CN105548221B - Online composite insulator x-ray scanning robot - Google Patents
Online composite insulator x-ray scanning robot Download PDFInfo
- Publication number
- CN105548221B CN105548221B CN201510872696.1A CN201510872696A CN105548221B CN 105548221 B CN105548221 B CN 105548221B CN 201510872696 A CN201510872696 A CN 201510872696A CN 105548221 B CN105548221 B CN 105548221B
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- China
- Prior art keywords
- composite insulator
- host
- movable motor
- ray
- shell
- 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.)
- Expired - Fee Related
Links
- 239000012212 insulator Substances 0.000 title claims abstract description 61
- 239000002131 composite material Substances 0.000 title claims abstract description 57
- 238000004891 communication Methods 0.000 claims description 9
- 238000007689 inspection Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000007547 defect Effects 0.000 abstract description 13
- 238000000034 method Methods 0.000 abstract description 9
- 238000012545 processing Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 6
- 238000005336 cracking Methods 0.000 description 5
- 150000001875 compounds Chemical class 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 229920002379 silicone rubber Polymers 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 241000555268 Dendroides Species 0.000 description 1
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010410 dusting Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000009972 noncorrosive effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000007788 roughening Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2223/00—Investigating materials by wave or particle radiation
- G01N2223/60—Specific applications or type of materials
- G01N2223/646—Specific applications or type of materials flaws, defects
Abstract
The invention discloses a kind of online composite insulator x-ray scanning robots, including be mounted on shell (8) automatic traveling mechanism, X-ray check mechanism and positioned at the computer on ground, automatic traveling mechanism is moved up and down along the guide rail (7) for being located at vertical string composite insulator (1) two sides, X-ray check mechanism carries out the scanning of interval to composite insulator (1), and scanning information is sent to ground-based computer processing, the x-ray image of the composite insulator (1) of continuous scanning after being rebuild, for analyzing the defect situation of composite insulator (1).The configuration of the present invention is simple, it is easy to operate, running online composite insulator (1) can be detected in electrification, the various defects that discovery composite insulator (1) promptly and accurately is generated in operational process.
Description
Technical field
The invention patent relates to a kind of isolator detecting mechanism, especially a kind of online composite insulator x-ray scanning machine
People.
Background technique
Composite insulator is since light-weight, intensity is high, resistance to pollution flashover performance is strong, many merits such as easily manufactured are in electric system
It is middle to be widely applied.The use of composite insulator is that the safe operation of power grid plays positive effect, but compound inslation
Surface carbonation, cracking or its connection occur son for silicone rubber jacket, insulation mandrel, silicon rubber umbrella skirt and fitting in use
Position generates the defects of cracking, layering, breaks down so as to cause composite insulator, and with runing time and operation quantity
Increase, the probability that composite insulator breaks down also gradually increases.Such as: 15 interfaces once occurred in East China, North China
23 pollution flashover accidents occur for breakdown accident, Guangdong, East China, North China.In order to prevent composite insulator accident, it is necessary to operation
In composite insulator detected and replaced in due course.
Walkaround inspection is carried out to composite insulator external physical defect mainly by the method directly observed at present, that is, uses the bitubular
Telescope observed under tower with find the positions such as common surface defect such as sheath, full skirt, fitting whether there is or not cracking, whether there is or not galvanic corrosion
Damage, dusting, tracking etc. should replace composite insulator if any the above phenomenon immediately；It also needs to step on when ground observation is less reliable
Tower detection, this maintenance service are difficult to find interior insulation failure such as dendroid channel etc.；In order to make up daily walkaround inspection not
It is sufficient, also replacement is sampled to composite insulator, to replaced multiple by the time limit of composite insulator operation in real work
It closes insulator and carries out laboratory testing, batch replacement is carried out to defective composite insulator according to the result of sampling Detection, it is real
The method for testing room detection has ultraviolet image method, infrared imaging method, field distribution method, supersonic testing method etc., these detection methods are each
There are advantage and disadvantage, but be all confined to use in laboratory, running online composite insulator can not be detected.
The detection technique means being applicable in not yet running online composite insulator at present, can not accurately, timely
The composite insulator of defect is generated in detection and replacement operational process.
Summary of the invention
The object of the invention is to design a kind of online composite insulator x-ray scanning robot, can to it is running
Line composite insulator is detected, the various defects that discovery composite insulator promptly and accurately is generated in operational process, so as to right
The insulator for generating defect is replaced in time.
The technical scheme is that online composite insulator x-ray scanning robot, it is characterized in that: including automatically walk
Mechanism, X-ray check mechanism and receiving control device；Automatic traveling mechanism is two by being located at vertical string composite insulator two sides
Parallel guide rail and the two groups of pulleys creeped on guide rail composition；Guide rail is the insulating cord being straightened up and down, and the upper end of insulating cord connects
It connects on cross-arm, lower end fixes on the ground；
Every group of pulley has two pulleys being mounted side by side on the outer wall of ∪ shell body two sides, two pulleys of every group of pulley
Wire casing is provided on wheel rim, two pulleys, to withstanding on insulating cord, are connected with walking by wire casing on the pulley spindle of every group of pulley
Motor, movable motor rotate synchronously band running block and creep along insulating cord；X-ray check mechanism includes host and is electrically connected with host
Imager, host and imager be separately positioned on the opposite two sides inner wall of ∪ shell body, and composite insulator passes through the shell
∪ type frame；Power supply and controller are additionally provided on shell, power supply gives movable motor, controller and host supplying power respectively, control
Device processed is electrically connected with movable motor and host, and controller controls movable motor movement and the scanning of X-ray check mechanism；Controller and master
Machine is connected separately with wireless communication interface, and receiving control device is one and is located at the computer that ground has wireless communication interface,
Computer wirelessly sends operational order to controller and receiving host sends back the scanning information come, and believes scanning
Breath is analyzed and processed；
Movable motor is connected on a pulley spindle in every group of pulley, movable motor rotation band running block is climbed along guide rail
Row, the movable motor of shell two sides pulley blocks operate synchronously；
The invention has the advantages that structure is simple, easy to operate, can timely and accurately be checked in the case where electrification
Whether there is or not full skirts to weather, roughening, flashover, cracking for online surface of composite insulator, check outer covering layer have non-corrosive groove,
Trace, cracking, the defects of broken, plug is exposed and surface filth degree, detect inside composite insulator have air-gap-free or
The defects of electroluminescent carbon trace, crackle or damage, joint looseness.Real-time prediction composite insulator operating status is transmission line safety
Operation provides technical support.
Detailed description of the invention
Fig. 1: x-ray scanning robot architecture main view of the present invention；
Fig. 2: x-ray scanning robot architecture left view of the present invention；
Fig. 3: x-ray scanning robot architecture top view of the present invention；
Fig. 4: structure of the invention and workflow block diagram.
In figure: 1- composite insulator；2- cross-arm；3- controller；4- host；5- movable motor；6- pulley；7- guide rail；8-
Shell；9- imager；10- power supply.
Specific embodiment
As shown in fig. 1 to fig. 4, online composite insulator x-ray scanning robot of the present invention include automatic traveling mechanism,
X-ray check mechanism and receiving control device positioned at ground, the invention patent is directed to the composite insulator 1 vertically gone here and there and detects, multiple
It closes insulator 1 to be hung vertically on cross-arm 2, automatic traveling mechanism is flat by being located at two of vertical string 1 two sides of composite insulator
Capable guide rail 7 and two groups of pulleys being mounted on 8 two sides outer wall of ∪ shell body composition, the upper end of every guide rail 7 is connected to cross-arm 2
Upper and guide rail 7 is perpendicular to the ground, and guide rail 7 uses light weight insulating material.Every group of pulley is mounted side by side on ∪ shell body two sides
Two pulleys 6 on outer wall, the wheel rim of two pulleys 6 connect on one of pulley spindle of every group of pulley to withstanding on guide rail 7
There is movable motor 5, drives two pulleys 6 to rotate by the rotation of movable motor 5, due between guide rail 7 and two 6 wheel rims of pulley
Frictional force exists, and so as to make pulley blocks creep along guide rail 7, the movable motor 5 of 8 two sides pulley blocks of shell is arranged to synchronous fortune
Row, then shell 8 is whole can move up along two side rails 7；The form of guide rail 7 can there are many, the present embodiment
In, guide rail 7 uses two insulating cords, and the upper end of every insulating cord ties up on cross-arm 2, and insulating cord is straightened posterior end and is fixed on ground
Face；The wire casing that section is semi arch is provided on the wheel rim of two pulleys 6 of every group of pulley, two pulleys 6 are by wire casing to top
On insulating cord, the arc diameter of wire casing and the thickness of insulating cord are adapted, and the depth of wire casing is less than the radius of insulating cord, in this way
It can guarantee all acting on insulating cord to top power for wire casing, and the wheel rim of two pulleys 6 will not be contacted directly；Due to insulating cord with
There is frictional force between two 6 wheel rim wire casings of pulley, the rotation band running block of movable motor 5 is creeped along insulating cord, according to walking electricity
The rotation direction of machine 5 is different, and pulley blocks can be moved up along insulating cord；Due to the movable motor 5 of 8 two sides of shell
Operation synchronizes, so that shell 8 be made to move up along two insulating cords of two sides.
X-ray check mechanism detects X-ray machine using split type back yard industry, and X-ray check mechanism includes host 4 and and host
By the imager 9 of cable connection, X-ray check mechanism is mounted in shell 8, and host 4 and imager 9 are separately positioned on shell ∪
On the opposite inner wall in type two sides, for the ∪ type frame of shell 8 circumferentially around in the periphery of composite insulator 1, composite insulator 1 passes through shell
The ∪ type frame of body 8, such composite insulator 1 are between host 4 and imager 9, and the X-ray that host 4 emits passes through compound
It is imaged on imager 9 after insulator 1.X-ray machine is with digital imagery principle, is that X-RAY pipe generation fan-shaped plan X-ray is come
It is scanned projection, and is converted directly into digital signal, specially X-ray beam presses certain thickness to 1 each section of composite insulator
Level be scanned, by imager 9 receive penetrate the level X-ray, after being changed into visible light, from optical signal conversion become
Electric signal, then switch to digital signal through analog/digital converter (analog/digital converter), the digital signal is logical
The wireless communication interface crossed on host 4 is wirelessly transferred to the receiving control device positioned at ground, by being located at ground
Receiving control device computer carry out processing operation after, formed composite insulator 1 x-ray scanning image, thus for technology people
The defect situation of member's analysis composite insulator 1.
Power supply 10 and controller 3 are additionally provided on shell 8, power supply 10 gives movable motor 5, controller 3 and host 4 respectively
Power supply, controller 3 are electrically connected with movable motor 5 and host 4, and controller 3 controls the movement of movable motor 5 and X-ray check is inter-agency
It has a rest scanning；Controller 3 and host 4 are connected separately with wireless communication interface, and ground receiver control device is one with channel radio
The computer of communication interface wirelessly sends operational order to controller 3 and receiving host 4 sends back the scanning come and believes
Breath, and defect information is analyzed and processed.
The course of work of online composite insulator described in this patent is: first using the upper of two insulating cords as guide rail 7
End ties up on cross-arm 2, and two insulating cords are each passed through the wheel rim wire casing of two of 8 two sides of shell pulleys 6 side by side, insulating cord clamping
Between the wheel rim wire casing of two pulleys 6, the dynamics adjustment of clamping is suitable, then posterior end is straightened in insulating cord and is fixed on ground
Face, two insulating cords are parallel and are located at vertical 1 two sides of string composite insulator for needing to detect；The ∪ type frame circumferential direction ring of shell 8
It is wound on the periphery of composite insulator 1, composite insulator 1 passes through the ∪ type frame of shell 8, and composite insulator 1 is in host 4 and imaging
Between device 9；Computer by being located at ground issues instruction, and controller 3 receives the instruction by wireless communication interface, and control is certainly
The movable motor 5 of dynamic walking mechanism operates, and moves up shell 8 along insulating cord guide rail 7, while passing through controller
3 control hosts 4 carry out x-ray scanning to composite insulator 1 and take pictures, and in order to reduce electrical source consumption, scan the side for taking interval to take pictures
Formula determines the interval time taken pictures according to the speed of automatic traveling mechanism movement, obtain each section of composite insulator string can
To scanning；Digital signal of the optical signal of x-ray scanning after analog-to-digital conversion is by the wireless communication interface of host with wireless
Mode is sent to the computer of ground receiver control device, the compound inslation of the continuous scanning after being rebuild after computer disposal
The x-ray image of son 1；Technical staff analyzes the defect situation of composite insulator 1 according to the x-ray image of composite insulator 1, thus right
Defective composite insulator 1 is replaced in time.
Claims (2)
1. online composite insulator x-ray scanning robot, it is characterized in that: including automatic traveling mechanism, X-ray check mechanism and reception
Control device；Automatic traveling mechanism is by being located at vertically two parallel guide rails (7) of string composite insulator (1) two sides and leading
The two groups of pulleys composition creeped on rail (7)；Guide rail (7) is the insulating cord being straightened up and down, and the upper end of insulating cord is connected to cross-arm (2)
On, lower end fixes on the ground；Every group of pulley has two pulleys (6) being mounted side by side on the outer wall of ∪ shell body (8) two sides, often
Be provided with wire casing on the wheel rim of two pulleys (6) of group pulley, two pulleys (6) by wire casing to withstanding on insulating cord, every group
It is connected on the pulley spindle of pulley movable motor (5), movable motor rotates synchronously band running block and creeps along insulating cord；X-ray inspection
Surveying mechanism includes host (4) and the imager (9) being electrically connected with host, and host (4) and imager (9) are separately positioned on ∪ shell
On the opposite two sides inner wall of body (8), composite insulator (1) passes through the ∪ type frame of the shell (8)；It is additionally provided on shell (8)
Power supply (10) and controller (3), power supply (10) is respectively to movable motor (5), controller (3) and host (4) power supply, controller
(3) it is electrically connected with movable motor (5) and host (4), controller (3) control movable motor (5) movement and X-ray check mechanism are swept
It retouches；Controller (3) and host (4) are connected separately with wireless communication interface, receiving control device be one be located at ground band whether there is or not
The computer of line communication interface, computer wirelessly give controller (3) to send operational order and receiving host (4) transmission
Scanning information back, and scanning information is analyzed and processed.
2. online composite insulator x-ray scanning robot according to claim 1, it is characterized in that: one in every group of pulley
It is connected on a pulley spindle movable motor (5), movable motor (5) rotation band running block is creeped along guide rail (7), shell (8) two
The movable motor (5) of side roller group operates synchronously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510872696.1A CN105548221B (en) | 2015-12-02 | 2015-12-02 | Online composite insulator x-ray scanning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510872696.1A CN105548221B (en) | 2015-12-02 | 2015-12-02 | Online composite insulator x-ray scanning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105548221A CN105548221A (en) | 2016-05-04 |
| CN105548221B true CN105548221B (en) | 2019-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510872696.1A Expired - Fee Related CN105548221B (en) | 2015-12-02 | 2015-12-02 | Online composite insulator x-ray scanning robot |
Country Status (1)
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| CN (1) | CN105548221B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107104389B (en) * | 2017-07-07 | 2018-08-07 | 国网湖南省电力公司带电作业中心 | A kind of detection and the clearing apparatus of live detection and cleaning integrated robot |
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| CN105548221A (en) | 2016-05-04 |
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