both sides of rotating driving device 2 respectively, form robot body, when robot runs, guide pole mechanism 1 is close to the surface of insulator, its structure comprises sled type guide pole 5, web joint 6, cantilever 7, connecting link 8, frame 9 is turned round in outside, register pin 10, torsion spring 11, frame 12 is turned round in inner side; Wherein, guide pole mechanism 1 forms main skeleton by two sled type guide poles 5 of the left and right sides, and be all provided with web joint 6 above it, web joint 6 is fixed on one end of connecting link 8, and connecting link 8 other end is fixed with outside respectively and turns round frame 9 and frame 12 is turned round in inner side; Register pin 10 turns round through outside the center that frame 12 is turned round in frame 9 and inner side, forms it into an entirety, and be arranged with torsion spring 11 on register pin 10.The length of sled type guide pole 5 is greater than two panels and is less than the axial length of three insulator chains 2, to ensure steady and security during robot ambulation;
As shown in Figure 5, insulator detection device 4 comprises probe 13, connecting rod 14, crank 15, steering wheel 16, probe rotating shaft 17, steering engine seat 18; Wherein, probe rotating shaft 17 is set on steering engine seat 18, and probe rotating shaft 17 two ends are arranged with probe 13; Steering wheel 16 is fixed on steering engine seat 18 top, and its output shaft is connected with crank 15, connecting rod 14, and the end of connecting rod 14 is connected with a wherein probe 13, forms toggle, drives swinging of probe.Probe 13 is connected with insulator charged detection instrument by wire.
Principle of work of the present invention:
The present invention go here and there on not work time, under the effect of torsion spring 11, the guide pole mechanism 1 of both sides all departs from toward centre, and opening is less, is less than the diameter of insulator chain; When robot goes here and there, suspension ring 25 place is lifted on insulating cord, after arriving installation site, suspension ring 25 are pushed away with strength with insulating bar, allow insulator chain be strutted by the opening of guide pole mechanism 1, make insulator chain enter robot open centre, under the effect of both sides torsion spring 11, robot can hold insulator tightly by the guide pole of 4 around insulator chain 5, guide pole 5 all adopts nylon material, reduces the wearing and tearing to insulator; Now move up and down robot, ensure that the roller of rotating driving device 2 end steps down on the upper surface of insulator.
After insulator chain held tightly by robot, drive motor 26 works, and drives and rotates with the rotating driving device 2 be fixed on gear wheel 28, and the roller being fixed on end alternately rises or declines, and slams the surface of insulator, realizes advance or the retrogressing of whole robot; Roller 19 all adopts nylon material, reduces the wearing and tearing to insulator surface.The insulator detection device 4 being wherein fixed on guide pole 5 side is when robot often advances the distance of the sub-pieces that insulate, steering wheel 16 receives action command, the action of two probes 13 is driven by toggle, the steel of connect insulator sheet emits, detected value is carried out self to store, after detecting complete insulator chain, can manually and database contrast; Probe 13 is two elastic metallic bars.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.

Claims (3)

1. an insulator chain live detection robot, it is characterized in that, comprise the guide pole mechanism of some employing nylon materials, at least one insulator detection device, at least a set of rotating driving device and control device, described guide pole mechanism is connected in the both sides of rotating driving device, control device and insulator detection device are all fixed in guide pole mechanism, and the drive motor of described insulator detection device, rotating driving device is all electrically connected with control device;
Described rotating driving device comprises at least one group of running gear, described running gear comprises driving arm, rolling wheel support, some rollers, drive motor, gearing and bracing or strutting arrangement, described bracing or strutting arrangement comprises yoke plate, motor cabinet and back shaft, described motor cabinet is fixed on inside yoke plate, back shaft runs through the center of motor cabinet and is fixedly connected with yoke plate, and the back shaft between motor cabinet and driving arm is equipped with gearing by bearing holder (housing, cover); Described motor cabinet is installed with drive motor, the output shaft of drive motor is connected with gearing, the gearing other end is fixed with driving arm, fixes some rolling wheel supports at driving arm end, and rolling wheel support is provided with at least one roller;
Described yoke plate is provided with the framework being positioned at drive motor periphery, framework fixes suspension ring;
Described each guide pole mechanism includes two sled type guide poles, and connected by coupling arrangement between described two sled type guide poles, one of them sled type guide pole is provided with the cantilever be connected with rotating driving device;
Described coupling arrangement comprises two web joints, connecting link, outside are turned round frame, register pin, torsion spring and inner side and turned round frame, described two web joints are arranged on two sled type guide poles respectively, all turn round frame and outside respectively with inner side by connecting link outside each web joint to turn round frame and fix, Niu Jia center, medial and lateral is run through by register pin and torsion spring, and the outside of one of them web joint is also fixed with cantilever;
When not going up string work, under the effect of torsion spring, the guide pole mechanism of both sides all departs from toward centre, and opening is less than the diameter of insulator chain; When robot goes here and there, suspension ring place is lifted on insulating cord, after arriving installation site, suspension ring are pushed away with strength with insulating bar, insulator chain is allowed to be strutted by the opening of guide pole mechanism, make insulator chain enter robot open centre, under the effect of both sides torsion spring, robot holds insulator tightly by the guide pole of 4 around insulator chain; Now move up and down robot, ensure that the roller of rotating driving device end steps down on the upper surface of insulator;
Described driving arm is one, and driving arm shape is triangle or cross type or five rod-type;
On the every one end of described rolling wheel support, all front and back are misplaced and are distributed with two rollers;
Described drive motor is one or two;
Described gearing is gear drive or toothed belt transmission or chain sprocket transmission or turbine and worm, or drive motor is directly connected with the driving arm rotated;
Described gear drive comprises gear wheel and pinion wheel, and described gear wheel is loaded on the back shaft between motor cabinet and driving arm by bearing holder (housing, cover), and pinion wheel is arranged on the output shaft of drive motor.
2. insulator chain live detection robot as claimed in claim 1, it is characterized in that, the length of described sled type guide pole is greater than two panels and is less than the axial length of three insulator chains.
3. insulator chain live detection robot as claimed in claim 1, it is characterized in that, described insulator detection device comprises steering wheel, steering engine seat, probe rotating shaft, toggle and two probes, probe rotating shaft is connected with steering engine seat by bearing, probe rotating shaft two ends are respectively arranged with probe, steering wheel is fixed on one end of steering engine seat, and is connected with one of them probe by toggle; Described probe is connected with insulator charged detection instrument by wire.
CN201210096177.7A 2012-04-01 2012-04-01 Robot for electrified detection insulator string Active CN102608474B (en)

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