CN107053246B - Self-resetting and self-locking rotary joint mechanism of power transmission line insulator detection robot - Google Patents
Self-resetting and self-locking rotary joint mechanism of power transmission line insulator detection robot Download PDFInfo
- Publication number
- CN107053246B CN107053246B CN201710168200.1A CN201710168200A CN107053246B CN 107053246 B CN107053246 B CN 107053246B CN 201710168200 A CN201710168200 A CN 201710168200A CN 107053246 B CN107053246 B CN 107053246B
- Authority
- CN
- China
- Prior art keywords
- locking
- self
- friction
- connecting hole
- detection robot
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Insulators (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a rotary joint mechanism of a self-resetting and self-locking transmission line insulator detection robot, which comprises a connecting block, wherein one end of the connecting block is connected with a static arm of the insulator detection robot, the other end of the connecting block is hinged with a rotating arm of the insulator detection robot, one end of the connecting block is fixedly connected with one end of a reset spring structure, the other end of the reset spring structure is connected with the rotating arm, the other end of the connecting block is hinged with the rotating arm through a damping structure, and a locking structure capable of locking and fixing the rotating arm is further arranged between the connecting block and the rotating arm. The structure overcomes the problems of more manual operation, poor locking performance, low safety and the like in the prior art, and can achieve the purposes of reducing manual operation, automatically locking and improving the safety of high-altitude operation.
Description
Technical Field
The invention relates to the technical field of insulator detection, in particular to a self-resetting and self-locking rotary joint mechanism of a power transmission line insulator detection robot.
Background
Insulators are used to support and hold the live conductor and to insulate the live conductor or conductors from the ground by a sufficient distance. The insulator should have sufficient electrical insulation strength and moisture resistance. In the operation of the power system, the power system works in a complicated severe environment formed by a strong electric field, mechanical stress, pollution, temperature and humidity and the like for a long time, the probability of faults is high, and the safe operation of the power system is seriously threatened. The insulation performance of the insulator in operation needs to be detected regularly, especially the porcelain and glass insulators, the detection period is short, the detection workload is large, and therefore, the selection of a proper detection method and a proper detection instrument is important for an operation unit. In performance detection of the insulator of the high-voltage transmission line, the insulator is detected piece by piece in an intelligent detection robot mode of the insulator string, so that the danger of high-altitude operation can be reduced, the detection efficiency of the insulator string is improved, the inspection period is shortened, loss caused by negligence of personnel, omission and the like can be reduced, the running quality of a power grid is improved, and safe and reliable running of the power grid is guaranteed.
In the prior art, when the insulator detection robot is actually installed on site, the insulator detection robot is required to be manually operated to be circumferentially rotated to be opened and sleeved on the outer side of the insulator string, the insulator detection robot is manually opened again after the detection is completed, the insulator detection robot is taken off from the insulator string, more manual operation is performed in the disassembly and assembly process, the insulator detection robot is likely to fall off due to accidental collision when working on the insulator string, and the operation safety is problematic.
Therefore, the inventor provides a self-resetting and self-locking power transmission line insulator detection robot rotary joint mechanism by virtue of experience and practice of related industries for many years, so as to overcome the defects of the prior art.
Disclosure of Invention
The invention aims to provide a rotary joint mechanism of a self-resetting and self-locking power transmission line insulator detection robot, which solves the problems of more manual operations, poor locking performance, low safety and the like in the prior art and can realize the purposes of reducing the manual operations, automatically locking and improving the safety of overhead operation.
The invention aims to achieve the self-resetting and self-locking rotating joint mechanism of the power transmission line insulator detection robot, which comprises a connecting block, wherein one end of the connecting block is connected with a static arm of the insulator detection robot, the other end of the connecting block is hinged with a rotating arm of the insulator detection robot, one end of the connecting block is fixedly connected with one end of a reset spring structure, the other end of the reset spring structure is connected with the rotating arm, the other end of the connecting block is hinged with the rotating arm through a damping structure, and a locking structure capable of automatically locking and fixing the rotating arm is further arranged between the connecting block and the rotating arm.
In a preferred embodiment of the present invention, the damping structure includes a central shaft passing through the connecting block and the rotating arm, and a free end of the central shaft is fixed by a damping adjusting nut; the damping structure is characterized by further comprising a damping gasket which is sleeved on the central shaft and two end faces of which are respectively abutted against the connecting block and the rotating arm, wherein the damping structure further comprises a friction rotating ring fixedly arranged on the rotating arm and a friction static ring fixedly arranged on the connecting block and the end faces of which are abutted against the end faces of the friction rotating ring, and the central shaft penetrates through the friction rotating ring and the friction static ring.
In a preferred embodiment of the present invention, a slot for inserting one end of the rotating arm is provided at the other end of the connecting block, a through first connecting hole and a through second connecting hole are provided at two sides of the slot at the other end of the connecting block, a third connecting hole corresponding to the first connecting hole is provided at one end of the rotating arm, the friction rotating ring is fixedly sleeved in the third connecting hole, a through fourth connecting hole is provided on the friction rotating ring, the friction stationary ring is fixedly provided on one side of the slot, a through fifth connecting hole is provided on the friction stationary ring, and the central shaft passes through the first connecting hole, the fifth connecting hole, the fourth connecting hole, the third connecting hole and the second connecting hole from bottom to top.
In a preferred embodiment of the present invention, a groove portion with an increased diameter is provided at an upper portion of the third connection hole, the damping pad is provided in the groove portion, a bottom surface of the damping pad is in abutting contact with a bottom of the groove portion, and a top surface of the damping pad is in abutting contact with another side surface of the slot.
In a preferred embodiment of the present invention, a positioning block is fixedly sleeved in the second connecting hole, a through sixth connecting hole is provided on the positioning block, the free end of the central shaft passes through the sixth connecting hole and is fixed on the top of the positioning block through the damping adjusting nut, and the bottom surface of the positioning block is in abutting contact with the top surface of the damping gasket.
In a preferred embodiment of the present invention, the locking structure includes an opening and closing connecting rod slidably penetrating through the other end of the connecting block, the bottom of the opening and closing connecting rod is connected with a locking pin shaft through a rocker, and the locking pin shaft penetrates through the friction stationary ring, can slide, and can be clamped on the friction rotating ring.
In a preferred embodiment of the present invention, the friction stationary ring is provided with a pin shaft via hole penetrating through the locking pin shaft, the friction rotating ring is provided with a clamping hole, and the top of the locking pin shaft is provided with a clamping shaft head with a reduced diameter and capable of being clamped in the clamping hole.
In a preferred embodiment of the present invention, the locking structure includes a locking sleeve fixedly connected to the connection block, the middle part of the rocker is hinged to the bottom of the locking sleeve, the locking pin shaft is slidably inserted through the locking sleeve from bottom to top, and one end of the rocker is hinged to the bottom of the locking pin shaft.
In a preferred embodiment of the present invention, a pin shaft reset spring sleeved on the locking pin shaft is disposed in the locking sleeve, a first step portion is disposed on the locking pin shaft, the top of the pin shaft reset spring abuts against the bottom surface of the first step portion, and the bottom of the pin shaft reset spring abuts against the bottom plate of the locking sleeve.
In a preferred embodiment of the present invention, the return spring structure includes at least one spring, one end of the spring is fixedly provided with a first connection plate connected with the connection block, and the other end of the spring is fixedly provided with a second connection plate connected with the rotation arm.
Therefore, the self-resetting and self-locking transmission line insulator detection robot rotary joint mechanism has the following beneficial effects:
(1) The self-resetting self-locking transmission line insulator detection robot rotating joint mechanism is provided with the reset spring structure, and the reset spring structure can enable the rotating arm to be folded to reach a working state rapidly;
(2) According to the self-resetting and self-locking power transmission line insulator detection robot rotary joint mechanism, the damping structure is arranged, and the friction resistance when the rotary arm is rotated and opened can be properly adjusted by the damping structure, so that the insulator detection robot cannot be easily opened and dropped in a working state, and the operation safety of the insulator detection robot is improved;
(3) The rotating joint mechanism of the self-resetting self-locking power transmission line insulator detection robot is provided with the locking structure, and the locking structure can automatically lock and fix the rotating arm, so that the manual operation is reduced, and the safety of high-altitude operation is improved;
(4) The rotating joint mechanism of the self-resetting and self-locking power transmission line insulator detection robot is simple in structure, reliable in work, high in applicability and capable of effectively reducing manual operation strength.
Drawings
The following drawings are only for purposes of illustration and explanation of the present invention and are not intended to limit the scope of the invention. Wherein:
fig. 1: the invention discloses a structural schematic diagram of a rotary joint mechanism of a self-resetting and self-locking power transmission line insulator detection robot.
Fig. 2: the invention relates to a cross section of a rotary joint mechanism of a self-resetting self-locking transmission line insulator detection robot, which is positioned at a central shaft.
In the figure:
100. self-resetting and self-locking transmission line insulator detection robot rotary joint mechanism;
1. a connecting block;
2. a return spring structure;
21. a spring; 22. a first connection plate; 23. a second connecting plate;
3. a damping structure;
31. a central shaft;
32. damping adjustment nuts;
33. a friction rotating ring;
34. a friction stationary ring;
35. a positioning block;
36. damping gaskets;
4. a locking structure;
41. a connecting rod is opened and closed;
42. a rocker;
43. locking the pin shaft;
431. a first step portion;
44. a locking sleeve;
45. a pin roll reset spring;
91. a stationary arm;
92. a rotating arm; 920. a rotating arm connecting block; 921. and a third connection hole.
Detailed Description
For a clearer understanding of technical features, objects, and effects of the present invention, a specific embodiment of the present invention will be described with reference to the accompanying drawings.
As shown in fig. 1 and 2, the present invention provides a self-resetting and self-locking rotary joint mechanism 100 of an electric transmission line insulator detection robot, which comprises a connecting block 1, one end of which is connected with a stationary arm 91 of the insulator detection robot, the other end of the connecting block 1 is hinged with a rotary arm 92 of the insulator detection robot, and in this embodiment, the rotary arm 92 is hinged with the connecting block 1 through a rotary arm connecting block 920 arranged at the end of the rotary arm; one end of the connecting block 1 is fixedly connected with one end of a reset spring structure 2, the other end of the reset spring structure 2 is connected with a rotating arm 92, the other end of the connecting block 1 is hinged with the rotating arm 92 through a damping structure 3, and a locking structure 4 capable of automatically locking and fixing the rotating arm 92 is further arranged between the connecting block 1 and the rotating arm 92. After the rotating arm 92 is rotated and opened in the circumferential direction (the circumferential direction of the insulator detection robot) to sleeve the insulator detection robot on the insulator string, the reset spring structure 2 enables the rotating arm 92 to be folded rapidly to reach a working state, the damping structure 3 can properly adjust the friction resistance when the rotating arm 92 is rotated and opened, so that the insulator detection robot cannot be easily opened and dropped in the working state, the locking structure 4 can automatically lock and fix the rotating arm 92, and the safety of high-altitude operation is improved while manual operation is reduced. The rotating joint mechanism 100 of the self-resetting and self-locking power transmission line insulator detection robot is simple in structure, reliable in work, high in applicability and capable of effectively reducing manual operation strength.
Further, as shown in fig. 2, the damping structure 3 includes a central shaft 31 penetrating through the connection block 1 and the rotation arm 92, and the free end of the central shaft 31 is fixed by a damping adjustment nut 32; the damping structure 3 further comprises a damping gasket 36 sleeved on the central shaft 31, two end faces of the damping gasket 36 are respectively abutted against the connecting block 1 and the rotating arm 92, the connection position of the damping adjusting nut 32 at the free end of the central shaft 31 is adjusted, and the friction force between the two end faces of the damping gasket 36 and the rotating arm 92 and between the damping adjusting nut and the connecting block 1 can be adjusted, so that the damping gasket 36 can change the rotation damping born by the rotating arm 92 when the rotating connecting block 1 relatively rotates while the damping adjusting nut 32 is adjusted. In a specific embodiment of the present invention, the central shaft 31 passes through the connection block 1 and the rotation arm 92 from bottom to top, the free end thereof is located above the connection block 1, when the damping adjustment nut 32 is rotated up, the rotation damping between the damping washer 36 and the rotation arm 92, the connection block 1 is reduced, and when the damping adjustment nut 32 is rotated down, the rotation damping between the damping washer 36 and the rotation arm 92, the connection block 1 is increased. The damping structure 3 further includes a friction rotating ring 33 fixedly arranged on the rotating arm 92 and a friction static ring 34 fixedly arranged on the connecting block 1, one end face of the friction static ring 34 is in abutting contact with the end face of the friction rotating ring 33, and the central shaft 31 passes through the friction rotating ring 33 and the friction static ring 34. The rotating arm 92 rotates to drive the friction rotating ring 33 to rotate relative to the friction static ring 34, and the self-resetting self-locking transmission line insulator detection robot rotating joint mechanism 100 provides friction loss of parts through the friction static ring 34 and the friction rotating ring 33.
Further, as shown in fig. 2, the other end of the connection block 1 is provided with a slot for inserting one end of the rotation arm 92, the other end of the connection block 1 is provided with a first connection hole and a second connection hole which are penetrated at two sides of the slot, one end of the rotation arm 92 is provided with a third connection hole 921 which is arranged corresponding to the first connection hole, in the present embodiment, the third connection hole 921 is arranged on the rotation arm connection block 920, the bottom of the third connection hole 921 is provided with a lower groove part, the friction rotation ring 33 is fixedly sleeved in the lower groove part of the third connection hole 921, and in the present embodiment, the friction rotation ring 33 is fixed in the third connection hole 921 by a screw; the friction rotating ring 33 is provided with a fourth through connecting hole, a friction stationary ring 34 is fixedly arranged on one side surface of the slot, a fifth through connecting hole is arranged on the friction stationary ring 34, and the central shaft 31 passes through the first connecting hole, the fifth connecting hole, the fourth connecting hole, the third connecting hole 921 and the second connecting hole from bottom to top.
Further, as shown in fig. 2, the third connecting hole 921 has a groove portion with an increased diameter, the damping washer 36 is disposed in the groove portion, the bottom surface of the damping washer 36 is in abutting contact with the groove bottom of the groove portion, and the top surface of the damping washer 36 is in abutting contact with the other side surface of the slot.
Further, as shown in fig. 2, a positioning block 35 is fixedly sleeved in the second connecting hole, a through sixth connecting hole is arranged on the positioning block 35, the free end of the central shaft 31 passes through the sixth connecting hole and then is fixed on the top of the positioning block 35 through the damping adjusting nut 32, and the bottom surface of the positioning block 35 is in abutting contact with the top surface of the damping gasket 36.
Further, as shown in fig. 1 and 2, the locking structure 4 includes an opening and closing connecting rod 41 that can vertically slide through the other end of the connecting block 1, the bottom of the opening and closing connecting rod 41 is connected with a locking pin 43 through a rocker 42, and the locking pin 43 can slide through the friction stationary ring 34 and can be clamped on the friction rotating ring 33. When the locking pin shaft 43 is clamped on the friction rotating ring 33, the rotating arm 92 is prevented from rotating relative to the connecting block 1, the rotating arm 92 is effectively locked, and therefore the operation safety of the insulator detection robot is improved. In this embodiment, the closing link 41 is manually moved up, at this time, one end of the rocker 42 away from the closing link 41 swings down to drive the locking pin 43 to move down away from the friction rotating ring 33, at this time, the locking structure 4 is in an open state, and the rotating arm 92 is rotated to sleeve the insulator detecting robot on the outer side of the insulator string; when the insulator detection robot is circumferentially folded to reach a working state, the opening and closing connecting rod 41 is loosened, the opening and closing connecting rod 41 automatically moves downwards under the action of gravity, at the moment, one end of the rocker 42 away from the opening and closing connecting rod 41 swings upwards to drive the locking pin shaft 43 to move upwards, the locking pin shaft 43 is clamped on the friction rotating ring 33, the locking structure 4 automatically enters a locking state, the rotating arm 92 is locked relative to the connecting block 1, and the operation safety of the insulator detection robot is improved while manual operation is reduced.
Further, as shown in fig. 2, the friction stationary ring 34 is provided with a pin shaft through hole penetrating the locking pin shaft 43, the friction rotating ring 33 is provided with a clamping hole, and the top of the locking pin shaft 43 is provided with a clamping shaft head which has a reduced diameter and can be clamped in the clamping hole.
Further, as shown in fig. 1 and 2, the locking structure 4 includes a locking sleeve 44 fixedly connected to the connection block 1, the middle part of the rocker 42 is hinged to the bottom of the locking sleeve 44, the locking pin 43 is slidably inserted through the locking sleeve 44 from bottom to top, and one end of the rocker 42 is hinged to the bottom of the locking pin 43. In one embodiment of the present invention, the locking sleeve 44 comprises a cylindrical structure, the bottom of the cylindrical structure is connected with the bottom plate through threads, through holes are formed in the bottom plate, the locking pin shaft 43 is slidably disposed in the cylindrical structure through the through holes, and the upper portion of the cylindrical structure is fixedly connected with the connecting block 1. When the opening and closing connecting rod 41 moves upwards, one end of the rocker 42 hinged with the locking pin shaft 43 swings downwards, the locking pin shaft 43 moves downwards, and the locking structure 4 is in an open state; the opening and closing connecting rod 41 moves downwards under the action of gravity, one end of the rocker 42 hinged with the locking pin shaft 43 swings upwards, the locking pin shaft 43 moves upwards, and the locking structure 4 is in a locking state.
Further, as shown in fig. 2, a pin shaft return spring 45 sleeved on the locking pin shaft 43 is disposed in the locking sleeve 44, a first step portion 431 is disposed on the locking pin shaft 43, the top of the pin shaft return spring 45 abuts against the bottom surface of the first step portion 431, and the bottom of the pin shaft return spring 45 abuts against the bottom plate of the locking sleeve 44. The pin return spring 45 can buffer the up-and-down sliding of the lock pin 43.
Further, as shown in fig. 1, the return spring structure 2 includes at least one spring 21, one end of the spring 21 is fixedly provided with a first connection plate 22 connected to the connection block 1 (the end of the connection block 1 near the stationary arm 91), and the other end of the spring 21 is fixedly provided with a second connection plate 23 connected to the rotation arm 92. The number of springs 21 may be determined according to the return tension required for practical use.
Before the insulator detection robot of the rotating joint mechanism 100 of the self-resetting and self-locking transmission line insulator detection robot is used for detecting the insulator, an operator manually moves away the closing connecting rod 41, the locking structure 4 is in an open state, the rotating arm 92 is rotated to sleeve the insulator detection robot on the outer side of the insulator, the rotating arm 92 is reset through the reset spring structure 2, when the insulator detection robot is reset to a working state, the operator releases the opening and closing connecting rod 41, the locking structure 4 automatically enters a locking state, and the insulator detection robot starts to detect. After the detection is completed, an operator manually moves up the closing connecting rod 41, the locking structure 4 is in an open state, and the rotating arm 92 is rotated to detach the insulator detection robot from the insulator, so that the insulator detection work is completed.
Therefore, the self-resetting and self-locking transmission line insulator detection robot rotary joint mechanism has the following beneficial effects:
(1) The self-resetting self-locking transmission line insulator detection robot rotating joint mechanism is provided with the reset spring structure, and the reset spring structure can enable the rotating arm to be folded to reach a working state rapidly;
(2) According to the self-resetting and self-locking power transmission line insulator detection robot rotary joint mechanism, the damping structure is arranged, and the friction resistance when the rotary arm is rotated and opened can be properly adjusted by the damping structure, so that the insulator detection robot cannot be easily opened and dropped in a working state, and the operation safety of the insulator detection robot is improved;
(3) The rotating joint mechanism of the self-resetting self-locking power transmission line insulator detection robot is provided with the locking structure, and the locking structure can automatically lock and fix the rotating arm, so that the manual operation is reduced, and the safety of high-altitude operation is improved.
(4) The rotating joint mechanism of the self-resetting and self-locking power transmission line insulator detection robot is simple in structure, reliable in work, high in applicability and capable of effectively reducing manual operation strength.
The foregoing is illustrative of the present invention and is not to be construed as limiting the scope of the invention. Any equivalent changes and modifications can be made by those skilled in the art without departing from the spirit and principles of this invention, and are intended to be within the scope of this invention.
Claims (4)
1. The rotating joint mechanism of the transmission line insulator detection robot comprises a connecting block, wherein one end of the connecting block is connected with a static arm of the insulator detection robot, and the other end of the connecting block is hinged with a rotating arm of the insulator detection robot; the damping structure further comprises a friction rotating ring fixedly arranged on the rotating arm and a friction static ring fixedly arranged on the connecting block, the end face of the friction static ring is in abutting contact with the end face of the friction rotating ring, and the central shaft penetrates through the friction rotating ring and the friction static ring; the other end of the connecting block is provided with a slot for inserting one end of the rotating arm, the other end of the connecting block is positioned at two sides of the slot and is respectively provided with a through first connecting hole and a through second connecting hole, one end of the rotating arm is provided with a third connecting hole which is correspondingly arranged with the first connecting hole, the friction rotating ring is fixedly sleeved in the third connecting hole, the friction rotating ring is provided with a through fourth connecting hole, one side surface of the slot is fixedly provided with the friction static ring, the friction static ring is provided with a through fifth connecting hole, and the central shaft penetrates through the first connecting hole, the fifth connecting hole, the fourth connecting hole, the third connecting hole and the second connecting hole from bottom to top;
the locking structure capable of automatically locking and fixing the rotating arm is further arranged between the connecting block and the rotating arm, the locking structure comprises an opening and closing connecting rod capable of penetrating through the other end of the connecting block in a sliding manner, the bottom of the opening and closing connecting rod is connected with a locking pin shaft through a rocker, and the locking pin shaft penetrates through the friction stationary ring, can slide and can be clamped on the friction rotating ring; the friction stationary ring is provided with a pin shaft through hole penetrating through the locking pin shaft, the friction rotating ring is provided with a clamping hole, and the top of the locking pin shaft is provided with a clamping shaft head which is reduced in diameter and can be clamped in the clamping hole; the locking structure comprises a locking sleeve fixedly connected to the connecting block, the middle part of the rocker is hinged to the bottom of the locking sleeve, the locking pin shaft penetrates through the locking sleeve from bottom to top in a sliding manner, and one end of the rocker is hinged to the bottom of the locking pin shaft; the locking sleeve is internally provided with a pin roll reset spring sleeved on the locking pin roll, the locking pin roll is provided with a first step part, the top of the pin roll reset spring is propped against the bottom surface of the first step part, and the bottom of the pin roll reset spring is propped against the bottom plate of the locking sleeve.
2. The rotary joint mechanism of the self-resetting and self-locking power transmission line insulator detection robot according to claim 1, wherein a groove part with an increased diameter is arranged at the upper part of the third connecting hole, the damping gasket is arranged in the groove part, the bottom surface of the damping gasket is in abutting contact with the bottom of the groove part, and the top surface of the damping gasket is in abutting contact with the other side surface of the slot.
3. The rotary joint mechanism of the self-resetting and self-locking power transmission line insulator detection robot according to claim 2, wherein a positioning block is fixedly sleeved in the second connecting hole, a through sixth connecting hole is formed in the positioning block, the free end of the central shaft penetrates through the sixth connecting hole and is fixed to the top of the positioning block through the damping adjusting nut, and the bottom surface of the positioning block is in abutting contact with the top surface of the damping gasket.
4. The self-resetting and self-locking power transmission line insulator detection robot rotary joint mechanism according to claim 1, wherein the reset spring structure comprises at least one spring, one end of the spring is fixedly provided with a first connecting plate connected with the connecting block, and the other end of the spring is fixedly provided with a second connecting plate connected with the rotating arm.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710138076 | 2017-03-09 | ||
| CN2017101380764 | 2017-03-09 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107053246A CN107053246A (en) | 2017-08-18 |
| CN107053246B true CN107053246B (en) | 2023-09-29 |
Family
ID=59618265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710168200.1A Active CN107053246B (en) | 2017-03-09 | 2017-03-21 | Self-resetting and self-locking rotary joint mechanism of power transmission line insulator detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107053246B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108152735B (en) * | 2017-11-30 | 2020-09-04 | 杭州威衡科技有限公司 | Distributed multi-phase motor test system |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0102217A1 (en) * | 1982-08-25 | 1984-03-07 | InTest Corporation | Electronic test head positioner for test systems |
| EP0237697A2 (en) * | 1982-08-25 | 1987-09-23 | InTest Corporation | Electronic test head positioner for test systems |
| EP0333367A1 (en) * | 1988-03-08 | 1989-09-20 | National Steel Corporation | Shroud tube support and changing device |
| US5197846A (en) * | 1989-12-22 | 1993-03-30 | Hitachi, Ltd. | Six-degree-of-freedom articulated robot mechanism and assembling and working apparatus using same |
| EP1068658A1 (en) * | 1998-04-01 | 2001-01-17 | Abb Ab | Suspension device for line-mounted surge arrester |
| KR20030096834A (en) * | 2002-06-18 | 2003-12-31 | 주식회사 포스코 | An apparatus for adjusting the close adhension degree between a conductor roll and plating strip |
| CN101200199A (en) * | 2006-12-13 | 2008-06-18 | 深圳市思韦尔检测科技有限公司 | Structure of cable rope climbing robot |
| CN101695836A (en) * | 2009-10-21 | 2010-04-21 | 昆山市工业技术研究院有限责任公司 | Biplanar frictional two-freedom-degree joints based on hydraulic pressure |
| CN102621424A (en) * | 2012-03-31 | 2012-08-01 | 山东电力研究院 | Robot system for detecting suspension porcelain insulator string |
| CN103158154A (en) * | 2013-03-29 | 2013-06-19 | 山东鲁能智能技术有限公司 | Insulator string intelligent detection robot system and control method thereof |
| CN104128320A (en) * | 2014-08-19 | 2014-11-05 | 武汉大学 | High-voltage line insulator detecting and sweeping robot |
| CN104369789A (en) * | 2014-11-10 | 2015-02-25 | 南京邮电大学 | Two-degree-of-freedom digging line robot based on combination driving technology |
| CN104730361A (en) * | 2013-12-19 | 2015-06-24 | 深圳市北粤科技开发有限公司 | Live line insulator string detection robot crawling mechanism, robot and crawling method thereof |
| CN204592732U (en) * | 2015-03-18 | 2015-08-26 | 零度智控（北京）智能科技有限公司 | Airborne tripod head |
| CN105729460A (en) * | 2016-04-20 | 2016-07-06 | 机器时代(北京)科技有限公司 | flexible transmission device, adjustable spring, energy storage component, robot and locking device |
| CN106002912A (en) * | 2016-04-29 | 2016-10-12 | 东北大学 | Insulator metamorphic detection robot mechanism |
| CN206899264U (en) * | 2017-03-09 | 2018-01-19 | 中国南方电网有限责任公司超高压输电公司梧州局 | The electric transmission line isolator detection robot rotary joint mechanism of Self-resetting self-locking |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4315141B2 (en) * | 2005-09-09 | 2009-08-19 | セイコーエプソン株式会社 | Electronic component temperature control device and handler device |
| US7797781B2 (en) * | 2007-06-11 | 2010-09-21 | Korea Electric Power Corporation | Robot mechanism for cleaning and inspection of live-line insulators |
-
2017
- 2017-03-21 CN CN201710168200.1A patent/CN107053246B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0102217A1 (en) * | 1982-08-25 | 1984-03-07 | InTest Corporation | Electronic test head positioner for test systems |
| EP0237697A2 (en) * | 1982-08-25 | 1987-09-23 | InTest Corporation | Electronic test head positioner for test systems |
| EP0333367A1 (en) * | 1988-03-08 | 1989-09-20 | National Steel Corporation | Shroud tube support and changing device |
| US5197846A (en) * | 1989-12-22 | 1993-03-30 | Hitachi, Ltd. | Six-degree-of-freedom articulated robot mechanism and assembling and working apparatus using same |
| EP1068658A1 (en) * | 1998-04-01 | 2001-01-17 | Abb Ab | Suspension device for line-mounted surge arrester |
| KR20030096834A (en) * | 2002-06-18 | 2003-12-31 | 주식회사 포스코 | An apparatus for adjusting the close adhension degree between a conductor roll and plating strip |
| CN101200199A (en) * | 2006-12-13 | 2008-06-18 | 深圳市思韦尔检测科技有限公司 | Structure of cable rope climbing robot |
| CN101695836A (en) * | 2009-10-21 | 2010-04-21 | 昆山市工业技术研究院有限责任公司 | Biplanar frictional two-freedom-degree joints based on hydraulic pressure |
| CN102621424A (en) * | 2012-03-31 | 2012-08-01 | 山东电力研究院 | Robot system for detecting suspension porcelain insulator string |
| CN103158154A (en) * | 2013-03-29 | 2013-06-19 | 山东鲁能智能技术有限公司 | Insulator string intelligent detection robot system and control method thereof |
| CN104730361A (en) * | 2013-12-19 | 2015-06-24 | 深圳市北粤科技开发有限公司 | Live line insulator string detection robot crawling mechanism, robot and crawling method thereof |
| CN104128320A (en) * | 2014-08-19 | 2014-11-05 | 武汉大学 | High-voltage line insulator detecting and sweeping robot |
| CN104369789A (en) * | 2014-11-10 | 2015-02-25 | 南京邮电大学 | Two-degree-of-freedom digging line robot based on combination driving technology |
| CN204592732U (en) * | 2015-03-18 | 2015-08-26 | 零度智控（北京）智能科技有限公司 | Airborne tripod head |
| CN105729460A (en) * | 2016-04-20 | 2016-07-06 | 机器时代(北京)科技有限公司 | flexible transmission device, adjustable spring, energy storage component, robot and locking device |
| CN106002912A (en) * | 2016-04-29 | 2016-10-12 | 东北大学 | Insulator metamorphic detection robot mechanism |
| CN206899264U (en) * | 2017-03-09 | 2018-01-19 | 中国南方电网有限责任公司超高压输电公司梧州局 | The electric transmission line isolator detection robot rotary joint mechanism of Self-resetting self-locking |
Non-Patent Citations (1)
| Title |
|---|
| 一种绝缘套管清洗机器人爬升机构的设计与研究;王晶 熊三毛 王国涛 马艳娥 赵卫军 陈钢;《第9届中国机构与机器科学应用国际会议（CCAMMS 2011）暨中国轻工机械协会科技研讨会论文集》;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107053246A (en) | 2017-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107053246B (en) | Self-resetting and self-locking rotary joint mechanism of power transmission line insulator detection robot | |
| CN205342399U (en) | Screw rod notch probe detection device | |
| CN106300134A (en) | The instrument of wire is fixed when charged for replacement 10kV distribution line needle porcelain bottle | |
| CN104297677A (en) | Fixing device used for fixing GIS isolating switch stroke measurement sensor | |
| CN204228528U (en) | Tension tester | |
| US11680994B2 (en) | Detection device, wire processing equipment and method for detecting position of conductor | |
| CN111272967A (en) | Gold utensil crimping quality probing device that can nondestructive test | |
| CN116626438A (en) | Node device for monitoring power grid obstacle | |
| CN204882824U (en) | Test electric action bars | |
| CN206899264U (en) | The electric transmission line isolator detection robot rotary joint mechanism of Self-resetting self-locking | |
| CN106737845B (en) | Multifunctional rotating shaft structure of ultrahigh voltage direct current transmission line insulator detection robot | |
| CN205880125U (en) | Ultrasonic sensor stabilizes testing arrangement | |
| CN105842593B (en) | Ultrasonic sensor steady testing device | |
| CN210956301U (en) | Insulator string suspension device for salt density test | |
| CN117154431A (en) | Portable electricity-checking grounding device | |
| CN204595028U (en) | A kind of rail mounted overhead jointing clamp | |
| CN107979023B (en) | Clamp holder | |
| CN116678503B (en) | Temperature measuring device and temperature measuring method for transformer | |
| CN204188772U (en) | A kind of stationary installation for fixing GIS disconnector stroke measurment sensor | |
| CN112415272A (en) | Outdoor power equipment detects maintenance device | |
| CN220099509U (en) | Quick calibration's steel cord broken wire detection device | |
| CN219085739U (en) | Insulation box device convenient to 10kV busbar junction electricity test and install ground wire | |
| CN116053070A (en) | Disconnecting link electricity inspection operating rod | |
| Ma et al. | Gas Decomposition Products Produced by Breaking Short Circuit Current of Circuit Breaker with Different Ablation Degree | |
| CN211405280U (en) | Quick installation wire clamp assembly for live line work |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |