CN106129899A - Ultra-high/extra-high voltage transmission line insulator live detects/cleans integrated robot - Google Patents

Ultra-high/extra-high voltage transmission line insulator live detects/cleans integrated robot Download PDF

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Publication number
CN106129899A
CN106129899A CN201610679720.4A CN201610679720A CN106129899A CN 106129899 A CN106129899 A CN 106129899A CN 201610679720 A CN201610679720 A CN 201610679720A CN 106129899 A CN106129899 A CN 106129899A
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China
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mechanical arm
seat
arm
insulator
ultra
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CN201610679720.4A
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CN106129899B (en
Inventor
刘夏清
邹德华
严宇
张祥全
罗日成
王剑
牛捷
龚政雄
刘兰兰
陈隆
樊绍胜
姜赤龙
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Hunan Peace Prosperity Electric Ltd
State Grid Corp of China SGCC
State Grid Hunan Electric Power Co Ltd
Changsha University of Science and Technology
Live Working Center of State Grid Hunan Electric Power Co
Maintenance Co of State Grid Hunan Electric Power Co Ltd
Original Assignee
Hunan Taiping Changsheng Electric Appliances Co Ltd
State Grid Corp of China SGCC
State Grid Hunan Electric Power Co Ltd
Changsha University of Science and Technology
Live Working Center of State Grid Hunan Electric Power Co
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Application filed by Hunan Taiping Changsheng Electric Appliances Co Ltd, State Grid Corp of China SGCC, State Grid Hunan Electric Power Co Ltd, Changsha University of Science and Technology, Live Working Center of State Grid Hunan Electric Power Co filed Critical Hunan Taiping Changsheng Electric Appliances Co Ltd
Priority to CN201610679720.4A priority Critical patent/CN106129899B/en
Publication of CN106129899A publication Critical patent/CN106129899A/en
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01RMEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R27/00Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
    • G01R27/02Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
    • G01R27/025Measuring very high resistances, e.g. isolation resistances, i.e. megohm-meters

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a kind of ultra-high/extra-high voltage transmission line insulator live and detect/clean integrated robot, including a upper outside, the second mechanical arm of hairbrush circle it is installed and is positioned at first and the 3rd mechanical arm of its both sides, three mechanical arm longitudinal center plane altogether, fixed by fixing seat supports, three mechanical arms all can independently move up and down, first and the 3rd mechanical arm also can independently left and right flexible, the second mechanical arm can move left and right along with fixing seat;Any one or three mechanical arms in second mechanical arm and the first, the 3rd mechanical arm simultaneously promptly insulation steel cap form one or two loops the insulation resistance of the insulator on corresponding circuit detected;The up and down motion of three mechanical arms with promptly and unclamp insulator steel cap, first and the 3rd the left and right stretching motion of mechanical arm can realize fixing moving left and right of seat and moving left and right of whole robot, with detection and the insulator that cleans diverse location.

Description

Ultra-high/extra-high voltage transmission line insulator live detects/cleans integrated robot
Technical field
The present invention relates to a kind of ultra-high/extra-high voltage transmission line of electricity, be specifically related to a kind of ultra-high/extra-high voltage electric transmission line isolator band Electro-detection/cleaning integrated robot.
Background technology
Ultra-high/extra-high voltage transmission line of electricity is in longtime running, and line insulator is not only by filth, bird pest, ice and snow, high temperature etc. The impact of environmental factors, and electrically still suffering from highfield, lightning impulse current, the effect of power frequency arc electric current, make Obtain the reduction of insulator resistance even to deteriorate.When in circuit, low value or zero resistance insulator sheet number easily occur flashover thing when exceeding regulation Therefore, affect the circuit even safe and stable operation of electrical network.Simultaneously as the probability of ultra-high/extra-high voltage transmission line of electricity interruption maintenance is low, Therefore detection insulator charged in ultra-high/extra-high voltage circuit and cleaning tool are of great significance.
At present, the method for insulator charged detection has spark to pitch detection method, electric field method, ultrasonic Detection Method, ultraviolet detection Method, corona pulse method etc..
When spark fork detects the electric transmission line isolator of voltage levels, the insulation sub-pieces number of detection is many, from shaft tower farther out, Testing staff's working strength is big, and there is corona phenomenon on transmission line of electricity, and the sound of corona can affect spark discharge sound, leads Cause testing staff and may produce erroneous judgement.
Electric field method is compared, in order to judge this insulation by the Electric Field Distribution situation of detection insulator with normal insulation Whether son is inferior insulator, and this kind of method is stronger to software dependency, and the fine or not compared result impact of software is the biggest.
Ultrasonic Detection Method detects inferior insulator by the ultrasound wave received is carried out process, can examine accurately Measure the insulator of cracking, but inoperative to uncracked insulator, and this kind of method has significant limitation.
The principle of uv detection method is that charged particle is compound during shelf depreciation can release ultraviolet, works as insulator surface When forming conductivity silicon carbide passage, shelf depreciation is aggravated, but testing result is easily subject to the impact of viewing angle, and detection equipment is also Costly.
Corona pulse method is to be judged the insulation status of insulator by the method measuring insulator corona pulse electric current, should Method is easily subject to the impact of on-the-spot interference, therefore corona pulse electric current is likely to when insulator is normal produce, and along with transmission of electricity Its value of the fluctuation of line voltage distribution is also changing.Due to environmental factors, insulator surface forms filth, easily causes pollution flashover thing Therefore, therefore insulator periodically to be cleaned.Insulator cleaning technology is formally divided into power failure cleaning, charged water clear at present Sweep, charged air-blowing cleaning, charged dry cleaning, charged Mechanical Driven chemical agent clean.
Have a power failure to clean and generally cleaned in power failure equipments by light instruments such as artificial rag or brushes.By filthy salt The impact of close composition, insulator is difficult to clean thoroughly, and has that labor intensity is big and the shortcoming such as inefficiency;Simultaneously because Along with equipment power failure chance is fewer and feweri, the cleaning that has a power failure is time-bounded by force.
It is to be rinsed insulator by control current that charged water cleans, but in wet condition, easily causes personal injury.
Charged air-blowing cleans mainly by controlling air-flow and then being rinsed insulator, the blowout during application of this method Dust or sawdust insulator can be caused secondary pollution.
Charged dry cleaning is to clean brushing with insulation to sweep insulator, but it is served only for cleaning the unstable floating dust that bonds.Band The dry cleaning equipment of electricity has portable flexible axle to connect electrification in high voltage cleaning bar and fork truck complete set type electrification in high voltage automatic sweeping machine etc..Before Person needs manually to hold cleaning bar operation, and labor intensity is big, is suitable for electric pressure low, cleans the lowest;The latter's fork truck to be leaned on Mobile adjustment cleans direction and distance, inconvenient operation, and automatization is relatively low.
Charged Mechanical Driven chemical agent cleans, and is first to rinse insulator dirt with chemical agent, then with action bars head Machinery motor drives and cleans insulator, but its scavenging machine holding act is heavier, causes operation dumb, and easily generation cleans dead Angle, for not being a part of suspension insulator of vertical hanging over the ground, this scavenging machine is by helpless.
Summary of the invention
It is an object of the invention to provide a kind of can the insulation resistance of insulator on the live detection circuit of safe and convenient, Again can the insulator charged detection/cleaning integrated robot of dust on cleaning insulators in live manner.
This ultra-high/extra-high voltage transmission line insulator live that the present invention provides detects/cleans integrated robot, including One upper outside is provided with the second mechanical arm of hairbrush circle and is positioned at first and the 3rd mechanical arm of its both sides, three machines Tool arm longitudinal center plane altogether is arranged, being fixed by fixing seat supports, three mechanical arms all can independently move up and down, the first He 3rd mechanical arm also can independently stretch left and right, and the second mechanical arm can move left and right along with fixing seat;Second mechanical arm and The first, any one or three mechanical arms in the 3rd mechanical arm simultaneously promptly insulation steel cap form one or two The insulation resistance of the insulator on corresponding circuit is detected by loop;Three mechanical arms move upward with promptly steel insulator pin Cap, moves downward after unclamping insulator steel cap;First and the 3rd the left and right stretching motion of mechanical arm can realize the left side of fixing seat Move right and the moving left and right of whole robot, with detection and the insulator that cleans diverse location, by hairbrush circle to insulator Surface cleans.
Described three mechanical arms all include arm body and be connected to by rectangle seat a pair of the external end of arm can the grabbing of folding Hands, the other end sidewall of arm body has tooth bar along its length;Bar shaped groove is had, under handgrip on the mid-depth face of rectangle seat End inserts the symmetrical two ends being articulated with rectangle seat length direction in bar shaped groove.
Described arm body is the rod member of hollow, is disposed with the first motor in the cavity of arm body nearly rectangle seat end, the first motor Output shaft is connected by shaft coupling screw mandrel, and screw mandrel has nut, described handgrip from the center position of rectangle seat through rear connection With the hinged place being hinged with connecting rod, connecting rod and handgrip between the outer wall of nut is positioned at the top of rectangle seat;First motor drives silk Bar rotates and makes nut move up and down along screw mandrel, and nut drivening rod rotates, and the rotating of connecting rod drives handgrip around it with rectangle seat Hinged place rotates and realizes opening and closing movement.
Described fixing seat is the casing of the cuboid having pair of sidewalls to be open side, described first and the 3rd mechanical arm The opposite side of fixing seat, the installed position of the medial wall correspondence L-type seat of fixing seat it is connected to respectively by L-type seat and fairlead Connecting and have guide holder, the long limit of L-type seat is positioned at outside casing through sidewall and guide holder, the minor face of casing, and fairlead vertically connects On the upside of the minor face of L-type seat.
Described first and the 3rd the arm body bottom of mechanical arm sequentially pass through fairlead and the minor face of L-type seat respectively, guide The sidewall of set offers width more than the axial pass trough of tooth bar width, and the minor face of L-type seat offers and runs through its thickness and make arm body wear The circular hole crossed and the combination bore of stripe shape groove, the outer end of bar-shaped trough is positioned at the outer rim of L-type seat minor face, and arm body can be along L-type seat and guiding Set moves up and down.
Described second mechanical arm is connected to the side of the described another pair of sidewalls of fixing seat, corresponding second machinery of wall box The inner side of arm installed position connects has guiding pedestal, outside connection to have guiding body, and the sidewall guiding body offers width Degree offers and runs through, more than the axial blind slot of tooth bar width, guiding pedestal, circular hole and the group of stripe shape groove that its thickness makes arm body pass Closing hole, the outer end of bar-shaped trough is positioned at the outer rim guiding pedestal, and arm body can move up and down along guiding body with guiding pedestal.
Being separately installed with output shaft the second motor in the horizontal direction on two described L-type seats, the outer end of output shaft connects Having the gear rotated along vertical plane, gear engages to the tooth bar on the first, the 3rd mechanical arm arm body respectively and realizes corresponding machinery Moving up and down of arm.
Described fixing seat is further fixed on output shaft the second motor in the horizontal direction and output shaft connects along vertical plane The gear rotated, the tooth bar engagement on this gear and the second mechanical arm arm body realizes moving up and down of the second mechanical arm.
In described fixing seat, the outside on the corresponding described long limit of L-type seat is provided with the 3rd motor, outside the 3rd motor output shaft End connects the gear rotated along the horizontal plane, and the outside on the long limit of L-type seat connects the tooth bar having along its length, this wheel and rack Engagement drives L-type seat to move left and right;Corresponding bar-shaped trough is offered at corresponding L-type seat upper rack on fixing seat;The left and right of L-type seat Mobile realize first and the 3rd the left and right of mechanical arm stretch, while two the 3rd motors, adverse movement realize fixing seat band Moving left and right of the second mechanical arm.
The top of two handgrips of described second mechanical arm is respectively arranged with groove track in a circle, and described hairbrush circle is installed on In interior groove track, the both sides of hairbrush circle are all stretched out outside handgrip, and hairbrush circle is driven can be rotated along interior groove track 360 by motor. By hairbrush circle, inner surface and the outer surface of adjacent two insulators are cleaned.
Three mechanical arms of the present invention all can independently move up and down, and moves upward with promptly insulator steel cap, unclamps absolutely Move downward after edge steel cap.Second mechanical arm and one of the first, the 3rd or three mechanical arms firmly grasp insulator simultaneously Steel cap forms measure loop, detects the insulation resistance of insulator on corresponding circuit by control system.First and the 3rd machinery Arm also independently can fix seat and the left and right of the second mechanical arm with realization by the flexible insulator steel cap firmly grasping diverse location in left and right Mobile and whole robot moves left and right, with detection and the insulator of cleaning diverse location.By the second mechanical arm and One, between the 3rd mechanical arm formed measure loop detect the insulation resistance value of insulator to judge the quality of insulator, with Just the insulator that instantaneously changing is bad, improves the stability of Operation of Electric Systems.Automatic by the hairbrush circle on the second mechanical arm Clean the filth of insulator surface, it is to avoid insulator generation flashover fault.Whole detection, cleaning process are carried out automatically, operative employee People need not directly contact high-voltage charged body, only need to manipulate control system, thus can the insulation resistance of live detection insulator, Not only alleviate the labor intensity of workman, it is also possible to improve processing safety.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of one embodiment of the invention.
Fig. 2 is the schematic top plan view of Fig. 1.
Fig. 3 is the structure for amplifying schematic diagram of the second mechanical arm in Fig. 1.
Fig. 4 is that the right side of Fig. 3 regards schematic diagram.
Fig. 5 is in Fig. 1 first or the 3rd structure for amplifying schematic diagram of mechanical arm.
Fig. 6 is the schematic side view of Fig. 5.
Fig. 7 is a working state figure of the present embodiment.
Fig. 8 is the next working state figure of Fig. 7.
Detailed description of the invention
As shown in Figure 1 and Figure 2, present embodiment discloses a kind of ultra-high/extra-high voltage transmission line insulator live detection/cleaning Integrated robot, is provided with the second mechanical arm 1 of hairbrush circle including a upper outside and is positioned at the first machine of its both sides Tool arm 2 and the 3rd mechanical arm 2a, three mechanical arm longitudinal center plane altogether are arranged, are supported fixing by fixing seat 3, second Mechanical arm 1 is on the first and the 3rd transverse center face between mechanical arm.
As shown in Figures 3 to 6, three mechanical arms are all included arm body BT and are connected to outside arm body BT by rectangle seat JXZ A pair of end can the handgrip ZS of folding, the other end sidewall of arm body BT has a tooth bar CT along its length;Rectangle seat JXZ's Having bar shaped groove on mid-depth face, the lower end of handgrip is inserted symmetry in bar shaped groove and is articulated with rectangle seat JXZ length direction Two ends.Arm body BT is the rod member of hollow, is disposed with the first motor DJ1, the first motor DJ1 in the cavity of arm body BT nearly rectangle seat end Output shaft connected by shaft coupling and have screw mandrel SG, screw mandrel SG to have nut from the center position of rectangle seat JXZ through rear connection LM, the hinged place being hinged with connecting rod LG, connecting rod LG and handgrip ZS between the outer wall of handgrip ZS and nut LM is positioned at rectangle seat JXZ's Top.First motor DJ1 drives screw mandrel SG rotation to make nut LM move up and down along screw mandrel SG, and nut LM drivening rod LG rotates, The rotating of connecting rod LG drives handgrip ZS to rotate around its hinged place with rectangle seat JXZ and realizes opening and closing movement.
Fixing seat 3 is the casing of the cuboid having pair of sidewalls to be open side, the first mechanical arm 2 and the 3rd mechanical hand Arm 2a is connected to the opposite side of fixing seat 3 respectively by L-type seat 4 and fairlead 5, the medial wall correspondence L-type seat 4 of fixing seat 3 Installed position connects guide holder 6, and the long limit of L-type seat 4 is positioned at outside casing through sidewall and wire seat 6, the minor face of casing, leads It is vertically connected on the upside of the minor face of L-type seat 4 to set 5.The arm body bottom of the first mechanical arm 2 and the 3rd mechanical arm 2a depends on respectively Secondary through fairlead 5 with the minor face of L-type seat 4, the sidewall of fairlead 5 offers the width axial pass trough more than tooth bar CT width, L The minor face of type seat 4 offers and runs through circular hole and the combination bore of stripe shape groove that its thickness makes arm body pass, and the outer end of bar-shaped trough is positioned at L The outer rim of type seat 4 minor face, first and the 3rd the arm body of mechanical arm can move up and down along L-type seat 4 and fairlead 5 respectively.
Second mechanical arm 1 is connected to the side of the another pair of sidewalls of casing, and corresponding second mechanical arm 1 of wall box is installed The inner side of position connects has guiding pedestal 7, outside connection to have guiding body 8, the sidewall of guiding body 8 to offer width and be more than The axial blind slot of tooth bar CT width, guiding pedestal 7 offers and runs through circular hole and the combination of stripe shape groove that its thickness makes arm body pass Hole, the outer end of bar-shaped trough is positioned at the outer rim guiding pedestal 7, and the arm body of the second mechanical arm 1 along guiding body 8 and can guide pedestal 7 move up and down.
Being separately installed with output shaft the second motor DJ2 in the horizontal direction on two L-type seats 4, the outer end of output shaft connects to be had The gear C L, gear C L that rotate along vertical plane realize corresponding to the tooth bar CT engagement on the first, the 3rd mechanical arm arm body respectively Moving up and down of mechanical arm.Fixing seat 3 is further fixed on output shaft the second motor DJ2 in the horizontal direction and output shaft connects The gear C L rotated along vertical plane, tooth bar on this gear and the second mechanical arm 1 arm body engages and realizes the second mechanical arm 1 Move up and down.
In fixing seat 3, the outside on the corresponding long limit of L-type seat 4 is provided with the 3rd motor DJ3, outside the 3rd motor DJ3 output shaft End connects the gear C L rotated along the horizontal plane, and the outside on the long limit of L-type seat 4 connects the tooth bar CT having along its length, this gear Engage drive L-type seat 4 to move left and right with tooth bar.Corresponding bar-shaped trough is offered at corresponding L-type seat 4 upper rack CT on fixing seat 3. The moving left and right of L-type seat 4 realize first and the 3rd the left and right of mechanical arm stretch, while two the 3rd motor DJ3, reversely transport The fixing seat 3 of dynamic realization moves left and right with the second mechanical arm.
The top of second 1 liang of handgrip ZS of mechanical arm is respectively arranged with groove track in a circle, and hairbrush circle 9 is installed on interior grooved rail In road, the both sides of hairbrush circle 9 are all stretched out outside handgrip ZS, and hairbrush circle 9 is driven by the 4th motor DJ4 can be along interior groove track 360 Rotate.During cleaning, the second mechanical arm 1 is driven to move left and right by rectangle seat JXZ, to realize in adjacent two insulators Surface and outer surface clean.
Above-mentioned each motor all uses servomotor.
The operation principle of the present embodiment is as follows: three mechanical arms all can independently move up and down, first and the 3rd mechanical hand Arm also can independently stretch left and right, and the second mechanical arm can move left and right along with fixing seat;Second mechanical arm and the first, the 3rd machine Any one or three mechanical arms in tool arm simultaneously promptly insulation steel cap form one or two loops to accordingly The insulation resistance of the insulator on loop detects;Three mechanical arms move upward with promptly insulator steel cap, unclamp absolutely Move downward after edge steel cap;First and the 3rd the left and right stretching motion of mechanical arm coordinate the motion of two the 3rd motors can be real Now fix moving left and right of seat and moving left and right of whole robot, with detection and the insulator of cleaning diverse location, by hair Insulator surface is cleaned by brush circle.
Fig. 7 is a working state figure of the present embodiment, second mechanical arm 1 and the 3rd mechanical arm 2a of this state it Between form measure loop respectively, the insulation resistance of insulator I between two mechanical arms can be detected.Detect the exhausted of insulator I It is moved to the left the inner surface dirt making the second mechanical arm be moved to the left to clean insulator I therewith by fixing seat after edge resistance Dirty, then moved right the outer surface making the second mechanical arm move right to clean insulator II therewith by fixing seat.
Continuing to need during detection the position of mobile robot, at this moment holding first and the 3rd mechanical arm are motionless, make second Mechanical arm bounce back, then by while two the 3rd motors, adverse movement make the second mechanical arm along with fixing seat together Move forward to correct position, then make the second mechanical arm move upward the steel cap of promptly insulator III, then before making the 3rd mechanical arm Move the steel cap of promptly insulator II, now form two measure loop, the insulation resistance of insulator III and IV can be detected, such as Fig. 8 Shown in.Subsequent detection and cleaning process the like.
The everything of robot and detection data analysis are all by control system control realization.
Live detection of the present invention goes out the insulation resistance of each insulator to judge its quality, in order to the insulation that instantaneously changing is bad Son, improves the stability of Operation of Electric Systems.Dirt by the hairbrush body automatic cleaning insulator surface on the second mechanical arm Dirty, it is to avoid insulator generation flashover fault.Whole detection, cleaning process are carried out automatically, and operator need not directly contact high pressure Electrical body, only need to manipulate control system.Not only alleviate the labor intensity of workman, it is also possible to improve processing safety.

Claims (10)

1. a ultra-high/extra-high voltage transmission line insulator live detects/cleans integrated robot, it is characterised in that:
It includes that the second mechanical arm that a upper outside is provided with hairbrush circle is mechanical with first and the 3rd being positioned at its both sides Arm, three mechanical arm longitudinal center plane layouts altogether, to be fixed by fixing seat supports, three mechanical arms all can be the most upper and lower Motion, first and the 3rd mechanical arm also can independently left and right stretch, the second mechanical arm can move left and right along with fixing seat;Second Any one in mechanical arm and the first, the 3rd mechanical arm or three mechanical arm promptly insulation steel cap formation one simultaneously The insulation resistance of the insulator on corresponding circuit is detected by individual or two loops;Three mechanical arms move upward to grab Tight insulator steel cap, moves downward after unclamping insulator steel cap;First and the 3rd the left and right stretching motion of mechanical arm can realize Fixing moving left and right of seat and moving left and right of whole robot, with detection and the insulator of cleaning diverse location, pass through hairbrush Insulator surface is cleaned by circle.
2. ultra-high/extra-high voltage transmission line insulator live as claimed in claim 1 detects/cleans integrated robot, and it is special Levy and be: described three mechanical arms all include arm body and be connected to by rectangle seat a pair of the external end of arm can the grabbing of folding Hands, the other end sidewall of arm body has tooth bar along its length;Bar shaped groove is had, under handgrip on the mid-depth face of rectangle seat End inserts the symmetrical two ends being articulated with rectangle seat length direction in bar shaped groove.
3. ultra-high/extra-high voltage transmission line insulator live as claimed in claim 2 detects/cleans integrated robot, and it is special Levy and be: described arm body is the rod member of hollow, the cavity of arm body nearly rectangle seat end is disposed with the first motor, the first motor defeated Shaft is connected by shaft coupling screw mandrel, and screw mandrel has nut from the center position of rectangle seat through rear connection, described handgrip and The hinged place being hinged with connecting rod, connecting rod and handgrip between the outer wall of nut is positioned at the top of rectangle seat;First motor drives screw mandrel Rotation makes nut move up and down along screw mandrel, and nut drivening rod rotates, and rotating of connecting rod drives handgrip around its hinge with rectangle seat The place's of connecing rotation realizes opening and closing movement.
4. ultra-high/extra-high voltage transmission line insulator live as claimed in claim 2 detects/cleans integrated robot, and it is special Levy and be: described fixing seat is the casing of the cuboid having pair of sidewalls to be open side, described first and the 3rd mechanical arm The opposite side of fixing seat, the installed position of the medial wall correspondence L-type seat of fixing seat it is connected to respectively by L-type seat and fairlead Connecting and have guide holder, the long limit of L-type seat is positioned at outside casing through sidewall and guide holder, the minor face of casing, and fairlead vertically connects On the upside of the minor face of L-type seat.
5. ultra-high/extra-high voltage transmission line insulator live as claimed in claim 4 detects/cleans integrated robot, and it is special Levy and be: described first and the 3rd the arm body bottom of mechanical arm sequentially pass through fairlead and the minor face of L-type seat, fairlead respectively Sidewall offer width more than the axial pass trough of tooth bar width, the minor face of L-type seat offers and runs through its thickness and make arm body pass Circular hole and the combination bore of stripe shape groove, the outer end of bar-shaped trough is positioned at the outer rim of L-type seat minor face, and arm body can be along L-type seat and fairlead Move up and down.
6. ultra-high/extra-high voltage transmission line insulator live as claimed in claim 5 detects/cleans integrated robot, and it is special Levy and be: described second mechanical arm is connected to the side of the described another pair of sidewalls of fixing seat, corresponding second machinery of wall box The inner side of arm installed position connects has guiding pedestal, outside connection to have guiding body, and the sidewall guiding body offers width Degree offers and runs through, more than the axial blind slot of tooth bar width, guiding pedestal, circular hole and the group of stripe shape groove that its thickness makes arm body pass Closing hole, the outer end of bar-shaped trough is positioned at the outer rim guiding pedestal, and arm body can move up and down along guiding body with guiding pedestal.
7. ultra-high/extra-high voltage transmission line insulator live as claimed in claim 5 detects/cleans integrated robot, and it is special Levying and be: be separately installed with output shaft the second motor in the horizontal direction on two described L-type seats, the outer end of output shaft connects to be had The gear rotated along vertical plane, gear engages to the tooth bar on the first, the 3rd mechanical arm arm body respectively and realizes corresponding mechanical hand Moving up and down of arm.
8. ultra-high/extra-high voltage transmission line insulator live as claimed in claim 6 detects/cleans integrated robot, and it is special Levy and be: described fixing seat is further fixed on output shaft the second motor in the horizontal direction and output shaft connects turns along vertical plane Dynamic gear, the tooth bar engagement on this gear and the second mechanical arm arm body realizes moving up and down of the second mechanical arm.
9. ultra-high/extra-high voltage transmission line insulator live as claimed in claim 5 detects/cleans integrated robot, and it is special Levy and be: in described fixing seat, the outside on the corresponding described long limit of L-type seat is provided with the 3rd motor, the outer end of the 3rd motor output shaft Connecting and have the gear rotated along the horizontal plane, the outside on the long limit of L-type seat connects the tooth bar having along its length, and this wheel and rack is nibbled Crossed belt moves L-type seat and moves left and right;Corresponding bar-shaped trough is offered at corresponding L-type seat upper rack on fixing seat;The left and right of L-type seat is moved Dynamic realize first and the 3rd the left and right of mechanical arm stretch, while two the 3rd motors, adverse movement realize the left side of fixing seat Move right.
10. ultra-high/extra-high voltage transmission line insulator live as claimed in claim 2 detects/cleans integrated robot, and it is special Levying and be: the top of two handgrips of described second mechanical arm is respectively arranged with groove track in a circle, described hairbrush circle is installed on In interior groove track, the both sides of hairbrush circle are all stretched out outside handgrip, and hairbrush circle is driven can be rotated along interior groove track 360 by motor.
CN201610679720.4A 2016-08-18 2016-08-18 Super-pressure and extra high voltage line live detection and the robot for cleaning insulator Active CN106129899B (en)

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CN106914438A (en) * 2017-05-09 2017-07-04 国网湖南省电力公司带电作业中心 A kind of cleaning device that can automatically clean insulator
CN106926256A (en) * 2017-05-09 2017-07-07 国网湖南省电力公司带电作业中心 A kind of transmission system living water washing, deicing implement and its application process
CN107104390A (en) * 2017-07-07 2017-08-29 国网湖南省电力公司带电作业中心 A kind of live detection and cleaning integrated robot
CN107271783A (en) * 2017-07-30 2017-10-20 湖南金振机械制造科技有限公司 A kind of parallel-moving type detection robot for detecting insulator
CN108169541A (en) * 2017-12-29 2018-06-15 江苏集萃智能制造技术研究所有限公司 A kind of insulator charged detection device of three manipulators
CN108226706A (en) * 2017-11-29 2018-06-29 国网河南省电力公司偃师市供电公司 A kind of power fault detection method and device
CN110233369A (en) * 2019-05-31 2019-09-13 广州供电局有限公司 The electronic grounding rod of overhead high voltage line
CN110275580A (en) * 2019-05-23 2019-09-24 赣州市翔义科技有限公司 A kind of shock absorption case with self-cleaning function
CN110976366A (en) * 2019-11-27 2020-04-10 云南电网有限责任公司电力科学研究院 Robot for cleaning insulator string
CN112387652A (en) * 2020-10-20 2021-02-23 广东电网有限责任公司 Insulator cleaning device
CN113963869A (en) * 2021-09-30 2022-01-21 广西电网有限责任公司电力科学研究院 Horizontal walking device for insulator

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CN106914438A (en) * 2017-05-09 2017-07-04 国网湖南省电力公司带电作业中心 A kind of cleaning device that can automatically clean insulator
CN106926256A (en) * 2017-05-09 2017-07-07 国网湖南省电力公司带电作业中心 A kind of transmission system living water washing, deicing implement and its application process
CN106926256B (en) * 2017-05-09 2018-05-25 国网湖南省电力公司带电作业中心 A kind of transmission system living water washing, deicing implement and its application process
CN107104390A (en) * 2017-07-07 2017-08-29 国网湖南省电力公司带电作业中心 A kind of live detection and cleaning integrated robot
CN107104390B (en) * 2017-07-07 2018-07-24 国网湖南省电力公司带电作业中心 A kind of live detection and clean integrated robot
CN107271783A (en) * 2017-07-30 2017-10-20 湖南金振机械制造科技有限公司 A kind of parallel-moving type detection robot for detecting insulator
CN108226706A (en) * 2017-11-29 2018-06-29 国网河南省电力公司偃师市供电公司 A kind of power fault detection method and device
CN108169541A (en) * 2017-12-29 2018-06-15 江苏集萃智能制造技术研究所有限公司 A kind of insulator charged detection device of three manipulators
CN110275580A (en) * 2019-05-23 2019-09-24 赣州市翔义科技有限公司 A kind of shock absorption case with self-cleaning function
CN110233369A (en) * 2019-05-31 2019-09-13 广州供电局有限公司 The electronic grounding rod of overhead high voltage line
CN110976366A (en) * 2019-11-27 2020-04-10 云南电网有限责任公司电力科学研究院 Robot for cleaning insulator string
CN112387652A (en) * 2020-10-20 2021-02-23 广东电网有限责任公司 Insulator cleaning device
CN113963869A (en) * 2021-09-30 2022-01-21 广西电网有限责任公司电力科学研究院 Horizontal walking device for insulator
CN113963869B (en) * 2021-09-30 2024-04-19 广西电网有限责任公司电力科学研究院 Horizontal travelling device for insulators

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