CN203109950U - Peristaltic insulator chain intelligent detection robot - Google Patents
Peristaltic insulator chain intelligent detection robot Download PDFInfo
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- CN203109950U CN203109950U CN 201320021560 CN201320021560U CN203109950U CN 203109950 U CN203109950 U CN 203109950U CN 201320021560 CN201320021560 CN 201320021560 CN 201320021560 U CN201320021560 U CN 201320021560U CN 203109950 U CN203109950 U CN 203109950U
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Abstract
The utility model discloses a peristaltic insulator chain intelligent detection robot which comprises an annular enclasping mechanism capable of surrounding an insulator body. At least two groups of crawling mechanisms capable of moving along an insulator chain are placed on the annular enclasping mechanism. A detection device and a control system are placed on the annular enclasping mechanism. The control system is respectively and electrically connected with a connecting rod motor of the annular enclasping mechanism, push rod bodies of the crawling mechanisms and the detection device. The control system comprises a central control unit. The central control unit is respectively communicated with a transmitting and receiving circuit, a push rod drive circuit, a power source, an ADC interface circuit and a system bus. The system bus is respectively communicated with a detection circuit of the detection device, a push rod drive rod circuit, a sensor interface circuit and a connecting rod motor interface. The peristaltic insulator chain intelligent detection robot is compact in structure, high in moving speed and suitable for motion of a horizontal insulation chain and motion of a vertical insulation chain, and crawling detection and cleaning work is controlled by circuits and finished.
Description
Technical field
The utility model relates to a kind of insulator chain climbing robot, and especially a kind of detection that is applicable to the electric insulation substring also goes for the cleaning of insulator dirt, the surperficial creeping motion type insulator chain Intelligent Measurement robot that sprays.
Background technology
At present, along with the continuous 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 phenomenon such as prevent short circuit or open circuit.
Insulator is to be used for the insulation component that lead is connected with iron tower on the 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 owing to 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.
According to the mounting structure difference, insulator chain can divide suspension insulator and level insulation substring, and inclination insulator chain, certainly, because the needs of installing, general as vertically insulated substring is not absolute vertical, but can be called suspension insulator within the in the vertical direction certain angle scope.
The shaft tower that bears wire tension that hangs lead or split conductor with strain insulator string is called anchor support, is the pylon with the direction tractive lead of basic horizontal, certainly owing to the influence of gravity, and can abswolute level.Here said insulator chain is exactly the level insulation substring basically on anchor support.
Because the insulator chain long term exposure is in atmosphere, the surface of insulator chain can produce dust stratification and dirt, causes line short easily, reduce the insulating properties of the insulator of circuit, the cleaning of insulator surface adopts the mode of hand sweeping at present, and the operational danger height, efficient is low, difficulty is big.
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 the 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 vertically insulated substring, can reliability service in order to guarantee robot, usually need be at the guide frame of assisting at direct of travel, the structure more complicated.Obviously in addition a bit be, insulator chain much is porcelain spare, and the surface is very smooth, is difficult to make robot to obtain good drive environment.
China CN202013392U utility model patent then 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; For adapting to the climbing on vertically insulated substring, climbing mechanism comprises symmetrically arranged two guide rails, on two guide rails card base mechanism is set respectively; And card base mechanism comprises carriage and pendulous device, and carriage comprises the card base slide block that is slidingly arranged on the 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 bigger, 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 then discloses a kind of robot with the ring support that can be sheathed on the insulator body periphery, at this ring support climbing mechanism and detection probe are set, obviously, because the insulator chain two ends connect, ring support is sleeved on to be needed on the insulator chain to cooperate by supplementary structure, otherwise can't finish suit, the structure that this is auxiliary, as two joints or two joints above piece together counterparts and structure, caused the complexity of himself structure.In addition, it still adopts guide tracked structure, and cooperates claw structure, and volume is still bigger, bodily form heaviness and be difficult to carry.Simultaneously, the claw structure action is slower, and detection efficiency is lower.Usually, this class detection machine people need detect under the situation of outage, influences 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 creeping motion type insulator chain Intelligent Measurement robot is provided, this robot architecture's compactness, translational speed is fast, can carry out electric index detection to insulator by carrying detecting instrument, and finish record and the transmission that detects data.
For achieving the above object, the utility model adopts following technical proposals:
A kind of creeping motion type insulator chain 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 chain of at least two groups, the annular hold-fast body is provided with checkout gear and control system, and described control system is electrically connected with connecting rod motor, the push rod body of climbing mechanism, the checkout gear of annular hold-fast body respectively; Described control system comprises central control unit, central control unit is communicated by letter with system bus with transceiver circuit, push rod drive circuit, power supply, ADC interface circuit respectively, and described system bus is communicated by letter with detection loop, push rod drive rod circuit, sensor interface circuitry, the connecting rod motor interface of checkout gear 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, described lower annular plate, upper annular plate, middle annular slab all with three vertical equally distributed guiding support and connection; Described lower annular plate is fixedlyed connected by rigid connector with middle annular slab, and lower annular plate and middle annular slab all are movably connected on guiding and support; All be arranged with two groups of positioners on described upper annular plate and the lower annular plate.
Described three vertical equally distributed guiding support circular arc opening two ends and the circular arc centre position that lays respectively at the upper, middle and lower annular slab.
Be installed with checkout gear and control system on the annular slab in described.
Described positioner comprises the connecting rod motor, the connecting rod motor is fixed on upper annular plate or the 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 the same horizontal plane.
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 the 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 the control box, and central control unit is single-chip microcomputer or PLC.
Described checkout gear is the insulator detecting instrument.
Insulator detecting instrument in the utility model, transceiver circuit, push rod drive circuit, power supply, sensor interface circuitry, ADC interface circuit and system bus are existing hardware equipment, and be all available on market, do not repeat them here.
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 chain on the body of annular hold-fast body, detecting instrument or clearing apparatus are fixed on the loop configuration, by circuit control finish creep, detection and cleaning works.
The annular hold-fast body is made up of three circular-arc annular slabs, and annular slab is made of the advanced composite material (ACM) of high resiliency, lightweight and by three support and connection of leading.On the annular slab of upper end three push rod holders are installed, and annular slab fixedly has three guiding to support, three guiding support evenly and distribute, encircle insulator chain, the lower end of push rod is fixed on the annular slab of lower end, middle annular slab and the annular slab position relative fixed of lower end, and the annular slab of middle part and bottom can support upward line slip along three guiding; Be symmetrically distributed with two groups of connecting rod motors at the upper end annular slab, 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 finished 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, entire machine people's up-down structure height is crossed over two insulator sheets, after push rod stretches out fully, whole insulator robot construction height is for striding three insulator sheets, the insulator robot is positioned on the insulator chain, 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 top that promotes robot moves upward, stretch out fully to three groups of push rods and to 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 the lower end two groups of drive connecting rod and the follower link outside that under the drive of connecting rod motor, turns to insulator surface from the surface of the insulator sheet of downside, 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, the lower end of insulator robot is promoted, 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 two groups of drive connecting rod respectively and follower link is rotated to the upper surface of insulator inside by two connecting rod motors, whole insulator detecting robot is supported, rotate two groups of drive connecting rod of robot upper end and follower link this moment the outside to insulator from the inside of insulator sheet, finish a circulation of creeping this moment, so repeatedly, finish 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, finish the dust of insulator bottle string and the cleaning of dirt; Can also carry spray equipment, finish the coating spraying work to insulator sheet surface; Be applicable to the motion of level and suspension insulator, finish by circuit control creep, detection and cleaning works.
Description of drawings
Fig. 1 is the utility model structural representation;
Fig. 2 is side view of the present utility model;
Fig. 3 is the actual online simulation figure of the utility model;
Fig. 4-9 is the utility model motion flow chart;
Figure 10 is the utility model control system block diagram;
Figure 11 is the utility model control flow chart;
Wherein 1. guiding support, 2. push rod lower fixed seat, 3. push rod body, 4. lower annular plate, 5. insulator detecting instrument, 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.
The specific embodiment
Below in conjunction with drawings and Examples the utility model is further specified.
Shown in Fig. 1-11, creeping motion type insulator chain 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 chain of at least two groups, the annular hold-fast body is provided with checkout gear and control system, and described control system is electrically connected with connecting rod motor, the push rod body of climbing mechanism, the checkout gear of annular hold-fast body respectively; Described control system comprises central control unit, central control unit is communicated by letter with system bus with transceiver circuit, push rod drive circuit, power supply, ADC interface circuit respectively, and described system bus is communicated by letter with detection loop, push rod drive rod circuit, sensor interface circuitry, the connecting rod motor interface of checkout gear respectively.Sensor interface circuitry links to each other with position sensor, and position sensor is installed on the upper annular plate 21.
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 support 1 with three vertical equally distributed guiding and be connected; Described lower annular plate 4 and middle annular slab 34 are fixedlyed connected by rigid connector, and lower annular plate 4 and middle annular slab 34 all are movably connected on guiding and support on 1; All be arranged with two groups of positioners on described upper annular plate 21 and the lower annular plate 4.
Three vertical equally distributed guiding support 1 and 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 the middle annular slab 34.
Positioner comprises connecting rod motor 9, connecting rod motor 9 is fixed on upper annular plate 21 and the 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 7 and follower link 11 are on the same horizontal plane.
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 the upper and lower annular slab 21,4, and push rod 6 and push rod body 3 are fixedly connected on respectively on the upper and lower holder 30 of push rod, 2.Push rod body 3 is electric pushrod or Electrohydraulic push rod.
Control system is installed in the control box 39, and central control unit is single-chip microcomputer or PLC.Checkout gear is insulator detecting instrument 5.
Control system of the present utility model is based on the compound movement control system of two-position closed loop.The two-position closed 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 architecture and to know that these two position closed loops need mutual coordination could finish climbing and the detection task of robot jointly.
Specific implementation process is as follows: robot works at insulator chain.The user issues automatic measurement instruction, the control system central control unit receives control command, at first resetting is positioned at two connecting rod motors on the 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.
Central control unit is monitored the position that is positioned at two connecting rod motors on the upper annular plate 21 constantly by system bus, and when treating that two connecting rod motors arrive initial position, central control unit drives three push rods by drive circuit.Three push rods are upheld with identical speed, and by system architecture as can be known, system can extend under push rod drives.
Central control unit reads the push rod position by system bus, and when treating that robot length reaches the precalculated position, central control unit stops three pushrod movement.If system length arrives predetermined length, two connecting rod driven by motor active pull bars and driven pull bar forward on the central control unit control upper annular plate 21 move.In the middle of two connecting rod motor movement processes on the upper annular plate 21, central control unit is monitored two connecting rod motor positions constantly by system bus.Before two motors arrived the precalculated position, system can not carry out any other action for guaranteeing the robot security.By system architecture as can be known, after two connecting rod motors on the 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.
Central control unit can wait for always that two connecting rod motors on the upper annular plate 21 arrive the precalculated position, then by two connecting rod reset motors on the system bus control 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, central control unit started three push rods of driver element control and shrinks.By system architecture 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, central control unit stopped the motion of three push rods at once.The band push rod is complete when static, the connecting rod motor positive movement on the 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.
In each climbing gap, central control unit can be controlled detector by system bus and finish the testing of insulator sheet resistance.
Checkout gear comprises control box and the insulator detecting instrument that is arranged on the intermediate annular plate, and control system is set in the control box, and control system is connected with control box with the insulator detector respectively.Insulator detector in the utility model is prior art, repeats no more.
Though above-mentionedly by reference to the accompanying drawings the specific embodiment of the present utility model is described; but be not the restriction to the utility model protection domain; 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 domain of the present utility model.
Claims (9)
1. creeping motion type insulator chain 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 chain of at least two groups, the annular hold-fast body is provided with checkout gear and control system, and described control system is electrically connected with connecting rod motor, the push rod body of climbing mechanism, the checkout gear of annular hold-fast body respectively; Described control system comprises central control unit, central control unit is communicated by letter with system bus with transceiver circuit, push rod drive circuit, power supply, ADC interface circuit respectively, and described system bus is communicated by letter with detection loop, push rod drive rod circuit, sensor interface circuitry, the connecting rod motor interface of checkout gear respectively.
2. robot as claimed in claim 1, 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, described lower annular plate, upper annular plate, middle annular slab all with three vertical equally distributed guiding support and connection; Described lower annular plate is fixedlyed connected by rigid connector with middle annular slab, and lower annular plate and middle annular slab all are movably connected on guiding and support; All be arranged with two groups of positioners on described upper annular plate and the lower annular plate.
3. robot as claimed in claim 2 is characterized in that, described three vertical equally distributed guiding support circular arc opening two ends and the circular arc centre position that lays respectively at the upper, middle and lower annular slab.
4. robot as claimed in claim 2 is characterized in that, is installed with checkout gear and control system on the described middle annular slab.
5. 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 the lower annular plate by the connecting rod motor cabinet, the output shaft of connecting rod motor is connected with drive connecting rod, and drive connecting rod one end and pull bar one end are hinged, and 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 the same horizontal plane.
6. robot as claimed in claim 5, 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 the 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. robot as claimed in claim 6 is characterized in that, described push rod body is electric pushrod or Electrohydraulic push rod.
8. robot as claimed in claim 1 is characterized in that, described control system is installed in the control box, and central control unit is single-chip microcomputer or PLC.
9. robot as claimed in claim 1 is characterized in that, described checkout gear is the insulator detecting instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320021560 CN203109950U (en) | 2013-01-12 | 2013-01-12 | Peristaltic insulator chain intelligent detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320021560 CN203109950U (en) | 2013-01-12 | 2013-01-12 | Peristaltic insulator chain intelligent detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203109950U true CN203109950U (en) | 2013-08-07 |
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ID=48890327
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320021560 Withdrawn - After Issue CN203109950U (en) | 2013-01-12 | 2013-01-12 | Peristaltic insulator chain intelligent detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203109950U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103128738A (en) * | 2013-01-12 | 2013-06-05 | 山东鲁能智能技术有限公司 | Peristaltic insulator string intelligent detection robot |
| CN113212583A (en) * | 2021-05-19 | 2021-08-06 | 囯网河北省电力有限公司沙河市供电分公司 | Climbing and inspecting robot for power transmission line pole tower |
-
2013
- 2013-01-12 CN CN 201320021560 patent/CN203109950U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103128738A (en) * | 2013-01-12 | 2013-06-05 | 山东鲁能智能技术有限公司 | Peristaltic insulator string intelligent detection robot |
| CN103128738B (en) * | 2013-01-12 | 2015-10-28 | 山东鲁能智能技术有限公司 | Creeping motion type insulator chain Intelligent Measurement robot |
| CN113212583A (en) * | 2021-05-19 | 2021-08-06 | 囯网河北省电力有限公司沙河市供电分公司 | Climbing and inspecting robot for power transmission line pole tower |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130807 Effective date of abandoning: 20151028 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |