CN115056879A - Suspension insulator detection robot and crawling method thereof - Google Patents

Abstract

The invention relates to a suspension insulator detection robot and a crawling method thereof, and belongs to the technical field of intelligent equipment. The robot includes upper and lower two sets of staple bolt subassemblies, and every group staple bolt subassembly all includes the staple bolt of two symmetries, and the one side that the staple bolt is relative is provided with the test contact piece, and every group staple bolt subassembly all is provided with the staple bolt mechanism that opens and shuts, and every group staple bolt mechanism that opens and shuts all is provided with installation mechanism, connects through the coupling assembling that can stretch out and draw back the deformation between two sets of installation mechanisms, and the staple bolt subassembly is held tightly and is pendulous insulator chain. The method comprises the steps that the hoop of the upper hoop component is opened, the connecting component extends upwards, after the connecting component extends in place, the hoop of the upper hoop component is clasped to clasp the suspension insulator string, the hoop of the lower hoop component is opened, the connecting component retracts, the lower hoop component moves upwards, after the connecting component retracts in place, the hoop of the lower hoop component is clasped to clasp the suspension insulator string, and climbing actions are sequentially completed. The invention detects insulators one by one.

Description

Suspension insulator detection robot and crawling method thereof

Technical Field

The invention relates to a suspension insulator detection robot and crawling thereof, and belongs to the technical field of intelligent equipment.

Background

The suspension insulator string is generally formed by gluing or mechanically clamping an insulating piece (such as a porcelain piece and a glass piece) and a metal accessory (such as a steel leg, an iron cap, a flange and the like). The insulator is widely applied to an electric power system and is an indispensable component of a high-voltage transmission line. The buses of overhead transmission lines, power plants and substations and the external live conductors of various electrical equipment are supported by insulators and insulated from the earth (or ground) or other conductors having potential differences.

The insulator needs to be regularly checked and maintained, insulation stability is ensured, and electricity safety is ensured. How to detect the insulator is a problem which is always explored by the industry. Traditional outdoor aerial work increases operating personnel's the work degree of difficulty, and has strict requirement to the safety guarantee for the cost of artifical detection is high, and can't ensure the preparedness of detecting. The intelligent robot is used for detecting the insulator, which is the trend of the times. This patent is just so proposed a suspension insulator inspection robot.

Disclosure of Invention

In order to solve the technical problems, the invention provides a suspension insulator detection robot and a crawling thereof, and the specific technical scheme is as follows:

a suspension insulator detection robot comprises an upper group of hoop components and a lower group of hoop components, each group of hoop components comprises two symmetrical hoops, the opposite side of the hoop is provided with a test contact piece, each group of hoop components is provided with a hoop opening and closing mechanism, each group of hoop opening and closing mechanisms is provided with an installation mechanism, the two groups of installation mechanisms are connected through a connecting component capable of deforming in a telescopic way, the hoop components tightly hold the suspension insulator string, the hoop of the hoop component above is opened, the connecting component extends upwards, and after the connecting component extends in place, the hoop of the hoop component above is clasped to clasp the suspension insulator string, the hoop of the hoop component below is opened, the connecting component retracts, the hoop component below moves upwards, and the connecting component retracts in place, the hoop of the next hoop component is clasped to clasp the suspension insulator string, and climbing actions are sequentially completed.

Furthermore, the hoop comprises hoop end sections, hoop middle sections and hoop connecting sections, wherein the two hoop end sections of each group of hoop assemblies are oppositely bent, the hoop middle sections are mutually symmetrical and are connected with the hoop end sections and the hoop connecting sections, the hoop connecting sections are in a shape, and the hoop connecting sections are oppositely bent from the joints of the hoop end sections and the hoop middle sections and then are mutually parallelly inserted into the installation mechanism.

Furthermore, staple bolt mechanism that opens and shuts includes the independent lead screw subassembly of two symmetries settings, the lead screw subassembly includes lead screw, lead screw fixed block and bearing, the lead screw fixed block sets up in the centre of two staple bolt links, and staple bolt linkage segment is run through to lead screw one end, connects the lead screw motor, and the other end cover of lead screw has the bearing, and the bearing is embedded in the lead screw fixed block.

Furthermore, one side or two sides of the screw rod are also provided with guide rods, one end of each guide rod is fixed with the screw rod fixing block, and the other end of each guide rod penetrates through the hoop connecting section and is fixed with the mounting plate in front of the screw rod motor.

Further, installation mechanism includes mounting disc and mounting disc under the push rod on the push rod, the top of mounting disc is provided with the top camera on the push rod, and the mounting disc below is set up in the push rod to the above-mentioned a set of staple bolt subassembly, and a set of staple bolt subassembly sets up in mounting disc top under the push rod below.

Further, be provided with down the dustcoat under the push rod on the mounting disc, the inside casing that is provided with of dustcoat down, the casing is provided with illumination hole and the hole of making a video recording towards the one side of staple bolt, inside shield box, lamp plate and the camera of being provided with of casing, the camera faces the hole of making a video recording just, and the lamp plate faces illumination hole just, the shield box is located the top of lamp plate and camera.

Furthermore, a battery and a main control board are arranged in the shielding box, and the battery supplies power to the main control board, the lamp panel, the camera, the screw rod motor and the top camera.

Further, coupling assembling is including setting up many mutual supporting push rod section of thick bamboo and the push rod movable rod between the mounting disc under mounting disc and the push rod on the push rod, push rod section of thick bamboo lower extreme is fixed with the mounting disc under the push rod, and the upper end of push rod movable rod is fixed with the mounting disc on the push rod, the telescopic movement in the push rod section of thick bamboo can be followed to the push rod movable rod.

Further, be provided with the dustcoat below the mounting disc on the push rod, go up the dustcoat and include frame and bottom plate, a set of lead screw subassembly and lead screw motor are all installed on the bottom plate, surround in the frame, and the through-hole that the push rod movable rod runs through is seted up to the bottom plate.

The crawling method of the suspension insulator detection robot comprises the following steps:

step 1: setting the moving distance of the connecting component as the height of one insulator unit;

step 2: opening the upper and lower hoop assemblies, placing the suspension insulator detection robot on the suspension insulator string, starting the lead screw motors, simultaneously tightly holding the suspension insulator string by the two hoop assemblies until the detection robot can automatically grasp the suspension insulator string, and simultaneously stopping the upper and lower lead screw motors;

and step 3: starting the next group of lead screw motors, loosening the hoop component until the distance between the hoops accords with the up-and-down movement of the hoops, not touching the suspension insulator string, and stopping the next group of lead screw motors;

and 4, step 4: starting the connecting assembly, enabling the push rod barrel to move upwards, inserting the push rod movable rod into the push rod barrel, and stopping moving the connecting assembly after moving by a stroke of the height of the insulator unit;

and 5: starting the next group of screw rod motors, contracting the distance between the hoops until the hoops hold the suspension insulator string tightly, and stopping the next group of screw rod motors;

step 6: starting the upper group of screw rod motors, loosening the hoop components until the distance between the hoops accords with the up-and-down movement of the hoops, not touching the suspension insulator string, and stopping the upper group of screw rod motors;

and 7: starting the connecting assembly, and stopping the connecting assembly after the push rod movable rod moves upwards by a stroke of the height of the insulator unit;

and 8: starting the upper group of screw rod motors, contracting the distance between the hoops until the hoops hold the suspension insulator string tightly, and stopping the upper group of screw rod motors;

and step 9: and (5) repeating the steps 3-8 until the detection of the suspension insulator string is completed.

The invention has the beneficial effects that:

according to the diameter and the height of a single insulator unit, the stroke of the connecting component, the driving stroke and the time interval of the lead screw motor are set, so that the insulator can walk on the insulator, in the walking process, the test contact pieces contact with the joints among the insulator units one by one, the comprehensive inspection is realized, the pictures of the insulator are shot by the top camera and the cameras at the middle lower part and the middle lower part, the close-distance picture display is realized, the current situation of the insulator can be judged conveniently from the appearance, and a basis is provided for maintenance.

Drawings

Figure 1 is a state diagram of the use of the invention,

figure 2 is a perspective view of the present invention,

figure 3 is a perspective view of figure 2 with the lower housing removed,

figure 4 is a perspective view of figure 3 with the housing removed,

figure 5 is the view of figure 4 with the shield can removed,

in the figure: the device comprises an insulator string, a lower outer cover, a push rod barrel, a push rod movable rod, an upper outer cover, a push rod upper mounting plate, a top camera, a test contact piece, a hoop 9, an end hoop section 91, a middle hoop section 92, a hoop connecting section 93, a guide rod 10, a lead screw 11, a lead screw fixing block 12, a bearing 13, a shell 14, an illuminating hole 15, a camera shooting hole 16, a shielding box 17, a camera 18, a lead screw motor 19, a motor mounting seat 20, a push rod lower mounting plate 21, a battery 22, a main control panel 23 and a lamp panel 24.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

As shown in fig. 1, the present invention is capable of crawling on the insulator string, sequentially checking each insulator string unit one by one. The staple bolt subassembly is embraced tightly insulator chain 1 that dangles, the staple bolt of a staple bolt subassembly above is opened, coupling assembling upwards extends, coupling assembling extends the back that targets in place, the staple bolt of a staple bolt subassembly above is embraced and is closed, hold tightly insulator chain 1 that dangles, the staple bolt of a staple bolt subassembly below is opened, coupling assembling withdrawal, a staple bolt subassembly moves up below, coupling assembling withdrawal targets in place the back, the staple bolt of a staple bolt subassembly below is embraced and is closed, hold tightly insulator chain that dangles, accomplish the action of climbing in proper order.

Referring to fig. 2, the structure of the present patent is described in detail below, and the present patent mainly includes a hoop assembly, a hoop opening and closing mechanism, a mounting mechanism, a connecting assembly, an outer cover, and a power supply and control unit according to the execution function. Every group's staple bolt subassembly all includes the staple bolt 9 of two symmetries, and the one side that staple bolt 9 is relative is provided with test contact piece 8, and every group's staple bolt subassembly all is provided with the staple bolt mechanism that opens and shuts, and every group's staple bolt mechanism that opens and shuts all is provided with installation mechanism, connects through the coupling assembling that can stretch out and draw back the deformation between two sets of installation mechanisms.

The staple bolt end sections 91 of the two staple bolts 9 of each group of staple bolt assemblies are bent oppositely, so that the tail ends of the staple bolts are attached to the insulator strings when the insulator strings are tightly held, an approximately closed loop effect is formed, and the tightly holding effect is better. The hoop middle section 92 is symmetrical to each other and connects the hoop end section 91 and the hoop connecting section 93, the hoop connecting section 93 is 7-shaped, and the hoop connecting section 93 is bent oppositely from the joint of the hoop middle section 92 and then inserted into the mounting mechanism in parallel. The hoop 9 is integrally in an encircling shape, and the robot is integrally hung on one side of the insulator string.

The staple bolt mechanism that opens and shuts chooses the independent lead screw subassembly of two symmetries settings for use, and every staple bolt subassembly sets up the lead screw subassembly of two symmetries, and the removal of a staple bolt is controlled to every lead screw subassembly. The screw rod assembly comprises a screw rod 11, a screw rod fixing block 12 and a bearing 13, the screw rod fixing block 12 is arranged between the two hoop connecting ends, one end of the screw rod 11 penetrates through the hoop connecting section 93 to be connected with a screw rod motor 19, the other end of the screw rod 11 is sleeved with the bearing 13, and the bearing 13 is embedded in the screw rod fixing block 12. The lead screw fixing block 12 is fixed, one end of the lead screw is rotatably arranged in the lead screw fixing block through the bearing 13, the other end of the lead screw is connected with the lead screw motor, the connecting end of the hoop penetrates through the lead screw 11, and the hoop is driven to move in a translation mode on the lead screw when the lead screw motor operates.

In order to improve the horizontal stability of the anchor ear, a guide bar 10 is provided on one side or both sides (for example, both sides in the drawing) of the front and rear of the screw rod 11, and the connecting end of the anchor ear is also penetrated through the guide bar 10. One end of the guide rod is fixed with the screw rod fixing block 12, the other end of the guide rod is fixed with a mounting plate in front of the screw rod motor 19, and the guide rod 10 is in a state of being fixedly mounted at two ends. The staple bolt can move along it.

Installation mechanism opens and shuts the mechanism and coupling assembling for the staple bolt provides mounted position, mounting disc 21 under mounting disc 6 and the push rod on the push rod, and the top of mounting disc 6 is provided with top camera 7 on the push rod, and above-mentioned a set of staple bolt subassembly sets up in mounting disc 6 below on the push rod, and below a set of staple bolt subassembly sets up in mounting disc 21 top under the push rod. The top camera 7 is used for recording or taking pictures in the whole course when the recording is measured in Europe and the recording is difficult to pass,

in order to ensure that the whole appearance of the robot is attractive and the structure inside the robot is protected, a lower outer cover 2 is arranged on the lower push rod mounting disc 21, and a plurality of through holes are distributed in the surface of the lower outer cover and used for ventilation. One side of the lower outer cover 2 facing the hoop is provided with a notch for the hoop to pass through. The lower outer cover 2 is internally provided with a shell 14 which is formed by splicing two symmetrical half shells.

Referring to fig. 3, one side of the housing 14 facing the hoop is provided with an illumination hole 15 and a camera shooting hole 16, the periphery of the camera shooting hole 16 can be uniformly provided with a plurality of illumination holes 15, in view of comprehensive utilization of the internal space of the housing, a battery fixing space is reserved above the housing, the illumination holes 15 are respectively arranged at two horizontal sides of the camera shooting hole 16, and the camera shooting effect of the camera 18 in the camera shooting hole 16 is enhanced.

Referring to fig. 4, a shielding box 17, a lamp panel 24 and a camera 18 are arranged inside the housing 14, the camera 18 faces the camera hole 16, the lamp panel 24 faces the lighting hole 15, and the shielding box 17 is located above the lamp panel 24 and the camera 18.

Referring to fig. 5, a battery 22 and a main control board 23 are arranged in the shielding box 17, and the battery 22 supplies power to the main control board 23, the lamp panel 24, the camera 18, the lead screw motor 19 and the top camera 7.

Referring to fig. 1, coupling assembling is including setting up many mutual supporting push rod section of thick bamboo 3 and push rod movable rod 4 between mounting disc 21 under mounting disc 6 and the push rod on the push rod, and 3 lower extremes of a push rod section of thick bamboo are fixed with mounting disc 21 under the push rod, and the upper end of push rod movable rod 4 is fixed with mounting disc 6 on the push rod, and push rod movable rod 4 can follow telescopic movement in a push rod section of thick bamboo 3.

An upper outer cover 5 is arranged below the mounting disc 6 on the push rod, the upper outer cover 5 comprises a frame and a bottom plate, a group of lead screw assemblies and a lead screw motor are arranged on the bottom plate and surrounded in the frame, and a through hole through which the push rod movable rod 4 penetrates is formed in the bottom plate. The screw rod motor 19 is fixedly arranged on the surfaces of the corresponding push rod upper mounting disc 6 and the corresponding push rod lower mounting disc 21 through a motor mounting seat 20.

The crawling method of the patent comprises the following steps of 1: setting the operation cycle of the screw motor and the operation stroke of the connecting assembly, and setting the moving distance of the connecting assembly as the height of one insulator unit;

and 2, step: opening the upper and lower anchor ear assemblies, enabling the two anchor ears to be in an open state, placing the suspension insulator detection robot on the suspension insulator string, starting the lead screw motor, enabling the two anchor ear assemblies to simultaneously hold the suspension insulator string until the detection robot can automatically grasp the suspension insulator string, and simultaneously stopping the upper and lower lead screw motors;

and step 3: starting the next group of lead screw motors, loosening the hoop components until the distance between the hoops accords with the up-and-down movement of the hoops, avoiding touching the suspension insulator string, and stopping the next group of lead screw motors;

and 4, step 4: starting the connecting assembly, enabling the push rod barrel 3 to move upwards, inserting the push rod movable rod 4 into the push rod barrel 3, and stopping moving the connecting assembly after moving by a stroke of the height of the insulator unit;

and 5: starting the next group of screw rod motors, contracting the distance between the hoops until the hoops hold the suspension insulator string tightly, and stopping the next group of screw rod motors;

step 6: starting the upper group of screw rod motors, loosening the hoop components until the distance between the hoops accords with the up-and-down movement of the hoops, not touching the suspension insulator string, and stopping the upper group of screw rod motors;

and 7: starting the connecting assembly, and stopping the connecting assembly after the push rod movable rod 4 moves upwards by a stroke of the height of the insulator unit;

and 8: starting the upper group of screw rod motors, contracting the distance between the hoops until the hoops hold the suspension insulator string tightly, and stopping the upper group of screw rod motors;

and step 9: and (5) repeating the steps 3-8 until the detection of the suspension insulator string is completed.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (10)

1. The utility model provides a suspension insulator inspection robot which characterized in that: comprises an upper group of hoop components and a lower group of hoop components, each group of hoop components comprises two symmetrical hoops (9), the opposite surface of the hoop (9) is provided with a test contact piece (8), each group of hoop components is provided with a hoop opening and closing mechanism, each group of hoop opening and closing mechanisms is provided with an installation mechanism, the two groups of installation mechanisms are connected through a connecting component capable of stretching and deforming, the hoop components tightly hold the suspension insulator string, the hoop of the upper hoop component is opened, the connecting component extends upwards, and after the connecting component extends in place, the hoop of the hoop component above is clasped to clasp the suspension insulator string, the hoop of the hoop component below is opened, the connecting component retracts, the hoop component below moves upwards, and the connecting component retracts in place, the hoop of the next hoop component is clasped to clasp the suspension insulator string, and climbing actions are sequentially completed.

2. The suspension insulator testing robot of claim 1, wherein: staple bolt (9) are including staple bolt end section (91), staple bolt middle section (92) and staple bolt linkage segment (93), and two staple bolt end sections (91) of every group staple bolt subassembly are buckled in opposite directions, and staple bolt middle section (92) symmetry each other connects staple bolt end section (91) and staple bolt linkage segment (93), and staple bolt linkage segment (93) are 7 fonts, from its with the junction of staple bolt middle section (92) buckle in opposite directions the back is parallel to each other and inserts installation mechanism.

3. The suspension insulator testing robot of claim 1, wherein: the staple bolt mechanism that opens and shuts includes the independent lead screw subassembly that two symmetries set up, the lead screw subassembly includes lead screw (11), lead screw fixed block (12) and bearing (13), lead screw fixed block (12) set up in the centre of two staple bolt links, and staple bolt linkage segment (93) are run through to lead screw (11) one end, connect lead screw motor (19), and the other pot head of lead screw (11) has bearing (13), and bearing (13) are embedded in lead screw fixed block (12).

4. The suspension insulator testing robot of claim 1, wherein: one side or two sides of the screw rod (11) are also provided with guide rods (10), one end of each guide rod (10) is fixed with the screw rod fixing block (12), and the other end of each guide rod (10) penetrates through the hoop connecting section (93) and is fixed with a mounting plate in front of the screw rod motor (19).

5. The suspension insulator testing robot of claim 1, wherein: installation mechanism includes mounting disc (6) and mounting disc (21) under the push rod on the push rod, the top of mounting disc (6) is provided with top camera (7) on the push rod, and a set of staple bolt subassembly of higher authority sets up mounting disc (6) below on the push rod, and a set of staple bolt subassembly sets up mounting disc (21) top under the push rod below.

6. The suspension insulator testing robot of claim 5, wherein: be provided with down dustcoat (2) under the push rod on mounting disc (21), dustcoat (2) inside is provided with casing (14) down, casing (14) are provided with illumination hole (15) and hole (16) of making a video recording towards the one side of staple bolt, casing (14) inside is provided with shield box (17), lamp plate (24) and camera (18), camera (18) are facing towards hole (16) of making a video recording, and lamp plate (24) are facing towards illumination hole (15), shield box (17) are located the top of lamp plate (24) and camera (18).

7. The suspension insulator testing robot of claim 1, wherein: be provided with battery (22) and main control board (23) in shield box (17), main control board (23), lamp plate (24), camera (18), lead screw motor (19) and top camera (7) power supply are given in battery (22).

8. The suspension insulator testing robot of claim 1, wherein: coupling assembling is including setting up many mutual supporting push rod section of thick bamboo (3) and push rod movable rod (4) between mounting disc (21) under mounting disc (6) and the push rod on the push rod, push rod section of thick bamboo (3) lower extreme is fixed with mounting disc (21) under the push rod, and mounting disc (6) are fixed on the upper end of push rod movable rod (4) and the push rod, flexible removal in push rod section of thick bamboo (3) can be followed in push rod movable rod (4).

9. The suspension insulator testing robot of claim 1, wherein: be provided with below mounting disc (6) on the push rod and go up dustcoat (5), go up dustcoat (5) and include frame and bottom plate, a set of lead screw subassembly and lead screw motor (19) are all installed on the bottom plate, surround in the frame, and the through-hole that push rod movable rod (4) run through is seted up to the bottom plate.

10. The crawling method of the suspension insulator detection robot is characterized by comprising the following steps: the method comprises the following steps:

step 1: setting the moving distance of the connecting component as the height of one insulator unit;

step 2: opening the upper and lower anchor ear assemblies, enabling the two anchor ears to be in an open state, placing the suspension insulator detection robot on the suspension insulator string, starting the screw rod motor (19), enabling the two anchor ear assemblies to simultaneously hold the suspension insulator string until the detection robot can automatically grasp the suspension insulator string, and simultaneously stopping the upper and lower screw rod motors (19);

and step 3: starting the next group of screw rod motors (19), loosening the hoop component until the distance between the hoops (9) accords with the up-and-down movement of the hoops, not touching the suspension insulator string, and stopping the next group of screw rod motors (19);

and 4, step 4: starting the connecting assembly, enabling the push rod barrel (3) to move upwards, inserting the push rod movable rod (4) into the push rod barrel (3), and stopping moving the connecting assembly after moving for a stroke of the height of the insulator unit;

and 5: the next group of screw rod motors (19) is started, the distance between the hoops (9) is contracted until the hoops (9) hold the suspension insulator string tightly, and the next group of screw rod motors (19) is stopped;

step 6: starting the upper group of screw rod motors (19), loosening the hoop component until the distance between the hoops (9) accords with the up-and-down movement of the hoops, not touching the suspension insulator string, and stopping the upper group of screw rod motors (19);

and 7: starting the connecting assembly, and stopping the connecting assembly after the push rod movable rod (4) moves upwards by a stroke of the height of the insulator unit;

and 8: starting the upper group of screw rod motors (19), contracting the distance between the hoops (9) until the hoops (9) tightly hold the suspension insulator string, and stopping the upper group of screw rod motors (19);

and step 9: and (5) repeating the steps 3-8 until the detection of the suspension insulator string is completed.

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