CN106182030A - The detection of a kind of transmission line insulator live and the integrated robot cleaned - Google Patents
The detection of a kind of transmission line insulator live and the integrated robot cleaned Download PDFInfo
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- CN106182030A CN106182030A CN201610679685.6A CN201610679685A CN106182030A CN 106182030 A CN106182030 A CN 106182030A CN 201610679685 A CN201610679685 A CN 201610679685A CN 106182030 A CN106182030 A CN 106182030A
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- 239000012212 insulator Substances 0.000 title claims abstract description 93
- 238000001514 detection method Methods 0.000 title claims abstract description 43
- 230000005540 biological transmission Effects 0.000 title claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 36
- 238000004140 cleaning Methods 0.000 claims abstract description 31
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 26
- 239000010959 steel Substances 0.000 claims abstract description 26
- 238000009413 insulation Methods 0.000 claims abstract description 10
- 238000012545 processing Methods 0.000 claims description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 239000004744 fabric Substances 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000013519 translation Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000005684 electric field Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
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- 230000006641 stabilisation Effects 0.000 description 2
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- 238000007405 data analysis Methods 0.000 description 1
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- 230000007613 environmental effect Effects 0.000 description 1
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- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 229910052573 porcelain Inorganic materials 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- APTZNLHMIGJTEW-UHFFFAOYSA-N pyraflufen-ethyl Chemical compound C1=C(Cl)C(OCC(=O)OCC)=CC(C=2C(=C(OC(F)F)N(C)N=2)Cl)=C1F APTZNLHMIGJTEW-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the detection of a kind of transmission line insulator live and the integrated robot cleaning insulator, the frame body of three mechanical arms is fixed in first, second, and third 3 mechanical arms arranged including common longitudinal center plane and support, second mechanical arm between mechanical arm, it is provided with the cleaning brush cleaning insulator surface first and the 3rd；First and the 3rd mechanical arm can independently move up and down and side-to-side movement, move up and down to firmly grasp and unclamp insulator steel cap, side-to-side movement is with the insulator steel cap of promptly diverse location and the left and right translation that realizes whole robot, second mechanical arm can independently move up and down promptly and unclamp insulator steel cap, can realize the change of position around along with moving left and right of frame body；In second mechanical arm at least with the first mechanical arm and the 3rd mechanical arm one firmly grasps insulator steel cap simultaneously and forms measure loop, by the insulation resistance of insulator on the control system measure loop that is mounted on frame body.
Description
Technical field
The present invention relates to a kind of robot used for transmission line, be specifically related to a kind of transmission line insulator live detection with clear
The integrated robot swept.
Background technology
Livewire work be power industry be to improve the one that power supply reliability and power grid security, economic operation level are developed
Special operation mode, is the most at home and abroad widely used, and plays a very important role in power generation.Charged work
Industry can detect equipment running status at any time, in time discovery, abatement apparatus defect and hidden danger, it is ensured that power network safety operation.
Along with China's pay attention to day by day to hot line maintenance, promote the quick of hot line maintenance technology
Development, live detection means also get more and more.And in electric transmission line hot-line detects, for electric transmission line isolator detection
For generally, it is used for detecting the low value of insulator, null value situation.In longtime running, insulator can be subject to thunderbolt, filth, bird pest,
The impact of the environmental factorss such as ice and snow, high temperature, the temperature difference, at highfield to be born, lightning impulse current, power frequency arc electric current
Effect so that insulator breakdown accounting in transmission line malfunction is the highest, when insulator chain exists low value or null value insulation
, under filthy environment or overvoltage even running voltage, the most easily there is flashover fault in the period of the day from 11 p.m. to 1 a.m.When lightning surge acts on zero
During value insulator, zero resistance insulator is punctured completely, and powerful zero current and power frequency continued flow are from the porcelain piece of zero resistance insulator head
Gap is flow through, and will cause that zero resistance insulator is overheated to be blown.As can be seen here, on transmission line of electricity, detection to insulator just seems outstanding
For important.
Before, when detecting insulator, the general method used has spark to pitch detection method, uv detection method, corona pulse
Method, electric field method, ultrasonic Detection Method etc..When spark fork detects the electric transmission line isolator of voltage levels, the insulator of detection
Sheet number is many, and from shaft tower farther out, testing staff's working strength is big, and there is corona phenomenon on transmission line of electricity, the sound meeting of corona
Affect spark discharge sound, cause testing staff may produce erroneous judgement.Electric field method is by detection insulator and normal insulation
Electric Field Distribution situation compares, and in order to judge whether this insulator is inferior insulator, this kind of method is to software dependency ratio
Relatively strong, the fine or not compared result impact of software is the biggest.Ultrasonic Detection Method can by the ultrasound wave received is carried out process
Detect inferior insulator, the insulator of cracking can be detected accurately.Inoperative to uncracked insulator, this kind of side
Method has significant limitation.
Traditional safety inspection includes that manpower detects, vehicle detection, and helicopter detects.And vehicle detection is by traffic above-ground
Limiting, helicopter detects costly, detects by manpower, uses range estimation or has observed by telescope, and manpower line walking is imitated
Rate is low, and labor intensity is big, and blind area is patrolled and examined in existence, is also limited by geographical conditions.
Summary of the invention
It is an object of the invention to provide one can automatic cleaning while detection electric transmission line isolator insulation resistance
The integrated robot of insulator surface, it is achieved the accuracy of detection and the convenience of operation, improves the steady of Operation of Electric Systems
Qualitative.
This transmission line insulator live detection that the present invention provides and the integrated robot cleaned, including common longitudinal direction
First, second, and third 3 mechanical arms that median plane is arranged fix the frame body of three mechanical arms, the second machine with supporting
Tool arm between mechanical arm, it is provided with cleaning brush first and the 3rd；First and the 3rd mechanical arm can be from Your Majesty
Lower motion and side-to-side movement, move upward promptly insulator steel cap, moves downward after unclamping insulator steel cap, and side-to-side movement is to grab
The insulator steel cap of tight diverse location and realize the left and right translation of whole robot, the second mechanical arm can independently move up and down and grab
Tight and unclamp insulator steel cap, the change of position around can be realized along with moving left and right of frame body；Second mechanical arm is extremely
Few insulator steel cap of simultaneously firmly grasping with in the first mechanical arm and the 3rd mechanical arm forms measure loop, by installing
The insulation resistance of insulator on the control system measure loop being fixed on frame body；Cleaning brush on second mechanical arm can revolve
Turn to clean the filth of insulator surface.
Described three mechanical arms include a pair mechanical gripper, hinged seat, the first servomotor and drive mechanism thereof respectively
And longitudinal driving device, mechanical gripper is articulated with the upside of hinged seat, and the first servomotor is fixed on the centre on the downside of hinged seat
Position, its drive mechanism driving mechanical handgrip folding, longitudinal driving device is connected to the downside of hinged seat, drives whole machinery
The up and down motion of arm；It is mounted on conductivity detection copper billet at promptly insulator steel cap inside three pairs of mechanical grippers.
Bar shaped groove on the thickness direction median plane of described hinged seat, bar shaped groove is inserted in the bottom of described mechanical gripper
In, symmetry is articulated with the length direction two ends of hinged seat.
The output shaft connection of described first servomotor has stretches into the screw rod in bar shaped groove, screw rod through hinged seat bottom surface
Upper connection has slide block, and connecting at the median plane of hinged seat two length direction inwall has slide rail, and slide block offers at corresponding slide rail
Gathering sill, slide block can be moved up and down along slide rail by gathering sill, and the two ends of slide block have been respectively articulated with connection sheet, connects sheet another
End is articulated with on described mechanical gripper, and this pin joint is the lower section of pin joint between mechanical gripper and hinged seat；Screw rod, slide block
With the described drive mechanism that connection sheet forms the first servomotor；First driven by servomotor screw rod rotates, the rotational band of screw rod
Movable slider moves up and down along screw rod and slide rail, slide block move up and down band be dynamically connected sheet rotate, connect sheet rotation driving mechanical
Handgrip rotates the opening and closing movement realizing a pair mechanical gripper around its pin joint with hinged seat.
Described frame body is cuboid support body, described first and the 3rd mechanical arm be arranged in the both sides of frame body, frame
It is connected to lateral driver device between support body and the first, the 3rd mechanical arm, realizes the first He by lateral driver device
3rd side-to-side movement of mechanical arm and moving left and right of frame body, thus realize moving left and right of whole robot.
Described longitudinal driving device includes the second servomotor, motor mounting plate and longitudinal drive lead screw, motor mounting plate
Horizontally disposed, the second servomotor is fixed on the downside at motor mounting plate length direction median plane down with output shaft, longitudinally
The upper end of drive lead screw is connected as a single entity by the output shaft of shaft joint and the second servomotor.
Described first and the 3rd the lower end of longitudinal drive lead screw of mechanical arm threaded have with described, motor is installed
The guide holder that plate is arranged in parallel, the length direction two ends symmetry tight fit connection of described motor mounting plate has longitudinally guiding bar, vertical
Being fixed on described hinged seat upper and lower end to the upper end of guide post through guide holder, longitudinally guiding bar can corresponding along guide holder
Installing hole moves up and down, and the second driven by servomotor longitudinal direction drive lead screw rotates, and longitudinal drive lead screw is along guide holder
Move up and down and driven the up and down motion of whole mechanical arm by longitudinally guiding bar；Guide holder is angle seat, and it is with angle steel both sides
Between angle outwardly, the most horizontally disposed, described longitudinal drive lead screw and longitudinally guiding bar are all connected to the level of guide holder
Bian Shang；The first fixed plate being perpendicular to the second mechanical arm is had, longitudinal drive lead screw of the second mechanical arm on described frame body
Threadeding with between the first fixed plate, longitudinally guiding bar passes the first fixed plate, can be on the installing hole in the first fixed plate
Lower movement.
Described lateral driver device includes the 3rd servomotor and horizontal drive lead screw, and the 3rd servomotor is with output shaft edge
Horizontal direction is arranged and is fixed on the vertical edge of described guide holder, and shaft coupling and the 3rd servo are passed through in one end of horizontal drive lead screw
The output shaft of motor is connected as a single entity；The internally threaded sleeve of the second fixed plate and both sides thereof, horizontal driving wire is had on described frame body
Between the other end and the second fixed plate and the internally threaded sleeve of bar threaded；The both sides of the 3rd servomotor on described guide holder
Being symmetrically connected with laterally steering bar about horizontal drive lead screw, the other end of laterally steering bar is through second on described frame body
Fixed plate, laterally steering bar can move left and right by the installing hole in the second fixed plate.
The lateral symmetry of one mechanical gripper of described second mechanical arm connects the spill spin block having circular arc, spill spin block
Outside side wall is provided with driving cog, and two mechanical grippers are respectively arranged with driving motor, drives and connects on the output shaft of motor
Having travelling gear, travelling gear engages with the driving cog of spill spin block sidewall and makes a pair spill spin block do circumference fortune along two mechanical grippers
Dynamic, described cleaning brush is fixed on spill spin block and cleans adjacent insulator inner surface and outer surface along with spill spin block moves in a circle
Filthy；On two mechanical grippers, the periphery of corresponding rotation block is provided with directive wheel, to ensure the stable motion of spill spin block.By driving
Dynamic a pair spill spin block moves in a circle around two mechanical grippers and cleans adjacent insulator inner surface and the filth of outer surface, simplifies
Cleaning effect is also improved while structure.
Described control system uses STM32f103zet6 processor, external 24 high-precision AD1210 chips, Jing Guoshuan
Voltage precision low-power consumption instrument amplifier INA129 and general-purpose operation amplifier OPA2171 amplifies and obtains a few about mV to 2.5V
Collectable voltage；Single out-put supply 24 V lithium battery is used to provide 5 V voltages needed for central processing module, each motor institute
The 24 V voltages needed and 2 500 V of measure loop detect voltage；2 500 V detection voltages are realized by DC-DC booster circuit.
Realized the live detection of insulator dielectric resistance by control system, overcoming prior art can only offline inspection insulator dielectric
The defect of resistance.
The present invention is moved up and down by three mechanical arms autonomous and first and the 3rd autonomous left and right fortune of mechanical arm
Dynamic, it is achieved the automatic shift of detection and cleaning insulator and robot is with live detection and the insulation cleaning diverse location automatically
Son.The insulated electro of insulator is detected by the measure loop formed between the second mechanical arm and the first, the 3rd mechanical arm
Resistance judges the quality of insulator, in order to the insulator that instantaneously changing is bad, improves the stability of Operation of Electric Systems.By second
The filth of the cleaning brush automatic cleaning insulator surface on mechanical arm, it is to avoid insulator generation flashover fault.Whole detection, clear
Inswept journey is carried out automatically, and operator need not directly contact high-voltage charged body, and only need to manipulate control system can live detection.Not only
Alleviate the labor intensity of workman, it is also possible to improve processing safety.
The up and down motion of three mechanical arms is realized by its longitudinal driving device, first and the 3rd left and right of mechanical arm
Motion, frame body are with moving left and right of the second mechanical arm and moving left and right by lateral driver device in fact of whole robot
Existing.In order to make longitudinal driving device simple in construction and motion stabilization, being used can be linear motion by convert rotational motion
Structure configures, and makes the rotary motion of driven by servomotor longitudinal direction drive lead screw be eventually converted into the straight line up and down of whole mechanical arm
Motion.In like manner, in order to make first and the 3rd side-to-side movement of mechanical arm, frame body move left and right with the second mechanical arm
And whole robot move left and right motion stabilization, the lateral driver device employing structure similar with longitudinal driving device is joined
Put, and use the guide holder of longitudinal driving device lower end connection as the mounting seat of lateral driver device, simplify structure further
And ensure the stability of motion.
Accompanying drawing explanation
Fig. 1 is the working state schematic representation (not drawing cleaning brush) of a preferred embodiment of the invention.
Fig. 2 is the structure for amplifying schematic diagram of the second mechanical arm in Fig. 1.
Fig. 3 is the schematic side view of Fig. 2.
Fig. 4 is in Fig. 1 first and the 3rd structure for amplifying schematic diagram of mechanical arm.
Fig. 5 is the schematic side view of Fig. 4.
Fig. 6 is I enlarged diagram in Fig. 3.
Fig. 7 is the structure for amplifying schematic diagram of slide block in Fig. 5.
Fig. 8 is the schematic top plan view of Fig. 5.
Fig. 9 is the main TV structure schematic diagram of slide rail in Fig. 5.
Figure 10 is another working state schematic representation of the present embodiment.
Figure 11 is the hardware structure figure of the present embodiment control system.
Figure 12 is the power supply module figure of control system.
The architecture diagram of Figure 13 control system.
In figure, sequence number is detailed:
1-the second mechanical arm 2-the first mechanical arm 2a-the 3rd mechanical arm 3-frame body ZD-longitudinal driving device
HD-lateral driver device ZS-mechanical gripper JJZ-hinged seat F1-the first servomotor F2-the second servomotor F3-
Three servomotor LG-screw rod HG-slide rail HK-slide block LJP-connect sheet ZD1-motor mounting plate ZD2-longitudinal direction drive lead screw
ZD3-longitudinally guiding bar DXZ-guide holder HD1-horizontal drive lead screw HD2-laterally steering bar 31-the first fixed plate 32-
Two fixed plate 321-internally threaded sleeves QDDJ-drive motor XZK-spill spin block CL-gear D XL-directive wheel.
Detailed description of the invention
As it is shown in figure 1, present embodiment discloses the detection of a kind of electric transmission line hot-line and the integrated machine cleaning insulator
People, first mechanical arm the 2, second mechanical arm 1 and the 3rd mechanical arm 2a arranged including common longitudinal center plane and support are solid
The frame body 3 of fixed three mechanical arms, the second mechanical arm 1 between the first mechanical arm 2 and the 3rd mechanical arm 2a, its
On cleaning brush (being not drawn in figure) is installed.
As shown in Figures 1 to 6, three mechanical arms include a pair mechanical gripper ZS and hinged seat JJZ thereof and driving respectively
The lower end of the first servomotor F1 of mechanical gripper ZS folding, hinged seat JJZ connects longitudinal driving device ZD, and zigzag tread patterns fills
Putting ZD drives the mechanical gripper ZS of hinged seat JJZ and connection thereof to realize moving up and down.
As shown in Figures 2 to 6, bar shaped groove on the thickness direction median plane of hinged seat JJZ, the bottom of mechanical gripper ZS is inserted
Entering in bar shaped groove, symmetry is articulated with the length direction two ends of hinged seat JJZ.
First servomotor F1 is fixed on the median plane in hinged seat JJZ sole length direction, and its output shaft connects to be worn
Crossing the screw rod LG that hinged seat JJZ bottom surface is stretched in bar shaped groove, on screw rod LG, connection has two length of slide block HK, hinged seat JJZ
Connecting at the median plane of direction inwall and have slide rail HG, slide block HK offers gathering sill at corresponding slide rail HG, slide block HK is by leading
Can move up and down along slide rail HG to groove, the two ends of slide block HK have been respectively articulated with connection sheet LJP, and the other end connecting sheet LJP is hinged
On mechanical gripper ZS, this pin joint is the lower section of pin joint between mechanical gripper ZS and hinged seat JJZ.Slide block and slide rail
Coordinate the stable motion ensureing slide block, when sheet rotates so that slide block band is dynamically connected, connect the driving mechanical handgrip that sheet can be stable
Stable the rotating at its pin joint with hinged seat of energy.
First servomotor F1 drives screw rod LG to rotate, and the rotational band movable slider HK of screw rod LG is along screw rod LG and slide rail HG
Lower movement, the band sheet LJP that is dynamically connected that moves up and down of slide block HK rotates, and the rotation driving mechanical handgrip ZS connecting sheet LJP rotates real
The opening and closing movement of existing a pair mechanical gripper.The structure of slide block and slide rail is as shown in Figure 7 to 9.
As it is shown in figure 1, frame body 3 is cuboid support body, first and the 3rd mechanical arm be arranged in the two of frame body 3
Side, the second mechanical arm 1 is fixed on the first and the 3rd median plane between mechanical arm.
As shown in Figures 1 to 6, longitudinal driving device ZD includes the second servomotor F2, motor mounting plate ZD1 and longitudinally passes
Movable wire bar ZD2, motor mounting plate ZD1 is horizontally disposed, and the second servomotor F2 is fixed on motor mounting plate ZD1 down with output shaft
Downside at length direction median plane, the upper end of longitudinal drive lead screw ZD2 is by shaft joint and the output of the second servomotor F2
Axle is connected as a single entity.
As it is shown in figure 1, be also respectively connected with lateral driver device HD between frame body 3 and the first, the 3rd mechanical arm, horizontal
The 3rd servomotor F3 and horizontal drive lead screw HD1 is included to driving means HD.3rd servomotor F3 with output shaft along level
Direction is arranged and is fixed on the vertical edge of guide holder DXZ, and one end of horizontal drive lead screw HD1 is by shaft coupling and the 3rd servo electricity
The output shaft of machine F3 is connected as a single entity.
As shown in Figure 1, Figure 4 and Figure 5, first and the 3rd the lower end of longitudinal drive lead screw ZD2 of mechanical arm threaded
There is the guide holder DXZ being arranged in parallel with motor mounting plate ZD1.Guide holder DXZ is angle seat, and it is with the angle between angle steel both sides
Outwardly, the most horizontally disposed, longitudinal drive lead screw ZD2 and longitudinally guiding bar ZD3 is all connected in the horizontal sides of guide holder DXZ.
The length direction two ends symmetry tight fit connection of motor mounting plate ZD1 has longitudinally guiding bar ZD3, the upper end of longitudinally guiding bar ZD3
Being fixed on hinged seat JJZ upper and lower end can the corresponding mounting hole along guide holder DXZ through guide holder DXZ, longitudinally guiding bar ZD3
Move up and down.Second servomotor F2 drives longitudinal drive lead screw ZD2 to rotate, and longitudinal drive lead screw ZD2 is along guide holder
The up and down motion by longitudinally guiding bar ZD3 driving mechanical arm that moves up and down of DXZ.
As shown in Figure 1, Figure 2 and Figure 3, the lower end of the second mechanical arm longitudinal direction drive lead screw and longitudinally guiding bar does not connect
Guide holder, its longitudinal drive lead screw threadeds with the first fixed plate 31 on frame body, and longitudinally guiding bar is fixing through first
Plate 31, can move up and down by the installing hole in the first fixed plate 31.
The internally threaded sleeve 321 of the second fixed plate 32 and both sides thereof is had, another of horizontal drive lead screw HD1 on frame body 3
End is threadeded with between the second fixed plate 32 and internally threaded sleeve 321；The both sides of the upper 3rd servomotor F3 of guide holder DXZ are closed
Being symmetrically connected with laterally steering bar HD2 in horizontal drive lead screw HD1, the other end of laterally steering bar HD2 passes on frame body
Second fixed plate 32, laterally steering bar HD2 can move left and right by the installing hole in the second fixed plate 32.It is directed to a DXZ conduct
The mounting seat of lateral driver device HD, improves the stability of lateral driver device motion while simplifying structure.By laterally driving
Dynamic device HD realizes first and the 3rd side-to-side movement of mechanical arm and moving left and right of frame body, thus realizes whole robot
Move left and right.Notice that the length of the horizontal drive lead screw of the 3rd mechanical arm connection need to ensure when frame body moves right, its
Laterally keep between drive lead screw with internally threaded sleeve being connected, so that the 3rd mechanical arm can move forward smoothly.
Conductivity detection copper billet it is mounted at the steel cap of a pair mechanical gripper promptly insulator of three mechanical arms, second
The lateral symmetry of one mechanical gripper of mechanical arm connects the spill spin block XZK having circular arc, and the outside side wall of spill spin block is provided with
Driving cog, each mechanical gripper is respectively arranged with two driving motor QDDJ, and driving to connect on the output shaft of motor has transmission
Gear C L, travelling gear CL engage with the driving cog of spill spin block XZK sidewall and make spill spin block move in a circle along two mechanical grippers,
Cleaning brush (being not drawn in figure) is fixed on spill spin block along with spill spin block moves in a circle cleaning insulator surface.In order to ensure rotation
The stable motion of switch block, on mechanical gripper, the periphery of corresponding rotation block arranges some directive wheel DXL.
As it is shown in figure 1, form measure loop between the second mechanical arm and the 3rd mechanical arm, examined by control system
Survey the insulation resistance of insulator II.After the insulation resistance of insulator II has detected, by first and the 3rd mechanical arm
Lateral driver device makes frame body be moved to the left with the second mechanical arm to make cleaning brush thereon can clean in insulator II
Surface, then makes frame body move right with the second mechanical arm and cleans the outer surface of insulator III.Cleaning controls after completing
Second mechanical arm moves downward after unclamping insulator steel cap, then make frame body with the second mechanical arm move right under
At one insulator steel cap, control the second mechanical arm and move upward promptly this insulator steel cap, then make the 3rd mechanical arm pine
Move downward after opening insulator steel cap, then move forward at previous insulator steel cap, more upwards firmly grasp this steel insulator pin
Cap, as shown in figure 11, now forms two loops and can detect the insulation resistance of insulator III and IV respectively.The inspection of other insulator
The rest may be inferred in survey.
The everything of robot and detection data analysis are all by control system control realization.As Figure 11 to Figure 13 institute
Showing, control system uses processor to be STM32f103zet6, external 24 high-precision AD1210 chips, through twin voltage essence
Close low-power consumption instrument amplifier INA129 and general-purpose operation amplifier OPA2171 amplification obtains a few about mV to 2.5V and can gather
Voltage.The purpose of filtering is reached at respective pin series filtering electric capacity.In order to ensure the safety of rear end Acquisition Circuit, in computing
Amplifier OPA2171 is added with protection circuit.The design selects 24 V lithium batteries as single out-put supply, carries central processing module
12 V voltages etc. needed for 5 required V voltages, 24 V voltages needed for motor and 2 500 V detection voltage and photographic head.
Controller and communication module etc. typically require the least stable DC voltage in the controls, therefore native system designing voltage regulator is electric
Road realizes power supply and exports the voltage stabilizing of control system.Detection voltage needed for detection insulator is higher, therefore adds DC-in the design
DC booster circuit realizes the conversion of voltage, reaches to detect 2 500 required V direct current detection voltage back sample voltages, configures PWM direct current
Motor drive module, controls speed and the method for operation of each motor.Communication module include TT&C system and ground remote control device it
Between radio communication and gather data GSM transmission.Wireless transmission method is used between TT&C system and ground remote control device, by
There is corona phenomenon in transmission line of electricity, radio wave may produce interference, therefore controller selects carrier frequency to be in adjustable
The low-power consumption RF transceiver chip CC1010 of ISM frequency range, through reality measure its launch, receiving range can reach 150 m.
Chip internal is integrated with 8051 kernels, it is not necessary to the most additionally increase control chip so that it is easy to operate and control.This Shen
SIM800 please be use as the transport module of insulator dielectric resistance value, the data collected are sent extremely with the form of note
In earth moving equipment, staff judges the good and bad state of this insulator by the data obtained.
Claims (10)
1. a transmission line insulator live detection and cleaning integrated robot, it is characterised in that: it includes in common longitudinal direction
First, second, and third 3 mechanical arms that heart face is arranged fix the frame body of three mechanical arms, the second machinery with supporting
Arm between mechanical arm, it is provided with cleaning brush first and the 3rd；First and the 3rd mechanical arm can be the most upper and lower
Motion and side-to-side movement, move upward promptly insulator steel cap, moves downward after unclamping insulator steel cap, and side-to-side movement is with promptly
The insulator steel cap of diverse location and realize moving left and right of whole robot, the second mechanical arm can independently move up and down promptly
With unclamp insulator steel cap, the change of position around can be realized along with moving left and right of frame body；Second mechanical arm is at least
Firmly grasp insulator steel cap with in the first mechanical arm and the 3rd mechanical arm simultaneously and form measure loop, solid by installing
The insulation resistance of insulator on control system measure loop on frame body；Cleaning brush on second mechanical arm is rotatable
To clean the filth of insulator surface.
2. transmission line insulator live detection as claimed in claim 1 and the integrated robot cleaned, it is characterised in that:
Described three mechanical arms include a pair mechanical gripper, hinged seat, the first servomotor and drive mechanism thereof respectively and longitudinally drive
Dynamic device, mechanical gripper is articulated with the upside of hinged seat, and the first servomotor is fixed on the middle position on the downside of hinged seat, its
Drive mechanism driving mechanical handgrip folding, longitudinal driving device is connected to the downside of hinged seat, drives the upper of whole mechanical arm
Lower motion；It is mounted on conductivity detection copper billet at promptly insulator steel cap inside three pairs of mechanical grippers.
3. transmission line insulator live detection as claimed in claim 2 and the integrated robot of cleaning insulator, it is special
Levying and be: bar shaped groove on the thickness direction median plane of described hinged seat, the bottom of described mechanical gripper is inserted in bar shaped groove,
Symmetry is articulated with the length direction two ends of hinged seat.
4. transmission line insulator live detection as claimed in claim 3 and the integrated robot of cleaning insulator, it is special
Levy and be: the output shaft connection of described first servomotor has stretches into the screw rod in bar shaped groove, screw rod through hinged seat bottom surface
Upper connection has slide block, and connecting at the median plane of hinged seat two length direction inwall has slide rail, and slide block offers at corresponding slide rail
Gathering sill, slide block can be moved up and down along slide rail by gathering sill, and the two ends of slide block have been respectively articulated with connection sheet, connects sheet another
End is articulated with on described mechanical gripper, and this pin joint is the lower section of pin joint between mechanical gripper and hinged seat；Screw rod, slide block
With the described drive mechanism that connection sheet forms the first servomotor；First driven by servomotor screw rod rotates, the rotational band of screw rod
Movable slider moves up and down along screw rod and slide rail, slide block move up and down band be dynamically connected sheet rotate, connect sheet rotation driving mechanical
Handgrip rotates the opening and closing movement realizing a pair mechanical gripper around its pin joint with hinged seat.
5. transmission line insulator live detection as claimed in claim 2 and the integrated robot of cleaning insulator, it is special
Levy and be: described frame body is cuboid support body, described first and the 3rd mechanical arm be arranged in the both sides of frame body, framework
It is connected to lateral driver device between body and the first, the 3rd mechanical arm, realizes first and by lateral driver device
The side-to-side movement of three mechanical arms and moving left and right of frame body, thus realize moving left and right of whole robot.
6. transmission line insulator live detection as claimed in claim 5 and the integrated robot of cleaning insulator, it is special
Levy and be: described longitudinal driving device includes the second servomotor, motor mounting plate and longitudinal drive lead screw, motor mounting plate water
Plain cloth is put, and the second servomotor is fixed on the downside at motor mounting plate length direction median plane down with output shaft, longitudinally passes
The upper end of movable wire bar is connected as a single entity by the output shaft of shaft joint and the second servomotor.
7. transmission line insulator live detection as claimed in claim 6 and the integrated robot of cleaning insulator, it is special
Levy and be: described first and the 3rd the lower end of longitudinal drive lead screw of mechanical arm threaded have with described motor mounting plate
The guide holder being arranged in parallel, the length direction two ends symmetry tight fit connection of described motor mounting plate has longitudinally guiding bar, longitudinally
The upper end of guide post is fixed on described hinged seat upper and lower end and is passed guide holder, and longitudinally guiding bar can pacifying along guide holder accordingly
Dress hole moves up and down, and the second driven by servomotor longitudinal direction drive lead screw rotates, upper along guide holder of longitudinal drive lead screw
Under move through longitudinally guiding bar drive whole mechanical arm up and down motion；Guide holder is angle seat, its with angle steel both sides it
Between angle outwardly, the most horizontally disposed, described longitudinal drive lead screw and longitudinally guiding bar are all connected to the horizontal sides of guide holder
On；The first fixed plate being perpendicular to described second mechanical arm is had, longitudinal driving wire of the second mechanical arm on described frame body
Between bar and the first fixed plate threaded, longitudinally guiding bar passes the first fixed plate, can installing hole in the first fixed plate
Move up and down.
8. transmission line insulator live detection as claimed in claim 7 and the integrated robot of cleaning insulator, it is special
Levy and be: described lateral driver device includes the 3rd servomotor and horizontal drive lead screw, and the 3rd servomotor is with output shaft edge
Horizontal direction is arranged and is fixed on the vertical edge of described guide holder, and shaft coupling and the 3rd servo are passed through in one end of horizontal drive lead screw
The output shaft of motor is connected as a single entity；The internally threaded sleeve of the second fixed plate and both sides thereof, horizontal driving wire is had on described frame body
Between the other end and the second fixed plate and the internally threaded sleeve of bar threaded；The both sides of the 3rd servomotor on described guide holder
Being symmetrically connected with laterally steering bar about horizontal drive lead screw, the other end of laterally steering bar is through second on described frame body
Fixed plate, laterally steering bar can move left and right by the installing hole in the second fixed plate.
9. transmission line insulator live detection as claimed in claim 2 and the integrated robot of cleaning insulator, it is special
Levy and be: the lateral symmetry of a mechanical gripper of described second mechanical arm connects the spill spin block having circular arc, spill spin block
Outside side wall is provided with driving cog, and two mechanical grippers are respectively arranged with driving motor, drives and connects on the output shaft of motor
Having travelling gear, travelling gear engages with the driving cog of spill spin block sidewall and makes a pair spill spin block do circumference fortune along two mechanical grippers
Dynamic, described cleaning brush is fixed on spill spin block and cleans adjacent insulator inner surface and outer surface along with spill spin block moves in a circle
Filthy；On two mechanical grippers, the periphery of corresponding rotation block is provided with directive wheel, to ensure the stable motion of spill spin block.
10. the transmission line insulator live detection as described in claim 1-9 and the integrated robot of cleaning insulator, its
It is characterised by: described control system uses STM32f103zet6 processor, external 24 high-precision AD1210 chips, passes through
Twin voltage precision low-power consumption instrument amplifier INA129 and general-purpose operation amplifier OPA2171 amplifies and obtains a few mV to 2.5V left side
Right collectable voltage；Single out-put supply 24 V lithium battery is used to provide 5 V voltages needed for central processing module, each motor
2 500 V of 24 required V voltages and measure loop detect voltage；2 500 V detection voltages are real by DC-DC booster circuit
Existing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610679685.6A CN106182030B (en) | 2016-08-18 | 2016-08-18 | A kind of integrated robot transmission line insulator live detection and cleaned |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610679685.6A CN106182030B (en) | 2016-08-18 | 2016-08-18 | A kind of integrated robot transmission line insulator live detection and cleaned |
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| CN106182030B CN106182030B (en) | 2019-01-15 |
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| CN114563632A (en) * | 2022-03-10 | 2022-05-31 | 国网福建省电力有限公司三明供电公司 | High-voltage line insulator electric field distribution monitoring device |
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