CN107271783A - A kind of parallel-moving type detection robot for detecting insulator - Google Patents
A kind of parallel-moving type detection robot for detecting insulator Download PDFInfo
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- CN107271783A CN107271783A CN201710635179.1A CN201710635179A CN107271783A CN 107271783 A CN107271783 A CN 107271783A CN 201710635179 A CN201710635179 A CN 201710635179A CN 107271783 A CN107271783 A CN 107271783A
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- connection part
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- detection
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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
- G01R27/025—Measuring very high resistances, e.g. isolation resistances, i.e. megohm-meters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/02—General constructional details
- G01R1/04—Housings; Supporting members; Arrangements of terminals
- G01R1/0408—Test fixtures or contact fields; Connectors or connecting adaptors; Test clips; Test sockets
- G01R1/0416—Connectors, terminals
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Abstract
Robot is detected the present invention relates to a kind of parallel-moving type for detecting insulator, including casing, the first both arms detection unit, the second both arms detection unit, the 3rd both arms detection unit and control unit, described control unit is arranged at box house, the left side of the casing is provided with the first both arms detection unit, the middle part of the casing is provided with the second both arms detection unit, and the 3rd both arms detection unit is installed on the right side of the casing；The parallel-moving type detection robot of detection insulator of the present invention, is detected, detection efficiency is high, and ensure that the security of detection to high-tension insulator；Structure novelty is compact, and manufacturing cost is low, and detection efficiency is high, precision is high, greatly reduces the labor intensity of workman, saves labour cost, is adapted to large area production and promotes the use of.
Description
Technical field
The present invention relates to the detection technique of the insulator on super high voltage direct current electricity transmission line, more particularly to a kind of detection are exhausted
The parallel-moving type detection robot of edge.
Background technology
High-tension insulator on super high voltage direct current electricity transmission line in the process of running, because being chronically at highfield, strong machinery
Stress, expose to the sun and rain, in the adverse circumstances such as difference variation, in fact it could happen that insulator deterioration, cracking such as even puncture at the failure, seriously
Threaten the safe operation of power system.It is simple and direct, safe, practical, reliable for detecting and measuring absolutely how production is designed
The robot whether edge breaks down, is a current problem for being badly in need of solving.
The content of the invention
Present invention solves the technical problem that being to overcome the defect of prior art, there is provided a kind of translation for detecting insulator
Formula detects robot.
The object of the invention is achieved through the following technical solutions：
A kind of parallel-moving type detection robot for detecting insulator, including casing, the first both arms detection unit, the second both arms are provided
Detection unit, the 3rd both arms detection unit and control unit, described control unit are arranged at box house, the left side of the casing
Provided with the first both arms detection unit, the middle part of the casing is provided with the second both arms detection unit, and the right side of the casing installs the
Three both arms detection units.
The box house is provided with guide groove one, and the first both arms detection unit is provided with guide rod one, described first
Both arms detection unit is arranged in the guide groove one in casing by guide rod one.
The box house is provided with guide groove two, and the 3rd both arms detection unit is provided with guide rod two, the described 3rd
Both arms detection unit is arranged in the guide groove two in casing by guide rod two.
Further, set in the second both arms detection unit, including frame, bottom plate and drive device one, the frame
There is bottom plate, the left part of the bottom plate is provided with left shaft holder, and right part is provided with right axle bearing, and the left shaft holder and right axle bearing are solid
Dingan County is equipped with bearing, the bearing in the left shaft holder and right axle bearing on bottom plate and is provided with screw mandrel one, the silk
Bar one is arranged in left shaft holder and right axle bearing by bearing, and one end of the screw mandrel one is provided with driven pulley, described to lean on
The side of nearly driven pulley is provided with drive device one, and the drive device one is installed on bottom plate, the drive device one
Output end is provided with drive pulley, and the drive pulley is connected by driving belt between the two with driven pulley, described
Screw mandrel one is provided with double checking devices.
The described pair of checking device includes left detection unit and right detection unit, and the left detection unit and right detection unit can be with
Moved on screw mandrel one.
The bottom plate is provided with slide block slot, and the screw mandrel one is located in the surface of slide block slot, the slide block slot provided with a left side
Sliding block and right sliding block, the screw mandrel one are provided with external screw thread, and the screw mandrel one is provided with contiguous block one and contiguous block two, the company
Connect block one and contiguous block two and be provided with through hole, the through hole and be provided with screw thread, the screw thread in through hole on the contiguous block one with
The thread rotary orientation in through hole on contiguous block two is on the contrary, the contiguous block one is fixedly connected with left slider, the He of contiguous block two
Right sliding block is fixedly connected, and the top of the contiguous block one is provided with engaging lug one, and the top of the contiguous block two is provided with engaging lug two.
The left detection unit include left detection arm, left semicircle folder and connecting rod, the left detection arm include left connection part one,
Left connection part two and left connection part three, the lower end of the left connection part one are provided with the first pin shaft hole, and the lower end of left connection part one
It is connected by bearing pin with engaging lug one, the upper end of the left connection part one is connected with the lower end of left connection part two, the left connection
The upper end of section two is connected with the lower end of left connection part three, the connection of the upper end of the left connection part one and the lower end of left connection part two
Place is provided with the second pin shaft hole, and the upper end of the left connection part one is connected with the lower end of left connection part two by bearing pin, the left company
Section three is connect provided with the 3rd pin shaft hole, the left semicircle folder is provided with the second bearing pin on engaging lug three, the left connection part three
The engaging lug three that hole is pressed from both sides by bearing pin with left semicircle is connected.
The right detection unit includes right detection arm and right semi-circle is pressed from both sides, and the right detection arm includes right connection part one, right company
Section two and right connection part three are connect, the lower end of the right connection part one is provided with the 4th pin shaft hole, and the lower end of right connection part one passes through
Bearing pin is connected with engaging lug two, and the upper end of the right connection part one is connected with the lower end of right connection part two, the right connection part two
Upper end be connected with the lower end of right connection part three, the junction of the upper end and the lower end of right connection part two of the right connection part one is set
There is the 5th pin shaft hole, the right connection part three is provided with the 6th pin shaft hole, and the right semi-circle folder is provided with engaging lug four, the right side
The engaging lug four that the 4th pin shaft hole on linkage section three is pressed from both sides by bearing pin with right semi-circle is connected, and the two ends of the connecting rod lead to respectively
Bearing pin is crossed to be connected with the second pin shaft hole, the 5th pin shaft hole.
Further, the first both arms detection unit is identical with the structure of the 3rd both arms detection unit, including frame,
Bottom plate and drive device one, the frame are provided with bottom plate, and the left part of the bottom plate is provided with left shaft holder, and right part is provided with right bearing
Seat, the left shaft holder and right axle bearing are fixedly mounted on bottom plate, and axle is equipped with the left shaft holder and right axle bearing
Hold, screw mandrel one is provided with the bearing, the screw mandrel one is arranged in left shaft holder and right axle bearing by bearing, the screw mandrel
One one end is provided with driven pulley, and the side close to driven pulley is provided with drive device one, the drive device one
It is installed on bottom plate, the output end of the drive device one is provided with drive pulley, the drive pulley and driven pulley
Connected between the two by driving belt, the screw mandrel one is provided with double checking devices.
The described pair of checking device includes left detection unit and right detection unit, and the left detection unit and right detection unit can be with
Moved on screw mandrel one.
The bottom plate is provided with slide block slot, and the screw mandrel one is located in the surface of slide block slot, the slide block slot provided with a left side
Sliding block and right sliding block, the screw mandrel one are provided with external screw thread, and the screw mandrel one is provided with contiguous block one and contiguous block two, the company
Connect block one and contiguous block two and be provided with through hole, the through hole and be provided with screw thread, the screw thread in through hole on the contiguous block one with
The thread rotary orientation in through hole on contiguous block two is on the contrary, the contiguous block one is fixedly connected with left slider, the He of contiguous block two
Right sliding block is fixedly connected, and the top of the contiguous block one is provided with engaging lug one, and the top of the contiguous block two is provided with engaging lug two.
The left detection unit include left detection arm, left semicircle folder and connecting rod, the left detection arm include left connection part one,
Left connection part two and left connection part three, the lower end of the left connection part one are provided with the first pin shaft hole, and the lower end of left connection part one
It is connected by bearing pin with engaging lug one, the upper end of the left connection part one is connected with the lower end of left connection part two, the left connection
The upper end of section two is connected with the lower end of left connection part three, the connection of the upper end of the left connection part one and the lower end of left connection part two
Place is provided with the second pin shaft hole, and the upper end of the left connection part one is connected with the lower end of left connection part two by bearing pin, the left company
Section three is connect provided with the 3rd pin shaft hole, the left semicircle folder is provided with the second bearing pin on engaging lug three, the left connection part three
The engaging lug three that hole is pressed from both sides by bearing pin with left semicircle is connected.
The right detection unit includes right detection arm and right semi-circle is pressed from both sides, and the right detection arm includes right connection part one, right company
Section two and right connection part three are connect, the lower end of the right connection part one is provided with the 4th pin shaft hole, and the lower end of right connection part one passes through
Bearing pin is connected with engaging lug two, and the upper end of the right connection part one is connected with the lower end of right connection part two, the right connection part two
Upper end be connected with the lower end of right connection part three, the junction of the upper end and the lower end of right connection part two of the right connection part one is set
There is the 5th pin shaft hole, the right connection part three is provided with the 6th pin shaft hole, and the right semi-circle folder is provided with engaging lug four, the right side
The engaging lug four that the 4th pin shaft hole on linkage section three is pressed from both sides by bearing pin with right semi-circle is connected, and the two ends of the connecting rod lead to respectively
Bearing pin is crossed to be connected with the second pin shaft hole, the 5th pin shaft hole.
The bottom of the frame of the first both arms detection unit and the 3rd both arms detection unit is mounted on drive device two, institute
The side for stating drive device two is installed with bearing block, and the bearing block is provided with screw mandrel bearing, the drive device two
Output end is provided with belt pulley one.
The casing for solid casing, the inside of the casing is provided with the groove one and groove two of strip, described
The inwall of groove one and groove two is provided with screw thread, and the casing is installed with screw on the inwall of drive device two,
And screw is arranged on screw mandrel two, screw mandrel two, the screw mandrel two and groove one and groove are provided with the groove one and groove two
Two inwall is adapted provided with screw thread, and one end of the close drive device two of the screw mandrel two is provided with belt pulley two, and screw mandrel
Two one end screw mandrel bearings provided with belt pulley two are arranged in the bearing block of bottom of the frame, the belt pulley one and belt pulley two-way
Cross driving belt connection.
The frame of the first both arms detection unit is provided with guide rod one, and the frame of the first both arms detection unit is led to
Guide rod one is crossed in the guide groove one in casing, the frame of the 3rd both arms detection unit is provided with guide rod two,
The frame of the 3rd both arms detection unit is arranged in the guide groove two in casing by guide rod two.
Further, the left connection part one, left connection part two are formed in one and processed, and the left connection part
First, the angle between left connection part two is α, and the angle α is obtuse angle；The right connection part one, right connection part two are integrated into
Type is processed, and the angle between the right connection part one, right connection part two is β, and the angle β is obtuse angle.
Further, it is additionally provided with metal probe in the middle part of the connecting rod.
Further, the side of the metal probe is provided with micromachine, the afterbody and micro electric of the metal probe
The output shaft of machine is connected, and the micromachine can drive metal probe to be rotated.
Further, the drive device one or/and drive device two can use asynchronous machine, synchronous motor or direct current
Machine.
Further, the outside of the casing is provided with solar panels, and the inside of the casing is provided with battery, the sun
Energy plate is used to charge the battery, and the battery is electrically connected with solar panels.
Further, described control unit includes communication module, control module, boost module, detection module and controller；
The boost module is used to convert battery voltage to 2500V high-tension electricities；The detection module exists for being automatically performed insulator
Insulation resistance value measurement and detection under 2500V；The communication module is used for completing wireless data communication, human-computer dialogue；The control
Molding block is used for controlling detection robot to realize parallel-moving type climbing climbing, detection, remote operation, controls each module coordination work.
The controller is used for the action for controlling drive device one, drive device two and micromachine.
Further, sliding movable drawer is provided with the casing, described control unit is arranged in drawer.
Compared with prior art, the invention has the advantages that：
The operation principle of left detection unit, right detection unit：When drive device one is rotated forward, screw mandrel rotation is driven, so as to promote
Contiguous block one and contiguous block two on screw mandrel realizes that left semicircle folder, right semi-circle folder are automatically opened up to motion in the middle part of screw mandrel；Work as driving
When device one is inverted, screw mandrel rotation is driven, so that two end motions of contiguous block one and contiguous block two on screw mandrel to screw mandrel are promoted,
Realize left semicircle folder, right semi-circle folder Automatic-clamping.
The rotating forward of drive device one first, realizes the first both arms detection unit, the second both arms detection unit and the 3rd both arms
Left semicircle folder, right semi-circle folder in detection unit are automatically opened up, and then when drive device one is inverted, realize that the first both arms are detected
Left semicircle folder, right semi-circle folder Automatic-clamping in unit, the second both arms detection unit and the 3rd both arms detection unit need measurement
The insulator of detection.
The work of the first both arms detection unit, the second both arms detection unit and the 3rd both arms detection unit is former in detection process
Reason：
When left detection unit, right detection in the first both arms detection unit, the second both arms detection unit and the 3rd both arms detection unit
During the insulator that unit is clamped respectively, the metal probe on three detection unit connecting rods is rotated under the action of micromachine with needing
The insulator contact for being detected and measuring, is detected and is measured to the leakage current of insulator, miniature after detecting and measuring
Motor rotates again so that metal probe returns to original position；After this group of insulator has been detected, start next group of insulation
Son detection.
The operation principle of first both arms detection unit：The rotating forward of drive device one in the first both arms detection unit,
Left semicircle folder, right semi-circle folder are automatically opened up, and the metal probe on the connecting rod of the first both arms detection unit rotates in micromachine, makes
Metal probe and the insulator with needing to be detected and measure are separated, metal probe is rotated to original position, Ran Hou
The drive device two of bottom of the frame in one both arms detection unit is rotated forward, and drives screw mandrel two to be exited from groove one, so that in silk
Under bar two, drive device two, the cooperation each other of guide rod one and guide groove two so that whole first both arms detection unit to
Preceding movements, when the first both arms detection unit moves to the position of next insulator for needing to be detected, the inspection of the first both arms
The drive device two surveyed on unit is stopped the rotation, and the drive device one in the first both arms detection unit is inverted, and realizes the first both arms
Left semicircle folder, the next insulator for needing to be detected of right semi-circle folder Automatic-clamping in detection unit, micromachine rotation make
Metal probe rotation is obtained to be detected and measured with needing detected insulator to contact.
The operation principle of second both arms detection unit：Then the drive device one in the second both arms detection unit is rotated forward, and is made
Obtain the folder of the left semicircle in the second both arms detection unit, right semi-circle folder to automatically open up, the gold on the connecting rod of the second both arms detection unit
Belong to probe to rotate in micromachine so that metal probe is separated with the insulator with needing to be detected and measure, metal probe rotation
The drive device two gone in original position, the first both arms detection unit is inverted so that the first both arms detection unit frame
On screw mandrel two rotate the rotating forward of drive device two while in the groove one entered in casing in the 3rd both arms detection unit,
Under the auxiliary of guide rod two and guide groove two so that the screw mandrel two in the 3rd both arms detection unit is from the groove two in box house
In exit be like that the 3rd both arms detection unit pushes casing and travelled forward so that casing is forwardly moved, and first pair
Arm detection unit hauls casing and travelled forward.
So that whole second both arms detection unit is forwardly moved with casing, when the second both arms detection unit is moved to down
One need detected insulator namely the first both arms detection unit after testing position with the insulator measured when,
Drive device two in second both arms detection unit and the 3rd both arms detection unit is stopped the rotation, in the second both arms detection unit
Drive device one is inverted, realize in the second both arms detection unit left semicircle folder, right semi-circle folder Automatic-clamping it is next need by
The insulator of detection namely the first both arms detection unit after testing with the insulator measured, micromachine rotation so that
Metal probe, which rotates, to be detected and is measured with needing detected insulator to contact.
The operation principle of 3rd both arms detection unit：The rotating forward of drive device one in the 3rd both arms detection unit,
Left semicircle folder, right semi-circle folder are automatically opened up, and the metal probe on the connecting rod of the 3rd both arms detection unit rotates in micromachine, makes
Metal probe and the insulator with needing to be detected and measure are separated, metal probe is rotated to original position, Ran Hou
The drive device two of bottom of the frame in three both arms detection units is inverted, the groove two for driving screw mandrel two to enter in box house
It is interior, so that under the mutual cooperation of screw mandrel two and drive device two so that whole 3rd both arms detection unit is forwardly moved, when
3rd both arms detection unit has moved to next insulator namely the second both arms detection unit for needing to be detected after testing
During with the position of the insulator measured, the drive device two in the 3rd both arms detection unit is stopped the rotation, the detection of the 3rd both arms
Drive device one on unit is inverted, and realizes that left semicircle folder, right semi-circle folder Automatic-clamping in the first both arms detection unit are next
It is individual to need detected insulator, micromachine rotation so that metal probe rotate contacted with the insulator for needing to be detected into
Row detection and measurement；Continuous repeated translation formula climbing is examined on the insulator on transmission line of electricity just as a robot
Survey and measure.
The present invention has merged advanced control technology, mechanics of communication, the information processing technology, network technology in one, builds
± 800KV DC power transmission lines high tension insulator electrifications detection automatic measuring and controlling system and optimal control platform, realize high pressure
Insulator is simple and direct, safe, practical, reliable on-line checking, intellectualized detection, is domestically leading digital detecting device, greatly
Width improves detection efficiency, and ensure that the security of detection.
The parallel-moving type detection robot of detection insulator of the present invention, is detected, detection effect to high-tension insulator
Rate is high, and ensure that the security of detection；Structure novelty is compact, and manufacturing cost is low, and detection efficiency is high, precision is high, substantially reduces
The labor intensity of workman, saves labour cost, is adapted to large area production and promotes the use of.
Brief description of the drawings
Fig. 1 is that the parallel-moving type of detection insulator of the present invention detects the structural representation of robot.
Fig. 2 is that the parallel-moving type of detection insulator of the present invention detects the side structure schematic view of robot.
Fig. 3 is the structural representation of left detection unit of the present invention and right detection unit.
Fig. 4 is the assembling structure schematic diagram of casing of the present invention and control unit.
Fig. 5 is the structural representation of the first both arms detection unit of the present invention.
Fig. 6 is the structural representation of the second both arms detection unit of the present invention.
Fig. 7 is the structural representation of the 3rd both arms detection unit of the present invention.
Fig. 8 is the structural representation of the first both arms detection unit of the present invention, screw mandrel two and guide rod one.
Fig. 9 is the structural representation of the second both arms detection unit of the present invention.
Figure 10 is the structural representation of the 3rd both arms detection unit of the present invention, screw mandrel two and guide rod two.
In accompanying drawing：
100. casing, 200. first both arms detection units, 300. second both arms detection units, 400. the 3rd both arms detection units,
500. control unit；
101. solar panels, 102. drawers, 103. grooves one, 104. grooves two, 105. guide grooves one, 106. guide grooves two,
107. screw mandrel two, 108. screws；
1. frame, 2. bottom plates, 3. drive devices one, 4. left shaft holders, 5. right axle bearings, 6. bearings, 7. screw mandrels one, 8. driven skins
Belt wheel, 9. drive pulleys, 10. left detection units, 11. right detection units, 12. slide block slots, 13. left sliders, 14. right sliding blocks,
15. contiguous block one, 16. contiguous blocks two, 17. through holes, 18. external screw threads, 19. engaging lugs one, 20. engaging lugs two, 21. left detections
Arm, 22. left semicircles folder, 23. connecting rods, 24. left connection parts one, 25. left connection parts two, 26. left connection parts three, 27. first bearing pins
Hole, 28. second pin shaft holes, 29. the 3rd pin shaft holes, 30. engaging lugs three, 31. right detection arms, 32. right semi-circles folder, 33. right connections
Duan Yi, 34. right connection parts two, 35. right connection parts three, 36. the 4th pin shaft holes, 37. the 5th pin shaft holes, 38. the 6th pin shaft holes, 39
Engaging lug four, 40. micromachines, 41. guide rods two, 42. metal probes, 43. belt pulleys one, 44. belt pulleys two, 45. transmissions
Belt, 46. drive devices two, 47. guide rods one.
Embodiment
With reference to embodiment, the present invention is further illustrated.Wherein, being given for example only property of accompanying drawing illustrates,
What is represented is only schematic diagram, rather than pictorial diagram, it is impossible to be interpreted as the limitation to this patent；In order to which the reality of the present invention is better described
Example is applied, some parts of accompanying drawing have omission, zoomed in or out, and do not represent the size of actual product；To those skilled in the art
For, some known features and its explanation may be omitted and will be understood by accompanying drawing.
As detected robot there is provided a kind of parallel-moving type for detecting insulator shown in Fig. 1 ~ 10, including casing 1, first pair
Arm detection unit 200, the second both arms detection unit 300, the 3rd both arms detection unit 400 and control unit 500, control unit
500 are arranged inside casing 1, and the left side of casing 1 is provided with the first both arms detection unit 200, and the middle part of casing 1 is provided with the second both arms
Detection unit 300, the right side of casing 1 is installed by the 3rd both arms detection unit 400.
The inside of casing 1 is provided with guide groove 1, and the first both arms detection unit 200 is provided with guide rod 1, the first both arms
Detection unit 200 is arranged in the guide groove 1 in casing 1 by guide rod 1.
The inside of casing 1 is provided with guide groove 2 106, and the 3rd both arms detection unit 400 is provided with guide rod 2 41, the 3rd both arms
Detection unit 400 is arranged in the guide groove 2 106 in casing 1 by guide rod 2 41.
As the improvement of the embodiment above, the second both arms detection unit 300, including frame 1, bottom plate 2 and drive device
One 3, frame 1 is provided with bottom plate 2, and the left part of bottom plate 2 is provided with left shaft holder 4, and right part is provided with right axle bearing 5, left shaft holder 4 and the right side
Bearing block 5 is fixedly mounted on a base plate 2, is equipped with left shaft holder 4 and right axle bearing 5 in bearing 6, bearing 6 and is provided with screw mandrel
One 6, screw mandrel 1 is arranged in left shaft holder 4 and right axle bearing 5 by bearing 6, and one end of screw mandrel 1 is provided with driven pulley
8, drive device 1 is provided with close to the side of driven pulley 8, drive device 1 is installed on bottom plate 2, drive device 1
Output end is provided with drive pulley 9, and drive pulley 9 is connected by driving belt 45 between the two with driven pulley 8, screw mandrel
One 6 provided with double checking devices.
Double checking devices include left detection unit 10 and right detection unit 11, and left detection unit 10 and right detection unit 11 can be with
Moved on screw mandrel 1.
Bottom plate 2 is provided with slide block slot 12, and screw mandrel 1, which is located in the surface of slide block slot 12, slide block slot 12, is provided with left slider
13 and right sliding block 14, screw mandrel 1 is provided with external screw thread 18, and screw mandrel 1 is provided with contiguous block 1 and contiguous block 2 16, contiguous block
1 and contiguous block 2 16 be provided with through hole 17, be provided with through hole 17 screw thread in the through hole 17 on screw thread, contiguous block 1 with
The thread rotary orientation in through hole 17 on contiguous block 2 16 is on the contrary, contiguous block 1 is fixedly connected with left slider 13, contiguous block 2 16
It is fixedly connected with right sliding block 14, the top of contiguous block 1 is provided with engaging lug 1, and the top of contiguous block 2 16 is provided with engaging lug
2 20.
Left detection unit 10 includes left detection arm 21, left semicircle folder 22 and connecting rod 23, and left detection arm 21 includes left connection part
One 24, left connection part 2 25 and left connection part 3 26, the lower end of left connection part 1 are provided with the first pin shaft hole 27, and left connection part
One 24 lower end is connected by bearing pin with engaging lug 1, and the upper end of left connection part 1 connects with the lower end of left connection part 2 25
Connect, the upper end of left connection part 2 25 is connected with the lower end of left connection part 3 26, upper end and the left connection part two of left connection part 1
The junction of 25 lower end is provided with the second pin shaft hole 28, and the upper end of left connection part 1 passes through pin with the lower end of left connection part 2 25
Axle is connected, and left connection part 3 26 is provided with the 3rd pin shaft hole 29, and left semicircle folder 22 is provided with engaging lug 3 30, left connection part 3 26
On the second pin shaft hole 28 by bearing pin and left semicircle folder 22 on engaging lug 3 30 be connected.
Right detection unit 11 includes right detection arm 31 and right semi-circle folder 32, and right detection arm 31 includes right connection part 1, the right side
Linkage section 2 34 and right connection part 3 35, the lower end of right connection part 1 are provided with the 4th pin shaft hole 36, and right connection part 1
Lower end is connected by bearing pin with engaging lug 2 20, and the upper end of right connection part 1 is connected with the lower end of right connection part 2 34, right company
The upper end for connecing section 2 34 is connected with the lower end of right connection part 3 35, the upper end of right connection part 1 and the lower end of right connection part 2 34
Junction be provided with the 5th pin shaft hole 37, right connection part 3 35 be provided with the 6th pin shaft hole 38, right semi-circle folder 32 provided with connection
The 4th pin shaft hole 36 on ear 4 39, right connection part 3 35 presss from both sides the engaging lug 4 39 on 32 by bearing pin and right semi-circle and is connected, even
The two ends of bar 23 are connected by bearing pin with the second pin shaft hole 28, the 5th pin shaft hole 37 respectively.
As the improvement of the embodiment above, the structure of the first both arms detection unit 200 and the 3rd both arms detection unit 400
Identical, including frame 1, bottom plate 2 and drive device 1, frame 1 is provided with bottom plate 2, and the left part of bottom plate 2 is provided with left shaft holder
4, right part is provided with right axle bearing 5, and left shaft holder 4 and right axle bearing 5 are fixedly mounted on a base plate 2, left shaft holder 4 and right bearing
It is equipped with seat 5 in bearing 6, bearing 6 and is provided with screw mandrel 1, screw mandrel 1 is arranged on left shaft holder 4 and right axle bearing by bearing 6
In 5, one end of screw mandrel 1 is provided with driven pulley 8, and drive device 1, driving dress are provided with close to the side of driven pulley 8
Put 1 to be installed on bottom plate 2, the output end of drive device 1 is provided with drive pulley 9, drive pulley 9 and driven pulley
8 are connected by driving belt 45 between the two, and screw mandrel 1 is provided with double checking devices.
Double checking devices include left detection unit 10 and right detection unit 11, and left detection unit 10 and right detection unit 11 can be with
Moved on screw mandrel 1.
Bottom plate 2 is provided with slide block slot 12, and screw mandrel 1, which is located in the surface of slide block slot 12, slide block slot 12, is provided with left slider
13 and right sliding block 14, screw mandrel 1 is provided with external screw thread 18, and screw mandrel 1 is provided with contiguous block 1 and contiguous block 2 16, contiguous block
1 and contiguous block 2 16 be provided with through hole 17, be provided with through hole 17 screw thread in the through hole 17 on screw thread, contiguous block 1 with
The thread rotary orientation in through hole 17 on contiguous block 2 16 is on the contrary, contiguous block 1 is fixedly connected with left slider 13, contiguous block 2 16
It is fixedly connected with right sliding block 14, the top of contiguous block 1 is provided with engaging lug 1, and the top of contiguous block 2 16 is provided with engaging lug
2 20.
Left detection unit 10 includes left detection arm 21, left semicircle folder 22 and connecting rod 23, and left detection arm 21 includes left connection part
One 24, left connection part 2 25 and left connection part 3 26, the lower end of left connection part 1 are provided with the first pin shaft hole 27, and left connection part
One 24 lower end is connected by bearing pin with engaging lug 1, and the upper end of left connection part 1 connects with the lower end of left connection part 2 25
Connect, the upper end of left connection part 2 25 is connected with the lower end of left connection part 3 26, upper end and the left connection part two of left connection part 1
The junction of 25 lower end is provided with the second pin shaft hole 28, and the upper end of left connection part 1 passes through pin with the lower end of left connection part 2 25
Axle is connected, and left connection part 3 26 is provided with the 3rd pin shaft hole 29, and left semicircle folder 22 is provided with engaging lug 3 30, left connection part 3 26
On the second pin shaft hole 28 by bearing pin and left semicircle folder 22 on engaging lug 3 30 be connected.
Right detection unit 11 includes right detection arm 31 and right semi-circle folder 32, and right detection arm 31 includes right connection part 1, the right side
Linkage section 2 34 and right connection part 3 35, the lower end of right connection part 1 are provided with the 4th pin shaft hole 36, and right connection part 1
Lower end is connected by bearing pin with engaging lug 2 20, and the upper end of right connection part 1 is connected with the lower end of right connection part 2 34, right company
The upper end for connecing section 2 34 is connected with the lower end of right connection part 3 35, the upper end of right connection part 1 and the lower end of right connection part 2 34
Junction be provided with the 5th pin shaft hole 37, right connection part 3 35 be provided with the 6th pin shaft hole 38, right semi-circle folder 32 provided with connection
The 4th pin shaft hole 36 on ear 4 39, right connection part 3 35 presss from both sides the engaging lug 4 39 on 32 by bearing pin and right semi-circle and is connected, even
The two ends of bar 23 are connected by bearing pin with the second pin shaft hole 28, the 5th pin shaft hole 37 respectively.
The bottom of frame 1 of first both arms detection unit 200 and the 3rd both arms detection unit 400 is mounted on drive device two
46, the side of drive device 2 46 is installed with 6, bearing, and 6, bearing is provided with screw mandrel bearing 6, drive device 2 46
Output end is provided with belt pulley 1.
Casing 1 for solid casing 1, the inside of casing 1 is provided with the groove 1 and groove 2 104 of strip, groove
1 and the inwall of groove 2 104 be provided with screw thread, casing 1 is installed with screw on the inwall of drive device 2 46
108, and screw 108 is on screw mandrel 2 107, and screw mandrel 2 107, screw mandrel 2 107 are provided with groove 1 and groove 2 104
It is adapted with the inwall of groove 1 and groove 2 104 provided with screw thread, the one of the close drive device 2 46 of screw mandrel 2 107
End is provided with belt pulley 2 44, and one end screw mandrel bearing 6 of the screw mandrel 2 107 provided with belt pulley 2 44 is arranged on the axle of the bottom of frame 1
Hold in 6, belt pulley 1 and belt pulley 2 44 are connected by driving belt 45.
The frame 1 of first both arms detection unit 200 is provided with guide rod 1, the frame 1 of the first both arms detection unit 200
It is arranged on by guide rod 1 in the guide groove 1 in casing 1, the frame 1 of the 3rd both arms detection unit 400, which is provided with, to be led
To bar 2 41, the frame 1 of the 3rd both arms detection unit 400 is arranged on the guide groove 2 106 in casing 1 by guide rod 2 41
In.
As the improvement of the embodiment above, left connection part 1, left connection part 2 25 are formed in one and processed, and
Angle between left connection part 1, left connection part 2 25 is α, and angle α is obtuse angle；Right connection part 1, right connection part 2 34
It is formed in one and processes, and the angle between right connection part 1, right connection part 2 34 is β, angle β is obtuse angle.
As the improvement of the embodiment above, the middle part of connecting rod 23 is additionally provided with metal probe 42.
As the improvement of the embodiment above, the side of metal probe 42 is provided with micromachine 40, the tail of metal probe 42
Portion is connected with the output shaft of micromachine 40, and micromachine 40 can drive metal probe 42 to be rotated.
As the improvement of the embodiment above, drive device 1 or/and drive device 2 46 can be using asynchronous machines, same
Walk motor or direct current generator.
As the improvement of the embodiment above, the outside of casing 1 is provided with solar panels 101, and the inside of casing 1 is provided with electricity
Pond, solar panels 101 are used to charge the battery, and battery is electrically connected with solar panels 101.
Drive device 1, drive device 2 46, solar panels 101 and micromachine 40 are electrically connected with control module.
As the improvement of the embodiment above, control unit 500 includes communication module, control module, boost module, detection
Module and controller；Boost module is used to convert battery voltage to 2500V high-tension electricities；Detection module is used for being automatically performed insulation
Insulation resistance value measurement and detection of the son under 2500V；Communication module is used for completing wireless data communication, human-computer dialogue；Control mould
Block is used for controlling detection robot to realize parallel-moving type climbing climbing, detection, remote operation, controls each module coordination work.Control
Device is used for the action for controlling drive device 1, drive device 2 46 and micromachine 40.
As the improvement of the embodiment above, sliding movable drawer 102 is provided with casing 1, control unit 500 is arranged on
In drawer 102.
When drive device 1 is rotated forward, screw mandrel rotation is driven, so as to promote the contiguous block 1 and contiguous block two on screw mandrel
16 to motion in the middle part of screw mandrel, realizes that left semicircle folder 22, right semi-circle folder 32 are automatically opened up；When drive device 1 is inverted, silk is driven
Bar rotates, so as to promote two end motions of contiguous block 1 and contiguous block 2 16 on screw mandrel to screw mandrel, realize left semicircle folder 22,
Right semi-circle presss from both sides 32 Automatic-clampings.
The rotating forward of drive device 1 first, realizes the first both arms detection unit 200, the second both arms detection unit 300 and
Left semicircle folder 22, right semi-circle folder 32 in three both arms detection units 400 are automatically opened up, real then when drive device 1 is inverted
Left semicircle folder 22 in existing first both arms detection unit 200, the second both arms detection unit 300 and the 3rd both arms detection unit 400,
Right semi-circle, which presss from both sides 32 Automatic-clampings, to be needed to measure the insulator of detection.
When left inspection in the first both arms detection unit 200, the second both arms detection unit 300 and the 3rd both arms detection unit 400
When surveying unit 10, the insulator that right detection unit 11 is clamped respectively, the metal probe 42 on three detection unit connecting rods 23 is micro-
Rotation is contacted with the insulator for needing to be detected and measure under the action of type motor 40, and the leakage current of insulator is detected
And measurement, after detection and measurement, micromachine 40 rotates again so that metal probe 42 returns to original position；When having detected
After this group of insulator, start next group of isolator detecting.
The rotating forward of drive device 1 in first both arms detection unit 200 first, left semicircle folder 22, right semi-circle folder 32 are certainly
Dynamic to open, the metal probe 42 on the connecting rod 23 of the first both arms detection unit 200 rotates in micromachine 40 so that metal probe
42 are separated with the insulator with needing to be detected and measure, and metal probe 42 is rotated to original position is arrived, then the first both arms
The drive device 2 46 of the bottom of frame 1 in detection unit 200 is rotated forward, and drives screw mandrel 2 107 to be exited from groove 1, from
And under the cooperation each other of screw mandrel 2 107, drive device 2 46, guide rod 1 and guide groove 2 106 so that whole
One both arms detection unit 200 is forwardly moved, when the first both arms detection unit 200 moves to next insulation for needing to be detected
During the position of son, the drive device 2 46 in the first both arms detection unit 200 is stopped the rotation, in the first both arms detection unit 200
Drive device 1 invert, realize in the first both arms detection unit 200 left semicircle folder 22, right semi-circle press from both sides 32 Automatic-clampings under
One needs detected insulator, and micromachine 40 rotates so that metal probe 42 is rotated with needing detected insulator
Contact is detected and measured.
Then the drive device 1 in the second both arms detection unit 300 is rotated forward so that in the second both arms detection unit 300
Left semicircle folder 22, right semi-circle folder 32 automatically open up, the metal probe 42 on the connecting rod 23 of the second both arms detection unit 300 is micro-
Type motor 40 rotates so that metal probe 42 with need be detected and measure insulator separate, metal probe 42 rotate to
To original position, the drive device 2 46 in the first both arms detection unit 200 is inverted so that the first both arms detection unit 200
Screw mandrel 2 107 in frame 1 rotates drive while in the groove 1 entered in casing 1 in the 3rd both arms detection unit 400
Dynamic device 2 46 is rotated forward, under the auxiliary of guide rod 2 41 and guide groove 2 106 so that in the 3rd both arms detection unit 400
Screw mandrel 2 107 is exited from the groove 2 104 in the inside of casing 1, so that casing 1 is forwardly moved, it is like the 3rd pair
Arm detection unit 400 pushes casing 1 and travelled forward, and the first both arms detection unit 200 hauls casing 1 and travelled forward.
So that whole second both arms detection unit 300 is forwardly moved with casing 1, when the second both arms detection unit 300
Move to it is next need detected insulator namely the first both arms detection unit 200 after testing with the insulation measured
During the position of son, the drive device 2 46 in the second both arms detection unit 300 and the 3rd both arms detection unit 400 is stopped the rotation,
Drive device 1 in second both arms detection unit 300 is inverted, realize left semicircle folder 22 in the second both arms detection unit 300,
Right semi-circle press from both sides 32 Automatic-clampings it is next need detected insulator namely the first both arms detection unit 200 after testing and
The insulator measured, micromachine 40 is rotated so that metal probe 42 is rotated with needing detected insulator to contact progress
Detection and measurement.
Subsequently, the rotating forward of the drive device 1 in the 3rd both arms detection unit 400, left semicircle folder 22, right semi-circle folder 32
Automatically open up, the metal probe 42 on the connecting rod 23 of the 3rd both arms detection unit 400 rotates in micromachine 40 so that metal is visited
Pin 42 and the insulator for being detected and measuring with needs are separated, and the rotation of metal probe 42 is extremely to original position, then the 3rd pair
The drive device 2 46 of the bottom of frame 1 in arm detection unit 400 is inverted, and drives screw mandrel 2 107 to enter in the inside of casing 1
In groove 2 104, so that under the mutual cooperation of screw mandrel 2 107 and drive device 2 46 so that whole 3rd both arms detection is single
Member 400 is forwardly moved, when the 3rd both arms detection unit 400 moves to next insulator namely second for needing to be detected
Both arms detection unit 300 after testing position with the insulator measured when, the driving dress in the 3rd both arms detection unit 400
Put 2 46 to stop the rotation, the drive device 1 in the 3rd both arms detection unit 400 is inverted, and realizes the first both arms detection unit 200
On left semicircle folder 22, right semi-circle press from both sides that 32 Automatic-clampings are next to need detected insulator, micromachine 40 rotates so that
Metal probe 42, which rotates, to be detected and is measured with needing detected insulator to contact；Constantly weighed just as a robot
Multiple parallel-moving type climbing is detected and measured on the insulator on transmission line of electricity.
The present invention has merged advanced control technology, mechanics of communication, the information processing technology, network technology in one, builds
± 800KV DC power transmission lines high tension insulator electrifications detection automatic measuring and controlling system and optimal control platform, realize high pressure
Insulator is simple and direct, safe, practical, reliable on-line checking, intellectualized detection, is domestically leading digital detecting device, greatly
Width improves detection efficiency, and ensure that the security of detection.
The parallel-moving type detection robot of detection insulator of the present invention, is detected, detection effect to high-tension insulator
Rate is high, and ensure that the security of detection；Structure novelty is compact, and manufacturing cost is low, and detection efficiency is high, precision is high, substantially reduces
The labor intensity of workman, saves labour cost, is adapted to large area production and promotes the use of.
Obviously, above-described embodiment is only intended to clearly illustrate technical scheme example, and is not
Restriction to embodiments of the present invention.Connected mode described above：It is flexibly connected, be fixedly connected, be connected, be connected, connects
Etc. be welding, bolt connection, riveting, it is mutually embedding connection, be hinged or bearing pin connection etc. one or more therein, for affiliated
For the those of ordinary skill in field, it can also make other changes in different forms on the basis of the above description.
Any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., should be included in model of the present invention
In enclosing.
Claims (10)
1. a kind of parallel-moving type detection robot for detecting insulator, it is characterised in that single including casing, the detection of the first both arms
Member, the second both arms detection unit, the 3rd both arms detection unit and control unit, described control unit are arranged at box house, institute
The left side for stating casing is provided with the first both arms detection unit, and the middle part of the casing is provided with the second both arms detection unit, the casing
Right side install the 3rd both arms detection unit；
The box house is provided with guide groove one, and the first both arms detection unit is provided with guide rod one, first both arms
Detection unit is arranged in the guide groove one in casing by guide rod one；
The box house is provided with guide groove two, and the 3rd both arms detection unit is provided with guide rod two, the 3rd both arms
Detection unit is arranged in the guide groove two in casing by guide rod two.
2. the parallel-moving type of detection insulator detects robot according to claim 1, it is characterised in that second both arms
Detection unit, including frame, bottom plate and drive device one, the frame are provided with bottom plate, and the left part of the bottom plate is provided with left axle
Bearing, right part is provided with right axle bearing, and the left shaft holder and right axle bearing be fixedly mounted on bottom plate, the left shaft holder and
Be equipped with right axle bearing in bearing, the bearing be provided with screw mandrel one, the screw mandrel one by bearing be arranged on left shaft holder and
In right axle bearing, one end of the screw mandrel one is provided with driven pulley, and the side close to driven pulley is filled provided with driving
One is put, the drive device one is installed on bottom plate, the output end of the drive device one is provided with drive pulley, the active
Belt pulley is connected by driving belt between the two with driven pulley, and the screw mandrel one is provided with double checking devices；
Described pair of checking device includes left detection unit and right detection unit, and the left detection unit and right detection unit can be in silks
Moved on bar one；
The bottom plate is provided with slide block slot, and the screw mandrel one, which is located in the surface of slide block slot, the slide block slot, is provided with left slider
With right sliding block, the screw mandrel one is provided with external screw thread, and the screw mandrel one is provided with contiguous block one and contiguous block two, the contiguous block
One and contiguous block two be provided with through hole, screw thread and connection in the through hole on screw thread, the contiguous block one are provided with the through hole
The thread rotary orientation in through hole on block two is on the contrary, the contiguous block one is fixedly connected with left slider, the contiguous block two and right cunning
Block is fixedly connected, and the top of the contiguous block one is provided with engaging lug one, and the top of the contiguous block two is provided with engaging lug two；
The left detection unit includes left detection arm, left semicircle folder and connecting rod, and the left detection arm includes left connection part one, Zuo Lian
Section two and left connection part three are connect, the lower end of the left connection part one is provided with the first pin shaft hole, and the lower end of left connection part one passes through
Bearing pin is connected with engaging lug one, and the upper end of the left connection part one is connected with the lower end of left connection part two, the left connection part two
Upper end be connected with the lower end of left connection part three, the junction of the upper end and the lower end of left connection part two of the left connection part one is set
There is the second pin shaft hole, the upper end of the left connection part one is connected with the lower end of left connection part two by bearing pin, the left connection part
Three are provided with the 3rd pin shaft hole, and the second pin shaft hole that the left semicircle folder is provided with engaging lug three, the left connection part three leads to
Bearing pin is crossed to be connected with the engaging lug three on left semicircle folder；
The right detection unit includes right detection arm and right semi-circle is pressed from both sides, and the right detection arm includes right connection part one, right connection part
Two and right connection part three, the lower end of the right connection part one is provided with the 4th pin shaft hole, and the lower end of right connection part one passes through bearing pin
Be connected with engaging lug two, the upper end of the right connection part one is connected with the lower end of right connection part two, the right connection part two it is upper
End be connected with the lower end of right connection part three, and the junction of the upper end of the right connection part one and the lower end of right connection part two is provided with the
Five pin shaft holes, the right connection part three is provided with the 6th pin shaft hole, and the right semi-circle folder is provided with engaging lug four, the right connection
The engaging lug four that the 4th pin shaft hole in section three is pressed from both sides by bearing pin with right semi-circle is connected, and the two ends of the connecting rod pass through pin respectively
Axle is connected with the second pin shaft hole, the 5th pin shaft hole.
3. the parallel-moving type of detection insulator detects robot according to claim 1, it is characterised in that first both arms
Detection unit is identical with the structure of the 3rd both arms detection unit, including frame, bottom plate and drive device one, is set in the frame
There is bottom plate, the left part of the bottom plate is provided with left shaft holder, and right part is provided with right axle bearing, and the left shaft holder and right axle bearing are solid
Dingan County is equipped with bearing, the bearing in the left shaft holder and right axle bearing on bottom plate and is provided with screw mandrel one, the silk
Bar one is arranged in left shaft holder and right axle bearing by bearing, and one end of the screw mandrel one is provided with driven pulley, described to lean on
The side of nearly driven pulley is provided with drive device one, and the drive device one is installed on bottom plate, the drive device one
Output end is provided with drive pulley, and the drive pulley is connected by driving belt between the two with driven pulley, described
Screw mandrel one is provided with double checking devices；
Described pair of checking device includes left detection unit and right detection unit, and the left detection unit and right detection unit can be in silks
Moved on bar one；
The bottom plate is provided with slide block slot, and the screw mandrel one, which is located in the surface of slide block slot, the slide block slot, is provided with left slider
With right sliding block, the screw mandrel one is provided with external screw thread, and the screw mandrel one is provided with contiguous block one and contiguous block two, the contiguous block
One and contiguous block two be provided with through hole, screw thread and connection in the through hole on screw thread, the contiguous block one are provided with the through hole
The thread rotary orientation in through hole on block two is on the contrary, the contiguous block one is fixedly connected with left slider, the contiguous block two and right cunning
Block is fixedly connected, and the top of the contiguous block one is provided with engaging lug one, and the top of the contiguous block two is provided with engaging lug two；
The left detection unit includes left detection arm, left semicircle folder and connecting rod, and the left detection arm includes left connection part one, Zuo Lian
Section two and left connection part three are connect, the lower end of the left connection part one is provided with the first pin shaft hole, and the lower end of left connection part one passes through
Bearing pin is connected with engaging lug one, and the upper end of the left connection part one is connected with the lower end of left connection part two, the left connection part two
Upper end be connected with the lower end of left connection part three, the junction of the upper end and the lower end of left connection part two of the left connection part one is set
There is the second pin shaft hole, the upper end of the left connection part one is connected with the lower end of left connection part two by bearing pin, the left connection part
Three are provided with the 3rd pin shaft hole, and the second pin shaft hole that the left semicircle folder is provided with engaging lug three, the left connection part three leads to
Bearing pin is crossed to be connected with the engaging lug three on left semicircle folder；
The right detection unit includes right detection arm and right semi-circle is pressed from both sides, and the right detection arm includes right connection part one, right connection part
Two and right connection part three, the lower end of the right connection part one is provided with the 4th pin shaft hole, and the lower end of right connection part one passes through bearing pin
Be connected with engaging lug two, the upper end of the right connection part one is connected with the lower end of right connection part two, the right connection part two it is upper
End be connected with the lower end of right connection part three, and the junction of the upper end of the right connection part one and the lower end of right connection part two is provided with the
Five pin shaft holes, the right connection part three is provided with the 6th pin shaft hole, and the right semi-circle folder is provided with engaging lug four, the right connection
The engaging lug four that the 4th pin shaft hole in section three is pressed from both sides by bearing pin with right semi-circle is connected, and the two ends of the connecting rod pass through pin respectively
Axle is connected with the second pin shaft hole, the 5th pin shaft hole；
The bottom of the frame of the first both arms detection unit and the 3rd both arms detection unit is mounted on drive device two, described to drive
The side of dynamic device two is installed with bearing block, and the bearing block is provided with screw mandrel bearing, the output of the drive device two
End is provided with belt pulley one；
The casing for solid casing, the inside of the casing is provided with the groove one and groove two of strip, the groove
One and the inwall of groove two be provided with screw thread, the casing is installed with screw, and silk on the inwall of drive device two
Mother is arranged on screw mandrel two, is provided with screw mandrel two in the groove one and groove two, the screw mandrel two and groove one and groove two
Inwall is adapted provided with screw thread, and one end of the close drive device two of the screw mandrel two is provided with belt pulley two, and screw mandrel two is set
One end screw mandrel bearing for having belt pulley two is arranged in the bearing block of bottom of the frame, and the belt pulley one and belt pulley two are by passing
Dynamic belt connection；
The frame of the first both arms detection unit is provided with guide rod one, and the frame of the first both arms detection unit is by leading
It is arranged on to bar one in the guide groove one in casing, the frame of the 3rd both arms detection unit is provided with guide rod two, described
The frame of 3rd both arms detection unit is arranged in the guide groove two in casing by guide rod two.
4. the parallel-moving type detection robot of insulator is detected according to claim 2 ~ 3 any one, it is characterised in that institute
Left connection part one, left connection part two is stated to be formed in one and process, and the folder between the left connection part one, left connection part two
Angle is α, and the angle α is obtuse angle；The right connection part one, right connection part two are formed in one and processed, and the right company
It is β to connect the angle between section one, right connection part two, and the angle β is obtuse angle.
5. the parallel-moving type of detection insulator detects robot according to claim 4, it is characterised in that in the connecting rod
Portion is additionally provided with metal probe.
6. the parallel-moving type of detection insulator detects robot according to claim 5, it is characterised in that the metal probe
Side be provided with micromachine, the afterbody of the metal probe is connected with the output shaft of micromachine, and the micromachine can band
Dynamic metal probe is rotated.
7. the parallel-moving type of detection insulator detects robot according to claim 4, it is characterised in that the drive device
One or/and drive device two can use asynchronous machine, synchronous motor or direct current generator.
8. the parallel-moving type of detection insulator detects robot according to claim 1, it is characterised in that outside the casing
Portion is provided with solar panels, and the inside of the casing is provided with battery, and the solar panels are used to charge the battery, the battery with too
Positive energy plate electrical connection.
9. the parallel-moving type of detection insulator detects robot according to claim 8, it is characterised in that described control unit
Including communication module, control module, boost module, detection module；The boost module is used to convert battery voltage to 2500V
High-tension electricity；The detection module is used for being automatically performed insulation resistance value measurement and detection of the insulator under 2500V；The communication mould
Block is used for completing wireless data communication, human-computer dialogue；The control module is used for controlling detection robot to realize that parallel-moving type is climbed
Climbing, detection, remote operation, control each module coordination work.
10. the parallel-moving type of detection insulator detects robot according to claim 9, it is characterised in that in the casing
Provided with sliding movable drawer, described control unit is arranged in drawer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710635179.1A CN107271783A (en) | 2017-07-30 | 2017-07-30 | A kind of parallel-moving type detection robot for detecting insulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710635179.1A CN107271783A (en) | 2017-07-30 | 2017-07-30 | A kind of parallel-moving type detection robot for detecting insulator |
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| Publication Number | Publication Date |
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| CN107271783A true CN107271783A (en) | 2017-10-20 |
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ID=60074468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710635179.1A Pending CN107271783A (en) | 2017-07-30 | 2017-07-30 | A kind of parallel-moving type detection robot for detecting insulator |
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| CN (1) | CN107271783A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108072808A (en) * | 2017-12-15 | 2018-05-25 | 国网山东省电力公司平度市供电公司 | A kind of electric distribution network data collection device |
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Application publication date: 20171020 |