CN113238126A - Peristaltic insulator string degradation detection robot - Google Patents
Peristaltic insulator string degradation detection robot Download PDFInfo
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- CN113238126A CN113238126A CN202110489664.9A CN202110489664A CN113238126A CN 113238126 A CN113238126 A CN 113238126A CN 202110489664 A CN202110489664 A CN 202110489664A CN 113238126 A CN113238126 A CN 113238126A
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- 239000012212 insulator Substances 0.000 title claims abstract description 80
- 238000001514 detection method Methods 0.000 title claims abstract description 78
- 230000015556 catabolic process Effects 0.000 title claims abstract description 22
- 238000006731 degradation reaction Methods 0.000 title claims abstract description 22
- 230000002572 peristaltic effect Effects 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 125
- 230000005540 biological transmission Effects 0.000 claims abstract description 52
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 230000009467 reduction Effects 0.000 claims description 13
- 230000002457 bidirectional effect Effects 0.000 claims description 9
- 239000002184 metal Substances 0.000 claims description 9
- 229910052751 metal Inorganic materials 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 3
- 230000009193 crawling Effects 0.000 abstract description 2
- 239000000919 ceramic Substances 0.000 abstract 1
- 238000000034 method Methods 0.000 description 4
- 229930040373 Paraformaldehyde Natural products 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 229920006324 polyoxymethylene Polymers 0.000 description 3
- 229910052573 porcelain Inorganic materials 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- -1 polyoxymethylene Polymers 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/02—General constructional details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/02—General constructional details
- G01R1/04—Housings; Supporting members; Arrangements of terminals
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- Mechanical Engineering (AREA)
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- Ceramic Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of insulator detection robots, in particular to a creeping type insulator string degradation detection robot. The device comprises a control box body, a peristaltic moving mechanism, a detection mechanism, an up-and-down string mechanism, a visible light detection module, a guide rod group and an insulator resistance detector; the peristaltic movement mechanism and the visible light detection module are arranged at the top of the control box body, and the detection mechanism is arranged on the peristaltic movement mechanism and used for detecting the insulator string; the upper and lower string mechanisms are two groups and symmetrically arranged on two sides of the control box body and used for encircling the insulator strings; the guide rod group is connected between the two groups of upper and lower string mechanisms, and the insulator resistance detector is arranged on the guide rod group. The robot has the advantages of strong adaptability, stable crawling, high detection efficiency, safety and reliability, has the function of moving along the insulator string with variable radian and gradient, and is suitable for the horizontal ceramic double-umbrella-skirt insulator string of the 220KV power transmission line.
Description
Technical Field
The invention relates to the technical field of insulator detection robots, in particular to a creeping type insulator string degradation detection robot.
Background
The insulator of the transmission line is an insulator connected between a high-voltage transmission line tower and the transmission line, so that the transmission line tower and the transmission line are electrically insulated, and the insulator is an important component of an overhead transmission line. In the operation process, because of bearing electromechanical load, cold and hot change for a long time, the insulator can appear degradation phenomena such as insulation resistance reduction, surface fracture, and then lead to the insulator flashover even the cluster that falls, constitutes very big hidden danger to transmission line's safe operation. Therefore, the insulator periodic detection is essential to ensure a normal and safe power supply. At present, the method for detecting the insulator on line is a manual tower climbing detection and intelligent robot detection method. The manual tower climbing detection method is characterized in that a person climbs a tower and stays at a safe distance of an insulator string, detection is carried out by operating an insulating rod with a detection instrument at the tail end, and the problems of large labor capacity, low safety coefficient, low detection efficiency and the like exist; the detection method of the intelligent robot is that the robot carries an insulator detection instrument, automatically moves on an insulator string and detects the resistance value or the voltage distribution condition of the insulator, thereby judging the quality condition of the insulator. At present, an insulator detection robot has the functions of moving along an insulator string and detecting, but is still in a test stage. However, in an actual line, different radians and slopes exist in the same horizontal insulating string, so that the adaptability and the motion performance of the robot are greatly affected, and the existing insulator detection robot cannot solve the problem.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a creeping type robot for detecting the degradation of an insulator string, which has the advantages of strong adaptability, stable creeping, high detection efficiency, safety and reliability, can move along the insulator string with variable radian and gradient, and is suitable for a horizontal porcelain double-umbrella-skirt insulator string of a 220KV power transmission line.
In order to achieve the purpose, the invention adopts the following technical scheme:
a peristaltic type insulator string degradation detection robot comprises a control box body, a peristaltic type moving mechanism, a detection mechanism, an upper string mechanism, a lower string mechanism, a visible light detection module, a guide rod group and an insulator resistance detector; the peristaltic movement mechanism and the visible light detection module are arranged at the top of the control box body, and the detection mechanism is arranged on the peristaltic movement mechanism and used for detecting the insulator string; the upper and lower string mechanisms are two groups and symmetrically arranged on two sides of the control box body and used for encircling the insulator strings; the guide rod group is connected between the two groups of upper and lower string mechanisms, and the insulator resistance detector is arranged on the guide rod group.
The peristaltic movement mechanism comprises two guide rails, sliding blocks, sliding plates and a bidirectional linear driving mechanism, wherein the two guide rails are arranged on the top of the control box body in parallel, each guide rail is connected with the corresponding sliding plate through the corresponding sliding block, and the bidirectional linear driving mechanism is connected with the two sliding plates and used for driving the two sliding plates to move in opposite directions;
the detection mechanisms are two groups and are respectively arranged on the two sliding plates.
The bidirectional linear driving mechanism comprises a driving gear, a rack, a driving motor and a worm and gear reduction box; the two racks are respectively arranged on the two sliding plates; an output shaft of the driving motor is connected with an input shaft of the worm and gear reduction box, an output shaft of the worm and gear reduction box is connected with a driving gear, and the driving gear is positioned between the two racks and meshed with the two racks.
The detection mechanism comprises a transmission bracket, a swing driving mechanism, a parallel four-bar linkage mechanism, a tail end connecting rod and a detection metal block, wherein the transmission bracket is connected with the sliding plate; the parallel four-bar linkage is hinged with the transmission bracket, the tail end connecting rod is arranged at the top of the parallel four-bar linkage, and the detection metal block is arranged on the tail end connecting rod;
the swing driving mechanism is arranged on the transmission support, and the output end of the swing driving mechanism is connected with the parallel four-bar linkage mechanism and used for driving the parallel four-bar linkage mechanism to swing.
The parallel four-bar linkage mechanism comprises a gear connecting rod, a driving connecting rod, a middle connecting rod and a bracket connecting rod, wherein one end of the gear connecting rod is connected with the swing driving mechanism, the other end of the gear connecting rod is fixedly connected with one end of the driving connecting rod, and the other end of the driving connecting rod is hinged with one end of the middle connecting rod; one end of the support connecting rod is hinged with the transmission support, and the other end of the support connecting rod is hinged with the other end of the middle connecting rod; the tail end connecting rod is fixedly connected with the middle connecting rod.
The swing driving mechanism comprises a driving shaft, a driven shaft, a driving gear and a motor, wherein an output shaft of the motor is connected with the driving shaft, and the driving gear is arranged on the driving shaft; and a driven gear engaged with the driving gear is arranged on the driven shaft, and one end of the gear connecting rod is connected with the driven gear into a whole.
The upper and lower string mechanisms comprise encircling rods, encircling connecting rods, encircling supports and opening and closing driving mechanisms, wherein the encircling supports are connected with the control box body; two sides of the encircling support are respectively hinged with an encircling rod; the two encircling connecting rods are respectively arranged below the two encircling rods, one end of each encircling connecting rod is hinged with the encircling rod, and the other end of each encircling connecting rod is hinged with the opening and closing driving mechanism; the opening and closing driving mechanism is arranged on the encircling support and used for driving the two encircling rods to open or close.
The opening and closing driving mechanism comprises an upper motor, a lower motor, an equal-diameter bevel gear and a lead screw nut transmission mechanism; the screw and nut transmission mechanism comprises a screw, a nut, a transmission connecting block and a linear guide rail, wherein the screw and the linear guide rail are arranged on the encircling support in parallel, the transmission connecting block is in threaded connection with the screw through the nut and is in sliding connection with the linear guide rail, and two ends of the transmission connecting block are hinged with the two encircling connecting rods; the upper and lower series motors are arranged on the encircling connecting rod, and the two equal-diameter bevel gears are respectively arranged at the output ends of the upper and lower series motors and the end part of the screw rod and are meshed with each other.
The guide rod group comprises at least two guide rods arranged in parallel and a guide rod connecting piece used for connecting the guide rods; two ends of the guide rod are connected with two corresponding surrounding rods in the upper and lower string mechanisms.
The surface material of the guide rod is POM.
The invention has the advantages and positive effects that:
the invention provides a creeping type insulator string degradation detection robot, which adopts a creeping type moving mechanism and has strong adaptability, and the robot has the function of stably moving along a variable radian and gradient insulator string, so that the robot can complete insulator resistance detection and visual detection while moving along the insulator string, and the detection efficiency is high.
The robot up-and-down string mechanism adopts the lead screw nut transmission with self-locking capability, and effectively prevents the robot from falling off in the movement process. The robot crawls steadily, and detection efficiency is high, three insulators of short circuit at most, and safe and reliable accords with the electric power operation rule, is adapted to the detection operation of 220KV transmission line horizontal porcelain double umbrella skirt insulator chain.
Drawings
FIG. 1 is a schematic structural diagram of a creep-type insulator string degradation detection robot according to the present invention;
FIG. 2 is a schematic structural diagram of a control box according to the present invention;
FIG. 3 is a schematic structural diagram of a peristaltic movement mechanism and a part of a detection mechanism according to the present invention;
FIG. 4 is a schematic structural view of a detecting mechanism according to the present invention;
FIG. 5 is a schematic structural view of the vertical string mechanism of the present invention;
FIG. 6 is a schematic structural view of a lead screw nut transmission mechanism according to the present invention;
FIG. 7 is a schematic view of the construction of the guide bar assembly of the present invention;
FIG. 8 is a schematic view of the structure of the upper string of the robot in the present invention;
fig. 9 is a schematic view of the structure of the robot lower string in the present invention.
In the figure: 1 is a control box body, 101 is a support column, 102 is an electric side plate, 103 is a bottom frame, 104 is a top frame, 105 is a top plate, 106 is a structural side plate, 107 is a bottom plate, 2 is a creeping type moving mechanism, 201 is a driving gear, 202 is a rack, 203 is a guide rail, 204 is a slide block, 205 is a driving motor, 206 is a worm gear reduction box, 207 is a gear shaft bracket, 3 is a detection mechanism, 301 is a transmission bracket, 302 is a driving shaft, 303 is a driven shaft, 304 is a driving gear, 305 is a gear connecting rod, 306 is a driving connecting rod, 307 is an intermediate connecting rod, 308 is a bracket connecting rod, 309 is a tail end connecting rod, 310 is a detection metal block, 311 is a detection mechanism connecting piece, 312 is a motor, 313 is a fixed shaft pin, 4 is an up-down string mechanism, 401 is an encircling rod, 402 is an encircling connecting rod, 403 is an encircling bracket, 404 is an up-down string motor, 405 is an equal-diameter bevel gear, 406 is a bottom cover plate, 407 is a lead screw transmission mechanism, 4071 is a lead screw, 4072 is a nut, 4073 is a transmission connecting block, 4074 is a fixing plate, 4075 is a bottom bracket, 4076 is a limit baffle, 4077 is a bevel gear motor bracket, 4078 is a linear guide rail, 4079 is a surrounding rod rotating pin, 40710 is a lead screw limit baffle, 40711 is a top bracket, 40712 is a top press plate, 5 is a visible light detection module, 6 is a guide rod set, 601 is a guide rod connecting piece, 602 is a guide rod, and 7 is an insulator resistance detector.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the creep-type insulator string degradation detection robot provided by the invention comprises a control box body 1, a creep-type moving mechanism 2, a detection mechanism 3, an upper string-up and down string mechanism 4, a visible light detection module 5, a guide rod group 6 and an insulator resistance detector 7; the peristaltic moving mechanism 2 and the visible light detection module 5 are arranged at the top of the control box body 1, and the detection mechanism 3 is arranged on the peristaltic moving mechanism 2 and used for detecting the insulator string; the upper and lower string mechanisms 4 are two groups and are symmetrically arranged on two sides of the control box body 1 and used for encircling insulator strings; the guide rod group 6 is connected between the two groups of upper and lower string mechanisms 4, and the insulator resistance detector 7 is arranged on the guide rod group 6.
As shown in fig. 2, in the embodiment of the present invention, the control box 1 includes a support pillar 101, an electrical side plate 102, a bottom frame 103, a top frame 104, a top plate 105, a structural side plate 106, and a bottom plate 107, wherein the bottom frame 103 is fixedly connected to the top frame 104 through four support pillars 101 to form a control box framework; the two symmetrically arranged electric side plates 102 and the two symmetrically arranged structural side plates 106 are distributed around the control box body 1 and are fixedly connected with a control box body framework; the top plate 105 and the bottom plate 107 are fixedly connected to the top and the top of the framework of the control box body.
As shown in fig. 3, in the embodiment of the present invention, the peristaltic movement mechanism 2 includes two guide rails 203, two sliding blocks 204, two sliding plates and a bidirectional linear driving mechanism, wherein the two guide rails 203 are arranged in parallel on the top of the control box 1, each guide rail 203 is connected to a sliding plate through a sliding block 204, and the bidirectional linear driving mechanism is connected to two sliding plates for driving the two sliding plates to move in opposite directions; the detection mechanisms 3 are two groups and are respectively arranged on the two sliding plates.
In the embodiment of the invention, the bidirectional linear driving mechanism comprises a driving gear 201, a rack 202, a driving motor 205 and a worm gear reduction box 206; the two racks 202 are respectively arranged on the side parts of the two sliding plates and are of an integrated structure with the sliding plates; an output shaft of the driving motor 205 is connected with an input shaft of the worm gear reduction box 206, an output shaft of the worm gear reduction box 206 is connected with the driving gear 201, and the driving gear 201 is positioned between the two racks and meshed with the two racks 202. The worm gear reduction box 206 is provided with a gear shaft bracket 207, and the driving gear 201 is connected with the gear shaft bracket 207.
As shown in fig. 3-4, in the embodiment of the present invention, the detecting mechanism 3 includes a transmission bracket 301, a swing driving mechanism, a four-bar linkage, a terminal link 309 and a detecting metal block 310, wherein the transmission bracket 301 is connected to the slide board through a detecting mechanism connecting member 311 and is fixed by a fixing shaft pin 313; the parallel four-bar linkage is hinged with the transmission bracket 301, the tail end connecting rod 309 is arranged at the top of the parallel four-bar linkage, and the detection metal block 310 is arranged on the tail end connecting rod 309; the swing driving mechanism is arranged on the transmission bracket 301, and the output end of the swing driving mechanism is connected with the parallel four-bar linkage mechanism and used for driving the parallel four-bar linkage mechanism to swing.
Specifically, the parallel four-bar linkage comprises a gear link 305, a driving link 306, a middle link 307 and a bracket link 308, wherein one end of the gear link 305 is connected with the swing driving mechanism, the other end of the gear link is fixedly connected with one end of the driving link 306, and the other end of the driving link 306 is hinged with one end of the middle link 307; one end of the bracket connecting rod 308 is hinged with the transmission bracket 301, and the other end of the bracket connecting rod 308 is hinged with the other end of the middle connecting rod 307; the end link 309 is fixedly connected to the intermediate link 307.
In this embodiment, the swing driving mechanism includes a driving shaft 302, a driven shaft 303, a driving gear 304 and a motor 312, wherein an output shaft of the motor 312 is connected with the driving shaft 302, and the driving gear 304 is disposed on the driving shaft 302; the driven shaft 303 is provided with a driven gear that meshes with the driving gear 304, and one end of the gear link 305 is integrally connected to the driven gear.
As shown in fig. 5, in the embodiment of the present invention, the up-down string mechanism 4 includes an encircling rod 401, an encircling connecting rod 402, an encircling bracket 403 and an opening-closing driving mechanism, wherein the encircling bracket 403 is connected to the control box 1; two sides of the embracing bracket 403 are respectively hinged with an embracing rod 401; the two encircling connecting rods 402 are respectively arranged below the two encircling rods 401, one end of each encircling connecting rod 402 is hinged to each encircling rod 401, and the other end of each encircling connecting rod 402 is hinged to the opening-closing driving mechanism; the opening and closing driving mechanism is arranged on the embracing support 403 and used for driving the two embracing rods 401 to open or close.
As shown in fig. 5-6, in the embodiment of the present invention, the opening and closing driving mechanism includes an up-down serial motor 404, an equal-diameter bevel gear 405, and a screw nut transmission mechanism 407; the screw nut transmission mechanism 407 comprises a screw 4071, a nut 4072, a transmission connecting block 4073 and a linear guide rail 4078, wherein the screw 4071 and the linear guide rail 4078 are arranged on the encircling support 403 in parallel, the transmission connecting block 4073 is in threaded connection with the screw 4071 through the nut 4072 and is in sliding connection with the linear guide rail 4078, and two ends of the transmission connecting block 4073 are hinged to the two encircling connecting rods 402; the upper and lower motors 404 are disposed on the surrounding connecting rod 402, and two bevel gears 405 with equal diameters are disposed at the output end of the upper and lower motors 404 and the end of the lead screw 4071, respectively, and are engaged with each other.
Specifically, the embracing support 403 includes a bottom support 4075, a top support 40711, and a top pressure plate 40712, wherein the bottom support 4075 and the top support 40711 are connected by a linear guide 4078. The top clamp 40712 is attached to the side of the top bracket 40711, and the top bracket 40711 has a looping bar pivot pin 4079 at each end for connecting the loop bar 401. The lead screw 4071 is rotatably connected to the bottom bracket 4075 and the top bracket 40711 and is axially limited by the limit stop 4076 and the lead screw limit stop 40710. A bevel gear motor bracket 4077 is arranged below the bottom bracket 4075, and the up-down string motor 404 is arranged on the bevel gear motor bracket 4077. Two ends of the transmission connecting block 4073 are connected with a fixing plate 4074, and the fixing plate 4074 is provided with a hinge hole.
As shown in fig. 7, in the embodiment of the present invention, the guide bar set 6 includes at least two guide bars 602 arranged in parallel and a guide bar connecting member 601 for connecting the guide bars 602 with each other; two ends of the guide rod 602 are connected with two corresponding encircling rods 401 in the two up-down serial mechanisms 4.
Further, the surface material of the guide rod 602 is POM (polyoxymethylene), so that the surface of the guide rod 602 is smooth, and the guide rod 602 is in contact with the edge of the insulator shed.
The invention provides a working principle of a creeping type insulator string degradation detection robot, which comprises the following steps:
as shown in fig. 8, before the creep-type insulator string degradation detection robot of the present invention runs on the upper string, the upper string running mechanism 4 drives the screw nut transmission mechanism 407 through the upper string running motor 404, so that the nut 4072 drives the transmission connection block 4073 to move toward the bottom cover plate 406, and then moves to the bottom of the screw 4071, and the surrounding rod 401 is in an open state under the transmission action of the surrounding connecting rod 402 and the surrounding bracket 403. The motor 312 in the detection mechanism 3 is located at any position between the upper and lower string mechanisms 4. The lead screw nut transmission mechanism 407 of the up-and-down string mechanism 4 is reversely self-locked, and the surrounding rod 401 has enough rigidity, so that the robot cannot fall off from the insulator string.
When the robot goes up to be strung, the up-down string motor 404 drives in reverse direction to make the nut 4072 drive the transmission connecting block 4073 to move towards the direction of the top pressure plate 40722, and then the nut moves to the top of the lead screw 4071, and the encircling rod 401 is in a closed state, as shown in fig. 9.
After the robot clasps the insulator string, the motor 312 drives the driving gear 304 to rotate, and drives the gear connecting rod 305, the driving connecting rod 306, the middle connecting rod 307 and the bracket connecting rod 308 to move, so that the tail end connecting rod 309 and the detection metal block 310 are opened along the radial direction of the insulator; the driving motor 205 works, the worm gear reduction box 206 drives the driving gear shaft 201 to enable the two racks 202 meshed with the driving gear shaft to move opposite to the two detection mechanisms 3, when the detection mechanisms 3 move to the two ends of the control box body 1, the driving motor 205 stops working, at the moment, the two detection mechanisms 3 are located at iron caps of two adjacent insulators, the motor 312 drives in a reverse direction to enable the tail end connecting rod 309 and the detection metal block 310 to be closed along the radial direction of the insulators, and the insulator resistance detector 7 executes a detection task to complete detection of the resistance of one insulator. One of the detection mechanisms 3 is opened, the end face of the other detection mechanism 3 abuts against the insulator umbrella skirt, the end face is connected with a soft material, the creeping type moving mechanism 2 is matched with the detection mechanism 3 to finish the movement of the robot along the axial direction of the insulator string and the detection of the insulator resistor, and meanwhile, the visible light detection module 5 observes the apparent state of the insulator.
And after the robot finishes the insulator string detection, the robot executes the string descending operation, and the operation method is opposite to the string ascending motion of the robot.
The robot has the advantages of strong adaptability, stable crawling, high detection efficiency, three insulators short-circuited at most, safety and reliability, and can move along the robot with variable radian and gradient insulator strings, thereby being suitable for the horizontal porcelain double-umbrella-skirt insulator strings of the 220KV power transmission line.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A peristaltic type insulator string degradation detection robot is characterized by comprising a control box body (1), a peristaltic type moving mechanism (2), a detection mechanism (3), an upper string mechanism and a lower string mechanism (4), a visible light detection module (5), a guide rod group (6) and an insulator resistance detector (7); the peristaltic movement mechanism (2) and the visible light detection module (5) are arranged at the top of the control box body (1), and the detection mechanism (3) is arranged on the peristaltic movement mechanism (2) and used for detecting the insulator string; the upper and lower string mechanisms (4) are two groups and are symmetrically arranged on two sides of the control box body (1) and used for encircling the insulator strings; the guide rod group (6) is connected between the upper and lower string mechanisms (4) of the two groups, and the insulator resistance detector (7) is arranged on the guide rod group (6).
2. The creeping type insulator string degradation detection robot according to claim 1, wherein the creeping type moving mechanism (2) comprises two guide rails (203), two sliding blocks (204), two sliding plates and a bidirectional linear driving mechanism, wherein the two guide rails (203) are arranged on the top of the control box body (1) in parallel, each guide rail (203) is connected with one sliding plate through the corresponding sliding block (204), and the bidirectional linear driving mechanism is connected with the two sliding plates and used for driving the two sliding plates to move in opposite directions;
the detection mechanisms (3) are two groups and are respectively arranged on the two sliding plates.
3. The creeping type insulator string degradation detecting robot according to claim 2, wherein the bidirectional linear driving mechanism comprises a driving gear (201), a rack (202), a driving motor (205) and a worm gear reduction box (206); the two racks (202) are respectively arranged on the two sliding plates; an output shaft of the driving motor (205) is connected with an input shaft of the worm and gear reduction box (206), an output shaft of the worm and gear reduction box (206) is connected with the driving gear (201), and the driving gear (201) is located between the two racks and meshed with the two racks (202).
4. The creeping type insulator string degradation detecting robot according to claim 2, wherein the detecting mechanism (3) comprises a transmission bracket (301), a swinging driving mechanism, a parallel four-bar linkage, a terminal connecting rod (309) and a detecting metal block (310), wherein the transmission bracket (301) is connected with the sliding plate; the parallel four-bar linkage is hinged with the transmission bracket (301), the tail end connecting rod (309) is arranged at the top of the parallel four-bar linkage, and the detection metal block (310) is arranged on the tail end connecting rod (309);
the swing driving mechanism is arranged on the transmission bracket (301), and the output end of the swing driving mechanism is connected with the parallel four-bar linkage mechanism and used for driving the parallel four-bar linkage mechanism to swing.
5. The creeping type insulator string degradation detection robot according to claim 4, wherein the parallel four-bar linkage comprises a gear link (305), a driving link (306), an intermediate link (307) and a bracket link (308), wherein one end of the gear link (305) is connected with the swinging driving mechanism, the other end of the gear link is fixedly connected with one end of the driving link (306), and the other end of the driving link (306) is hinged with one end of the intermediate link (307); one end of the support connecting rod (308) is hinged with the transmission support (301), and the other end of the support connecting rod (308) is hinged with the other end of the middle connecting rod (307); the tail end connecting rod (309) is fixedly connected with the middle connecting rod (307).
6. The creeping type insulator string degradation detecting robot according to claim 5, wherein the swinging driving mechanism comprises a driving shaft (302), a driven shaft (303), a driving gear (304) and a motor (312), wherein an output shaft of the motor (312) is connected with the driving shaft (302), and the driving gear (304) is arranged on the driving shaft (302); a driven gear meshed with the driving gear (304) is arranged on the driven shaft (303), and one end of the gear connecting rod (305) is connected with the driven gear into a whole.
7. The creeping type insulator string degradation detecting robot according to claim 1, wherein the upper and lower string mechanisms (4) comprise an encircling rod (401), an encircling connecting rod (402), an encircling support (403) and an opening and closing driving mechanism, wherein the encircling support (403) is connected with the control box body (1); two sides of the encircling support (403) are respectively hinged with an encircling rod (401); the two encircling connecting rods (402) are respectively arranged below the two encircling rods (401), one end of each encircling connecting rod (402) is hinged with the encircling rod (401), and the other end of each encircling connecting rod is hinged with the opening and closing driving mechanism; the opening and closing driving mechanism is arranged on the encircling support (403) and used for driving the two encircling rods (401) to open or close.
8. The creeping type insulator string degradation detecting robot according to claim 7, wherein the opening and closing driving mechanism comprises an upper and lower string motor (404), a constant diameter bevel gear (405) and a lead screw nut transmission mechanism (407); the lead screw and nut transmission mechanism (407) comprises a lead screw (4071), a nut (4072), a transmission connecting block (4073) and a linear guide rail (4078), wherein the lead screw (4071) and the linear guide rail (4078) are arranged on the encircling support (403) in parallel, the transmission connecting block (4073) is in threaded connection with the lead screw (4071) through the nut (4072) and is in sliding connection with the linear guide rail (4078), and two ends of the transmission connecting block (4073) are hinged to the encircling connecting rods (402); the upper and lower series of motors (404) are arranged on the encircling connecting rod (402), and the two equal-diameter bevel gears (405) are respectively arranged at the output ends of the upper and lower series of motors (404) and the end part of the screw rod (4071) and are meshed with each other.
9. The peristaltic insulator string degradation detection robot according to claim 7, wherein the guide rod set (6) comprises at least two guide rods (602) arranged in parallel and guide rod connectors (601) for connecting the guide rods (602) with each other; two ends of the guide rod (602) are connected with two corresponding encircling rods (401) in the upper and lower string mechanisms (4).
10. The creeping robot for detecting degradation of an insulator string according to claim 9, wherein the surface material of the guide rod (602) is POM.
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