CN104198848B - A kind of improved horizontal simply connected insulator chain detection robot - Google Patents
A kind of improved horizontal simply connected insulator chain detection robot Download PDFInfo
- Publication number
- CN104198848B CN104198848B CN201410416200.5A CN201410416200A CN104198848B CN 104198848 B CN104198848 B CN 104198848B CN 201410416200 A CN201410416200 A CN 201410416200A CN 104198848 B CN104198848 B CN 104198848B
- Authority
- CN
- China
- Prior art keywords
- insulator
- bascule
- robot
- plate
- detection
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
- 239000012212 insulator Substances 0.000 title claims abstract description 140
- 238000001514 detection method Methods 0.000 title claims abstract description 94
- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 239000000523 sample Substances 0.000 claims abstract description 51
- 230000005484 gravity Effects 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000004323 axial length Effects 0.000 claims description 9
- 238000009413 insulation Methods 0.000 claims description 9
- 239000011810 insulating material Substances 0.000 claims description 5
- 210000001138 tear Anatomy 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 239000000725 suspension Substances 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 229910052573 porcelain Inorganic materials 0.000 description 3
- 230000003373 anti-fouling effect Effects 0.000 description 2
- 239000011247 coating layer Substances 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000012211 strain insulator Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Abstract
The invention discloses the improved horizontal simply connected insulator chain detection robot of one kind, including two pedrail mechanisms being arranged symmetrically on horizontal insulator, two pedrail mechanisms are connected with each other, two pedrail mechanisms are respectively connected with corresponding bascule, the bascule is arranged in the both sides of horizontal insulator, for reducing robot center of gravity and preventing robot from deflecting, the bascule includes battery case, control cabinet and other auxiliary equipments, the control cabinet control pedrail mechanism is advanced, bascule with the control cabinet is provided with insulator charged detection instrument, the insulator charged detection instrument includes the detection probe swung back and forth.The present invention is rational in infrastructure, and easy to operate, security is good, weares and teares small to insulator, wide using scope, can adapt to the live detection operation of horizontal simply connected and horizontal twin insulator strings.
Description
Technical field
The present invention relates to the improved horizontal simply connected insulator chain detection robot of one kind.
Background technology
With continuing to develop for China's power system, power grid security, stable operation are increasingly taken seriously.Especially in recent years
Come greatly develop super-pressure, in system for ultra-high voltage transmission, the safe operation of insulator directly determines the investment of whole system
And level of security, to ensure the electrical safety of ultra-high-tension power transmission line, in ultra-high-tension power transmission line operation using after a period of time, it is necessary to
The insulation safety performance of the electric property, particularly insulator of circuit is detected, the generation of the phenomenons such as short circuit or short circuit is prevented.
Different according to mounting structure, insulator chain can divide suspension insulator and level insulation substring, use strain insulator
The shaft tower for the bearing wire tension referred to as anchor support of string suspension wire or split conductor, is to pull wire with generally horizontal direction
Pylon, will not abswolute level certainly due to the influence of gravity.Insulator chain mentioned here, on anchor support substantially
It is level insulation substring.
Detection operation currently for insulator chain is domestic substantially still using the traditional detection mode of artificial work high above the ground,
Staff carries the instruments such as insulator detector and climbs up shaft tower, and by insulator all on string detection tower, this mode is worked
Intensity is big, operation surrounding enviroment are severe, and live-working safety is low.
With intelligence machine man-based development the need for hommization popularization of homework, at present, increasing intelligent robot
Applied on power circuit polling or equipment detection.
Chinese patent CN101769971A discloses a kind of insulator detecting robot, including the first Athey wheel, casing,
Displacement telescoping mechanism, first and second Athey wheel position are installed on two Athey wheels, displacement telescoping mechanism and probe drive mechanism, casing
It is hinged in casing both sides, respectively with displacement telescoping mechanism, first and second stroke sensing is connected on first and second Athey wheel
Device；The lower section of casing is provided with probe drive mechanism.Comprehensive analysis, this patent mainly has a disadvantage that：Its walking mechanism uses two
Individual Athey wheel is erected at the form of two insulator strings, can only be walked along horizontal twin insulator strings, it is impossible to detect detection level list
Join insulator chain, using with significant limitation.
Chinese patent CN102621425A discloses a kind of horizontal insulator string live-wire detection robot, including some crawler belts
Wheel, some rotation hold-fast bodies, at least one insulator charged detection instrument and some Anti-fall protection mechanisms, the Athey wheel,
Insulator charged detection instrument and Anti-fall protection mechanism may be contained within rotation hold-fast body.Athey wheel connects with rotation hold-fast body
One is connected into, and is uniformly encircled when robot is run into 120 degree around insulator.Motor is held tightly due to rotation persistently to carry
For rotation enclasping force, to motor damage than larger, meanwhile, three, robot, 120 degree of Athey wheel uniformly encircles insulator, and center of gravity is not
Trend of the robot around insulator rotary motion can be surely formed, its twisting resistance can be caused to crawler belt motor and hold-fast body destruction.
U.S. Patent Application Publication No. is：It is man-machine that US2010/0100239A 1 discloses a kind of insulator chain detection machine
Tool structure, robot body is moved back and forth along powered suspension insulator, including adjustable ring, around insulator bracket, is installed up and down
Drive module, electronic detecting module in robot body movement, for connect robot body and installation feel trim actuator
Link block, the switch wing module for manually removing robot from insulator, the measurement module of both sides insulator electrical characteristics, control
The controller of robot motion processed and the defect probe unit for detecting insulator defect.But, the patent application mainly for
Be powered suspension insulator detection, it is when level insulation substring moves up dynamic, because of movable contact sub-pieces
Face is different, and its tire structure contacts sub-pieces bottom surface in inverted running, can cause the phenomenon that gets stuck, and makes it in horizontal insulator
Can not normally it be run on string.
Two insulator strings of mean level duplex are because of alignment error, and it is in absolute symmetry not to be, such as two insulator strings
Height (misplacing up and down), the porcelain vase of two insulator strings and steel cap not on a horizontal plane are not lined up (front-back staggered), or even two
The centre-to-centre spacing of insulator string is different, V-shaped distribution at two ends, therefore will have tune across the mechanism design of two insulator strings
Internode away from function, robot takes the situation that deflection is had on two insulator strings, and probe swings the string of detection two insulation back and forth
The period of the day from 11 p.m. to 1 a.m has side and beaten less than steel cap, it is necessary to adjust test position.So what single robot serially walked mainly solved is balance
Problem, deflection is not produced, next to that it is simple to reach the standard grade, and can detect single string or double strings, walking mechanism simply, smooth running etc..
The content of the invention
The purpose of the present invention is exactly that there is provided the improved horizontal simply connected insulator chain detection machine of one kind in order to solve the above problems
Device people, it has principle simple, and rational in infrastructure, easy to operate, security is good, weares and teares small to insulator, wide using scope, can
The live detection operation advantage of adaptation level simply connected and horizontal twin insulator strings.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of improved horizontal simply connected insulator chain detection robot, including two be arranged symmetrically on horizontal insulator
Pedrail mechanism, two pedrail mechanisms are connected with each other, and two pedrail mechanisms are respectively connected with corresponding bascule, the balance
Device is arranged in the both sides of horizontal insulator, for reducing robot center of gravity and preventing robot from deflecting, the balance dress
Put including battery case, control cabinet and other auxiliary equipments, the control cabinet control pedrail mechanism is advanced, with the control cabinet
Bascule is provided with insulator charged detection instrument, and the insulator charged detection instrument includes the detection probe swung back and forth.
The pedrail mechanism includes track support plate, and the side of track support plate is provided with motor and interior ring stand, separately
Outer side is provided with handle and outer ring stand；The interior ring stand and the outer ring stand are arcuate structure, the side of the interior ring stand
It is connected with track support plate, the other side of the interior ring stand is connected with the interior ring stand of another pedrail mechanism, the outer shroud
The side of frame is connected with bascule, and the other side of the outer ring stand is connected with track support plate.
The track support plate is I-shaped track support plate.
Driving pulley, driven pulley, some tensioning wheels, some U-shaped plates are respectively equipped with the I-shaped track support plate
With some power transmission shafts, the tensioning wheel is enclosed on each self-corresponding power transmission shaft, and the power transmission shaft two ends are arranged at each self-corresponding U
On template, the U-shaped plate is set in by the guide pillar on U-shaped plate on the middle connecting plate of I-shaped track support plate, the master
Movable belt pulley and driven pulley are separately mounted to the two ends in I-shaped track support plate, if the driving pulley, driven pulley and
The outer of dry tensioning wheel is surrounded with special-shaped timing belt, and the motor is connected with the driving pulley.
The pedrail mechanism is provided with crawler belt, and the crawler belt is special-shaped timing belt, the internal tooth of the special-shaped timing belt and outer
The height of tooth is different, and the external tooth of the special-shaped timing belt is longer than internal tooth, the contact length of the contact insulator of the special-shaped timing belt
More than two panels and less than three insulator axial lengths.
The bascule includes the first bascule and the second bascule,
First bascule includes the first lower ring plate, and one end of first lower ring plate passes through bearing pin and pedrail mechanism
Connection, the other end of first lower ring plate and the upper end of battery case are connected, and first lower ring plate is fixed on the guide bar,
Second bascule includes the second lower ring plate, and one end of second lower ring plate passes through bearing pin and another
Pedrail mechanism is connected, and the other end of second lower ring plate and the upper end of control cabinet are connected, and second lower ring plate is fixed on
On guide rod.
First lower ring plate and the second lower ring plate are arc pressuring plate.
First lower ring plate and second lower ring plate contact insulator surface by guide rod, and the guide rod connects
The contact length for touching insulator surface is more than two panels and less than three insulator axial lengths, and the guide rod is insulating materials.
The insulator charged detection instrument at least one, the insulator charged detection instrument also include detection probe and spy
Needle drive mechanism, the probe driving mechanism drives detection probe to swing back and forth；The detection probe at least two, adjacent inspection
The distance between probing pin is two panels insulator axial length, and the detection probe is arranged on bascule guide rod, is located at
In the middle of two insulator strings.
The battery case includes robot battery, and the battery case is provided with positioner, and the control cabinet is provided with cloud
Platform camera.
Other auxiliary equipments include any device for being capable of lifting power effect.
Beneficial effects of the present invention：
1 present invention is due to using above-mentioned symmetrical structure, and two crawler belts are symmetrically encircled above insulator chain, motion continuity
Good, its crawler belt uses different in nature timing belt, and special external tooth structure design strengthens the ground ability of grabbing of robot, especially suitable
In the rough outer surface structure of insulator chain；
2 secondly, and string operation is simple in robot, and security protection is good, using symmetrical articulated structure, convenient working personnel peace
Line is loaded onto, and robot, in operation process, center of gravity is arranged in bottom, robot is not deflected, it is ensured that machine
Stability and security of the people in mobile detection process；
3 pairs of insulator coating abrasions are small, and short circuit insulator number is few, and robot overall structure is selected with insulator contact
With insulating materials, the abrasion to antifouling flash coating layer on insulator porcelain patticoat is farthest avoided, robot is contacted with sub-pieces
The length of point is more than two panels and less than three insulator axial lengths, most short circuit two panels insulators；
4 detect that two kinds of detection methods carry out the good and bad judgement of insulator using resistance detection and electric field, and accuracy of detection is high, accurate
Exactness is high；Adaptability is wide, and robot is hinged using many places, and bascule has telescopically adjustable function, makes robot can
Diameter is encircled in regulation, adapts to the sub-pieces in different disk footpaths, in fact, robot not only can be up in horizontal simply connected insulator chain
Walk, and can be walked on horizontal twin insulator strings, do not influenceed by into the horizontal twin insulator strings that V-type is distributed, had
The characteristics of having a tractor serves several purposes.
5 present invention are designed to that robot walks on singly string and avoid regulation spacing first, and adaptability is high, can detect
It is single to go here and there, also can be in the double strings of the walking detection of a string of on double strings, not by the shadow of dislocation, front-back staggered, and V-type angle above and below double strings
Ring.
6 mechanism openings are directly from top to bottom inserted in insulator chain in bottom, reach the standard grade simple to operate, the control of both sides bottom
Case and battery case counterweight are identical, and center of gravity keeps the stationarity of robot, with self-balancing ability, do not occurred in robot lower end
Deflection, can be applicable single string and double insulator string, because of hinged structures, the insulator of different disk footpaths size can be adapted to automatically.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the invention；
Fig. 2 is pedrail mechanism schematic diagram of the invention；
Fig. 3 is track support plate schematic diagram of the invention；
Fig. 4 is side view of the invention.
Wherein：1 special-shaped timing belt, 2 driven pulleys, 3 I-shaped track support plates, 4 interior ring stands, 5 tensioning wheels, 6 driving electricity
Machine, 7 driving pulleys, 8 outer ring stands, 9 handles, 10 first pedrail mechanisms, 11 first bearing pins, 12 guide rods, 13 first lower ring plates, 14
Detection probe, 15 control cabinets, 16 probe driving mechanisms, 17 cradle head cameras, 18 insulator chains, 19 positioners, 20 battery cases,
21 insulator charged detection instruments, 22 detection probes, 23 the 3rd bearing pins, 24 second bearing pins, 25 second pedrail mechanisms, 26 second time ring
Plate.
Embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of improved horizontal simply connected insulator chain detection robot, including it is arranged symmetrically in level insulation
Two pedrail mechanisms of the top of substring 18, described two pedrail mechanisms include the first pedrail mechanism 10 and the second pedrail mechanism 25,
The pedrail mechanism 25 of first pedrail mechanism 10 and second is connected with each other, and the first pedrail mechanism 10 and the second pedrail mechanism 25 lead to
Cross connector to connect with corresponding battery case 20 and control cabinet 15 respectively, the battery case 20 and the control cabinet 15 are respectively arranged
In the both sides of level insulation substring, for reducing robot center of gravity and preventing robot from deflecting, the connector is fixed on guiding
On bar, the guide rod 12 contacts insulator surface, and robot is moved in the direction along guide rod 12, the pedrail mechanism and institute
The connector for stating control cabinet 15 is provided with insulator charged detection instrument 21, and the insulator charged detection instrument 21 includes probe actuation
Mechanism 16 and detection probe 14, the probe driving mechanism 16 drive detection probe 14 to swing back and forth, and are set on the pedrail mechanism
There is crawler belt, the crawler belt is special-shaped timing belt 1；
Controller is provided with control cabinet 15, the controller controls pedrail mechanism on horizontal simply connected insulator by circuit
Advance, the controller is also connected with insulator charged detection instrument 21 and wireless data transfer module respectively, insulator charged inspection
Survey instrument 21 and the data detected are sent to control centre by wireless data transfer module.
The controller is also connected with positioner 19 and cradle head camera 17.
As shown in Fig. 2 the pedrail mechanism includes track support plate, the side of track support plate is provided with motor 6
With interior ring stand 4, other side is provided with handle 9 and outer ring stand 8；The track support plate is I-shaped track support plate 3；It is described
Interior ring stand 4 and the outer ring stand 8 are arcuate structure, and the side of the interior ring stand 4 is connected with track support plate, the interior ring stand
4 other side is connected with the interior ring stand 4 of another pedrail mechanism, and the side of the outer ring stand 8 is connected with bascule, institute
The other side for stating outer ring stand 8 is connected with track support plate.
The pedrail mechanism is provided with special-shaped timing belt 1, and the internal tooth of the special-shaped timing belt 1 is high different with external tooth, described
The external tooth of special-shaped timing belt 1 is longer than internal tooth, and the length of the special-shaped timing belt 1 is more than two panels and less than three insulators are axially long
Degree.
As shown in figure 3, being respectively equipped with driving pulley 7, driven pulley 2, some tensionings in the I-shaped track support plate 3
Wheel 5, some U-shaped plates and some power transmission shafts, the tensioning wheel 5 are enclosed on power transmission shaft, and the power transmission shaft two ends are arranged at U-shaped plate
On, the U-shaped plate is set in by the guide pillar on U-shaped plate on the middle connecting plate of I-shaped track support plate 3, the main belt
Wheel 7 and driven pulley 2 are separately mounted to end between two track support plates, if the driving pulley 7, driven pulley 2 and
The outer of dry tensioning wheel 5 is surrounded with special-shaped timing belt 1, and the motor 6 is connected with the driving pulley 7.
The bascule includes the first bascule and the second bascule,
First bascule includes the first lower ring plate 13, and one end of first lower ring plate 13 passes through the second bearing pin 24
It is connected with the first pedrail mechanism 10, the other end of first lower ring plate 13 is connected with the upper end of battery case 20, described first
Lower ring plate 13 is fixed on guide rod 12,
Second bascule includes the second lower ring plate 26, and one end of second lower ring plate 26 passes through the 3rd bearing pin 23
It is connected with the second pedrail mechanism 25, the other end of second lower ring plate 26 is connected with the upper end of control cabinet 15, described second
Lower ring plate 26 is fixed on another guide rod,
The lower ring plate 26 of first lower ring plate 13 and second is arc pressuring plate.
The guide rod 12 is contacted with sub-pieces outer surface, and the length of contact is more than two panels and less than three insulator axles
To length, the guide rod 12 is insulating materials；
As shown in figure 4, the insulator charged detection instrument 21 at least one, be arranged on the second bascule, including
Probe driving mechanism 16, detection probe 14 and detection probe 22, the probe driving mechanism 16 drive detection probe 14 to carry out backswing
Dynamic, the detection probe 14 at least two, the distance between adjacent detection probe 14 is two panels insulator axial length, described
Detection probe 22 is arranged on the second bascule guide rod, in the middle of two insulator strings.
The battery case includes robot battery, and the battery case is provided with positioner 19, and the control cabinet is installed
There is cradle head camera 17.
The present invention walks on level insulation substring 18, as shown in figure 1, including the He of the first pedrail mechanism 10 being arranged symmetrically
Second pedrail mechanism 25, the first bascule being arranged symmetrically and the second bascule, at least one insulator charged detection instrument
21 and control cabinet 15.First pedrail mechanism 10 and the second pedrail mechanism 25 are symmetrically distributed in the top of insulator chain 18 and by first
Bearing pin 11 is hinged.First bascule and the second bascule are symmetrically distributed in the both sides of insulator chain 18, and the first bascule leads to
Cross the second bearing pin 24 to be connected with the first pedrail mechanism 10, the second bascule is connected by the 3rd bearing pin 23 with the second pedrail mechanism 25
Connect, be provided with battery case 20 on positioner 19, control cabinet 15 and cradle head camera 17 is installed.Insulator charged detection instrument 21
On the second bascule, insulator charged detection instrument 21 is by probe driving mechanism 16, detection probe 14 and detection probe
22 compositions, probe driving mechanism 16 drives detection probe 14 to swing back and forth, beaten respectively on the steel cap of the insulator chain 18 of left and right two,
Detection probe 22 is located in the middle of two insulator strings.
As shown in Fig. 2 the first pedrail mechanism 10 and the second pedrail mechanism 25 include special-shaped timing belt 1, driven pulley 2,
I-shaped track support plate 3, interior ring stand 4, tensioning wheel 5, motor 6, driving pulley 7, outer ring stand 8 and handle 9.Motor
6 are arranged on the I-shaped outside of track support plate 3, and the main belt of the I-shaped inside front ends of track support plate 3 is driven by motor shaft
Wheel 7 is rotated, and driving pulley 7 coordinates with special-shaped timing belt 1, the driven pulley 2 installed in the I-shaped inner side rear end of track support plate 3
Also coordinate with special-shaped timing belt 1.Interior ring stand 4 is fixed on the I-shaped lateral ends of track support plate 3, by the first bearing pin 11 with it is right
The interior ring stand 4 of pedrail mechanism is claimed to be hinged, outer ring stand 8 is fixed on the I-shaped outside other end of track support plate 3, passes through the second bearing pin
24 are hinged with the first bascule.Tensioning wheel 5 is arranged on the I-shaped inner lower of track support plate 3, and can adjust up and down, handle
9 are arranged on the I-shaped lateral ends of track support plate 3.
The operation principle of the present invention：
The present invention without reach the standard grade operation when, robot be in off working state, due to each pin joint be in can freely live
Dynamic state, then need that each pin joint is fixed, and prevents robot from, in hinge portion freely activity, occurring arbitrary deformation, this
When by each pin joint by small clevis pin with head carry out radially be hinged, then can prevent articulated elements around bearing pin rotation, it is ensured that robot makes
Type and stability, while detection probe 14 is in position as shown in Figure 1.
When robot reaches the standard grade, robot is directly socketed in from top to down on the outside of insulator, the small pin of all pin joints
Axle is extracted, then each pin joint is in free movement state, and robot can freely fit the outer surface of insulator chain 18, while in gravity
Under effect, battery case 20 and control cabinet 15 can be in the bottom of insulator chain 18, and two pedrail mechanisms are located at the top of insulator chain 18.
In machine man-hour, the rotation of the motor axle of motor 6 is driven different by driving pulley 7, driven pulley 2
Shape timing belt 1 is moved along the surface of insulator chain 18, due to the particular design of the special-shaped external tooth of timing belt 1, increases robot
Grab ground ability, bigger than flat rubber belting or general bilateral toothed timing frictional force, the insulator chain 18 that is particularly suitable for use in is rough outer
Surface texture.The length of special-shaped timing belt 1 and guide rod 12 is more than two panels and less than three insulator axial lengths, at most only short
Two panels insulator is connect, its material is insulating materials, can at utmost avoid the abrasion to antifouling flash coating layer on insulator porcelain patticoat.
Robot is on insulator chain during continuous moving, and positioner 19 detects insulator chain test position and starts inspection
Ranging sequence, now robot stop in test position, in control cabinet 15 detecting system control panel send signal control insulator
Probe driving mechanism 16 on live detection instrument 21 drives detection probe 14 to swing, and front and rear two probes is beaten respectively adjacent two
On sub-pieces steel cap, at the same time, detecting system detects insulator and records numerical value in control cabinet 15, and detection finishes record number
Control panel is fed back to by signal after value, control panel send signal control probe driving mechanism 16 drive detection probe 14 recover to
Initial position.When carrying out horizontal twin insulator strings detection, every time in test position, probe or so swings back and forth twice, i.e.,
The detection operation to two insulator string strings can be completed.During movement and detection operation, cradle head camera 17 can be to detecting position
Put, robot moving direction, the breakage on insulator chain surface, crackle and surrounding gold utensil are monitored, and robot is grasped in real time
Running situation.
Robot also carries out electricity using detection probe 22 in addition to resistance detection is carried out with detection probe 14 to insulator chain
Field detection.Robot continuous moving on insulator chain, positioner 19 is detected after insulator chain initial position, starts detection
Program, the sensing insulator chain surrounding electric field of detection probe 22 simultaneously carries out detecting system synchronous recording in signal transmission, control cabinet 15
Numerical value is until detection is finished.
After detection operation all terminates, robot is taken from insulator chain 18, each pin joint is then passed through into small clevis pin with head again
Radially be hinged, check whether each part is normal, deenergization.
The present invention is using crawler belt continous way travel mechanism, and translational speed is fast, and the polymorphic structure of timing belt makes robot to exhausted
The ground effect of grabbing of edge substring strengthens, and prevents from skidding, wearing and tearing to insulator, small, short circuit insulator is few, and security protection is good, upper string behaviour
Make simple, translational speed is steady, probe overlap joint is reliable, and detection is accurate, is adaptable to the insulator chain of different disk footpaths size, can answer
Live detection operation for horizontal simply connected and horizontal twin insulator strings.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deform still within protection scope of the present invention that creative work can make.
Claims (8)
1. a kind of improved horizontal simply connected insulator chain detection robot, it is characterized in that, including it is arranged symmetrically in horizontal insulator
On two pedrail mechanisms, two pedrail mechanisms are connected with each other, and two pedrail mechanisms are respectively connected with corresponding bascule,
The bascule is arranged in the both sides of horizontal insulator, for reducing robot center of gravity and preventing robot from deflecting, institute
Stating bascule includes battery case, control cabinet and other auxiliary equipments, and the control cabinet control pedrail mechanism is advanced, with described
The bascule of control cabinet is provided with insulator charged detection instrument, and the insulator charged detection instrument includes the detection swung back and forth
Probe；The pedrail mechanism includes track support plate, and the side of track support plate is provided with motor and interior ring stand, and in addition one
Side is provided with handle and outer ring stand；The interior ring stand and the outer ring stand are arcuate structure, the side of the interior ring stand and shoe
Band supporting plate connection, the other side of the interior ring stand is connected with the interior ring stand of another pedrail mechanism, the outer ring stand
Side is connected with bascule, and the other side of the outer ring stand is connected with track support plate；The battery case includes robot
Battery, the battery case is provided with positioner, and the control cabinet is provided with cradle head camera.
2. a kind of improved horizontal simply connected insulator chain detection robot as claimed in claim 1, it is characterized in that, the crawler belt
Supporting plate is I-shaped track support plate.
3. a kind of improved horizontal simply connected insulator chain detection robot as claimed in claim 2, it is characterized in that, the I-shaped
Driving pulley, driven pulley, some tensioning wheels, some U-shaped plates and some power transmission shafts are respectively equipped with type track support plate, it is described
Tensioning wheel is enclosed on each self-corresponding power transmission shaft, and the power transmission shaft two ends are arranged on each self-corresponding U-shaped plate, the U-shaped plate
On the middle connecting plate that I-shaped track support plate is set in by the guide pillar on U-shaped plate, the driving pulley and driven pulley
The two ends in I-shaped track support plate are separately mounted to, the driving pulley, driven pulley and the outer of some tensioning wheels are surrounded
There is special-shaped timing belt, the motor is connected with the driving pulley.
4. a kind of improved horizontal simply connected insulator chain detection robot as claimed in claim 1, it is characterized in that, the crawler belt
Mechanism is provided with crawler belt, and the crawler belt is special-shaped timing belt, and the internal tooth of the special-shaped timing belt is high different with external tooth, described different
The external tooth of shape timing belt is longer than internal tooth, and the contact length of the contact insulator of the special-shaped timing belt is more than two panels and less than three
Insulator axial length.
5. a kind of improved horizontal simply connected insulator chain detection robot as claimed in claim 1, it is characterized in that, the balance
Device includes the first bascule and the second bascule,
First bascule includes the first lower ring plate, and one end of first lower ring plate is connected by bearing pin and pedrail mechanism
Connect, the other end of first lower ring plate and the upper end of battery case are connected, first lower ring plate is fixed on the guide bar,
Second bascule includes the second lower ring plate, and one end of second lower ring plate passes through bearing pin and another crawler belt
Mechanism is connected, and the other end of second lower ring plate and the upper end of control cabinet are connected, and second lower ring plate is fixed on guiding
On bar.
6. a kind of improved horizontal simply connected insulator chain detection robot as claimed in claim 5, it is characterized in that, described first
Lower ring plate and the second lower ring plate are arc pressuring plate.
7. a kind of improved horizontal simply connected insulator chain detection robot as claimed in claim 5, it is characterized in that, described first
Lower ring plate and second lower ring plate contact insulator surface by guide rod, and the guide rod contacts connecing for insulator surface
Touch length and be more than two panels and less than three insulator axial lengths, the guide rod is insulating materials.
8. a kind of improved horizontal simply connected insulator chain detection robot as claimed in claim 1, it is characterized in that, the insulation
Subband electro-detection instrument at least one, the insulator charged detection instrument also include detection probe and probe driving mechanism, it is described
Probe driving mechanism drives detection probe to swing back and forth；Between the detection probe at least two, adjacent detection probe away from
From for two panels insulator axial length, the detection probe is arranged on bascule guide rod, in the middle of two insulator strings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410416200.5A CN104198848B (en) | 2014-08-22 | 2014-08-22 | A kind of improved horizontal simply connected insulator chain detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410416200.5A CN104198848B (en) | 2014-08-22 | 2014-08-22 | A kind of improved horizontal simply connected insulator chain detection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104198848A CN104198848A (en) | 2014-12-10 |
| CN104198848B true CN104198848B (en) | 2017-08-25 |
Family
ID=52084161
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410416200.5A Active CN104198848B (en) | 2014-08-22 | 2014-08-22 | A kind of improved horizontal simply connected insulator chain detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104198848B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101769971A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院沈阳自动化研究所 | Insulator detecting robot |
| 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 |
| CN102621425A (en) * | 2012-03-31 | 2012-08-01 | 山东鲁能智能技术有限公司 | Electrified detection robot for horizontal 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100589640B1 (en) * | 2004-10-08 | 2006-06-14 | (주)대홍전력 | The transfer device of a robot to clear an insulator |
| US7797781B2 (en) * | 2007-06-11 | 2010-09-21 | Korea Electric Power Corporation | Robot mechanism for cleaning and inspection of live-line insulators |
-
2014
- 2014-08-22 CN CN201410416200.5A patent/CN104198848B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101769971A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院沈阳自动化研究所 | Insulator detecting robot |
| CN102621425A (en) * | 2012-03-31 | 2012-08-01 | 山东鲁能智能技术有限公司 | Electrified detection robot for horizontal insulator string |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104198848A (en) | 2014-12-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102608474B (en) | Robot for electrified detection insulator string | |
| CN101769971B (en) | Insulator detecting robot | |
| CN206085053U (en) | Robot is patrolled and examined to power distribution station intelligence | |
| CN204575755U (en) | The sub-measuring robots of a kind of Intelligent insulation | |
| CN103128738B (en) | Creeping motion type insulator chain Intelligent Measurement robot | |
| CN102621429B (en) | Horizontal duplex insulator string on-line detection robot | |
| CN201331558Y (en) | Insulator detection robot | |
| CN106239515A (en) | A kind of power distribution station intelligent inspection robot | |
| CN104215844B (en) | A kind of horizontal simply connected insulator chain measuring robots | |
| CN207931529U (en) | a kind of strain insulator string detection robot | |
| CN102608473B (en) | Robot for electrified detection of double strain insulator strings | |
| CN102621430A (en) | Intelligent detection robot system for horizontal insulator strings | |
| CN204008928U (en) | A kind of horizontal simply connected insulator chain detects robot system | |
| CN113086808B (en) | Elevator safety monitoring mechanism and system | |
| CN205876296U (en) | Logging instrument | |
| CN204008926U (en) | A kind of horizontal simply connected insulator chain detects robot | |
| CN104198848B (en) | A kind of improved horizontal simply connected insulator chain detection robot | |
| CN116184116A (en) | Detection device for nondestructive detection of power cable | |
| CN104198849B (en) | Horizontal single-connection insulator string detection robot system | |
| CN202522642U (en) | Insulator-string live detection robot | |
| CN102507302A (en) | Horizontal wire rope fatigue testing machine | |
| CN210221844U (en) | Cable laying detection device | |
| CN204008927U (en) | A kind of improved horizontal simply connected insulator chain detects robot | |
| CN109470909A (en) | Distribution overhead line electroscope based on unmanned plane | |
| CN210910040U (en) | Automatic clamping mechanism of electric power inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee after: State Grid Corporation of China Co-patentee after: National Network Intelligent Technology Co., Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee before: State Grid Corporation of China Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201028 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. |