CN105067909B - Insulator charged detection and cleaning integrated robot - Google Patents
Insulator charged detection and cleaning integrated robot Download PDFInfo
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- CN105067909B CN105067909B CN201510435041.8A CN201510435041A CN105067909B CN 105067909 B CN105067909 B CN 105067909B CN 201510435041 A CN201510435041 A CN 201510435041A CN 105067909 B CN105067909 B CN 105067909B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 127
- 239000012212 insulator Substances 0.000 title claims abstract description 86
- 238000001514 detection method Methods 0.000 title claims abstract description 44
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 35
- 239000010959 steel Substances 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims description 214
- 230000009194 climbing Effects 0.000 claims description 30
- 230000005611 electricity Effects 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 5
- 239000003989 dielectric material Substances 0.000 description 4
- 238000009413 insulation Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 210000000515 tooth Anatomy 0.000 description 2
- 241000219098 Parthenocissus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
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Abstract
The present invention relates to a kind of insulator charged detections and cleaning integrated robot, including robot frame ontology, the detection module that is arranged on robot frame ontology and tested insulator spread voltage can be obtained at the steel feet of tested insulator and steel cap, it is arranged on robot frame ontology and can be to cleaning module that insulator umbrella is cleaned, the detection module is equipped on robot frame ontology, cleans the top and bottom that module is equipped on robot frame ontology；Job safety of the present invention, adaptable, simple in structure, light-weight, creep speed is fast, work efficiency is high.
Description
Technical field
The present invention relates to transmission line faultlocating equipment technical fields, and in particular to the insulator charged detection of one kind and cleaning one
Ti Hua robots.
Background technology
Insulator is a kind of extremely important power equipment on transmission line of electricity.It is connection transmission tower and transmission pressure
A kind of insulator has stronger mechanical performance and good insulation performance.The insulator work of charging operation is in wild environment
In, surface long term is exposed outside, is easily influenced by factors such as moisture, dusts and its surface is caused to generate spot.Insulate sublist
Face long time integration spot leads to its decreasing insulating, and pollution flashover easily occurs.The presence of poor insulator is to electric system
Stable operation brings great threat.Therefore, insulator is detected, cleaned be transmission line safety operation important guarantee.
Existing isolator detecting mode is mainly manual type, i.e., staff is located at the cross-arm of shaft tower using special
Detection instrument is detected every insulator.In super, extra-high voltage grid, the insulator the piece number of insulator chain is more, length compared with
It is long, a large amount of human resources are needed to the detection of insulator.
Existing insulator cleaning mode is mainly hand sweeping, that is, needs staff to climb to insulator and nearby use rag
Or hairbrush is cleaned.Although this mode is simple, effective, a large amount of human resources are needed, and to the clear of insulator
Sweeping work must carry out under power-off condition, cause to seriously affect to normal power supply.
Invention content
The purpose of the present invention is to provide a kind of job safety, adaptable, simple in structure, light-weight, creep speeds soon,
The insulator charged detection that work efficiency is high and cleaning integrated robot.
In order to solve the above technical problems, the insulator charged detection of one kind disclosed by the invention and cleaning integrated robot,
It is characterized in that：It includes robot frame ontology, is arranged on robot frame ontology and can be from the steel feet of tested insulator
With obtain the detection module for being tested insulator spread voltage at steel cap, be arranged on robot frame ontology and can be to insulator umbrella
The cleaning module that skirt is cleaned, the detection module are equipped on robot frame ontology, are cleaned module and are equipped on robot
The top and bottom of frame body；
The robot frame ontology includes upper layer rack, lower rack, climbing mechanism and can make robot frame ontology
The guiding mechanism of tested insulator is embraced, the climbing mechanism and guiding mechanism are mounted on the upper layer rack and lower rack
Between；
The climbing mechanism includes rack, climbing mechanism motor, gearcase, paw, paw telescoping mechanism, paw turning machine
Structure；The rack is fixed between upper layer rack and lower rack, and the climbing mechanism motor is fixed on the shell of gearcase, should
Gear on the output shaft of climbing mechanism motor is by driving the gear set in gearcase to be engaged with rack, the shell of the gearcase
Body is fixedly connected with paw steering mechanism, and the paw telescoping mechanism pedestal is fixedly connected with the turntable of paw steering mechanism,
Paw is installed on the pars contractilis on paw telescoping mechanism top.
The guiding mechanism includes gib block, top guide rail groove, top guide rail, guiding mechanism steering engine fixed link, is oriented to
Mechanism steering engine, bottom end guide rail groove, bottom end guide rail, the gib block are fixed between top guide rail and bottom end guide rail；It leads on top
Rail is slidably connected with top guide rail groove, and bottom end guide rail is slidably connected with bottom end guide rail groove；Top guide rail groove is fixedly mounted
In in the rack of upper layer, bottom end guide rail groove is fixedly installed in lower rack；It is led with top on guiding mechanism steering engine fixed link top
Rail groove is fixedly connected, and guiding mechanism steering engine fixed link bottom end is fixedly connected with bottom end guide rail groove；Guiding mechanism steering engine is fixed
It is installed in guiding mechanism steering engine fixed link, the power output shaft of guiding mechanism steering engine is connected by connecting rod with gib block.
The detection module include swivel link, the first detector, the second detector, testing agency's motor, driven gear,
Driving gear, the swivel link top are connect with upper layer gantry rotation, and swivel link bottom end is fixedly connected with driven gear, from
Moving gear is rotatablely connected with lower rack, and first detector and the second detector are fixedly mounted on swivel link, described
The shell of testing agency's motor is fixedly connected with lower rack, and the shaft of testing agency's motor is fixedly connected with driving gear；Institute
Driving gear is stated to engage with driven gear.
There are two the cleaning modules, is separately positioned in upper layer rack and lower rack, and each module that cleans includes
Hairbrush electric rotating engine base, hairbrush steering mechanism steering engine, hairbrush steering pinion, hairbrush electric rotating machine, hairbrush turning machine
Structure driven gear, cleaning agency turntable driving gear, cleaning agency turntable driving motor, cleaning agency turntable, hairbrush, the hair
Brush electric rotating engine base is fixedly mounted on hairbrush steering mechanism driven gear, and hairbrush electric rotating machine is fixedly installed in hairbrush electric rotating
On engine base, hairbrush is connected with the shaft of hairbrush electric rotating machine, and the shell of hairbrush steering mechanism steering engine is fixedly installed in cleaning agency
On turntable, the shaft of hairbrush steering mechanism steering engine is fixedly connected with hairbrush steering pinion, and hairbrush steering mechanism is actively
Gear is engaged with hairbrush steering mechanism driven gear, shaft and the cleaning agency turntable sliding tooth of cleaning agency turntable driving motor
Wheel is fixedly connected, and cleaning agency turntable driving gear is meshed with cleaning agency turntable, is located at the cleaning module of upper layer rack
Cleaning agency turntable driving motor is fixedly installed in the rack of upper layer, and upper layer rack top surface is equipped with cleaning agency turntable slideway, position
Coordinate with the cleaning agency turntable slideway of upper layer rack in the cleaning agency turntable of cleaning module of upper layer rack；
Cleaning agency turntable driving motor positioned at the cleaning module of lower rack is fixedly installed in lower rack, lower layer
Rack bottom surface is equipped with cleaning agency turntable slideway, is located at the cleaning agency turntable and lower rack of the cleaning module of lower rack
Cleaning agency turntable slideway coordinates.
The operation principle of the present invention：Staff is by insulator charged detection and cleans on integrated robot band after tower,
Annular framework is opened, robot is positioned over insulator chain that is to be detected, cleaning and leans on cross-arm side by staff, closes annular machine
Frame makes paw ride over down a piece of exhausted wherein first pair of paw adjusts position and enter the junction of two panels electric insulator steel foot, steel cap
On the umbrella skirt construction of edge；The depth radius for adjusting robot body guiding mechanism, makes robot body " holding " insulator chain；
At this point, the preparation stage that robot is in detection, cleans；Detector is swung in electric insulator steel foot, steel by the testing agency of robot
Cap junction, two detectors come into full contact with the steel feet of insulator, steel cap respectively；The testing agency of robot completes distribution electricity
After pressure acquisition, detector is shown into electric insulator steel foot, steel cap junction；
The hairbrush steering mechanism steering engine rotation of robot cleaning mechanism, hairbrush is swung on the full skirt of insulator, hairbrush rotation
Rotating motor, cleaning agency turntable driving motor rotate simultaneously, along sub-pieces while the cleaning agency hairbrush rotation of robot
The cleaning works to insulator umbrella is completed in revolution；Hairbrush electric rotating machine, cleaning agency turntable driving motor are simultaneously stopped rotation
Turn, hairbrush is shown the full skirt of insulator, is restored to and resets position by the hairbrush steering mechanism steering engine rotation of robot cleaning mechanism
It sets；The climbing mechanism motor rotation to paw, robot body is moved down, makes hairbrush and full skirt lower edge in same
Hairbrush, is swung in umbrella rib, the umbrella slot structure of insulator by horizontal line, the hairbrush steering mechanism steering engine rotation of robot cleaning mechanism
In, hairbrush electric rotating machine, cleaning agency turntable driving motor rotate simultaneously, edge while the cleaning agency hairbrush rotation of robot
Sub-pieces revolve round the sun, and complete the cleaning works to insulator umbrella rib, umbrella slot structure；Hairbrush electric rotating machine, cleaning agency turntable drive
Dynamic motor is simultaneously stopped rotation, and hairbrush is shown the umbrella of insulator by the hairbrush steering mechanism steering engine rotation of robot cleaning mechanism
Rib, umbrella slot structure, are restored to reset position；
Second pair of paw adjustment position of robot simultaneously enters next steel feet, steel cap junction, and paw is made to ride over steel cap
On the full skirt of place insulator；First pair of paw exits steel feet, steel cap junction, and the climbing mechanism motor of second pair of paw turns
It is dynamic, so that robot body is moved along insulator chain guiding line side, until being moved to down a piece of insulator position to be detected, cleaning
It sets, and completes detection and cleaning to insulator according to above-mentioned detection and cleaning process.Robot and so on is completed to surplus
Detection, the cleaning works of remaining insulator.Robot is completed to after the detection of bunch of insulator string, cleaning works, returning to cross-arm side
And insulator chain is released, ground is transmitted to by staff.
The beneficial effects of the present invention are：
(1) job safety：During isolator detecting, cleaning work, robot body 3 insulators of most short circuits,
The insulation distance for ensureing insulator chain, improves the safety of livewire work；Robot body " can be embraced by gib block and paw
Firmly " insulator avoids robot from falling, and has higher safety.
(2) adaptable：It is attached using connecting rod between gib block and robot frame, folder of the gib block to insulator
It holds that radius is adjustable, can adapt to the insulator of different disk diameters.
(3) creep speed is fast：The climbing mechanism of robot body coordinates paw to realize machine using gear, rack structure
The automatic Quick-climbing of device people.
(4) work efficiency is high：Isolator detecting, cleaning integrated robot will detect, cleaning function concentrates on a machine
On device human body, the detection to insulator and cleaning works can be successively completed during one-stop operation, effectively shorten insulation
Son detection, cleaning work time, improve the operating efficiency of robot.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention insulator charged detection and cleaning integrated robot；
Fig. 2 is the structural schematic diagram of robot frame ontology in the present invention；
Fig. 3 is the structural schematic diagram of rack in the present invention；
Fig. 4 is the structural schematic diagram of climbing mechanism in the present invention；
Fig. 5 is the flexible structural schematic diagram with steering mechanism of paw in the present invention；
Fig. 6 is the structural schematic diagram of guiding mechanism in the present invention；
Fig. 7 is the structural schematic diagram of detection module in the present invention；
Fig. 8 is the structural schematic diagram that module is cleaned in the present invention；
Wherein, wherein 1-robot frame ontology, 2-detection modules, 3-clean module；
101-upper layer racks, 102-lower racks, 103-climbing mechanisms, 104-guiding mechanisms；
10101-frame in combination units one, 10102-racks connection shaft one, 10103-frame in combination units two,
10104-frame in combination units three, 10105-racks connect shaft two；
10310-racks, 10320-climbing mechanism motors, 10330-gearcases, 10340-paws, 10350-paws
Telescoping mechanism, 10360-paw steering mechanism；
10351-paw telescoping mechanism steering engines, 10352-paw telescoping mechanism connecting rods, 10353-paw telescoping mechanisms are slided
Under block, 10354-paw telescoping mechanism guide rails, 10361-paw steering mechanism upper layer turntables, 10362-paw steering mechanism
Layer turntable, 10363-paw steering mechanism steering engines；
10401-gib blocks, 10402-top guide rail grooves, 10403-top guide rails, 10404-guiding mechanism steering engines
Fixed link, 10405-guiding mechanism steering engines, 10406-bottom end guide rail grooves, 10407-bottom end guide rails；
201-swivel links, 202-probes one, 203-probes two, 204-testing agency's motors, 20501-driven tooths
Wheel, 20502-driving gears；
301-hairbrush electric rotating engine bases, 302-hairbrush steering mechanism steering engines, 303-hairbrush steering pinions,
304-hairbrush electric rotating machines, 305-hairbrush steering mechanism driven gears, 306-cleaning agency turntables driving gear, 307-are clearly
Sweep mechanism turntable driving motor, 308-cleaning agency turntables, 309-hairbrush, 3010-cleaning agency turntable slideways.
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail：
The insulator charged detection of the present invention and cleaning integrated robot, as shown in Fig. 1~8, it includes robot frame
Frame ontology 1 is arranged on robot frame ontology 1 and can obtain tested insulator point at the steel feet of tested insulator and steel cap
The detection module 2 of cloth voltage, be arranged on robot frame ontology 1 and can to the cleaning module 3 that insulator umbrella is cleaned,
The detection module 2 is equipped on robot frame ontology 1, cleans top and bottom that module 3 is equipped on robot frame ontology 1
Portion；
The robot frame ontology 1 includes upper layer rack 101, lower rack 102, climbing mechanism 103 and can make machine
People's frame body 1 embraces the guiding mechanism 104 of tested insulator, and the climbing mechanism 103 and guiding mechanism 104 are mounted on institute
It states between upper layer rack 101 and lower rack 102；
The climbing mechanism 103 include rack 10310, climbing mechanism motor 10320, gearcase 10330, paw 10340,
Paw telescoping mechanism 10350, paw steering mechanism 10360；The rack 10310 is fixed on upper layer rack 101 and lower rack
Between 102, the climbing mechanism motor 10320 is fixed on the shell of gearcase 10330, the climbing mechanism motor 10320 it is defeated
Gear on shaft is by driving the gear set in gearcase 10330 to be engaged with rack 10310, the shell of the gearcase 10330
Body is fixedly connected with paw steering mechanism 10360,10350 pedestal of paw telescoping mechanism and paw steering mechanism 10360
Turntable is fixedly connected, and paw 10340 is installed on the pars contractilis on 10350 top of paw telescoping mechanism.Creeper in the design
The selection of 10320 output shaft of structure motor drives gearcase 10330 to be moved on rack 10310, and gearcase 10330 drives paw
10340, paw telescoping mechanism 10350 and paw steering mechanism 10360 move up and down on rack 10310.
In above-mentioned technical proposal, the guiding mechanism 104 includes gib block 10401, top guide rail groove 10402, top
Guide rail 10403, guiding mechanism steering engine fixed link 10404, guiding mechanism steering engine 10405, bottom end guide rail groove 10406, bottom end are led
Rail 10407, the gib block 10401 are fixed between top guide rail 10403 and bottom end guide rail 10407；Top guide rail 10403 with
Top guide rail groove 10402 is slidably connected, and bottom end guide rail 10407 is slidably connected with bottom end guide rail groove 10406；Top guide rail is recessed
Slot 10402 is fixedly installed in upper layer rack 101, and bottom end guide rail groove 10406 is fixedly installed in lower rack 102；It is oriented to
10404 top of mechanism steering engine fixed link is fixedly connected with top guide rail groove 10402,10404 bottom of guiding mechanism steering engine fixed link
End is fixedly connected with bottom end guide rail groove 10406；Guiding mechanism steering engine 10405 is fixedly installed in guiding mechanism steering engine fixed link
On 10404, the power output shaft of guiding mechanism steering engine 10405 is connected by connecting rod with gib block 10401.Guiding machine in the design
(top guide rail 10403 is in top guide rail groove by connecting rod driving gib block 10401 for the power output shaft of structure steering engine 10405
It is slided on 10402, bottom end guide rail 10407 slides on bottom end guide rail groove 10406, i.e. 10401 energy opposed tips of gib block are led
Rail groove 10402 and bottom end guide rail groove 10406 slide), outwardly or inwardly act.
In above-mentioned technical proposal, the detection module 2 includes swivel link 201, the first detector 202, the second detector
203, testing agency's motor 204, driven gear 20501, driving gear 20502,201 top of the swivel link and upper layer rack
101 rotation connections, 201 bottom end of swivel link are fixedly connected with driven gear 20501, driven gear 20501 and lower rack 102
Rotation connection, first detector, 202 and second detector 203 are fixedly mounted on swivel link 201, the testing agency
The shell of motor 204 is fixedly connected with lower rack 102, and the shaft of testing agency's motor 204 is fixed with driving gear 20502 to be connected
It connects；The driving gear 20502 is engaged with driven gear 20501.First detector 202 and the second detector 203 in the design
The spread voltage of insulator can be acquired, the rotation of the shaft of testing agency's motor 204 drives driving gear 20502, driven
Gear 20501 rotates, and driven gear 20501 drives swivel link 201 to rotate, first detector 202 of the drive of swivel link 201,
Second detector 203 acts, and at the end of needing that insulator is detected or is detected, only need to control above-mentioned first detector
202 and second detector 203 act.
In above-mentioned technical proposal, there are two the cleaning modules 3, is separately positioned on upper layer rack 101 and lower rack 102
On, it is each to clean module 3 including hairbrush electric rotating engine base 301, hairbrush steering mechanism steering engine 302, the active of hairbrush steering mechanism
Gear 303, hairbrush steering mechanism driven gear 305, cleaning agency turntable driving gear 306, cleans hairbrush electric rotating machine 304
Mechanism turntable driving motor 307, cleaning agency turntable 308, hairbrush 309, the hairbrush electric rotating engine base 301 are fixedly mounted on hair
It brushes on steering mechanism's driven gear 305, hairbrush electric rotating machine 304 is fixedly installed on hairbrush electric rotating engine base 301, hairbrush 309
It is connected with the shaft of hairbrush electric rotating machine 304, the shell of hairbrush steering mechanism steering engine 302 is fixedly installed in cleaning agency turntable
On 308, the shaft of hairbrush steering mechanism steering engine 302 is fixedly connected with hairbrush steering pinion 303, hairbrush steering mechanism
Driving gear 303 is engaged with hairbrush steering mechanism driven gear 305, the shaft of cleaning agency turntable driving motor 307 and cleaning
Mechanism turntable driving gear 306 is fixedly connected, and cleaning agency turntable driving gear 306 is meshed with cleaning agency turntable 308, position
It is fixedly installed in upper layer rack 101 in the cleaning agency turntable driving motor 307 of the cleaning module 3 of upper layer rack 101, upper layer
101 top surface of rack is equipped with cleaning agency turntable slideway 3010, is located at the cleaning agency turntable of the cleaning module 3 of upper layer rack 101
308 coordinate with the cleaning agency turntable slideway 3010 of upper layer rack 101；
Cleaning agency turntable driving motor 307 positioned at the cleaning module 3 of lower rack 102 is fixedly installed in lower rack
On 102,102 bottom surface of lower rack is equipped with cleaning agency turntable slideway 3010, is located at the clear of the cleaning module 3 of lower rack 102
It sweeps mechanism turntable 308 and the cleaning agency turntable slideway 3010 of lower rack 102 coordinates.Cleaning agency turntable drives in the design
Motor 307 drives gear 306 that cleaning agency turntable 308 is driven to rotate by cleaning agency turntable, thus with electric brush 309 around exhausted
Edge revolves round the sun, and hairbrush steering mechanism steering engine 302 passes through hairbrush steering pinion 303 and hairbrush steering mechanism driven gear
305 band electric brush electric rotating machine seats 301 rotate, to change the direction of hairbrush 309 in the horizontal plane, hairbrush electric rotating engine base
301 realize the cleaning to insulator with the rotation of electric brush 309.
In above-mentioned technical proposal, the paw telescoping mechanism 10350 is stretched including paw telescoping mechanism steering engine 10351, paw
Contracting mechanism rod 10352, paw telescoping mechanism sliding block 10353, paw telescoping mechanism guide rail 10354, the paw steering mechanism
10360 include paw steering mechanism upper layer turntable 10361, lower layer of paw steering mechanism turntable 10362, paw steering mechanism steering engine
10363, the paw telescoping mechanism steering engine 10351 is fixedly installed in the top of paw telescoping mechanism guide rail 10354；The paw
10352 one end of telescoping mechanism connecting rod is hinged with paw telescoping mechanism sliding block 10353,10352 other end of paw telescoping mechanism connecting rod
With the output axis connection of paw telescoping mechanism steering engine 10351；The paw telescoping mechanism sliding block 10353 is led with paw telescoping mechanism
Rail 10354 is slidably connected, i.e., paw telescoping mechanism sliding block 10353 can the front and back free skating on paw telescoping mechanism guide rail 10354
It is dynamic；The paw telescoping mechanism sliding block 10353 is fixedly connected with paw 10340；The paw telescoping mechanism guide rail 10354 and hand
Pawl steering mechanism upper layer turntable 10361 is fixedly connected；Under paw steering mechanism upper layer turntable 10361 and paw steering mechanism
Layer turntable 10362 is rotatablely connected；The shell of paw steering mechanism steering engine 10363 is fixedly mounted on lower layer of paw steering mechanism
The shaft of 10362 bottom of turntable, paw steering mechanism steering engine 10363 passes through lower layer of paw steering mechanism turntable 10362 and paw
Steering mechanism's upper layer turntable 10361 is fixedly connected；Lower layer of paw steering mechanism turntable 10362 is fixed with gearcase 10330
Connection.The shaft of paw steering mechanism steering engine 10363 drives paw steering mechanism upper layer turntable 10361 relative to hand in the design
Lower layer of pawl steering mechanism turntable 10362 rotates, at this time the paw telescoping mechanism on paw steering mechanism upper layer turntable 10361
10350 and paw 10340 follow rotation, the output shaft of paw telescoping mechanism steering engine 10351 to pass through paw telescoping mechanism connecting rod
10352 promotion paw telescoping mechanism sliding blocks 10353 move on paw telescoping mechanism guide rail 10354, realize paw 10340
It is flexible.
In above-mentioned technical proposal, the upper layer rack 101 and lower rack 102 include the first frame in combination unit
10101, the first rack connection shaft 10102, the second frame in combination unit 10103, third frame in combination unit 10104, second
Rack connects shaft 10105, and the first frame in combination unit 10101 is the annulus that angle is 180 degree, the second rack group
It is the annulus that angle is 120 degree to close unit 10103, and the third frame in combination unit 10104 is the annulus that angle is 60 degree, institute
It states the first frame in combination unit 10101 and the rotation of shaft 10102 company is connect by the first rack with the second frame in combination unit 10103
It connects；The first frame in combination unit 10101 connect shaft 10105 with third frame in combination unit 10104 by the second rack
Rotation connection.Above-mentioned design can facilitate the folding of upper layer rack 101 and lower rack 102, enable the invention to easily be arranged
Onto shaft tower to be measured.This design enables the second frame in combination unit 10103 and third frame in combination unit 10104 to open,
Facilitate the dismounting of robot on the insulator.
In above-mentioned technical proposal, the climbing mechanism 103 shares four groups, is symmetrically arranged on the upper layer machine of robot body 1
Between frame 101 and lower rack 102.Wherein, the paw 10340 in centrosymmetric one group of climbing mechanism 103 is first group；Separately
Paw 10340 in one group of centrosymmetric climbing mechanism 103 is second group.
In above-mentioned technical proposal, the guiding mechanism 104 shares three groups, is symmetrically arranged on the upper layer machine of robot body 1
Between frame 101 and lower rack 102.
The present invention the course of work be：Staff is by insulator charged detection and cleans tower on integrated robot band
Afterwards, upper layer rack 101 and lower rack 102 are opened, robot is positioned over insulator chain that is to be detected, cleaning and leaned on by staff
Cross-arm side closes upper layer rack 101 and lower rack 102, wherein passes through paw telescoping mechanism 10350 and paw steering mechanism
The position of 10360 first group of paw of adjustment, makes it be moved to the junction of two panels electric insulator steel foot and steel cap, climbing mechanism motor
10320 rotations, make first group of paw guiding line side be moved on the umbrella skirt construction of the insulator far from cross-arm side；Adjust robot
The 10401 depth radius of gib block of guiding mechanism 104, makes robot body " holding " insulator chain；At this point, robot is in inspection
The preparation stage surveyed, cleaned；First detector 202, the second detector 203 are swung in steel insulator pin by the detection module 2 of robot
Foot, steel cap junction, the first detector 202 and the second detector 203 come into full contact with the steel feet of insulator and steel cap respectively；Machine
After the detection module 2 of device people completes spread voltage acquisition, the first detector 202 and the second detector 203 are shown into steel insulator pin
Foot, steel cap junction；
The hairbrush steering mechanism steering engine 302 that robot cleans module 3 rotates, and hairbrush 309 is swung on the full skirt of insulator,
Hairbrush electric rotating machine 304, cleaning agency turntable driving motor 307 rotate simultaneously, edge while 309 rotation of hairbrush of cleaning agency
Sub-pieces revolve round the sun, and complete the cleaning works to insulator umbrella；Hairbrush electric rotating machine 304, cleaning agency turntable driving motor
307 are simultaneously stopped rotation, and the hairbrush steering mechanism steering engine 302 for cleaning module 3 rotates, and hairbrush 309 is shown to the full skirt of insulator,
It is restored to reset position；Climbing mechanism 103 acts, and moves down robot body by the action of paw 10340, makes hairbrush
309 are in same horizontal line with full skirt lower edge, and the hairbrush steering mechanism steering engine 302 of robot cleaning mechanism rotates, by hairbrush
309 swing in the umbrella rib of insulator, umbrella slot structure, and hairbrush electric rotating machine 304, cleaning agency turntable driving motor 307 revolve simultaneously
Turn, revolve round the sun along sub-pieces while cleaning agency 309 rotation of hairbrush of robot, completes to insulator umbrella rib, umbrella slot structure
Cleaning works；Hairbrush electric rotating machine 304, cleaning agency turntable driving motor 307 are simultaneously stopped rotation, robot cleaning mechanism
Hairbrush steering mechanism steering engine 302 rotate, hairbrush is shown to umbrella rib, the umbrella slot structure of insulator, is restored to reset position.
Second group of paw guide line side of robot adjusts position to next steel feet, the horizontal position of steel cap junction.
The position that second group of paw is adjusted by paw telescoping mechanism 10350 and paw steering mechanism 10360, makes it to steel feet and steel cap
Junction movement, climbing mechanism motor 10320 rotates, and second group of paw guiding line side is made to be moved to the insulation far from cross-arm side
On the umbrella skirt construction of son；First group of paw exits a steel feet, steel cap junction, the climbing mechanism motor of second group of paw
10320 rotations, make robot body be moved along insulator chain guiding line side, until being moved to down a piece of to be detected, cleaning exhausted
Edge position, and detection and cleaning according to above-mentioned detection and cleaning process completion to insulator.Robot is and so on complete
Detection, the cleaning works of residue insulator in pairs.Robot is completed to after the detection of bunch of insulator string, cleaning works, returning
Cross-arm side simultaneously releases insulator chain, and ground is transmitted to by staff.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (6)
1. a kind of insulator charged detection and cleaning integrated robot, it is characterised in that：It includes robot frame ontology
(1), it is arranged on robot frame ontology (1) and tested insulator distribution can be obtained at the steel feet of tested insulator and steel cap
The detection module (2) of voltage is arranged on robot frame ontology (1) and can be to cleaning module that insulator umbrella is cleaned
(3), the detection module (2) is equipped on robot frame ontology (1), cleans module (3) and is equipped on robot frame ontology
(1) top and bottom；The robot frame ontology (1) includes upper layer rack (101), lower rack (102), climbing mechanism
(103) and robot frame ontology (1) can be made to embrace the guiding mechanism (104) of tested insulator, the climbing mechanism (103) and
Guiding mechanism (104) is mounted between the upper layer rack (101) and lower rack (102)；Climbing mechanism (103) packet
Include rack (10310), climbing mechanism motor (10320), gearcase (10330), paw (10340), paw telescoping mechanism
(10350), paw steering mechanism (10360)；The rack (10310) is fixed on upper layer rack (101) and lower rack (102)
Between, on the shell of the fixed gearcase (10330) of the climbing mechanism motor (10320), the climbing mechanism motor (10320)
Gear on output shaft is by driving the gear set in gearcase (10330) to be engaged with rack (10310), the gearcase
(10330) shell is fixedly connected with paw steering mechanism (10360), paw telescoping mechanism (10350) pedestal and paw
The turntable of steering mechanism (10360) is fixedly connected, and paw (10340) is installed on stretching for paw telescoping mechanism (10350) top
In contracting portion；The guiding mechanism (104) includes gib block (10401), top guide rail groove (10402), top guide rail
(10403), guiding mechanism steering engine fixed link (10404), guiding mechanism steering engine (10405), bottom end guide rail groove (10406), bottom
Guide rail (10407), the gib block (10401) is held to be fixed between top guide rail (10403) and bottom end guide rail (10407)；Top
End guide rail (10403) is slidably connected with top guide rail groove (10402), bottom end guide rail (10407) and bottom end guide rail groove
(10406) it is slidably connected；Top guide rail groove (10402) is fixedly installed in upper layer rack (101), bottom end guide rail groove
(10406) it is fixedly installed in lower rack (102)；Guiding mechanism steering engine fixed link (10404) top and top guide rail groove
(10402) it is fixedly connected, guiding mechanism steering engine fixed link (10404) bottom end is fixedly connected with bottom end guide rail groove (10406)；It leads
It is fixedly installed in guiding mechanism steering engine fixed link (10404) to mechanism steering engine (10405), guiding mechanism steering engine (10405)
Power output shaft is connected by connecting rod with gib block (10401)；
The climbing mechanism (103) shares four groups, is symmetrically arranged on the upper layer rack (101) and lower layer's machine of robot body (1)
Between frame (102).
2. insulator charged detection according to claim 1 and cleaning integrated robot, it is characterised in that：The detection
Module (2) include swivel link (201), the first detector (202), the second detector (203), testing agency's motor (204), from
Moving gear (20501), driving gear (20502), swivel link (201) top are rotatablely connected with upper layer rack (101), rotation
Turn connecting rod (201) bottom end to be fixedly connected with driven gear (20501), driven gear (20501) connects with lower rack (102) rotation
It connects, first detector (202) and the second detector (203) are fixedly mounted on swivel link (201), the testing agency
The shell of motor (204) is fixedly connected with lower rack (102), the shaft and driving gear of testing agency's motor (204)
(20502) it is fixedly connected；The driving gear (20502) is engaged with driven gear (20501).
3. insulator charged detection according to claim 1 and cleaning integrated robot, it is characterised in that：The cleaning
There are two modules (3), is separately positioned in upper layer rack (101) and lower rack (102), each cleans module (3) and includes
Hairbrush electric rotating engine base (301), hairbrush steering mechanism steering engine (302), hairbrush steering pinion (303), hairbrush rotation
Motor (304), hairbrush steering mechanism driven gear (305), cleaning agency turntable driving gear (306), cleaning agency turntable drive
Dynamic motor (307), cleaning agency turntable (308), hairbrush (309), the hairbrush electric rotating engine base (301) are fixedly mounted on hairbrush
On steering mechanism's driven gear (305), hairbrush electric rotating machine (304) is fixedly installed on hairbrush electric rotating engine base (301), hairbrush
(309) it is connected with the shaft of hairbrush electric rotating machine (304), the shell of hairbrush steering mechanism steering engine (302) is fixedly installed in cleaning
On mechanism turntable (308), shaft and the fixed company of hairbrush steering pinion (303) of hairbrush steering mechanism steering engine (302)
It connects, hairbrush steering pinion (303) is engaged with hairbrush steering mechanism driven gear (305), the driving of cleaning agency turntable
The shaft of motor (307) is fixedly connected with cleaning agency turntable driving gear (306), and cleaning agency turntable drives gear (306)
It is meshed with cleaning agency turntable (308), is located at the cleaning agency turntable driving electricity of the cleaning module (3) of upper layer rack (101)
Machine (307) is fixedly installed in upper layer rack (101), and upper layer rack (101) top surface is equipped with cleaning agency turntable slideway (3010),
The cleaning agency turntable (308) of cleaning module (3) positioned at upper layer rack (101) turns with the cleaning agency of upper layer rack (101)
Disk slideway (3010) coordinates；Cleaning agency turntable driving motor (307) positioned at the cleaning module (3) of lower rack (102) is solid
Loaded in lower rack (102), lower rack (102) bottom surface is equipped with cleaning agency turntable slideway (3010) for Dingan County, is located at lower layer
The cleaning agency turntable (308) of the cleaning module (3) of rack (102) and the cleaning agency turntable slideway of lower rack (102)
(3010) coordinate.
4. insulator charged detection according to claim 1 and cleaning integrated robot, it is characterised in that：The paw
Telescoping mechanism (10350) includes paw telescoping mechanism steering engine (10351), paw telescoping mechanism connecting rod (10352), paw telescopic machine
Structure sliding block (10353), paw telescoping mechanism guide rail (10354), the paw steering mechanism (10360) includes paw steering mechanism
Upper layer turntable (10361), lower layer of paw steering mechanism turntable (10362), paw steering mechanism steering engine (10363), the paw
Telescoping mechanism steering engine (10351) is fixedly installed in the top of paw telescoping mechanism guide rail (10354)；The paw telescoping mechanism connects
Bar (10352) one end is hinged with paw telescoping mechanism sliding block (10353), paw telescoping mechanism connecting rod (10352) other end and hand
The output axis connection of pawl telescoping mechanism steering engine (10351)；The paw telescoping mechanism sliding block (10353) is led with paw telescoping mechanism
Rail (10354) is slidably connected, i.e., paw telescoping mechanism sliding block (10353) can be front and back on paw telescoping mechanism guide rail (10354)
It is free to slide；The paw telescoping mechanism sliding block (10353) is fixedly connected with paw (10340)；The paw telescoping mechanism is led
Rail (10354) is fixedly connected with paw steering mechanism upper layer turntable (10361)；Paw steering mechanism upper layer turntable
(10361) it is rotatablely connected with lower layer of paw steering mechanism turntable (10362)；The shell of paw steering mechanism steering engine (10363)
Body is fixedly mounted on lower layer of paw steering mechanism turntable (10362) bottom, and the shaft of paw steering mechanism steering engine (10363) passes through
Lower layer of paw steering mechanism turntable (10362) is fixedly connected with paw steering mechanism upper layer turntable (10361)；The paw turns to
Lower layer of mechanism turntable (10362) is fixedly connected with gearcase (10330).
5. insulator charged detection according to claim 1 and cleaning integrated robot, it is characterised in that：The upper layer
Rack (101) connects shaft with lower rack (102) including the first frame in combination unit (10101), the first rack
(10102), the second frame in combination unit (10103), third frame in combination unit (10104), the second rack connect shaft
(10105), the first frame in combination unit (10101) is the annulus that angle is 180 degree, the second frame in combination unit
(10103) be angle it is 120 degree of annulus, the third frame in combination unit (10104) is angle for 60 degree of annulus, described
First frame in combination unit (10101) connect shaft (10102) by the first rack with the second frame in combination unit (10103) and turns
Dynamic connection；The first frame in combination unit (10101), which is connect with third frame in combination unit (10104) by the second rack, to be turned
Axis (10105) is rotatablely connected.
6. insulator charged detection according to claim 1 and cleaning integrated robot, it is characterised in that：The guiding
Mechanism (104) shares three groups, is symmetrically arranged between the upper layer rack (101) of robot body (1) and lower rack (102).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510435041.8A CN105067909B (en) | 2015-07-22 | 2015-07-22 | Insulator charged detection and cleaning integrated robot |
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| CN201510435041.8A CN105067909B (en) | 2015-07-22 | 2015-07-22 | Insulator charged detection and cleaning integrated robot |
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| CN105067909B true CN105067909B (en) | 2018-11-06 |
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| CN1317110C (en) * | 2005-06-03 | 2007-05-23 | 武汉大学 | Crawl mechanism of clearing robot for suspension insulators on high voltage line |
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| CN104128320B (en) * | 2014-08-19 | 2016-04-13 | 武汉大学 | A kind of Voltage for Insulators on HV Lines detects and sweeping robot |
| CN104438164B (en) * | 2014-11-28 | 2017-02-22 | 国家电网公司 | Insulator cleaning robot |
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Effective date of registration: 20160516 Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Applicant after: State Grid Corporation of China Applicant after: Wuhan Nari Limited Liability Company of State Grid Electric Power Research Institute Applicant after: STATE GRID SHANXI ELECTRIC POWER CO., LTD. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Applicant before: State Grid Corporation of China Applicant before: Wuhan Nari Limited Liability Company of State Grid Electric Power Research Institute |
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