CN103640020B - Insulator detecting robot - Google Patents
Insulator detecting robot Download PDFInfo
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- CN103640020B CN103640020B CN201310616004.8A CN201310616004A CN103640020B CN 103640020 B CN103640020 B CN 103640020B CN 201310616004 A CN201310616004 A CN 201310616004A CN 103640020 B CN103640020 B CN 103640020B
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- insulator
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- radio communication
- control chip
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Abstract
The present invention relates to a kind of insulator detecting robot, this measuring robots includes: controlling device, radio communication device and insulator detection device, described control device includes main control chip and the driving means being connected with described main control chip；Described radio communication device and insulator detection device are connected with described main control chip respectively；The top of described control device and bottom are respectively equipped with rail plate, and described rail plate is provided with sliding shoe；Described sliding shoe is provided with steering bearing, and the power intake of described steering bearing is connected with described driving means, and the clutch end of described steering bearing connects hook-shaped motion measurement arm.The present invention is by remote control terminal and insulator detecting robot radio communication, it is achieved to insulator detecting robot controlled in wireless of the present invention, and then realization controls insulator detecting robot and insulator in overhead transmission line is carried out live detection.
Description
Technical field
The present invention relates to a kind of robot device, in particular to one to exhausted in detection overhead transmission line
Edge carries out the insulator detecting robot of live detection.
Background technology
Along with improving constantly and the fast development of workers and peasants' industry of living standards of the people, power system transmission of electricity,
The safe and reliable of power supply increasingly comes into one's own.In recent years China's electric power enterprise greatly develop supertension,
System for ultra-high voltage transmission, insulator is as one of ingredient highly important in transmission line of electricity, and it is transported
Row state directly determines the safe and reliable property of electrical network power transmission and distribution.For ensureing that the safety of transmission line of electricity can
By running, after overhead transmission line runs a period of time, need operating insulator chain is carried out
Detection, prevents the phenomenon such as insulator breakdown, short circuit.
At present, domestic it is substantially the traditional detection mode using artificial work high above the ground, by maintenance teams and groups
Personnel carry detecting instrument and drive to scene, climb up shaft tower and detect all insulator running statuses one by one,
This mode labor intensity is big, detection efficiency is low and has a Dingan County during operating personnel's live detection
Full blast danger.Recently, domestic existing producer and academy, propose and devise some isolator detecting machines
Device people, carries measuring instrument mainly for after simply connected, duplex and V-type insulator chain design climbing mechanism
Device carries out insulator charged detection, although this detection method simplifies operating personnel's to a certain extent
Detection work, but yet suffer from some problems, such as: insulation cannot be obtained during detection in real time
Sub-status information, must manually be arranged before robot detection, event occurs during robot detection
Barrier needs operating personnel's livewire work to remove.
Summary of the invention
The problem existed in view of above-mentioned prior art, present invention aim to overcome that above-mentioned prior art
Not enough and a kind of insulator detecting robot is provided.
Realize the object of the invention and the technical scheme is that a kind of insulator detecting robot, including:
Controlling device, radio communication device and insulator detection device, described control device includes main control chip
And the driving means being connected with described main control chip；Described radio communication device and insulator detection device
It is connected with described main control chip respectively；Top and the bottom of described control device are respectively equipped with rail plate,
Described rail plate is provided with sliding shoe；Described sliding shoe is provided with steering bearing, described steering bearing
Power intake is connected with described driving means, and the clutch end connection of described steering bearing has hook-shaped
Motion measurement arm.
Further, described sliding shoe is provided with alignment sensor, described alignment sensor and described master control
Chip connects.
In technique scheme, described insulator detection device includes: the height that the signal of telecommunication connects successively
Pressure potentiometer, signal conditioning circuit and A/D sampling analysis module, described high-voltage bleeder and described hook
Shape motion measurement arm connects, and described A/D sampling analysis module is connected with described radio communication device.
In technique scheme, described insulator detecting robot also includes: remote control terminal,
It includes the wireless communication module for being connected with described radio communication device.
The present invention is by remote control terminal and insulator detecting robot radio communication, it is achieved to this
Bright insulator detecting robot controlled in wireless, and then realize controlling insulator detecting robot to built on stilts defeated
In electric line, insulator carries out live detection, and the information of detection can be passed in real time by main control chip
Transport to remote control terminal.
Present configuration is simple, easy to use, it is to avoid the peace of manual detection insulator in prior art
Full potential problem, improves detection efficiency.And, solve prior art insulator detecting robot
The problem that cannot obtain insulator state information in real time.
Accompanying drawing explanation
Fig. 1 is the structural representation of insulator detecting robot of the present invention；
Fig. 2 is the structural representation of link gearing in Fig. 1.
Fig. 3 is the structured flowchart of intelligent controlling device in Fig. 1.
Fig. 4 is insulator detection device structured flowchart in Fig. 1.
Fig. 5 is the use view of insulator detecting robot of the present invention.
Detailed description of the invention
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, insulator detecting robot of the present invention includes: link gearing 1,
Control device 3, radio communication device 4 and insulator detection device 2, radio communication device 4 and insulation
Son detection device 2 is connected with control device 3 respectively.
Link gearing 1 includes being respectively arranged on control device 3 top and the rail plate 6 of bottom, sliding
Dynamic guide rail 6 is provided with sliding shoe 8, and sliding shoe 8 is provided with steering bearing 7, and steering bearing 7 connects hook
Shape motion measurement arm 5.In the present embodiment, the top controlling device 3 is provided with rail plate 6.1, the end
End is provided with lower slider guide rail 6.2, and upper rail plate 6.1 is provided with sliding shoe 8.1, lower slider guide rail 6.2
Being provided with downslide motion block 8.2, upper sliding shoe 8.1 is provided with steering bearing 7.1, and downslide motion block 8.2 is provided with down
Steering bearing 7.2, the clutch end of upper steering bearing 7.1 and lower steering bearing 7.2 is connected to
Upper motion measurement arm 5.1 and lower motion measurement arm 5.2.Upper sliding shoe 8.1 and downslide motion block 8.2 set respectively
There is alignment sensor (not shown).
Control device 3 to include: main control chip 9, peripheral I/O control circuit 10, sensor group 11 and
Driving means 12, attachment structure between each several part as it is shown on figure 3, peripheral I/O control circuit 10,
Sensor group 11 and driving means 12 are connected on main control chip 9.Driving means 12 respectively with
The power intake of upper steering bearing 7.1 and lower steering bearing 7.2 connects, additionally, driving means 12
It is connected with upper sliding shoe 8.1 and downslide motion block 8.2 the most respectively.Peripheral I/O control circuit 10 is by master control core
Sheet 9 controls, and sends and receive wireless communications digital signal.Main control chip 9 controls driving means 12 points
Qu Dong not go up sliding shoe 8.1 and downslide motion block 8.2 slides, and drive upper steering bearing 7.1 and lower turn
To bearing 7.2 to drive upper motion measurement arm 5.1 and lower motion measurement arm 5.2 respectively.Filled by driving
Put 12 output power to drive upper sliding shoe 8.1, downslide motion block 8.2 to slide, and drive respectively respectively
Upper steering bearing 7.1 and lower steering bearing 7.2 are the routine techniques means of those skilled in the art, herein
Do not repeating.
As shown in Figure 4, insulator detection device 2 include high-voltage bleeder 13 that the signal of telecommunication successively connects,
Signal conditioning circuit 14 and A/D sampling analysis module 15, high-voltage bleeder 14 and hook-shaped motion measurement
Arm 5 connects, and A/D sampling analysis module 15 is connected with radio communication device 4.
The present invention can also control insulator detecting robot by remote control terminal, remotely controls end
End can be the intelligent terminal such as PDA, panel computer and smart mobile phone, and remote control terminal includes wireless
Communication module, carries out radio communication between wireless communication module and radio communication device 4.Maintainer
Insulator detecting robot action is remotely controlled, including setting isolator detecting by remote control terminal
Sheet number, the insulator repetitive measurement abnormal to testing result, operating personnel can terminate the most at any time
With continuation detection operation.
Insulator detecting robot of the present invention is carried to needs and carries out isolator detecting operation by maintainer
Shaft tower on, open machine switch time, hook-shaped motion measurement arm 5 is in open configuration.Maintainer
Insulator detecting robot is kept flat to cross-arm side first insulator side, as it is shown in figure 5, this
Bright use process is as follows:
(1) starting insulator detecting robot, this timed unit 3 is controlled by jointed gear unit 1
(the present embodiment is the with the insulator 19 in Fig. 5 to formulate level sensor Automatic-searching first insulator
A piece of insulator) chapeau de fer 16 and steel foot 17 position, control after device 3 obtains positional information, by
Main control chip 9 transmitting control commands is to driving means 12, and driving means 12 drives upper sliding shoe 8.1 He
Downslide motion block 8.2 slides so that upper motion measurement arm 5.1 and lower motion measurement arm about 5.2 lean on respectively
The chapeau de fer 16 of nearly first insulator and steel foot 17 position.
(2) main control chip 9 transmitting control commands is to driving means 12, on driving means 12 drives respectively
Steering bearing 7.1 and lower steering bearing 7.2 are to control upper motion measurement arm 5.1 and lower motion measurement respectively
Arm 5.2 hooks chapeau de fer 16 and the steel foot 17 of insulator 19, and by the upper motion of sensor group 11 detection
Measuring arm 5.1 and the positional information of lower motion measurement arm 5.2, sensor group 11 is by the position letter of detection
Breath transmission is to main control chip 9, and main control chip 9 sends vernier control order to driving means 12, driving
Device 12 drives upper steering bearing 7.1 and lower steering bearing 7.2 to carry out left and right, flexible and rotary fine adjustment,
Make motion measurement arm 5.1 and the two ends of lower motion measurement arm 5.2 promptly first insulator.Insulator
The upper motion measurement arm 5.1 of measuring robots and lower motion measurement arm 5.2 firmly grasp insulator 19 respectively
After chapeau de fer 16 and steel foot 17, maintainer decontrols this insulator detecting robot, and subsequent step is permissible
Wireless signal is sent to control insulator detecting robot work to main control chip 9 by remote control terminal
Make.
Insulator detecting robot starts to receive from remote control terminal by radio communication device 4
Parameter setting instruction, including setting insulation sub-pieces number, metrical information and starting order.
(3) controlling device 3 and send sense command to insulator detection device 2, high-voltage bleeder 13 leads to
Cross motion measurement arm 5.1 and both end voltage that lower motion measurement arm 5.2 obtains first insulator be poor,
Eventually passing signal conditioning circuit 14 and A/D sampling analysis module 15, to obtain insulator two ends the most electric
Pressure value.
(4) control device 3 storage detection data, and by radio communication device 4, data are sent out in real time
Delivering to remote control terminal check for maintainer, so far first insulator detection is complete.
(5) maintainer unclamps upper motion survey by remote control terminal control insulator detecting robot
Amount arm 5.1, now, owing to lower motion measurement arm 5.2 is also in the state of promptly first insulator,
And the lighter weight of insulator detecting robot of the present invention, therefore insulator detecting robot is not fall off.
(6) main control chip 9 transmitting control commands is to driving means 12, and driving means 12 drives upper slip
Block 8.1 along rail plate 6.1 slide forward near under a piece of insulator side.
(7) main control chip 9 transmitting control commands drives steering spindle to driving means 12, driving means 12
Hold motion measurement arm 5.1 in 7 drives and hook down the chapeau de fer 16 of a piece of insulator, then by sensor group
It is finely adjusted after 11 measurements.
(8) under upper motion measurement arm 5.1 is firmly grasped after the chapeau de fer 16 of a piece of insulator, main control chip 9
Control lower motion measurement arm 5.2 again and unclamp the steel foot 17 of first insulator.
(9) main control chip 9 transmitting control commands drives lower slider to driving means 12, driving means 12
Block 8.2 along rail plate 6.1 slide forward near under a piece of insulator side.Then main control chip 9 is controlled
Driving means 12 processed drives lower steering bearing 7.2 to drive lower motion measurement arm 5.2 to move to second absolutely
Edge steel foot 17 position, the most promptly second electric insulator steel foot 17, repeats above-mentioned (3rd), (4)
Step, detects second insulator automatically.
Successively a piece of insulator every on insulator chain is detected according to above-mentioned steps, when insulator is examined
Survey robot ambulation is to insulator tail end, and after completing one-shot measurement, insulator detecting robot acquiescence sets
Put and walk to cross-arm side from tail end again, again every a piece of insulator is measured according to the same manner,
And record its spread voltage value, record twice measurement data, and send to long-range PDA device for operation
Personnel check, analyze.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention.This theory
The content not being described in detail in bright book belongs to prior art known to professional and technical personnel in the field.
Claims (1)
1. an insulator detecting robot, it is characterised in that including: remote control terminal, control
Device, radio communication device and insulator detection device, described control device include main control chip and with
The driving means that described main control chip connects；Described radio communication device and insulator detection device are respectively
It is connected with described main control chip；Top and the bottom of described control device are respectively equipped with rail plate, institute
State rail plate and be provided with sliding shoe；Described sliding shoe is provided with steering bearing, moving of described steering bearing
Power input is connected with described driving means, and the clutch end of described steering bearing connects hook-shaped fortune
Dynamic measurement arm；Described remote control terminal includes the channel radio for being connected with described radio communication device
Letter module；Described sliding shoe is provided with alignment sensor, and described alignment sensor is with described main control chip even
Connect；Described insulator detection device includes: the high-voltage bleeder of signal of telecommunication connection, signal condition successively
Circuit and A/D sampling analysis module, described high-voltage bleeder is connected with described hook-shaped motion measurement arm,
Described A/D sampling analysis module is connected with described radio communication device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310616004.8A CN103640020B (en) | 2013-11-27 | 2013-11-27 | Insulator detecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310616004.8A CN103640020B (en) | 2013-11-27 | 2013-11-27 | Insulator detecting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103640020A CN103640020A (en) | 2014-03-19 |
| CN103640020B true CN103640020B (en) | 2016-11-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310616004.8A Active CN103640020B (en) | 2013-11-27 | 2013-11-27 | Insulator detecting robot |
Country Status (1)
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104502805A (en) * | 2015-01-12 | 2015-04-08 | 王波 | Automatic fault detection system for power line |
| CN105159189A (en) * | 2015-08-17 | 2015-12-16 | 国网天津市电力公司 | Control device of power transmission line insulator string detection robots |
| CN108058819A (en) * | 2017-12-13 | 2018-05-22 | 萍乡市旭华电瓷电器制造有限公司 | A kind of isolator detecting unmanned plane |
| CN108957257B (en) * | 2018-07-05 | 2024-03-26 | 深圳供电局有限公司 | Measuring device for voltage distribution of porcelain suspension insulator string |
| CN112630378A (en) * | 2020-11-30 | 2021-04-09 | 航天亮丽电气有限责任公司 | Gas detection system for underground safe operation of foundation pit |
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| CN2085971U (en) * | 1991-03-16 | 1991-10-02 | 河南省安阳农业学校 | Tester for hanging isolator of high-tension line |
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Effective date of registration: 20190107 Address after: 430223 East Lake Development Zone, Wuhan City, Hubei Province, 2 buildings and 7 floors of SAGE Technology Research and Development Center, Science Park, Wuhan University of Technology Co-patentee after: WUHAN LUOJIA TIANMING ELECTRIC POWER TECHNOLOGY CO.,LTD. Patentee after: WUHAN KEDI'AO ELECTRICITY TECHNOLOGY Co.,Ltd. Address before: Room 902, Building F2, Guanggu Software Park, Donghu High-tech Development Zone, Wuhan City, Hubei Province Patentee before: WUHAN KEDI'AO ELECTRICITY TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20221208 Address after: 430000 East Lake Development Zone, Wuhan City, Hubei Province, 2 buildings and 7 floors of SAGE Technology Research and Development Center, Science Park, Wuhan University of Technology Patentee after: WUHAN KEDI'AO ELECTRICITY TECHNOLOGY Co.,Ltd. Patentee after: WUHAN University Patentee after: WUHAN LUOJIA TIANMING ELECTRIC POWER TECHNOLOGY CO.,LTD. Address before: 430223 East Lake Development Zone, Wuhan City, Hubei Province, 2 buildings and 7 floors of SAGE Technology Research and Development Center, Science Park, Wuhan University of Technology Patentee before: WUHAN KEDI'AO ELECTRICITY TECHNOLOGY Co.,Ltd. Patentee before: WUHAN LUOJIA TIANMING ELECTRIC POWER TECHNOLOGY CO.,LTD. |