CN104198849B - Horizontal single-connection insulator string detection robot system - Google Patents
Horizontal single-connection insulator string detection robot system Download PDFInfo
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- CN104198849B CN104198849B CN201410416321.XA CN201410416321A CN104198849B CN 104198849 B CN104198849 B CN 104198849B CN 201410416321 A CN201410416321 A CN 201410416321A CN 104198849 B CN104198849 B CN 104198849B
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Abstract
The invention discloses a horizontal single-connection insulator string detection robot system. The horizontal single-connection insulator string detection robot system comprises an insulator electrification detector, caterpillar mechanisms symmetrically arranged and connected above a horizontal single-connection insulator, and encircling mechanisms symmetrically arranged and connected below a horizontal single-connection insulator. The caterpillar mechanisms and the encircling mechanisms are connected to form a ring unit encircling the horizontal single-connection insulator. The encircling mechanism under the insulator is provided with a main control box which is used for lowering the center of gravity of the robot and preventing the deflection of the robot, and a controller is arranged in the main control box controlling the caterpillar mechanisms to move on the horizontal single-connection insulator through a line. The insulator electrification detector sends the detected data to a control center through a wireless data transmission module. The horizontal single-connection insulator string detection robot system has the advantages of being simple in principle, reasonable in structure, easy to operate, good in safety, less abrasion on insulator, wide in using range and capable of adapting to electrification detection operations of horizontal single-connection and double-connection insulator strings.
Description
Technical field
The present invention relates to a kind of horizontal simply connected insulator chain detects robot system.
Background technology
With the continuous development of China's power system, power grid security, stable operation are increasingly taken seriously.Especially in recent years
Come to greatly develop supertension, in system for ultra-high voltage transmission, the safe operation of insulator directly determines the investment of whole system
And level of security, for ensureing the electrical safety of ultra-high-tension power transmission line, after ultra-high-tension power transmission line ran using a period of time, need
The electric property of detection circuit, the particularly insulation safety performance of insulator, prevent 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, use strain insulator
String hangs wire or the shaft tower bearing wire tension of split conductor is referred to as anchor support, is with generally horizontal direction tractive wire
Pylon, certainly due to the impact of gravity, will not abswolute level.Insulator chain mentioned here, on anchor support substantially
It is level insulation substring.
Currently for the domestic traditional detection mode substantially still adopting artificial work high above the ground of detection operation of insulator chain,
Staff carries the instruments such as insulator detector and climbs up shaft tower, and by all of insulator on string detection tower, this mode is worked
Intensity is big, operation surrounding enviroment are severe, and live-working safety is low.
Needs with hommization popularization of homework and intelligent machine man-based development, at present, increasing intelligent robot
It is applied in power circuit polling or equipment detection.
Chinese patent CN101769971A discloses a kind of insulator detecting robot, including the first Athey wheel, casing,
Two Athey wheels, displacement telescoping mechanism and probe drive mechanism, casing is provided with displacement telescoping mechanism, first and second Athey wheel position
In casing both sides, it is hinged with displacement telescoping mechanism respectively, first and second Athey wheel is connected to first and second stroke sensing
Device；The lower section of casing is provided with probe drive mechanism.Comprehensive analysis, this patent mainly has a disadvantage that：Its walking mechanism adopts two
Individual Athey wheel is erected at the form of two insulator strings, can only be along the walking of horizontal twin insulator strings it is impossible to detect detection level list
Connection insulator chain, using having 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, described Athey wheel,
Insulator charged detection instrument and Anti-fall protection mechanism may be contained within rotating on hold-fast body.Athey wheel is with rotation hold-fast body even
It is connected into one, and becomes 120 degree when robot runs and uniformly encircle around insulator.Hold motor tightly due to rotation persistently to carry
For rotating enclasping force, larger to motor damage ratio, meanwhile, 120 degree of three Athey wheels of robot uniformly encircle insulator, and center of gravity is not
The trend around insulator rotary motion for the robot surely can be formed, its twisting resistance can cause crawler belt motor and hold-fast body are destroyed.
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 moves back and forth along powered suspension insulator, including upper and lower adjustable ring around insulator bracket, installs
In drive module, the electronic detecting module of robot body movement, for what robot body and installation feel trim actuator were connected
Link block, the switch wing module manually robot removed from insulator, the measurement module of both sides insulator electrical characteristics, control
The controller of robot motion processed and the defect probe unit detecting insulator defect.But, this patent application mainly for
Be powered suspension insulator detection, when it moves on level insulation substring, because of movable contact sub-pieces
Face is different, and its tire structure contacts sub-pieces bottom surface in inverted running, and the phenomenon that can cause to get stuck is so as in horizontal insulator
Cannot normally run on string.
Two insulator strings of mean level duplex, because of alignment error, are not in absolute symmetry, such as two insulator strings
Height (misplaces) not on a horizontal plane up and down, the porcelain vase of two insulator strings and steel cap do not line up (front-back staggered), or even two
The centre-to-centre spacing of insulator string is different at two ends, V-shaped distribution, and the therefore mechanism's design across two insulator strings will have tune
The function of interval, robot takes the situation having deflection on two insulator strings, and probe swings detection back and forth two string insulation
The period of the day from 11 p.m. to 1 a.m has side and beats less than steel cap, needs to adjust test position.So what the robot that single serial is walked mainly solved is balance
Problem, does not produce deflection, next to that it is simple to reach the standard grade, can detect single string or double string, and walking mechanism is simple, smooth running etc..
Content of the invention
The purpose of the present invention is exactly to solve the above problems, providing a kind of system of horizontal simply connected insulator chain detection robot
System, it has, and principle is simple, and rational in infrastructure, easy to operate, safety is good, insulator is worn and torn little, range is wide, Neng Goushi
Answer the live detection operation advantage of horizontal simply connected and horizontal twin insulator strings.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of horizontal simply connected insulator chain detects robot system, including two being arranged symmetrically on horizontal simply connected insulator
Individual pedrail mechanism encircles mechanism with two being arranged symmetrically under horizontal simply connected insulator, and two pedrail mechanisms are connected to each other, and two
Individual mechanism of encircling is connected to each other, and described two pedrail mechanisms are respectively connected with corresponding described mechanism of encircling, described tracked machine
Structure collectively forms a ring device encircling horizontal simply connected insulator with encircling mechanism, and one of them is encircled mechanism and is provided with absolutely
Edge subband electro-detection instrument, the mechanism of encircling immediately below described insulator is provided with reduction robot center of gravity and prevents robot from deflecting
Main control box, be provided with controller in main control box,
Described controller controls pedrail mechanism to advance on horizontal simply connected insulator by circuit, and described controller is also distinguished
It is connected with insulator charged detection instrument and wireless data transfer module, the data detecting is passed through no by insulator charged detection instrument
Line data transmission module is sent to control centre.
Described 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；Described track support plate is I shape track support plate；Described interior ring stand and described outer
Ring stand is arcuate structure, and the side of described interior ring stand is connected with track support plate, the other side of described interior ring stand with addition
The interior ring stand of one pedrail mechanism connects, and the side of described outer ring stand is connected with encircling mechanism, the other side of described outer ring stand
It is connected with track support plate.
Described pedrail mechanism is provided with special-shaped Timing Belt, and the internal tooth of described abnormity Timing Belt is high different with external tooth, described different
The external tooth of shape Timing Belt is longer than internal tooth, and the length of described abnormity Timing Belt is more than two panels and is less than three insulator axial lengths.
It is respectively equipped with driving pulley, driven pulley, some tensioning wheels, some U-shaped plates in described I shape track support plate
With some power transmission shafts, described tensioning wheel is enclosed within power transmission shaft, and described power transmission shaft two ends are arranged on U-shaped plate, and described U-shaped plate passes through
Guide pillar on U-shaped plate is set on the middle connecting plate of I shape track support plate, and described driving pulley and driven pulley are respectively
Be arranged on the end between two track support plate, described driving pulley, driven pulley and some tensioning wheels outer be surrounded with different
Shape Timing Belt, described motor is connected with described driving pulley.
Described mechanism of encircling includes some arc pressuring plates, and one end of described arc pressuring plate is above to encircle support, described
The other end of arc pressuring plate encircles support under being, described on encircle support and be provided with small clevis pin with head, described arc pressuring plate is solid
It is scheduled on several guide posts.
Described guide post is contacted with sub-pieces outer surface, and the length of contact is more than two panels and less than three insulators axial directions
Length, described guide post is insulant.
Encircle on described support and described under encircle and telescopic adjustment corresponding with arc pressuring plate is equipped with support installs
Hole, described on encircle the side of support and be connected with arc pressuring plate, described on encircle other side and the pedrail mechanism of support
Outer ring stand connects, described under encircle the side of support and be connected with arc pressuring plate, described under encircle the other side of support with right
Mechanism rack connection is encircled in encircling of claiming under mechanism, described arc pressuring plate is formed using thin plate bending.
Described insulator charged detection instrument at least one, is arranged on and encircles in mechanism, including probe driving mechanism, detection
Probe and detection probe, described probe driving mechanism drives detection probe to swing back and forth, described detection probe at least two, phase
The distance between adjacent detection probe is two panels insulator axial length, and described detection probe is arranged on encircles on mechanism's guide post,
In the middle of two insulator strings.
Described controller is also passed with resistance measuring module, electric field measuring apparatus, motor, cradle head camera, wireless video
Defeated module and battery connect, and described battery returns wireless data transfer module and wireless video transmission module for power supply, described head
Photographic head is communicated with wireless video transmission module.
Described electric field detector and resistance detection module are arranged on and encircle in mechanism, and described cradle head camera is arranged on master control
Case side processed.Described main control box encircles the hinged fixation of support by bearing pin with encircling under mechanism, described main control box is provided with
Stopping means.
Described encircle mechanism with encircle between mechanism allow be connected by the form of bearing pin or buckle.
Beneficial effects of the present invention：
1 present invention is because using above-mentioned symmetrical structure, 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 makes the ground ability of grabbing of robot strengthen, especially suitable
In the rough outer surface structure of insulator chain；
2 secondly, and in robot, string operation is simple, and security protection is good, and using symmetrical articulated structure, convenient working personnel pacify
Load onto line, and robot is in operation process, be in all the time under 360 ° of chain type is all-round to encircle state, and center of gravity is arranged in
Side, makes robot not deflect it is ensured that stability in mobile detection process for the robot and safety；
3 pairs of insulator coating abrasions are little, and short circuit insulator number is few, and robot overall structure is all selected with insulator contact
With insulant, farthest avoid the abrasion to antifouling flash coating layer on insulator porcelain patticoat, robot is contacted with sub-pieces
The length of point is more than two panels and is less than three insulator axial lengths, most short circuit two panels insulators；
Using resistance detection and electric field, 4 detect that two kinds of detection methods carry out the good and bad judgement of insulator, accuracy of detection is high, accurate
Exactness is high；Adaptability is wide, and robot adopts many places hinged, and encircles mechanism and have telescopically adjustable function, makes the 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 walk on horizontal twin insulator strings, do not affected by the horizontal twin insulator strings becoming V-type to be distributed, tool
There is a tractor serves several purposes.
5 electric field detectors and resistance detection module can detect field intensity and the resistance of insulator chain respectively, and two methods are comprehensive
Close the quality judging insulator, control system judges that insulator is excellent exhausted when two methods detection all thinks that insulator is intact
Edge, when two kinds of detecting systems have one or two system to judge insulator for cracking insulator, control system thinks insulation
Son is cracking insulator.Head video system can be able to be observed with the state of the state of Real Time Observation robot and detection probe
The breakage of insulator surface, crackle etc., the detection to insulator has great significance.
6 present invention are designed to robot and walk on single string avoid regulation spacing first, and adaptability is high, can detect
Single string, also a string walking on double strings can detect double strings, not misplaced up and down by pair strings, front-back staggered, and the shadow of V-type angle
Ring.
Brief description
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the pedrail mechanism schematic diagram of the present invention；
Fig. 3 encircles structural scheme of mechanism for the present invention's；
Fig. 4 is the control structure figure of the present invention；
Fig. 5 is the track support plate schematic diagram of the present invention；
Fig. 6 is the embodiment schematic diagram of the detection level duplex string of the present invention.
Wherein：1 special-shaped Timing Belt, 2 driven pulleys, 3 I shape track support plate, 4 interior ring stands, 5 tensioning wheels, 6 drive electricity
Machine, 7 driving pulleys, 8 outer ring stands, 9 handles, 10 first bearing pins, encircle support on 11,12 guide posts, 13 arc pressuring plates, under 14
Encircle support, 15 main control boxs, 16 probe driving mechanisms, 17 detection probes, 18 insulator chains, 19 first pedrail mechanisms, 20
One encircles mechanism, 21 insulator charged detection instruments, 22 small clevis pin with head, 23 positioners, 24 detection probe, 25 cradle head camera dresses
Put, 26 second encircle mechanism, 27 second pedrail mechanisms, 28 second bearing pins, 29 the 3rd bearing pins, 30 the 4th bearing pins, 32 controllers, 33
Wireless data transfer module, 34 batteries, 35 wireless video transmission modules, 36 resistance measuring module, 37 electric field measuring apparatus, 38 heads
Photographic head.
Specific embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
The present invention walks on level insulation substring 18, as shown in figure 1, including the first pedrail mechanism 19 He being arranged symmetrically
Second pedrail mechanism 27, first being arranged symmetrically encircle mechanism 20 and second and encircle mechanism 26, at least one insulator charged inspection
Survey instrument 21 and main control box 15.First pedrail mechanism 19 and the second pedrail mechanism 27 are symmetrically distributed in insulator chain 18 top and lead to
Cross the first bearing pin 10 hinged.First encircles mechanism 20 and second encircles mechanism 26 and is symmetrically distributed in below insulator chain 18, and first
Encircle mechanism 20 to be connected with the first pedrail mechanism 19 by the second bearing pin 28, second encircles mechanism 26 passes through the 3rd bearing pin 29 and the
Two pedrail mechanisms connect, and first encircles the lower end of mechanism 20, second encircles the lower end of mechanism 26 and main control box 15 by the 4th
Bearing pin 30 is hinged, and main control box 15 is provided with positioner 23 and cradle head camera device 25.Insulator charged detection instrument 21
It is arranged on second and encircles in mechanism 26, insulator charged detection instrument 21 is visited by probe driving mechanism 16, detection probe 17 and detection
24 compositions, probe driving mechanism 16 drives detection probe 17 to swing back and forth, and plays the steel cap in left and right two insulator chain 18 respectively
Upper (as shown in fig. 6, simply connected isolator detecting can not only be completed, and twin insulator strings detection work can be completed), inspection
Probing 24 is located in the middle of two insulator strings.
As shown in Fig. 2 the first pedrail mechanism 19 and the second pedrail mechanism 27 all include special-shaped Timing Belt 1, driven pulley 2,
I shape 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 outside I shape track support plate 3, drive the main belt of I shape track support plate 3 inside front ends by motor shaft
Wheel 7 rotation, driving pulley 7 is coordinated with special-shaped Timing Belt 1, is arranged on the driven pulley 2 of I shape track support plate 3 inner side rear end
Also coordinate with special-shaped Timing Belt 1.Interior ring stand 4 is fixed on I shape track support plate 3 lateral ends, by the first bearing pin 10 with right
Claim the interior ring stand 4 of pedrail mechanism hinged, outer ring stand 8 is fixed on the I shape track support plate 3 outside other end, by the second bearing pin
28 with first encircle mechanism 20 on to encircle support 11 hinged.Tensioning wheel 5 is arranged on I shape track support plate 3 inner lower,
And can up-down adjustment, handle 9 is arranged on I shape track support plate 3 lateral ends.
As shown in figure 3, first encircle mechanism 20 and second encircle mechanism 26 all include encircling support 11, guide post 12,
Arc pressuring plate 13 and under encircle support 14.On to encircle support 11 hinged with the first pedrail mechanism 19 or the 3rd pedrail mechanism 27,
Under to encircle support 14 hinged with main control box 15, arc pressuring plate 13 two ends respectively with above encircle support 11 and under encircle support 14
Connect, guide post 12 is arranged on inside arc pressuring plate 13, contacts with insulator chain 18 surface.
As shown in figure 4, the circuit that present invention cooperation is embodied as shown in Figure 1, 2, 3 constitutes block diagram.Described main control box
15 include controller 32, and described controller 32 is taken the photograph with resistance measuring module 36, electric field measuring apparatus 37, motor 6, head respectively
As 38, wireless data transfer module 33, wireless video transmission module 35 and battery 34 connect, no line number returned by described battery 34
Power according to transport module 33 and wireless video transmission module 35, described cradle head camera 38 and wireless video transmission module 35 are led to
Letter.Controller 32 is stored data into, detection data is passed through no simultaneously after resistance measuring module 36 and electric field measuring apparatus 37 detection
Line data transmission module passes ground staff back.Controller 32 controls cradle head camera 38 Real-time Collection robot and insulator chain
Video image, by wireless video module transfer to ground staff.The movement velocity of whole robot and the direction of motion are by driving
Motor is realizing.
As shown in figure 5, described pedrail mechanism includes I shape track support plate 3, I shape track support plate passes through centre
The integrated I shape frame structure of connecting plate composition, the side of wherein I shape track support plate is provided with motor and internal ring
Frame, in addition the other side of I shape track support plate handle and outer ring stand are installed.Divide in described I shape track support plate 3
It is not provided with driving pulley, driven pulley, some tensioning wheels, some U-shaped plates and some power transmission shafts, described tensioning wheel 5 is enclosed within transmission
On axle, described power transmission shaft two ends are arranged on U-shaped plate, and described U-shaped plate is set in I shape crawler belt by the guide pillar on U-shaped plate and props up
On the middle connecting plate of fagging.
The operation principle of the present invention：
The present invention do not carry out reaching the standard grade operation when, robot is in off working state, can freely live because each pin joint is in
Dynamic state, then need each pin joint is fixed, and prevents robot in hinge portion freely activity, arbitrary deformation occurs, this
When, carried out radially hinged by each pin joint by small clevis pin with head 22, then articulated elements can be prevented it is ensured that robot around bearing pin rotation
Moulding and stability, simultaneously detection probe 17 be in position as shown in Figure 1.
When robot reaches the standard grade, first side pedrail mechanism is opened with encircling mechanism hinged place, robot is left by this
Mouth frame, on insulator chain 18, then will insert bearing pin by pin joint more herein, and the small clevis pin with head of all pin joints be extracted, then respectively cuts with scissors
Contact is in free movement state, and robot can freely fit insulator chain 18 outer surface, under gravity, main control simultaneously
Case 15 can be in insulator chain 18 bottom, and two pedrail mechanisms are located above insulator chain 18.
In machine man-hour, motor 6 motor axle rotates, and is driven different by driving pulley 7, driven pulley 2
Shape Timing Belt 1 moves along insulator chain 18 surface, due to the particular design of special-shaped Timing Belt 1 external tooth, increases robot
Grab ground ability, bigger than flat rubber belting or general bilateral toothed timing frictional force, be particularly suited for insulator chain 18 rough outer
Surface texture.The length of special-shaped Timing Belt 1 and guide post 12 is more than two panels and is less than three insulator axial lengths, at most only short
Connect two panels insulator, its material is insulant, can at utmost avoid the abrasion to antifouling flash coating layer on insulator porcelain patticoat.
On insulator chain 18 during continuous moving, positioner 23 detects insulator chain 18 test position and opens for robot
Dynamic detection program, now robot stop in test position, in main control box 15, detecting system panel sends signal control
Probe driving mechanism 16 on insulator charged detection instrument 21 drives detection probe 17 to swing, and so that two probes of before and after is beaten respectively
On adjacent two sub-pieces steel caps, at the same time, in main control box 15, detecting system detects insulator and records numerical value, has detected
After Bi Jilu numerical value, panel is fed back to by signal, panel sends signal and controls probe driving mechanism 16 to drive detection probe
17 recover to initial position.When carrying out horizontal twin insulator strings detection, swing back and forth about test position, probe every time
Twice, you can complete the detection operation to two insulator string strings.During movement and detection operation, cradle head camera device 25
Test position, robot moving direction, the breakage on insulator chain surface, crackle and surrounding gold utensil can be monitored, slap in real time
Hold the ruuning situation of robot.
Robot, except being carried out in addition to resistance detection with detection probe 17, is also with detection probe 24 and insulator chain 18 is carried out
Electric field detects.Robot continuous moving on insulator chain 18, after positioner 23 detects insulator chain 18 initial position, opens
Dynamic detection program, detection probe 24 sensing insulator chain 18 surrounding electric field simultaneously carries out signal transmission, detection system in main control box 15
System synchronous recording numerical value is until detection finishes.
After detection operation all terminates, side pedrail mechanism is opened with encircling mechanism hinged place, robot is passed through this
Opening takes from insulator chain 18, then will insert bearing pin by pin joint more herein, and each pin joint is entered conduct by small clevis pin with head 22
To hinged, check whether each part is normal, deenergization.
The present invention adopts crawler belt continuous 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, and, short circuit insulator little to insulator abrasion is few, and security protection is good, upper string behaviour
Make simple, steadily, probe overlap joint is reliable, and detection accurately, is adaptable to the insulator chain of different disk footpaths size, can answer for translational speed
Live detection operation for horizontal simply connected and horizontal twin insulator strings.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not model is protected to the present invention
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay the various modifications that creative work can make or deformation still within protection scope of the present invention.
Claims (7)
1. a kind of horizontal simply connected insulator chain detects robot system, it is characterized in that, insulate including being arranged symmetrically in horizontal simply connected
Two pedrail mechanisms on substring encircle mechanism with two being arranged symmetrically under horizontal simply connected insulator chain, two pedrail mechanisms
It is connected to each other, encircles mechanism for two and be connected to each other, described two pedrail mechanisms are respectively connected with corresponding described mechanism of encircling,
Described pedrail mechanism collectively forms a ring device encircling horizontal simply connected insulator chain with encircling mechanism, and one of them is encircled
Mechanism is provided with horizontal simply connected insulator chain live detection instrument, and encircling immediately below described horizontal simply connected insulator chain sets in mechanism
There is the main control box reducing robot center of gravity and preventing robot deflection, in main control box, be provided with controller,
Described controller by circuit control pedrail mechanism advance on horizontal simply connected insulator chain, described controller also respectively with
Horizontal simply connected insulator chain live detection instrument and wireless data transfer module connect, and horizontal simply connected insulator chain live detection instrument will
The data detecting is sent to control centre by wireless data transfer module；
Described 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；Described track support plate is I shape track support plate；Described interior ring stand and described outer ring stand
It is arcuate structure, the side of described interior ring stand is connected with track support plate, the other side of described interior ring stand and another one
The interior ring stand of pedrail mechanism connects, and the side of described outer ring stand is connected with encircling mechanism, the other side of described outer ring stand and shoe
Band gripper shoe connects；
Described pedrail mechanism is provided with special-shaped Timing Belt, and the internal tooth of described abnormity Timing Belt is high different with external tooth, and described abnormity is same
The external tooth of step band is longer than internal tooth, and the length of described abnormity Timing Belt is more than two panels and is less than three insulator axial lengths.
2. a kind of horizontal simply connected insulator chain detects robot system as claimed in claim 1, it is characterized in that, described encircles machine
Structure includes some arc pressuring plates, and one end of described arc pressuring plate is above to encircle support, and other the one of described arc pressuring plate
Hold be under encircle support, described on encircle support and be provided with small clevis pin with head, described arc pressuring plate is fixed on several guide posts；
Guide post is arranged on inside arc pressuring plate, contacts with horizontal simply connected insulator chain outer surface.
3. a kind of horizontal simply connected insulator chain detects robot system as claimed in claim 2, it is characterized in that, described guide post
The length being contacted with horizontal simply connected insulator chain outer surface is more than two panels and is less than three insulator axial lengths, described guide post
For insulant.
4. a kind of horizontal simply connected insulator chain detects robot system as claimed in claim 2, it is characterized in that, described on encircle
Support and described under encircle telescopic adjustment installing hole corresponding with arc pressuring plate be equipped with support, described on encircle support
Side is connected with arc pressuring plate, described on encircle support the outer ring stand of other side and pedrail mechanism be connected, described lower ring
The side embracing support is connected with arc pressuring plate, described under encircle the other side of support and symmetrical encircling is encircled under mechanism
Mechanism rack connects, and described arc pressuring plate is formed using thin plate bending.
5. a kind of horizontal simply connected insulator chain detects robot system as claimed in claim 2, it is characterized in that, described level list
At least one, insulator chain live detection instrument of connection, is arranged on and encircles in mechanism, including probe driving mechanism, detection probe and inspection
Probing head, described probe driving mechanism drives detection probe to swing back and forth, described detection probe at least two, and adjacent detection is visited
The distance between pin is two panels insulator axial length, and described detection probe is arranged on the guide post encircling mechanism, positioned at two
In the middle of insulator string.
6. a kind of horizontal simply connected insulator chain detects robot system as claimed in claim 1, it is characterized in that, described controller
Pass with resistance measuring module, electric field measuring apparatus, motor, cradle head camera, wireless data transfer module, wireless video respectively
Defeated module and battery connect, and described battery returns wireless data transfer module and wireless video transmission module for power supply, described head
Photographic head is communicated with wireless video transmission module；Described electric field measuring apparatus and resistance measuring module are arranged on and encircle in mechanism, institute
State cradle head camera and be arranged on main control box side；Described main control box passes through bearing pin and encircles that to encircle support under mechanism hinged solid
Fixed, described main control box is provided with stopping means.
7. a kind of horizontal simply connected insulator chain detects robot system as claimed in claim 1, it is characterized in that, described encircles machine
Structure allows between mechanism to be connected by the form of bearing pin or buckle with encircling.
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| CN104198849B true CN104198849B (en) | 2017-02-15 |
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| CN106680680B (en) * | 2017-03-09 | 2023-10-13 | 中国南方电网有限责任公司超高压输电公司梧州局 | Intelligent detection robot for positive and negative 800 kilovolt extra-high voltage direct current transmission line insulator |
| CN114089133A (en) * | 2021-11-18 | 2022-02-25 | 国网江苏省电力有限公司扬州供电分公司 | Horizontal simply connected strain insulator string live-line detection robot terminal tool |
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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. |
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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. |