CN110829264A - Extra-high voltage power transmission and transformation insulator zero value detection and cleaning robot - Google Patents

Abstract

The invention discloses a zero value detection and cleaning robot for an extra-high voltage power transmission and transformation insulator, which designs a three-manipulator insulation live detection device, and comprises a first manipulator, a translation mechanism, a second manipulator, a translation motor and a third manipulator, wherein the first manipulator, the second manipulator and the third manipulator are arranged on the same longitudinal line and fixed on a support base, the first manipulator, the second manipulator and the third manipulator are respectively connected with the translation mechanism, and the translation motor is connected with the translation mechanism to drive the first manipulator and the third manipulator to independently and horizontally stretch and move. Through the conduction of the gripper mechanisms at the tail ends of the mechanical arms, detection loops are formed in pairs, so that the purpose of detecting the resistance of the insulator is achieved, and the efficiency and the safety of insulator detection are improved; adopt two liang of mechanisms that snatch insulator steel cap forward motion in turn of three arm hand claw mechanism, guaranteed stability and the security of mechanism when detecting, detection efficiency and degree of automation when improving the detection.

Description

Extra-high voltage power transmission and transformation insulator zero value detection and cleaning robot

Technical Field

The invention relates to a robot, in particular to a zero value detection and cleaning robot for an extra-high voltage power transmission and transformation insulator.

Background

With the rapid development of industry, coordination and interaction between power grid companies and power markets and users are closer and closer, requirements on power quality are gradually improved, the quantity of renewable energy power generation is increased, the traditional power system is more and more difficult to support so many development requirements, the capacity of a power grid is increased, the rated voltage level is improved, the pollution degree of a power transmission line of the power system is increased, the operation cost and operation risk of the power transmission line are greatly increased by the traditional operation mode, the intelligent power grid construction is not facilitated, the porcelain quality in an ultra-high voltage power transmission line is uneven, and the detection/cleaning of zero-value insulators is one of important works for ensuring the safe and stable operation of the power transmission line. The electrified detection of the low and zero value insulators in the transmission line is conveniently, quickly, accurately and efficiently realized, and the damaged insulators are cleaned, which has long been a technical problem in the field of insulation detection/cleaning of the ultra-high voltage transmission line.

At present, insulator detection mainly depends on manual operation. The manual live-line detection of the high-voltage overhead transmission line insulator has the defects of low detection efficiency, poor detection effect, high labor cost, high safety risk and the like. Especially, some existing accurate detection methods cannot be implemented on long insulator strings of ultrahigh-voltage and extra-high-voltage lines manually, so that potential safety hazards of the ultrahigh-voltage and extra-high-voltage transmission lines are more and more serious. With the advance of smart grid development strategy and the development of intelligent industrial technology, the special insulator detection robot gradually develops and matures, and is already in trial operation on the line. The robot is used for inspection operation, manual work can be effectively replaced to complete detection of the insulator, loss caused by personnel negligence, omission and the like can be reduced, personnel cost can be reduced, and the problem of insulator detection of ultrahigh voltage and extra-high voltage lines is particularly solved.

Disclosure of Invention

The invention aims to provide a zero value detection and cleaning robot for an extra-high voltage power transmission and transformation insulator, and aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

an ultrahigh voltage power transmission and transformation insulator zero value detection and cleaning robot mainly comprises an outer frame, two clamping arms, linear sliding frames and a detection host, wherein the inner wall of the edge of the bottom end of the outer frame is fixedly provided with the linear sliding frames, the two linear sliding frames are arranged in a staggered manner, the end part of the linear sliding frame positioned on the outer side of the outer frame is provided with the clamping arms through bolt assembly, the middle part of the side wall of the top end of the outer frame is fixedly provided with the clamping arms through penetration, the three clamping arms are arranged in a front-back equidistant manner, all the clamping arms are vertically arranged on the center of the outer frame and an extension line thereof, the middle part of the side wall of the bottom end of the outer frame is provided with an assembling hole matched with the clamping arms, the front part of the left side of the outer frame is fixedly provided with the detection host, a cable is, the detection host is electrically connected with the clamping arm and the linear sliding frame through a wire harness.

As a further scheme of the invention: the clamping arm mainly comprises a motor frame, a guide frame, a vertical rack, a cladding, a top frame, a screw rod, clamping jaws, a swing plate, a screw rod sleeve, a shell, a rotating shaft, a clamping jaw motor, a driving gear, a pressing ring, an upper motor and a lower motor, wherein the left part of the inner side of the motor frame is fixedly provided with the upper motor and the lower motor, the front end of the upper motor and the front end of the lower motor are fixedly provided with the driving gear, the right end of the motor frame is fixedly provided with the guide frame, the middle part of the guide frame is spliced with the vertical rack in a sliding manner, the vertical rack is meshed with the driving gear, the top end of the vertical rack is fixedly provided with the cladding, the top end of the cladding is fixedly provided with the shell, the lower part of the inner side of the shell is fixedly, the top end of the rotating shaft is fixedly provided with a screw rod, the outer side of the screw rod is connected with a screw rod sleeve in a rotating mode, the left side and the right side of the screw rod sleeve are rotatably provided with swing plates, and the swing plates are rotatably connected with the clamping jaws.

As a still further scheme of the invention: the linear sliding frame mainly comprises a sliding rod, a limiting strip, a motor shell, a sliding frame, a transverse rack, a transverse motor, an end plate, a driving wheel and a crimping joint, the bottom end of the sliding frame is fixedly connected with the inner wall of the outer frame, the side wall of the sliding frame is fixedly provided with a motor shell, the inner side of the motor shell is fixedly provided with a transverse moving motor, the top end of the transverse moving motor is fixedly provided with a driving wheel, a sliding rod is slidably mounted in the middle of the sliding frame, limiting strips are fixedly mounted on the upper side wall and the lower side wall of the sliding rod, symmetrically arranged crimping heads are rotatably mounted at the end parts of the sliding rod, the side wall of the slide bar is provided with a transverse rack in a compression joint way through a compression joint, the transverse rack is meshed and connected with the transmission wheel, a side plate matched with the transverse moving motor is fixedly arranged at the right side of the sliding frame, an end plate is fixedly arranged at one end of the sliding rod positioned in the outer frame, and one end of the sliding rod, which is close to the front side wall and the rear side wall of the outer frame, is fixedly provided with a connecting seat, and the connecting seat is fixedly connected with the motor frame through a bolt.

As a still further scheme of the invention: the detection host computer mainly includes access panel, apron, lens, light filling retaining ring, mainboard, gets for instance module, casing and lithium cell, casing bottom rear portion inner wall fixed mounting has the mainboard, the anterior inner wall fixed mounting in casing bottom has the lithium cell, casing top fixed mounting has the access panel, and access panel bottom middle part fixed mounting gets for instance module, the access panel middle part is inlayed and is established and install and get for instance module complex apron, and the apron middle part is inlayed and is established fixed mounting and have lens, the apron top is located lens edge and inlays to establish and install the light filling retaining ring, the cable passes through the connector and pegs graft and install on the mainboard top, access panel and casing are inside to be seted up with cable complex through-hole.

As a still further scheme of the invention: the front and rear side walls of the outer frame are provided with openings matched with the connecting seats.

As a still further scheme of the invention: and LED lamp pieces which are arranged at equal intervals are arranged at the top end of the light supplementing check ring.

As a still further scheme of the invention: the mainboard is electrically connected with the lithium battery through a wiring harness.

Compared with the prior art, the invention has the beneficial effects that:

the insulator resistance detection device is reasonable in structural design, and detection loops are formed in pairs by conducting electricity of the claw mechanism at the tail end of the mechanical arm, so that the purpose of detecting the insulator resistance is achieved, and the insulator detection efficiency and safety are improved; adopt two liang of mechanisms that snatch insulator steel cap forward motion in turn of three arm hand claw mechanism, guaranteed stability and the security of mechanism when detecting, detection efficiency and degree of automation when improving the detection.

Drawings

Fig. 1 is a schematic structural diagram of an extra-high voltage power transmission and transformation insulator zero value detection and cleaning robot.

FIG. 2 is a schematic structural diagram of a overlooking angle of the extra-high voltage power transmission and transformation insulator zero value detection and cleaning robot.

Fig. 3 is a schematic top view of an extra-high voltage power transmission and transformation insulator zero value detection and cleaning robot.

FIG. 4 is a schematic structural diagram of a clamping arm in the extra-high voltage power transmission and transformation insulator zero value detection and cleaning robot.

FIG. 5 is a schematic structural diagram of a left view angle of a linear sliding frame in the extra-high voltage power transmission and transformation insulator zero value detection and cleaning robot.

FIG. 6 is a schematic cross-sectional view of a left view angle of a detection host in the extra-high voltage power transmission and transformation insulator zero value detection and cleaning robot.

Fig. 7 is a schematic sectional view of the clamping arm between the clamping jaw, the screw rod, the rotating shaft and the top frame.

FIG. 8 is a schematic cross-sectional view of the left side view between the vertical rack, the up-down motor and the pinion gear in the clamp arm.

FIG. 9 is a cross-sectional view of a front view angle between the slide bar, the cross-rack, and the traverse motor in the linear carriage.

Fig. 10 is a schematic position diagram of an overlooking angle between the lens, the housing, the light supplementing check ring and the cover plate in the detection host.

Fig. 11 is a schematic diagram of a system of the extra-high voltage power transmission and transformation insulator zero value detection and cleaning robot.

Fig. 12 is a schematic diagram of a control system of the extra-high voltage power transmission and transformation insulator zero value detection and cleaning robot.

Fig. 13 is a schematic diagram of zero value detection of the extra-high voltage power transmission and transformation insulator and insulator resistance detection of the cleaning robot.

Fig. 14 is a booster circuit diagram of the extra-high voltage power transmission and transformation insulator zero value detection and cleaning robot.

In the figure: the device comprises an outer frame 1, an access panel 2, a motor frame 3, a guide frame 4, a connecting seat 5, a vertical rack 6, a cladding 7, a top frame 8, a screw rod 9, a clamping jaw 10, a swinging plate 12, a screw rod sleeve 13, a shell 14, a rotating shaft 15, a clamping jaw motor 16, a driving gear 17, a pressing ring 18, an upper motor 19, a lower motor 19, a sliding rod 20, a cable 21, a limiting strip 22, a motor shell 23, an assembling hole 24, a sliding frame 25, a cover plate 26, a lens 27, a transverse rack 28, a transverse moving motor 29, an end plate 30, a driving wheel 31, a pressing joint 32, a side plate 33, a light supplementing check ring 35, a conductive head 36, a main plate 37, an.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can, for example, be fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 14, in the embodiment of the invention, a zero-value detection and cleaning robot for an extra-high voltage power transmission and transformation insulator mainly comprises an outer frame 1, clamping arms, linear carriages and a detection host, wherein the inner wall of the edge of the bottom end of the outer frame 1 is fixedly provided with the linear carriages, the two linear carriages are arranged in a staggered manner, the end parts of the linear carriages positioned at the outer side of the outer frame 1 are provided with the clamping arms through bolts, the middle parts of the side walls at the top end of the outer frame 1 are fixedly provided with the clamping arms in a penetrating manner, the three clamping arms are arranged at equal distances from front to back, all the clamping arms are vertically arranged at the center of the outer frame 1 and on an extension line thereof, the middle parts of the side walls at the bottom end of the outer frame 1 are provided with assembling holes 24 matched with the clamping arms, the conductive head 36 is fixedly connected with the clamping arm through a bolt, the detection host is electrically connected with the clamping arm through a cable 21, and the detection host is electrically connected with the clamping arm and the linear sliding frame through a wiring harness.

The clamping arm mainly comprises a motor frame 3, a guide frame 4, a vertical rack 6, a cladding 7, a top frame 8, a screw rod 9, a clamping jaw 10, a swing plate 12, a screw rod sleeve 13, a shell 14, a rotating shaft 15, a clamping jaw motor 16, a driving gear 17, a pressing ring 18, an upper motor 19 and a lower motor 19, wherein the left part of the inner side of the motor frame 3 is fixedly provided with the upper motor 19 and the lower motor 19, the front end of the upper motor 19 and the front end of the lower motor 19 are fixedly provided with the driving gear 17, the right end of the motor frame 3 is fixedly provided with the guide frame 4, the middle part of the guide frame 4 is inserted with the vertical rack 6 in a sliding manner, the vertical rack 6 is meshed with the driving gear 17 and connected with the vertical rack 6, the cladding 7 is fixedly arranged at the top end of the cladding 7, the shell 14 is fixedly arranged at the lower part of the inner side of the, clamping jaw 10 is installed in 8 inboard edges of roof-rack rotation, 15 top fixed mounting of pivot have lead screw 9, and the lead screw 9 outside connects soon installs lead screw cover 13, and the lead screw cover 13 left and right sides rotates installs wobble plate 12, and wobble plate 12 rotates with clamping jaw 10 to be connected.

The linear carriage mainly comprises a sliding rod 20, a limiting strip 22, a motor shell 23, a carriage 25, a transverse rack 28, a transverse motor 29, an end plate 30, a transmission wheel 31 and a crimping head 32, the bottom end of the carriage 25 is fixedly connected with the inner wall of an outer frame 1, the motor shell 23 is fixedly mounted on the side wall of the carriage 25, the transverse motor 29 is fixedly mounted on the inner side of the motor shell 23, the transmission wheel 31 is fixedly mounted at the top end of the transverse motor 29, the sliding rod 20 is slidably mounted in the middle of the carriage 25, the limiting strips 22 are fixedly mounted on the upper and lower side walls of the sliding rod 20, the crimping heads 32 symmetrically arranged are rotatably mounted at the end parts of the sliding rod 20, the transverse rack 28 is mounted on the side wall of the sliding rod 20 through the crimping head 32 in a crimping manner, the transverse rack 28 is meshed with the transmission wheel 31 and connected, a side plate 33 matched with, one end of the sliding rod 20 close to the front side wall and the rear side wall of the outer frame 1 is fixedly provided with a connecting seat 5, and the connecting seat 5 is fixedly connected with the motor frame 3 through a bolt.

Detect the host computer and mainly include access panel 2, apron 26, lens 27, light filling retaining ring 35, mainboard 37, get for instance module 38, casing 39 and lithium cell 40, casing 39 bottom rear portion inner wall fixed mounting has mainboard 37, the anterior inner wall fixed mounting in casing 39 bottom has lithium cell 40, casing 39 top fixed mounting has access panel 2, and access panel 2 bottom middle part fixed mounting has gets for instance module 38, 2 middle parts of access panel are inlayed and are established and install and get for instance module 38 complex apron 26, and 26 middle parts of apron are inlayed and are established fixed mounting and have lens 27, 26 top of apron is located 27 edges of lens and inlays and establish and install light filling retaining ring 35, cable 21 passes through the connector plug-in and installs on mainboard 37 top, access panel 2 and casing 39 are inside to be seted up with cable 21 complex through-hole.

The front and rear side walls of the outer frame 1 are provided with openings matched with the connecting seats 5.

And LED lamp pieces which are arranged at equal intervals are arranged at the top end of the light supplementing check ring 35.

The main board 37 is electrically connected to the lithium battery 40 through a wire harness.

The working principle of the invention is as follows:

the invention relates to an ultrahigh voltage power transmission and transformation insulator zero value detection and cleaning robot, which is an overall structure designed by a scheme.A three-manipulator insulation live detection device mainly comprises three mechanical arms, a translation mechanism and an appearance frame structure, wherein each mechanical arm comprises a mechanical arm mechanism, a lifting mechanism and an auxiliary positioning mechanism. The three mechanical arm tail end grabbing structures are fixed coaxially. The mechanical arms are arranged on the same longitudinal line and fixed on the supporting base. The three mechanical arms can move up and down, and the mechanical arms on the two sides can independently move in a horizontal telescopic mode. When the insulator on the transmission line is detected, the second mechanical arm in the middle and any one or three of the first mechanical arm and the third mechanical arm simultaneously grasp the insulator steel cap to form one or two loops to detect the insulation resistance of the insulator on the corresponding loop; the arc-shaped paw mechanisms of the three mechanical arms can move up and down, the insulator steel cap is tightly held when the arc-shaped paw mechanisms move upwards, and the insulator steel cap is loosened when the arc-shaped paw mechanisms move downwards.

The front and back telescopic motion of the first mechanical arm and the third mechanical arm can realize the front and back movement of the fixed seat and the front and back movement of the whole device. When the device moves, the arc-shaped paw mechanisms of the first mechanical arm and the second mechanical arm grasp the steel cap, the arc-shaped paw mechanism of the third mechanical arm loosens the steel cap and moves forwards in a telescopic mode to the position of the second mechanical arm, then the arc-shaped paw mechanisms of the third mechanical arm and the second mechanical arm grasp the steel cap, and the arc-shaped paw mechanism of the first mechanical arm loosens the steel cap and moves forwards in a telescopic mode, so that the whole device moves forwards, and insulators at different positions are detected. The front and back telescopic motion of the first mechanical arm and the third mechanical arm is realized through the transmission of a gear and a rack, the gear is driven to rotate through a translation motor so as to drive the rack to move, and the rack drives the first mechanical arm and the third mechanical arm fixed on the rack to move back and forth so as to realize the front and back telescopic motion of the mechanical arms.

(2) Design of grabbing manipulator

The first mechanical arm, the second mechanical arm and the third mechanical arm designed in the scheme are shown in figure 2 and respectively comprise a paw mechanism, a screw nut fixing structure, a screw, a connecting rod mechanism, an opening and closing motor, a rack, a lifting motor, a rack fixing structure and a gear; the tail ends of the two paw mechanisms are fixedly connected through a screw nut fixing structure, one ends of the two connecting rod mechanisms are respectively and fixedly connected with the two paw mechanisms, the other ends of the two connecting rod mechanisms are respectively and fixedly connected with one end of a screw rod, the other end of the screw rod is connected with an opening and closing motor, the opening and closing motor rotates to drive the screw rod to rotate, and the screw rod drives the connecting rod mechanisms to move, so that the paw mechanisms are driven to move, and the paw mechanisms of the mechanical arm are opened and closed; wherein rack and rack fixed knot construct fixed connection, and the cooperation is used together in the gear and the meshing of rack, and elevator motor and gear fixed connection drive the gear rotatory, realize the hand claw mechanism up-and-down concertina movement of arm.

The paw mechanism of the mechanical arm is an arc paw mechanism, a conductive conductor is adopted, and the middle of the mechanical arm is connected with the connecting rod mechanism of the arc paw mechanism and is made of insulating materials.

(3) Design of translational telescopic structure

The front and back telescopic translation mechanism of the mechanical arm in the scheme is shown in figure 3 and comprises a translation motor, a rack and a gear, wherein the rack is fixedly connected with the mechanical arm, the rack is meshed with the gear and is matched with the gear for use, the translation motor drives the gear to rotate so as to drive the rack to move, and the rack drives the mechanical arm to move back and forth, so that front and back telescopic of the mechanical arm is realized.

(4) Design of detection mechanism

The detection mechanism mainly comprises three mechanical claws and a detection device, and insulator resistance detection is carried out through detection of the mechanism of the detection robot. When three mechanical claws of the detection robot move to an appointed place of the insulator piece, detection is carried out by triggering a detection instruction, a detection device is driven by steering operation to operate by detection equipment provided with a metal detector, the metal detector of the mechanical claw is contacted with metal parts at two ends of the insulator, detection is triggered by a detection structure steering engine, the resistance of the data of the insulator piece is read, and the steering engine recovers the initial identification state of a detection mechanism to complete one-time insulator piece information detection operation.

(5) Power supply module design

The power supply mode of the insulator detection robot mainly adopts a lithium battery for power supply, the lithium battery has higher energy density, large specific power and high specific energy, the service life and the stability are greatly improved in recent years, and the power supply mode is very suitable for serving as a power supply battery of the insulator detection robot. However, in order to realize the sustainable work of the insulator detection robot, a power taking mode capable of being used in a mixed mode in a working environment is researched, when a lithium battery of the detection robot is about to run out, a standby power supply mode is started, and the power supply mode can adopt induction power taking;

the induction electricity taking transmission line system is characterized in that the magnetic energy overhead transmission line is converted into electric energy, and in an induction coil and a battery, an electricity taking device comprises a converter, an alternating current/direct current conversion unit, a power management unit and an inverter to realize opening and closing movement of an actuator. The system comprises a power supply, a magnetic energy converter, an alternating current/direct current conversion unit, a constant current charging circuit, a power supply management unit, a power supply control unit and a power supply control unit, wherein the magnetic energy converter is arranged around the power supply, and is used for converting the magnetic energy converter into alternating current electric energy;

insulator inspection robot control system generally divide into: the robot comprises a robot body part and a wireless monitoring device part, wherein the robot body part and the wireless monitoring device part are shown in the following figures, the robot body part finishes the collection and judgment of the position information of the robot, the robot outputs a control translation instruction to finish the intelligent front-back crawling action of the robot, a plurality of position sensors are applied to the robot, a PID (proportion integration differentiation) closed-loop control system is adopted in a circuit, a control command is output to an insulator resistance detection module to finish the detection and read the detection information, the insulator detection information is transmitted to the wireless monitoring device through a wireless module, and the man-machine information interaction.

The insulator detection robot body system software adopts C language programming, a software platform applies an ICCAVR compiling platform and a KEIL MDK software compiling platform, and a debugging platform applies AVR Studio 4.02 of ATMEL. The software adopts a modular design, is easy to maintain and expand and has strong portability. And the monitoring terminal is based on a Windows operating system and adopts Visual C + + to compile terminal software.

(2) Detection robot detection system design

The detection equipment adopts a portable resistance detection instrument to judge the resistance value information of the insulator. Voltage distribution measurement is used, and then the voltage resistance characteristic value of each single insulator is read. Meanwhile, the intelligent detection robot for the overhead line insulator applies direct-current high voltage to the measurement insulator through a mechanical gripper, a central processing unit acquires a leakage current of the detection insulator as a following diagram, applies direct-current high voltage to two ends of the insulator, collects the leakage current, calculates the measurement insulation resistance of the insulator by combining a voltammetry method, and the detection error is +/-10%.

The overhead line insulator detection robot runs to insulator detection nearby, the insulated metal connectors at two ends of the swing mechanism are triggered by detecting contact between adjacent pins, a resistance type detector or a voltage distribution detector is triggered, the insulator to be measured is measured, meanwhile, a detection result is read through an RS232 information interface, and then wireless communication of the measurement result is sent to a handheld terminal of information monitoring, so that insulator detection and historical insulator information comparison and analysis are carried out.

(3) Image detection system design

The appearance integrity detection of the insulator can obtain a visible light image of the appearance of the insulator piece mainly through a visible light camera, and whether fault hidden danger exists or not is judged according to the visible light image.

Insulator outward appearance integrality detects one of the most important content when insulator robot operation, and the robot gathers behind the image arrival equipment state identification module, solves equipment state identification under the complicated outdoor environment through corresponding algorithms such as mode identification, image processing, and the main problem that needs to solve has:

1) image preprocessing in an outdoor environment: in an outdoor complex environment, the acquired images are illuminated, and the final imaging effects are different, so that the images need to be preprocessed before being further processed.

2) Image matching: the robot is influenced by poor parking precision of the robot, the image collected by the robot has larger deviation with the image in the template library, and how to quickly identify the equipment area needs to be matched with the image.

3) And equipment state identification mainly comprises insulator appearance integrity identification.

The image is seriously degraded due to weather conditions, not only is fuzzy, but also the contrast and the color image are reduced, the obtained light intensity can have serious color shift and deformation, the value of the image is greatly reduced, and the influence on the aspects of production, service life and the like is great. In an insulator inspection system, degraded images have a large impact on identifying the integrity of the appearance of the insulator. The method has very important practical significance for effectively processing the degraded image obtained under the strong light condition.

According to a simple image formation model, an image can be represented as follows:

I(x，y)＝S(x，y)*R(x，y)

in the formula: (x, y) is a position coordinate of a certain pixel in an image, S represents illumination, and R represents a reflection characteristic of the object S is an image of reflected light formed by the image capturing apparatus. When the detection robot is used for detecting the insulator string, due to the running and stopping deviation precision, points in the image may have certain deviation with the template image, and certain influence is caused on subsequent equipment state identification. The method for automatically identifying the equipment state based on the angular point features is applied to an insulator string detection robot system to replace operators to confirm on an insulator string, and plays an important role in line inspection automation.

(4) Design of protection function

Insulator inspection robot is applied to superhigh pressure, extra-high voltage live or the operation that has a power failure, also is a key work to circuit self security protection design, and wherein the protect function design includes:

1) undervoltage protection: when the AC/DC input voltage is lower than the under-voltage protection limit value, the fault module can stop the robot to return to the initial position and output sound alarm, and meanwhile, corresponding prompt is also made on the remote monitoring equipment.

2) Output short-circuit protection: when the output is short-circuited, the module drops to zero under the instant output voltage, the short-circuit current limit of the rated output current below 15 percent and the output power of the module are very small, so that the module and the electrical equipment are protected. The module can work for a long time under the condition of short circuit without damage, and can automatically recover to work when faults are eliminated.

3) Overcurrent protection: mainly for protecting high power devices, the module will be shut down to protect the power devices if the current exceeds that borne by the devices during each cycle of the converter, and over-current protection can be automatically restored.

4) Overheat protection: the device mainly protects the junction temperature and current overload of a high-power device, has a safety limit, and automatically shuts down the radiator when the temperature of the radiator is reduced to 55 ℃ when the module detects that the temperature protection of the radiator of the automatic starting fan exceeds 85 ℃.

The insulator string detection robot protection design is the prerequisite and the guarantee of insulator safe operation, only under the prerequisite that the safety mechanism possessed, just can realize the safe, the reliability work of insulator string detection robot on overhead transmission line, just can replace the manual work to patrol and examine the operation, consequently, insulator string detection robot protection design has important meaning.

Third, the anti-interference design of electric field

When the +/-800 kV high-voltage direct-current transmission line normally transmits power, larger field intensity exists around the insulator string, and the field intensity is different along with the difference of the distance from the insulator to the line. The electric field intensity of the high-voltage end insulator is about 304V/mm; the electric field intensity of the insulator in the middle of the insulator string is about 55V/mm; the electric field intensity of the low-voltage end insulator is about 60V/mm, and the electric field distribution of different types of insulators is different. With a grading ring, the field strength near the grading ring is relatively concentrated. When the equalizing ring is not arranged, the electric field distortion at the end part of the insulator is more serious. The interference of the detection device mainly comes from electromagnetic interference generated by electric fields around the power transmission line and other instruments. The interference mainly comprises various harmonic waves, and interference signals of various frequency bands generated by current, corona and the like in the power transmission line;

(1) PCB anti-interference

The PCB plays an important role in the whole hardware circuit, the size of the PCB needs to be reduced as much as possible on the premise of realizing the control function, and the coupling interference among different devices of the PCB is reduced. Each electronic component is connected with a decoupling capacitor, and a capacitor is incorporated into a power supply end to eliminate high-frequency pulse of the power supply and reduce interference on the integrated circuit. And finally, the control board and the central processing module are placed in an electric field shielding box, so that the detection device is in an environment of zero electric field, and the effect of shielding the electric field around the insulator is achieved.

(2) Reduction of communication interference using frequency hopping techniques

In order to prevent the influence of the magnetic field environment on the wireless transmission module, a CC1010 chip is adopted when the data transmission module is designed, and the chip has the characteristic of supporting a frequency hopping protocol. Through the operation of the CC1010 register, a plurality of frequency points are set, so that communication can normally work on certain frequencies, and the interference of a magnetic field environment to the communication is reduced.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (7)

1. The utility model provides an extra-high voltage power transmission and transformation insulator zero value detects, cleans machine people, mainly includes frame (1), centre gripping arm, sharp balladeur train and detection host computer, its characterized in that, frame (1) bottom edge inner wall fixed mounting has sharp balladeur train, two the crisscross setting of sharp balladeur train, the tip that sharp balladeur train is located the frame (1) outside has the centre gripping arm through bolt assembly mounting, frame (1) top lateral wall middle part runs through fixed mounting and has the centre gripping arm, three be the equidistance setting around between the centre gripping arm, all centre gripping arm all vertically sets up on frame (1) center and extension, frame (1) bottom lateral wall middle part is seted up with centre gripping arm complex pilot hole (24), frame (1) left side front portion fixed mounting has the detection host computer, and the inside through-mounting of detection host computer has cable (, the end of the cable (21) is provided with a conductive head (36), the conductive head (36) is fixedly connected with the clamping arm through a bolt, the detection host is electrically connected with the clamping arm through the cable (21), and the detection host is electrically connected with the clamping arm and the linear sliding frame through a wiring harness.

2. The ultra-high voltage transmission and transformation insulator zero value detection and cleaning robot as claimed in claim 1, wherein the clamping arm mainly comprises a motor frame (3), a guide frame (4), a vertical rack (6), a cladding (7), a top frame (8), a lead screw (9), a clamping jaw (10), a swing plate (12), a lead screw sleeve (13), a shell (14), a rotating shaft (15), a clamping jaw motor (16), a driving gear (17), a pressing ring (18) and an upper motor (19), wherein the left part of the inner side of the motor frame (3) is fixedly provided with the upper motor (19) and the lower motor (19), the front end of the upper motor (19) and the lower motor (19) is fixedly provided with the driving gear (17), the right end of the motor frame (3) is fixedly provided with the guide frame (4), the middle part of the guide frame (4) is inserted with the vertical rack (6, vertical rack (6) top fixed mounting has cladding (7), and cladding (7) top fixed mounting has shell (14), and shell (14) inboard lower part fixed mounting has clamping jaw motor (16), and the motor shaft fixed mounting of clamping jaw motor (16) has pivot (15), shell (14) top fixed mounting has roof-rack (8), and roof-rack (8) inboard middle part fixed mounting have with pivot (15) complex clamping ring (18), roof-rack (8) inboard edge rotates and installs clamping jaw (10), pivot (15) top fixed mounting has lead screw (9), and lead screw (9) outside connects soon and installs lead screw cover (13), and lead screw cover (13) left and right sides rotate and install wobble plate (12), and wobble plate (12) rotate with clamping jaw (10) and are connected.

3. The ultra-high voltage transmission and transformation insulator zero value detection and cleaning robot as claimed in claim 1, wherein the linear carriage mainly comprises a sliding rod (20), a limiting strip (22), a motor casing (23), a carriage (25), a transverse rack (28), a transverse motor (29), an end plate (30), a transmission wheel (31) and a crimping head (32), the bottom end of the carriage (25) is fixedly connected with the inner wall of the outer frame (1), the motor casing (23) is fixedly installed on the side wall of the carriage (25), the transverse motor (29) is fixedly installed on the inner side of the motor casing (23), the transmission wheel (31) is fixedly installed on the top end of the transverse motor (29), the sliding rod (20) is slidably installed in the middle of the carriage (25), the limiting strip (22) is fixedly installed on the upper and lower side walls of the sliding rod (20), and the crimping heads (32) are rotatably installed on, slide bar (20) lateral wall is installed horizontal rack (28) through crimping head (32) crimping, and horizontal rack (28) are connected with drive wheel (31) meshing, balladeur train (25) right side fixed mounting have with sideslip motor (29) complex curb plate (33), the one end fixed mounting that slide bar (20) are located frame (1) inside has end plate (30), the one end fixed mounting that slide bar (20) are close to frame (1) front and back lateral wall has connecting seat (5), and connecting seat (5) are through bolt and motor frame (3) fixed connection.

4. The extra-high voltage power transmission and transformation insulator zero value detection and cleaning robot as claimed in claim 1, wherein the detection host mainly comprises an access panel (2), a cover plate (26), a lens (27), a light supplement check ring (35), a main board (37), an image capturing module (38), a shell (39) and a lithium battery (40), the main board (37) is fixedly installed on the inner wall of the rear portion of the bottom end of the shell (39), the lithium battery (40) is fixedly installed on the inner wall of the front portion of the bottom end of the shell (39), the access panel (2) is fixedly installed at the top end of the shell (39), the image capturing module (38) is fixedly installed in the middle of the bottom end of the access panel (2), the cover plate (26) matched with the image capturing module (38) is embedded in the middle of the access panel (2), the lens (27) is fixedly installed in the middle of the cover plate (26), the light supplement check ring, the cable (21) is installed on the top end of the main board (37) through the connector in a plugging mode, and through holes matched with the cable (21) are formed in the maintenance board (2) and the shell (39).

5. The ultra-high voltage transmission and transformation insulator zero value detection and cleaning robot as claimed in claim 1, wherein openings matched with the connecting seats (5) are formed in the front and rear side walls of the outer frame (1).

6. The extra-high voltage power transmission and transformation insulator zero value detection and cleaning robot as claimed in claim 4, wherein LED lamp pieces are arranged at equal intervals at the top end of the light supplementing check ring (35).

7. The extra-high voltage transmission and transformation insulator zero value detection and cleaning robot is characterized in that the main board (37) is electrically connected with the lithium battery (40) through a wiring harness.

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