CN102621430A - Intelligent detection robot system for horizontal insulator strings - Google Patents

Intelligent detection robot system for horizontal insulator strings Download PDF

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Publication number
CN102621430A
CN102621430A CN2012101029173A CN201210102917A CN102621430A CN 102621430 A CN102621430 A CN 102621430A CN 2012101029173 A CN2012101029173 A CN 2012101029173A CN 201210102917 A CN201210102917 A CN 201210102917A CN 102621430 A CN102621430 A CN 102621430A
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CN
China
Prior art keywords
insulator
robot
fast
wheel
connects
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CN2012101029173A
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Chinese (zh)
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CN102621430B (en
Inventor
郭锐
曹雷
张峰
仲亮
贾娟
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山东电力研究院
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Priority to CN201210102917.3A priority Critical patent/CN102621430B/en
Publication of CN102621430A publication Critical patent/CN102621430A/en
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Publication of CN102621430B publication Critical patent/CN102621430B/en

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Abstract

The invention discloses an intelligent detection robot system for horizontal insulator strings, which comprises a plurality of crawler belt pulleys, a plurality of rotary hooping mechanisms, at least one insulator electrified detector and a plurality of falling protection mechanisms, wherein the crawler belt pulleys, the insulator electrified detectors and the falling protection mechanisms are arranged on the rotary hooping mechanisms, and the crawler belt pulleys and the rotary hooping mechanisms are connected with the control system through circuits. The crawler belt pulleys and the rotary hooping mechanisms are integrated together and surround the insulators uniformly when a robot runs by 120 degrees, the robot can detect distribution of insulator string electric field intensity automatically and identifying whether the insulators are in good conditions when running by carrying the electric-field type insulator detectors. The horizontal insulator string intelligent detection robot system is compact in structure, stable in crawling, low in abrasion to the insulators, safe and reliable in running and capable of electrically detecting horizontal insulator strings, and at most three insulators are in short circuit.

Description

Level insulation substring Intelligent Measurement robot system
Technical field
The present invention relates to a kind of mobile detection machine robot system, especially a kind of testing that can be used to accomplish ultra-high-tension power transmission line level insulation is to replace the charged detection machine robot system of level insulation substring of manual work.
Background technology
The insulator of ultra-high-tension power transmission line is to be used for the equipment that transmission pressure and iron tower insulate and be connected.On ultra-high-tension power transmission line, its long-term work is in the common complicated rugged surroundings that constitute such as highfield, mechanical stress, filth and humiture, and the aging probability that breaks down is very big; When the deterioration of insulator develops into to a certain degree; Perhaps run into external actions such as Lightning Over-voltage, impulse overvoltage, pollution flashover; Phenomenons such as ebb-flow discharge, head insulation puncture take place easily; Might develop into faults such as porcelain patticoat bursts, the steel cap explodes, the steel pin blows, even develop into disconnected string, the accident that goes offline, power grid security is constituted a serious threat.
In order to realize online detection poor insulator, people have adopted many methods, and the spark that has wherein commonly used is pitched method, photoelectric method, static probe method, self-propelled poor insulator resistance detection method etc.But, all require operating personnel to climb up shaft tower in use according to the device of these method developments, detect insulators all on the tower one by one, string labour intensity is very big on it.
Chinese patent ZL200820232350.0 discloses a kind of insulator detecting robot; Comprise first Athey wheel, casing, second Athey wheel, displacement telescoping mechanism and probe driving mechanism; The displacement telescoping mechanism is installed on the casing; First and second Athey wheel is positioned at the casing both sides, is hinged with the displacement telescoping mechanism respectively, is connected with first and second stroke sensor on first and second Athey wheel respectively; The below of casing is provided with the probe driving mechanism.Analysis-by-synthesis, this patent mainly contains following shortcoming: can't detect single string strain insulator string.This patent adopt can telescopic variation the displacement telescoping mechanism; The variable in distance that can adapt to duplex level insulation substring; But; 110KV has most of single string strain insulator string that is in transmission line of electricity, and it can only be walked along the two insulator string serials of level, can't accomplish single insulator string string is detected;
Chinese patent ZL201120069946.5 discloses the insulator checkout equipment of a kind of high pressure and extra high voltage network; Comprise symmetrically arranged two ring supports; Be respectively arranged with climbing mechanism on two ring supports, connect through web joint between two climbing mechanisms; Climbing mechanism comprises symmetrically arranged two guide rails, on two guide rails card base mechanism is set respectively; Card base mechanism comprises carriage and pendulous device, and carriage comprises the card base slide block that is slidingly arranged on the guide rail, and pendulous device comprises the rocking key cover, and the rocking key cover is connected on the card base slide block through bearing; The rocking key cover is set on the rocking key axle, and rocking key puts and is installed with card base; The card base slide block is connected with the active drive step-servo motor, and the rocking key axle is connected with card base wobble drive servo control mechanism.Analysis-by-synthesis, this patent mainly contains following shortcoming:
(1), can't detect power line tension insulator string.This patent is primarily aimed at the high pressure also detection of vertically disposed insulator in pairs, can't be applied to the testing of power line tension insulator string, particularly the single string of level strain insulator string.
(2), translational speed is slow, detection efficiency is lower.The walking manner of this patent mainly adopts the claw in the travel mechanism to block the outer of each insulator bottle, alternately moves up, and this travel mechanism exists in testing process, moves relatively slowly, and detection time is longer, inefficiency.
One 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 the insulator body periphery; The body of ring support is provided with can be along the insulator bottle along the climbing mechanism of creeping; Detection probe is arranged on ring support or the climbing mechanism, and its control circuit output connects the control end of control climbing mechanism, probe, and input connects the output terminal of probe; The detection action of control circuit control climbing mechanism, probe, and the output signal of receiving transducer.Analysis-by-synthesis, this patent mainly contains following shortcoming:
(1), detection efficiency is lower.The claw that passes through to be set on the parallel guidepost of this patent blocks the insulator edge, and claw is divided into two-layer up and down, alternately moves up, and detection time is longer, inefficiency.
(2), being difficult for going up string installs.This invention mainly contains the above ring support assembly of three joints fastening is formed, and the size fit that before installation, needs the staff to be directed against insulator is installed, and wastes time and energy.
(3), can not lasting tensile force be provided for crawler belt, adaptability is less.The clamping force of crawler belt and insulator comes from a lot of springs on the crawler belt flexible supporting frames; But robot is after holding insulator tightly; If insulator sizes is big slightly, amount of spring compression is bigger, then can cause crawler belt loose; Do not have tension, the power transmission of motor is impacted crawler belt.
Summary of the invention
The objective of the invention is for overcoming the deficiency of above-mentioned prior art, a kind of level insulation substring Intelligent Measurement robot system is provided, can independently creep along the single insulator string of level, can charged detection insulator dielectric performance.Require the robot architecture compact, can realize autonomous detection, automatic record, detection efficiency is higher, and can adapt to duplex level insulation substring and single string strain insulator string.
For realizing above-mentioned purpose, the present invention adopts following technical proposals:
A kind of level insulation substring Intelligent Measurement robot system comprises some Athey wheels, some rotation hold-fast bodies, some anti-protection mechanisms that drops, cover insulator charged detection instrument, corresponding control circuit and a hand-held remote controller.Said Athey wheel, insulator charged detection instrument and the anti-protection mechanism that drops all are arranged on the rotation hold-fast body, and said Athey wheel all links to each other with control system through circuit with the rotation hold-fast body.
The longitudinal length of said Athey wheel is greater than two and less than the axial length of three insulator chains.
Said Athey wheel comprises crawler belt, drive motor, driving wheel, several bearings up pulley, two yoke plates, some support columns, transmission shaft and engaged wheels; Connect through some support columns between said two parallel yoke plates; Per two are provided with an expansion tightening wheel between supporting, and expansion tightening wheel is enclosed within on the transmission shaft, and the transmission shaft two ends are arranged on two yoke plates; Two ends between two yoke plates are respectively arranged with driving wheel and engaged wheel, said driving wheel and driven on be wound with crawler belt; The outside of a said yoke plate is provided with the drive motor that links to each other with driving wheel, and said drive motor links to each other with control system through circuit.
Said each rotation hold-fast body includes direct current generator, bearing seat, turning axle, spill spin block and connects the turning; The lower end of said turning axle links to each other with the output shaft of direct current generator; Be with a bearing on the top and bottom of said turning axle respectively; The outer ring of bearing is fixed on the bearing seat, is fixedly connected with a short support that connects on the bearing seat; Be fixedly connected with two spill spin blocks that laterally arrange on the turning axle between the said diaxon bearing, be fixed with a long support that connects on two spill spin blocks respectively; The said short support that connects is equipped with the connection turning that connects Athey wheel with the long end that is connected support.
Said direct current generator is fixed on the bearing seat of turning axle lower end, and said direct current generator links to each other with control system through circuit.
The said two short supports that connect laterally arrange.
The said two long supports that connect laterally arrange.
Said each anti-protection mechanism that drops includes a connecting rod, two fixed blocks, a latch segment and some fast locking plugs; Said two fixed blocks are arranged at the long of turning axle top and connect on the support, and said latch segment is fixed in the short of turning axle top and connects on the support; Said connecting rod one end and one of them fixed block are hinged, and the other end is hinged through fast locking plug and latch segment.
Have U type groove with latch segment hinged end and middle part on the said connecting rod.
Said control system adopts the distributed electric machine control system based on the CAN bus; It comprises motion control board; Motion control board is connected through the RS-232 bus with the data transmit-receive plate, and said data transmit-receive plate is set up wireless connections one to one through omnidirectional antenna and hand-held remote controller; Said motion control board passes through the CAN bus and links to each other with the motor driver of Athey wheel with the rotation hold-fast body respectively, and each motor driver is connected in respectively on the motor corresponding with it; Also be connected with the error-detecting plate on the said CAN bus;
Said motion control board and error-detecting plate include central processing unit, are respectively equipped with pilot lamp and wireless status digital input-output interface on the central processing unit, RS-232, CAN serial bus interface; Said motion control board is also gathered cell voltage through the power supply Acquisition Circuit;
Said data transmit-receive plate comprises wireless module, and wireless module connects omnidirectional antenna, and the RS-232 serial interface circuit, and the expanding digital output interface.
The used structure of said insulator charged detection instrument adopts structure described in the Chinese granted patent ZL200510063334.4 utility model patent.This detector is through the insulating property of the field intensity mutation analysis insulator of each insulator of detection.The insulator position-detection sensor is housed on the detector, can begins automatically to detect, automatically storage.
Control system among the present invention and hand-held remote controller are through wireless connections, and output connects three stepper motors of Athey wheel part respectively and rotates two direct current generators of hold-fast body.
The present invention includes three Athey wheels, rotation hold-fast body, insulator charged detection instrument and the anti-protection mechanism that drops; The left and right sides and middle Athey wheel link into an integrated entity through the rotation hold-fast body, and become when move in robot 120 to spend and evenly encircle around insulator; The anti-protection mechanism that drops is installed on the rotation hold-fast body; Operating personnel can be through the operation of hand-held remote controller sending controling instruction remote-controlled robot; The insulator detector detects insulator automatically, preserves automatically and detects data.
Principle of work of the present invention:
Before the last string work of the present invention; At first to robot body be opened; Direct current generator driven rotary axle about giving through the telepilot sending controling instruction on the two cover rotation hold-fast bodies just changes, thereby drives the spill spin block that is fixed on the turning axle around the bearing seat rotation, spill spin block, connects support and Athey wheel connects as a whole through connecting the turning; Above-mentioned module is all rotated along with turning axle, thereby the Athey wheel of robot both sides becomes open mode.In addition, guarantee that the anti-protection mechanism that drops is in open mode, promptly fast locking plug is connected connecting rod with middle fixed block.
When going here and there in the robot, get final product on the turning axle that is lifted on both sides of restricting with insulating, the Athey wheel in the middle of making is close to the upper surface of insulator chain; At this moment, the steering order of redispatching reverses for the direct current generator of the left and right sides simultaneously, thereby the connection support and the Athey wheel that drive both sides rotate; Press close to insulator chain gradually, when direct current generator reaches the output torque value of setting, will no longer rotate; This moment, the Athey wheel of both sides was held insulator chain tightly; Simultaneously, increase the pressure between crawler belt and insulator chain, thereby increased friction force between the two.
After insulator chain held tightly by robot; Cause robot to fall fortuitous event in order to prevent in operational process to take place power down etc., need the anti-protection mechanism that drops of both sides be closed, fast locking plug is manually extracted from the fixed block of centre; It is inserted in the pin-and-hole of U type groove and latch segment of connecting rod simultaneously; The opening angle of the anti-like this protection mechanism restriction robot both sides Athey wheel that drops makes its maximum open the diameter of scope less than insulator chain, prevents that it from falling from insulator chain.
Make drive motor work through the telepilot sending controling instruction, drive coupled driving wheel rotation, driving wheel rotates engaged wheel and stretching pulley through crawler belt, and robot relies on each crawler belt that is close on the insulator chain to walk forward.Wherein, Be fixed on insulator charged detection instrument the advancing that connects on the support along with robot; Automatically gather the electric field intensity at each insulator full skirt place; After gathering complete insulator string string, insulator charged detection instrument forms an electric field intensity curve automatically, can judge according to curve whether insulator chain is intact.
The invention has the beneficial effects as follows that the present invention is owing to adopt said structure, three Athey wheels are evenly encircled in insulator chain; Adopt crawler type mechanism, motion continuity is good, smooth running; Guaranteed that charged detector can collect comparatively accurate data curve, and less to the insulator surface wearing and tearing; Safe, when robot walked on insulator chain, the anti-protection mechanism that drops was fitted three Athey wheels and insulator chain surface, is unlikely to break away from insulator chain when moving in robot; Because insulator chain surface smoother, except the robot self gravitation, the rotation hold-fast body is that robot provides the lasting power of holding tightly, thereby has increased the snap-in force on crawler belt and insulator chain surface, more helps the operation of robot; Short circuit insulator sheet number is few, and 3 insulator chains of short circuit meet the electric operating rule at most; The robot manipulation is simple; Operating personnel only need be through the given robot motion instruction of hand-held remote controller; Robot can accomplish insulator automatically and detect and data storage, and the testing of High-Voltage Insulation substring has been become the robot manipulating task that the person is safe from harm by artificial work high above the ground.
Description of drawings
Fig. 1 is a perspective view of the present invention;
Fig. 2 is the structural representation of Athey wheel of the present invention;
Fig. 3 rotates the structural representation of hold-fast body and the anti-protection mechanism that drops for the present invention;
Fig. 4 is a control system structural representation of the present invention;
Fig. 5 is a motion control board composition frame chart of the present invention;
Fig. 6 is a data transmit-receive plate composition frame chart of the present invention;
Wherein: 1 is Athey wheel, and 2 is insulator chain, and 3 are the rotation hold-fast body, and 4 are the anti-protection mechanism that drops, and 5 is insulator charged detection instrument, and 6 is yoke plate; 7 is crawler belt, and 8 is engaged wheel, and 9 is stretching pulley, and 10 is transmission shaft, and 11 is support column, and 12 is drive motor; 13 is driving wheel, and 14 for connecting the turning, and 15 for connecting support, and 16 is fixed block, and 17 is connecting rod, and 18 is fast locking plug; 19 is latch segment, and 20 is bearing seat, and 21 is spill spin block, and 22 is turning axle, and 23 is direct current generator.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
The present invention moves on the level insulation substring, and is as shown in Figure 1, comprises Athey wheel 1, rotation hold-fast body 3, anti-drop protection mechanism 4 and insulator charged detection instrument 5; Insulator charged detection instrument 5 is fixed on the rotation hold-fast body 3; Three Athey wheels 1 are evenly distributed on the insulator chain 2, and two rotation hold-fast bodies 3 are connected and fixed three Athey wheels 1; The anti-protection mechanism 4 that drops is installed on the rotation hold-fast body 3.
Like Fig. 1, shown in 2, Athey wheel has 3, and structure is identical, is fixed on the two ends of rotation hold-fast body 3 respectively; Form robot body, can be evenly distributed on when moving in robot around the insulator chain 2, its structure comprises yoke plate 6, crawler belt 7; Engaged wheel 8, stretching pulley 9, transmission shaft 10; Support column 11, drive motor 12, driving wheel 13; Wherein, Athey wheel 1 forms main skeleton by two yoke plates 6 of the left and right sides, and drive motor 12 is fixed on the yoke plate of right side, and its motor output shaft is connected with driving wheel 13; A plurality of support columns 11 are installed between the left and right sides yoke plate 6; Driving wheel 13 and engaged wheel 8 lay respectively at the rear and front end of Athey wheel 1; A plurality of stretching pulleys 9 are installed between the left and right sides yoke plate 6 through transmission shaft 10, and link to each other with engaged wheel 8 with driving wheel 13 through crawler belt 7, form transmission.The longitudinal length of Athey wheel 1 is greater than two and less than the axial length of three insulator chains 2, when guaranteeing robot ambulation steadily and security;
Like Fig. 1, shown in 3, rotation hold-fast body 3 has two covers respectively with the anti-protection mechanism 4 that drops, and physical construction is identical, and the two ends of rotation hold-fast body 3 are installed with Athey wheel 1 respectively, and the anti-protection mechanism 4 that drops is fixed on the rotation hold-fast body 3; The rotation hold-fast body comprises connection turning 14, connects support 15, bearing seat 20, spill spin block 21, turning axle 22, direct current generator 23, and wherein, connection support 15, bearing seat 20, spill spin block 21 are divided into two-layer up and down; A plurality of connections turning 14 is fixed on the end that connects support 15, links to each other with Athey wheel 1, and the other end that connects support 15 is fixed on bearing seat 20 or the spill spin block 21; Turning axle 22 two ends respectively are connected with upper and lower two bearing seats 20, and direct current generator 23 is fixed on down on the side shaft holder 20, and its output shaft links to each other with turning axle 22; Spill spin block 21 is anchored on the turning axle 22.
Wherein, the anti-protection mechanism 4 that drops comprises two fixed blocks 16, connecting rod 17, fast locking plug 18, latch segment 19; Fixed block 16 is anchored on latch segment 19 and is connected on the support 15, and an end and one of them fixed block 16 of connecting rod 17 are hinged, and the other end is hinged with latch segment 19 through fast locking plug 18; Connecting rod 17 centres and end have U type groove; When robot work operation, fast locking plug 18 is inserted in the pin-and-hole of U type groove and latch segment 19 of end of connecting rods 17, when robot goes here and there down; Open fast locking plug 18, and be inserted in the pin-and-hole of U type groove and fixed block in the middle of the connecting rod 17.
The controlled circuit control of the action of entire mechanism of the present invention.The The whole control system structure is as shown in Figure 4, adopts the distributed electric machine control system based on the CAN bus, mainly is made up of three circuit boards and five drivers.The data transmit-receive plate is set up wireless connections one to one through omnidirectional antenna and hand-held remote controller, can receive the steering order that telepilot sends, feedback information that also can distribution of machine human action state.Be connected through the RS-232 bus between data transmit-receive plate and the motion control board.Motion control board receives the data transmit-receive plate steering order relevant with Electric Machine Control, realizes the drive controlling to corresponding motor.What the robot drive motor adopted is stepper motor, and what the rotation hold-fast body adopted is brush direct current motor.Motion control board is connected with each motor driver through the CAN bus, realizes the coordination control of many motors through the CAN instruction.Whether error-detecting board monitoring CAN bus exists unusually, in case that the CAN bus exists is unusual, stops the robot everything immediately, and resets and restart each CAN node, guarantees the robot security of operation.
Motion control board is mainly formed shown in block diagram 5, and (MCU) connects digital input-output interfaces such as pilot lamp, wireless status by central processing unit, reaches serial bus interfaces such as RS-232, CAN.Wherein pilot lamp refers to robot external status pilot lamp, gives the operator direct robotary indication.The wireless status interface is connected with data transmit-receive board status indication interface, obtains wireless connection conditions at any time.Motion control board is also gathered cell voltage through the power supply Acquisition Circuit, sends to telepilot as one of robotary parameter and feeds back to the operator, and when voltage is low, pass through the buzzer warning indication.
Error-detecting plate and motion control board as a node of CAN bus, adopt the hardware circuit identical with motion control board equally.
Data transmit-receive plate composition frame chart is as shown in Figure 6, connects omnidirectional antenna based on wireless module, and the RS-232 serial interface circuit, and the expanding digital output interface, is used to indicate wireless connection conditions.
The present invention adopts the distributed electric machine control system based on the CAN bus, has realized Athey wheel drive motor and the multi-motor coordination control of holding motor tightly through the CAN communication.
The used structure of insulator charged detection instrument adopts structure described in the Chinese granted patent ZL200510063334.4 utility model patent.
Principle of work of the present invention:
Before the last string work of the present invention; At first to robot body be opened; Direct current generator 23 driven rotary axles 22 about giving through the telepilot sending controling instruction on the two cover rotation hold-fast bodies 3 are just changeing, thereby drive the spill spin block 21 that is fixed on the turning axle 22 around bearing seat 20 rotations, spill spin block 21, connect support 15 and Athey wheel 1 connects as a whole through connecting turning 14; Above-mentioned module is all rotated along with turning axle 22, thus 1 one-tenth open mode of the Athey wheel of robot both sides.In addition, guarantee that the anti-protection mechanism 4 that drops is in open mode, promptly fast locking plug 18 is connected connecting rod 17 with the center fixed piece.
When going here and there in the robot, get final product on the turning axle 22 that is lifted on both sides of restricting with insulating, the Athey wheel in the middle of making is close to the upper surface of insulator chain; At this moment, the steering order of redispatching reverses for the direct current generator 23 of the left and right sides simultaneously, thereby the connection support 15 that drives both sides rotates with Athey wheel 1; Press close to insulator chain gradually; When direct current generator 23 reaches the output torque value of setting, will no longer rotate, this moment, the Athey wheel 1 of both sides was held insulator chain tightly.
After insulator chain held tightly by robot; Cause robot to fall fortuitous event in order to prevent in operational process to take place power down etc., need the anti-protection mechanism 4 that drops of both sides be closed, fast locking plug 18 is manually extracted from middle fixed block; It is inserted in the pin-and-hole of U type groove and latch segment 19 of connecting rod 17 simultaneously; The opening angle of the anti-like this protection mechanism 4 restriction robot both sides Athey wheels 1 that drop makes its maximum open the diameter of scope less than insulator chain, prevents that it from falling from insulator chain.
Drive motor 12 work drive 13 rotations of coupled driving wheel, and driving wheel 13 rotates engaged wheel 8 and stretching pulley 9 through crawler belt 7, and robot relies on 3 crawler belts 7 that are close on the insulator chain to walk forward.Wherein, Be fixed on insulator charged detection instrument 5 the advancing that connects on the support 15 along with robot; Gather insulator chain electric field intensity on every side; After row was gathered complete insulator string string, insulator charged detection instrument 5 formed an electric field intensity curve automatically, can judge according to curve whether insulator chain is intact.
Though the above-mentioned accompanying drawing specific embodiments of the invention that combines is described; But be not restriction to protection domain of the present 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 need not pay various modifications that creative work can make or distortion still in protection scope of the present invention.

Claims (10)

1. level insulation substring Intelligent Measurement robot system; It is characterized in that; Comprise some Athey wheels, some rotation hold-fast bodies, at least one insulator charged detection instrument and some anti-protection mechanisms that drops; Said Athey wheel, insulator charged detection instrument and the anti-protection mechanism that drops all are arranged on the rotation hold-fast body, and said Athey wheel all links to each other with control system through circuit with the rotation hold-fast body.
2. level insulation substring Intelligent Measurement robot system as claimed in claim 1 is characterized in that, the longitudinal length of said Athey wheel is greater than two and less than the axial length of three insulator chains.
3. level insulation substring Intelligent Measurement robot system as claimed in claim 2; It is characterized in that; Said Athey wheel comprises crawler belt, drive motor, driving wheel, several bearings up pulley, two yoke plates, some support columns, transmission shaft and engaged wheels, connects through some support columns between said two parallel yoke plates, and per two are provided with an expansion tightening wheel between supporting; Expansion tightening wheel is enclosed within on the transmission shaft; The transmission shaft two ends are arranged on two yoke plates, and the two ends between two yoke plates are respectively arranged with driving wheel and engaged wheel, said driving wheel and driven on be wound with crawler belt; The outside of a said yoke plate is provided with the drive motor that links to each other with driving wheel, and said drive motor links to each other with control system through circuit.
4. level insulation substring Intelligent Measurement robot system as claimed in claim 3; It is characterized in that; Said each rotation hold-fast body includes direct current generator, bearing seat, turning axle, spill spin block and connects the turning, and the lower end of said turning axle links to each other with the output shaft of direct current generator, is with a bearing on the top and bottom of said turning axle respectively; The outer ring of bearing is fixed on the bearing seat, is fixedly connected with a short support that connects on the bearing seat; Be fixedly connected with two spill spin blocks that laterally arrange on the turning axle between the said diaxon bearing, be fixed with a long support that connects on two spill spin blocks respectively; The said short support that connects is equipped with the connection turning that connects Athey wheel with the long end that is connected support.
5. level insulation substring Intelligent Measurement robot system as claimed in claim 4 is characterized in that said direct current generator is fixed on the bearing seat of turning axle lower end, and said direct current generator links to each other with control system through circuit.
6. level insulation substring Intelligent Measurement robot system as claimed in claim 4 is characterized in that, the said two short supports that connect laterally arrange.
7. level insulation substring Intelligent Measurement robot system as claimed in claim 4 is characterized in that, the said two long supports that connect laterally arrange.
8. level insulation substring Intelligent Measurement robot system as claimed in claim 1; It is characterized in that; Said each anti-protection mechanism that drops includes a connecting rod, two fixed blocks, a latch segment and some fast locking plugs; Said two fixed blocks are arranged at the long of turning axle top and connect on the support, and said latch segment is fixed in the short of turning axle top and connects on the support; Said connecting rod one end and one of them fixed block are hinged, and the other end is hinged through fast locking plug and latch segment.
9. level insulation substring Intelligent Measurement robot system as claimed in claim 8 is characterized in that, has U type groove with latch segment hinged end and middle part on the said connecting rod.
10. level insulation substring Intelligent Measurement robot system as claimed in claim 1; It is characterized in that; Said control system adopts the distributed electric machine control system based on the CAN bus; It comprises motion control board, and motion control board is connected through the RS-232 bus with the data transmit-receive plate, and said data transmit-receive plate is set up wireless connections one to one through omnidirectional antenna and hand-held remote controller; Said motion control board passes through the CAN bus and links to each other with the motor driver of Athey wheel with the rotation hold-fast body respectively, and each motor driver is connected in respectively on the motor corresponding with it; Also be connected with the error-detecting plate on the said CAN bus;
Said motion control board and error-detecting plate include central processing unit, are respectively equipped with pilot lamp and wireless status digital input-output interface on the central processing unit, RS-232, CAN serial bus interface; Said motion control board is also gathered cell voltage through the power supply Acquisition Circuit;
Said data transmit-receive plate comprises wireless module, and wireless module connects omnidirectional antenna, and the RS-232 serial interface circuit, and the expanding digital output interface.
CN201210102917.3A 2012-03-31 2012-03-31 Intelligent detection robot system for horizontal insulator strings CN102621430B (en)

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CN102944745A (en) * 2012-11-09 2013-02-27 甘肃省电力公司检修公司 Insulator detector for live-line operation of 750kV line
CN103091579A (en) * 2013-01-11 2013-05-08 山东鲁能智能技术有限公司 Insulator chain intelligent detection robotic system
CN104128320A (en) * 2014-08-19 2014-11-05 武汉大学 High-voltage line insulator detecting and sweeping robot
CN104931800A (en) * 2015-05-25 2015-09-23 国家电网公司 Electric field measurement device for insulator string inspection robots
CN104950179A (en) * 2015-05-25 2015-09-30 国家电网公司 Insulation resistance measuring device for insulator string detection robot
CN106002912A (en) * 2016-04-29 2016-10-12 东北大学 Insulator metamorphic detection robot mechanism
CN106040638A (en) * 2016-08-06 2016-10-26 山东孚岳电气有限公司 Sweep and dirt removal device for insulators
CN106964581A (en) * 2017-05-04 2017-07-21 国网山东省电力公司武城县供电公司 Antifouling work cleaning device and multifunctional anti-soil dodge cleaning machine
CN108390599A (en) * 2018-03-23 2018-08-10 四川桑莱特智能电气设备股份有限公司 A kind of insulator climbing robot multijaw driving motor synchronous control system and method
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CN102944745A (en) * 2012-11-09 2013-02-27 甘肃省电力公司检修公司 Insulator detector for live-line operation of 750kV line
CN102944745B (en) * 2012-11-09 2016-06-15 甘肃省电力公司检修公司 750kV line live-line work insulator tester
CN103091579B (en) * 2013-01-11 2015-04-29 山东鲁能智能技术有限公司 Insulator chain intelligent detection robotic system
CN103091579A (en) * 2013-01-11 2013-05-08 山东鲁能智能技术有限公司 Insulator chain intelligent detection robotic system
CN104128320A (en) * 2014-08-19 2014-11-05 武汉大学 High-voltage line insulator detecting and sweeping robot
CN104128320B (en) * 2014-08-19 2016-04-13 武汉大学 A kind of Voltage for Insulators on HV Lines detects and sweeping robot
CN104931800A (en) * 2015-05-25 2015-09-23 国家电网公司 Electric field measurement device for insulator string inspection robots
CN104950179A (en) * 2015-05-25 2015-09-30 国家电网公司 Insulation resistance measuring device for insulator string detection robot
CN106002912A (en) * 2016-04-29 2016-10-12 东北大学 Insulator metamorphic detection robot mechanism
CN106040638A (en) * 2016-08-06 2016-10-26 山东孚岳电气有限公司 Sweep and dirt removal device for insulators
CN106040638B (en) * 2016-08-06 2018-12-14 山东孚岳电气有限公司 Insulator cleaning decontamination apparatus
CN106964581A (en) * 2017-05-04 2017-07-21 国网山东省电力公司武城县供电公司 Antifouling work cleaning device and multifunctional anti-soil dodge cleaning machine
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CN108722946A (en) * 2018-06-29 2018-11-02 于玮 Supply station insulator automatic rinser
CN108838122A (en) * 2018-06-29 2018-11-20 于玮 Insulator automatic cleaning equipment for supply station

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