CN104198848A - Improved horizontal single connection insulator chain detection robot - Google Patents
Improved horizontal single connection insulator chain detection robot Download PDFInfo
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- CN104198848A CN104198848A CN201410416200.5A CN201410416200A CN104198848A CN 104198848 A CN104198848 A CN 104198848A CN 201410416200 A CN201410416200 A CN 201410416200A CN 104198848 A CN104198848 A CN 104198848A
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Abstract
The invention discloses an improved horizontal single connection insulator chain detection robot which comprises two track mechanisms symmetrically arranged on horizontal insulators. The two track mechanisms are mutually connected and are both connected with a corresponding balancing device. The balancing devices are arranged on two sides of the horizontal insulators respectively and used for reducing the gravity center of the robot and preventing the robot from deflecting. Each balancing device comprises a battery box, a control box and other auxiliary devices, the control box controls the corresponding track mechanism to advance, an insulator electrification detector is arranged on each balancing device with the control box, and each insulator electrification detector comprises a detection probe swinging back and forth. The robot is reasonable in structure, convenient to operate, good in safety, small in insulator abrasion, wide in use range and capable of adapting to electrification detection operation of horizontal single connection insulator chains and horizontal double connection insulator chains.
Description
Technical field
The present invention relates to a kind of improved horizontal simply connected insulator chain and detect robot.
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) of greatly developing in recent years, system for ultra-high voltage transmission, the safe operation of insulator has directly determined investment and the security level of whole system, for guaranteeing the electrical safety of ultra-high-tension power transmission line, in ultra-high-tension power transmission line operation, use after a period of time, the electric property that needs detection line, particularly the insulation safety performance of insulator, prevents the generation of the phenomenons such as short circuit or short circuit.
Different according to mounting structure, insulator chain can divide suspension insulator and level insulation substring, the shaft tower that bears wire tension that hangs wire or split conductor with strain insulator string is called anchor support, it is the pylon with the direction tractive wire of basic horizontal, certainly due to the impact of gravity, can abswolute level.Here said insulator chain is exactly level insulation substring substantially on anchor support.
The current domestic traditional detection mode that substantially still adopts artificial work high above the ground of detection operation for insulator chain, staff carries the instruments such as insulator detector and climbs up shaft tower, by string, detect all insulators on tower, this mode labour intensity is large, operation surrounding enviroment are severe, and live-working safety is low.
Along with the development of needs and the intelligent robot of hommization popularization of homework, at present, increasing intelligent robot is applied in power circuit polling or equipment Inspection.
Chinese patent CN101769971A discloses a kind of insulator detecting robot, comprise the first Athey wheel, casing, the second Athey wheel, displacement telescoping mechanism and probe driving mechanism, displacement telescoping mechanism is installed on casing, first and second Athey wheel is positioned at casing both sides, is hinged with displacement telescoping mechanism respectively, is connected with respectively first and second stroke sensor on first and second Athey wheel; The below of casing is provided with probe driving mechanism.Comprehensive analysis, this patent mainly contains following shortcoming: its travel mechanism adopts two Athey wheels to be erected at the form of two insulator strings, can only cannot detect detection level simply connected insulator chain along horizontal twin insulator strings walking, uses and has significant limitation.
Chinese patent CN102621425A 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, described Athey wheel, insulator charged detection instrument and Anti-fall protection mechanism are all arranged on rotation hold-fast body.Athey wheel links into an integrated entity with rotation hold-fast body, and becomes 120 degree evenly to encircle around insulator while moving in robot.Because rotation is held motor tightly and is continued to provide rotation enclasping force, larger to motor damage, meanwhile, three Athey wheels of robot, 120 degree are evenly encircled insulator, crank can form the trend that robot rotatablely moves around insulator, and its twisting resistance can cause crawler belt motor and hold-fast body are destroyed.
U.S. Patent Application Publication No. is: US2010/0100239A 1 discloses a kind of insulator chain and detected robot physical construction, robot body is along charged suspension insulator to-and-fro movement, comprise that upper and lower adjustable ring is around insulator bracket, be arranged on the driver module that robot body moves, 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 action and the damaged damaged probe unit of detection insulator.But, this patented claim mainly for be the detection of charged suspension insulator, when it moves on level insulation substring, because moving forward and backward the face difference of connect insulator sheet, its tire structure is connect insulator sheet bottom surface when inverted running, can cause the phenomenon that gets stuck, it cannot normally be moved on level insulation substring.
Two insulator strings of mean level duplex are because of alignment error, be not absolute symmetry, such as porcelain vase and the steel cap of the height of two insulator strings (dislocation up and down), two insulator strings not on a surface level do not line up (front-back staggered), even the centre distance of two insulator strings is different at two ends, V-shaped distribution, therefore the mechanism design across two insulator strings all will have the function of spacing, robot takes the situation that has deflection on two insulator strings, and probe swings and to have a side while detecting two insulator strings back and forth and beat less than steel cap, need to adjust detection position.So what the robot that single serial is walked mainly solved is equilibrium problem, does not produce deflection, be secondly to reach the standard grade simply, can detect single string or two string, travel mechanism is simple, smooth running etc.
Summary of the invention
Object of the present invention is exactly in order to address the above problem, provide a kind of improved horizontal simply connected insulator chain to detect robot, it is simple that it has principle, rational in infrastructure, easy to operate, security is good, little to insulator wearing and tearing, usable range is wide, can adaptation level simply connected and the band electro-detection operation advantage of horizontal twin insulator strings.
To achieve these goals, the present invention adopts following technical scheme:
A kind of improved horizontal simply connected insulator chain detects robot, comprise two pedrail mechanisms that are arranged symmetrically on horizontal insulator, two pedrail mechanisms interconnect, two pedrail mechanisms connect with corresponding balance device respectively, described balance device is arranged in the both sides of horizontal insulator, for reducing robot center of gravity and prevent robot deflection, described balance device comprises battery case, control box and other utility appliance, described control box is controlled pedrail mechanism and is advanced, balance device with described control box is provided with insulator charged detection instrument, described insulator charged detection instrument comprises the detector probe swinging back and forth.
Described pedrail mechanism comprises track support plate, and a side of track support plate is provided with drive motor and interior ring stand, and an other side is provided with handle and outer ring stand; Described interior ring stand and described outer ring stand are arcuate structure, one side of described interior ring stand is connected with track support plate, an other side of described interior ring stand is connected with the interior ring stand of another one pedrail mechanism, one side of described outer ring stand is connected with balance device, and an other side of described outer ring stand is connected with track support plate.
Described track support plate is I shape track support plate.
In described I shape track support plate, be respectively equipped with driving pulley, driven pulley, several bearings up pulley, some U-shaped plates and some transmission shafts, described stretching pulley is enclosed within on each self-corresponding transmission shaft, described transmission shaft two ends are arranged on each self-corresponding U-shaped plate, described U-shaped plate is located on the middle connecting plate of I shape track support plate by the guide column sleeve on U-shaped plate, described driving pulley and driven pulley are arranged on respectively the two ends in I shape track support plate, described driving pulley, the periphery of driven pulley and several bearings up pulley is wound with special-shaped Timing Belt, described drive motor is connected with described driving pulley.
Described pedrail mechanism is provided with crawler belt, described crawler belt is special-shaped Timing Belt, the internal tooth of described special-shaped Timing Belt is different with the height of external tooth, and the external tooth of described special-shaped Timing Belt is longer than internal tooth, and the contact length of the connect insulator of described special-shaped Timing Belt is greater than two and be less than three insulator axial lengths.
Described balance device comprises the first balance device and the second balance device,
Described the first balance device comprises the first lower ring plate, and one end of described the first lower ring plate is connected with pedrail mechanism by bearing pin, and other one end of described the first lower ring plate is connected with the upper end of battery case, and described the first lower ring plate is fixed on guide pole,
Described the second balance device comprises the second lower ring plate, and one end of described the second lower ring plate is connected with another one pedrail mechanism by bearing pin, and other one end of described the second lower ring plate is connected with the upper end of control box, and described the second lower ring plate is fixed on guide pole.
Described the first lower ring plate and the second lower ring plate are arc web joint.
Described the first lower ring plate and described the second lower ring plate be all by guide pole connect insulator surface, and the contact length on described guide pole connect insulator surface is greater than two and be less than three insulator axial lengths, and described guide pole is insulating material.
Described insulator charged detection instrument has one at least, and described insulator charged detection instrument also comprises detection probe and probe driving mechanism, and described probe driving mechanism drives detector probe to swing back and forth; Described detector probe has two at least, and the distance between adjacent detector probe is two insulator axial lengths, and described detection probe is arranged on balance device guide pole, is positioned in the middle of two insulator strings.
Described battery case comprises robot battery, and described battery case is provided with locating device, and described control box is provided with cradle head camera.
Described other utility appliance comprises any device that can lifting power effect.
Beneficial effect of the present invention:
1 the present invention is owing to adopting above-mentioned symmetrical structure, two crawler belt symmetries are encircled in insulator chain top, and motion continuity is good, and what its crawler belt adopted is different in nature Timing Belt, special external tooth structural design strengthens the ground ability of grabbing of robot, is particularly useful for the rough outer surface structure of insulator chain;
2 secondly, in robot, string operation is simple, security protection is good, adopt symmetrical articulated structure, convenient working personnel install and to reach the standard grade, and robot is in operation process, and center of gravity is arranged in below, robot is not deflected, guaranteed stability and the security of robot in mobile testing process;
3 pairs of insulator coating abrasions are little, short circuit insulator number is few, robot one-piece construction and insulator contact element are all selected insulating material, farthest avoid the wearing and tearing to antifouling flash coating layer on insulator porcelain patticoat, the length of robot and insulator sheet contact point is greater than two and be less than three insulator axial lengths, two insulators of maximum short circuits;
4 utilize resistance detection and electric field to detect two kinds of detection methods carries out the judgement of insulator quality, and accuracy of detection is high, and accuracy is high; Adaptability is wide, robot adopts many places hinged, and balance device has scalable regulatory function, make the adjustable diameter of encircling of robot, adapt to the insulator sheet of different disk tracks, in fact, robot not only can walk on horizontal simply connected insulator chain, and can on horizontal twin insulator strings, walk, do not become the impact of the horizontal twin insulator strings of V-type distribution, there is the feature of a tractor serves several purposes.
5 the present invention are designed to robot walking on single string and have first avoided spacing, and adaptability is high, can detect single string, also can a string walking on two strings detect two strings, are not subject to the dislocation up and down of two strings, front-back staggered, and the impact of V-type angle.
6 mechanism's openings are in bottom, directly from top to bottom be inserted in insulator chain, reach the standard grade simple to operate, bottom, both sides control box and battery case counterweight are identical, and center of gravity is in robot lower end, the stationarity that keeps robot, there is self-balancing ability, do not deflect, can be suitable for single string and two insulator string, because of hinged structures, can automatically adapt to the insulator of different disk track sizes.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention;
Fig. 2 is pedrail mechanism schematic diagram of the present invention;
Fig. 3 is track support plate schematic diagram of the present invention;
Fig. 4 is side view of the present invention.
Wherein: 1 special-shaped Timing Belt, 2 driven pulleys, 3 I shape track support plate, 4 interior ring stands, 5 stretching pulleys, 6 drive motor, 7 driving pulleys, 8 outer ring stands, 9 handles, 10 first pedrail mechanisms, 11 first bearing pins, 12 guide poles, 13 first lower ring plates, 14 detector probe, 15 control boxs, 16 probe driving mechanisms, 17 cradle head cameras, 18 insulator chains, 19 locating devices, 20 battery cases, 21 insulator charged detection instruments, 22 detection probe, 23 the 3rd bearing pins, 24 second bearing pins, 25 second pedrail mechanisms, 26 second lower ring plates.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
As shown in Figure 1, a kind of improved horizontal simply connected insulator chain detects robot, comprise two pedrail mechanisms that are arranged symmetrically in level insulation substring 18 tops, described two pedrail mechanisms comprise the first pedrail mechanism 10 and the second pedrail mechanism 25, described the first pedrail mechanism 10 and the second pedrail mechanism 25 interconnect, the first pedrail mechanism 10 is all connected with control box 15 with corresponding battery case 20 respectively by web member with the second pedrail mechanism 25, described battery case 20 and described control box 15 are arranged in the both sides of level insulation substring, for reducing robot center of gravity and prevent robot deflection, described web member is fixed on guide pole, described guide pole 12 connect insulator surfaces, robot moves along the direction of guide pole 12, the web member of described pedrail mechanism and described control box 15 is provided with insulator charged detection instrument 21, described insulator charged detection instrument 21 comprises probe driving mechanism 16 and detector probe 14, described probe driving mechanism 16 drives detector probe 14 to swing back and forth, described pedrail mechanism is provided with crawler belt, described crawler belt is special-shaped Timing Belt 1,
In control box 15, be provided with controller, described controller is controlled pedrail mechanism by circuit and is advanced on horizontal simply connected insulator, described controller is also connected with wireless data transfer module with insulator charged detection instrument 21 respectively, and insulator charged detection instrument 21 sends to control center by the data that detect by wireless data transfer module.
Described controller is also connected with cradle head camera 17 with locating device 19.
As shown in Figure 2, described pedrail mechanism comprises track support plate, and a side of track support plate is provided with drive motor 6 and interior ring stand 4, and an other side is provided with handle 9 and outer ring stand 8; Described track support plate is I shape track support plate 3; Described interior ring stand 4 and described outer ring stand 8 are arcuate structure, one side of described interior ring stand 4 is connected with track support plate, an other side of described interior ring stand 4 is connected with the interior ring stand 4 of another one pedrail mechanism, one side of described outer ring stand 8 is connected with balance device, and an other side of described outer ring stand 8 is connected with track support plate.
Described pedrail mechanism is provided with special-shaped Timing Belt 1, and the internal tooth of described special-shaped Timing Belt 1 is different with the height of external tooth, and the external tooth of described special-shaped Timing Belt 1 is longer than internal tooth, and the length of described special-shaped Timing Belt 1 is greater than two and be less than three insulator axial lengths.
As shown in Figure 3, in described I shape track support plate 3, be respectively equipped with driving pulley 7, driven pulley 2, several bearings up pulley 5, some U-shaped plates and some transmission shafts, described stretching pulley 5 is enclosed within on transmission shaft, described transmission shaft two ends are arranged on U-shaped plate, described U-shaped plate is located on the middle connecting plate of I shape track support plate 3 by the guide column sleeve on U-shaped plate, described driving pulley 7 and driven pulley 2 are arranged on respectively two ends between track support plate, described driving pulley 7, the periphery of driven pulley 2 and several bearings up pulley 5 is wound with special-shaped Timing Belt 1, described drive motor 6 is connected with described driving pulley 7.
Described balance device comprises the first balance device and the second balance device,
Described the first balance device comprises the first lower ring plate 13, one end of described the first lower ring plate 13 is connected with the first pedrail mechanism 10 by the second bearing pin 24, other one end of described the first lower ring plate 13 is connected with the upper end of battery case 20, and described the first lower ring plate 13 is fixed on guide pole 12
Described the second balance device comprises the second lower ring plate 26, one end of described the second lower ring plate 26 is connected with the second pedrail mechanism 25 by the 3rd bearing pin 23, other one end of described the second lower ring plate 26 is connected with the upper end of control box 15, and described the second lower ring plate 26 is fixed on another one guide pole
Described the first lower ring plate 13 and the second lower ring plate 26 are arc web joint.
Described guide pole 12 contacts with insulator sheet outside surface, and the length of contact is greater than two and be less than three insulator axial lengths, and described guide pole 12 is insulating material;
As shown in Figure 4, described insulator charged detection instrument 21 has one at least, be arranged on the second balance device, comprise probe driving mechanism 16, detector probe 14 and detection probe 22, described probe driving mechanism 16 drives detector probe 14 to swing back and forth, and described detector probe 14 has two at least, and the distance between adjacent detector probe 14 is two insulator axial lengths, described detection probe 22 is arranged on the second balance device guide pole, is positioned in the middle of two insulator strings.
Described battery case comprises robot battery, and described battery case is provided with locating device 19, and described control box is provided with cradle head camera 17.
The present invention walks on level insulation substring 18, as shown in Figure 1, comprise the first pedrail mechanism 10 and the second pedrail mechanism 25, the first balance device being arranged symmetrically with and the second balance device, at least one insulator charged detection instrument 21 and the control box 15 being arranged symmetrically with.The first pedrail mechanism 10 and the second pedrail mechanism 25 are symmetrically distributed in insulator chain 18 tops hinged by the first bearing pin 11.The first balance device and the second balance device are symmetrically distributed in insulator chain 18 both sides, the first balance device is connected with the first pedrail mechanism 10 by the second bearing pin 24, the second balance device is connected with the second pedrail mechanism 25 by the 3rd bearing pin 23, locating device 19 is installed on battery case 20, cradle head camera 17 is installed on control box 15.Insulator charged detection instrument 21 is arranged on the second balance device, insulator charged detection instrument 21 is comprised of probe driving mechanism 16, detector probe 14 and detection probe 22, probe driving mechanism 16 drives detector probe 14 to swing back and forth, beat respectively on the steel cap of left and right two insulator chains 18, detection probe 22 is positioned in the middle of two insulator strings.
As shown in Figure 2, the first pedrail mechanism 10 and the second pedrail mechanism 25 include special-shaped Timing Belt 1, driven pulley 2, I shape track support plate 3, interior ring stand 4, stretching pulley 5, drive motor 6, driving pulley 7, outer ring stand 8 and handle 9.Drive motor 6 is arranged on I shape track support plate 3 outsides, by motor shaft, drive the driving pulley 7 of I shape track support plate 3 inner side front ends to rotate, driving pulley 7 coordinates with special-shaped Timing Belt 1, and the driven pulley 2 that is arranged on I shape track support plate 3 rear ends, inner side also coordinates with special-shaped Timing Belt 1.Interior ring stand 4 is fixed on I shape track support plate 3 one end, outside, and hinged with the interior ring stand 4 of symmetrical pedrail mechanism by the first bearing pin 11, outer ring stand 8 is fixed on the I shape track support plate 3 outside other ends, hinged by the second bearing pin 24 and the first balance device.Stretching pulley 5 is arranged on I shape track support plate 3 inner lower, and can up-down adjustment, and handle 9 is arranged on I shape track support plate 3 one end, outside.
Principle of work of the present invention:
When the present invention does not reach the standard grade operation, robot is in off working state, because each pin joint is in can free movement state, need each pin joint to be fixed, prevent that robot is freely movable at hinge portion, arbitrary deformation occurs, now each pin joint is undertaken radially hinged by small clevis pin with head, can prevent that articulated elements from rotating around bearing pin, guarantee moulding and the stability of robot, detector probe 14 is in position as shown in Figure 1 simultaneously.
When robot reaches the standard grade, robot is directly socketed in to insulator outside from top to down, the small clevis pin with head of all pin joints is extracted, each pin joint is in free movement state, robot insulator chain 18 outside surfaces of can freely fitting, simultaneously under Action of Gravity Field, battery case 20 and control box 15 can be in insulator chain 18 belows, and two pedrail mechanisms are positioned at insulator chain 18 tops.
At machine man-hour, drive motor 6 drive motor axle rotations, by driving pulley 7, driven pulley 2, drive special-shaped Timing Belt 1 to move along insulator chain 18 surfaces, particular design due to special-shaped Timing Belt 1 external tooth, increased the ground ability of grabbing of robot, larger than flat rubber belting or general bilateral tooth Timing Belt friction force, be particularly useful for the rough outer surface structure of insulator chain 18.The length of abnormity Timing Belt 1 and guide pole 12 is greater than two and be less than three insulator axial lengths, two insulators of maximum short circuits, and its material is insulating material, can at utmost avoid the wearing and tearing to antifouling flash coating layer on insulator porcelain patticoat.
Robot is on insulator chain during continuous moving, it is start detection program that locating device 19 detects insulator chain detection position, now robot stops on detection position, the probe driving mechanism 16 that in control box 15, detection system control panel sends on signal controlling insulator charged detection instrument 21 drives detector probe 14 to swing, before and after making, two probes are beaten respectively on adjacent two insulator sheet steel caps, at the same time, in control box 15, detection system detects insulator and records numerical value, detect complete record after numerical value by signal feedback to control panel, control panel sends signal controlling probe driving mechanism 16 and drives detector probe 14 to return to initial position.When carrying out horizontal twin insulator strings detection, at every turn in detection position, probe left and right swings back and forth twice, can complete the detection operation to two insulator string strings.Mobile and detect in operation process, cradle head camera 17 can to the breakage on detection position, robot moving direction, insulator chain surface, crackle and around gold utensil monitor, grasp in real time the ruuning situation of robot.
Robot, except being undertaken resistance detection by detector probe 14, also can utilize 22 pairs of insulator chains of detection probe to carry out electric field detection.Robot is continuous moving on insulator chain, locating device 19 detects after insulator chain initial position, start detection program, detection probe 22 induction insulator chains are electric field carry out signal transmission around, and detection system synchronous recording numerical value in control box 15 is until detect complete.
After detecting operation and all finishing, robot is got from insulator chain 18, and then each pin joint is undertaken radially hinged by small clevis pin with head, check that whether each parts are normal, deenergization.
The present invention adopts crawler belt continous way travel mechanism; translational speed is fast, and the polymorphic structure of Timing Belt makes robot strengthen the ground effect of grabbing of insulator chain, prevents from skidding; little to insulator wearing and tearing, short circuit insulator is few; security protection is good, and upper string operation is simple, and translational speed is steady; probe overlap joint is reliable; detect accurately, can be adapted to the insulator chain of different disk track sizes, can be applicable to the band electro-detection operation of horizontal simply connected and horizontal twin insulator strings.
Although above-mentioned, by reference to the accompanying drawings the specific embodiment of the present invention is described; but be 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 modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (10)
1. an improved horizontal simply connected insulator chain detects robot, it is characterized in that, comprise two pedrail mechanisms that are arranged symmetrically on horizontal insulator, two pedrail mechanisms interconnect, two pedrail mechanisms connect with corresponding balance device respectively, described balance device is arranged in the both sides of horizontal insulator, for reducing robot center of gravity and prevent robot deflection, described balance device comprises battery case, control box and other utility appliance, described control box is controlled pedrail mechanism and is advanced, balance device with described control box is provided with insulator charged detection instrument, described insulator charged detection instrument comprises the detector probe swinging back and forth.
2. a kind of improved horizontal simply connected insulator chain as claimed in claim 1 detects robot, it is characterized in that, described pedrail mechanism comprises track support plate, and a side of track support plate is provided with drive motor and interior ring stand, and an other side is provided with handle and outer ring stand; Described interior ring stand and described outer ring stand are arcuate structure, one side of described interior ring stand is connected with track support plate, an other side of described interior ring stand is connected with the interior ring stand of another one pedrail mechanism, one side of described outer ring stand is connected with balance device, and an other side of described outer ring stand is connected with track support plate.
3. a kind of improved horizontal simply connected insulator chain as claimed in claim 2 detects robot, it is characterized in that, described track support plate is I shape track support plate.
4. a kind of improved horizontal simply connected insulator chain as claimed in claim 3 detects robot, it is characterized in that, in described I shape track support plate, be respectively equipped with driving pulley, driven pulley, several bearings up pulley, some U-shaped plates and some transmission shafts, described stretching pulley is enclosed within on each self-corresponding transmission shaft, described transmission shaft two ends are arranged on each self-corresponding U-shaped plate, described U-shaped plate is located on the middle connecting plate of I shape track support plate by the guide column sleeve on U-shaped plate, described driving pulley and driven pulley are arranged on respectively the two ends in I shape track support plate, described driving pulley, the periphery of driven pulley and several bearings up pulley is wound with special-shaped Timing Belt, described drive motor is connected with described driving pulley.
5. a kind of improved horizontal simply connected insulator chain as claimed in claim 1 detects robot, it is characterized in that, described pedrail mechanism is provided with crawler belt, described crawler belt is special-shaped Timing Belt, the internal tooth of described special-shaped Timing Belt is different with the height of external tooth, the external tooth of described special-shaped Timing Belt is longer than internal tooth, and the contact length of the connect insulator of described special-shaped Timing Belt is greater than two and be less than three insulator axial lengths.
6. a kind of improved horizontal simply connected insulator chain as claimed in claim 1 detects robot, it is characterized in that, described balance device comprises the first balance device and the second balance device,
Described the first balance device comprises the first lower ring plate, and one end of described the first lower ring plate is connected with pedrail mechanism by bearing pin, and other one end of described the first lower ring plate is connected with the upper end of battery case, and described the first lower ring plate is fixed on guide pole,
Described the second balance device comprises the second lower ring plate, and one end of described the second lower ring plate is connected with another one pedrail mechanism by bearing pin, and other one end of described the second lower ring plate is connected with the upper end of control box, and described the second lower ring plate is fixed on guide pole.
7. a kind of improved horizontal simply connected insulator chain as claimed in claim 6 detects robot, it is characterized in that, described the first lower ring plate and the second lower ring plate are arc web joint.
8. a kind of improved horizontal simply connected insulator chain as claimed in claim 6 detects robot, it is characterized in that, described the first lower ring plate and described the second lower ring plate are all by guide pole connect insulator surface, the contact length on described guide pole connect insulator surface is greater than two and be less than three insulator axial lengths, and described guide pole is insulating material.
9. a kind of improved horizontal simply connected insulator chain as claimed in claim 1 detects robot, it is characterized in that, described insulator charged detection instrument has one at least, described insulator charged detection instrument also comprises detection probe and probe driving mechanism, and described probe driving mechanism drives detector probe to swing back and forth; Described detector probe has two at least, and the distance between adjacent detector probe is two insulator axial lengths, and described detection probe is arranged on balance device guide pole, is positioned in the middle of two insulator strings.
10. a kind of improved horizontal simply connected insulator chain as claimed in claim 1 detects robot, it is characterized in that, described battery case comprises robot battery, and described battery case is provided with locating device, and described control box is provided with cradle head camera.
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| CN201410416200.5A CN104198848B (en) | 2014-08-22 | 2014-08-22 | A kind of improved horizontal simply connected insulator chain detection robot |
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| CN201410416200.5A CN104198848B (en) | 2014-08-22 | 2014-08-22 | A kind of improved horizontal simply connected insulator chain detection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113640623A (en) * | 2021-03-09 | 2021-11-12 | 国网冀北电力有限公司技能培训中心 | Flexible crawler-type power transmission line insulator degradation detection device and method |
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| CN102608474A (en) * | 2012-04-01 | 2012-07-25 | 山东鲁能智能技术有限公司 | Robot for electrified detection insulator string |
| 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 |
| CN204008927U (en) * | 2014-08-22 | 2014-12-10 | 国家电网公司 | A kind of improved horizontal simply connected insulator chain detects robot |
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| CN113640623A (en) * | 2021-03-09 | 2021-11-12 | 国网冀北电力有限公司技能培训中心 | Flexible crawler-type power transmission line insulator degradation detection device and method |
| CN113640623B (en) * | 2021-03-09 | 2024-05-17 | 国网冀北电力有限公司技能培训中心 | Device and method for detecting degradation of insulator of flexible crawler-type power transmission line |
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