CN107202941A - It is a kind of can translation incision change born of the same parents' climbing mechanism insulator detecting robot - Google Patents

It is a kind of can translation incision change born of the same parents' climbing mechanism insulator detecting robot Download PDF

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Publication number
CN107202941A
CN107202941A CN201710268589.7A CN201710268589A CN107202941A CN 107202941 A CN107202941 A CN 107202941A CN 201710268589 A CN201710268589 A CN 201710268589A CN 107202941 A CN107202941 A CN 107202941A
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China
Prior art keywords
insulator
rectangular frame
climbing
same parents
translation
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CN201710268589.7A
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Chinese (zh)
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CN107202941B (en
Inventor
李小彭
李树军
王泽�
孙猛杰
曹洲
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东北大学
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01RMEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/12Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
    • G01R31/1227Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
    • G01R31/1245Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of line insulators or spacers, e.g. ceramic overhead line cap insulators; of insulators in HV bushings
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01RMEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R1/00Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
    • G01R1/02General constructional details

Abstract

The present invention provide it is a kind of can translation incision change born of the same parents' climbing mechanism insulator detecting robot, including mobile unit and detecting element, and be connected with each other and be integrated using mobile unit described in three groups form the travel mechanism for encircling insulator chain;Rectangular frame side is provided with change born of the same parents' climbing mechanism, become on born of the same parents' climbing mechanism and drive device, claw are installed, synchronous belt type guide locking mechanism is provided with rectangular frame, dismounting assembling can be carried out, synchronous belt type guide locking mechanism and insulator chain flexible contact, it is to avoid produce abrasion to insulator surface during guiding, pawl of creeping can realize the incision of complete translation and exit insulator edge, with insulator surface without engaging friction, not Damage to insulation sublist finishing coat.Docked simultaneously as nail-press of creeping is fashionable with insulator edge equivalent to tapered, to the error zmodem of insulator chain, the stability of mechanism running is effectively ensured in the stuck phenomenon occurred when overcoming engagement in rotation formula climbing mechanism poor fault tolerance to run.

Description

It is a kind of can translation incision change born of the same parents' climbing mechanism insulator detecting robot
Technical field
The invention belongs to isolator detecting technical field, and in particular to it is a kind of can translation incision change born of the same parents climbing mechanism insulation Son detection robot.
Background technology
Insulator is a kind of special insulation control that can be played an important role in overhead transmission line, and can it transport safely Row directly determines the stability of power system.At present, China's economy is grown at top speed, and industrial or agricultural is developed rapidly, meanwhile, people's people's livelihood Running water is flat to be improved constantly, and super-pressure, system for ultra-high voltage transmission have been widely used, the construction of power network with safeguard increasingly by Pay attention to, power system transmission of electricity, the safety of power supply and it is reliable also more highlight importance.And the use of insulator chain is because of it Particularity can be chronically exposed in extraneous air, and this can be such that it is influenceed by various factors, such as expose to the weather drench with rain, temperature it is cold Thermal change etc., resistance of insulator can be reduced after being endangered by these, a problem that producing cracking or even puncture, and then completely Failure.Therefore, operating insulator chain is detected, it is to avoid insulator short circuit occurs, the phenomenon such as punctures, defeated to ensure The safe and reliable operation of electric line, it is to avoid influence is produced on the overall operation of power system, huge economic losses are caused.
The mode of traditional domestic detection insulator is manual work mode, and the hand-held detection device of operating personnel climbs up bar Tower detects all insulator running statuses one by one, and this traditional approach has several shortcomings:First, insulated in overhead transmission line Sub-pieces enormous amount, artificial to sub-pieces to be detected one by one, labor intensity of operating staff is big, and dangerous high, efficiency is low;Its Secondary, it is impossible to quantitative measurment, the accuracy of measurement result is influenceed larger by environmental factor and human factor.It is at this stage to use more It is dangerous to improve detection efficiency and reduce manual work that plant equipment carries out automatic detection to insulator.In recent years, scientific research Staff development goes out various insulator detecting robots, and for the running status of Comprehensive Assessment insulator, this is for maintaining state's household electrical appliances Power transmission is stable and promotes national economic development significant.However, robot generally existing conventional at present some be total to Same shortcoming, such as:It is complicated, it is impossible to be split, it is unfavorable for operating personnel and carries and install, it is impossible to effectively adapts to insulation The detection environment of son;When the running gear of robot uses roller, with insulator surface to be in rolling contact, the Guiding machine of tabular Structure is rigid contact with insulator during guiding, and when running gear, which is used, creeps pawl, the motion for pawl of creeping has not been Full translation, produces engaging friction between insulator, and these all can produce abrasion to insulator surface;In addition, detecting insulation After son, in addition it is also necessary to carry out manual recovery.
In summary, it is necessary to design it is a kind of can translation incision change born of the same parents' climbing mechanism insulator detecting robot, with solve Certainly above mentioned problem.
The content of the invention
To overcome the problem of prior art is present, it is an object of the invention to provide it is a kind of can translation incision change born of the same parents' creeper Structure insulator detecting robot, creep claw and the insulator surface of the detection robot limited can be avoided pair without engaging friction Insulator surface, which is produced, to be worn and torn and can be detected along insulator crawling exercises.
To achieve the above object, the present invention uses following technical scheme:
It is a kind of can translation incision change born of the same parents' climbing mechanism insulator detecting robot, including three groups of mobile units and detection member Part, the mobile unit includes rectangular frame, climbing mechanism and guide locking mechanism, the vertical beam and insulator chain of rectangular frame Diameter parallel, guide locking mechanism and climbing mechanism be set up in parallel along the horizontal beam of rectangular frame, and guide locking mechanism is installed Between the upper and lower horizontal beam of rectangular frame, climbing mechanism is installed on the vertical beam of the side of rectangular frame;Moved described in three groups By the buckle on rectangular frame vertical beam, interference is connected moving cell two-by-two, is formed and the circumference of insulator chain is encircled, the inspection Survey element to be fixedly mounted on rectangular frame, for detecting insulator.
The climbing mechanism includes driving lever, connecting rod, transverse shifting bar, final actuating element, upright slide block, level and slided Block, linear slide bearing, spring, floating lever, drive device, wherein, final actuating element includes L-shaped connecting rod and claw, driving The output shaft of device is connected with driving lever key, and one end of driving lever, connecting rod and L-shaped connecting rod passes sequentially through connecting shaft connection, connecting rod On the cross sliding clock that transverse shifting bar is hinged on the connecting shaft of L-shaped connecting rod, geometrical constraint is set on transverse shifting bar, it is limited Sliding scale;One end of floating lever is with driving lever by being hinged, and the other end and the upright slide block of floating lever pass through linear slide axle Connection is held, while floating lever is fixedly connected on rectangular frame by sleeve, spring housing is on floating lever, and spring one end is connected to On upright slide block, the other end is fixedly connected on floating lever;Transverse shifting bar is fixed on upright slide block perpendicular to floating lever; Claw is fixedly connected with the free end of L-shaped connecting rod, the claw is realized the incision of complete translation by the drive of sliding block and exited Insulator, and then insulator outer is clamped.
The guide locking mechanism includes driving pulley, driven pulley, timing belt, mandrel and steering wheel, wherein, main belt Wheel, driven pulley are respectively parallel to the upper and lower horizontal beam of rectangular frame, and are connected respectively by mandrel with rectangular frame;It is synchronous Band is set between driving pulley and driven pulley, and timing belt is tangent with insulator radial edges close to insulator one side;Rudder Machine is arranged on driving pulley, the locking for controlling mobile unit.
Further, the claw is a U-shaped mechanism, and concave side is contacted with insulator chain, and convex side center is performed with end Element is consolidated, and contacting end face with insulator on claw is respectively arranged with rubber sheet gasket, to avoid in clamping process to insulator Cause damage.
Further, the climbing mechanism is fixed on the level of the secondary rectangular frame extended outside the vertical beam of rectangular frame side Liang Shang, the horizontal beam of secondary rectangular frame and the horizontal beam of rectangular frame are into 120 degree of angles, and buckle is arranged on oneself of secondary rectangular frame On the vertical beam of end.
Beneficial effects of the present invention are to be integrated using three groups of mobile units by snapping connection, and are formed to insulator chain Circumference encircle, dismounting assembling can be carried out, be convenient for carrying and install, and rectangular frame be easy to processing, guide locking mechanism with Insulator chain flexible contact, it is to avoid produce abrasion to insulator surface during guiding, and can be good at adapting to insulator The error of string;Pawl of creeping can realize the incision of complete translation and exit insulator edge, with insulator surface without engaging friction, Not Damage to insulation sublist finishing coat.Docked simultaneously as nail-press of creeping is fashionable with insulator edge equivalent to tapered, to insulator The error zmodem of string, the stuck phenomenon occurred when existing engagement in rotation formula climbing mechanism poor fault tolerance can be overcome to run, has Effect ensures the stability of mechanism running;It can be used in detection level, pendency and inclined insulator chain, the scope of application Extensively.
Brief description of the drawings
Fig. 1 for the present invention it is a kind of can translation incision change born of the same parents' climbing mechanism insulator detecting robot structural representation;
Fig. 2 for the present invention it is a kind of can translation incision change born of the same parents' climbing mechanism insulator detecting robot use state signal Figure;
Fig. 3 is Fig. 2 right view;
Fig. 4 is the structural representation of one group of mobile unit;
Fig. 5 is the structural representation of guide locking mechanism;
Fig. 6 is the structural representation of one group of rectangular frame;
Fig. 7~Figure 12 creeps the operation principle schematic diagram of a cycle for one group of mobile unit of the present invention;
In figure:1 insulator chain;2 rectangular frames;3 electrical source of power;4 detecting elements;5 upright slide blocks;6 cross sliding clocks;7 connect Spindle;8 driving levers;9 direct current generators;10 sleeves;11 connecting rods;12 floating levers;13 springs;14 transverse shifting bars;15 linear slides Bearing;16L shape connecting rods;17 driven synchronous pulleys;18 from moving mandrel;19 active synchronization belt wheels;20 timing belts;21 active mandrels; 22 steering wheels;23 vertical beams;24 horizontal beams;25 buckles;26 claws.
Embodiment
With reference to Fig. 1~Figure 12 and specific embodiment to the present invention it is a kind of can translation incision change born of the same parents' climbing mechanism Insulator detecting robot is described in further detail.
According to Fig. 1~Fig. 2, it is a kind of can translation incision change born of the same parents' climbing mechanism insulator detecting robot, including move Moving cell and detecting element, and be integrated using mobile unit interconnection described in three groups, form the movement for encircling insulator chain Mechanism, when carrying out detection operation to insulator chain 1, three groups of mobile units are connected two-by-two by buckle, loop configuration is formed, Insulator chain 1 is carried out circumferentially to encircle, and translation stepping is moved on insulator chain 1, by detecting element 4 to insulator chain 1 Detected.
Because three groups of change born of the same parents' mobile unit structure compositions are identical, in this example, one group of change born of the same parents movement therein is chosen Unit is described in detail.
As shown in Fig. 3~Fig. 4, the mobile unit includes the rectangular frame 2 of middle part hollow out, as shown in fig. 6, rectangular frame Vertical beam 23 and horizontal beam 24, the vertical beam 23 and the diameter parallel of insulator chain 1, horizontal beam 24 and insulator are provided with 2 1 circumference of going here and there is tangent, and the horizontal cross-arm that adjacent frame is stretched out is connected with each other by buckle 25 and is integrated, so as to form circumferential encircle The annular stop mechanism of insulator chain 1, is connected with change born of the same parents' climbing mechanism, rectangular frame 2 on horizontal beam 24 along insulator footpath To synchronous belt type guide locking mechanism is connected with, support guide effect is played when eccentric situation occurs in rectangular frame 2, so that Robot can move smooth along insulator, and to adapt to the error of insulator chain, detecting element 4 is arranged on the outer of rectangular frame 2 Side, is detected to insulator, while being provided with drive device on horizontal beam 24, the drive device drives driving lever 8 to do suitable Hour hands and counterclockwise reciprocating motion, and then rectangular frame 2 is driven along the translation of insulator outer.
As shown in figure 5, the guide locking mechanism includes:Driven synchronous pulley 17, from moving mandrel 18, active synchronization belt wheel 19, timing belt 20, active mandrel 21 and steering wheel 22, two synchronous pulleys in every group of guide locking mechanism are separately positioned on square The upper and lower ends of shape framework 2, timing belt 20 is located between two synchronous pulleys.
As illustrated, the change born of the same parents climbing mechanism performs member including driving lever 8, connecting rod 11, transverse shifting bar 14, end Part, spring 13 and floating lever 12, wherein final actuating element are affixed by claw 26, L-shaped connecting rod 16 and cross sliding clock 6 Form, the one end of driving lever 8 is hinged with robot floating lever 12, do and rotate clockwise and anticlockwise by the driving of direct current generator 9, it is another End is hinged with connecting rod 11, and the sliding block that connecting rod 11 is slided with level is hinged, and the sliding block is consolidated with claw by L-shaped connecting rod.Robot Floating lever 12 on body is provided with sleeve 10, upright slide block 5 and the spring 13 for applying constraint, and spring one end is consolidated with sliding block, The other end is fixed on floating lever 12, to apply spring constraining force.
The principle of creeping of one group of mobile unit is discussed in detail with reference to Fig. 7~Figure 12:
Step (1):As shown in fig. 7, mobile unit is located at initial position, electrical source of power 3 will start driving, now end Executive component is in free position by the affixed cross sliding clock of L-shaped bar 16 and claw 26, and electrical source of power 3 drives, and driving lever 8 is suitable Hour hands are rotated, and drivening rod 11 moves, so make final actuating element by the affixed sliding block of L-shaped bar 16 and claw level to the left Geometrical constraint about having on transverse shifting bar 14 where translation, sliding block, when sliding block moves to extreme position to the left, The lucky translation of claw is cut into insulator edge, and now state is as shown in Figure 8.
Step (2):As shown in figure 9, under the drive of electrical source of power 3, driving lever 8 continues to rotate clockwise, due to end Executive component is located at left side extreme position by the affixed sliding block of L-shaped bar and claw, it is impossible to continue to slide, then in driving lever 8 Under effect, robot body is floating lever 12 with rectangular frame 2 and guide locking mechanism, under the constraint of guiding mechanism, edge Insulator chain 1 and crawl into an insulator spacing upwards, locking device is locked on insulator chain 1 by robot body.
Step (3):As shown in Figure 10, after guide locking mechanism and rectangular frame 2 rise an insulator spacing, Electrical source of power 3 is inverted, and driving lever is changed into rotating counterclockwise, and drivening rod 11 is moved, and then final actuating element is passed through L-shaped bar Insulator edge is exited in affixed sliding block and the translation to the right of claw level, claw translation, and because of on the transverse bar where sliding block Geometrical constraint about having, when sliding block is moved right to extreme position, claw is located at the position farthest from insulator chain 1, Now state is as shown in figure 11.
Step (4):Moved right in sliding block to the position farthest from insulator chain, it is main under the drive of electrical source of power 3 Lever 8 continues to rotate counterclockwise, due to the constraint of limit on the right-right-hand limit position, and sliding block is no longer moved right, in the restraining force of spring 13 and master In the presence of lever 8, the sliding block on floating lever 12 drives transverse shifting bar 14 and final actuating element affixed by L-shaped bar Sliding block and claw climb an insulator spacing upwards together, and now state is as shown in figure 12.So far, a walking cycle knot Beam, then under the drive of electrical source of power 3, becomes born of the same parents' climbing mechanism cycle movement, robot is in insulator outer repeat step (1) motion of~step (4).
Finally it should be noted that:It is above-described for the present invention preferably embodiment, but the protection of the present invention Scope is not limited thereto, and any one skilled in the art, can be easily in the technical scope of present disclosure The change or replacement expected, should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with power The protection domain of sharp claim is defined.

Claims (3)

1. it is a kind of can translation incision change born of the same parents' climbing mechanism insulator detecting robot, it is characterised in that:Including three groups of movement lists Member and detecting element, the mobile unit include rectangular frame, climbing mechanism and guide locking mechanism, the vertical beam of rectangular frame With the diameter parallel of insulator chain, guide locking mechanism and climbing mechanism are set up in parallel along the horizontal beam of rectangular frame, guide lock Tight mechanism is installed between the upper and lower horizontal beam of rectangular frame, and climbing mechanism is installed on the vertical beam of the side of rectangular frame; By the buckle on rectangular frame vertical beam, interference is connected mobile unit described in three groups two-by-two, forms the circumferential ring to insulator chain Embrace, the detecting element is fixedly mounted on rectangular frame, for being detected to insulator;
The climbing mechanism includes driving lever, connecting rod, transverse shifting bar, final actuating element, upright slide block, cross sliding clock, straight Line sliding bearing, spring, floating lever, drive device, wherein, final actuating element includes L-shaped connecting rod and claw, drive device Output shaft is connected with driving lever key, and one end of driving lever, connecting rod and L-shaped connecting rod passes sequentially through connecting shaft connection, and connecting rod and L-shaped connect The connecting shaft of bar is hinged on the cross sliding clock of transverse shifting bar, and geometrical constraint is set on transverse shifting bar, is limited it and is slided model Enclose;One end of floating lever is with driving lever by being hinged, and the other end of floating lever is connected with upright slide block by linear slide bearing, Floating lever is fixedly connected on rectangular frame by sleeve simultaneously, and spring housing is on floating lever, and spring one end is connected to vertical cunning On block, the other end is fixedly connected on floating lever;Transverse shifting bar is fixed on upright slide block perpendicular to floating lever;Connect in L-shaped The free end of bar is fixedly connected with claw, for clamping insulator outer;
The guide locking mechanism include driving pulley, driven pulley, timing belt, mandrel and steering wheel, wherein, driving pulley, from Movable belt pulley is respectively parallel to the upper and lower horizontal beam of rectangular frame, and is connected respectively by mandrel with rectangular frame;Timing belt is arranged Between driving pulley and driven pulley, and timing belt is tangent with insulator radial edges close to insulator one side;Steering wheel is installed On driving pulley, the locking for controlling mobile unit.
2. a kind of insulator detecting robot of translation incision according to claim 1 becomes born of the same parents' climbing mechanism, its feature exists In the claw is a U-shaped mechanism, and concave side is contacted with insulator chain, and convex side center is consolidated with final actuating element, on claw End face is contacted with insulator and is respectively arranged with rubber sheet gasket, to avoid causing insulator in clamping process damage.
3. a kind of insulator detecting robot of translation incision according to claim 1 or 2 becomes born of the same parents' climbing mechanism, its feature It is, the climbing mechanism is fixed on the horizontal beam of the secondary rectangular frame extended outside the vertical beam of rectangular frame side, secondary rectangle The horizontal beam of framework and the horizontal beam of rectangular frame are into 120 degree of angles, and buckle is arranged on the free end vertical beam of secondary rectangular frame On.
CN201710268589.7A 2017-04-24 2017-04-24 A kind of change born of the same parents' climbing mechanism insulator detecting robot for the incision that is translatable Active CN107202941B (en)

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