CN115902548B - Overhead wire insulator detection robot in transformer substation and obstacle crossing method of overhead wire insulator detection robot - Google Patents
Overhead wire insulator detection robot in transformer substation and obstacle crossing method of overhead wire insulator detection robot Download PDFInfo
- Publication number
- CN115902548B CN115902548B CN202211469732.6A CN202211469732A CN115902548B CN 115902548 B CN115902548 B CN 115902548B CN 202211469732 A CN202211469732 A CN 202211469732A CN 115902548 B CN115902548 B CN 115902548B
- Authority
- CN
- China
- Prior art keywords
- rotating
- clamping
- shoulder
- jaw mechanism
- clamping jaw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
- Y04S10/52—Outage or fault management, e.g. fault detection or location
Landscapes
- Electric Cable Installation (AREA)
Abstract
The utility model provides an overhead wire insulator detects robot and overhead wire insulator detects obstacle crossing method of robot in transformer substation, wherein, overhead wire insulator detects the robot and includes clamping jaw mechanism, flexible arm and rotatory shoulder, clamping jaw mechanism with flexible arm all is provided with two, rotatory shoulder includes left rotatory shoulder and right rotatory shoulder, left side rotatory shoulder with rotate between the rotatory shoulder in right side and be connected and left side rotatory shoulder with right rotatory shoulder's pivot structure is first direction, two flexible arm respectively with left side rotatory shoulder with right rotatory shoulder is connected, two flexible arm is on a parallel with first direction, two clamping jaw mechanism respectively with two flexible arm is connected, flexible arm's one end with rotatory shoulder is connected, the other end with clamping jaw mechanism is connected, clamping jaw mechanism is used for the centre gripping overhead wire. The apparatus is capable of negotiating obstacles on the overhead line.
Description
Technical Field
The present disclosure relates to the field of electric robots, and in particular, to an overhead wire insulator detection robot and an obstacle crossing method of the overhead wire insulator detection robot.
Background
With the continuous development of the electric robot technology, the complexity of the faced tasks is continuously improved, and the operation capability requirement of the robot is further improved. At present, the non-contact inspection robot based on the transformer substation scene is relatively mature in research, has the characteristics of large moving range, strong comprehensiveness and the like, but can only work near the ground, high-altitude targets in the transformer substation are easy to be shielded, so that detection cannot be realized, and meanwhile, the capability of interactive operation with the outside is also lacking.
In order to further improve detection and operation capability in a transformer substation high-altitude scene, the on-line suspension type robot is gradually valued and rapidly developed, the on-line suspension type robot can realize short-distance detection contact type detection on targets such as high-altitude insulators, and the on-line target detection accuracy is greatly improved.
In the actual detection process, when the robot encounters an obstacle on the line, the robot is difficult to continue to advance.
Disclosure of Invention
It is an object of the present disclosure to provide an overhead line insulator inspection robot that is capable of negotiating an obstacle when the overhead line encounters an obstacle.
In order to achieve the above-mentioned purpose, the present disclosure provides an overhead wire insulator detection robot, including clamping jaw mechanism, flexible arm and rotatory shoulder, clamping jaw mechanism with flexible arm all is provided with two, rotatory shoulder includes left rotatory shoulder and right rotatory shoulder, left side rotatory shoulder with rotate between the rotatory shoulder in right side and be connected just left side rotatory shoulder with right side rotatory shoulder's pivot structure is first direction, two flexible arm respectively with left side rotatory shoulder with right side rotatory shoulder is connected, two flexible arm is parallel to first direction, two clamping jaw mechanism respectively with two flexible arm is connected, the one end of flexible arm with rotatory shoulder is connected, the other end with clamping jaw mechanism is connected, clamping jaw mechanism is used for the centre gripping overhead wire.
Optionally, the flexible arm includes extensible member and shell, the expansion end of extensible member with clamping jaw mechanism connects, the stationary end of extensible member with rotatory shoulder is connected, the shell cover is established the extensible member outside and one end with rotatory shoulder is connected, and the other end is followed the direction of activity of extensible member extends.
Optionally, the clamping jaw mechanism includes clamping piece, worm wheel and output shaft worm, flexible arm with be constructed the clamping jaw motor between the clamping jaw mechanism, the clamping piece is constructed to two and two the clamping piece is constructed bilateral symmetry and is distributed and form the structure of grabbing, the worm wheel is constructed to two and two worm wheel and two clamping piece coaxial coupling, the active cell of clamping jaw motor with output shaft worm's one end is connected, output shaft worm's the other end with the worm wheel eccentric connection.
Optionally, two semicircular first clamping openings and second clamping openings are formed in the clamping pieces, the first clamping openings in the two clamping pieces can be combined into a circle, and the second clamping openings in the two clamping pieces can be combined into a circle.
Optionally, the second clamping openings are provided with a plurality of second clamping openings with different diameters.
Optionally, the overhead line insulator detects robot still includes left side rotary beam, right side rotary beam and middle part rotation motor, the one end of left side rotary beam with the one end rotation of right side rotary beam is connected, the other end of left side rotary beam with one flexible arm is connected, the other end of right side rotary beam with one flexible arm is connected, the middle part rotation motor is used for the drive the left side rotary beam with right side rotary beam rotates relatively.
Optionally, the overhead wire insulator detecting robot further comprises a right rotating motor and a left rotating motor, a shell of the left rotating motor is connected with the left rotating beam, a rotor of the left rotating motor is connected with one telescopic arm, and a rotor of the right rotating motor is connected with the other telescopic arm.
Optionally, the overhead wire insulator detection robot further comprises a power supply and a controller, wherein the power supply and the controller are electrically connected with the left rotating motor, the right rotating motor and the middle rotating motor.
Optionally, a protective cover is sleeved outside the power supply and the controller.
Another aspect of the present disclosure provides an obstacle crossing method of an overhead line insulator detection robot, where after the overhead line insulator detection robot encounters an obstacle on an overhead line: s1: releasing the jaw mechanism away from the obstruction; s2: starting the left rotating motor, the middle rotating motor and the right rotating motor to enable the left rotating beam and the right rotating beam to rotate, and driving the loosened clamping jaw mechanism to pass through an obstacle from one side; s3: opening a telescopic piece to adjust the length of the telescopic arm so that the loosened clamping jaw mechanism approaches to the overhead line after the obstacle; s4: closing the released jaw mechanism; s5: releasing the other jaw mechanism; s6: starting the left rotating motor, the middle rotating motor and the right rotating motor to enable the left rotating beam and the right rotating beam to rotate, and driving the other clamping jaw mechanism to pass through an obstacle from one side; s7: and opening the telescopic piece to adjust the length of the telescopic arm so that the loosened other clamping jaw mechanism is close to the overhead line after the obstacle. S8: closing the other of said jaw mechanisms.
Through the technical scheme, in the use process, the overhead wire insulator detection robot is hung on an overhead wire, when the overhead wire insulator detection robot encounters an obstacle in the working process, the clamping jaw mechanism is loosened, meanwhile, the left rotary shoulder and the right rotary shoulder rotate to drive the loosened clamping jaw mechanism to bypass from one side of the obstacle, after the obstacle is bypassed, the telescopic arm stretches and contracts to adjust the position of the clamping jaw mechanism, so that the clamping jaw mechanism can clamp the overhead wire, the clamping jaw mechanism on one side bypasses the overhead wire, the clamping jaw mechanism on the other side loosens the overhead wire, the left rotary shoulder and the right rotary shoulder rotate relatively to drive the clamping jaw mechanism on the other side to bypass the obstacle from one side, the clamping jaw mechanism on the other side is opened to align with the overhead wire, and then the clamping overhead wire is closed to finish obstacle crossing of the overhead wire insulator detection robot.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:
fig. 1 is a schematic structural view of an overhead wire insulator inspection robot according to an embodiment of the present application;
fig. 2 is a schematic view of a part of a structure of an overhead wire insulator inspection robot according to an embodiment of the present application;
FIG. 3 is a schematic view of another angle of an overhead wire insulator inspection robot according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an overhead wire insulator detection robot in obstacle crossing according to an embodiment of the present application.
Description of the reference numerals
1. A jaw mechanism; 101. a clamping member; 102. a worm wheel; 103. an output shaft worm; 104. a first clamping port; 105. a second clamping port; 2. a telescoping arm; 3. a right rotating shoulder; 4. a left rotating shoulder; 5. a jaw motor; 6. a telescoping member; 7. a right side rotating beam; 8. a right side rotating motor; 9. a power supply; 10. a controller; 11. a motor is rotated in the middle; 12. a left rotary motor; 13. a left side rotating beam; 14. strain clamp; 15. insulator
Detailed Description
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.
In the present disclosure, unless otherwise indicated, the terms of orientation such as "upper and lower" are used to generally refer to the directions above and below in the direction of gravity during use, and "left and right" are directions along the length of the shaft, and furthermore, the following description, when referring to the drawings, unless otherwise indicated, the same reference numerals in different drawings denote the same or similar elements. The foregoing definitions are provided for the purpose of illustrating and explaining the present disclosure and should not be construed as limiting the present disclosure.
According to a specific embodiment of the present disclosure, the present disclosure provides an overhead line insulator detection robot, referring to fig. 1, including a clamping jaw mechanism 1, a telescopic arm 2 and a rotating shoulder, the clamping jaw mechanism 1 and the telescopic arm 2 are both provided with two, the rotating shoulder includes a left rotating shoulder 4 and a right rotating shoulder 3, the rotating shaft between the left rotating shoulder 4 and the right rotating shoulder 3 is rotationally connected, the rotating shaft between the left rotating shoulder 4 and the right rotating shoulder 3 is configured as a first direction, the two telescopic arms 2 are respectively connected with the left rotating shoulder 4 and the right rotating shoulder 3, the two telescopic arms 2 are parallel to the first direction, the two clamping jaw mechanisms 1 are respectively connected with the two telescopic arms 2, one end of the telescopic arm 2 is connected with the rotating shoulder, the other end is connected with the clamping jaw mechanism 1, and the clamping jaw mechanism 1 is used for clamping an overhead line.
Through the technical scheme, in the use process, the overhead wire insulator detection robot is hung on an overhead wire, when the overhead wire insulator detection robot encounters an obstacle in the working process, the clamping jaw mechanism 1 is loosened, meanwhile, the left rotary shoulder 4 and the right rotary shoulder 3 rotate to drive the loosened clamping jaw mechanism 1 to bypass from one side of the obstacle, after the obstacle is bypassed, the telescopic arm 2 stretches and contracts to adjust the position of the clamping jaw mechanism 1, so that the clamping jaw mechanism 1 can clamp the overhead wire, the clamping jaw mechanism 1 on one side is completed to bypass the overhead wire, the clamping jaw mechanism 1 on the other side is loosened, the left rotary shoulder 4 and the right rotary shoulder 3 rotate relatively to drive the clamping jaw mechanism 1 on the other side to bypass the obstacle from one side, the clamping jaw mechanism 1 after bypassing the obstacle is opened to align with the overhead wire, and then the clamping overhead wire is closed, and the obstacle crossing of the overhead wire insulator detection robot is completed.
As an alternative embodiment, referring to fig. 1 and 2, the telescopic arm 2 includes a telescopic member 6 and a housing, the movable end of the telescopic member 6 is connected with the jaw mechanism 1, the stationary end of the telescopic member 6 is connected with a rotating shoulder, the housing is sleeved outside the telescopic member 6 and one end is connected with the rotating shoulder, and the other end extends along the moving direction of the telescopic member 6. In the present embodiment, the telescopic member 6 is configured as an air cylinder, and in other embodiments, the telescopic member 6 may be configured as other structures capable of driving the jaw mechanism 1 to stretch or retract. During the extension of the clamping jaw mechanism 1, the telescopic piece 6 extends to drive the clamping jaw mechanism 1 to move, the housing is not moved during the extension, the telescopic piece 6 partially extends out of the housing, the clamping jaw mechanism 1 is far away from the housing, and during the retraction, the clamping jaw mechanism 1 retracts into the housing, and the clamping jaw mechanism 1 is close to the housing.
As an alternative embodiment, referring to fig. 2 and 3, the clamping jaw mechanism 1 includes a clamping member 101, a worm wheel 102 and an output shaft worm 103, a clamping jaw motor 5 is configured between the telescopic arm 2 and the clamping jaw mechanism 1, the clamping member 101 is configured to be two and the two clamping members 101 are configured to be distributed in bilateral symmetry to form a double-grabbing structure, the worm wheel 102 is configured to be two and the two worm wheels 102 are coaxially connected with the two clamping members 101, a rotor of the clamping jaw motor 5 is connected with one end of the output shaft worm 103, and the other end of the output shaft worm 103 is eccentrically connected with the worm wheel 102. In the process of loosening the clamping piece 101, the clamping jaw motor 5 drives the output shaft worm 103 to move upwards, the output shaft worm 103 drives the two worm gears 102 to rotate, the rotation of the worm gears 102 enables the upper end of the clamping piece 101 to be opened, so that the clamping piece 101 is opened, in the process of closing the clamping piece 101, the clamping jaw motor 5 rotates reversely to drive the output shaft worm 103 to move downwards, and the output shaft worm 103 drives the worm gears 102 to rotate, so that the upper end of the clamping piece 101 is close to the closing end.
As an alternative embodiment, referring to fig. 2 and 3, the two clamping members 101 are provided with a semicircular first clamping opening 104 and a semicircular second clamping opening 105, the first clamping openings 104 on the two clamping members 101 can be combined into a circular shape, and the second clamping openings 105 on the two clamping members 101 can be combined into a circular shape. During clamping, the two semi-circles come close to form a circle so as to clamp the overhead line. The first clamping opening 104 has a larger diameter for clamping a thicker insulator connection on a high-voltage transmission line, and the second clamping opening 105 has a smaller diameter for clamping an overhead line.
As an alternative embodiment, referring to fig. 2 and 3, the second clamping ports 105 are formed with a plurality of second clamping ports 105 having different diameters. In this embodiment, two second clamping ports 105 are provided, and the diameters of the two second clamping ports 105 are different, so that the different second clamping ports 105 can be used according to the thickness matching of the overhead line, and the possibility that the overhead line cannot be clamped due to the fact that the second clamping ports 105 are not matched with the size of the overhead line is reduced.
As an alternative embodiment, referring to fig. 1 and 2, the overhead wire insulator detecting robot further includes a left rotating beam 13, a right rotating beam 7, and a middle rotating motor 11, one end of the left rotating beam 13 is rotatably connected to one end of the right rotating beam 7, the other end of the left rotating beam 13 is connected to one telescopic arm 2, the other end of the right rotating beam 7 is connected to one telescopic arm 2, and the middle rotating motor 11 is used for driving the left rotating beam 13 and the right rotating beam 7 to rotate relatively. In the obstacle crossing process, the left rotary shoulder 4 and the right rotary shoulder 3 rotate, the middle rotary motor 11 rotates in the rotating process, and the included angle between the left rotary beam 13 and the right rotary beam 7 changes, so that the change of the included angle between the left rotary shoulder 4 and the right rotary shoulder 3 is driven.
As an alternative embodiment, referring to fig. 2 and 3, the overhead wire insulator inspection robot further includes a right-side rotating motor 8 and a left-side rotating motor 12, a housing of the left-side rotating motor 12 is connected to a left-side rotating beam 13, a mover of the left-side rotating motor 12 is connected to one telescopic arm 2, and a mover of the right-side rotating motor 8 is connected to the other telescopic arm 2. In the process of clamping the overhead line by using the clamping members 101, the orientations of the two clamping members 101 are adjusted by rotating the left-side rotating motor 12 and the right-side rotating motor 8, respectively.
As an alternative embodiment, referring to fig. 2 and 3, the overhead wire insulator inspection robot further includes a power supply 9 and a controller 10, the power supply 9 and the controller 10 being electrically connected to the left-side rotating motor 12 and the right-side rotating motor 8 and the middle rotating motor 11. In the process of detecting the obstacle surmounting of the robot by the overhead wire insulator, a power supply 9 supplies power to a motor in the robot, and a controller 10 is used for controlling the rotating number of turns and the rotating direction of the motor. In the present embodiment, the power supply 9 is configured as a battery.
As an alternative embodiment, referring to fig. 1, 2 and 4, the power supply 9 and the controller 10 are sleeved with a protective cover. Avoiding outside during outdoor operation
Referring to fig. 1 to 4, another aspect of the present disclosure provides an obstacle crossing method of an overhead wire insulator inspection robot, after the overhead wire insulator inspection robot encounters an obstacle on an overhead wire: s1: releasing the clamping jaw mechanism 1 away from the obstacle; s2: starting a left rotating motor 12, a middle rotating motor 11 and a right rotating motor 8 to enable a left rotating beam 13 and a right rotating beam 7 to rotate, and driving the released clamping jaw mechanism 1 to cross an obstacle from one side; s3: opening a telescopic piece 6 to adjust the length of the telescopic arm 2 so that the loosened clamping jaw mechanism 1 approaches to the overhead line after the obstacle; s4: closing the released clamping jaw mechanism 1; s5: releasing the other clamping jaw mechanism 1; s6: starting a left rotating motor 12, a middle rotating motor 11 and a right rotating motor 8 to enable a left rotating beam 13 and a right rotating beam 7 to rotate so as to drive the other clamping jaw mechanism 1 to cross an obstacle from one side; s7: the telescopic piece 6 is opened to adjust the length of the telescopic arm 2 so that the loosened other clamping jaw mechanism 1 approaches to the overhead line after the obstacle. S8: closing the other jaw mechanism 1. In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations are not described further in this disclosure in order to avoid unnecessary repetition.
Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.
Claims (8)
1. An overhead wire insulator detection robot is characterized by comprising a clamping jaw mechanism (1), a telescopic arm (2) and rotating shoulders, wherein the clamping jaw mechanism (1) and the telescopic arm (2) are respectively provided with two rotating shoulders, each rotating shoulder comprises a left rotating shoulder (4) and a right rotating shoulder (3), the left rotating shoulders (4) and the right rotating shoulders (3) are rotationally connected, a rotating shaft of each left rotating shoulder (4) and each right rotating shoulder (3) is structured into a first direction, the two telescopic arms (2) are respectively connected with the left rotating shoulders (4) and the right rotating shoulders (3) in parallel, the two telescopic arms (2) are respectively connected with the two telescopic arms (2), one end of each telescopic arm (2) is connected with the corresponding rotating shoulder, the other end of each telescopic arm (2) is connected with the corresponding clamping jaw mechanism (1), the rotating shaft of each left rotating shoulder (4) and the corresponding right rotating shoulder (3) is used for clamping wires, the overhead wire insulator detection robot further comprises a left rotating beam (13), a right rotating beam (13) and a rotating beam (13) which are connected with the rotating beam (13) at the middle part of the rotating beam (13), the middle part rotation motor (11) is used for driving the left side rotation beam (13) with the relative rotation of right side rotation beam (7), flexible arm (2) are including extensible member (6) and shell, overhead wire insulator detects the robot still including right side rotation motor (8) and left side rotation motor (12), the shell of left side rotation motor (12) with left side rotation beam (13) are connected, the active cell of left side rotation motor (12) with one flexible arm (2) are connected, the active cell of right side rotation motor (8) with another flexible arm (2) are connected.
2. The overhead wire insulator detection robot according to claim 1, wherein the movable end of the telescopic member (6) is connected with the jaw mechanism (1), the stationary end of the telescopic member (6) is connected with the rotating shoulder, and the outer shell is sleeved outside the telescopic member (6) and has one end connected with the rotating shoulder, and the other end extends in the moving direction of the telescopic member (6).
3. The overhead wire insulator detection robot according to claim 1, wherein the clamping jaw mechanism (1) comprises a clamping piece (101), a worm wheel (102) and an output shaft worm (103), a clamping jaw motor (5) is configured between the telescopic arm (2) and the clamping jaw mechanism (1), the clamping piece (101) is configured to be two, the two clamping pieces (101) are configured to be distributed in a bilateral symmetry mode to form a double-grabbing structure, the worm wheel (102) is configured to be two, the two worm wheels (102) are coaxially connected with the two clamping pieces (101), a rotor of the clamping jaw motor (5) is connected with one end of the output shaft worm (103), and the other end of the output shaft worm (103) is eccentrically connected with the worm wheel (102).
4. The overhead wire insulator detection robot according to claim 3, wherein the two clamping pieces (101) are provided with semicircular first clamping openings (104) and second clamping openings (105), the first clamping openings (104) on the two clamping pieces (101) can be combined into a circle, and the second clamping openings (105) on the two clamping pieces (101) can be combined into a circle.
5. The overhead wire insulator detection robot according to claim 4, wherein the second clamping ports (105) are provided with a plurality of second clamping ports (105) with different diameters.
6. The overhead wire insulator inspection robot according to claim 5, further comprising a power supply (9) and a controller (10), wherein the power supply (9) and the controller (10) are electrically connected with the left side rotating motor (12), and the right side rotating motor (8) and the middle rotating motor (11).
7. The overhead wire insulator detection robot according to claim 6, wherein a protective cover is sleeved outside the power supply (9) and the controller (10).
8. An obstacle crossing method of an overhead line insulator detection robot, comprising the overhead line insulator detection robot according to any one of claims 1 to 7, wherein after the overhead line insulator detection robot encounters an obstacle on an overhead line:
s1: -releasing said jaw mechanism (1) away from said obstacle;
s2: starting the left rotating motor (12), the middle rotating motor (11) and the right rotating motor (8), so that the left rotating beam (13) and the right rotating beam (7) rotate to drive the loosened clamping jaw mechanism (1) to pass through an obstacle from one side;
s3: opening a telescopic piece (6) to adjust the length of the telescopic arm (2) so that the loosened clamping jaw mechanism (1) approaches to an overhead line after obstacle;
s4: closing the released clamping jaw mechanism (1);
s5: -releasing the other jaw mechanism (1);
s6: starting the left rotating motor (12), the middle rotating motor (11) and the right rotating motor (8), so that the left rotating beam (13) and the right rotating beam (7) rotate to drive the other clamping jaw mechanism (1) to pass through an obstacle from one side;
s7: opening the telescopic piece (6) to adjust the length of the telescopic arm (2) so that the loosened other clamping jaw mechanism (1) approaches to the overhead line after the obstacle;
s8: closing the other jaw mechanism (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211469732.6A CN115902548B (en) | 2022-11-23 | 2022-11-23 | Overhead wire insulator detection robot in transformer substation and obstacle crossing method of overhead wire insulator detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211469732.6A CN115902548B (en) | 2022-11-23 | 2022-11-23 | Overhead wire insulator detection robot in transformer substation and obstacle crossing method of overhead wire insulator detection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115902548A CN115902548A (en) | 2023-04-04 |
| CN115902548B true CN115902548B (en) | 2023-09-22 |
Family
ID=86483637
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211469732.6A Active CN115902548B (en) | 2022-11-23 | 2022-11-23 | Overhead wire insulator detection robot in transformer substation and obstacle crossing method of overhead wire insulator detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115902548B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116520090B (en) * | 2023-05-25 | 2023-11-14 | 东北电力大学 | Separable wire and splicing sleeve fault monitoring system |
Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1695908A (en) * | 2005-06-03 | 2005-11-16 | 武汉大学 | Crawl mechanism of clearing robot for suspension insulators on high voltage line |
| CN100999216A (en) * | 2006-01-13 | 2007-07-18 | 中国科学院沈阳自动化研究所 | Autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot |
| CN201244811Y (en) * | 2008-07-27 | 2009-05-27 | 扬州大学 | Side holding and walking combined apparatus |
| CN102136696A (en) * | 2010-12-30 | 2011-07-27 | 中国电力科学研究院 | Transmission line patrolling or deicing robot |
| CN201994593U (en) * | 2010-12-30 | 2011-09-28 | 中国电力科学研究院 | Inspection or de-icing robot of power transmission line |
| CN102709834A (en) * | 2012-05-30 | 2012-10-03 | 哈尔滨工程大学 | Cable deicing robot for transmission line |
| CN202917899U (en) * | 2012-12-05 | 2013-05-01 | 山东电力集团公司电力科学研究院 | Line robot actuating arm with obstacle crossing function |
| CN103786145A (en) * | 2012-11-01 | 2014-05-14 | 北京国网富达科技发展有限责任公司 | Robot for inspecting quality of electric transmission lines at high altitudes |
| CN204927964U (en) * | 2015-08-12 | 2015-12-30 | 北京国网富达科技发展有限责任公司 | Transmission line synthesizes work robot with straightway hinders mechanism more |
| CN105914651A (en) * | 2016-06-01 | 2016-08-31 | 南昌大学 | Single-arm driving double-arm obstacle crossing line inspection robot |
| CN106142049A (en) * | 2016-08-18 | 2016-11-23 | 国网湖南省电力公司带电作业中心 | Hot line robot |
| CN106711838A (en) * | 2015-08-12 | 2017-05-24 | 北京国网富达科技发展有限责任公司 | Power transmission line integrated operating robot with straight line obstacle crossing mechanism |
| CN106786170A (en) * | 2017-03-09 | 2017-05-31 | 华北电力大学（保定） | Transmission line polling robot |
| CN107611849A (en) * | 2017-10-26 | 2018-01-19 | 深圳市益海洋电力安装器材有限公司 | A kind of self-propelled power transmission cable crusing robot |
| CN107991594A (en) * | 2017-12-27 | 2018-05-04 | 江苏集萃智能制造技术研究所有限公司 | A kind of convertible zero resistance insulator live detection robot of two manipulators |
| CN109262631A (en) * | 2018-11-15 | 2019-01-25 | 河北工业大学 | The bionical double mechanical arms automatic crusing robot of mesohigh line insulation risk point |
| CN209525415U (en) * | 2018-11-15 | 2019-10-22 | 河北工业大学 | The potential insulation fault Multifunctional inspecting device of power line |
| CN110829266A (en) * | 2019-11-26 | 2020-02-21 | 长沙理工大学 | Power transmission line online electricity taking rolling obstacle crossing robot and application method thereof |
| CN110979495A (en) * | 2019-10-23 | 2020-04-10 | 广西电网有限责任公司电力科学研究院 | Insulator chain creeping mechanism |
| CN111730611A (en) * | 2020-05-20 | 2020-10-02 | 南通大学 | Mechanical structure of high-voltage transmission line inspection robot |
| CN215415719U (en) * | 2021-06-21 | 2022-01-04 | 中国科学院沈阳自动化研究所 | Ultrahigh voltage transmission line insulator detection robot |
-
2022
- 2022-11-23 CN CN202211469732.6A patent/CN115902548B/en active Active
Patent Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1695908A (en) * | 2005-06-03 | 2005-11-16 | 武汉大学 | Crawl mechanism of clearing robot for suspension insulators on high voltage line |
| CN100999216A (en) * | 2006-01-13 | 2007-07-18 | 中国科学院沈阳自动化研究所 | Autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot |
| CN201244811Y (en) * | 2008-07-27 | 2009-05-27 | 扬州大学 | Side holding and walking combined apparatus |
| CN102136696A (en) * | 2010-12-30 | 2011-07-27 | 中国电力科学研究院 | Transmission line patrolling or deicing robot |
| CN201994593U (en) * | 2010-12-30 | 2011-09-28 | 中国电力科学研究院 | Inspection or de-icing robot of power transmission line |
| CN102709834A (en) * | 2012-05-30 | 2012-10-03 | 哈尔滨工程大学 | Cable deicing robot for transmission line |
| CN103786145A (en) * | 2012-11-01 | 2014-05-14 | 北京国网富达科技发展有限责任公司 | Robot for inspecting quality of electric transmission lines at high altitudes |
| CN202917899U (en) * | 2012-12-05 | 2013-05-01 | 山东电力集团公司电力科学研究院 | Line robot actuating arm with obstacle crossing function |
| CN106711838A (en) * | 2015-08-12 | 2017-05-24 | 北京国网富达科技发展有限责任公司 | Power transmission line integrated operating robot with straight line obstacle crossing mechanism |
| CN204927964U (en) * | 2015-08-12 | 2015-12-30 | 北京国网富达科技发展有限责任公司 | Transmission line synthesizes work robot with straightway hinders mechanism more |
| CN105914651A (en) * | 2016-06-01 | 2016-08-31 | 南昌大学 | Single-arm driving double-arm obstacle crossing line inspection robot |
| CN106142049A (en) * | 2016-08-18 | 2016-11-23 | 国网湖南省电力公司带电作业中心 | Hot line robot |
| CN106786170A (en) * | 2017-03-09 | 2017-05-31 | 华北电力大学（保定） | Transmission line polling robot |
| CN107611849A (en) * | 2017-10-26 | 2018-01-19 | 深圳市益海洋电力安装器材有限公司 | A kind of self-propelled power transmission cable crusing robot |
| CN107991594A (en) * | 2017-12-27 | 2018-05-04 | 江苏集萃智能制造技术研究所有限公司 | A kind of convertible zero resistance insulator live detection robot of two manipulators |
| CN109262631A (en) * | 2018-11-15 | 2019-01-25 | 河北工业大学 | The bionical double mechanical arms automatic crusing robot of mesohigh line insulation risk point |
| CN209525415U (en) * | 2018-11-15 | 2019-10-22 | 河北工业大学 | The potential insulation fault Multifunctional inspecting device of power line |
| CN110979495A (en) * | 2019-10-23 | 2020-04-10 | 广西电网有限责任公司电力科学研究院 | Insulator chain creeping mechanism |
| CN110829266A (en) * | 2019-11-26 | 2020-02-21 | 长沙理工大学 | Power transmission line online electricity taking rolling obstacle crossing robot and application method thereof |
| CN111730611A (en) * | 2020-05-20 | 2020-10-02 | 南通大学 | Mechanical structure of high-voltage transmission line inspection robot |
| CN215415719U (en) * | 2021-06-21 | 2022-01-04 | 中国科学院沈阳自动化研究所 | Ultrahigh voltage transmission line insulator detection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115902548A (en) | 2023-04-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104972460B (en) | A kind of multi-joint omnidirectional type Pipe-out Robot | |
| CN115902548B (en) | Overhead wire insulator detection robot in transformer substation and obstacle crossing method of overhead wire insulator detection robot | |
| CN100391771C (en) | Autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot | |
| CN101168252A (en) | Arm lifting type high voltage transmission line automatic polling robot | |
| CN105914651B (en) | Single armed drives both arms obstacle-clearing type line walking robot | |
| CN105522589B (en) | A kind of modularization folding machinery arm unit | |
| CN211761552U (en) | System for teleoperation master hand based on hydraulic mechanical arm and force feedback | |
| CN107323560A (en) | A kind of wheel leg type movable rescue robot | |
| CN103862456A (en) | Walking clamping combined structure for inspection robot | |
| CN103659815A (en) | Routing inspection robot mechanism applicable to narrow routing inspection working space | |
| CN202763841U (en) | Inspection robot mechanism suitable for narrow inspection working space | |
| CN216883947U (en) | Single-arm man-machine cooperation distribution network live working equipment | |
| CN105345836B (en) | A kind of three finger seven freedom configuration robot hands | |
| CN214818529U (en) | Modular double-wheel claw line patrol robot | |
| CN110539316A (en) | Ground potential operation method, live working robot for distribution network overhead line and manipulator | |
| CN100358681C (en) | Wheel arm combined patrol inspection robot mechanism | |
| CN109514595A (en) | A kind of two-freedom parallel connection articulation mechanism | |
| CN112658555A (en) | Welding manipulator | |
| CN210480462U (en) | Pipe laying and paying-off device for hydraulic engineering | |
| CN109262632B (en) | Multi-joint light wheelchair mechanical arm | |
| CN214875224U (en) | Modular wheel-foot dual-purpose robot | |
| CN108480830B (en) | Welding manipulator convenient to intelligent robot uses | |
| CN215701681U (en) | Be applied to articulated fixture of robot | |
| CN108873873B (en) | Live detection robot for GIS equipment of transformer substation | |
| CN106898966A (en) | A kind of inspection robot mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |