CN104090179A - Insulator detection robot suitable for multiple occasions - Google Patents

Insulator detection robot suitable for multiple occasions Download PDF

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Publication number
CN104090179A
CN104090179A CN201410276553.XA CN201410276553A CN104090179A CN 104090179 A CN104090179 A CN 104090179A CN 201410276553 A CN201410276553 A CN 201410276553A CN 104090179 A CN104090179 A CN 104090179A
Authority
CN
China
Prior art keywords
guide pole
insulator
climbing
mandrel
motor
Prior art date
Application number
CN201410276553.XA
Other languages
Chinese (zh)
Inventor
徐贺
王文龙
吴坤坤
于洪鹏
王鹏
王培元
李臻
许怡贤
杨文成
郭卫兴
Original Assignee
哈尔滨工程大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 哈尔滨工程大学 filed Critical 哈尔滨工程大学
Priority to CN201410276553.XA priority Critical patent/CN104090179A/en
Publication of CN104090179A publication Critical patent/CN104090179A/en

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Abstract

The invention aims at providing an insulator detection robot suitable for multiple occasions. The insulator detection robot is composed of an insulator flexible holding mechanism, a crawling mechanism, a detection device and the like. The crawling mechanism is arranged on guide rods of the holding mechanism. The detection device is arranged on a holding motor base and makes the holding mechanism and the crawling mechanism move through a linear motor and a driving motor respectively. The insulator detection robot has the advantages of being compact in structure, high in movement speed, easy to control, safe, reliable and the like, and meanwhile can be suitable for the arrangement methods of different insulator strings such as suspension insulator strings horizontal insulator strings and V-shaped insulator strings, and suitable for detecting insulators with different diameters.

Description

A kind of insulator detecting robot that adapts to multiple occasion
Technical field
What the present invention relates to is a kind of robot that detects, and specifically detects the robot of insulator.
Background technology
Along with the fast development of national economy, the demand to electric power and rely on increasingly, and the distribution range of electrical network is also more and more wider.If frequent interruption maintenance or occur discontinuity events in the transmission of electric power, will cause very large trouble and loss to the various aspects such as economy, life.This just requires all energy reliability services of external insulation of transmission line of electricity and transformer station.
Insulator is a kind of special insulation control, can in overhead transmission line, play an important role.Insulator should be because environment and the electric load condition various dynamo-electric stress causing that changes lost efficacy, otherwise insulator just can not produce great effect, will damage use and the operation life of whole piece circuit.But existing detection means great majority are under power-off condition, insulator manually to be overhauled, this detection mode not only efficiency is lower, the personal safety that detects workman is had to potential threat, and must interrupt the normal transmission of electric power, and then cause certain economic loss.Therefore, the number of times that insulator is regularly detected often can not get effective guarantee, has left potential safety hazard.
Utility model patent CN202486250U discloses a kind of horizontal insulator string live-wire and has detected robot; comprise some Athey wheels, some rotation hold-fast bodies, at least one insulator charged detection instrument and some Anti-fall protection mechanisms, Athey wheel, insulator charged detection instrument and Anti-fall protection mechanism are all arranged on rotation hold-fast body.Obviously this kind of crawler belt is the detection that mechanism cannot be applicable to vertically insulated substring, and is only suitable for detecting in the fixing insulator chain of diameter.In addition because mostly insulator chain is porcelain part, smooth surface, is therefore difficult to make robot to obtain good drive environment.
Utility model patent CN202916368U discloses a kind of overhead transmission line insulator and has detected intelligent robot pick-up unit, this comprises four groups of guide arm mechanisms, one group of climbing mechanism of one-level, aforementioned mechanism is by a circular configuration matching with insulator of composition after being connected with arm plate.Ci Zhong robot can realize the detection of vertically insulated substring by the rotation of travel mechanism tire.But Ci Zhong robot is owing to only there being a set of climbing mechanism to there will be the characteristic of bumpy motion, and meanwhile, this robot also cannot be for the detection of the insulator of different-diameter size.
Summary of the invention
The object of the present invention is to provide a kind of insulator detecting robot that adapts to multiple occasion of different insulative substring arrangements such as can being applicable to suspension insulator, strain insulator string, V-type insulator chain.
The object of the present invention is achieved like this:
A kind of insulator detecting robot that adapts to multiple occasion of the present invention, is characterized in that: comprise right climbing mechanism, left climbing mechanism, the first motor, the first guide pole, the second guide pole, flexible member, described right climbing mechanism comprises the 3rd guide pole, the 4th guide pole, the first bracing frame, the second bracing frame, the second motor, gear wheel, pinion wheel, the first belt wheel, the second belt wheel, front tire, rear tire, the first mandrel, the second mandrel, the first bracing frame is fixed on the 3rd guide pole, the second bracing frame is fixed on the 4th guide pole, the two ends of the first mandrel are arranged on the 3rd guide pole and the 4th guide pole by clutch shaft bearing seat and the second bearing seat respectively, the two ends of the second mandrel are arranged on the 3rd guide pole and the 4th guide pole by the 3rd bearing seat and the 4th bearing seat respectively, the first mandrel and the second mandrel be arranged in parallel, on the first mandrel, along the 3rd guide pole to the four guide pole directions, the first belt wheel are installed successively, front tire, gear wheel, installs the second belt wheel successively along the 3rd guide pole to the four guide pole directions on the second mandrel, rear tire, the second motor is arranged on the second bracing frame, and the output shaft of the second motor connects pinion wheel, and pinion wheel engages with gear wheel, on the first belt wheel and the second belt wheel, is wound around driving-belt, the left and right sides of the first motor is hinged left motor cabinet and right motor cabinet respectively, the first bracing frame connects right motor cabinet, the 3rd guide pole connects flexible member, the 4th guide pole connects the first guide pole by the first support, left climbing mechanism is identical with right climbing mechanism structure, subtend is arranged, the connected mode of the connected mode of left climbing mechanism and flexible member, left motor cabinet, the second guide pole and right climbing mechanism and flexible member, right motor cabinet, the first guide pole is identical.
The present invention can also comprise:
1, each guide pole length is all greater than two tested insulator height and is less than three insulator height.
Advantage of the present invention is: climbing mechanism of the present invention adopts the engagement type band kind of drive, and transmission has reduced motor number accurately simultaneously, makes control more simply and alleviates inner robot quality.The present invention is applicable to high-altitude insulator chain and detects, compact conformation, and translational speed is fast, controls simple, safe and reliable.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is climbing mechanism schematic diagram of the present invention;
Fig. 3 is the schematic diagram that the present invention detects insulator chain.
Embodiment
For example the present invention is described in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1~3, one-piece construction of the present invention is by guide pole 1, support 2, and right climbing mechanism 3, right motor cabinet 4, linear electric motors 5, flexible member 6, left motor cabinet 7, support 8, guide pole 9, left climbing mechanism 10 forms, and is loop configuration.Wherein, flexible member 6 is arranged symmetrically with respectively left climbing mechanism 10 and right climbing mechanism 3 as the left and right sides, and is fixed by screws in respectively on the guide pole of climbing mechanism.Be arranged on left motor cabinet 7 and right motor cabinet 4 and form two revolute pairs at linear electric motors above flexible member 5, left and right motor cabinet is fixedly connected on the bracing frame of adjacent climbing mechanism by screw.Realize the connection of holding element and climbing mechanism tightly by above connected mode.Another guide pole at two climbing mechanisms is fixedly connected with respectively guide pole 1 and guide pole 9 with support 8 by support 2.To sum up, realized being linked and packed of insulator detecting robot body.
Synthesizing map 1, moves by linear electric motors 5, and flexible member 6 shrinks, and the angle of right motor cabinet 4 and left motor cabinet 7 changes, thereby changes the radius-of-curvature of annular mechanism, realizes the function of holding tightly to different-diameter insulator.
In conjunction with Fig. 1, accurate in order to realize guiding in crawling process, the guide pole on guide pole 1, guide pole 9 and climbing mechanism is parallel to insulator chain and axially assembles.
In conjunction with Fig. 2, in climbing mechanism of the present invention, guide pole 17 and guide pole 28 symmetrical parallel are arranged, on it, pass through respectively screw fixing support rack 18 and bracing frame 24, mandrel 20 and mandrel 25 are arranged in parallel, be arranged on two guide poles by two bearing seats respectively, wherein mandrel 20 is separately installed with belt wheel 22 by a left side and the right side and trailing wheel grabs 21; Mandrel 25 is separately installed with belt wheel 26 and front-wheel by a left side and the right side and grabs 11 and gear wheel 12.Motor cabinet 15 is arranged on bracing frame 18.Motor 16 is arranged on motor cabinet 15, and machine shaft drives pinion wheel 14 to rotate, thereby realizes the rotation of mandrel 25 by the gear drive between pinion wheel 14 and gear wheel 12.By being arranged on respectively the band transmission between belt wheel 22 and the belt wheel 26 on mandrel 20 and mandrel 25, realizing the synchronized movement of two mandrels, thereby drive respectively the motion of front tire 11 and rear tire 21.
In conjunction with Fig. 2, in order to realize the motor coordination between front tire 11 and rear tire 21 in crawling process, the process kind of walking while simultaneously realizing vertical movement stable, front and back tire vertically assembles.

Claims (2)

1. an insulator detecting robot that adapts to multiple occasion, is characterized in that: comprise right climbing mechanism, left climbing mechanism, the first motor, the first guide pole, the second guide pole, flexible member, described right climbing mechanism comprises the 3rd guide pole, the 4th guide pole, the first bracing frame, the second bracing frame, the second motor, gear wheel, pinion wheel, the first belt wheel, the second belt wheel, front tire, rear tire, the first mandrel, the second mandrel, the first bracing frame is fixed on the 3rd guide pole, the second bracing frame is fixed on the 4th guide pole, the two ends of the first mandrel are arranged on the 3rd guide pole and the 4th guide pole by clutch shaft bearing seat and the second bearing seat respectively, the two ends of the second mandrel are arranged on the 3rd guide pole and the 4th guide pole by the 3rd bearing seat and the 4th bearing seat respectively, the first mandrel and the second mandrel be arranged in parallel, on the first mandrel, along the 3rd guide pole to the four guide pole directions, the first belt wheel are installed successively, front tire, gear wheel, installs the second belt wheel successively along the 3rd guide pole to the four guide pole directions on the second mandrel, rear tire, the second motor is arranged on the second bracing frame, and the output shaft of the second motor connects pinion wheel, and pinion wheel engages with gear wheel, on the first belt wheel and the second belt wheel, is wound around driving-belt, the left and right sides of the first motor is hinged left motor cabinet and right motor cabinet respectively, the first bracing frame connects right motor cabinet, the 3rd guide pole connects flexible member, the 4th guide pole connects the first guide pole by the first support, left climbing mechanism is identical with right climbing mechanism structure, subtend is arranged, the connected mode of the connected mode of left climbing mechanism and flexible member, left motor cabinet, the second guide pole and right climbing mechanism and flexible member, right motor cabinet, the first guide pole is identical.
2. a kind of insulator detecting robot that adapts to multiple occasion according to claim 1, is characterized in that: each guide pole length is all greater than two tested insulator height and is less than three insulator height.
CN201410276553.XA 2014-06-19 2014-06-19 Insulator detection robot suitable for multiple occasions CN104090179A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410276553.XA CN104090179A (en) 2014-06-19 2014-06-19 Insulator detection robot suitable for multiple occasions

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410276553.XA CN104090179A (en) 2014-06-19 2014-06-19 Insulator detection robot suitable for multiple occasions

Publications (1)

Publication Number Publication Date
CN104090179A true CN104090179A (en) 2014-10-08

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410276553.XA CN104090179A (en) 2014-06-19 2014-06-19 Insulator detection robot suitable for multiple occasions

Country Status (1)

Country Link
CN (1) CN104090179A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105416427A (en) * 2015-11-02 2016-03-23 国网山东省电力公司电力科学研究院 Composite insulator climbing system
CN105738718A (en) * 2014-12-09 2016-07-06 国家电网公司 Intelligent insulator detection robot
CN107037336A (en) * 2017-04-24 2017-08-11 东北大学 A kind of change born of the same parents' climbing mechanism insulator detecting robot of swingable incision
CN107202941A (en) * 2017-04-24 2017-09-26 东北大学 It is a kind of can translation incision change born of the same parents' climbing mechanism insulator detecting robot

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105738718A (en) * 2014-12-09 2016-07-06 国家电网公司 Intelligent insulator detection robot
CN105738718B (en) * 2014-12-09 2018-09-21 国家电网公司 A kind of Intelligent insulation detection robot
CN105416427A (en) * 2015-11-02 2016-03-23 国网山东省电力公司电力科学研究院 Composite insulator climbing system
CN105416427B (en) * 2015-11-02 2017-09-29 国网山东省电力公司电力科学研究院 A kind of composite insulator climbs system
CN107037336A (en) * 2017-04-24 2017-08-11 东北大学 A kind of change born of the same parents' climbing mechanism insulator detecting robot of swingable incision
CN107202941A (en) * 2017-04-24 2017-09-26 东北大学 It is a kind of can translation incision change born of the same parents' climbing mechanism insulator detecting robot
CN107037336B (en) * 2017-04-24 2019-02-12 东北大学 A kind of change born of the same parents' climbing mechanism insulator detecting robot of swingable incision

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Application publication date: 20141008