CN108169541A - A kind of insulator charged detection device of three manipulators - Google Patents
A kind of insulator charged detection device of three manipulators Download PDFInfo
- Publication number
- CN108169541A CN108169541A CN201711468382.0A CN201711468382A CN108169541A CN 108169541 A CN108169541 A CN 108169541A CN 201711468382 A CN201711468382 A CN 201711468382A CN 108169541 A CN108169541 A CN 108169541A
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- Prior art keywords
- mechanical arm
- rack
- motor
- paw
- manipulators
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- 238000001514 detection method Methods 0.000 title claims abstract description 36
- 239000012212 insulator Substances 0.000 title claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 91
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 239000004020 conductor Substances 0.000 claims description 3
- 239000011810 insulating material Substances 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 abstract description 11
- 239000010959 steel Substances 0.000 abstract description 11
- 230000005540 biological transmission Effects 0.000 description 13
- 238000009413 insulation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 229910052573 porcelain Inorganic materials 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/145—Indicating the presence of current or voltage
- G01R19/15—Indicating the presence of current
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Insulators (AREA)
Abstract
The present invention provides a kind of three manipulators insulator charged detection device, including first mechanical arm, translation mechanism, second mechanical arm, translation motor, third mechanical arm, first mechanical arm, second mechanical arm, third mechanical arm in same vertical line and are fixed in support base altogether, first mechanical arm, second mechanical arm, third mechanical arm are connected respectively with translation mechanism, translation motor is connected with translation mechanism, drives the autonomous horizontal extension movement of first mechanical arm, third mechanical arm.The present invention forms measure loop, so as to achieve the purpose that detect insulator resistance, improves efficiency and the safety of isolator detecting two-by-two by the conduction of mechanical arm tail end paw mechanism；The insulator steel cap alternately mechanism that travels forward is captured two-by-two using three mechanical arm paw mechanisms, the stability of mechanism and safety when ensure that detection, detection efficiency and the degree of automation when improving detection.
Description
Technical field
The present invention relates to UHV transmission line insulator technology fields, and in particular to a kind of three manipulators are insulator charged
Detection device.
Background technology
Porcelain is irregular in UHV transmission line, and detection/cleaning of zero resistance insulator is to ensure transmission line of electricity operation
One of important process of safety and stability.Easily and fast, low, zero resistance insulator electrification in transmission line of electricity is accurately and efficiently realized
Detection, and damage insulator is cleaned, it is the skill for perplexing UHV transmission line Insulation monitoring/cleaning field for a long time
Art problem.Isolator detecting relies primarily on manual operation at present.Artificial live detection high pressure overhead power line insulator, exists
The shortcomings of detection efficiency is low, detection result is poor, high labor cost, big security risk.It is particularly more existing more accurately to examine
Survey method cannot rely on manually super-pressure, extra high voltage line Horn on Long Insulator String on implement, cause to surpass, UHV transmission line
Security risk is increasingly severe.
Invention content
(1) the technical issues of solving
The defects of present invention is in order to overcome the problems, such as the long insulator artificial detection of above-mentioned existing high-tension line provides one kind three
The insulator charged detection device of manipulator captures insulator steel cap using three mechanical arm paw mechanisms and alternately travels forward two-by-two
Mechanism, the stability of mechanism and safety when ensure that detection, improve detection when detection efficiency and the degree of automation.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs：
A kind of insulator charged detection device of three manipulators including first mechanical arm, translation mechanism, second mechanical arm, is put down
Motor, third mechanical arm are moved, first mechanical arm, second mechanical arm, third mechanical arm in same vertical line and are fixed on support altogether
On pedestal, first mechanical arm, second mechanical arm, third mechanical arm are connected respectively with translation mechanism, translation motor and translation mechanism
It is connected, drives the autonomous horizontal extension movement of first mechanical arm, third mechanical arm；
The first mechanical arm, second mechanical arm, third mechanical arm respectively include paw mechanism, feed screw nut fixed knot
Structure, leading screw, link mechanism, folding motor, rack, lifting motor, rack fixed structure, gear；The end of two paw mechanisms
It is fixedly connected by feed screw nut fixed structure, two link mechanism one end are fixedly connected respectively with two paw mechanisms, two
The link mechanism other end is fixedly connected respectively with leading screw one end, and the leading screw other end is connected with folding motor, folding motor rotation band
Dynamic leading screw rotation, leading screw drives connecting rod mechanism movement, so as to which paw mechanism be driven to move, realizes that the paw mechanism of mechanical arm opens
With closure；The rack is fixedly connected with rack fixed structure, and wheel and rack, which meshes together, to be used cooperatively, lifting motor with
Gear is fixedly connected and is rotated with moving gear, realizes stretching motion above and below the paw mechanism of mechanical arm.
Further, the paw mechanism of the mechanical arm is arc-shaped paw mechanism.
Further, the arc-shaped paw mechanism in the end of each mechanical arm uses electric conductor, among mechanical arm
The link mechanism being connected with arc-shaped paw mechanism is made of insulating materials.
Further, the translation mechanism includes translation motor, rack, gear, and rack is fixedly connected with mechanical arm, rack
Meshing together with gear and be used cooperatively, translation motor band moving gear rotates, so as to be moved with carry-over bar, rack drives machinery
Arm is moved forward and backward, and realizes the elastic of mechanical arm.
Further, the rack is fixedly mounted on by screw on rack fixed structure.
Further, the lifting motor is fixedly mounted in motor fixing seat.
Further, the lifting motor is mounted by means of bolts in motor fixing seat.
(3) advantageous effect
Beneficial effects of the present invention：The insulator charged detection device of a kind of three manipulators, in detection electric transmission line isolator
When, mechanical arm tail end paw mechanism is designed to conductive structure, bindiny mechanism is designed to insulation system, passes through end paw mechanism
Conduction, form measure loop two-by-two, so as to achieve the purpose that detect insulator resistance, improve isolator detecting efficiency and
Safety；When detecting electric transmission line isolator, using three mechanical arm paw mechanisms capture two-by-two insulator steel cap alternately to
The mechanism of preceding movement, the stability of mechanism and safety when ensure that detection improve the detection efficiency and automation journey when detecting
Degree.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is apparatus of the present invention structure diagram；
Fig. 2 is mechanical arm structure diagram；
Fig. 3 is telescoping mechanism schematic diagram.
Related elements symbol description：
1st, first mechanical arm；2nd, translation mechanism；3rd, second mechanical arm；4th, translation motor；5th, third mechanical arm；6th, it is arc-shaped
Paw mechanism；7th, feed screw nut fixed structure；8th, leading screw；9th, groove profile mouth；10th, link mechanism；11st, folding motor；12nd, rack；
13rd, lifting motor；14th, rack fixed structure；15th, gear；16th, screw；17th, motor fixing seat.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without creative efforts shall fall within the protection scope of the present invention.
With reference to Fig. 1, the insulator charged detection device of a kind of three manipulators, including first mechanical arm 1, translation mechanism 2, second
Mechanical arm 3, translation motor 4, third mechanical arm 5.First mechanical arm 1, second mechanical arm 3, third mechanical arm 5 are altogether in same longitudinal direction
Line is fixed in support base, and first mechanical arm 1, second mechanical arm 3, third mechanical arm 5 are connected respectively with translation mechanism 2, is put down
It moves motor 4 with translation mechanism 2 to be connected, drives first mechanical arm 1, the movement of 5 autonomous horizontal extension of third mechanical arm.First mechanical arm
1st, second mechanical arm 3, third mechanical arm 5 can move up and down.
With reference to Fig. 2, mechanical arm includes arc-shaped paw mechanism 6, feed screw nut fixed structure 7, leading screw 8, groove profile mouth 9, connects
Linkage 10, folding motor 11, rack 12, lifting motor 13.The end of two arc-shaped paw mechanisms 6 is consolidated by feed screw nut
Determine structure 7 to be fixedly connected, two 10 one end of link mechanism are fixedly connected respectively with two arc-shaped paw mechanisms 6；Two connecting rods
10 other end of mechanism is fixedly connected respectively with 8 one end of leading screw, and groove profile mouth 9 is formed between two link mechanisms 10, leading screw 8；Leading screw 8
The other end is connected with folding motor 11, and the rotation of folding motor 11 drives leading screw 8 to rotate, and leading screw 8 drives link mechanism 10 to move, from
And arc-shaped paw mechanism 6 is driven to move, realize 6 folding of arc-shaped paw mechanism of mechanical arm.
With reference to Fig. 3, telescoping mechanism includes rack 12, lifting motor 13, rack fixed structure 14, gear to mechanical arm up and down
15th, screw 16, motor fixing seat 17.Rack 12 is fixedly connected with rack fixed structure 14, and rack 12 can be solid by screw 16
Dingan County is on rack fixed structure 14.Gear 15 meshes together with rack 12 to be used cooperatively, lifting motor 13 and gear 15
It is fixedly connected and is rotated with moving gear.Lifting motor 13 is fixedly mounted in motor fixing seat 17.The upper and lower flexible fortune of mechanical arm
Dynamic is to be fixedly connected by arc-shaped paw mechanism 6 with the rack 12 of mechanical arm lower end, by the transmission of gear 15, rack 12,
Lifting motor 13 is rotated with moving gear 15, so as to which the arc-shaped paw mechanism 6 for driving mechanical arm moves up and down.
When it is implemented, the insulator charged detection device of three manipulators, mainly include three mechanical arms, translation mechanism and outer
Shape frame structure, wherein each mechanical arm includes manipulator mechanism, elevating mechanism and auxiliary positioning mechanism.Three manipulator ends
The end crawl concentric fixation of structure.Mechanical arm in same vertical line, is fixed in support base altogether.Three mechanical arms can be upper and lower
Mobile, both sides mechanical arm can be moved independently horizontal extension.
The arc-shaped paw mechanism in end of each mechanical arm uses electric conductor, mechanical arm centre and arc-shaped hand claw machine
The link mechanism that structure is connected is made of insulating materials.Detect transmission line of electricity on insulator when, intermediate second mechanical arm and
Firstth, promptly insulator steel cap forms one or two simultaneously for any one or three mechanical arms in third mechanical arm
Circuit is detected the insulation resistance of the insulator on corresponding circuit；The arc-shaped paw mechanism of three mechanical arms can be upper and lower
Movement, promptly insulator steel cap when arc-shaped paw mechanism moves upwards unclamp insulation when arc-shaped paw mechanism moves downward
Sub- steel cap.
First and third mechanical arm elastic movement can be achieved fixed seat back-and-forth motion and whole device it is front and rear
It is mobile.The arc-shaped paw mechanism of the first and second mechanical arms firmly grasps steel cap before this when moving, third mechanical arm it is arc-shaped
Paw mechanism unclamps steel cap, and stretching motion is to second mechanical arm position forward, then third mechanical arm and the circular arc of second mechanical arm
Shape paw mechanism firmly grasps steel cap, and the arc-shaped paw mechanism of first mechanical arm unclamps steel cap and forward stretching motion, so that
Whole device travels forward, and realizes the insulator of detection different location.First and the elastic movement of third mechanical arm be also
It is realized by the transmission of rack-and-pinion, gear is driven by translation motor and rotated, and so as to be moved with carry-over bar, rack drives are solid
First and third mechanical arm being scheduled on above are moved forward and backward, so as to fulfill the elastic of mechanical arm.
In conclusion the embodiment of the present invention, the insulator charged detection device of three manipulators, in detection electric transmission line isolator
When, mechanical arm tail end paw mechanism is designed to conductive structure, bindiny mechanism is designed to insulation system, passes through end paw mechanism
Conduction, form measure loop two-by-two, so as to achieve the purpose that detect insulator resistance, improve isolator detecting efficiency and
Safety；When detecting electric transmission line isolator, using three mechanical arm paw mechanisms capture two-by-two insulator steel cap alternately to
The mechanism of preceding movement, the stability of mechanism and safety when ensure that detection improve the detection efficiency and automation journey when detecting
Degree.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
The present invention is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each implementation
Technical solution recorded in example modifies or carries out equivalent replacement to which part technical characteristic；And these modification or
It replaces, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (7)
1. a kind of insulator charged detection device of three manipulators, it is characterised in that：Including first mechanical arm, translation mechanism, second
Mechanical arm, translation motor, third mechanical arm, first mechanical arm, second mechanical arm, third mechanical arm in same vertical line and are consolidated altogether
Be scheduled in support base, first mechanical arm, second mechanical arm, third mechanical arm are connected respectively with translation mechanism, translation motor with
Translation mechanism is connected, and drives the autonomous horizontal extension movement of first mechanical arm, third mechanical arm；
The first mechanical arm, second mechanical arm, third mechanical arm respectively include paw mechanism, feed screw nut fixed structure, silk
Thick stick, link mechanism, folding motor, rack, lifting motor, rack fixed structure, gear；The end of two paw mechanisms passes through silk
Thick stick nut fixed structure is fixedly connected, and two link mechanism one end are fixedly connected respectively with two paw mechanisms, two connecting rod machines
The structure other end is fixedly connected respectively with leading screw one end, and the leading screw other end is connected with folding motor, and the rotation of folding motor drives leading screw
Rotation, leading screw drives connecting rod mechanism movement, so as to which paw mechanism be driven to move, realizes that the paw mechanism of mechanical arm is opened with closing
It closes；The rack is fixedly connected with rack fixed structure, and wheel and rack, which meshes together, to be used cooperatively, lifting motor and gear
It is fixedly connected and is rotated with moving gear, realize stretching motion above and below the paw mechanism of mechanical arm.
2. the insulator charged detection device of three manipulators of one kind as described in claim 1, which is characterized in that the mechanical arm
Paw mechanism is arc-shaped paw mechanism.
3. the insulator charged detection device of three manipulators of one kind as claimed in claim 2, which is characterized in that each described machine
The arc-shaped paw mechanism in end of tool arm uses electric conductor, the link mechanism being connected among mechanical arm with arc-shaped paw mechanism
It is made of insulating materials.
4. the insulator charged detection device of three manipulators of one kind as claimed in claim 3, which is characterized in that the translation mechanism
Including translation motor, rack, gear, rack is fixedly connected with mechanical arm, and rack and pinion meshes together and is used cooperatively, and is put down
Motor driven gear rotation is moved, so as to be moved with carry-over bar, rack drives mechanical arm is moved forward and backward, and realizes that the front and rear of mechanical arm stretches
Contracting.
5. the insulator charged detection device of three manipulators of one kind as described in claim 1, which is characterized in that the rack passes through
Screw is fixedly mounted on rack fixed structure.
6. the insulator charged detection device of three manipulators of one kind as described in claim 1, which is characterized in that the lifting motor
It is fixedly mounted in motor fixing seat.
7. the insulator charged detection device of three manipulators of one kind as claimed in claim 6, which is characterized in that the lifting motor
It is mounted by means of bolts in motor fixing seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711468382.0A CN108169541A (en) | 2017-12-29 | 2017-12-29 | A kind of insulator charged detection device of three manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711468382.0A CN108169541A (en) | 2017-12-29 | 2017-12-29 | A kind of insulator charged detection device of three manipulators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108169541A true CN108169541A (en) | 2018-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711468382.0A Pending CN108169541A (en) | 2017-12-29 | 2017-12-29 | A kind of insulator charged detection device of three manipulators |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108169541A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110160820A (en) * | 2019-07-03 | 2019-08-23 | 华北电力大学（保定） | Arm carries formula insulator contamination object Sampling Machine |
| CN113963869A (en) * | 2021-09-30 | 2022-01-21 | 广西电网有限责任公司电力科学研究院 | Horizontal walking device for insulator |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106129899A (en) * | 2016-08-18 | 2016-11-16 | 国网湖南省电力公司带电作业中心 | Ultra-high/extra-high voltage transmission line insulator live detects/cleans integrated robot |
-
2017
- 2017-12-29 CN CN201711468382.0A patent/CN108169541A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106129899A (en) * | 2016-08-18 | 2016-11-16 | 国网湖南省电力公司带电作业中心 | Ultra-high/extra-high voltage transmission line insulator live detects/cleans integrated robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110160820A (en) * | 2019-07-03 | 2019-08-23 | 华北电力大学（保定） | Arm carries formula insulator contamination object Sampling Machine |
| CN110160820B (en) * | 2019-07-03 | 2024-01-02 | 华北电力大学（保定） | Arm-carried insulator filth sampling machine |
| CN113963869A (en) * | 2021-09-30 | 2022-01-21 | 广西电网有限责任公司电力科学研究院 | Horizontal walking device for insulator |
| CN113963869B (en) * | 2021-09-30 | 2024-04-19 | 广西电网有限责任公司电力科学研究院 | Horizontal travelling device for insulators |
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Application publication date: 20180615 |