CN115158498B - High-voltage insulator detection robot and detection method - Google Patents
High-voltage insulator detection robot and detection method Download PDFInfo
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- CN115158498B CN115158498B CN202210765255.1A CN202210765255A CN115158498B CN 115158498 B CN115158498 B CN 115158498B CN 202210765255 A CN202210765255 A CN 202210765255A CN 115158498 B CN115158498 B CN 115158498B
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- 239000012212 insulator Substances 0.000 title claims abstract description 114
- 238000001514 detection method Methods 0.000 title claims abstract description 45
- 239000000523 sample Substances 0.000 claims abstract description 61
- 230000000670 limiting effect Effects 0.000 claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000005611 electricity Effects 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 claims abstract description 4
- 230000007935 neutral effect Effects 0.000 claims abstract description 4
- 239000004677 Nylon Substances 0.000 claims description 32
- 229920001778 nylon Polymers 0.000 claims description 32
- 238000007689 inspection Methods 0.000 claims description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 5
- 239000011889 copper foil Substances 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 6
- 238000009413 insulation Methods 0.000 description 5
- 239000000725 suspension Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 230000002829 reductive effect Effects 0.000 description 2
- 239000012211 strain insulator Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
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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
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/52—Testing for short-circuits, leakage current or ground faults
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
- G01N2021/9518—Objects of complex shape, e.g. examined with use of a surface follower device using a surface follower, e.g. robot
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- Analytical Chemistry (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Transportation (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Combustion & Propulsion (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Insulators (AREA)
- Testing Relating To Insulation (AREA)
Abstract
The invention relates to a high-voltage insulator detection robot and a detection method, wherein the robot comprises a control box and a horizontally arranged mounting plate, the control box is fixed on the outer end face of the mounting plate, the free ends of two limiting plates respectively extend to the outer sides of double-string insulators, a rotatable probe is fixed in the middle of the inner end face of the mounting plate, the probe points to a neutral position between the double-string insulators, a pair of cameras are symmetrically arranged on two sides of the probe, and tracks of two track moving mechanisms are respectively supported on the corresponding insulators. The method comprises the following steps: placing a high-voltage insulator detection robot on the double-string insulator; adjusting the position of a limiting plate of the high-voltage insulator detection robot; shooting the two insulators respectively through a camera to judge whether external damage exists; the probe contacts the outer wall of the double-string insulator in sequence, and whether the insulator leaks electricity or not is detected; the crawler belt moving mechanism is controlled to move forwards by the remote control device. The invention can meet the requirement of detecting the high-voltage insulator when the line is electrified, and the invention can meet the requirement of uninterrupted power detection and has strong adaptability.
Description
Technical Field
The invention relates to a high-voltage insulator detection robot and a high-voltage insulator detection method, and belongs to the technical field of insulator detection.
Background
An insulator is an insulating control applied to overhead transmission lines, is usually made of glass or ceramic, and can play a role in mechanically suspending wires, electrically isolating wires and towers in the transmission lines. In practical application, because the insulating property of each insulator is limited, a plurality of insulators are required to be connected into an insulator string for use. Depending on the suspension type, the insulator string may be divided into a suspension insulator string and a strain insulator string. The suspension insulator string is suitable for a linear tower and bears wires and additional vertical load and wind load. The strain insulator string is suitable for a strain tower and mainly bears all horizontal tension of a wire. Due to manufacturing defects, changes of electric loads, environmental pollution and the like, the insulation performance of the insulators can be continuously reduced, when zero value or low value insulators in a series of insulators exceed a certain number, line tripping can be caused, personal safety accidents and electric energy loss are caused, and the service life and the operation life of the whole transmission line are reduced. Therefore, the detection of the insulator string is significant.
Currently, the detection of insulator strings is mainly manual detection. The insulator is detected piece by an insulating rod of which the tail end is held by an electric power operator and is provided with detection equipment such as a resistance detector or a distribution voltage detector. The manual detection has the defects of low efficiency, high risk, high operation intensity and the like, and along with the continuous development of the electric power system in China, the voltage level is higher and higher, the length of the insulator string is longer and longer, and the manual detection cannot meet the detection requirement of the ultra-high voltage circuit.
In recent years, along with the construction of smart power grids and the development of robot technology in China, more and more insulator string detection robots are applied to overhead transmission lines to perform insulator string detection.
Disclosure of Invention
The invention aims at solving the problems existing in the prior art and provides a high-voltage insulator detection robot which can detect a high-voltage insulator when a line is electrified and can meet the detection without power failure.
The utility model provides a high-voltage insulator detection robot, including control box and mounting panel, the control box is fixed in the lateral surface of mounting panel, and the both ends of mounting panel are equipped with the limiting plate of "7" shape towards same side respectively, and the free end of two limiting plates extends to the outside of two cluster insulators respectively, and the medial surface middle part of mounting panel is provided with rotatable probe, and the probe points to the neutral department between the two cluster insulators, and the probe cuts apart into two symmetrical insulator detection spaces with the detection area, and every detection space all is provided with two cameras and a crawler travel mechanism, crawler travel mechanism creeps in insulator surface, and two cameras symmetry are located an opposite face of insulator, and the insulator surface of making a video recording;
the two probes are arranged, the bottoms of the probes are fixed on the same probe connecting plate, and the lower parts of the probe connecting plates are arranged on the inner side surface of the mounting plate through the nylon swing frame.
Further, the cameras are respectively fixed on the inner side surfaces of the mounting plates through mounting plate hinge lugs; the camera is arranged in a camera fixing box, and light sensors for detecting the walking distance of the robot are also respectively arranged in the two camera fixing boxes.
Furthermore, connecting strips are respectively fixed at two edges of the mounting plate perpendicular to the axis of the insulator, two ends of the two connecting strips extend towards the direction of the limiting plate respectively and are provided with waist-shaped long grooves respectively, and adjusting screws respectively penetrate through the waist-shaped long grooves and are fixedly connected with the limiting plate.
Further, be provided with more than one driven gear below the probe connecting plate, driven gear's center pin and probe connecting plate are fixed connection, and fixed connection's concrete form is, probe connecting plate is towards driven gear one side, is close to the position at both ends and is provided with the perpendicular board perpendicularly, and the both ends of driven gear's center pin are interlude respectively in the perpendicular board of corresponding end, and driven gear's center pin and corresponding end perpendicular board are fixed connection, can be the key cooperation fixed, and driven gear and its center pin are fixed connection too, can be fixed through the key cooperation.
The nylon swing frame is internally provided with more than one driving gear, the driving gears share a driving shaft, each driven gear is meshed with one driving gear, the driving shaft is connected with a driving motor, and when the driving motor drives the driving gears to rotate, the driven gears are driven to rotate, and then the probe connecting plate is driven to overturn to drive the probes to obliquely move. The inclination control of the probe towards two sides is realized by the forward rotation or the reverse rotation of the driving motor.
Further, the nylon swing frame is in a concave shape, the bottom of the nylon swing frame is fixed with the mounting plate, two ends of the nylon swing frame are connected with the corresponding vertical plates, and the nylon swing frame is connected with the vertical plates through rivets penetrating through the nylon Long Baijia to realize rotatable connection;
The two ends of the driving shaft are inserted into the nylon brackets at the corresponding ends, the driving shaft is rotatably connected with the nylon brackets, the bearing is sleeved through the driving shaft, the bearing seat is embedded in the nylon brackets, and the bearing is matched with the bearing seat.
Further, insulating panel, shielding case and antenna are installed to the inner chamber of control box, the shielding case is located the inner chamber middle part of control box, be equipped with the PCB board of receiving camera and probe signal in the shielding case, be equipped with a plurality of RJ45 interfaces that have shielding function on the one side wall of shielding case, insulating panel is located the one side that is close to the RJ45 interface that has shielding function, the antenna is located the one side that is kept away from the RJ45 interface that has shielding function.
Further, the insulation panel is fixed on the insulation panel support plate, a support plate parallel to the insulation panel is installed on one side, facing the shielding box, of the insulation panel, and a switch and a charging head are installed on the support plate.
Furthermore, the gaps and the screw positions of the control box are sealed by copper foil.
Further, limiting strips are respectively arranged on opposite inner walls of the limiting plates, the two limiting strips are parallel to each other and the axis of the insulator, and two ends of the two limiting strips are respectively bent outwards to form guide heads.
Another object of the present invention is to provide a method for detecting a high voltage insulator, comprising the steps of:
Step 1: placing a high-voltage insulator detection robot on the double-string insulator;
Step 2: the position of a limiting plate of the high-voltage insulator detection robot is adjusted to enable the limiting plate to be respectively attached to the outer sides of the double-string insulators;
Step 3: shooting the two insulators respectively through a camera to judge whether external damage exists;
step 4: the probe motor drives the probe to swing, so that the probe contacts the outer wall of the double-string insulator in sequence, and whether the insulator leaks electricity or not is detected;
step 5: the insulator appearance image shot by the camera and the leakage signal detected by the probe are respectively uploaded to a shielding box, and the shielding box sends the shot image and whether the leakage signal is transmitted to a control center for processing through an antenna;
Step 6: controlling the crawler belt moving mechanism to move forwards through a remote control device;
step 7: when the light sensor measures that the moving distance reaches a set value, the crawler belt moving mechanism stops advancing;
Step 8: repeating the actions of the steps 3-7 until all the double-string insulators are detected.
The beneficial effects of the invention are as follows: the control box adopts the RJ45 interface that has shielding function, and the gap is all sealed with the copper foil, can play anti-interference effect, can detect high-voltage insulator when the circuit is electrified, satisfies uninterrupted power supply and detects, and adaptability is strong.
The invention adopts the mounting plate and the limiting plate, so that the detection robot can more stably and safely travel on the insulator when detecting the insulator; the invention can be matched with an unmanned aerial vehicle to detect the power transmission lines of the hanging bridge and the like, meets the detection requirement of ultra-high voltage and has wide application range.
The high-voltage insulator detection robot is a double-span insulator string robot, walks more stably in a high-altitude windy environment, and solves the problem of single-span instability.
Drawings
Fig. 1 is a perspective view of a structure on an insulator;
fig. 2 is a perspective view of a high voltage insulator inspection robot according to the present invention;
FIG. 3 is a partial structure diagram of a probe of the high voltage insulator inspection robot according to the present invention;
Fig. 4 is a front view of fig. 1;
FIG. 5 is a perspective view of a control box of the high voltage insulator inspection robot according to the present invention;
fig. 6 is a sectional view of a control box in the high voltage insulator inspection robot of the present invention.
In the figure: 1. double-string insulators; 2. a limiting plate; 3. a camera; 4. a probe; 5. a control box; 5a, shielding box; 5b, an antenna; 5c, insulating panel; 5d, an RJ45 interface with a shielding function; 5e, a PCB board; 5f, insulating panel support plate; 6. a mounting plate; 6a, a mounting plate hinging lug; 7. a connecting strip; 7a, a waist-shaped long groove; 8. a track moving mechanism; 9. a light-sensitive sensor; 10. nylon swing frame; 11. a switch; 12. a charging head; 13. a limit bar; 14. A probe connection plate; 15. driven gear, 16, driving gear.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
As shown in fig. 1, fig. 2 and fig. 4, a high-voltage insulator detection robot comprises a control box 5 and a horizontally arranged mounting plate 6, wherein the control box 5 is fixed on the outer end face of the mounting plate 6, two ends of the mounting plate 6 are respectively provided with a 7-shaped limiting plate 2, free ends of the two limiting plates 2 respectively extend to the outer sides of double-string insulators 1, a rotatable probe 4 is fixed in the middle of the inner end face of the mounting plate 6, the probe 4 points to a neutral position between the double-string insulators 1, the axis of a driving shaft of the probe 4 is parallel to the axis of the double-string insulators 1, a pair of cameras 3 are symmetrically arranged on two sides of the probe 4, the two cameras 3 are respectively inclined towards the directions where the two insulators are located, two ends of the mounting plate 6 are respectively fixed on crawler moving mechanisms 8, the two crawler moving mechanisms 8 are parallel to each other and parallel to the axis of the double-string insulators 1, and the crawler of the two crawler moving mechanisms 8 are respectively supported on the corresponding insulators and can walk along the insulators.
The cameras 3 are respectively fixed on the inner end surface of the mounting plate 6 through mounting plate hinge lugs 6 a; light sensors 9 for detecting the walking distance of the robot are also respectively fixed in the fixed boxes of the two cameras 3, and the two light sensors 9 and the two cameras 3 are distributed in a diagonal line.
The two edges of the mounting plate 6 perpendicular to the insulator axis are respectively fixed with connecting strips 7, two ends of each connecting strip 7 extend towards the limiting plate 2 respectively and are provided with waist-shaped long grooves 7a respectively, and adjusting screws respectively penetrate through the waist-shaped long grooves 7a and are fixedly connected with the limiting plate 2.
The two probes 4 are arranged, the two probes 4 are respectively fixed on the nylon swing frames 10, the two nylon swing frames 10 are respectively fixed at two ends of a driving shaft of the probes 4, the two ends of the driving shaft of the probes 4 are rotatably supported on the probe 4 support, and the probe 4 support is fixed on the inner end face of the mounting plate 6; the middle section of the driving shaft of the probe 4 or the position near one end is fixed with a driven gear 15 through a flat key, the driven gear 15 is meshed with a driving gear 16, the driving gear 16 is fixed on the rotor shaft of a probe motor, and the probe motor is fixed in a probe support.
As shown in fig. 3, the nylon swing frame is in a concave shape, the bottom of the nylon swing frame is fixed with the mounting plate, two ends of the nylon swing frame are connected with the corresponding vertical plates, and the nylon swing frame is connected with the vertical plates through rivets penetrating through the nylon Long Baijia to realize rotatable connection;
The two ends of the driving shaft are inserted into the nylon brackets at the corresponding ends, the driving shaft is rotatably connected with the nylon brackets, the bearing is sleeved through the driving shaft, the bearing seat is embedded in the nylon brackets, and the bearing is matched with the bearing seat.
The crawler belt moving mechanism 8 moves on the insulator, the nylon probe 4 swings left and right to detect whether the insulator leaks electricity, the cameras on the two sides collect images to detect whether the surface of the insulator is damaged, the light sensor 9 is a distance sensor, and the travelling distance of the crawler belt moving mechanism 8 on the insulator is judged by detecting the insulator.
The specific arrangement of the crawler travel mechanism 8 is: the crawler belt tightening sleeve is arranged outside the driving mechanism, the driving mechanism comprises a motor and tightening rollers which are connected with the motor in a driving way and are arranged inside the crawler belt and close to two ends, one tightening roller is connected with the driving motor, the other tightening roller is a driven wheel, raised strips are arranged outside the crawler belt and are clamped with raised lines of a circle of the outside of the high-voltage insulator, and when the crawler belt is driven by the motor, the crawler belt moves outside the driving mechanism and climbs outside the high-voltage insulator in the moving process.
As shown in fig. 5 and 6, an insulating panel 5c, a shielding box 5a and an antenna 5b are installed in the inner cavity of the control box 5, the shielding box 5a is located in the middle of the inner cavity of the control box 5, a PCB board 5e for receiving signals of the camera 3 and the probe 4 is arranged in the shielding box 5a, a plurality of RJ45 interfaces 5d with shielding functions are arranged on one side wall of the shielding box 5a, the insulating panel 5c is located on one side close to the RJ45 interfaces 5d with shielding functions, and the antenna 5b is located on one side far away from the RJ45 interfaces 5d with shielding functions. The number of RJ45 interfaces 5d with shielding function is 12. The invention uses RJ45 with shielding function as the connector, and has good shielding effect.
The shielding box 5a in the control box adopts a closed metal box body structure, all pores are filled and sealed by copper foil paper, meanwhile, the data line is connected by adopting an RJ45 metal shielding interface, the electromagnetic shielding performance is fully ensured to meet the working requirement, and the problem of circuit interference in a strong electromagnetic environment is solved; the outside insulating protective box adopts insulating material to make, and open one side realizes double-deck insulating seal through outer apron and interior baffle, fully guarantees detection device's operational safety.
The insulating panel 5c is fixed on an insulating panel support plate 5f, a support plate parallel to the insulating panel 5c is mounted on the side of the insulating panel 5c facing the shielding case 5a, and a switch 11 and a charging head 12 are mounted on the support plate. The gaps and the screw positions of the control box 5 are sealed by copper foil.
The opposite inner walls of the limiting plate 2 are respectively provided with limiting strips 13, the two limiting strips 13 are parallel to each other and the axis of the insulator, and the two ends of the two limiting strips 13 are respectively bent outwards to form a guide head.
The invention discloses a high-voltage insulator detection method, which comprises the following steps of:
Step 1: placing a high-voltage insulator detection robot on the double-string insulator 1;
step 2: the position of a limiting plate 2 of the high-voltage insulator detection robot is adjusted to enable the limiting plate to be respectively attached to the outer sides of the double-string insulators 1;
step 3: shooting the two insulators respectively through the camera 3 to judge whether external damage exists;
step 4: the probe 4 is driven to swing through a motor of the probe 4, so that the probe 4 contacts with the outer wall of the double-string insulator 1 in sequence, and whether the insulator leaks electricity or not is detected;
Step 5: the insulator appearance image shot by the camera 3 and the leakage signal detected by the probe 4 are respectively uploaded to the shielding box 5a, and the shielding box 5a sends the shot image and whether the leakage signal is sent to the control center for processing through the antenna 5 b;
Step 6: controlling the crawler belt moving mechanism 8 to move forwards through a remote control device;
Step 7: when the light sensor 9 measures that the moving distance reaches a set value, the crawler belt moving mechanism 8 stops advancing;
step 8: and repeating the following actions in the step 3 until all the double-string insulators 1 are detected.
The invention can be matched with an unmanned aerial vehicle to detect the power transmission lines of a hanging bridge and the like, meets the detection requirement of ultra-high voltage, and has strong adaptability and wide application range.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (5)
1. The utility model provides a high-voltage insulator detection robot which characterized in that, including control box and mounting panel, the control box is fixed in the lateral surface of mounting panel, and the both ends of mounting panel are equipped with the limiting plate of "7" shape towards same side respectively, and the free end of two limiting plates extends to the outside of two strings of insulators respectively, and the medial surface middle part of mounting panel is provided with rotatable probe, and the neutral department between the two strings of insulators is directed to the probe, and the probe cuts apart into two symmetrical insulator detection spaces with the detection region, and every detection space all is provided with two cameras and a crawler-belt moving mechanism, crawler-belt moving mechanism creeps in insulator surface, and two cameras symmetry are located an opposite face of insulator, make a video recording the insulator surface;
the two probes are arranged, the bottoms of the probes are fixed on the same probe connecting plate, and the lower parts of the probe connecting plates are arranged on the inner side surface of the mounting plate through the nylon swing frame;
The cameras are respectively fixed on the inner side surfaces of the mounting plates through mounting plate hinge lugs; the cameras are arranged in the camera fixing boxes, and light sensing sensors for detecting the walking distance of the robot are also respectively arranged in the two camera fixing boxes;
Connecting strips are respectively fixed at two edges of the mounting plate perpendicular to the axis of the insulator, two ends of each connecting strip extend towards the limiting plate respectively and are provided with waist-shaped long grooves respectively, and adjusting screws respectively penetrate through the waist-shaped long grooves and are fixedly connected with the limiting plate;
More than one driven gear is arranged below the probe connecting plate, and a central shaft of the driven gear is fixedly connected with the probe connecting plate;
More than one driving gear is arranged in the nylon swing frame, the driving gears share a driving shaft, each driven gear is meshed with one driving gear, the driving shaft is connected with a driving motor, and when the driving motor drives the driving gears to rotate, the driven gears are driven to rotate, and then the probe connecting plate is driven to overturn, so that the probes are driven to move obliquely;
the nylon swing frame is concave, the bottom of the nylon swing frame is fixed with the mounting plate, two ends of the nylon swing frame are connected with the corresponding vertical plates, and the nylon swing frame is connected with the vertical plates through rivets penetrating through the nylon Long Baijia to realize rotatable connection;
The two ends of the driving shaft are inserted into the nylon brackets at the corresponding ends, the driving shaft is rotatably connected with the nylon brackets, a bearing is sleeved through the driving shaft, a bearing seat is embedded in the nylon brackets, and the bearing is matched with the bearing seat;
the method for detecting the high-voltage insulator comprises the following steps:
Step 1: placing a high-voltage insulator detection robot on the double-string insulator;
Step 2: the position of a limiting plate of the high-voltage insulator detection robot is adjusted to enable the limiting plate to be respectively attached to the outer sides of the double-string insulators;
Step 3: shooting the two insulators respectively through a camera to judge whether external damage exists;
step 4: the probe motor drives the probe to swing, so that the probe contacts the outer wall of the double-string insulator in sequence, and whether the insulator leaks electricity or not is detected;
step 5: the insulator appearance image shot by the camera and the leakage signal detected by the probe are respectively uploaded to a shielding box, and the shielding box sends the shot image and whether the leakage signal is transmitted to a control center for processing through an antenna;
Step 6: controlling the crawler belt moving mechanism to move forwards through a remote control device;
step 7: when the light sensor measures that the moving distance reaches a set value, the crawler belt moving mechanism stops advancing;
Step 8: repeating the actions of the steps 3-7 until all the double-string insulators are detected.
2. The high-voltage insulator detection robot of claim 1, wherein an insulating panel, a shielding box and an antenna are installed in an inner cavity of the control box, the shielding box is located in the middle of the inner cavity of the control box, a PCB board for receiving a camera and a probe signal is arranged in the shielding box, a plurality of RJ45 interfaces with shielding functions are arranged on a box wall on one side of the shielding box, the insulating panel is located on one side close to the RJ45 interfaces with shielding functions, and the antenna is located on one side far away from the RJ45 interfaces with shielding functions.
3. The high voltage insulator inspection robot of claim 2, wherein the insulating panel is fixed on an insulating panel support plate, a support plate parallel to the insulating panel is mounted on a side of the insulating panel facing the shielding box, and a switch and a charging head are mounted on the support plate.
4. The high voltage insulator inspection robot of claim 1, wherein the gap and screw of the control box are sealed with copper foil.
5. The robot for inspecting a high voltage insulator according to any one of claims 1 to 4, wherein the limiting plates are provided with limiting strips on opposite inner walls thereof, the limiting strips are parallel to each other and to an axis of the insulator, and both ends of the limiting strips are bent outwards to form guide heads.
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| CN202210765255.1A CN115158498B (en) | 2022-07-01 | 2022-07-01 | High-voltage insulator detection robot and detection method |
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| CN202210765255.1A CN115158498B (en) | 2022-07-01 | 2022-07-01 | High-voltage insulator detection robot and detection method |
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| CN115158498A CN115158498A (en) | 2022-10-11 |
| CN115158498B true CN115158498B (en) | 2024-05-17 |
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| KR20090123478A (en) * | 2008-05-28 | 2009-12-02 | 한국전력공사 | Apparatus and system for inspecting insulator |
| CN201331558Y (en) * | 2008-12-30 | 2009-10-21 | 中国科学院沈阳自动化研究所 | Insulator detection robot |
| CN101769971A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院沈阳自动化研究所 | Insulator detecting robot |
| KR20090131242A (en) * | 2009-02-17 | 2009-12-28 | 박준 | Apparatus and method for detecting the degraded component in the overhead distribution line using ultrasonic waves |
| KR101252080B1 (en) * | 2011-11-16 | 2013-04-12 | 김영진 | The apparatus and method of inspecting with flying robot of quad roter |
| CN103091579A (en) * | 2013-01-11 | 2013-05-08 | 山东鲁能智能技术有限公司 | Insulator chain intelligent detection robotic system |
| CN207931529U (en) * | 2018-03-12 | 2018-10-02 | 唐旭升 | a kind of strain insulator string detection robot |
| CN217212970U (en) * | 2022-03-14 | 2022-08-16 | 南京中泓智电电气有限公司 | High-voltage insulator detection robot |
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