CN203026847U - Intelligent detection robot for push rod peristaltic insulator chain - Google Patents
Intelligent detection robot for push rod peristaltic insulator chain Download PDFInfo
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- CN203026847U CN203026847U CN 201320020900 CN201320020900U CN203026847U CN 203026847 U CN203026847 U CN 203026847U CN 201320020900 CN201320020900 CN 201320020900 CN 201320020900 U CN201320020900 U CN 201320020900U CN 203026847 U CN203026847 U CN 203026847U
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Abstract
The utility model discloses an intelligent detection robot for a push rod peristaltic insulator chain. The intelligent detection robot comprises an annular clinging mechanism capable of surrounding an insulator body, the annular clinging mechanism is provided with at least two groups of same crawling mechanisms capable of moving along the insulator chain, the annular clinging mechanism is provided with a detection device and a control system, the control system is respectively and electrically connected with a connecting rod motor of the annular clinging mechanism, the push rod body of the crawling mechanism and the detection device. The intelligent detection robot disclosed by the utility model is compact in structure, fast in moving speed, and suitable for the movement of horizontal and vertical insulator chains, and the crawling, detection and cleaning can be finished through the circuit control.
Description
Technical field
The utility model relates to a kind of insulator string climbing robot, and especially a kind of detection that is applicable to the electric insulation substring also goes for the push rod creeping motion type insulator string Intelligent Measurement robot of insulator dirt cleaning, surface spraying.
Background technology
At present, along with the development of China's electric power system, power grid security, stable operation more and more come into one's own.Especially in the superhigh pressure of greatly developing in recent years, system for ultra-high voltage transmission, the safe operation of insulator has directly determined investment and the lsafety level 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 stresss to lose efficacy because environment and electric loading 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 string can divide suspension insulator and level insulation substring, and inclination insulator string, certainly, due to the needs of installing, general as vertically insulated substring is not definitely vertical, but can be called suspension insulator within the vertical direction certain angle scope.
The shaft tower that bears wire tension that hangs wire or bundle conductor with strain insulator string is called strain tower, 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 string, be exactly the level insulation substring basically on strain tower.
In atmosphere, the surface of insulator string can produce dust stratification and dirt due to the insulator string long term exposure, easily causes line short, reduce the insulation property of the insulator of circuit, the cleaning of insulator surface adopts the mode of hand sweeping at present, and operational danger is high, efficient is low, difficulty is large.
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 string 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 utility model patent 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 string two ends connection, ring support is sleeved on to be needed on insulator string 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
The purpose of this utility model is for overcoming above-mentioned the deficiencies in the prior art, a kind of push rod creeping motion type insulator string Intelligent Measurement robot is provided, this robot architecture is compact, translational speed is fast, can carry out electric index detection to insulator by carrying detecting instrument, and complete record and the transmission that detects data.
For achieving the above object, the utility model adopts following technical proposals:
A kind of push rod creeping motion type insulator string Intelligent Measurement robot, it comprises the annular hold-fast body that can encircle on insulator body, the annular hold-fast body is provided with the identical climbing mechanism that can move along insulator string of at least two groups, be provided with checkout gear and control system on the annular hold-fast body, described control system is electrically connected to connecting rod motor, the push rod body of climbing mechanism, the checkout gear of annular hold-fast body respectively.
Described annular hold-fast body comprises the circular-arc lower annular plate that be arranged in parallel successively from the bottom to top, middle annular slab and upper annular plate, and described lower annular plate, upper annular plate, middle annular slab all are connected with three vertical equally distributed guide supports; Described lower annular plate is fixedly connected with by rigid connector with middle annular slab, and lower annular plate and middle annular slab all are movably connected on guide support; All be arranged with two groups of positioners on described upper annular plate and lower annular plate.
Described three vertical equally distributed guide supports lay respectively at circular arc opening two ends and the circular arc centre position of upper, middle and lower annular slab.
Be installed with checkout gear and control system on described middle annular slab.
Described positioner comprises the connecting rod motor, the connecting rod motor is fixed on upper annular plate or lower annular plate by the connecting rod motor cabinet, the output shaft of connecting rod motor is connected with drive connecting rod, drive connecting rod one end and pull bar one end are hinged, the pull bar other end and follower link one end are hinged, follower link is articulated on the climbing mechanism that is adjacent, and drive connecting rod and follower link be on same level, and drive connecting rod, pull bar, follower link and pin joint form a four-bar mechanism.
Described every group of climbing mechanism includes corresponding push rod upper fixed seat and the push rod lower fixed seat that is arranged at respectively on upper and lower annular slab, and push rod and push rod body are fixedly connected on respectively on the upper and lower holder of push rod.
Described push rod body is electric pushrod or Electrohydraulic push rod.
Described control system is installed in control box.
Described checkout gear is the insulator detector device.
Control system and insulator detector in the utility model are prior art, repeat no more.
The utility model goes for the motion of level and suspension insulator, it comprises the annular hold-fast body that can encircle on insulator body, be placed with the climbing mechanism that can move along insulator string on the body of annular hold-fast body, detecting instrument or clearing apparatus are fixed on loop configuration, by circuit control complete creep, detection and cleaning works.
The annular hold-fast body is comprised of three circular-arc annular slabs, and annular slab is consisted of and connected by three guide supports by the advanced composite material (ACM) of high resiliency, lightweight.Three push rod holders are installed on the annular slab of upper end, and annular slab is fixed with three guide supports, three guide supports evenly distribute, encircle insulator string, the lower end of push rod is fixed on the annular slab of lower end, the annular slab position of middle annular slab and lower end is relative fixing, and the annular slab of middle part and bottom can be along line slip on three guide supports; Be symmetrically distributed with two groups of connecting rod motors on the annular slab of upper end, the connecting rod motor can drive drive connecting rod and follower link rotation;
Climbing mechanism by the flexible push rod of push rod body, is completed the action of creeping by more than two groups or two groups.When the insulator robot is positioned over initial position, push rod is in punctured position, whole robot up-down structure height is crossed over two insulator sheets, after push rod stretches out fully, the structure height of whole insulator robot is across three insulator sheets, the insulator robot is positioned on insulator string, this moment, two groups of drive connecting rod and the follower link of insulator robot lower end were rotated to the upper surface of insulator sheet inside by the connecting rod driven by motor, and two groups of drive connecting rod and follower link are supported on the upper surface of insulator inside.
This moment, three groups of push rods stretched out from the push rod body simultaneously, the upper part that promotes robot moves upward, stretch out fully to three groups of push rods and put in place, two groups of drive connecting rod of upper end and follower link are rotated upper surface to insulator by the connecting rod driven by motor, this moment, two groups of drive connecting rod and the follower link of lower end turned to the outside of insulator surface from the surface of the insulator sheet of downside under the drive of connecting rod motor, and two groups of drive connecting rod and the follower link of upper end are static.
this moment, three groups of push rods began to shrink simultaneously, lower end lifting with the insulator robot, after push rod shrinks and puts in place, this moment the lower end two groups of drive connecting rod and just in time the mediate upper surface of insulator of follower link, drive respectively two groups of drive connecting rod and follower link is rotated to the upper surface of insulator inside by two connecting rod motors, whole insulator detecting robot is supported, two groups of drive connecting rod of robot upper end and follower link this moment the outside from the internal rotating of insulator sheet to insulator, complete a circulation of creeping this moment, so repeatedly, complete whole up action, creeping motion type insulator robot descending, identical with up principle, repeat no more.
The beneficial effects of the utility model are, the utility model compact conformation, and translational speed is fast, and it can carry out electric index to insulator and detect, go forward side by side line item and transfer of data by carrying detecting instrument; Can carry clearing apparatus, complete the dust of insulator bottle string and the cleaning of dirt; Can also carry spray equipment, complete the spray painting work to insulator sheet surface; Be applicable to the motion of level and suspension insulator, by circuit control complete creep, detection and cleaning works.
Description of drawings
Fig. 1 is the utility model structural representation;
Fig. 2 is end view of the present utility model;
Fig. 3 is the actual online simulation figure of the utility model;
Fig. 4-9 are the utility model motion flow chart;
Wherein 1. guide supports, 2. push rod lower fixed seat, 3. push rod body, 4. lower annular plate, 5. insulator detector device, 6. push rod, 7. drive connecting rod, 8. connecting rod motor base, 9. connecting rod motor, 10. pull bar, 11. follower link, 20. push rod upper fixed seats, 21. upper annular plates, 34. middle annular slab, 39. electric-controlled boxes.
Embodiment
Below in conjunction with drawings and Examples, the utility model is further illustrated.
As shown in Fig. 1-9, push rod creeping motion type insulator string Intelligent Measurement robot, it comprises the annular hold-fast body that can encircle on insulator body, the annular hold-fast body is provided with the identical climbing mechanism that can move along insulator string of at least two groups, be provided with checkout gear and control system on the annular hold-fast body, described control system is electrically connected to connecting rod motor, the push rod body of climbing mechanism, the checkout gear of annular hold-fast body respectively.
The annular hold-fast body comprises circular-arc lower annular plate 4, middle annular slab 34 and the upper annular plate 21 that be arranged in parallel successively from the bottom to top, and described lower annular plate 4, upper annular plate 21, middle annular slab 34 all are connected with three vertical equally distributed guide supports 1; Described lower annular plate 4 is fixedly connected with by rigid connector with middle annular slab 34, and lower annular plate 4 and middle annular slab 34 all are movably connected on guide support 1; All be arranged with two groups of positioners on described upper annular plate 21 and lower annular plate 4.
Three vertical equally distributed guide supports 1 lay respectively at upper, middle and lower annular slab 21,34,4 circular arc opening two ends and circular arc centre position.Be installed with checkout gear and control system on middle annular slab 34.
Positioner comprises connecting rod motor 9, connecting rod motor 9 is fixed on upper annular plate 21 and lower annular plate 4 by connecting rod motor cabinet 8, the output shaft of connecting rod motor 9 is connected with drive connecting rod 7, drive connecting rod 7 one ends and pull bar 10 1 ends are hinged, pull bar 10 other ends and follower link 11 1 ends are hinged, follower link 11 is articulated on the climbing mechanism that is adjacent, and drive connecting rod 9 and follower link 11 are on same level, and drive connecting rod 9, pull bar 10, follower link 11 and pin joint form a four-bar mechanism.
Every group of climbing mechanism includes corresponding push rod upper fixed seat 20 and the push rod lower fixed seat 2 that is arranged at respectively on upper and lower annular slab 21,4, and push rod 6 and push rod body 3 are fixedly connected on respectively on push rod upper fixed seat 20, push rod lower fixed seat 2.Push rod body 3 is electric pushrod or Electrohydraulic push rod.
Control system is installed in control box 39.Checkout gear is insulator detector device 5.
Control system of the present utility model is based on the compound movement control system of Double close loop.Double close loop comprises the lateral attitude closed loop of many connecting rods motor and the lengthwise position closed loop of many push rods.Can be known by the utility model system configuration and know, these two position closed loops need mutual coordination could jointly complete climbing and the Detection task of robot.
Specific implementation process is as follows: robot works on insulator string.The user issues automatic measurement instruction, and control system receives control command, at first resets to be positioned at two connecting rod motors on upper annular plate 21, and above-mentioned two connecting rod reset motors can drive coupled two pull bars initiatively, and two driven pull bars reach initial position.
The control system monitoring is positioned at the position of two connecting rod motors on upper annular plate 21, and when two connecting rod motors arrived initial position, control system drove three push rods by drive circuit.Three push rods are upheld with identical speed, and by system configuration as can be known, system can extend under push rod drives.
Control system reads the push rod position, when robot length reaches the precalculated position, stops three pushrod movement.If system length arrives predetermined length, two connecting rod driven by motor active pull bars and driven pull bar forward that control system is controlled on upper annular plate 21 move.In the middle of two connecting rod motor movement processes on upper annular plate 21, control system is monitored two connecting rod motor positions constantly.Before two motors arrived the precalculated position, system can not carry out any other action for guaranteeing the robot security.By system configuration as can be known, after two connecting rod motors on upper annular plate 21 arrive the precalculated position, the effect that the active pull bar of robot top and driven pull bar can play the stable support robot.
Control system can wait for always that two connecting rod motors on upper annular plate 21 arrive the precalculated position, then control two connecting rod reset motors on lower annular plate 4.The support of system's gravity is transferred to top initiatively pull bar and driven pull bar by below active pull bar and driven pull bar.After two the connecting rod motors in below resetted fully, control system was controlled three push rods and is shunk.By system configuration as can be known, system length can shorten along with the contraction of three push rods, moves on the robot center of gravity.When system was retracted to initial length, control system stopped the motion of three push rods at once.The band push rod is complete when static, the connecting rod motor positive movement on lower annular plate 4, and robot gravity progressively can be supported in below initiatively pull bar and driven pull bar.So far, once complete climbing process finishes.
Checkout gear comprises control box and the insulator detector device that is arranged on the intermediate annular plate, and control system is set in control box, and control system is connected with control box with insulator detector respectively.Insulator detector in the utility model is prior art, repeats no more.
Although above-mentionedly by reference to the accompanying drawings embodiment of the present utility model is described; but be not the restriction to the utility model protection range; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection range of the present utility model.
Claims (9)
1. push rod creeping motion type insulator string Intelligent Measurement robot, it is characterized in that, it comprises the annular hold-fast body that can encircle on insulator body, the annular hold-fast body is provided with the identical climbing mechanism that can move along insulator string of at least two groups, be provided with checkout gear and control system on the annular hold-fast body, described control system is electrically connected to connecting rod motor, the push rod body of climbing mechanism, the checkout gear of annular hold-fast body respectively.
2. push rod creeping motion type insulator string Intelligent Measurement as claimed in claim 1 robot, it is characterized in that, described annular hold-fast body comprises the circular-arc lower annular plate that be arranged in parallel successively from the bottom to top, middle annular slab and upper annular plate, and described lower annular plate, upper annular plate, middle annular slab all are connected with three vertical equally distributed guide supports; Described lower annular plate is fixedly connected with by rigid connector with middle annular slab, and lower annular plate and middle annular slab all are movably connected on guide support; All be arranged with two groups of positioners on described upper annular plate and lower annular plate.
3. push rod creeping motion type insulator string Intelligent Measurement as claimed in claim 2 robot, is characterized in that, described three vertical equally distributed guide supports lay respectively at circular arc opening two ends and the circular arc centre position of upper, middle and lower annular slab.
4. push rod creeping motion type insulator string Intelligent Measurement as claimed in claim 2 robot, is characterized in that, is installed with checkout gear and control system on described middle annular slab.
5. push rod creeping motion type insulator string Intelligent Measurement robot as claimed in claim 2, it is characterized in that, described positioner comprises the connecting rod motor, the connecting rod motor is fixed on upper annular plate and lower annular plate by the connecting rod motor cabinet, the output shaft of connecting rod motor is connected with drive connecting rod, drive connecting rod one end and pull bar one end are hinged, the pull bar other end and follower link one end are hinged, follower link is articulated on the climbing mechanism that is adjacent, and drive connecting rod and follower link are on same level, drive connecting rod, pull bar, follower link and pin joint form a four-bar mechanism.
6. push rod creeping motion type insulator string Intelligent Measurement as claimed in claim 5 robot, it is characterized in that, described every group of climbing mechanism includes corresponding push rod upper fixed seat and the push rod lower fixed seat that is arranged at respectively on upper and lower annular slab, and push rod and push rod body are fixedly connected on respectively on the upper and lower holder of push rod.
7. push rod creeping motion type insulator string Intelligent Measurement as claimed in claim 6 robot, is characterized in that, described push rod body is electric pushrod or Electrohydraulic push rod.
8. push rod creeping motion type insulator string Intelligent Measurement as claimed in claim 1 robot, is characterized in that, described control system is installed in control box.
9. push rod creeping motion type insulator string Intelligent Measurement as claimed in claim 1 robot, is characterized in that, described checkout gear is the insulator detector device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320020900 CN203026847U (en) | 2013-01-12 | 2013-01-12 | Intelligent detection robot for push rod peristaltic insulator chain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320020900 CN203026847U (en) | 2013-01-12 | 2013-01-12 | Intelligent detection robot for push rod peristaltic insulator chain |
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| Publication Number | Publication Date |
|---|---|
| CN203026847U true CN203026847U (en) | 2013-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320020900 Expired - Lifetime CN203026847U (en) | 2013-01-12 | 2013-01-12 | Intelligent detection robot for push rod peristaltic insulator chain |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107185867A (en) * | 2017-06-20 | 2017-09-22 | 林春芳 | A kind of energy-saving street lamp bar clears up robot |
| CN107600211A (en) * | 2017-08-25 | 2018-01-19 | 四川阿泰因机器人智能装备有限公司 | Insulator chain, which is creeped, detects robot |
| CN107803382A (en) * | 2017-10-20 | 2018-03-16 | 滕州市智星电力电子工程有限公司 | A kind of four-bar mechanism of the robot of electrification in high voltage automatic cleaning insulator |
| CN112222112A (en) * | 2020-09-22 | 2021-01-15 | 浙江海洋大学 | Submarine pipeline belt cleaning device |
-
2013
- 2013-01-12 CN CN 201320020900 patent/CN203026847U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107185867A (en) * | 2017-06-20 | 2017-09-22 | 林春芳 | A kind of energy-saving street lamp bar clears up robot |
| CN107600211A (en) * | 2017-08-25 | 2018-01-19 | 四川阿泰因机器人智能装备有限公司 | Insulator chain, which is creeped, detects robot |
| CN107600211B (en) * | 2017-08-25 | 2019-04-09 | 四川阿泰因机器人智能装备有限公司 | Insulator chain, which is creeped, detects robot |
| CN107803382A (en) * | 2017-10-20 | 2018-03-16 | 滕州市智星电力电子工程有限公司 | A kind of four-bar mechanism of the robot of electrification in high voltage automatic cleaning insulator |
| CN107803382B (en) * | 2017-10-20 | 2023-09-01 | 滕州市智星电力电子工程有限公司 | Four-bar mechanism of robot for automatically cleaning insulator under high-voltage electrification |
| CN112222112A (en) * | 2020-09-22 | 2021-01-15 | 浙江海洋大学 | Submarine pipeline belt cleaning device |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 250101 Qilu Software Park building, Ji'nan hi tech Zone, Shandong, B-205 Patentee before: SHANDONG LUNENG INTELLIGENCE TECHNOLOGY Co.,Ltd. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130626 |