Along with the development of China's power system, power grid security, stable operation more and more come into one's own.Especially in the super-pressure of greatly developing in recent years, system for ultra-high voltage transmission, the safe operation of insulator has directly determined investment and the level of security of whole system, for guaranteeing the electrical safety of ultra-high-tension power transmission line, after a period of time is used in the ultra-high-tension power transmission line operation, the electric property that needs detection line, the insulation safety performance of insulator particularly, the generation of the phenomenon such as prevent short circuit or open circuit.
Insulator is to be used for the insulation component that wire is connected with steel tower on aerial high-voltage power transmission line, have two basic roles, namely support and prevent that electric current from going back to ground, these two effects must be guaranteed, insulator should not cause various electric stress to lose efficacy because environment and electric load condition change, otherwise insulator just can not produce required effect, can damage use and the service life of whole piece circuit.
Different according to mounting structure, insulator chain can divide vertically insulated substring and level insulation substring, and inclination insulator chain, certainly, due to the needs of installing, general as vertically insulated substring is not definitely vertical, but can be called vertically insulated substring within the vertical direction certain angle scope.It is evident that, be applied to the robot that vertically insulated substring detects and will overcome terrestrial gravitation, and climb for the design feature of insulator chain, its basic structure characteristics are, insulator chain is comprised of some joints, and there is formal space usually in internode.
The shaft tower that bears wire tension that hangs wire or split conductor with strain insulator string is called anchor support, is the pylon with the direction tractive wire of basic horizontal, certainly due to the impact of gravity, and can abswolute level.Here said insulator chain, be exactly the level insulation substring basically on anchor support.
Along with the development of needs and the intelligent robot of hommization popularization of homework, at present, increasing intelligent robot is applied in power circuit polling or Equipment Inspection.As Chinese CN201331558Y utility model patent in, a kind of insulator detecting robot with two Athey wheel structures is disclosed, be used for the detection of horizontal twin insulator strings, it crosses over described formal space by crawler belt, and carries out the guiding of direction of travel by the retention device on both sides.But obviously such as the robot of crawler belt and wheeled construction and be not suitable for the detection of vertical insulator string, can reliability service in order to guarantee robot, usually need to be at the guide frame of assisting at direct of travel, complicated structure.Obviously in addition be a bit, insulator chain is much porcelain spare, and the surface is very smooth, is difficult to make robot to obtain good drive environment.
China CN202013392U utility model patent discloses a kind of robot that vertically insulated substring detects that can be used for, comprise symmetrically arranged two ring supports, be respectively arranged with climbing mechanism on two ring supports, connect by connecting plate between two climbing mechanisms; Be to adapt to the climbing on vertically insulated substring, climbing mechanism comprises symmetrically arranged two guide rails, and card base mechanism is set respectively on two guide rails; And card base mechanism comprises carriage and pendulous device, and carriage comprises the card base slide block that is slidably arranged on guide rail, and pendulous device comprises the rocking key cover, and the rocking key cover is connected on the card base slide block by bearing, complex structure; And in actual use, need a series of motion to match, inevitably produce the connection problem of a motion link, efficient is lower.In addition, its body is larger, carries difficulty, and how in the open air high-tension line, and the defective that is not easy to carry can have a strong impact on the convenience of its actual use.
China CN1165775C patent of invention discloses a kind of robot with the ring support that can be sheathed on the insulator body periphery, climbing mechanism and detection probe are set on this ring support, obviously, due to insulator chain two ends connection, ring support is sleeved on to be needed on insulator chain to coordinate by supplementary structure, otherwise can't complete suit, the structure that this is auxiliary, as two joints or the two above match-place mouths of joint and structure, caused the complexity of himself structure.In addition, it still adopts guide-rail structure, and coordinates claw structure, and volume is still larger, and the bodily form is heavy and be difficult to carry.Simultaneously, the claw structure action is slower, and detection efficiency is lower.Usually, this class detection machine people need in the situation that outage detects, affect the normal fortune operation of circuit.
The utility model content
Therefore, the purpose of this utility model is to provide a kind of compact conformation, the robot that is used for the detection of anchor support insulator chain that translational speed is fast.
A kind of insulator chain Intelligent Measurement robot is used for the detection of horizontal strain insulator twin insulator strings, comprising:
Mechanism wins in succession;
Climbing device is arranged at least described mechanism and wins in succession in a side of direct of travel, and this climbing device has each climbing arm of group of front and back; Wherein climbing arm is that the middle part is connected with driving shaft and the axial symmetry rod member take drive axis as benchmark;
Guider is used for being directed at insulator chain, be arranged on that mechanism wins in succession in the both sides of direct of travel, mate twin insulator strings to be detected; And
Checkout equipment is arranged on described mechanism wins in succession.
According to above-mentioned insulator chain Intelligent Measurement of the present utility model robot, the version that adopts the climbing arm to drive, two pairs of climbing arm driven, its speed of service depends on the velocity of rotation of climbing arm, and this velocity of rotation can not be subject to the impact of insulator self structure, can therefore obtain needed detection speed.The climbing arm is rod member, and structure is relatively simple, and compact overall structure is convenient for carrying, and makes it have the scope of application widely.
In further improved plan, above-mentioned insulator chain Intelligent Measurement robot, when described climbing device is arranged on described mechanism and wins a side at direct of travel in succession, perhaps only in a side, climbing device is set, structure is compacter, described guider comprises the first targeting part that is arranged on described climbing device downside, further simplified structure.
Above-mentioned insulator chain Intelligent Measurement robot, described the first targeting part is included in insulator chain to be detected and circumferentially is four sleds that isosceles trapezoid is arranged, the whole V-type groove structure that forms, coupling insulator chain equivalent circular cylinder, have reliable steering capability, and sledge runner face length degree greater than one times of pitch of insulator chain less than three times of pitches, thereby, in the situation that satisfy normal the use, the insulator of institute's short circuit is fewer.
Further, about insulator chain Intelligent Measurement robot, described sledge runner length is insulator chain twice pitch, when satisfying compact conformation, guarantees reliability of operation.
And then, foregoing formed V-type groove structure, for above-mentioned insulator chain Intelligent Measurement robot, what can further select is, the part that insulator chain engages with described targeting part is less than or equal to 180 degree and more than or equal to 120 degree, and targeting part is that the form that forms both sides constrained matching Action of Gravity Field forms reliable guiding and position constraint effect take vertical plane as the face symmetry structure as benchmark.
Preferably, every group of climbing arm has two climbing arms, and two climbing arms are take vertical plane as the datum level symmetric configuration, book symmetrical plane both sides distribution at insulator chain, be formed with a pair of extruding force inside and balance, when obtaining onward impulse, be formed with the guide effect of self.
Further, two groups of climbing arm driven in synchronism, and every group of climbing arm is connected in series and driven in synchronism by motor shaft.
Preferably, above-mentioned insulator chain Intelligent Measurement robot is provided with position-detection sensor simultaneously being provided with on a motor shaft on position-detection sensor or two motor shafts, thereby, by closed-loop control, the effectively movement velocity of control and position.
Preferably, above-mentioned insulator chain Intelligent Measurement robot, between two groups of climbing arms, outer corner difference is 90 degree, two groups of climbing arm phase differences are 90 degree, can satisfy along the driving that connects, and guarantee the reliability that drives.
Further, in order to adapt to the dissimilar of insulator sheet, between two groups of climbing arms, outer corner difference is regulated by motor 47 differential motion control and regulation or time-delay motion control, makes 50 outer corner differences of two groups of climbing arms in 90 degree predetermined interval adjustment, to obtain drive form more smoothly.
Above-mentioned insulator chain Intelligent Measurement robot, its improvements emphasis is embodied on carrier, when carrier satisfies condition reliable on the anchor support insulator chain, obvious is that described checkout equipment can configure many available checkout equipments accordingly, further, it comprises and detects view class checkout equipment and for detection of the checkout gear of insulator resistance, wherein, checkout gear comprises a pair of probe that connects by synchronising (connecting) rod, drives described synchronising (connecting) rod so that the steering wheel that described probe swings.
Below in conjunction with Figure of description in detail the technical solution of the utility model is described in detail, makes those skilled in the art better understand the utility model.
The specific embodiment
In certain embodiments, a kind of insulator chain Intelligent Measurement robot as shown in Figure 1 is used for the detection of horizontal strain insulator twin insulator strings, and it comprises:
Mechanism wins 2 in succession, and be used as carrier and be connected body, and as shown in Figure 1, for twin insulator strings, carrier preferably is distributed in the space of tape insulation substring (umbrella of series connection successively of duplex in figure) centre, guarantees that center of gravity falls in the middle of two insulator chains, and operation stability is relatively good.It should be noted that structurally and show as, win in succession 2 width of mechanism is subject to the constraint in space between twin insulator strings, but be not to be absolute bound, as shown in Figure 1, mechanism wins in succession and 2 is subject to the jacking of other parts of robot and makes agent structure be positioned at the top of twin insulator strings.
Robot configuration climbing device 5, for carrier provides driving force, dispose two kinds of basic modes, in certain embodiments, use is arranged on described mechanism and wins in succession in the monolateral type of drive of a side of direct of travel, as shown in figs. 1 and 3, in figure, climbing device 5 is won in succession by bracing frame 46 and mechanism and 2 is connected, monolateral type of drive is simple in structure, and can be by the version of each climbing arm 50 of group before and after having as this climbing device, the torque that balance produces because of monolateral driving guarantees that climbing device can reliability service.
In further embodiments, can adopt the mode of bilateral driving, namely in addition symmetrically at win in succession 2 another side of mechanism, climbing device is set also, this structure driveability is relatively good, but structure is relatively complicated, and needs to guarantee the synchronism of both sides driving.
Obvious is, in order to satisfy the driving that continues, two groups of climbing arms have one group to act on an insulator when climbing all the time, structurally show as more specifically, the centre-to-centre spacing of front and back climbing arm 50 need to satisfy insulator chain pitch and exterior insulator profile, and those skilled in the art easily calculates accordingly.And in further using, adjustable version before and after can being configured to climbing device, form the adjustable structure of climbing arm centre-to-centre spacing, enter between the frame of bracing frame shown in Figure 3 46 and front and back motor shaft 41 and be connected by adjustable connection structure, such as bracing frame 46 is cover, said frame is the axle that axle sleeve coordinates, by the constraint that realizes that as holding out against screw axle sleeve is flexibly connected, form adjustable version, thereby, satisfy the detection of the insulator of various pitches and exterior contour.
As previously mentioned, the climbing arm is that the middle part quadrature is connected in driving shaft and the axial symmetry rod member take drive axis as benchmark, and as shown in Figure 3,41 of motor shafts connect bodies, and the middle part of climbing arm 50 is connected on motor shaft and driven.
About driving, be mainly the driving of motor shaft, its structure is relatively simple, does not repeat them here.just as shown in Figure 3, each climbing arm of group of front and back all disposes the independently mode of motor 47 drivings, synchronism guarantees to need to add other control model, in further embodiments, can carry out Synchronization Control by synchronization structure, such as gear drive, and as gear-driven version, before and after can guaranteeing, the climbing device of two groups has relatively-stationary corner, be more prone to guarantee the continuation of driving force, certainly, the structure that individual motor as shown in Figure 3 drives, also be very easy to adjust its corner, those skilled in the art holds understanding very much.
For robot, should configure reliable guider, be used for being directed at insulator chain, in structure shown in Figure 1, the coupling twin insulator strings, guider is arranged on the both sides at direct of travel that mechanism wins in succession, to this, this textual portions second segment is selectable related description, in certain embodiments, can adopt the opposed identical guider of structure as shown in Figure 1, supplemental support sled 9 as shown in Figure 1.
About checkout equipment, be arranged on described mechanism wins in succession, according to the Function detection of coupling, carry corresponding checkout equipment and get final product.
When described climbing device 5 was arranged on described mechanism and wins a side at direct of travel in succession, described guider comprised the first targeting part that is arranged on described climbing device 5 downsides, and as shown in Figure 1, one group of supplemental support sled 9 is arranged on the downside of climbing device 5.
Should know, in the insulator chain that is suitable in this article, robot is attached to the top of insulator chain by gravity, and therefore, what need to consider aspect operation stability is center of gravity and left right balanced problem.
Certainly, as long as center of gravity drops on the centre of the insulator chain of duplex, its equilibrium problem does not have problem usually, it is the more inclined to one side side of center of gravity, stability is just poorer, although a side weight that is positioned at due to climbing device 5 is large, has certain negative function but produce support reaction during due to climbing.Moreover climbing device is arranged on a heavier side, easier power taking during driving.
About supplemental support sled 9 as shown in Figure 1, form a kind of semi-surrounding structure, can form reliable constraint, obviously when as shown in Figure 1 supplemental support sled 9 of a side setting, opposite side can arrange a relatively simple targeting part, as a slide plate, a perhaps single sled, this sled is positioned at the Up Highway UHW side of this side insulator chain accordingly, also can obviously also can both play good supporting role in the outside of the insulator chain of this side, its guide effect can be on the back burner, and from supporting role finally, with simplified structure.
Further, support the said semi-surrounding structure of sled 9 about aforesaid blessing, as shown in Figure 1, described the first targeting part is included in insulator chain to be detected and circumferentially is four sleds that isosceles trapezoid is arranged, and sledge runner face length degree greater than one times of pitch of insulator chain less than three times of pitches, to satisfy operation reliably, sled adopts both-end warpage structure, satisfies moving forward and backward the guiding of formula.
Sled can be rigidly connected, keep structure as shown in Figure 1, also can add the hinged version in middle part by elastic part, make sled have the function of front and back pitching, accordingly, elastic part such as spring are connected to front and back one side of the hinged electricity of sled, form resetting structure, more in short-term, as one times of pitch, guarantee the reliability service of robot by adaptive pitch control at sled.It should be understood that is rigidly connected also can form reliability service, and operation stability is better.
For satisfying traveling comfort, obviously, the twice final result can guarantee that sled has two points to be supported on the outer rim of two insulators in any stage, and stability can obtain to guarantee.And structure is also compact, only two insulators of while short circuit.And greater than one times of pitch during less than the twice pitch, two insulators of the maximum terminations of sled.
Obviously, the operation stability during greater than the twice pitch and less than three times of pitches is better, and just structure is slightly long, but in the most of time section, also two insulators of termination only.
About the semi-surrounding structure, if the connector between sled has enough elastically-deformable abilities, said semi-surrounding can be greater than 180 degree, as use spring leaf to be used for connection between the homonymy sled, like this, can obtain better operational reliability, shake little, on the less that affects of the electronic equipment that carries.
For convenience of using, the part that insulator chain engages with described targeting part is less than or equal to 180 degree and more than or equal to 120 degree, and targeting part forms reliable clamping position for take vertical plane as the symmetrical structure of the face of benchmark.
Further, in order to satisfy the reliability that drives, every group of climbing arm 50 has two climbing arms, and two climbing arms are take vertical plane as the datum level symmetric configuration, thereby drive unit itself just has certain guide effect.
Preferably, two groups of climbing arm 50 driven in synchronism, and every group of climbing arm by motor shaft 41 serial connections driven in synchronism, as shown in Figure 3.
Preferably, in order to reduce the damage to insulator, position, the end spherical structure of climbing arm perhaps adopts roller 42 as shown in Figure 3, and the change sliding friction is rolling friction.
Further, for the better operation of control, be provided with position-detection sensor on a motor shaft, or be provided with simultaneously position-detection sensor on two motor shafts.About detecting sensor for it, can adopt small-sized encoder, can also for also accurate detection, adopt as in frame, limit switch 48 being set, and positioning table 51 is set in climbing on arm 50, produce the upper detection of position by both in the interaction of predetermined phase.
Preferably, 50 outer corner differences of two groups of climbing arms are 90 degree, with the driving force that obtains reasonably to continue.But in actual applications, climbing and decline may be adopted different outer corner differences, to satisfy two states to the requirement of power.
Further, in order to adapt to the dissimilar of insulator sheet, 50 outer corner differences of two groups of climbing arms can be regulated by motor 47 differential motion control and regulation or time-delay motion control, 50 outer corner differences of two groups of climbing arms are adjusted, to obtain drive form more smoothly near 90 degree.As when insulator chain Intelligent Measurement Robot insulator chain direction of motion forward moves, 50 outer corner differences of two groups of climbing arms are near certain value 90 degree, described definite value needs to set according to the actual insulation substring, when reverse when mobile in the insulator chain Intelligent Measurement Robot insulator chain direction of motion, regulate by motor 47 differential motion control and regulation or time-delay motion control, make near near two groups of climbing arm 50 outer corner differences another definite value 90 degree, this area professional and technical personnel is readily appreciated that and is decided by simplified characterization.For another example in insulator chain Intelligent Measurement robot when insulator chain moves, according to exhausted insulator chain circuit situation, 50 outer corner differences of two groups of climbing arms are by near definite value motor 47 differential motion control and regulation or time-delay motion control adjusting 90 degree, this motion mode driveability is relatively good, but control relatively complexity, and need to implement to adjust the synchronism that climbing arm 50 moves.
About the checkout equipment that carries, front part is addressed, and stresses carrying equipment here in win in succession installation on 2 of mechanism, lowering the center of gravity, and load is evenly distributed as much as possible.As shown in Figure 1, checkout equipment comprises and is arranged on win in succession the checkout gear 8 for detection of insulator resistance of 2 upside detectors 1 and downside of mechanism, because checkout gear 8 is movable parts, be arranged on mechanism win in succession 2 downside can be when it be movable stability better.For avoiding keeping in check, can be arranged on win in succession 2 upside of mechanism as the power supply 3 in robot.
About checkout gear, as illustrated in fig. 1 and 2, a pair of probe 26 dangles, and the driving of the synchronising (connecting) rod 21 by quadrature linking probe root forms swinging structure, and during use, the detection of the insulator that swings side is completed in any side oscillation that can forward direction.Checkout gear is connected to win in succession 2 downside of mechanism by the support holder 22 that consists of its frame, and a steering wheel 24 can direct-connected described synchronising (connecting) rod 21, also can be connected to by steering wheel connecting rod 27 to form four-bar mechanism on a probe 26 and drive.
Further; for simplified model; when relating to Synchronous Transmission; this paper is with 41 rotations of gear forms drive motor axle; as shown in Figure 1, motor 47 is realized transmission by the one pole gear that gear wheel 52 and pinion 53 consist of, and this mode is only a kind of for what move and transmit; have toothed belt transmission, soft axle transmission, the chain drive of same effect with it and do not illustrating one by one with drive mechanism this paper that the corresponding kind of drive is expanded, but all at this patent protection domain.Simultaneously; the drive motors mounting means also can drive two ends power transmission shaft motion by middle motor shaft; or drive respectively two ends motor shaft axle by two motors simultaneously; it is identical that its movement effects and this paper describe, its drive by middle motor shaft axle or simultaneously by two motors drive respectively that the two ends driving shaft is all described at this paper, in protection domain.
Detection method according to the insulator chain Intelligent Measurement robot of as shown in Figures 1 to 3 preferred embodiment is:
Anchor support insulator Intelligent Measurement robot as shown in Figure 1, forms and detects set after the staff is placed on insulator chain.In the controller that passes through to carry, wireless communication module receives staff's control instruction, returns to the motion initial position.Its initial position characteristics are that the front-end driven support is vertical state, and insert simultaneously vacancy between adjacent same string insulating part, and the rear side driving arm is level.
concrete action is that motor 47 rotates 41 rotations of drive motor axle, passes through specifically gear motion drive motor axle 41 rotations of 52 of pinion 53 gear wheels, further, when the roller 42 in front end inserts adjacent insulator contacts with its rear side insulator, certainly lead to a forward thrust, obviously, insulator chain Intelligent Measurement robot is when insulator is placed, its supplemental support sled 9 interacts with insulator, make it can only do one-way movement on insulator, particularly, when contacting with its rear side insulator due to the roller 42 in the adjacent insulator of front end insertion, certainty insulator chain Intelligent Measurement robot travels forward, when the roller 42 in front end inserts adjacent insulator contacts with its rear side insulator and will finish simultaneously, the driving wheel of relevant position, rear end is inevitable to contact with its rear side insulator, further, complete above-mentioned motion process, clearly move by drive motors, must drive insulator chain Intelligent Measurement robot and travel forward, on the contrary, when motor 47 receives motion commands in the other direction, make equally its insulator chain Intelligent Measurement robot by completing above-mentioned motion, and then make insulator chain Intelligent Measurement robot complete walking movement backward.Further, when the insulator chain intelligent inspection robot moves to assigned address, move by checkout gear, complete the insulator relevant information and detect.
Be to be understood that, related focus on improvement that carrier is proposed herein, to wherein related detector as shown in fig. 11 and checkout gear 8, as the product having mounted thereon on carrier, in the situation that satisfy the corresponding reliability of platform, those skilled in the art should know its lift-launch mode, therefore, in this article, carrier is done relatively briefly bright, those skilled in the art easily knows according to this area correlation technique.
Should know,, as guider, minute occupy mechanism 2 both sides of winning in succession herein, but the targeting part that must not represent both sides adopts same principle, same structure, more must not represent absolute symmetry.
Should know, in this article, win 2 in succession as mechanism, its effect is the carrying platform as carrying object, must not represent that it is plate-shaped members, therefore, herein, the term that uses is mainly used in the expression of specific purpose and the technical solution problem of wanting, and is not its directly restriction of title institute.
hence one can see that, the description of specific embodiment of the utility model being made in conjunction with Figure of description, supportive scheme for scope that the utility model is asked for protection, should not consist of concrete restriction to its protection domain, it will be understood by those skilled in the art that, on the basis of the disclosed technical scheme of the utility model, in conjunction with prior art and technology contents disclosed herein based on the similar technology problem, adopt essentially identical technological means, reach essentially identical technique effect, do not need those skilled in the art to pay the simple modification of creative work, within replacement or distortion must fall into protection domain of the present utility model.