CN203929915U - Transmission line of electricity zero resistance insulator band electro-detection robot - Google Patents
Transmission line of electricity zero resistance insulator band electro-detection robot Download PDFInfo
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- CN203929915U CN203929915U CN201420185311.5U CN201420185311U CN203929915U CN 203929915 U CN203929915 U CN 203929915U CN 201420185311 U CN201420185311 U CN 201420185311U CN 203929915 U CN203929915 U CN 203929915U
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- 239000012212 insulator Substances 0.000 title claims abstract description 100
- 238000001514 detection method Methods 0.000 title claims abstract description 34
- 230000005540 biological transmission Effects 0.000 title claims abstract description 19
- 230000005611 electricity Effects 0.000 title claims abstract description 14
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 29
- 239000010959 steel Substances 0.000 claims abstract description 29
- 230000000694 effects Effects 0.000 claims description 14
- 125000003003 spiro group Chemical group 0.000 claims description 6
- 230000002787 reinforcement Effects 0.000 claims description 3
- 239000000725 suspension Substances 0.000 abstract description 5
- 238000009413 insulation Methods 0.000 abstract description 4
- 238000000354 decomposition reaction Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The utility model discloses a kind of transmission line of electricity zero resistance insulator band electro-detection robot, it comprises insulated connecting rod, detect pointer, supply unit, rotating driving device, TT&C system and two are for catching the mechanical arm of insulator steel cap, two mechanical arms are arranged on respectively the two ends of insulated connecting rod and by a rotating driving device, drive each end around insulated connecting rod in same plane to overturn respectively, two mechanical arms are controlled and are caught insulator steel cap by a corresponding gripper motor respectively, detection pointer is arranged on insulated connecting rod and by a pointer motor and drives the axis rotation around insulated connecting rod to contact image data with insulator steel cap, supply unit is arranged on and on insulated connecting rod, controls each gripper motor, the switch of pointer motor and rotating driving device, TT&C system is arranged on and on insulated connecting rod, controls each gripper motor, pointer motor and rotating driving device rotation.The utility model is simple in structure, and accuracy rate is high, is applicable to level insulation substring, suspension insulator and V-type insulator chain.
Description
Technical field
The utility model relates to the pick-up unit of a kind of high pressure, UHV (ultra-high voltage) and extra-high voltage alternating current-direct current transmission line of electricity, relates in particular to a kind of transmission line of electricity zero resistance insulator band electro-detection robot.
Background technology
Insulator is the device being connected with tower insulation for wire on aerial high-voltage power transmission line, and is one of insulator of consumption maximum, especially all the more so to old circuit.While there is low value or zero resistance insulator in insulator chain, in filthy environment, superpotential, even under operating voltage, just very easily there is flashover fault, for guaranteeing the electrical safety of ultra-high-tension power transmission line, at ultra-high-tension power transmission line, after operation a period of time, need to the performance of high-voltage transmission line insulator, be with electro-detection at any time.
China mainly comprises following several method to the detection of ultra-high-tension power transmission line null value or low resistance insulator at present: one, by manually with binoculars, insulator chain being estimated, and the zero resistance insulator that the judgement insulator inherent vice that the method can not be correct causes;
Two, adopt sparking distance pin to detect zero resistance insulator, the method needs manual operation to detect, by listening electric discharge sound to judge, accuracy is not high, and need to adjust in advance sparking distance distance, workload is large at every turn, be not suitable for the wireline inspection work that insulator amount is large;
Three, adopt infrared imaging instrument to detect according to the variation of temperature, the method is affected by meteorological condition, extraneous thermal source interference etc., can not accurately judge and involve great expense;
Four, a kind of insulator detecting robot with two Athey wheel structures of in recent years inventing, its travel mechanism adopts the form of two Athey wheels, can only walk along the two insulator string serials of level, cannot detection level list string strain insulator string, suspension insulator and V-type insulator chain, and in order to guarantee robot energy reliability service, conventionally need to one auxiliary guide mechanism, complicated structure be set at direct of travel;
Five, adopt flight to detect robot and detect zero resistance insulator by navigator fix and picture catching, due to the bad control of flying robot's stability, picture catching can not accurately judge low value or the zero resistance insulator being caused by inherent vice, and cost is high.
Utility model content
The purpose of this utility model is to provide a kind of compact conformation, light, easy to operate, and accuracy rate is high, can be applicable to the transmission line of electricity zero resistance insulator band electro-detection robot of level insulation substring, suspension insulator and V-type insulator chain.
This transmission line of electricity zero resistance insulator band electro-detection robot that the utility model provides, comprise insulated connecting rod, detect pointer, supply unit, rotating driving device, TT&C system and two are for catching mechanical arm one and the mechanical arm two of insulator steel cap, described mechanical arm one and mechanical arm two are arranged on respectively the two ends of insulated connecting rod and by a rotating driving device, drive each end around insulated connecting rod in same plane to overturn respectively, described mechanical arm one is controlled and is caught insulator steel cap by a gripper motor one, described mechanical arm two is controlled and is caught insulator steel cap by a gripper motor two, described detection pointer is arranged on insulated connecting rod and drives axis rotation around insulated connecting rod to contact with insulator steel cap respectively and mechanical arm one by a pointer motor, the detection loop that mechanical arm two forms separately, voltage for detection of corresponding insulator two ends, and the voltage at monolithic insulator two ends is input to the voltage acquisition data that realize monolithic insulator two ends in TT&C system, described supply unit is arranged on insulated connecting rod and gripper motor one, gripper motor two, pointer motor is connected with rotating driving device and provides driving power for it, described TT&C system is arranged on and on insulated connecting rod, controls gripper motor one, gripper motor two, pointer motor and rotating driving device rotation.
For making the detection pointer in the utility model can rotate freely unfettered, described insulated connecting rod comprises expansion link and lower expansion link, on, between lower expansion link, by a C type pointer motor bearing frame, be fixedly connected with, described pointer motor is arranged on to drive in this C type pointer motor bearing frame and detects pointer and horizontally rotate and contact with insulator steel cap respectively and mechanical arm one around the vertical axis of upper and lower expansion link, the detection loop that mechanical arm two forms separately, voltage for detection of corresponding insulator two ends, and the voltage at monolithic insulator two ends is input to the voltage acquisition data that realize monolithic insulator two ends in TT&C system, .
For making the folding of mechanical arm in the utility model more steady, wear and tear little, described mechanical arm one also comprises ball screw one, mechanical arm bearing support one and the symmetrical a pair of movable paw one that is arranged on this mechanical arm bearing support one front end, described gripper motor one is arranged on mechanical arm bearing support one, the screw rod of described ball screw one can axial-rotation be arranged on mechanical arm bearing support one, the nut front end both sides of this ball screw one are respectively provided with one domatic one, the handle end of described movable paw one is movably arranged on the front end of mechanical arm bearing support one by alignment pin, between the handle of two movable paws one of described alignment pin front end, be connected with a Compress Spring one and control automatically opening of each movable paw one, in the rear end of the handle end of described movable paw one, be provided with one with the domatic corresponding inclined-plane one of the nut front end of ball screw one, the output shaft of described gripper motor one is connected its rotation of driving with the spiro rod rear end of described ball screw one, the nut traveling priority of described ball screw one passes through the domatic one inclined-plane one reverse slide control activity paw one that promotes described movable paw one rear end of its front end around positioning supporting point rotating folding.
For making the folding of mechanical arm in the utility model more steady, wear and tear little, described mechanical arm two also comprises ball screw two, mechanical arm bearing support two and the symmetrical a pair of movable paw two that is arranged on these mechanical arm bearing support two front ends, described gripper motor two is arranged on mechanical arm bearing support two, the screw rod of described ball screw two can axial-rotation be arranged on mechanical arm bearing support two, the nut front end both sides of this ball screw two are respectively provided with one domatic two, the handle end of described movable paw two is movably arranged on the front end of mechanical arm bearing support two by alignment pin, between the handle of two movable paws two of described alignment pin front end, be connected with a Compress Spring two and control automatically opening of each movable paws two, in the rear end of the handle end of described movable paw two, be provided with one with the domatic two corresponding inclined-planes two of the nut front end of ball screw two, the output shaft of described gripper motor two is connected its rotation of driving with the spiro rod rear end of described ball screw two, the nut traveling priority of described ball screw two passes through the domatic two inclined-plane two reverse slide control activity paws two that promote described movable paw two rear ends of its front end around positioning supporting point rotating folding.
The rigidity of rotating unrestricted while C type pointer motor bearing frame for assurance the utility model detection pointer is enough strong, in the both sides of described C type pointer motor bearing frame, is respectively provided with a vertical reinforcement.
For making more advantages of simple of structure of the present utility model, described rotating driving device comprises two electric rotating machine bearing supports and is arranged on the electric rotating machine on each electric rotating machine bearing support, described in each, electric rotating machine bearing support is arranged on respectively the two ends of insulated connecting rod, described mechanical arm bearing support one is movably arranged on one end of insulated connecting rod and is passed through the upset around the shaft of gear rotating drive by corresponding electric rotating machine by a rotating shaft one, described mechanical arm bearing support two is movably arranged on the other end of insulated connecting rod and is passed through two upsets around the shaft of gear rotating drive by corresponding electric rotating machine by a rotating shaft two, the two ends that are arranged in insulated connecting rod that described rotating shaft one and rotating shaft two are parallel to each other, described mechanical arm bearing support one and mechanical arm bearing support two overturn in same plane.
Compared with prior art, the utlity model has following advantage:
1, by two mechanical arms are arranged on to insulated connecting rod two ends, utilize TT&C system to control the interlock of each associated motor, one mechanical arm is caught after insulator steel cap, another mechanical arm can overturn by the tie point around closed mechanical arm and insulated connecting rod with insulated connecting rod above or below insulator chain, realize and automatically creeping up and down, simple in structure, translational speed is fast, can be applicable to the motion of level insulation substring, suspension insulator and V-type insulator chain.
2, by detecting the centre of pointer at insulated connecting rod, utilize TT&C system to control associated motor work, making to detect pointer and insulator joins and carries out the detection of automatic electric index, not disturbed by meteorological condition, extraneous thermal source, low value or zero resistance insulator that judgement insulator inherent vice that can be correct causes, cost is low.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Broken section structural representation when Fig. 2 is the utility model mechanical arm one closure.
Fig. 3 is the broken section structural representation of the utility model mechanical arm two while opening.
Fig. 4 is the utility model Kinematic Decomposition figure mono-.
Fig. 5 is the utility model Kinematic Decomposition figure bis-.
Fig. 6 is the utility model Kinematic Decomposition figure tri-.
Fig. 7 is the utility model Kinematic Decomposition figure tetra-.
Fig. 8 is the utility model Kinematic Decomposition figure five.
Fig. 9 is the utility model Kinematic Decomposition figure six.
Embodiment
From Fig. 1 to Fig. 3, can find out, this transmission line of electricity zero resistance insulator of the utility model band electro-detection robot, comprise insulated connecting rod 1, detect pointer 4, supply unit 5, rotating driving device 6, TT&C system 7 and two are for catching mechanical arm 1 and the mechanical arm 23 of insulator steel cap, wherein insulated connecting rod 1 comprises expansion link 11, C type pointer motor bearing frame 12 and lower expansion link 13, mechanical arm 1 comprises a pair of movable paw 1, ball screw 1, gripper motor 1, mechanical arm bearing support 1 and Compress Spring 1, mechanical arm 23 comprises a pair of movable paw 2 31, ball screw 2 32, gripper motor 2 33, mechanical arm bearing support 2 34 and Compress Spring 2 35, rotating driving device 6 comprises two electric rotating machine bearing supports 61 and is arranged on the electric rotating machine 62 on each electric rotating machine bearing support 61, C type pointer motor bearing frame 12 is fixedly connected between expansion link 11 and lower expansion link 13, in the both sides of C type pointer motor bearing frame 12, be respectively provided with a vertical reinforcement 121, the handle end of movable paw 1 is respectively by an alignment pin level and symmetrical mechanical arm bearing support one 24 front ends that are arranged on, the screw rod of ball screw 1 can axial-rotation level be arranged on the mechanical arm bearing support 1 between two movable paw one 21 rear ends, gripper motor 1 is arranged on mechanical arm bearing support 1, on rotating machine arm bearing support 1, be connected with rotating shaft 1, the axle center of the alignment pin of the axle center of this rotating shaft 1 and movable paw 1 is perpendicular, the two ends of rotating shaft 1 are movably arranged on the upper end of expansion link 11, Compress Spring 1 is connected between the handle of two movable paws 1 of alignment pin front end and controls automatically opening of each movable paw 1, nut front end both sides at ball screw 1 are respectively provided with one domatic 1, in the rear end of the handle end of each movable paw 1, be provided with one with the domatic one 221 corresponding inclined-planes 1 of the nut front end of ball screw 1, the output shaft of gripper motor 1 is connected its axial-rotation of driving with the spiro rod rear end of ball screw 1, the screw rod of ball screw 1 drives its nut to move horizontally vertically, the nut straight line reach of ball screw 1 is by inclined-plane one 211 reverse slide of domatic one 221 promotion activity paw one 21 rear ends of its front end, control activity paw 1 is around the rotating closed insulator steel cap of catching of positioning supporting point, the handle end of movable paw 2 31 is respectively by an alignment pin level and symmetrical being arranged on mechanical arm bearing support 2 34, the screw rod of ball screw 2 32 can axial-rotation level be arranged on the mechanical arm bearing support 2 34 between two movable paw one 21 rear ends, gripper motor 2 33 is arranged on mechanical arm bearing support 2 34, on mechanical arm bearing support 2 34, be connected with rotating shaft 2 341, the axle center of the alignment pin of the axle center of this rotating shaft 2 341 and movable paw 2 31 is perpendicular, the two ends of rotating shaft 2 341 are movably arranged on the lower end of lower expansion link 13 and are parallel to each other with rotating shaft 1, Compress Spring 2 35 is connected between the handle of two movable paws 2 31 of alignment pin front end and controls automatically opening of each movable paw 2 31, nut front end both sides at ball screw 2 32 are respectively provided with one domatic 2 321, in the rear end of the handle end of each movable paw 2 31, be provided with one with the domatic 2 321 corresponding inclined-planes 2 311 of the nut front end of ball screw 2 32, the output shaft of gripper motor 2 33 is connected its axial-rotation of driving with the spiro rod rear end of ball screw 2 32, the screw rod of ball screw 2 32 drives its nut to move horizontally vertically, the nut straight line reach of ball screw 2 32 is by inclined-plane 2 311 reverse slide of domatic 2 321 promotion activity paw 2 31 rear ends of its front end, control activity paw 2 31 is around the rotating closed insulator steel cap of catching of positioning supporting point, detect on pointer 4 is arranged on insulated connecting rod 1 C type pointer motor bearing frame 12 by a pointer motor 41 and driven around around upper by this pointer motor 41, the vertical axis of lower expansion link horizontally rotates and contacts with insulator steel cap respectively and mechanical arm 1, the detection loop that mechanical arm 23 forms separately, voltage for detection of corresponding insulator two ends, and the voltage at monolithic insulator two ends is input to the voltage acquisition data that realize monolithic insulator two ends in TT&C system 7,
Each electric rotating machine bearing support 61 is arranged on respectively the upper end of expansion link 11 and the lower end of lower expansion link 13, output sleeve at each electric rotating machine 62 is equipped with a motor gear, in the corresponding position of rotating shaft 1 and rotating shaft 2 341, be set with a mechanical arm gear being meshed with motor gear, by corresponding electric rotating machine 62, by gear rotating drive, it one 241 overturns in the upper end of upper expansion link 11 mechanical arm bearing support 1 around the shaft, mechanical arm bearing support 2 34 2 341 is overturn in the lower end of lower expansion link 13 by gear rotating drive around the shaft by corresponding electric rotating machine 62, mechanical arm bearing support 1 and mechanical arm bearing support 2 34 overturn in same plane, supply unit 5 comprises fixed support and is arranged on the lithium battery on this fixed support, fixed support is fixedly mounted on the upper expansion link 11 or lower expansion link 13 of insulated connecting rod 1, the lithium battery of supply unit 5 and gripper motor 1, gripper motor 2 33, pointer motor 41 is connected with each electric rotating machine 62 and controls its unlatching or cut out, TT&C system 7 is arranged on insulated connecting rod 1 and controls gripper motor 1, gripper motor 2 33, the rotation of pointer motor 41 and each electric rotating machine 62.
In the utility model, first the allomeric function of TT&C system 7 is that the instruction that controller sends according to telepilot is controlled the action of each motor of robot, until two mechanical arms, hold after insulator steel cap, detecting pointer rotation joins with insulator, voltage signal deliver to controller between data collecting module collected insulator, and then by controller, data are calculated and the judgement of result; If show that insulator is that the result of null value is just reminded related personnel by buzzer warning, and related data is wirelessly transmitted to land station's computing machine simultaneously, the data that receive can import and export that database backs up and historical analysis, thereby can conveniently inquire about the data of the insulator chain of whole shaft tower, judge the position of deteriorated insulator.
Take suspension insulator as example, and the course of work of the present utility model is as follows:
1, manually by shaft tower on robot of the present utility model band, the movable paw 1 of mechanical arm 1 is entangled to first insulator steel cap, power-on device 5, opens gripper motor 1, gripper motor 2 33, pointer motor 41 and 62 energisings of each electric rotating machine.
2, the staff on shaft tower illustrates ground teleoperator to send enabling signal, TT&C system 7 reception & disposal signals are also controlled the screw axial rotation of gripper motor one 23 task driven ball screws 1, the screw rod of ball screw 1 drives the level reach vertically of its nut, the nut straight line reach of ball screw 1 is by inclined-plane one 211 reverse slide of domatic one 221 promotion activity paw one 21 rear ends of its front end, control activity paw 1 is rotating closed until mechanical arm 1 is caught insulator steel cap, as described in Figure 4 around positioning supporting point.
3, TT&C system 7 is controlled electric rotating machine 62 work on lower expansion link 13, by gear rotating drive mechanical arm 23 around the shaft 2 341 axle center to the upset of insulator chain below and with insulated connecting rod 1 angle in 90 °, as shown in Figure 5.
4, TT&C system 7 is controlled electric rotating machine 62 work of upper expansion link 11 upper ends, by 90 ° of gear rotating drive insulated connecting rod 1 one 241 axle center insulator chain upsets downwards around the shaft, owing to having certain space between adjacent insulator, can avoid in insulated connecting rod 1 rotary course the jam of adjacent insulator to mechanical arm 23.
5, treat that the movable paw 2 31 of mechanical arm 23 entangles the steel cap of the 3rd insulator in below, TT&C system 7 is controlled the screw axial rotation of gripper motor 2 33 task driven ball screws 2 32, the screw rod of ball screw 2 32 drives the level reach vertically of its nut, the nut straight line reach of ball screw 2 32 is by inclined-plane 2 311 reverse slide of domatic 2 321 promotion activity paw 2 31 rear ends of its front end, and control activity paw 2 31 is rotating closed until mechanical arm 23 is caught insulator steel cap around positioning supporting point.
6, TT&C system 7 steering needle motor 41 work, make to detect the steel cap of pointer 4 rotating contact intermediate standoff in surface level, respectively with mechanical arm 1, mechanical arm 23 formation detection loops separately, detect the voltage at the 1st, 2 insulator two ends, and the voltage at monolithic insulator two ends is input to and in TT&C system 7, carries out self storage and be sent to surface work platform, as shown in Figure 6.
7,, after this data acquisition completes, TT&C system 7 steering needle motor 41 work, make to detect pointer 4 and in surface level inward turning, leave out the steel cap of this insulator.
8, TT&C system 7 is controlled the screw axial reversion that gripper motor one 23 reverse operations drive ball screw 1, the screw rod of ball screw 1 drives its nut after level, to move vertically, and Compress Spring one 25 resets are controlled each movable paw 1 and opened until mechanical arm 1 unclamps the 1st insulator steel cap around positioning supporting point reversion.
9, TT&C system 7 is controlled electric rotating machine 62 work on lower expansion links 13, by gear rotating drive insulated connecting rod 12 341 axle center, 45 ° of sideway swivels outside insulator chain around the shaft, makes the movable paw 1 of mechanical arm 1 leave insulator chain, as shown in Figure 7.
10, TT&C system 7 is controlled electric rotating machine 62 work on upper expansion link 11, by gear rotating drive mechanical arm 1, overturns 180 ° in 2 241 axle center around the shaft to insulator chain outside, as shown in Figure 8, prepares grasping movement next time.
11, TT&C system 7 is controlled electric rotating machine 62 work on lower expansion link 13, by gear rotating drive insulated connecting rod 1, turns on one's side 135 ° in 2 341 axle center around the shaft outside insulator chain, mechanical arm 1 is entangled to the steel cap of the 5th insulator.
12, TT&C system 7 is controlled the screw axial rotation of gripper motor one 23 task driven ball screws 1, the screw rod of ball screw 1 drives the level reach vertically of its nut, the nut straight line reach of ball screw 1 is by inclined-plane one 211 reverse slide of domatic one 221 promotion activity paw one 21 rear ends of its front end, and control activity paw 1 is rotating closed until mechanical arm 1 is caught the 5th insulator steel cap around positioning supporting point.
13, TT&C system 7 steering needle motor 41 work, make to detect the steel cap of pointer 4 rotating contact intermediate standoff in surface level, as shown in Figure 9, respectively with mechanical arm 1, mechanical arm 23 formation detection loops separately, detect the voltage at the 3rd, 4 insulator two ends, and the voltage at monolithic insulator two ends is input to and in TT&C system 7, carries out self storage and be sent to surface work platform, complete a complete action of creeping and detecting.
Claims (6)
1. a transmission line of electricity zero resistance insulator band electro-detection robot, it is characterized in that: this robot comprises insulated connecting rod (1), detect pointer (4), supply unit (5), rotating driving device (6), TT&C system (7) and two are for catching mechanical arm one (2) and the mechanical arm two (3) of insulator steel cap, described mechanical arm one (2) and mechanical arm two (3) are arranged on respectively the two ends of insulated connecting rod (1) and by a rotating driving device (6), drive each end around insulated connecting rod (1) in same plane to overturn respectively, described mechanical arm one (2) is controlled and is caught insulator steel cap by a gripper motor one (23), described mechanical arm two (3) is controlled and is caught insulator steel cap by a gripper motor two (33), it is upper and drive axis rotation around insulated connecting rod (1) to contact with insulator steel cap respectively and mechanical arm one (2) by a pointer motor (41) that described detection pointer (4) is arranged on insulated connecting rod (1), the detection loop that mechanical arm two (3) forms separately, voltage for detection of corresponding insulator two ends, and the voltage at monolithic insulator two ends is input to the voltage acquisition data that realize monolithic insulator two ends in TT&C system (7), described supply unit (5) is arranged on insulated connecting rod (1) above and gripper motor one (23), gripper motor two (33), pointer motor (41) is connected and provides driving power for it with rotating driving device (6), described TT&C system (7) is arranged on the upper gripper motor one (23) of controlling of insulated connecting rod (1), gripper motor two (33), pointer motor (41) and rotating driving device (6) rotation.
2. transmission line of electricity zero resistance insulator band electro-detection according to claim 1 robot, it is characterized in that: described insulated connecting rod (1) comprises expansion link (11) and lower expansion link (13), on, between lower expansion link, by a C type pointer motor bearing frame (12), be fixedly connected with, described pointer motor (41) is arranged on to drive in this C type pointer motor bearing frame (12) and detects pointer (4) and horizontally rotate and contact with insulator steel cap respectively and mechanical arm one (2) around the vertical axis of upper and lower expansion link, the detection loop that mechanical arm two (3) forms separately, voltage for detection of corresponding insulator two ends, and the voltage at monolithic insulator two ends is input to the voltage acquisition data that realize monolithic insulator two ends in TT&C system (7).
3. transmission line of electricity zero resistance insulator band electro-detection according to claim 1 robot, it is characterized in that: described mechanical arm one (2) also comprises ball screw one (22), mechanical arm bearing support one (24) and symmetry are arranged on a pair of movable paw one (21) of this mechanical arm bearing support one (24) front end, described gripper motor one (23) is arranged on mechanical arm bearing support one (24), the screw rod of described ball screw one (22) can axial-rotation be arranged on mechanical arm bearing support one (24), the nut front end both sides of this ball screw one (22) are respectively provided with one domatic one (221), the handle end of described movable paw one (21) is movably arranged on the front end of mechanical arm bearing support one (24) by alignment pin, between the handle of two movable paws one (21) of described alignment pin front end, be connected with a Compress Spring one (25) and control automatically opening of each movable paw one (21), in the rear end of the handle end of described movable paw one (21), be provided with one with domatic one (221) the corresponding inclined-plane one (211) of the nut front end of ball screw one (22), the output shaft of described gripper motor one (23) is connected its rotation of driving with the spiro rod rear end of described ball screw one (22), inclined-plane one (211) the reverse slide control activity paw one (21) that the nut traveling priority of described ball screw one (22) promotes described movable paw one (21) rear end by domatic one (221) of its front end is around positioning supporting point rotating folding.
4. transmission line of electricity zero resistance insulator band electro-detection according to claim 1 robot, it is characterized in that: described mechanical arm two (3) also comprises ball screw two (32), mechanical arm bearing support two (34) and symmetry are arranged on a pair of movable paw two (31) of these mechanical arm bearing support two (34) front ends, described gripper motor two (33) is arranged on mechanical arm bearing support two (34), the screw rod of described ball screw two (32) can axial-rotation be arranged on mechanical arm bearing support two (34), the nut front end both sides of this ball screw two (32) are respectively provided with one domatic two (321), the handle end of described movable paw two (31) is movably arranged on the front end of mechanical arm bearing support two (34) by alignment pin, between the handle of two movable paws two (31) of described alignment pin front end, be connected with a Compress Spring two (35) and control automatically opening of each movable paw two (31), in the rear end of the handle end of described movable paw two (31), be provided with one with domatic two (321) the corresponding inclined-planes two (311) of the nut front end of ball screw two (32), the output shaft of described gripper motor two (33) is connected its rotation of driving with the spiro rod rear end of described ball screw two (32), inclined-plane two (311) the reverse slide control activity paws two (31) that the nut traveling priority of described ball screw two (32) promotes described movable paw two (31) rear ends by domatic two (321) of its front end are around positioning supporting point rotating folding.
5. transmission line of electricity zero resistance insulator band electro-detection according to claim 2 robot, is characterized in that: in the both sides of described C type pointer motor bearing frame (12), be respectively provided with a vertical reinforcement (121).
6. according to the transmission line of electricity zero resistance insulator band electro-detection robot described in claim 3 or 4, it is characterized in that: described rotating driving device (6) comprises two electric rotating machine bearing supports (61) and is arranged on the electric rotating machine (62) on each electric rotating machine bearing support (61), described in each, electric rotating machine bearing support (61) is arranged on respectively the two ends of insulated connecting rod (1), described mechanical arm bearing support one (24) is movably arranged on one end of insulated connecting rod (1) and one (241) is overturn around the shaft by gear rotating drive by corresponding electric rotating machine (62) by a rotating shaft one (241), described mechanical arm bearing support two (34) is movably arranged on the other end of insulated connecting rod (1) and two (341) is overturn around the shaft by gear rotating drive by corresponding electric rotating machine (62) by a rotating shaft two (341), the two ends that are arranged in insulated connecting rod (1) that described rotating shaft one (241) and rotating shaft two (341) are parallel to each other, described mechanical arm bearing support one (24) and mechanical arm bearing support two (34) overturn in same plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420185311.5U CN203929915U (en) | 2014-04-17 | 2014-04-17 | Transmission line of electricity zero resistance insulator band electro-detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420185311.5U CN203929915U (en) | 2014-04-17 | 2014-04-17 | Transmission line of electricity zero resistance insulator band electro-detection robot |
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| CN203929915U true CN203929915U (en) | 2014-11-05 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103926489A (en) * | 2014-04-17 | 2014-07-16 | 邹德华 | Power transmission line zero value insulator electrification detection robot |
| CN105548818A (en) * | 2016-02-03 | 2016-05-04 | 河北工业大学 | Low-voltage power distribution network broken line inspection tour device |
| CN105811297A (en) * | 2016-03-03 | 2016-07-27 | 国网山东省电力公司茌平县供电公司 | Automatic insulator maintenance method for use in power transmission and distribution system |
| CN106182030A (en) * | 2016-08-18 | 2016-12-07 | 罗日成 | The detection of a kind of transmission line insulator live and the integrated robot cleaned |
| CN107247187A (en) * | 2017-07-07 | 2017-10-13 | 国家电网公司 | One kind is used for power line insulators live detection robot and its application method |
| CN107436385A (en) * | 2016-05-26 | 2017-12-05 | 国家电网公司 | Insulator detecting robot |
| CN108445358A (en) * | 2018-03-21 | 2018-08-24 | 辽宁工程技术大学 | A kind of safe arc characteristic detection device |
| CN112327011A (en) * | 2020-10-16 | 2021-02-05 | 贵州电网有限责任公司 | Insulator zero-value detection pole auxiliary stand |
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2014
- 2014-04-17 CN CN201420185311.5U patent/CN203929915U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103926489A (en) * | 2014-04-17 | 2014-07-16 | 邹德华 | Power transmission line zero value insulator electrification detection robot |
| CN105548818A (en) * | 2016-02-03 | 2016-05-04 | 河北工业大学 | Low-voltage power distribution network broken line inspection tour device |
| CN105548818B (en) * | 2016-02-03 | 2018-03-09 | 河北工业大学 | A kind of low-voltage network broken string inspection device |
| CN105811297A (en) * | 2016-03-03 | 2016-07-27 | 国网山东省电力公司茌平县供电公司 | Automatic insulator maintenance method for use in power transmission and distribution system |
| CN107436385A (en) * | 2016-05-26 | 2017-12-05 | 国家电网公司 | Insulator detecting robot |
| CN106182030A (en) * | 2016-08-18 | 2016-12-07 | 罗日成 | The detection of a kind of transmission line insulator live and the integrated robot cleaned |
| CN107247187A (en) * | 2017-07-07 | 2017-10-13 | 国家电网公司 | One kind is used for power line insulators live detection robot and its application method |
| CN107247187B (en) * | 2017-07-07 | 2023-08-04 | 国家电网公司 | Live detection robot for power transmission line insulator and application method of live detection robot |
| CN108445358A (en) * | 2018-03-21 | 2018-08-24 | 辽宁工程技术大学 | A kind of safe arc characteristic detection device |
| CN112327011A (en) * | 2020-10-16 | 2021-02-05 | 贵州电网有限责任公司 | Insulator zero-value detection pole auxiliary stand |
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