CN204008928U - A kind of horizontal simply connected insulator chain detects robot system - Google Patents
A kind of horizontal simply connected insulator chain detects robot system Download PDFInfo
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Abstract
The utility model discloses a kind of horizontal simply connected insulator chain and detect robot system, comprise insulator charged detection instrument, be arranged symmetrically in horizontal simply connected insulator top and interconnective pedrail mechanism and be arranged symmetrically in below and the interconnective mechanism of encircling of horizontal simply connected insulator, described pedrail mechanism with encircle mechanism's common ring device of encircling horizontal simply connected insulator that forms that is connected to each other, the mechanism of encircling under described insulator is provided with the main control box that reduces robot center of gravity and prevent robot deflection, in main control box, be provided with controller, described controller is controlled pedrail mechanism by circuit and is advanced on horizontal simply connected insulator, insulator charged detection instrument sends to control center by the data that detect by wireless data transfer module, have principle simple, rational in infrastructure, easy to operate, security is good, and little to insulator wearing and tearing, usable range is wide, can adaptation level simply connected and the band electro-detection operation advantage of horizontal twin insulator strings.
Description
Technical field
The utility model relates to a kind of horizontal simply connected insulator chain and detects robot system.
Background technology
Along with the development of China's electric system, power grid security, stable operation more and more come into one's own.Especially in the UHV (ultra-high voltage) of greatly developing in recent years, system for ultra-high voltage transmission, the safe operation of insulator has directly determined investment and the security level of whole system, for guaranteeing the electrical safety of ultra-high-tension power transmission line, in ultra-high-tension power transmission line operation, use after a period of time, the electric property that needs detection line, particularly the insulation safety performance of insulator, prevents the generation of the phenomenons such as short circuit or short circuit.
Different according to mounting structure, insulator chain can divide suspension insulator and level insulation substring, the shaft tower that bears wire tension that hangs wire or split conductor with strain insulator string is called anchor support, it is the pylon with the direction tractive wire of basic horizontal, certainly due to the impact of gravity, can abswolute level.Here said insulator chain is exactly level insulation substring substantially on anchor support.
The current domestic traditional detection mode that substantially still adopts artificial work high above the ground of detection operation for insulator chain, staff carries the instruments such as insulator detector and climbs up shaft tower, by string, detect all insulators on tower, this mode labour intensity is large, operation surrounding enviroment are severe, and live-working safety is low.
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.
Chinese patent CN101769971A discloses a kind of insulator detecting robot, comprise the first Athey wheel, casing, the second Athey wheel, displacement telescoping mechanism and probe driving mechanism, displacement telescoping mechanism is installed on casing, first and second Athey wheel is positioned at casing both sides, is hinged with displacement telescoping mechanism respectively, is connected with respectively first and second stroke sensor on first and second Athey wheel; The below of casing is provided with probe driving mechanism.Comprehensive analysis, this patent mainly contains following shortcoming: its travel mechanism adopts two Athey wheels to be erected at the form of two insulator strings, can only cannot detect detection level simply connected insulator chain along horizontal twin insulator strings walking, uses and has significant limitation.
Chinese patent CN102621425A discloses a kind of horizontal insulator string live-wire and has detected robot; comprise some Athey wheels, some rotation hold-fast bodies, at least one insulator charged detection instrument and some Anti-fall protection mechanisms, described Athey wheel, insulator charged detection instrument and Anti-fall protection mechanism are all arranged on rotation hold-fast body.Athey wheel links into an integrated entity with rotation hold-fast body, and becomes 120 degree evenly to encircle around insulator while moving in robot.Because rotation is held motor tightly and is continued to provide rotation enclasping force, larger to motor damage, meanwhile, three Athey wheels of robot, 120 degree are evenly encircled insulator, crank can form the trend that robot rotatablely moves around insulator, and its twisting resistance can cause crawler belt motor and hold-fast body are destroyed.
U.S. Patent Application Publication No. is: US2010/0100239A 1 discloses a kind of insulator chain and detected robot physical construction, robot body is along charged suspension insulator to-and-fro movement, comprise that upper and lower adjustable ring is around insulator bracket, be arranged on the driver module that robot body moves, electronic detecting module, for the link block that robot body is connected with installation feel trim actuator, the switch wing module of manually robot being removed from insulator, the measurement module of both sides insulator electrical characteristics, the controller of control action and the damaged damaged probe unit of detection insulator.But, this patented claim mainly for be the detection of charged suspension insulator, when it moves on level insulation substring, because moving forward and backward the face difference of connect insulator sheet, its tire structure is connect insulator sheet bottom surface when inverted running, can cause the phenomenon that gets stuck, it cannot normally be moved on level insulation substring.
Two insulator strings of mean level duplex are because of alignment error, be not absolute symmetry, such as porcelain vase and the steel cap of the height of two insulator strings (dislocation up and down), two insulator strings not on a surface level do not line up (front-back staggered), even the centre distance of two insulator strings is different at two ends, V-shaped distribution, therefore the mechanism design across two insulator strings all will have the function of spacing, robot takes the situation that has deflection on two insulator strings, and probe swings and to have a side while detecting two insulator strings back and forth and beat less than steel cap, need to adjust detection position.So what the robot that single serial is walked mainly solved is equilibrium problem, does not produce deflection, be secondly to reach the standard grade simply, can detect single string or two string, travel mechanism is simple, smooth running etc.
Utility model content
The purpose of this utility model is exactly in order to address the above problem, provide a kind of horizontal simply connected insulator chain to detect robot system, it is simple that it has principle, rational in infrastructure, easy to operate, security is good, little to insulator wearing and tearing, usable range is wide, can adaptation level simply connected and the band electro-detection operation advantage of horizontal twin insulator strings.
To achieve these goals, the utility model adopts following technical scheme:
A kind of horizontal simply connected insulator chain detects robot system, comprise that two pedrail mechanisms that are arranged symmetrically on horizontal simply connected insulator and two of being arranged symmetrically under horizontal simply connected insulator encircle mechanism, two pedrail mechanisms are connected to each other, encircling mechanism for two is connected to each other, described two pedrail mechanisms respectively with corresponding described in encircle mechanism and connect, described pedrail mechanism with encircle that mechanism is common forms a ring device of encircling horizontal simply connected insulator, one of them is encircled mechanism and is provided with insulator charged detection instrument, the mechanism of encircling under described insulator is provided with the main control box that reduces robot center of gravity and prevent robot deflection, in main control box, be provided with controller,
Described controller is controlled pedrail mechanism by circuit and is advanced on horizontal simply connected insulator, described controller is also connected with wireless data transfer module with insulator charged detection instrument respectively, and insulator charged detection instrument sends to control center by the data that detect by wireless data transfer module.
Described pedrail mechanism comprises track support plate, and a side of track support plate is provided with drive motor and interior ring stand, and an other side is provided with handle and outer ring stand; Described track support plate is I shape track support plate; Described interior ring stand and described outer ring stand are arcuate structure, one side of described interior ring stand is connected with track support plate, an other side of described interior ring stand is connected with the interior ring stand of another one pedrail mechanism, one side of described outer ring stand with encircle mechanism and be connected, an other side of described outer ring stand is connected with track support plate.
Described pedrail mechanism is provided with special-shaped Timing Belt, and the internal tooth of described special-shaped Timing Belt is different with the height of external tooth, and the external tooth of described special-shaped Timing Belt is longer than internal tooth, and the length of described special-shaped Timing Belt is greater than two and be less than three insulator axial lengths.
In described I shape track support plate, be respectively equipped with driving pulley, driven pulley, several bearings up pulley, some U-shaped plates and some transmission shafts, described stretching pulley is enclosed within on transmission shaft, described transmission shaft two ends are arranged on U-shaped plate, described U-shaped plate is located on the middle connecting plate of I shape track support plate by the guide column sleeve on U-shaped plate, described driving pulley and driven pulley are arranged on respectively two ends between track support plate, the periphery of described driving pulley, driven pulley and several bearings up pulley is wound with special-shaped Timing Belt, and described drive motor is connected with described driving pulley.
The described mechanism of encircling comprises some arc web joints, one end of described arc web joint on encircle support, other one end of described arc web joint encircles support under being, encircles support on described to be provided with small clevis pin with head, and described arc web joint is fixed on several guide poles.
Described guide pole contacts with insulator sheet outside surface, and the length of contact is greater than two and be less than three insulator axial lengths, and described guide pole is insulating material.
On described, encircle support and described under encircle and on support, be equipped with the telescopic adjustment mounting hole corresponding with arc web joint, one side of encircling support on described is connected with arc web joint, an other side of encircling support on described is connected with the outer ring stand of pedrail mechanism, one side of encircling support under described is connected with arc web joint, an other side of encircling support under described with symmetrical encircle mechanism under encircle mechanism rack and be connected, described arc web joint adopts thin plate to bend and forms.
Described insulator charged detection instrument has one at least, be arranged on and encircle in mechanism, comprise probe driving mechanism, detector probe and detection probe, described probe driving mechanism drives detector probe to swing back and forth, described detector probe has two at least, distance between adjacent detector probe is two insulator axial lengths, and described detection probe is arranged on encircles on mechanism's guide pole, is positioned in the middle of two insulator strings.
Described controller is also connected with battery with resistance measuring module, electric field measuring apparatus, drive motor, cradle head camera, wireless video transmission module, described battery is returned wireless data transfer module and wireless video transmission module for power supply, described cradle head camera and wireless video transmission module communication.
Described electric field detector and resistance detection module are arranged on encircles in mechanism, and described cradle head camera is arranged on main control box side.Described main control box by bearing pin with encircle that under mechanism, to encircle support hinged fixing, described main control box is provided with stop means.
Describedly encircle mechanism and encircle between mechanism the form allowing by bearing pin or buckle and be connected.
The beneficial effects of the utility model:
1 the utility model is owing to adopting above-mentioned symmetrical structure, two crawler belt symmetries are encircled in insulator chain top, motion continuity is good, what its crawler belt adopted is different in nature Timing Belt, special external tooth structural design strengthens the ground ability of grabbing of robot, is particularly useful for the rough outer surface structure of insulator chain;
2 secondly, in robot, string operation is simple, security protection is good, adopt symmetrical articulated structure, convenient working personnel install and reach the standard grade, and robot is in operation process, all the time in 360 ° of all-round states of encircling of chain type, and center of gravity is arranged in below, and robot is not deflected, and has guaranteed stability and the security of robot in mobile testing process;
3 pairs of insulator coating abrasions are little, short circuit insulator number is few, robot one-piece construction and insulator contact element are all selected insulating material, farthest avoid the wearing and tearing to antifouling flash coating layer on insulator porcelain patticoat, the length of robot and insulator sheet contact point is greater than two and be less than three insulator axial lengths, two insulators of maximum short circuits;
4 utilize resistance detection and electric field to detect two kinds of detection methods carries out the judgement of insulator quality, and accuracy of detection is high, and accuracy is high; Adaptability is wide, robot adopts many places hinged, and encircle mechanism and there is scalable regulatory function, make the adjustable diameter of encircling of robot, adapt to the insulator sheet of different disk tracks, in fact, robot not only can walk on horizontal simply connected insulator chain, and can on horizontal twin insulator strings, walk, do not become the impact of the horizontal twin insulator strings of V-type distribution, there is the feature of a tractor serves several purposes.
5 electric field detectors and resistance detection module can detect respectively field intensity and the resistance of insulator chain, the quality of two kinds of method synthesis judgement insulators, when two kinds of methods detections all think that insulator is intact, control system judgement insulator is superior isolation, when two kinds of detection systems have one or two system judgement insulator to be cracking insulator, control system thinks that insulator is cracking insulator.The Cloud Terrace video system can the state of Real Time Observation robot and the state of detector probe, can observe breakage, crackle of insulator surface etc., and the detection of insulator is had to very large meaning.
6 the utility model are designed to robot walking on single string and have first avoided spacing, and adaptability is high, can detect single string, also can a string walking on two strings detect two strings, are not subject to the dislocation up and down of two strings, front-back staggered, and the impact of V-type angle.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model;
Fig. 2 is pedrail mechanism schematic diagram of the present utility model;
Fig. 3 is the structural scheme of mechanism of encircling of the present utility model;
Fig. 4 is control structure figure of the present utility model;
Fig. 5 is track support plate schematic diagram of the present utility model;
Fig. 6 is the embodiment schematic diagram of detection level duplex string of the present utility model.
Wherein: 1 special-shaped Timing Belt, 2 driven pulleys, 3 I shape track support plate, 4 interior ring stands, 5 stretching pulleys, 6 drive motor, 7 driving pulleys, 8 outer ring stands, 9 handles, 10 first bearing pins, on 11, encircle support, 12 guide poles, 13 arc web joints, encircle support 14 times, 15 main control boxs, 16 probe driving mechanisms, 17 detector probe, 18 insulator chains, 19 first pedrail mechanisms, 20 first encircle mechanism, 21 insulator charged detection instruments, 22 small clevis pin with head, 23 locating devices, 24 detection probe, 25 cradle head camera devices, 26 second encircle mechanism, 27 second pedrail mechanisms, 28 second bearing pins, 29 the 3rd bearing pins, 30 the 4th bearing pins, 32 controllers, 33 wireless data transfer modules, 34 batteries, 35 wireless video transmission modules, 36 resistance measuring module, 37 electric field measuring apparatus, 38 cradle head cameras.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the utility model is described in further detail.
The utility model is walked on level insulation substring 18, as shown in Figure 1, comprise the first pedrail mechanism 19 of being arranged symmetrically with and the second pedrail mechanism 27, be arranged symmetrically with first encircle mechanism 20 and second and encircle mechanism 26, at least one insulator charged detection instrument 21 and main control box 15.The first pedrail mechanism 19 and the second pedrail mechanism 27 are symmetrically distributed in insulator chain 18 tops hinged by the first bearing pin 10.First encircles mechanism 20 and second encircles mechanism 26 and is symmetrically distributed in insulator chain 18 belows, first encircles mechanism 20 is connected with the first pedrail mechanism 19 by the second bearing pin 28, second encircles mechanism 26 is connected with the second pedrail mechanism by the 3rd bearing pin 29, the first lower end, second that encircles mechanism 20 encircles the lower end of mechanism 26 and main control box 15 is hinged by the 4th bearing pin 30, and locating device 23 and cradle head camera device 25 are installed on main control box 15.Insulator charged detection instrument 21 is arranged on second and encircles in mechanism 26, insulator charged detection instrument 21 is comprised of probe driving mechanism 16, detector probe 17 and detection probe 24, probe driving mechanism 16 drives detector probe 17 to swing back and forth, beat respectively on the steel cap of left and right two insulator chains 18 (as shown in Figure 6, not only can complete simply connected insulator detects, and can complete twin insulator strings testing), detection probe 24 is positioned in the middle of two insulator strings.
As shown in Figure 2, the first pedrail mechanism 19 and the second pedrail mechanism 27 include special-shaped Timing Belt 1, driven pulley 2, I shape track support plate 3, interior ring stand 4, stretching pulley 5, drive motor 6, driving pulley 7, outer ring stand 8 and handle 9.Drive motor 6 is arranged on I shape track support plate 3 outsides, by motor shaft, drive the driving pulley 7 of I shape track support plate 3 inner side front ends to rotate, driving pulley 7 coordinates with special-shaped Timing Belt 1, and the driven pulley 2 that is arranged on I shape track support plate 3 rear ends, inner side also coordinates with special-shaped Timing Belt 1.Interior ring stand 4 is fixed on I shape track support plate 3 one end, outside, hinged with the interior ring stand 4 of symmetrical pedrail mechanism by the first bearing pin 10, outer ring stand 8 is fixed on the I shape track support plate 3 outside other ends, by the second bearing pin 28 and first encircle mechanism 20 on to encircle support 11 hinged.Stretching pulley 5 is arranged on I shape track support plate 3 inner lower, and can up-down adjustment, and handle 9 is arranged on I shape track support plate 3 one end, outside.
As shown in Figure 3, first encircle mechanism 20 and second encircle mechanism 26 include encircle support 11, guide pole 12, arc web joint 13 and under encircle support 14.On to encircle support 11 and the first pedrail mechanism 19 or the 3rd pedrail mechanism 27 hinged, under to encircle support 14 hinged with main control box 15, arc web joint 13 two ends respectively with on encircle support 11 and under encircle support 14 and be connected, guide pole 12 is arranged on arc web joint 13 inner sides, with insulator chain 18 Surface Contacts.
As shown in Figure 4, the utility model coordinates the concrete circuit of implementing as shown in Figure 1, 2, 3 to form block diagram.Described main control box 15 comprises controller 32, described controller 32 is connected with resistance measuring module 36, electric field measuring apparatus 37, drive motor 6, cradle head camera 38, wireless data transfer module 33, wireless video transmission module 35 and battery 34 respectively, described battery 34 is returned wireless data transfer module 33 and 35 power supplies of wireless video transmission module, and described cradle head camera 38 is communicated by letter with wireless video transmission module 35.After resistance measuring module 36 and electric field measuring apparatus 37 detect, store data into controller 32, detect data simultaneously and pass ground staff back by wireless data transfer module.Controller 32 is controlled the video image of cradle head camera 38 Real-time Collection robots and insulator chain, by wireless video module, is transferred to ground staff.Movement velocity and the direction of motion of whole robot are realized by drive motor.
As shown in Figure 5, described pedrail mechanism comprises I shape track support plate 3, I shape track support plate forms integrated I shape framed structure by middle connecting plate, wherein a side of I shape track support plate is provided with drive motor and interior ring stand, and an other side of I shape track support plate is provided with handle and outer ring stand in addition.In described I shape track support plate 3, be respectively equipped with driving pulley, driven pulley, several bearings up pulley, some U-shaped plates and some transmission shafts, described stretching pulley 5 is enclosed within on transmission shaft, described transmission shaft two ends are arranged on U-shaped plate, and described U-shaped plate is located on the middle connecting plate of I shape track support plate by the guide column sleeve on U-shaped plate.
Principle of work of the present utility model:
When the utility model is not reached the standard grade operation, robot is in off working state, because each pin joint is in can free movement state, need each pin joint to be fixed, prevent that robot is freely movable at hinge portion, arbitrary deformation occurs, now each pin joint is undertaken radially hinged by small clevis pin with head 22, can prevent that articulated elements from rotating around bearing pin, guarantee moulding and the stability of robot, detector probe 17 is in position as shown in Figure 1 simultaneously.
When robot reaches the standard grade, first by a side pedrail mechanism with encircle mechanism hinged place and open, robot is passed through to this opening rack on insulator chain 18, and then pin joint inserts bearing pin, and the small clevis pin with head of all pin joints is extracted herein, each pin joint is in free movement state, robot insulator chain 18 outside surfaces of can freely fitting, simultaneously under Action of Gravity Field, main control box 15 can be in insulator chain 18 below, and two pedrail mechanisms are positioned at insulator chain 18 tops.
At machine man-hour, drive motor 6 drive motor axle rotations, by driving pulley 7, driven pulley 2, drive special-shaped Timing Belt 1 to move along insulator chain 18 surfaces, particular design due to special-shaped Timing Belt 1 external tooth, increased the ground ability of grabbing of robot, larger than flat rubber belting or general bilateral tooth Timing Belt friction force, be particularly useful for the rough outer surface structure of insulator chain 18.The length of abnormity Timing Belt 1 and guide pole 12 is greater than two and be less than three insulator axial lengths, two insulators of maximum short circuits, and its material is insulating material, can at utmost avoid the wearing and tearing to antifouling flash coating layer on insulator porcelain patticoat.
Robot is on insulator chain 18 during continuous moving, it is start detection program that locating device 23 detects insulator chain 18 detection positions, now robot stops on detection position, the probe driving mechanism 16 that in main control box 15, detection system control panel sends on signal controlling insulator charged detection instrument 21 drives detector probe 17 to swing, before and after making, two probes are beaten respectively on adjacent two insulator sheet steel caps, at the same time, in main control box 15, detection system detects insulator and records numerical value, detect complete record after numerical value by signal feedback to control panel, control panel sends signal controlling probe driving mechanism 16 and drives detector probe 17 to return to initial position.When carrying out horizontal twin insulator strings detection, at every turn in detection position, probe left and right swings back and forth twice, can complete the detection operation to two insulator string strings.Mobile and detect in operation process, cradle head camera device 25 can to the breakage on detection position, robot moving direction, insulator chain surface, crackle and around gold utensil monitor, grasp in real time the ruuning situation of robot.
Robot, except being undertaken resistance detection by detector probe 17, also can utilize 24 pairs of insulator chains of detection probe 18 to carry out electric field detection.Robot is continuous moving on insulator chain 18, locating device 23 detects after insulator chain 18 initial positions, start detection program, detection probe 24 induction insulator chains 18 are electric field carry out signal transmission around, and detection system synchronous recording numerical value in main control box 15 is until detect complete.
After detection operation all finishes, by a side pedrail mechanism with encircle mechanism hinged place and open, robot is got from insulator chain 18 by this opening, and then pin joint inserts bearing pin herein, and each pin joint is undertaken radially hinged by small clevis pin with head 22, check that whether each parts are normal, deenergization.
The utility model adopts crawler belt continous way travel mechanism; translational speed is fast, and the polymorphic structure of Timing Belt makes robot strengthen the ground effect of grabbing of insulator chain, prevents from skidding; little to insulator wearing and tearing, short circuit insulator is few; security protection is good, and upper string operation is simple, and translational speed is steady; probe overlap joint is reliable; detect accurately, can be adapted to the insulator chain of different disk track sizes, can be applicable to the band electro-detection operation of horizontal simply connected and horizontal twin insulator strings.
Although above-mentioned, by reference to the accompanying drawings embodiment of the present utility model is described; but the not 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 (10)
1. a horizontal simply connected insulator chain detects robot system, it is characterized in that, comprise that two pedrail mechanisms that are arranged symmetrically on horizontal simply connected insulator and two of being arranged symmetrically under horizontal simply connected insulator encircle mechanism, two pedrail mechanisms are connected to each other, encircling mechanism for two is connected to each other, described two pedrail mechanisms respectively with corresponding described in encircle mechanism and connect, described pedrail mechanism with encircle that mechanism is common forms a ring device of encircling horizontal simply connected insulator, one of them is encircled mechanism and is provided with insulator charged detection instrument, the mechanism of encircling under described insulator is provided with the main control box that reduces robot center of gravity and prevent robot deflection, in main control box, be provided with controller,
Described controller is controlled pedrail mechanism by circuit and is advanced on horizontal simply connected insulator, described controller is also connected with wireless data transfer module with insulator charged detection instrument respectively, and insulator charged detection instrument sends to control center by the data that detect by wireless data transfer module.
2. a kind of horizontal simply connected insulator chain as claimed in claim 1 detects robot system, it is characterized in that,
Described pedrail mechanism comprises track support plate, and a side of track support plate is provided with drive motor and interior ring stand, and an other side is provided with handle and outer ring stand; Described track support plate is I shape track support plate; Described interior ring stand and described outer ring stand are arcuate structure, one side of described interior ring stand is connected with track support plate, an other side of described interior ring stand is connected with the interior ring stand of another one pedrail mechanism, one side of described outer ring stand with encircle mechanism and be connected, an other side of described outer ring stand is connected with track support plate.
3. a kind of horizontal simply connected insulator chain as claimed in claim 1 detects robot system, it is characterized in that, described pedrail mechanism is provided with special-shaped Timing Belt, the internal tooth of described special-shaped Timing Belt is different with the height of external tooth, the external tooth of described special-shaped Timing Belt is longer than internal tooth, and the length of described special-shaped Timing Belt is greater than two and be less than three insulator axial lengths.
4. a kind of horizontal simply connected insulator chain as claimed in claim 1 detects robot system, it is characterized in that, the described mechanism of encircling comprises some arc web joints, one end of described arc web joint on encircle support, other one end of described arc web joint encircles support under being, on described, encircle support and be provided with small clevis pin with head, described arc web joint is fixed on several guide poles.
5. a kind of horizontal simply connected insulator chain as claimed in claim 4 detects robot system, it is characterized in that, described guide pole contacts with insulator sheet outside surface, and the length of contact is greater than two and be less than three insulator axial lengths, and described guide pole is insulating material.
6. a kind of horizontal simply connected insulator chain as claimed in claim 4 detects robot system, it is characterized in that, on described, encircle support and described under encircle and on support, be equipped with the telescopic adjustment mounting hole corresponding with arc web joint, one side of encircling support on described is connected with arc web joint, an other side of encircling support on described is connected with the outer ring stand of pedrail mechanism, one side of encircling support under described is connected with arc web joint, an other side of encircling support under described with symmetrical encircle mechanism under encircle mechanism rack and be connected, described arc web joint adopts thin plate bending to form.
7. a kind of horizontal simply connected insulator chain as claimed in claim 1 detects robot system, it is characterized in that, described insulator charged detection instrument has one at least, be arranged on and encircle in mechanism, comprise probe driving mechanism, detector probe and detection probe, described probe driving mechanism drives detector probe to swing back and forth, described detector probe has two at least, distance between adjacent detector probe is two insulator axial lengths, described detection probe is arranged on encircles on mechanism's guide pole, is positioned in the middle of two insulator strings.
8. a kind of horizontal simply connected insulator chain as claimed in claim 1 detects robot system, it is characterized in that, described controller is connected with battery with resistance measuring module, electric field measuring apparatus, drive motor, cradle head camera, wireless data transfer module, wireless video transmission module respectively, described battery is returned wireless data transfer module and wireless video transmission module for power supply, described cradle head camera and wireless video transmission module communication.
9. a kind of horizontal simply connected insulator chain as claimed in claim 8 detects robot system, it is characterized in that, described electric field detector and resistance detection module are arranged on encircles in mechanism, and described cradle head camera is arranged on main control box side; Described main control box by bearing pin with encircle that under mechanism, to encircle support hinged fixing, described main control box is provided with stop means.
10. a kind of horizontal simply connected insulator chain as claimed in claim 1 detects robot system, it is characterized in that, described in encircle mechanism and encircle the form by bearing pin or buckle of permission between mechanism and be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420479528.7U CN204008928U (en) | 2014-08-22 | 2014-08-22 | A kind of horizontal simply connected insulator chain detects robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420479528.7U CN204008928U (en) | 2014-08-22 | 2014-08-22 | A kind of horizontal simply connected insulator chain detects robot system |
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| CN204008928U true CN204008928U (en) | 2014-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420479528.7U Active CN204008928U (en) | 2014-08-22 | 2014-08-22 | A kind of horizontal simply connected insulator chain detects robot system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104198849B (en) * | 2014-08-22 | 2017-02-15 | 国家电网公司 | Horizontal single-connection insulator string detection robot system |
| CN106684757A (en) * | 2017-01-22 | 2017-05-17 | 国网河南省电力公司检修公司 | Mobile car for entering electric field along strain tower insulator string in extra-high voltage live working |
| CN112372619A (en) * | 2020-11-30 | 2021-02-19 | 国网湖北省电力有限公司检修公司 | Robot for live replacement of strain single-chip insulator of extra-high voltage line and operation method |
| CN113640623A (en) * | 2021-03-09 | 2021-11-12 | 国网冀北电力有限公司技能培训中心 | Flexible crawler-type power transmission line insulator degradation detection device and method |
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2014
- 2014-08-22 CN CN201420479528.7U patent/CN204008928U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104198849B (en) * | 2014-08-22 | 2017-02-15 | 国家电网公司 | Horizontal single-connection insulator string detection robot system |
| CN106684757A (en) * | 2017-01-22 | 2017-05-17 | 国网河南省电力公司检修公司 | Mobile car for entering electric field along strain tower insulator string in extra-high voltage live working |
| CN112372619A (en) * | 2020-11-30 | 2021-02-19 | 国网湖北省电力有限公司检修公司 | Robot for live replacement of strain single-chip insulator of extra-high voltage line and operation method |
| CN113640623A (en) * | 2021-03-09 | 2021-11-12 | 国网冀北电力有限公司技能培训中心 | Flexible crawler-type power transmission line insulator degradation detection device and method |
| CN113640623B (en) * | 2021-03-09 | 2024-05-17 | 国网冀北电力有限公司技能培训中心 | Device and method for detecting degradation of insulator of flexible crawler-type power transmission line |
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