CN110632471B - Robot and method for detecting insulator strings on and off line - Google Patents
Robot and method for detecting insulator strings on and off line Download PDFInfo
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- CN110632471B CN110632471B CN201910905329.5A CN201910905329A CN110632471B CN 110632471 B CN110632471 B CN 110632471B CN 201910905329 A CN201910905329 A CN 201910905329A CN 110632471 B CN110632471 B CN 110632471B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing 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
- G01R31/1227—Testing 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
- G01R31/1245—Testing 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention provides a robot and a method for detecting an upper insulator string and a lower insulator string, wherein the robot comprises a flying platform, a moving platform and a control device, wherein the flying platform drives the moving platform to fly up and down; the moving platform is provided with a supporting mechanism matched with the outer edge of the insulator string, provides supporting force during string falling and can drive the moving platform to move along the axial direction of the insulator string; the control device receives the control command, controls the actions of the flight platform and the moving mechanism, and the robot body drives the detection mechanism to continuously move among the insulator strings to obtain data of each detection point. The self-flying falling string parallel moving insulator has the advantages of being simple in structure, capable of automatically flying to fall strings and detecting the insulating property of the insulator along the string moving, and capable of avoiding manual tower climbing.
Description
Technical Field
The disclosure relates to a robot and a method for detecting an insulator string on and off a wire.
Background
Faults of insulators of the power transmission line seriously affect safe and stable operation of the power transmission line, the faults of the insulators mainly include lightning flashover and pollution flashover, and main maintenance work aiming at the faults includes detecting low-zero-value insulators and inferior insulators and removing pollution. The whole length of the ultra-high voltage transmission line reaches thousands of kilometers, the consumption of insulators is huge, and the maintenance work is particularly time-consuming and labor-consuming.
At present, various attempts are made by domestic and foreign research institutions on the technical research of insulator string detection robots, and certain achievements are obtained on key technologies such as a robot moving platform and insulator detection, but the research on the robot detection technology of the insulator of the extra-high voltage line is not mature enough, and still has some problems, such as the size and the weight of the robot moving platform are large, the moving efficiency is low, the climbing stability is poor, as mentioned above, the extra-high voltage transmission line is as long as thousands of kilometers, the quantity of the insulators is huge, if the moving speed of the robot is slow, the moving efficiency is low, the progress of the detection work is not facilitated, a large number of detection robots are required, and the cost is increased; meanwhile, when the size and the weight of the robot moving platform are large, time and labor are wasted in the processes of online and moving installation, the robot needs to be assisted by manual tower climbing to be installed on an insulator string, and the problem that the danger of line personnel climbing operation is high is still not solved.
BRIEF SUMMARY OF THE PRESENT DISCLOSURE
The robot and the method can autonomously fly to drop strings and move along the strings to detect the insulation performance of insulators, avoid manual tower climbing and line climbing, greatly improve the operation efficiency, have high automation degree, reduce the labor intensity and ensure the safety of operators.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
the utility model provides a go up and down line insulator chain detection robot, includes flight platform, moving platform, controlling means, wherein:
the flying platform is used for driving the mobile platform to fly up and down;
the moving platform is provided with a supporting mechanism matched with the outer edge of the insulator string, a supporting force for string falling is provided, and a moving mechanism capable of driving the moving platform to move along the axial direction of the insulator string;
and the control device receives the control command and controls the actions of the flight platform and the mobile platform.
Of course, the flight platform can also exist independently, and only the insulator string detection robot is carried to execute flight operation. For example, the existing unmanned aerial vehicle can be used as a flight platform, the insulator string detection robot is driven to fly, and the insulator string detection robot can be connected and released by grabbing or setting a simple locking connection mechanism.
Therefore, in other embodiments, there is also provided an up-down insulator string detection robot, including a mobile platform and a control device, wherein:
the moving platform is provided with a supporting mechanism matched with the outer edge of the insulator string, a supporting force for string falling is provided, and a moving mechanism capable of driving the moving platform to move along the axial direction of the insulator string;
and the control device receives the control instruction and controls the posture adjustment of the mobile platform and the action of the mobile mechanism.
As specific, an upper and lower line insulator string inspection robot, including the robot body, the robot body includes flight platform, moving platform, controlling means and detection mechanism, wherein:
the flying platform is arranged at the upper end of the mobile platform and drives the robot body to fly;
the moving platform comprises a moving mechanism, a transmission mechanism, a supporting mechanism and a guiding mechanism, wherein the supporting mechanism enables the robot body to be supported on an insulator string, and the moving mechanism is arranged on two sides of the supporting mechanism; the robot body drives the detection mechanism to continuously move between the insulator strings through the matching of the moving mechanism and the transmission mechanism, and data of each detection point is obtained;
the control device receives the control instruction, controls the flight action of the flight platform, and controls and receives the detection data of the detection mechanism.
As a further limitation, the flying platform comprises an unmanned aerial vehicle body, a rotating shaft and a connecting bridge, wherein the unmanned aerial vehicle body is a multi-rotor unmanned aerial vehicle, the rotors are uniformly distributed around the rotating shaft, and the rotating shaft is connected with the moving platform through the connecting bridge;
by way of further limitation, the flight platform is provided with a flight control module capable of communicating with a control device.
As a further limitation, a plurality of cameras are arranged on the flying platform and suspended and distributed around the rotating shaft.
In one embodiment, the moving mechanism is two sets of moving wheel legs, the moving wheel legs are symmetrically arranged on two sides of the supporting mechanism, and the extending direction of the moving wheel legs is consistent with the extending direction of the insulator string.
As a further limitation, the supporting mechanism comprises a front support, a rear support, a left support and a right support, the front support, the rear support, the left support and the right support are sequentially connected to form a square shape and are symmetrically arranged above the insulator string, and the left support and the right support surround the moving wheel legs on the inner sides.
As a further limitation, the left bracket and the right bracket are respectively provided with a guide plate, and the guide plates are in contact with the outer edge of the corresponding insulator string in an attaching manner.
As another embodiment, the supporting mechanism is a guide plate, and the two groups of guide plates are symmetrically arranged on two sides of the supporting mechanism, the guide plate is provided with an arc-shaped section bending to the insulator string, and the inner diameter of the arc-shaped section is matched with the outer diameter of the insulator string.
As a further limitation, the guide plate has a certain elasticity.
As a further limitation, the supporting mechanism is arc-shaped plates symmetrically arranged on two sides of the robot body.
The scheme can utilize the arc-shaped structure which is symmetrically arranged and has certain elasticity to center and guide the insulator string.
As another embodiment, the wheel legs comprise a front leg and a rear leg, the front leg and the rear leg both comprise a connecting shaft, traveling wheels are arranged at two ends of the connecting shaft, and the length of the connecting shaft is less than or equal to that of the skirt edge of the insulator sheet.
By way of further limitation, the moving mechanism further comprises a support frame arranged on the outer side of the wheel leg of the drop string.
According to the embodiment, the wheel legs are not required to be completely inserted between the insulators when the string falls, and only the front legs or the rear legs are required to be controlled to be inserted between the two pieces in a rotating mode and then moved according to the preset logic.
By way of further limitation, the guide mechanism is a structure with a diameter of the lower end smaller than that of the upper end, the width of the guide mechanism can be located in the middle of the adjacent insulator strings, and the axial length of each insulator string is the length of at least one insulator sheet.
As a further limitation, the guide mechanism has a plurality of accommodating chambers, and each accommodating chamber has a concave portion capable of accommodating the detection mechanism and providing a certain movable range to the detection mechanism.
As a further limitation, the detection mechanism can be inserted between adjacent insulator strings, the detection mechanism comprises probes and a driving mechanism, and the driving mechanism drives each probe to approach a detection point.
In other embodiments, a fixed block is arranged in the guide mechanism, and at least one probe is arranged on the fixed block.
Based on the working method of the robot, the flying platform is used for bringing the moving platform above the insulator string, the moving platform is further adjusted to be above the string falling position, the moving platform rotates and finely adjusts to be in a string falling state, the flying platform drives the moving platform to fall down, the whole machine is released onto the insulator string and is supported by the supporting mechanism, the moving mechanism drives the robot to move to each detection point on the insulator string according to the control command, and each detection point data is obtained through the detection mechanism.
Compared with the prior art, the beneficial effect of this disclosure is:
the robot detection efficiency that this disclosure provided is high, and in the testing process, insulator chain detection robot independently accomplishes the action of going up and down the line through self flight platform, avoids the manual work to step on the tower and goes up the line, has alleviateed measurement personnel's work load, and guarantee operation personnel's safety has improved detection efficiency, and degree of automation is high.
The robot has a compact overall structure and high flexibility, overcomes the bottleneck of lightweight and symmetrical optimization structural design of the robot mobile platform, reduces the string falling difficulty of the robot by adopting a variable-configuration insulator string wheel leg walking mechanism and a semi-encircling type protection support, and solves the string falling problem of the robot.
The guide mechanism is used for protecting the detection mechanism to a certain extent, the problem that the existing detection mechanism is exposed on the robot body completely and is easy to damage when falling or moving can be solved, and the guide mechanism has certain protection and guide effects.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a block diagram of the present disclosure;
FIG. 2 is a structural side view of the present disclosure;
FIG. 3 is a block diagram of another embodiment of the present disclosure;
FIG. 4 is a block diagram of yet another embodiment of the present disclosure;
FIG. 5 is a schematic view of a walking process according to yet another embodiment of the present disclosure;
wherein: 100 rotors, 200 flying platforms, 210 connecting bridges, 300 cameras, 400 moving platforms, 410 moving wheel legs, 500 control devices, 510 control boxes, 520 limiting mechanisms, 600 supporting mechanisms, 610 left and right guide plates, 620 front and rear supports, 630 left and right supports, 700 strain insulator strings, 800 guide mechanisms, 900 detection mechanisms, 1000 guide plates, 1100 supporting frames, 1200 front legs and 1300 rear legs.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
As shown in fig. 1, a robot for detecting an insulator string on/off line mainly includes a flying platform 200, a moving platform 400, a control device 500 and a detection mechanism 900. The flying platform 200 is arranged at the upper end of the mobile platform 400 and drives the robot body to fly; the mobile platform 400 comprises mobile wheel legs 410, a transmission mechanism, a supporting mechanism 600 and a guiding mechanism 800, wherein the supporting mechanism 600 enables the robot body to be supported on an insulator string, and the mobile wheel legs 410 are arranged on two sides of the supporting mechanism 600; the transmission mechanism is connected with the movable wheel legs 410 for transmission, the upper end of the guide mechanism 800 is connected with the transmission mechanism, the width of the lower end of the guide mechanism is smaller than that of the upper end of the guide mechanism, the guide mechanism can be inserted between adjacent insulator strings to fix the detection mechanism 900, and through the matching of the movable wheel legs 410 and the transmission mechanism, the robot body drives the detection mechanism 900 to continuously move between the insulator strings to obtain data of each detection point;
the control device 500 receives control commands, controls the flying action of the flying platform 200, and controls and receives detection data of the detection mechanism 900.
More specifically, as shown in fig. 1, the flying platform 200 can drive the mobile platform 400 to fly up and down, and the control device 500 and the detection mechanism 900 are installed on the mobile platform 400 for realizing the flying and detection of the robot.
Flying platform 200 can be a multi-rotor drone, mainly including rotor 100, frame, flight control module, camera 300 and connecting bridge 210. The rotary wings 100 are uniformly distributed above the moving platform 400 and fixedly connected with the frame; the frame is connected with the robot moving platform 400 through a connecting bridge 210; the flight control module is arranged on the frame; a rotating shaft is arranged on the connecting bridge 210 and can rotate, and the relative angle between the flying platform 200 and the moving platform 400 can be adjusted through the connecting bridge 210, so that the attitude adjustment of the moving platform in the string falling process is realized; the cameras 300 are arranged on the rack in a hanging mode.
Of course, in other embodiments, the flying platform 200 may be other structures capable of driving the robot body to fly to perform the up-and-down motion, such as a jet-propelled type, an impeller type or a fixed wing type, which can be realized theoretically, and only the specific connection structure needs to be adjusted adaptively, which is a routine measure of those skilled in the art and will not be described herein again.
As shown in fig. 2, the mobile platform 400 includes a mobile wheel leg 410, a transmission mechanism, a support mechanism 600, and a guide mechanism 800. The moving wheel legs 410 are symmetrically arranged between the insulator strings; the transmission mechanism is connected with the movable wheel legs 410 for transmission;
as one or more embodiments, the transmission mechanism includes a motor, a driving pinion, a transmission shaft, and a driven pinion, and the motor drives the transmission shaft, and then the power is transmitted to the movable wheel leg through the driving pinion and the driven pinion which are engaged, so as to drive the movable wheel leg to rotate.
The supporting mechanism 600 is composed of a front support 620, a rear support 620, a left guide plate 610, a right guide plate 610, a left support 630 and a right support 630, is in a shape of a Chinese character 'hui', and is symmetrically arranged above the insulator string 700, the guide plates are in contact with the outer edge of the insulator string in a fitting manner, and the left support 630 and the right support 630 surround the moving wheel legs 410 on the inner sides.
In a preferred manner, in this embodiment, the guiding mechanism 800 may be a t-shaped mechanism, which is located between two strings of insulator strings 700, the upper end of the guiding mechanism is connected to the transmission mechanism, the lower end of the guiding mechanism may be a transition tip, and the axial length of the insulator string is equal to the length of at least one insulator sheet.
In the present embodiment, the control device 500 includes a control box 510, a remote controller, a limit mechanism 520, and an antenna. The control box 510 is installed between two strings of the insulator string 700, is connected with the mobile platform 400 and the supporting mechanism 600 through the shell, and is internally provided with a control panel, a detection board, a battery, a video module and the like; the remote controller comprises an operating rod, a display screen, a switch and the like, and has the functions of flight control, movement detection control, synchronous display of detection data and the like; the limiting mechanism 520 is arranged between the movable wheel legs 410 and the control box 510 and consists of a transmitting and receiving end and limiting blocks, the transmitting and receiving end is fixed on the shell of the control box 510, and the limiting blocks are uniformly arranged on the movable wheel legs 410; the antenna is mounted on the control box 510.
As one or more embodiments, the limiting block is a blocking sheet or a poking sheet, can also be described as a limiting sheet and is mainly used for signal reflection, when a signal is hit on the limiting block, a neutral position is suddenly changed into a position with foreign matter feedback, and therefore the limiting position is known. Of course, the above specific manner is only one implementation means, and remote control within a certain distance may be implemented through other communication manners.
In this embodiment, the detection mechanism 900 is used for the steering engine to drive the two probes to move to obtain detection data, is fixedly connected below the shell of the control box 510, and is located inside the guide mechanism 800, and a slot is left in the guide mechanism 800 in the probe moving range.
The flying platform 200 is a multi-rotor 100 unmanned aerial vehicle, has compact structure and flexible flying, is connected with the mobile platform 400 through the connecting bridge 210, the connecting bridge 210 can rotate, and the flying control module and the camera 300 which are arranged on the connecting bridge can monitor the whole flying on-line and off-line insulator strings of the robot; the moving platform 400 is symmetrically arranged and positioned between two insulator strings 700, the moving wheel legs 410 on the moving platform can enable the robot to move back and forth along the insulator strings under the action of the transmission mechanism, the supporting mechanism 600 on the moving platform 400 surrounds the robot for a circle, and the moving platform 400 is connected with the control box 510 of the control device 500; the control box 510 is arranged in the middle of the whole machine and is connected with the transmission mechanism and the movable wheel legs 410, the guide mechanism 800 is positioned between the two strings of the insulator string 700, the upper end of the guide mechanism is connected with the transmission mechanism, the lower end of the guide mechanism is a transition tip, the axial length of the insulator string is the length of at least one insulator sheet, and a slot is reserved on the guide mechanism 800 in the moving range of the probe of the detection mechanism 900.
The flying platform 200 carries the moving platform 400 to lift from the ground to the position above the insulator string 700 through the connecting bridge 210, after measurement and calculation are carried out through the camera 300 and the flight control module, the robot is aligned with the insulator string 700 and is calibrated to be above the string falling position, the connecting bridge 210 drives the moving platform 400 to rotate and finely adjust, the wheel legs of the moving platform 400 are adjusted to be in a string falling state, at the moment, the flying platform 200 carries the whole machine to fall, the guide mechanism 800 enters the middle of two strings of the insulator string 700 for guiding, and the whole machine is released to the insulator string 700, after this step is finished, the flying platform 200 stops running, the mobile platform 400 and the detection mechanism 900 start the movement and detection work under the action of the control device 500, and receive and display the detection data in real time through the remote controller terminal, through the steps, information interaction and action coordination of the flight platform 200 and the robot mobile platform 400 in the processes of cluster falling and online detection are realized.
The related methods of calculating the distance, aligning, calibrating, etc. may use the existing algorithm, and are not described herein again.
In addition, the number of the installed cameras can be multiple, the installation positions can be changed, safety and accuracy when the flight platform drives the mobile platform to go on and off the line can be guaranteed, and meanwhile, the cameras can be used for collecting appearance images of the insulator strings.
After the mobile platform 400 and the detection mechanism 900 finish the detection work, the mobile platform returns to the rising and falling position, the mobile wheel legs 410 and the detection probes are recovered to the rising state position, at this time, the flying platform 200 is started, and the whole machine is carried to fly away from the insulator string 700 and return to the ground.
As shown in fig. 3, the second embodiment is different from the above embodiments in that the second embodiment does not have the movable wheel legs 400, but flies and lands on the ground to support by using the guide plates 1000, the guide plates 1000 are two groups and can be hollow to serve as guide supports, the guide plates 1000 are symmetrically arranged on two sides of the support mechanism 600 to form a semi-encircling type, the guide plates 1000 have an arc-shaped section bent towards the insulator string, and the inner diameter of the arc-shaped section is matched with the outer diameter of the insulator string, so that the second embodiment can play a role in moving, guiding and protecting the insulator string.
The guide plate 1000 has a certain elasticity.
The supporting mechanism 600 is arc-shaped plates symmetrically arranged on two sides of the robot body.
The scheme can utilize the arc-shaped structure which is symmetrically arranged and has certain elasticity to center and guide the insulator string.
The guiding mechanism 800 is a steering engine, at least one probe is arranged on the steering engine, and the steering engine drives the probe to move. As shown in fig. 4, in other embodiments, the difference from the above embodiments is that the moving mechanism is a string-falling wheel leg, the string-falling wheel leg includes a front leg 1200 and a rear leg 1300, the front leg 1200 and the rear leg 1300 each include a connecting shaft, the two ends of the connecting shaft are provided with road wheels, and the length of the connecting shaft is less than or equal to the length of the skirt of the insulator sheet, as shown in fig. 5.
The support mechanism further comprises a support frame 1100 arranged on the outer side of the wheel leg for flying and landing.
According to the embodiment, when the string falls, the string falling wheel legs are in the horizontal position, after the string falls, only the front leg 1200 or the rear leg 1300 needs to be controlled to be inserted between the two pieces in a rotating mode, the robot body moves forwards along with the rotating matching of the front leg 1200 and the rear leg 1300, and then the robot body moves according to the preset logic. The variable-structure string-falling wheel leg walking mechanism ensures that the wheel legs do not need to be completely inserted between insulators when string falling, and effectively reduces string falling difficulty.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (6)
1. A robot for detecting an insulator string on and off a line is characterized in that: including flight platform, moving platform and controlling means, wherein:
the flying platform is used for driving the mobile platform to fly up and down;
the moving platform is provided with a supporting mechanism matched with the outer edge of the insulator string and a moving mechanism capable of driving the moving platform to move along the axial direction of the insulator string;
the moving mechanisms are moving wheel legs, two groups of moving wheel legs are arranged on two sides of the supporting mechanism symmetrically, and the extending direction of the moving wheel legs is consistent with the extending direction of the insulator string;
or the moving mechanism is a variable-configuration string-falling wheel leg, the string-falling wheel leg comprises a front leg and a rear leg, the front leg and the rear leg both comprise a connecting shaft, traveling wheels are arranged at two ends of the connecting shaft, and the length of the connecting shaft is less than or equal to that of the skirt edge of the insulator sheet;
or, further, the moving mechanism further comprises a support frame arranged on the outer side of the wheel leg;
the control device receives a control instruction and controls the actions of the flight platform and the mobile platform;
a guide mechanism is arranged in the middle of the lower end of the moving platform, and a detection mechanism is mounted on the guide mechanism;
the guide mechanism is a structure with the diameter of the lower end smaller than that of the upper end, the width of the guide mechanism can be positioned between adjacent insulator strings, and the axial length of each insulator string is the length of at least one insulator sheet;
or, the guide mechanism is provided with a plurality of accommodating chambers, and each accommodating chamber is provided with a concave part which can accommodate the detection mechanism and endow the detection mechanism with a certain movable range.
2. The robot for detecting the insulator string on the upper line and the lower line according to claim 1, wherein: the flight platform comprises an unmanned aerial vehicle body, a rotating shaft and a connecting bridge, wherein the unmanned aerial vehicle body is a multi-rotor unmanned aerial vehicle, the rotors are uniformly distributed around the rotating shaft, and the rotating shaft is connected with the mobile platform through the connecting bridge;
or a flight control module capable of communicating with a control device is arranged on the flight platform;
or the flying platform is provided with a plurality of cameras which are suspended and distributed around the rotating shaft.
3. The robot for detecting the insulator string on the upper line and the lower line according to claim 1, wherein: the supporting mechanism is of a semi-encircling type and comprises a front support, a rear support, a left support and a right support, the front support, the rear support, the left support and the right support are sequentially connected to form a square shape and are symmetrically arranged above the insulator string, and the left support and the right support surround the moving wheel legs;
furthermore, the left bracket and the right bracket are respectively arranged on a guide plate, and the guide plates are in fit contact with the outer edges of the corresponding insulator strings;
or the supporting mechanism is a guide plate, the two groups of guide plates are symmetrically arranged on two sides of the supporting mechanism, the guide plate is provided with an arc-shaped section bending to the insulator string, and the inner diameter of the arc-shaped section is matched with the outer diameter of the insulator string;
further, the guide plate has elasticity.
4. The robot for detecting the insulator string on the upper line and the lower line according to claim 1, wherein: the supporting mechanism is arc-shaped plates symmetrically arranged on two sides of the robot body.
5. The robot for detecting the insulator string on the upper line and the lower line according to claim 1, wherein: the detection mechanism can be inserted between adjacent insulator strings to detect the insulator strings on two sides;
or, the detection mechanism comprises probes and a driving mechanism, and the driving mechanism drives each probe to approach the detection point;
or a fixed block is arranged in the guide mechanism, and at least one probe is arranged on the fixed block.
6. A method of operating a robot according to any of claims 1-5, characterized by: the flying platform is utilized to bring the moving platform above the insulator string, the moving platform is further adjusted above the string falling position, the moving platform rotates and finely adjusts the moving platform to the string falling state, the flying platform drives the moving platform to fall, the whole machine is released onto the insulator string and supported by the supporting mechanism, the moving mechanism drives the robot to move to each detection point on the insulator string according to the control command, and each detection point data is obtained through the detection mechanism.
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| CN201910905329.5A CN110632471B (en) | 2019-09-24 | 2019-09-24 | Robot and method for detecting insulator strings on and off line |
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| CN201910905329.5A CN110632471B (en) | 2019-09-24 | 2019-09-24 | Robot and method for detecting insulator strings on and off line |
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| CN110632471B true CN110632471B (en) | 2021-12-24 |
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| CN110618358B (en) * | 2019-09-24 | 2022-03-18 | 国网智能科技股份有限公司 | Flying on-line and off-line insulator string detection robot system, platform and method |
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| CN102621429A (en) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | Horizontal duplex insulator string on-line detection robot |
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