CN107104390B - A kind of live detection and clean integrated robot - Google Patents
A kind of live detection and clean integrated robot Download PDFInfo
- Publication number
- CN107104390B CN107104390B CN201710552655.3A CN201710552655A CN107104390B CN 107104390 B CN107104390 B CN 107104390B CN 201710552655 A CN201710552655 A CN 201710552655A CN 107104390 B CN107104390 B CN 107104390B
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- cleaning
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- 238000001514 detection method Methods 0.000 title claims abstract description 71
- 238000004140 cleaning Methods 0.000 claims abstract description 84
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- 238000009434 installation Methods 0.000 claims description 9
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- 102000004315 Forkhead Transcription Factors Human genes 0.000 claims description 2
- 108090000852 Forkhead Transcription Factors Proteins 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
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- 239000012212 insulator Substances 0.000 abstract description 76
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- 238000007664 blowing Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
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- 238000005108 dry cleaning Methods 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- 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
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of live detection and integrated robot is cleaned, including two gripping arm devices, a detection and cleaning arm assembly and supporting box, two gripping arm devices are symmetrically arranged in longitudinal both sides of supporting box.Gripping arm device includes clamp arm assembly and longitudinal extension device, the holding handle of clamp arm assembly is hinged to en scissors-like construction, rises and closed action is realized, opens and declined while realizing simultaneously, simple in structure, motion stabilization, longitudinal extension device make clamp arm assembly horizontal extension.Detection and cleaning arm assembly include detecting and cleaning arm component, vertical drive and longitudinal driving device, what vertical drive made cleaning arm component is transversely mounted frame raising and lowering, longitudinal driving device makes detection and cleaning arm component be moved horizontally along supporting box, and cleaning brush is installed on the output block for cleaning arm component cleaning power plant and cleans insulator surface.Insulator resistance value is detected by clamp arm assembly and detection and the cooperation for cleaning arm component.
Description
Technical field
The present invention relates to a kind of UHV transmission line robots, and in particular to a kind of live detection and cleans integral machine
Device people.
Background technology
UHV transmission line is in longtime running, and line insulator is not only by rings such as filth, bird pest, ice and snow, high temperature
The influence of border factor, and in the effect for electrically still suffering from highfield, lightning impulse current, power frequency arc electric current so that
Insulator resistance value, which reduces, even to be deteriorated.Flashover thing easily occurs when low value in circuit or zero resistance insulator the piece number are more than regulation
Therefore influence the circuit even safe and stable operation of power grid.Simultaneously as the probability of ultra-high/extra-high voltage transmission line of electricity interruption maintenance is low,
Therefore insulator charged detection and cleaning in extra high voltage line are had a very important significance.
Super/extra-high transmission line of electricity linear string, the insulator of the hanging wires form such as V strings be easy by gravity, wind speed etc. it is extraneous because
Element influences, and causes insulator chain that sagging occurs.Domestic and international on-line checking robot is climbed during row, and movement locus is easy to make
At little deviation, as detection robot constantly advances, error will be built up.When crawling into certain distance, machine is detected
People can not accurately execute inter-related task, but also super/extra-high transmission line of electricity becomes one of technical barrier with detection robot.
Have a power failure and cleans usually by manually being cleaned in power failure equipments with light instruments such as rag or brushes.By filthy salt
The influence of close ingredient, insulator are difficult to clean thoroughly, and have the shortcomings that labor intensity is big and working efficiency is low etc.；Simultaneously because
As equipment power failure machine can be fewer and fewer, having a power failure, it is time-bounded strong to clean.
Electrification water cleaning is to be rinsed to insulator by controlling flow, but in wet condition, be easy to cause personal injury.
Electrification air-blowing, which cleans, is mainly rinsed insulator by controlling air-flow, and this method is blown out when applying
Dust or sawdust can cause secondary pollution to insulator.
Dry clean of electrification is to clean brushing with insulation to sweep insulator, but it is served only for cleaning and bonds unstable floating dust.Band
The dry cleaning equipment of electricity has portable flexible axle connection electrification in high voltage cleaning bar and fork truck complete set type electrification in high voltage automatic sweeping machine etc..Before
Person needs the artificial cleaning bar that holds to operate, and labor intensity is big, and applicable voltage class is low, and it is low to clean height；The latter will lean on fork truck
Mobile to clean direction and distance to adjust, inconvenient for operation, automation is relatively low.
It charges Mechanical Driven chemical agent to clean, is to rinse insulator dirt with chemical agent first, then with operating club head
Mechanical motor driving cleans insulator, however its to hold the scavenging machine of act heavier, cause operation dumb, it is dead to easy to produce cleaning
Angle, for not being a part of suspension insulator of vertical hanging over the ground, which will be helpless.
Currently, the method for insulator charged detection has spark fork detection method, electric field method, ultrasonic Detection Method, ultraviolet detection
Method, corona pulse method etc..
When the electric transmission line isolator of spark fork detection voltage levels, the insulator the piece number of detection is more, farther out from shaft tower,
Testing staff's great work intensity, and there are corona phenomenons, the sound of corona can influence spark discharge sound, lead on transmission line of electricity
Causing testing staff, there may be erroneous judgements.
Electric field method is compared by detecting insulator with the field distribution situation of normal insulation, to judge the insulation
Whether son is inferior insulator, and such methods are stronger to software dependence, and the fine or not compared result influence of software is very big.
Ultrasonic Detection Method goes out inferior insulator by carrying out processing detection to the ultrasonic wave received, can accurately examine
The insulator of cracking is measured, but is not worked to uncracked insulator, such methods have significant limitation.
The principle of uv detection method, which is that charged particle is compound during shelf depreciation, can release ultraviolet light, work as insulator surface
When forming conductivity silicon carbide channel, shelf depreciation aggravation, but testing result is easy to be influenced by viewing angle, detection device
It is more expensive.
Corona pulse method is to judge the insulation status of insulator by measuring the method for insulator corona pulse electric current, should
Method is easy to be influenced by scene interference, therefore corona pulse electric current may also be generated when insulator is normal, and with transmission of electricity
Its value of the fluctuation of line voltage distribution is also changing.Due to environmental factor, insulator surface forms filth, easily causes pollution flashover thing
Therefore therefore insulator to be cleaned periodically.At present insulator cleaning technology be formally divided into power failure clean, electrification water it is clear
It sweeps, charge air-blowing cleaning, the dry cleaning of electrification, electrification Mechanical Driven chemical agent cleaning.
Invention content
The purpose of the present invention is to provide it is a kind of can live detection and clean UHV transmission line on insulator machine
People.
This live detection provided by the invention and cleaning integrated robot, including two gripping arm devices, an inspection
Arm assembly and supporting box are surveyed and clean, two gripping arm devices are symmetrically arranged in longitudinal both sides of supporting box, detect and clear
It sweeps arm assembly to be connected on supporting box, gripping arm device is installed by supporting box and supported.The gripping arm device includes folder
Gripping arm component and longitudinal extension device, clamp arm assembly include mounting bracket, lateral driver device and a pair of of holding handle, and hand is clamped
The upper end of handle is holding ring, and the middle part of two holding handles is articulated as one to form scissor-like structure by axis pin, laterally driven dress
It sets and is connected on mounting bracket, including horizontal drive motor and cross lead screw transmission component, the lower end of holding handle are connected to transverse direction
On screw rod transmission component, horizontal drive motor output rotary motion make cross lead screw transmission component drive holding handle open and
It is closed；The detection and cleaning arm assembly include detecting and cleaning arm component, vertical drive and longitudinal driving device, detection
Include vertical mounting bracket with cleaning arm component, be transversely mounted frame, clean power plant and cleaning brush；Being transversely mounted on frame has opening
Handgrip slot directed downwardly, cleaning power plant, which is installed on, to be transversely mounted on frame around handgrip slot physically, and frame connection is transversely mounted
In on vertical mounting bracket, vertical drive is installed on vertical mounting bracket, make to be transversely mounted frame rise along vertical mounting bracket and
Decline, cleaning brush is installed on the output block for cleaning power plant；Longitudinal extension device and longitudinal driving device are installed respectively
In on the supporting box, the movable end of longitudinal extension device and the mounting bracket of clamp arm assembly are linked together, vertical mounting bracket
Movably it is installed on longitudinal driving device.
In a kind of embodiment of above-mentioned technical proposal, the supporting box is enclosed by bottom plate, lateral side plate and longitudinal side plate
Be tablet at, bottom plate, longitudinal side plate is and lateral side plate is U templates, the surrounding of bottom plate respectively with lateral side plate and longitudinal direction side
Plate is linked together.
In a kind of embodiment of above-mentioned technical proposal, the mounting bracket includes side plate, connecting pole and T-type connecting seat, side
The shape of plate is Y types, and quantity has two pieces, is arranged in parallel towards the longitudinal side plate direction of supporting box described in outer with Y type fork head, even
It is open tubular column to connect column, and both ends are connected on the downside bifurcated of both side plate, and T-type connecting seat is connected to both side plate with T-type inversion
Between inner end.
In a kind of embodiment of above-mentioned technical proposal, the cross lead screw transmission component includes cross lead screw, laterally leads
To bar, cross slide way and transverse slider seat, cross lead screw and laterally steering bar are connected in parallel to the mounting bracket both side plate plug
Upside bifurcated on, laterally steering bar is located at the outer upside of cross lead screw, and laterally steering bar is relative to side plate without rotation, cross lead screw
Both ends pass through side plate at be all connected with bearing, make cross lead screw that can be rotated relative to side plate, cross slide way is installed on the connecting pole
Upper surface, the lower section between laterally steering bar and cross lead screw；The both ends thread rotary orientation of cross lead screw is on the contrary, transverse wire
The both ends of bar are connected separately with nut seat, and there are two transverse slider seats, is linked together respectively with nut seat, cross lead screw and transverse direction
Guide rod both passes through transverse slider seat, there is corresponding connecting hole on transverse slider seat；The length direction centre position of cross lead screw
Place is connected with rolling bearing, and nut seat is connected on the cross lead screw at rolling bearing both ends；Transverse slider seat is described for connecting
Interference is connected with linear bearing in the connecting hole of laterally steering bar, and laterally steering bar is passed through from the centre bore of linear bearing, directly
Spool, which is held, transversely to be moved guide rod.
In a kind of embodiment of above-mentioned technical proposal, the length direction middle position of the T-type connecting seat is connected with
The pulling plate seat parallel with the mounting bracket side plate, the rolling bearing on the cross lead screw are passed through from pulling plate seat, the transverse direction
Guide rod is passed through from pulling plate seat；The upper end of transverse slider seat has U-type groove, the lower end of the holding handle to be hingedly connected to transverse direction
In the U-type groove of take-up housing upper end；It is connected with the lifting assembly along the holding handle short transverse on the inside of T-type connecting seat, rises
Part of coming down to a lower group includes that along the elevating lever that T-type connecting seat slides up and down and can be attached to the T connector at end, the outer end of T connector and institute
The axis pin for stating holding handle hinged place is linked together.
In a kind of embodiment of above-mentioned technical proposal, output gear is connected on the output shaft of the horizontal drive motor
Wheel, one end of the cross lead screw are connected with transmission gear, by chain drive between output gear and transmission gear, laterally drive
Dynamic motor is installed in the inner cavity of the connecting pole, and output gear and transmission gear are located at the outside of mounting bracket side plate；It is described
Longitudinal extension device has two sets, and it includes longitudinal power device and longitudinal extension mechanism, Longitudinal dress often to cover longitudinal extension device
It is set to whole straight electric pushrod, is arranged in the longitudinal direction of the supporting box inner cavity, push rod is each passed through corresponding cross side
Be linked together with corresponding T-type connecting seat after plate, the other end is fixed in another lateral side plate, longitudinal extension mechanism includes longitudinal
Guide rail and longitudinal slide rail, longitudinal rail have four, and two a pair being longitudinally arranged in its both ends along supporting box bottom plate respectively is indulged
There are four to sliding rail, be connected in the sliding slot of longitudinal rail, the outer end of longitudinal slide rail passes through the lateral side plate of supporting box
It is laterally hinged with after the side plate inner end grafting of the mounting bracket, the inner end of side plate has slot, the width of slot to be more than longitudinal slide rail
Width, slot both sides are physically symmetrically inlaid with thimble nut, and the thimble of two thimble nuts is respectively positioned in slot.
In a kind of embodiment of above-mentioned technical proposal, the vertical mounting bracket includes vertical mounting plate and is vertically connected at
The cant board of upper part both sides, cant board include the outer connecting lever section of vertical section and the upper end, the interior connecting lever section of lower end, vertical section and
There is the sliding slot along its short transverse in outer connecting lever section, is corresponded between vertical plates on both sides on the outside of outer connecting lever section and be provided with link block.
In a kind of embodiment of above-mentioned technical proposal, the frame that is transversely mounted includes vertical arm and is attached to hold
Lateral handgrip arm, vertical arm are installed between the vertical plates on both sides of the vertical mounting bracket, and the both sides of vertical arm are respectively perpendicular connection
There is short axle, bearing is connected in short axle, bearing is located in the sliding slot on the cant board, is opened up on the downside of lateral handgrip arm described
Handgrip slot, handgrip slot are arc-shaped slot, physically have circular orbit around arc-shaped slot.
In a kind of embodiment of above-mentioned technical proposal, the cleaning power plant includes worm gear mechanism, synchronous gear
Wheel and ring gear, there are two synchromesh gears, and there are one worm gear mechanisms, worm gear mechanism include a worm screw and and its
Engagement two worm gears, the installation coaxial with two worm gears respectively of two synchromesh gears, two synchromesh gears respectively with ring gear
Engagement；The side wall of ring gear is fluted, and ring gear is installed on by groove on the circular orbit；The circular orbit
There is the limit convex body for avoiding the ring gear from falling in end；The synchromesh gear is symmetrically arranged on handgrip groove top portion both sides
Physically, it is engaged respectively with ring gear；The worm screw is arranged in the cross perpendicular to the vertical arm for being transversely mounted frame
To the top of handgrip arm, the top of lateral handgrip arm has corresponding installation cavity, worm screw to be connected with driving motor；The driving device
For electric pushrod, it is installed on the lower part of the vertical mounting bracket, the push rod head of electric pushrod is transversely mounted the perpendicular of frame with described
Straight-arm lower end is linked together；The both sides of the ring gear are respectively mounted the cleaning brush.
In a kind of embodiment of above-mentioned technical proposal, the longitudinal driving device includes servo motor, longitudinal screw mandrel, indulges
To track, fixed seat, longitudinal sliding block seat；Fixed seat be L-type seat, there are two, each fixed seat with its galianconism and it is long-armed in
Side is connect with the upper surface of one longitudinal side plate of supporting box and lateral surface, and longitudinal screw mandrel and long rails have two, are all connected with
Between two fixed seats, wherein two longitudinal screw mandrels are arranged above and below, it is connected to the outside of longitudinal side plate between two fixed seats, one
Root long rails are connected to the upper surface of the longitudinal side plate, and another long rails are located at the lower section of longitudinal screw mandrel；Longitudinal sliding block
The shape of seat is L-type, is had under the inside that sliding slot is connect with the long rails of longitudinal side plate upper surface, its is long-armed on the inside of galianconism
Portion has sliding slot to be connect with the long rails on the outside of longitudinal side plate；It is opened up at the long-armed inside of longitudinal sliding block seat and longitudinal screw mandrel interference
Arc groove is separately connected in two longitudinal screw mandrels there are one slider nut, and two slider nuts are located at longitudinal sliding block seat
Both sides；Servo motor has two, is connected respectively by one end of shaft coupling and longitudinal screw mandrel, and servo motor is installed on fixed seat
On；The lower end of the vertical mounting bracket is connected on longitudinal sliding block seat.
Working principle of the present invention is as follows：The lateral driver device of gripping arm device realizes the open and close of holding handle
It closes, since two holding handles are hinged to en scissors-like construction, so holding handle is during opening and closing, holding handle is same
When generate decline and vertical motion, that is to say, that gripping arm device only by lateral driver device i.e. clamping hand can be achieved at the same time
Handle, which rises to be closed, embraces insulation steel cap, while realizing that opening declines and unclamping insulator steel cap, is realized and is pressed from both sides by longitudinal extension device
Gripping arm device stretches, so that holding handle catches the insulator steel cap of different location；Detection and the lateral peace for cleaning arm assembly
Opening down arc-shaped handgrip slot is shelved, power plant is cleaned and is installed on the entity being transversely mounted on frame around handgrip slot
On, configuration of the power plant using worm and gear and gear train is cleaned, cleaning brush is installed on two of ring gear at handgrip slot
Side, for ring gear around when being transversely mounted circular orbit movement on frame, cleaning brush does major diameter circulatory motion by insulator inner surface
Dust clean up, it is efficient, effect is good.The vertical arm for being transversely mounted frame is installed on vertical mounting bracket, is pushed away by electronic
Bar, which makes to be transversely mounted sliding slot of the frame on vertical mounting bracket cant board, to be moved up and down, and is transversely mounted outside while frame moves up
Rotation, to avoid insulator, when being transversely mounted frame and moving down, ring gear is pressed on insulator steel cap, at the same time in addition
Two holding handles are also to embrace the sub- steel cap of different insulative, by survey detection and cleaning arm on detection circuit come detect detection and
Between cleaning arm and clamping limb on circuit insulator resistance value, after measurement, make to be transversely mounted frame slightly up it is mobile a bit,
So that ring gear is detached from insulator steel cap, open the driving motor of worm screw connection, so that ring gear is transversely installed by transmission
Circular orbit seat rotary motion on frame drives cleaning brush rapidly and efficiently to clean the dust of both sides insulator inner surface, has cleaned
It is controlled again after finishing and is transversely mounted frame and moves down, ring gear is made to push down insulator steel cap, then carry out a resistance value detection, judge to insulate
Whether the dust in sublist face has cleaned up.At one position after the completion of the detection and cleaning works of several insulators, control
Robot movement carries out detection and cleaning works next time, repeatedly, until each insulator of insulator chain is detected
And cleaning.
Description of the drawings
Fig. 1 is the structural schematic diagram of one embodiment of the invention.
Fig. 2 is the schematic top plan view of Fig. 1.
Fig. 3 is the left view schematic diagram of Fig. 1.
Fig. 4 is the axis side schematic diagram of clamp arm assembly.
Fig. 5 is detection and cleans the axis side schematic diagram of arm component.
Fig. 6 is the schematic top plan view of Fig. 5.
Fig. 7 is the E-E schematic diagrames in Fig. 6.
Fig. 8 is detection and cleans the axis side schematic diagram of arm component.
Fig. 9 is the axis side schematic diagram for being transversely mounted frame.
Figure 10 is the axis side schematic diagram of Fig. 1.
Figure 11 is the working state schematic representation of the present invention.
Figure 12 is the detection circuit figure of Figure 11 working conditions.
Specific implementation mode
The robot of this UHV transmission line insulator, is mainly used for disclosed in the present embodiment disclosed in the present embodiment
The detection of insulator resistance value and the cleaning of dust on live detection UHV transmission line.
As shown in Figures 1 to 10, robot includes two sets of gripping arm device A, a set of detection and cleaning arm assembly B and branch
Empty babinet C, two gripping arm device A are symmetrically arranged in longitudinal the two of babinet C in the cuboid-type of support three sets of arm components of installation
End, detection and cleaning arm assembly B are arranged between two gripping arm device A.
Can be seen that gripping arm device A in conjunction with Fig. 2, Fig. 4 and Figure 10 includes clamp arm assembly and longitudinal extension device A4,
Clamp arm assembly includes a pair of of holding handle A1, mounting bracket A2 and lateral driver device A3.
Can be seen that mounting bracket A2 in conjunction with Fig. 2 to Fig. 4 and Figure 10 includes side plate A21, connecting pole A22 and T-type connecting seat
A23, side plate A21 have two pieces, and shape is Y types.Two blocks of side plates are arranged symmetrically with longitudinal both sides of plug towards outer babinet C, connection
The both ends of column A22 are connected on the downside bifurcated of both side plate A21 plugs, and T-type connecting seat A23 is connected to both side plate A21 after being inverted
Inner end between.Lateral driver device A3 includes horizontal drive motor A31, output gear SCL, transmission gear CDL, driving chain
LT, cross lead screw A32, laterally steering bar A33, cross slide way A34 and transverse slider seat A35.Horizontal drive motor 31 is in Fig. 1
Serial number is not indicated, is installed in the inner cavity of connecting pole 22 because the present embodiment uses horizontal drive motor 31.Cross lead screw A32
It is connected in parallel to laterally steering bar A33 on the upside bifurcated of both side plate A21 plugs, wherein laterally steering bar A33 is located at laterally
The outer upside of lead screw A32, relative to side plate A21 without rotation, the both ends of cross lead screw A32 pass through at side plate A21 laterally steering bar A33
It is respectively connected with bearing, makes cross lead screw A32 that can be rotated relative to side plate A21.Cross slide way A34 is installed on the upper table of connecting pole A22
Face, the lower section between laterally steering bar A33 and cross lead screw A32.The length direction middle position of cross lead screw A32 connects
It is connected to rolling bearing, the both sides of rolling bearing are symmetrically connected with the T-type spiral shell including screw rod bushing and flanged plate on cross lead screw A32
Mother, flanged plate end is close to rolling bearing.The thread rotary orientation at the both ends cross lead screw A32 on the contrary, so that the T-nut at both ends transversely
Lead screw is opposite or moves toward one another.There are two transverse slider seat A35, can transversely guide rail A34 slide, each transverse slider seat
The lower end of A35 is installed on by sliding slot on cross slide way A34, and there is U-type groove in the upper end of transverse slider seat.Cross lead screw A32 and cross
The screw rod bushing that T-nut A34 on transverse slider seat A35, cross lead screw A32 is both passed through to guide rod A33 is located at transverse slider seat
In the connecting hole of A35, flanged plate and transverse slider seat A35 be linked together, transverse slider seat A35 is for connecting laterally steering bar
Interference fit is connected with linear bearing in the mounting hole of A33, and linear bearing can be moved relative to laterally steering bar A33.T-type connects
The length direction middle position of seat A23 is connected with the pulling plate seat A24 parallel with side plate A21, and cross lead screw A32 is led with lateral
It is linked together to bar A33.Holding handle A1 includes shaft arm and the holding ring of the upper end, and the middle part of two shaft arms is hinged to by axis pin
The holding ring of scissor-shaped, two shaft arm upper ends is positioned opposite, and the lower end of shaft arm is articulated in the U-type groove of the upper ends transverse slider seat A35.
Ensure that the opening angle of holding handle is more than the outer diameter of insulator steel cap when design.
The output gear SCL connected on the horizontal drive motor A31 output shafts of the present embodiment drives transmission by chain LT
Gear C DL rotations, transmission gear CDL are connect by shaft coupling with one end of cross lead screw A32, so output gear rotation drives
Cross lead screw A32 rotations.For the sake of security, protective cover A36 is set outside output gear, transmission gear and chain.
Can be seen that supporting box C in conjunction with Fig. 2, Fig. 3 and Figure 10 is by bottom plate C1, lateral side plate C2 and longitudinal side plate C3
The cuboid-type babinet surrounded, bottom plate are tablet, and longitudinal side plate is and lateral side plate is U templates, the surrounding of bottom plate respectively with
Lateral side plate and longitudinal side plate are linked together.
Can be seen that longitudinal extension device A4 in conjunction with Fig. 2, Fig. 3 and Figure 10 has two sets, and it includes vertical often to cover longitudinal extension device
To power plant and longitudinal extension mechanism, longitudinal power device A41 is whole straight electric pushrod, is arranged in supporting box C
The longitudinal direction of chamber, push rod is linked together after being each passed through corresponding lateral side plate with corresponding T-type connecting seat A23, the other end is solid
Due on another lateral side plate C2.Longitudinal extension mechanism includes longitudinal rail A42 and longitudinal slide rail A43, longitudinal slide rail and longitudinal direction
Guide rail has four, and two a pair are symmetrically arranged on the outside of the both ends of the longitudinal directions bottom plate C1, the length direction of longitudinal slide rail A43
It is provided with sliding slot along its length, connects longitudinal rail A42 in sliding slot, the outer end of longitudinal rail A42 stretches out in cross side
The outer side plate A21 with mounting bracket A2 of plate C2, which are laterally hinged with, to be integrated.There is slot in the inner end of side plate A21, and the width of slot, which is more than, to be indulged
To the width of sliding rail, slot both sides are physically symmetrically inlaid with thimble nut A27, and the thimble of two thimble nuts is respectively positioned on slot
In, so that the junction of longitudinal slide rail and mounting bracket side plate is formed turning joint.Since insulator is influenced by gravity itself, cause
There is sagging in linear type insulator, and robot will cause the error of movement locus during the motion, with holding for movement
Continuous to carry out, error influences the precision of transverse movement by building up so that holding handle can not catch insulator steel cap, the activity
The design in joint has flexible compensation effect, so that it may to overcome the influence of accumulated error.Whole straight electric pushrod A41's pushes away
Bar is flexible to drive clamp arm assembly to change change with respect to the lengthwise position of supporting box, while longitudinal slide rail is in longitudinal rail
Movement keeps the longitudinal movement of mounting bracket and its assembly parts more stable in the sliding slot of side wall.
The operation principle of clamp arm assembly is as follows：The T-nut of cross lead screw being converted on cross lead screw it is straight
Line moves, and T-nut seat drives two take-up housings transversely opposite on lead screw and laterally steering bar or moves toward one another, take-up housing
Lower end edge cross slide way slides, and when two holding handles open, two take-up housings move toward one another, when two holding handles are closed, two sliding blocks
Seat back movement.The cooperation of laterally steering bar and cross slide way keeps sliding laterally for take-up housing more stable.Lateral driver device
Structural clamp handle rises and closed action is realized, opens and declined while realizing simultaneously.
Two holding handles open and when closing up, and the height of articulated position declines and rises, in order to ensure clamping limb rise and
The stability of decline, is arranged lifting assembly on T-type connecting seat A23, and lifting assembly includes elevating lever A25 and is attached to hold
T connector A26.The sliding slot along short transverse is arranged in the side wall of T-type connecting seat, and elevating lever is plugged in sliding slot, can be along sliding slot
Lower movement, the outer end of T connector and the hinging pin shaft of holding handle are linked together, and such lifting assembly can give the liter of holding handle
Stable guiding role has dropped.
Can be seen that detection in conjunction with Fig. 1, Fig. 2, Fig. 5 to Figure 10 and clean arm assembly B include detect and clean arm component,
Vertical drive B3 and longitudinal driving device B5, detection and clean arm component include vertical mounting bracket B1, be transversely mounted frame B2,
Clean power plant B4 and cleaning brush（It is not drawn into figure）.
Longitudinal driving device B5 includes servo motor B 51, longitudinal screw mandrel B52, long rails B53, fixed seat B54, longitudinal direction
Take-up housing B55.
Fixed seat B54 is L-type seat, there are two, each fixed seat B54 is with its galianconism and long-armed inside and babinet C mono-
The upper surface of longitudinal side plate is connected with lateral surface, and longitudinal screw mandrel B52 and long rails B53 have two, are all connected to two fixations
Between seat B54, wherein two longitudinal screw mandrel B52 are arranged above and below, it is connected to the outside of longitudinal side plate between two fixed seats, one
Long rails B53 is connected to the upper surface of the longitudinal side plate, and another long rails B53 is located at the lower section of longitudinal screw mandrel B52.
The shape of longitudinal sliding block seat B55 is L-type, there is the longitudinal rail of sliding slot and longitudinal side plate upper surface on the inside of galianconism
Connection, its long-armed lower inside have sliding slot to be connect with the longitudinal rail on the outside of longitudinal side plate.Longitudinal sliding block seat B55's is long-armed interior
Arc groove is opened up at side and longitudinal screw mandrel B52 interference, is separately connected in two longitudinal screw mandrels there are one slider nut B56, two
Slider nut is located at the both sides of longitudinal sliding block seat B55.
Servo motor B 51 has two, is connect respectively with one end of longitudinal screw mandrel B52 by shaft coupling, servo motor installation
In on fixed seat B54.
Vertical mounting bracket B1 includes vertical mounting plate B11 and is vertically connected at the lower part tops vertical mounting plate B11 both sides
Cant board B12.Cant board B12 includes the interior connecting lever section of vertical section and its both ends and outer connecting lever section, and interior connecting lever section is located at vertical section
Lower end, outer connecting lever section is located at the upper end of vertical section.There is the sliding slot B121 along its short transverse in vertical section and outer connecting lever section.Two
Between cant board B12 link block B122 is provided on the outside of corresponding outer connecting lever section.
Frame B2 is transversely mounted to include vertical arm B21 and be connected to the lateral handgrip arm B22, vertical arm B21 of vertical arm upper end
It is installed between the vertical plates on both sides B12 of vertical mounting bracket B1, the both sides of vertical arm B21, which are respectively perpendicular, is connected with short axle B211, short
Bearing B212 is connected on axis, bearing B212 is located in the sliding slot on cant board.
The driving device B3 of the present embodiment uses electric pushrod, can be seen that electric pushrod in conjunction with Fig. 1, Fig. 2 and Fig. 6
Motor and ontology are installed on vertical mounting plate B11, and the upper end of push rod is linked as one with the lower ends vertical arm B21 for being transversely mounted frame B2
Body.
Downward opening annular handgrip slot arranged at the lateral lower parts handgrip arm B22 for being transversely mounted frame B2, around annular handgrip slot
Physically have twice circular orbit.It includes worm gear mechanism B41, synchromesh gear B42 and annular tooth to clean power plant B4
B43 is taken turns, there are two synchromesh gear B42, and there are one worm gear mechanism B41.Cleaning brush is installed on the both sides of ring gear.Annular
The side wall fluted B431 of gear B 43, ring gear B43 are installed on by groove on circular orbit, and the end of circular orbit has
Avoid the convex body that ring gear is fallen（It is not drawn into figure）.Two synchromesh gear B42 are symmetrically arranged on annular handgrip groove top portion two
It physically, is engaged respectively with ring gear B43 side.Worm gear mechanism B41 is arranged in perpendicular to vertical arm plate B21 and laterally grabs
In the installation cavity on the tops arm B22, including a worm screw B411 and two worm gear B412 being engaged with worm screw, two worm gears difference
Installation coaxial with synchromesh gear B42, worm screw B411 connection driving motors B413.It is steady in order to further ensure the movement of ring gear
It is qualitative, cover board B221 is set in the outside of lateral handgrip arm, one of circular orbit is set in the inside of cover board, in ring gear
Corresponding with circular orbit setting groove is arranged in outside, can clearly find out from Fig. 9 to Figure 10, ring gear B43 be transversely mounted
It is assembled by three circular orbits and groove between frame 2.
Detection and the function of cleaning arm assembly include the detection of insulator resistance value and clean the dust of insulator surface, first to exhausted
The measurement that edge carries out resistance value cleans dust again, carries out the measurement of insulator resistance value successively after cleaning again, measure it is front and back into
Row comparison, checks the clean situation of cleaning.
Detection circuit is installed on detection cleaning arm.It, need to be with the clamping limb of robot when carrying out the detection of insulator resistance value
Cooperation passes through the insulation on the detection circuit measure loop when forming measure loop between clamping limb and detection and cleaning arm
Sub- resistance value, and so on.
When being cleaned, the rotation of worm screw drives two worm gear rotations, two worm gears to drive synchronous gear to rotate simultaneously simultaneously
It is dynamic, to make ring gear rotate.Cleaning brush is done as the rotation of ring gear cleans the dust for cleaning insulator inner surface
Only.
It is transversely mounted on frame since cleaning power plant is installed on, using the configuration of worm and gear and gear train, movement is steady
It is fixed, it is simple in structure, cleaning brush is installed on to the side of ring gear, so that cleaning brush is done major diameter rotary motion, cleans dust
Imitate that efficient, effect is good.
Detection and the operation principle for cleaning arm component are as follows：Electric pushrod pushes the vertical arm for being transversely mounted frame in vertical peace
It shelves and rises in the sliding slot on top or decline, realization is transversely mounted the variation that frame laterally grabs arm altitude, when decline, makes handgrip
Slot catches insulator steel cap, into detecting and clean state, when rising, makes to be transversely mounted frame and avoids insulating when robot moves
Son.The outer connecting lever of vertical mounting bracket cant board upper design can expand the rising rotation angle range of lateral handgrip arm, make this dress
Set the isolator detecting for being applicable to different disk diameters and cleaning.
Working principle of the present invention is as follows：The lateral driver device of gripping arm device realizes the open and close of holding handle
It closes, since two holding handles are hinged to en scissors-like construction, so holding handle is during opening and closing, holding handle is same
When generate decline and vertical motion, that is to say, that gripping arm device only by lateral driver device i.e. clamping hand can be achieved at the same time
Handle, which rises to be closed, embraces insulation steel cap, while realizing that opening declines and unclamping insulator steel cap, is realized and is pressed from both sides by longitudinal extension device
Gripping arm device stretches, so that holding handle catches the insulator steel cap of different location；Detection and the lateral peace for cleaning arm assembly
Opening down arc-shaped handgrip slot is shelved, power plant is cleaned and is installed on the entity being transversely mounted on frame around handgrip slot
On, configuration of the power plant using worm and gear and gear train is cleaned, cleaning brush is installed on two of ring gear at handgrip slot
Side, for ring gear around when being transversely mounted circular orbit movement on frame, cleaning brush does major diameter circulatory motion by insulator inner surface
Dust clean up, it is efficient, effect is good.The vertical arm for being transversely mounted frame is installed on vertical mounting bracket, is pushed away by electronic
Bar, which makes to be transversely mounted sliding slot of the frame on vertical mounting bracket cant board, to be moved up and down, and is transversely mounted outside while frame moves up
Rotation, to avoid insulator, when being transversely mounted frame and moving down, ring gear is pressed on insulator steel cap, at the same time in addition
Two holding handles are also to embrace the sub- steel cap of different insulative, by survey detection and cleaning arm on detection circuit come detect detection and
Between cleaning arm and clamping limb on circuit insulator resistance value, after measurement, make to be transversely mounted frame slightly up it is mobile a bit,
So that ring gear is detached from insulator steel cap, open the driving motor of worm screw connection, so that ring gear is transversely installed by transmission
Circular orbit seat rotary motion on frame drives cleaning brush rapidly and efficiently to clean the dust of both sides insulator inner surface, has cleaned
It is controlled again after finishing and is transversely mounted frame and moves down, ring gear is made to push down insulator steel cap, then carry out a resistance value detection, judge to insulate
Whether the dust in sublist face has cleaned up.At one position after the completion of the detection and cleaning works of several insulators, control
Robot movement carries out detection and cleaning works next time, repeatedly, until each insulator of insulator chain is detected
And cleaning.
Figure 11 is the working state figure of the present invention.As shown in figure 11, have between two clamp arm assemblies of robot
A, tri- insulators of b, c, are first detected and clean to insulator a, and detection and cleaning arm component is then made to move to left an insulation
Sub- distance is detected and cleans to insulator c, then by the movement of the flexible and supporting box of clamp arm assembly to insulator
B is detected and cleans.
The detection of state shown in Figure 11 and the moving process for cleaning arm component are as follows：First make to be transversely mounted frame B2 and move up
And Unscrew is detached from insulator steel cap and avoids insulator, then makes this root longitudinal screw mandrel of the upper surface of longitudinal driving device B5
B52 rotates, and so that the slider nut B56 on the left of longitudinal sliding block seat B55 thereon is moved to the left at the fixed seat B54 of left end, then
Make following this root longitudinal screw mandrel B52 rotations, the slider nut B56 on the right side of longitudinal sliding block seat B55 thereon is made to push longitudinal sliding block
Seat, longitudinal sliding block seat B55 drive detection and clean arm component and be moved to the left at the sub- steel cap of next insulated left side, then control inspection
It surveys and cleans arm component to decline, ring gear is made to be pressed on corresponding insulator steel cap.
The process of supporting box position movement is as follows：So that the clamp arm assembly on right side is protracted and catches the insulator in front
Steel cap moves to after making the slider nut on the left of longitudinal sliding block seat at fixed seat, so that the holding handle in left side is opened and declines, makes following
This root longitudinal screw mandrel rotates, and arm component is immovable due to detecting and cleaning at this time, so the cunning in this root longitudinal screw mandrel below
Block nut can not move, so supporting box is moved forward with the clamp arm assembly in left side with longitudinal driving device.
In order to precisely differentiate the case where holding handle embraces insulator steel cap, the present invention is also in the clamping of each holding handle
Ring inner wall two pressure sensors of installation symmetrical above and below, install displacement sensor, in worm drive on each transverse slider seat
Torque sensor is installed on the output shaft of motor, by three groups of sensors acquire data come judge three arm components whether with absolutely
Edge steel cap is in close contact.
Claims (10)
1. a kind of live detection and cleaning integrated robot, including two gripping arm devices, a detection and cleaning arm assembly
And supporting box, two gripping arm devices are symmetrically arranged in longitudinal both sides of supporting box, detection and cleaning arm assembly are connected to
On supporting box, gripping arm device is installed by supporting box and is supported, it is characterised in that：The gripping arm device includes clamping limb
Component and longitudinal extension device, clamp arm assembly include mounting bracket, lateral driver device and a pair of of holding handle, holding handle
Upper end is holding ring, and the middle part of two holding handles is articulated as one to form scissor-like structure by axis pin, and lateral driver device connects
It is connected on mounting bracket, including horizontal drive motor and cross lead screw transmission component, the lower end of holding handle are connected to cross lead screw
On transmission component, the rotary motion of horizontal drive motor output makes cross lead screw transmission component drive holding handle open and close
It closes；The detection and cleaning arm assembly include detecting and cleaning arm component, vertical drive and longitudinal driving device, detection and
Arm component is cleaned to include vertical mounting bracket, be transversely mounted frame, clean power plant and cleaning brush；Being transversely mounted on frame has opening court
Under handgrip slot, clean power plant and be installed on and be transversely mounted on frame around handgrip slot physically, be transversely mounted frame and be connected to
On vertical mounting bracket, vertical drive is installed on vertical mounting bracket, make to be transversely mounted frame along vertical mounting bracket rise and under
Drop, cleaning brush are installed on the output block for cleaning power plant；Longitudinal extension device and longitudinal driving device are respectively arranged in
On the supporting box, the movable end of longitudinal extension device and the mounting bracket of clamp arm assembly are linked together, and vertical mounting bracket can
Mobile is installed on longitudinal driving device.
2. live detection as described in claim 1 and cleaning integrated robot, it is characterised in that：The supporting box is the bottom of by
Plate, lateral side plate and longitudinal side plate surround, and bottom plate is tablet, and longitudinal side plate and lateral side plate are U templates, the surrounding of bottom plate
It is linked together respectively with lateral side plate and longitudinal side plate.
3. live detection as claimed in claim 2 and cleaning integrated robot, it is characterised in that：The mounting bracket includes side
Plate, connecting pole and T-type connecting seat, the shape of side plate are Y types, and quantity has two pieces, with Y type fork head towards supporting box described in outer
Longitudinal side plate direction is arranged in parallel, and connecting pole is open tubular column, and both ends are connected on the downside bifurcated of both side plate, T-type connecting seat
It is connected between the inner end of both side plate with T-type inversion.
4. live detection as claimed in claim 3 and cleaning integrated robot, it is characterised in that：The cross lead screw transmission
Component includes cross lead screw, laterally steering bar, cross slide way and transverse slider seat, cross lead screw connection parallel with laterally steering bar
In on the upside bifurcated of the mounting bracket both side plate plug, laterally steering bar is located at the outer upside of cross lead screw, laterally steering bar
Relative to side plate without rotation, the both ends of cross lead screw pass through is all connected with bearing at side plate, makes cross lead screw that can be rotated relative to side plate, horizontal
Direction guiding rail is installed on the upper surface of the connecting pole, the lower section between laterally steering bar and cross lead screw；Cross lead screw
Both ends thread rotary orientation is on the contrary, the both ends of cross lead screw are connected separately with nut seat, and there are two transverse slider seats, respectively with nut seat
It is linked together, cross lead screw and laterally steering bar both pass through transverse slider seat, there is corresponding connecting hole on transverse slider seat；Laterally
The length direction middle position of lead screw is connected with rolling bearing, and nut seat is connected on the cross lead screw at rolling bearing both ends；
Transverse slider seat is used to connect interference in the connecting hole of the laterally steering bar and is connected with linear bearing, and laterally steering bar is from straight line
It is passed through in the centre bore of bearing, linear bearing can be moved transversely guide rod.
5. live detection as claimed in claim 4 and cleaning integrated robot, it is characterised in that：The T-type connecting seat
Length direction middle position is connected with the pulling plate seat parallel with the mounting bracket side plate, the rolling bearing on the cross lead screw
It is passed through from pulling plate seat, the laterally steering bar is passed through from pulling plate seat；There are U-type groove, the clamping in the upper end of transverse slider seat
The lower end of handle is hingedly connected in the U-type groove of transverse slider seat upper end；It is connected on the inside of T-type connecting seat along the clamping hand
The lifting assembly of handle short transverse, lifting assembly include that along the elevating lever that T-type connecting seat slides up and down and can be attached to hold
T connector, the outer end of T connector and the axis pin of the holding handle hinged place are linked together.
6. live detection as claimed in claim 5 and cleaning integrated robot, it is characterised in that：The horizontal drive motor
Output shaft on be connected with output gear, one end of the cross lead screw is connected with transmission gear, output gear and transmission gear
Between by chain drive, horizontal drive motor is installed in the inner cavity of the connecting pole, and output gear and transmission gear are located at
The outside of mounting bracket side plate；The longitudinal extension device has two sets, often cover longitudinal extension device include longitudinal power device and
Longitudinal extension mechanism, longitudinal power device are whole straight electric pushrod, are arranged in the longitudinal direction of the supporting box inner cavity, push away
Bar is linked together after being each passed through corresponding lateral side plate with corresponding T-type connecting seat, the other end is fixed on another lateral side plate
On, longitudinal extension mechanism includes longitudinal rail and longitudinal slide rail, and longitudinal rail has four, and two a pair are respectively along supporting box bottom
Plate is longitudinally arranged in its both ends, and longitudinal slide rail has four, is connected in the sliding slot of longitudinal rail, the outer end of longitudinal slide rail
It being laterally hinged with after the lateral side plate of supporting box and the side plate inner end grafting of the mounting bracket, there is slot in the inner end of side plate,
The width of slot is more than the width of longitudinal slide rail, and slot both sides are physically symmetrically inlaid with thimble nut, two thimble nuts
Thimble is respectively positioned in slot.
7. live detection as claimed in claim 2 and cleaning integrated robot, it is characterised in that：The vertical mounting bracket packet
The cant board of vertical mounting plate and vertical connection both sides to its upper is included, cant board includes the outer connecting lever of vertical section and the upper end
Section, the interior connecting lever section of lower end, there is the sliding slot along its short transverse in vertical section and outer connecting lever section, corresponding between vertical plates on both sides outer to turn
It is provided with link block on the outside of arm section.
8. live detection as claimed in claim 7 and cleaning integrated robot, it is characterised in that：It is described to be transversely mounted frame packet
The lateral handgrip arm for including vertical arm and being attached to end, vertical arm are installed between the vertical plates on both sides of the vertical mounting bracket,
The both sides of vertical arm, which are respectively perpendicular, is connected with short axle, and bearing is connected in short axle, and bearing is located in the sliding slot on the cant board,
The handgrip slot is opened up on the downside of lateral handgrip arm, handgrip slot is arc-shaped slot, physically there are circular rails around arc-shaped slot
Road.
9. live detection as claimed in claim 8 and cleaning integrated robot, it is characterised in that：The cleaning power plant
Including worm gear mechanism, synchromesh gear and ring gear, there are two synchromesh gears, and there are one worm gear mechanisms；Worm gear snail
Linkage includes a worm screw and two worm gears engaging, the installation coaxial with two worm gears respectively of two synchromesh gears, and two
A synchromesh gear is engaged with ring gear respectively；The side wall of ring gear is fluted, and ring gear is installed on described by groove
On circular orbit；There is the limit convex body for avoiding the ring gear from falling in the end of the circular orbit；The synchromesh gear pair
Title is installed on handgrip groove top portion both sides physically, is engaged respectively with ring gear；The worm gear is perpendicular to the transverse direction
The vertical arm of mounting bracket is arranged in the top of the lateral handgrip arm, and corresponding installation cavity, worm screw are arranged at the top of lateral handgrip arm
It is connected with driving motor；The vertical drive is electric pushrod, is installed on the lower part of the vertical mounting bracket, electric pushrod
Push rod head be linked together with the vertical arm lower end for being transversely mounted frame；The both sides of the ring gear are respectively mounted described clear
Brush.
10. live detection as claimed in claim 9 and cleaning integrated robot, it is characterised in that：The zigzag tread patterns dress
It sets including servo motor, longitudinal screw mandrel, long rails, fixed seat, longitudinal sliding block seat；Fixed seat is L-type seat, there are two, each
Fixed seat is connect with its galianconism and long-armed inside with the upper surface of one longitudinal side plate of supporting box and lateral surface, longitudinal screw mandrel
There are two with long rails, be all connected between two fixed seats, wherein two longitudinal screw mandrels are arranged above and below, it is solid to be connected to two
The outside of longitudinal side plate between reservation, a long rails are connected to the upper surface of the longitudinal side plate, another long rails position
In the lower section of longitudinal screw mandrel；The shape of longitudinal sliding block seat is L-type, there is the vertical of sliding slot and longitudinal side plate upper surface on the inside of galianconism
There is sliding slot to be connect with the long rails on the outside of longitudinal side plate to track connection, its long-armed lower inside；The length of longitudinal sliding block seat
On the inside of arm with open up arc groove at longitudinal screw mandrel interference, be separately connected that there are one slider nut, two cunnings in two longitudinal screw mandrels
Block nut is located at the both sides of longitudinal sliding block seat；Servo motor has two, passes through one end of shaft coupling and longitudinal screw mandrel respectively
Connection, servo motor are installed in fixed seat；The lower end of the vertical mounting bracket is connected on longitudinal sliding block seat.
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| CN107104390B true CN107104390B (en) | 2018-07-24 |
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| CN107607771A (en) * | 2017-08-31 | 2018-01-19 | 合保电气（芜湖）有限公司 | Insulator charged detection instrument |
| CN107425477B (en) * | 2017-09-20 | 2019-01-22 | 国网河北省电力有限公司新乐市供电分公司 | A kind of automatic removing foreign matter device on transmission line of electricity |
| CN107570452B (en) * | 2017-10-13 | 2023-06-06 | 山东领能电力工程有限公司 | Robot capable of automatically cleaning insulator under high-voltage electrification |
| CN109193455B (en) * | 2018-10-09 | 2020-04-21 | 华北电力大学（保定） | High-voltage inspection mobile robot walking device |
| CN109119937B (en) * | 2018-10-30 | 2023-11-07 | 国网江苏省电力有限公司镇江供电分公司 | Fixed arm assembly of tension insulator dismounting mechanism |
| CN110707598A (en) * | 2019-11-07 | 2020-01-17 | 国网河南省电力公司偃师市供电公司 | Overhead transmission line clearance sacrifice device |
| CN110854740A (en) * | 2019-12-03 | 2020-02-28 | 中国南方电网有限责任公司超高压输电公司昆明局 | High altitude suspension insulator dismouting mechanism and automatic change device |
| CN114558806B (en) * | 2020-05-07 | 2023-05-09 | 浙江大学台州研究院 | Robot for detecting and cleaning insulators based on control center and control method |
| CN111884143B (en) * | 2020-08-04 | 2021-06-22 | 广州狸园科技有限公司 | Be used for big data modularization network wiring device |
| CN113305073B (en) * | 2021-04-09 | 2023-12-08 | 国网安徽省电力有限公司亳州供电公司 | Insulator cleaning device |
| CN116148613B (en) * | 2023-04-12 | 2023-06-27 | 江苏峰工电气科技有限公司 | Fault positioning on-line detector and detection method thereof |
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