CN201331558Y - Insulator detection robot - Google Patents
Insulator detection robot Download PDFInfo
- Publication number
- CN201331558Y CN201331558Y CNU2008202323500U CN200820232350U CN201331558Y CN 201331558 Y CN201331558 Y CN 201331558Y CN U2008202323500 U CNU2008202323500 U CN U2008202323500U CN 200820232350 U CN200820232350 U CN 200820232350U CN 201331558 Y CN201331558 Y CN 201331558Y
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Abstract
The utility model relates to a moving detection robot, in particular to an insulator detection robot, which comprises a first pedrail, a case, a second pedrail, a variable-pitch telescopic mechanism and a probe-driving mechanism; wherein, the variable-pitch telescopic mechanism is mounted on the case; the first and the second pedrails are positioned on both sides of the case and respectively articulated with the variable-pitch telescopic mechanism; a first travel sensor and a second travel sensor are respectively connected with the first and the second pedrails; and the probe-driving mechanism is arranged on the lower side of the case. Since the utility model adopts the variable-pitch telescopic mechanism which can be extended and retracted, the utility model can be adapted to the change of the distance of double horizontal insulator strings, safety protection is good, the traveling speed is high, the operation is easy, the abrasion of insulator coating is little, the probe lapping is reliable, and the insulator detection robot can detect live insulators.
Description
Technical field
The utility model relates to mobile detection machine people, specifically a kind of insulator detecting robot.
Background technology
Insulator is to be used for the insulator arrangement that lead is connected with iron tower on the aerial high-voltage power transmission line, and the prevention of deterioration insulator detects for guaranteeing that the ultra-high-tension power transmission line safe operation is significant, and traditional detection mode is for manually stepping on the tower height idle job.But along with the raising of electric pressure, insulator chain length constantly increases, and the difficulty of manual detection operation is also increasing.Therefore developing a kind ofly can become the effective way that solves the insulator charged detection of extra high voltage network along the insulator chain insulator charged detection machine people of walking automatically.The use-pattern of insulator chain mainly contains two kinds in the extra high voltage network: the horizontal mode and the mode of dangling, and the automatic travelling device that the level insulation substring detects is difficult to realize more.
Existing insulator pick-up unit is considered abundant not to the utmost at some practical problemss, there are many deficiencies, for example: owing to scribble antifouling flush paint usually on the insulator porcelain patticoat, existing insulator detects running gear when using, and can cause the wearing and tearing that make insulator porcelain patticoat antifouling flush paint; Distance and electric potential difference between insulator chain and iron tower are bigger, last string operation difficulty; Conductor along the string direction causes the direct of insulator or induction short circuit easily, and the security of hot line job is reduced; In fact the distance of horizontal duplex insulator is not equal, and it is relatively poor to walk continuity along serial, and it is slow to detect operating speed.In a word, up to the present effective, practical insulator charged detection machine people is not appearring as yet in the art.
The utility model content
At above shortcomings part in the prior art; the purpose of this utility model is to provide a kind of insulator detecting robot with displacement Telescopic; made full use of the characteristics design of level insulation substring duplex; little to insulator wearing and tearing, the short circuit insulator is few; security protection is good, and last string operation is simple, and translational speed is fast; detect accurately, can walk along the two serials of level, charged detection.
The purpose of this utility model is achieved through the following technical solutions:
The utility model comprises first Athey wheel, casing, second Athey wheel, displacement telescoping mechanism and probe driving mechanism, the displacement telescoping mechanism is installed on the casing, first and second Athey wheel is positioned at the both sides of casing, is hinged with the displacement telescoping mechanism respectively, is connected with first and second stroke sensor on first and second Athey wheel respectively; The below of casing is provided with the probe driving mechanism.
Wherein: be separately installed with adjustable for height safety protection mechanism on described first and second Athey wheel; Safety protection mechanism comprises inside and outside support, inside and outside guide pole and inside and outside link, and inside and outside support is installed in the both sides of Athey wheel respectively by first screw, and the link of inside and outside support has bar-shaped trough, and first screw is arranged in the bar-shaped trough; Be separately installed with inside and outside guide pole on the inside and outside support, inside and outside link is separately fixed on the inside and outside guide pole; Described displacement telescoping mechanism is two, structure is identical, be installed in the forward and backward two sides of casing respectively, this displacement telescoping mechanism comprises first and second guide holder, first and second sliding axle, first and second tooth bar, gear, gear shaft and set nut, first and second sliding axle can be slidably mounted on the casing relatively by first and second guide holder respectively, one end of first and second sliding axle is hinged with first and second Athey wheel respectively, and the other end is connected with first and second tooth bar respectively; Gear shaft is installed on the casing, and gear is socketed on the gear shaft rotationally, and first and second tooth bar lays respectively at the upper and lower both sides of gear, is provided with the set nut of Positioning Gear on gear shaft; One end of gear shaft is plugged in the casing, the other end set nut that has been threaded; Gear is connected on the gear shaft by bearing holder (housing, cover), also is provided with first and second sleeve that is positioned at the gear both sides on the gear shaft, and first sleeve is connected to set nut; Described first and second Athey wheel structure is identical, comprise second band, rubber belt track, follower, driving wheel, drive motor and the inside and outside yoke plate synchronously, driving wheel, follower, drive motor are installed in respectively between the inside and outside yoke plate, driving wheel, follower are positioned at the rear and front end of Athey wheel, driving wheel is with synchronously by second and is linked to each other with drive motor, and follower links to each other with driving wheel by rubber belt track; The bottom of Athey wheel is provided with the many support rollers that are installed between the inside and outside yoke plate; Drive motor is arranged between the inside and outside yoke plate by motor cabinet; Two of longitudinal lengths of first and second Athey wheel and greater than the axial length of three insulators; Described probe driving mechanism comprises probe drive motor, driving wheel, first band, engaged wheel, driving stem and detection probe synchronously, the probe drive motor is installed in the casing, the output shaft of probe drive motor is provided with driving wheel, the engaged wheel that is socketed on the driving stem is connected with driving wheel by the first synchronous band, and the two ends of driving stem are provided with detection probe; The probe drive motor is installed on the base plate of casing, and base plate bottom, first symmetria bilateralis of band synchronously is provided with bracing frame, and driving stem is installed on the bracing frame, and an end of detection probe is hinged by the 3rd bearing pin and driving stem, and the other end is the test side.
Advantage of the present utility model and good effect are:
1. has the displacement Telescopic.The utlity model has the displacement telescoping mechanism, when on being the horizontal twin insulator strings that the Eight characters distributes, walking, the distance between two Athey wheels can be with the variation of insulator chain distance telescopic variation.
2. security protection is good.The utility model is when insulator chain is walked, and the safety protection mechanism of two Athey wheel sides covers on the insulator chain all the time, makes robot be unlikely to fall down from insulator chain in the walking testing process, plays the safeguard protection effect.
3. it is simple to go up string operation.The utility model has made full use of the actual job environmental quality of level insulation substring duplex, adopts two Athey wheels and casing to constitute a chain structure form, and last string operation is simple, meets the electric power operation safety rule.
4. short circuit insulator number is few.The utility model mainly adopts insulating material, and nonisulated device is distributed in the vertical centre position of casing, makes the insulator sheet number of contact or induction short circuit be no more than two.
5. little to the insulator coating abrasion.The utility model is insulating material with crawler type walking mechanism and safety protection mechanism material that insulator directly contacts, and is less to the antifouling flush paint coating abrasion on the insulator porcelain patticoat.
6. the utility model mechanism adopts the crawler-type traveling mode, and motion continuity is good, and it is very fast to detect operating speed, has the certain climbing ability.
7. the detection probe overlap joint is reliable.The utility model adopts motor-driven active drive mode, and the reliability that detection probe is contacted with insulator steel cap is better, has guaranteed to detect the authenticity of data.
Description of drawings
Fig. 1 is a perspective view of the present utility model;
Fig. 2 is the utility model structural front view;
Fig. 3 is the partial schematic diagram of the utility model displacement telescoping mechanism;
Fig. 4 is the utility model Athey wheel structural representation;
Fig. 5 is the utility model probe driving mechanism structure synoptic diagram;
Fig. 6 is the utility model contraction state synoptic diagram;
Fig. 7 is the utility model elongation state synoptic diagram;
Wherein: 1 is first Athey wheel, and 2 is first stroke sensor, and 3 is casing, 4 is second Athey wheel, and 5 is second stroke sensor, and 6 is support arm, 7 is outer guide pole, and 8 is outer link, and 9 is outer yoke plate, 10 is first screw, and 11 is detection probe, and 12 is interior guide pole, 13 is interior link, and 14 is inner support, and 15 is interior yoke plate, 16 is first supporting seat, and 17 is first bearing pin, and 18 is first guide holder, 19 is first sliding axle, and 20 is first tooth bar, and 21 is second screw, 22 is first sleeve, 23 is gear, and 24 is second sleeve, and 25 is gear shaft, 26 is bearing, 27 is set nut, and 28 is second tooth bar, and 29 is second sliding axle, 30 is second guide holder, 31 is second bearing pin, and 32 is second supporting seat, and 33 are the probe drive motor, 34 is driving wheel, 35 is bracing frame, 36 be first synchronously the band, 37 is engaged wheel, 38 is driving stem, 39 is the 3rd bearing pin, 40 be second synchronously the band, 41 is motor cabinet, 42 is rubber belt track, 43 is follower, and 44 is driving wheel, and 45 is support rollers, 46 is drive motor, and 47 is bar-shaped trough.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
The utility model is walked on the two insulator strings of anchor support level, as shown in Figure 1 and Figure 2, comprise first Athey wheel 1, casing 3, second Athey wheel 4, displacement telescoping mechanism and probe driving mechanism, the displacement telescoping mechanism is installed on the casing 3, first and second Athey wheel 1,4 is positioned at the both sides of casing 3, is hinged with the displacement telescoping mechanism respectively, is connected with first and second stroke sensor 2,5 on first and second Athey wheel 1,4 respectively; The below of casing 3 is provided with the probe driving mechanism.Be separately installed with adjustable for height safety protection mechanism on first and second Athey wheel 1,4.
Shown in Fig. 1～3, the displacement telescoping mechanism is two, structure is identical, be installed in respectively casing 3 before, back two sides, this displacement telescoping mechanism comprises first guide holder 18, second guide holder 30, first sliding axle 19, second sliding axle 29, first tooth bar 20, second tooth bar 28, gear 23, gear shaft 25 and set nut 27, first, two guide holders 18,30 is arch, first, two sliding axles 19,29 are placed in first of arch respectively, two guide holders 18, in 30 spaces that form with casing 3, and first, two sliding axles 19,29 relative casings 3 can reciprocatingly slide; One end of first and second sliding axle 19,29 is hinged by first and second supporting seat 16,32 on first and second bearing pin 17,31 and first and second Athey wheel 1,4 respectively, the other end is connected with first and second tooth bar 20,28 respectively by second screw 21, and first and second sliding axle 19,29 can rotate in surface level around first and second bearing pin 17,31 respectively; One end of gear shaft 25 is plugged in the casing 3, locked with two nuts, the other end set nut 27 that has been threaded, gear 23 is socketed on the gear shaft 25 by bearing 26, first and second tooth bar 20,28 lays respectively at the upper and lower both sides of gear 23, also be provided with first and second sleeve 22,24, the first sleeves 22 that are positioned at gear 23 both sides on the gear shaft 25 and be connected to set nut 27, locked by set nut 27.When a sideslip moving axis elongates or shortens in guide holder, effect by rack-and-pinion, the sliding axle of opposite side is also correspondingly followed and is elongated or shortened equal length, realize the telescopic variation of distance between first and second Athey wheel 1,4, make casing 3 remain on center position between first and second Athey wheel 1,4 simultaneously.First and second supporting seat 16,32 is provided with suspension ring, so that robot integral body is hung on string.
As shown in Figure 4, first and second Athey wheel 1,4 structures are identical, comprise second be with 40 synchronously, rubber belt track 42, follower 43, driving wheel 44, drive motor 46 and inside and outside yoke plate 15,9, driving wheel 44, follower 43, drive motor 46 are installed in respectively between the inside and outside yoke plate 15,9, drive motor 46 is installed on the motor cabinet 41, and motor cabinet 41 is installed in the inside of Athey wheel, between two yoke plates; The bottom of Athey wheel is provided with the many support rollers 45 that are installed between the inside and outside yoke plate 15,9; Driving wheel 44, follower 43 lay respectively at the rear and front end of Athey wheel, and driving wheel 44 is with 40 to link to each other with drive motor 46 by second synchronously, and follower 43 links to each other with driving wheel by rubber belt track 42; Be connected with first and second supporting seat 16,32 hinged respectively by screw on the interior yoke plate 15 of first and second Athey wheel 1,4 with first and second sliding axle 19,29.Two of longitudinal lengths of first and second Athey wheel 1,4 and greater than the axial length of three insulators, with guarantee in the walking process Athey wheel all the time with two insulators overlap joints, and the barycenter of whole device is positioned at the centre of these two insulators vertically.
Safety protection mechanism comprises inner support 14, support arm 6, links 13 in the interior guide pole 12, outer guide pole 7, and outer link 8, inside and outside support 14,6 is installed on the inside and outside yoke plate 15,9 of Athey wheel by first screw 10 respectively, the link of inside and outside support 14,6 has bar-shaped trough 47, first screw 10 is arranged in the bar-shaped trough 47, can in bar-shaped trough 47, realize the adjustable height of inside and outside support 14,6 tight in arbitrary position; Be separately installed with inside and outside guide pole 12,7 on the inside and outside support 14,6, inside and outside link 13,8 is separately fixed on the inside and outside guide pole 12,7.
As shown in Figure 5, the probe driving mechanism comprises that probe drive motor 33, driving wheel 34, bracing frame 35, first are with 36 synchronously, engaged wheel 37, driving stem 38 and detection probe 11, probe drive motor 33 is installed on the base plate of casing 3, the output shaft of probe drive motor 33 is provided with driving wheel 34, and driving wheel 34 also is positioned at casing 3; The engaged wheel 37 that is socketed on the driving stem 38 is with 36 to be connected with driving wheel 34 by first synchronously, base plate bottom, first is provided with bracing frame 35 with 36 symmetria bilateralis synchronously, driving stem 38 is installed on the bracing frame 35, one end of detection probe 11 is hinged with driving stem 38 by the 3rd bearing pin 39, and the other end is the test side.Detection probe 11 is two elastic metallic bars.Probe drive motor 33 drives driving wheels 34 and rotates, and is with 36 transmissions synchronously by first, makes driving stem 38 rotations that are installed together with engaged wheel 37, drives detection probe 11 and rotates and be overlapped on the steel cap of insulator both sides.
In the casing 3 of the present utility model controller, battery and detector are installed, its middle controller is a prior art, can be PLC, single-chip microcomputer etc.; Detector is commercial product, and can purchase the model of producing in Beijing Shenlang Electronic Technology Co., Ltd. is the detector of JXD35-500.
Principle of work of the present utility model is:
Because the distance between the two strings of level insulation does not equate from the beginning to the end, the two string distances of shaft tower end are 580mm, the two string distances of conductor wire end are 450mm, therefore the detection machine people is when shaft tower end guide line end is walked, along with Athey wheel is walked forward, distance narrows down between two insulators, cover on first on the insulator chain, two Athey wheels 1, interior guide pole 12 front ends of 4 inboards can contact with insulator chain, first, two Athey wheels 1,4 interior guide pole 12 front ends are subjected to the inside pressure of insulator simultaneously, force and first, two Athey wheels 1,4 front ends link to each other first, two sliding axles 19,29 move inward simultaneously, make first, two Athey wheels 1, distance diminishes between 4 front ends, because gear 23 and first, two tooth bars 20,28 effect, first, two sliding axles 19,29 move inward equal length, and casing 3 can remain on first all the time, two Athey wheels 1,4 centre position; Like this, first and second Athey wheel 1,4 is walked along the insulator chain axis direction all the time, detection machine people goes to conductor wire end from the shaft tower end, the distance that first and second Athey wheel is 1,4 adapts to the variation of the two string of insulator distance under the effect of displacement telescoping mechanism, Athey wheel has been realized the displacement Telescopic that narrowed down by wide.
When robot has detected insulator and has returned, the two string distances of insulator broaden from narrow, at this moment first, two Athey wheels 1, outer guide pole 7 front ends in 4 outsides can contact with insulator chain, first, two Athey wheels 1,4 outer guide pole 7 front ends are subjected to the outside pressure of insulator simultaneously, force first, two sliding axles 19,29 outwards move simultaneously, make first, two Athey wheels 1, distance becomes big between 4 front ends, gear 23 and first, two tooth bars 20, under 28 the effect, first, two sliding axles 19,29 outside mobile equal length, casing 3 remains on first, two Athey wheels 1,4 centre position.Like this, first and second Athey wheel 1,4 is walked along the insulator chain axis direction all the time, detection machine people goes to the shaft tower end from conductor wire end, and the distance of first and second Athey wheel 1,4 adapts to the variation of the two string of insulator distance under the effect of displacement telescoping mechanism, realized the displacement function that is broadened by narrow.
Detect and take off the detection machine people from twin insulator strings after operation is all over, detection probe 11 is folded into bottom half, and the displacement telescoping mechanism that launches is drawn in.
In the present embodiment, except that detector, controller, motor, speed reduction unit, bearing and electrical equipment, other parts all adopt the nonmetallic materials of insulation.
The utility model adopt can telescopic variation the displacement telescoping mechanism, can adapt to the variable in distance of duplex level insulation substring, security protection is good; the speed of travel is fast, and last string operation is simple, and is little to the insulator coating abrasion; the probe overlap joint is reliable, is fit to insulator charged detection.
Claims (10)
1. insulator detecting robot, it is characterized in that: comprise first Athey wheel (1), casing (3), second Athey wheel (4), displacement telescoping mechanism and probe driving mechanism, casing is equipped with the displacement telescoping mechanism on (3), first and second Athey wheel (1,4) is positioned at the both sides of casing (3), is hinged with the displacement telescoping mechanism respectively, is connected with first and second stroke sensor (2,5) on first and second Athey wheel (1,4) respectively; The below of casing (3) is provided with the probe driving mechanism.
2. by the described insulator detecting robot of claim 1, it is characterized in that: described first and second Athey wheel is separately installed with adjustable for height safety protection mechanism on (1,4).
3. by the described insulator detecting robot of claim 2, it is characterized in that: described safety protection mechanism comprises inside and outside support (14,6), inside and outside guide pole (12,7) and inside and outside link (13,8), inside and outside support (14,6) is installed in the both sides of Athey wheel respectively by first screw (10), the link of inside and outside support (14,6) has bar-shaped trough (47), and first screw (10) is arranged in the bar-shaped trough (47); Be separately installed with inside and outside guide pole (12,7) on the inside and outside support (14,6), inside and outside link (13,8) is separately fixed on the inside and outside guide pole (12,7).
4. by claim 1 or 2 described insulator detecting robots, it is characterized in that: described displacement telescoping mechanism is two, structure is identical, be installed in respectively casing (3) before, back two sides, this displacement telescoping mechanism comprises first, two guide holders (18,30), first, two sliding axles (19,29), first, two tooth bars (20,28), gear (23), gear shaft (25) and set nut (27), first, two sliding axles (19,29) respectively by first, two guide holders (18,30) can be slidably mounted on relatively on the casing (3), first, two sliding axles (19,29) a end is respectively with first, two Athey wheels (1,4) hinged, the other end is respectively with first, two tooth bars (20,28) be connected; Gear shaft (25) is installed on the casing (3), gear (23) is socketed on the gear shaft (25) rotationally, first and second tooth bar (20,28) lays respectively at the upper and lower both sides of gear (23), is provided with the set nut (27) of Positioning Gear (23) on gear shaft (25).
5. by the described insulator detecting robot of claim 4, it is characterized in that: an end of described gear shaft (25) is plugged in the casing (3), the other end set nut (27) that has been threaded; Gear (23) is socketed on the gear shaft (25) by bearing (26), also is provided with first and second sleeve (22,24) that is positioned at gear (23) both sides on the gear shaft (25), and first sleeve (22) is connected to set nut (27).
6. by claim 1 or 2 described insulator detecting robots, it is characterized in that: described first, two Athey wheels (1,4) structure is identical, comprise that second is with (40) synchronously, rubber belt track (42), follower (43), driving wheel (44), in drive motor (46) reaches, outer yoke plate (15,9), driving wheel (44), follower (43), in drive motor (46) is installed in respectively, outer yoke plate (15,9) between, driving wheel (44), follower (43) is positioned at the rear and front end of Athey wheel, driving wheel (44) is with (40) to link to each other with drive motor (46) by second synchronously, and follower (43) links to each other with driving wheel by rubber belt track (42).
7. by the described insulator detecting robot of claim 6, it is characterized in that: the bottom of described Athey wheel is provided with the many support rollers (45) that are installed between the inside and outside yoke plate (15,9); Drive motor (46) is arranged between the inside and outside yoke plate (15,9) by motor cabinet (41).
8. by the described insulator detecting robot of claim 6, it is characterized in that: two of longitudinal lengths of described first and second Athey wheel (1,4) and greater than the axial length of three insulators.
9. by claim 1 or 2 described insulator detecting robots, it is characterized in that: described probe driving mechanism comprises that probe drive motor (33), driving wheel (34), first be with (36), engaged wheel (37), driving stem (38) and detection probe (11) synchronously, probe drive motor (33) is installed in the casing (3), the output shaft of probe drive motor (33) is provided with driving wheel (34), the engaged wheel (37) that is socketed on the driving stem (38) is with (36) to be connected with driving wheel (34) by first synchronously, and the two ends of driving stem (38) are provided with detection probe (11).
10. by the described insulator detecting robot of claim 9, it is characterized in that: described probe drive motor (33) is installed on the base plate of casing (3), base plate bottom, first is with the symmetria bilateralis of (36) to be provided with bracing frame (35) synchronously, driving stem (38) is installed on the bracing frame (35), one end of detection probe (11) is hinged by the 3rd bearing pin (39) and driving stem (38), and the other end is the test side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202323500U CN201331558Y (en) | 2008-12-30 | 2008-12-30 | Insulator detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202323500U CN201331558Y (en) | 2008-12-30 | 2008-12-30 | Insulator detection robot |
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| Publication Number | Publication Date |
|---|---|
| CN201331558Y true CN201331558Y (en) | 2009-10-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008202323500U Expired - Lifetime CN201331558Y (en) | 2008-12-30 | 2008-12-30 | Insulator detection robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101769971B (en) * | 2008-12-30 | 2012-07-04 | 中国科学院沈阳自动化研究所 | Insulator detecting robot |
| CN102608473A (en) * | 2012-04-01 | 2012-07-25 | 山东鲁能智能技术有限公司 | Robot for electrified detection of double strain insulator strings |
| CN102621426A (en) * | 2012-03-31 | 2012-08-01 | 山东鲁能智能技术有限公司 | Detection robot for suspension porcelain insulator string |
| CN102621429A (en) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | Horizontal duplex insulator string on-line detection robot |
| CN102621983A (en) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | Travelling mechanism for insulator inspection robot |
| CN103640020A (en) * | 2013-11-27 | 2014-03-19 | 武汉科迪奥电力科技有限公司 | Insulator detecting robot |
| WO2014108017A1 (en) * | 2013-01-11 | 2014-07-17 | 山东鲁能智能技术有限公司 | Detection robot system of insulator strings |
| CN104698315A (en) * | 2015-03-09 | 2015-06-10 | 钱岷江 | Remote control robot for live detection high-tension transmission line insulator detection instrument |
| CN105773631A (en) * | 2016-03-03 | 2016-07-20 | 国网山东省电力公司茌平县供电公司 | Insulator maintenance robot for power transmission and distribution system |
| CN106500763A (en) * | 2016-10-18 | 2017-03-15 | 刘杰 | Extra high voltage line isolator detecting intelligent robot system |
| CN111679047A (en) * | 2020-07-23 | 2020-09-18 | 上海仙泽分析仪器有限公司 | Upper machine head of automatic sampling device and dissolution instrument |
| CN115158498A (en) * | 2022-07-01 | 2022-10-11 | 南京中泓智电电气有限公司 | High-voltage insulator detection robot and detection method |
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2008
- 2008-12-30 CN CNU2008202323500U patent/CN201331558Y/en not_active Expired - Lifetime
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101769971B (en) * | 2008-12-30 | 2012-07-04 | 中国科学院沈阳自动化研究所 | Insulator detecting robot |
| CN102621426A (en) * | 2012-03-31 | 2012-08-01 | 山东鲁能智能技术有限公司 | Detection robot for suspension porcelain insulator string |
| CN102608473B (en) * | 2012-04-01 | 2014-10-15 | 山东鲁能智能技术有限公司 | Robot for electrified detection of double strain insulator strings |
| CN102621983A (en) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | Travelling mechanism for insulator inspection robot |
| CN102621983B (en) * | 2012-04-01 | 2014-04-09 | 山东鲁能智能技术有限公司 | Travelling mechanism for insulator inspection robot |
| CN102608473A (en) * | 2012-04-01 | 2012-07-25 | 山东鲁能智能技术有限公司 | Robot for electrified detection of double strain insulator strings |
| CN102621429A (en) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | Horizontal duplex insulator string on-line detection robot |
| WO2014108017A1 (en) * | 2013-01-11 | 2014-07-17 | 山东鲁能智能技术有限公司 | Detection robot system of insulator strings |
| CN103640020B (en) * | 2013-11-27 | 2016-11-23 | 武汉科迪奥电力科技有限公司 | Insulator detecting robot |
| CN103640020A (en) * | 2013-11-27 | 2014-03-19 | 武汉科迪奥电力科技有限公司 | Insulator detecting robot |
| CN104698315A (en) * | 2015-03-09 | 2015-06-10 | 钱岷江 | Remote control robot for live detection high-tension transmission line insulator detection instrument |
| CN104698315B (en) * | 2015-03-09 | 2017-11-10 | 钱岷江 | Live detection high-voltage transmission line insulator detector remote-controlled robot |
| CN105773631A (en) * | 2016-03-03 | 2016-07-20 | 国网山东省电力公司茌平县供电公司 | Insulator maintenance robot for power transmission and distribution system |
| CN106500763A (en) * | 2016-10-18 | 2017-03-15 | 刘杰 | Extra high voltage line isolator detecting intelligent robot system |
| CN111679047A (en) * | 2020-07-23 | 2020-09-18 | 上海仙泽分析仪器有限公司 | Upper machine head of automatic sampling device and dissolution instrument |
| CN115158498A (en) * | 2022-07-01 | 2022-10-11 | 南京中泓智电电气有限公司 | High-voltage insulator detection robot and detection method |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20091021 Effective date of abandoning: 20081230 |