CN206085062U - Electrified integrated robot that detects and clean of power transmission line insulator - Google Patents

Abstract

The utility model discloses an electrified integrated robot that detects and clean of power transmission line insulator, first, second and three robotic arm of third who arranges including vertical central plane altogether and the frame body that supports fixed three robotic arm, the 2nd robotic arm lie in firstly with the 3rd robotic arm between, install on it and clean the surperficial brush cleaner of insulator, first and the 3rd robotic arm can decide for oneself up -and -down motion and side -to -side movement, the up -and -down motion with promptly with unclamp insulator steel cap, the side -to -side movement is with the insulator steel cap of firmly grasping different positions and realize the translation about of whole robot, the 2nd robotic arm can decide for oneself the up -and -down motion promptly with unclamp insulator steel cap, can be along with moving the change that realizes position about its about the frame body, the 2nd robotic arm at least with a robotic arm and the 3rd robotic arm in a while firmly grasp insulator steel cap formation detection loop, be fixed in the insulation resistance that control system detection loop on the frame body went up the insulator through the installation.

Description

A kind of transmission line insulator live detection and the integrated robot for cleaning

Technical field

The utility model is related to a kind of robot used for transmission line, and in particular to a kind of transmission line insulator live detection With the integrated robot for cleaning.

Background technology

Livewire work is power industry to improve one kind that power supply reliability and power grid security, economic operation level are developed Special operation mode, is at home and abroad widely used at present, plays a very important role in power generation.Powered work Industry can testing equipment running status at any time, find in time, abatement apparatus defect and hidden danger, it is ensured that power network safety operation.

With pay attention to day by day of the China to hot line maintenance, the quick of hot line maintenance technology has been promoted Development, live detection means are also more and more.And electric transmission line hot-line detection in, for electric transmission line isolator detection most For universal, for detecting low value, the null value situation of insulator.In longtime running, insulator can be struck by lightning, filth, bird pest, The impact of the environmental factors such as ice and snow, high temperature, the temperature difference, will electrically bear highfield, lightning impulse current, power frequency arc electric current Effect so that insulator breakdown accounting highest in transmission line malfunction, when exist in insulator chain low value or null value insulation , just easily there is flashover fault under filthy environment or overvoltage even operating voltage in the period of the day from 11 p.m. to 1 a.m.When lightning surge acts on zero During value insulator, zero resistance insulator is punctured completely, the porcelain piece of powerful zero current and power frequency continued flow from zero resistance insulator head Gap is flow through, and will cause that zero resistance insulator is overheated to be blown.As can be seen here, outstanding is just seemed to the detection of insulator on transmission line of electricity For important.

Before, when insulator is detected, the general method for adopting has spark fork detection method, uv detection method, corona pulse Method, electric field method, ultrasonic Detection Method etc..During the electric transmission line isolator of spark fork detection voltage levels, the insulator of detection Piece number is more, and, testing staff's working strength is big, and there is corona phenomenon on transmission line of electricity, the sound meeting of corona from shaft tower farther out Spark discharge sound is affected, causes testing staff to produce erroneous judgement.Electric field method is by detection insulator and normal insulation Electric Field Distribution situation is compared, and to judge whether the insulator is inferior insulator, this kind of method is to software dependence ratio Relatively strong, the fine or not compared result of software affects very big.Ultrasonic Detection Method carries out process by the ultrasonic wave to receiving can Inferior insulator is detected, the insulator of cracking can be accurately detected.Uncracked insulator is not worked, this kind of side Method has significant limitation.

Traditional safety inspection detects that vehicle detection goes straight up to machine testing including manpower.And vehicle detection is by traffic above-ground Limit, go straight up to the costly of machine testing, by manpower detection, complete using range estimation or by sem observation of looking in the distance, manpower line walking effect Rate is low, high labor intensive, and blind area is patrolled and examined in presence, is also limited by geographical conditions.

Utility model content

The purpose of this utility model is that offer one kind can be automatic while electric transmission line isolator insulaion resistance is detected The integrated robot of insulator surface is cleaned, the accuracy of detection and the convenience of operation is realized, Operation of Electric Systems is improved Stability.

This transmission line insulator live detection that the utility model is provided and the integrated robot for cleaning, including altogether The frame body of three mechanical arms is fixed in first, second, and third 3 mechanical arms of longitudinal center plane arrangement and support, the Two mechanical arms are located at first and the 3rd between mechanical arm, and cleaning brush is provided with thereon；First and the 3rd mechanical arm can from Insulator steel cap is firmly grasped in main up and down motion and side-to-side movement, upwards motion, is unclamped and is moved downward after insulator steel cap, side-to-side movement To firmly grasp the insulator steel cap of diverse location and realize the left and right translation of whole robot, the second mechanical arm can be transported independently up and down It is dynamic promptly and to unclamp insulator steel cap, can be with the change of realizing its right position of moving left and right of frame body；Second manipulator Arm at least with the first mechanical arm and the 3rd mechanical arm in one simultaneously promptly insulator steel cap forms measure loop, pass through It is mounted on the insulaion resistance of insulator on the control system measure loop on frame body；Cleaning brush on second mechanical arm The rotatable filth to clean insulator surface.

Three mechanical arms include respectively a pair of mechanical grippers, hinged seat, the first servomotor and its transmission mechanisms And longitudinal driving device, mechanical gripper is articulated with the upside of hinged seat, the centre that the first servomotor is fixed on the downside of hinged seat At position, its transmission mechanism driving mechanical handgrip folding, longitudinal driving device is connected to the downside of hinged seat, drives whole machinery The up and down motion of arm；Conductivity detection copper billet is mounted at promptly insulator steel cap on the inside of three pairs of mechanical grippers.

There are bar shaped groove, the bottom insertion bar shaped groove of the mechanical gripper on the thickness direction median plane of the hinged seat In, symmetrically it is articulated with the length direction two ends of hinged seat.

The output shaft of first servomotor is connected with through hinged seat bottom surface the screw rod stretched in bar shaped groove, screw rod On be connected with slide block, be connected with slide rail at the median plane of the length direction inwall of hinged seat two, on slide block correspondence slide rail at offer Gathering sill, slide block can be moved up and down by gathering sill along slide rail, and the two ends of slide block have been respectively articulated with connection sheet, connection sheet it is another End is articulated with the mechanical gripper, and the hinged place is located at the lower section of hinged place between mechanical gripper and hinged seat；Screw rod, slide block With the transmission mechanism that connection sheet forms the first servomotor；First servomotor drive screw turns, the rotational band of screw rod Movable slider is moved up and down along screw rod and slide rail, and the drive connection sheet that moves up and down of slide block is rotated, the rotation driving mechanical of connection sheet Handgrip rotates the opening and closing movement for realizing a pair of mechanical grippers around itself and the pin joint of hinged seat.

The frame body is cuboid support body, described first and the 3rd mechanical arm be arranged in the both sides of frame body, frame Lateral driver device is connected between support body and the first, the 3rd mechanical arm, the first He is realized by lateral driver device 3rd side-to-side movement of mechanical arm and moving left and right for frame body, so as to realize moving left and right for whole robot.

The longitudinal driving device includes the second servomotor, motor mounting plate and longitudinal drive lead screw, motor mounting plate It is horizontally disposed, the downside that the second servomotor is fixed on down at motor mounting plate length direction median plane with output shaft, longitudinal direction The upper end of drive lead screw is connected as a single entity by shaft joint with the output shaft of the second servomotor.

Described first and the 3rd mechanical arm longitudinal drive lead screw lower end be threaded with it is described to motor install The guide holder that plate is arranged in parallel, the symmetrical tight fit connection in length direction two ends of the motor mounting plate has longitudinally guiding bar, indulges The hinged seat upper and lower end is fixed on through guide holder, what longitudinally guiding bar can be on guide holder is corresponding to the upper end of guide post Installing hole is moved up and down, and the second servomotor drives longitudinal drive lead screw to rotate, and longitudinal drive lead screw is along guide holder Move up and down and the up and down motion of whole mechanical arm is driven by longitudinally guiding bar；Guide holder is angle seat, and it is with angle steel both sides Between angle outwardly, it is horizontally disposed on one side, longitudinal drive lead screw and longitudinally guiding bar are all connected to the level of guide holder Bian Shang；There are the first fixed plate perpendicular to the second mechanical arm, longitudinal drive lead screw of the second mechanical arm on the frame body It is threadedly coupled between the first fixed plate, longitudinally guiding bar passes through the first fixed plate, can be on the installing hole in the first fixed plate Lower movement.

The lateral driver device includes the 3rd servomotor and horizontal drive lead screw, and the 3rd servomotor is with output shaft edge Horizontal direction arrangement is fixed on the vertical edge of the guide holder, and one end of horizontal drive lead screw is by shaft coupling and the 3rd servo The output shaft of motor is connected as a single entity；There are the internally threaded sleeve of the second fixed plate and its both sides, horizontal driving wire on the frame body It is threadedly coupled between the other end of bar and the second fixed plate and internally threaded sleeve；The both sides of the 3rd servomotor on the guide holder Laterally steering bar is symmetrically connected with regard to horizontal drive lead screw, the other end of laterally steering bar is through second on the frame body Fixed plate, laterally steering bar can be moved left and right along the installing hole in the second fixed plate.

The both sides of one mechanical gripper of second mechanical arm are symmetrically connected with the spill spin block of circular arc, spill spin block Outside side wall is provided with driving cog, and motor is respectively arranged with two mechanical grippers, connects on the output shaft of motor There is travelling gear, travelling gear is engaged with the driving cog of spill spin block side wall makes a pair of spill spin blocks do circumference fortune along two mechanical grippers Dynamic, the cleaning brush is fixed on spill spin block and cleans adjacent insulator inner surface and outer surface as spill spin block moves in a circle It is filthy；The periphery of corresponding rotation block is provided with directive wheel on two mechanical grippers, to ensure the stable motion of spill spin block.By driving Move a pair of spill spin blocks to move in a circle to clean the filth of adjacent insulator inner surface and outer surface around two mechanical grippers, simplify Cleaning effect is also improved while structure.

The control system adopts STM32f103zet6 processors, external 24 high-precision AD1210 chips, Jing Guoshuan Voltage precision low-power consumption instrument amplifier INA129 and general-purpose operation amplifier OPA2171 amplifications obtain a few mV to 2.5V or so Collectable voltage；5 V voltages, each motor institute needed for central processing module is provided using the V lithium batteries of single out-put supply 24 The 24 V voltages for needing and 2 500 V detection voltages of measure loop；2 500 V detection voltages are realized by DC-DC booster circuit. The live detection of insulator dielectric resistance is realized by control system, overcoming prior art can only offline inspection insulator dielectric The defect of resistance.

The utility model by the autonomous up and down motion of three mechanical arms and first and the 3rd mechanical arm an autonomous left side Right motion, realizes automatic detection and cleans the automatic shift of insulator and robot with live detection and clean the exhausted of diverse location Edge.The insulation of insulator is detected by the measure loop formed between the second mechanical arm and the first, the 3rd mechanical arm Resistance so as to the insulator that instantaneously changing is bad, improves the stability of Operation of Electric Systems judging the quality of insulator.By The filth of the cleaning brush automatic cleaning insulator surface on two mechanical arms, it is to avoid insulator occurs flashover fault.Whole detection, Cleaning process is carried out automatically, and, without directly contact high-voltage charged body, only need to manipulate control system can live detection for operator.No Only alleviate the labour intensity of workman, it is also possible to improve processing safety.

The up and down motion of three mechanical arms realized by its longitudinal driving device, first and the 3rd mechanical arm left and right Motion, frame body are with moving left and right for the second mechanical arm and moving left and right by lateral driver device reality for whole robot It is existing.In order that longitudinal driving device simple structure and motion stabilization, being adopted can be by convert rotational motion for linear motion Structure is configured, and makes servomotor drive the rotary motion of longitudinal drive lead screw to be eventually converted into the straight line up and down of whole mechanical arm Motion.In the same manner, in order that first and the 3rd side-to-side movement of mechanical arm, frame body move left and right with the second mechanical arm And whole robot moves left and right motion stabilization, lateral driver device is matched somebody with somebody using the structure similar with longitudinal driving device Put, and using longitudinal driving device lower end connect guide holder as lateral driver device mounting seat, further simplify structure And the stability of guarantee motion.

Description of the drawings

Fig. 1 is the working state schematic representation of one preferred embodiment of the utility model（Cleaning brush is not drawn）.

Fig. 2 is the mplifying structure schematic diagram of the second mechanical arm in Fig. 1.

Fig. 3 is the schematic side view of Fig. 2.

Fig. 4 be Fig. 1 in first and the 3rd mechanical arm mplifying structure schematic diagram.

Fig. 5 is the schematic side view of Fig. 4.

Fig. 6 is I enlarged diagram in Fig. 3.

Fig. 7 is the mplifying structure schematic diagram of slide block in Fig. 5.

Fig. 8 is the schematic top plan view of Fig. 5.

Fig. 9 is the main structure diagram of slide rail in Fig. 5.

Figure 10 is another working state schematic representation of the present embodiment.

Figure 11 is the hardware structure figure of the present embodiment control system.

Figure 12 is the power supply module figure of control system.

The architecture diagram of Figure 13 control systems.

Sequence number is detailed in figure：

The mechanical arm 3- frame bodies ZD- of 1- the second mechanical arm the first mechanical arms of 2- 2a- the 3rd longitudinally drive Dynamic device HD- lateral driver devices ZS- mechanical grippers JJZ- hinged seats the first servomotors of F1- F2- second is watched Take the installation of the servomotor LG- screw rod HG- slide rail HK- slide block LJP- connection sheets ZD1- motors of motor F3- the 3rd Drive lead screw ZD3- longitudinally guiding bar DXZ- guide holder HD1- horizontal drive lead screw HD2- in plate ZD2- longitudinal directions are horizontal Guide post 31- the first fixed plate 32- the second fixed plate 321- internally threaded sleeve QDDJ- motors XZK- rotates Block CL- gear D XL- directive wheels

Specific embodiment

As shown in figure 1, present embodiment discloses a kind of transmission line insulator live is detected and the integrated machine for cleaning People, including the first mechanical arm 2 of common longitudinal center plane arrangement, the second mechanical arm 1 and the 3rd mechanical arm 2a and support solid The frame body 3 of fixed three mechanical arms, the second mechanical arm 1 is located between the first mechanical arm 2 and the 3rd mechanical arm 2a, its On cleaning brush is installed（It is not drawn in figure）.

As shown in Figures 1 to 6, three mechanical arms include respectively a pair of mechanical gripper ZS and its hinged seat JJZ and driving The lower end of the first servomotor F1 of mechanical gripper ZS foldings, hinged seat JJZ is connected with longitudinal driving device ZD, zigzag tread patterns dress Putting ZD drives hinged seat JJZ and its mechanical gripper ZS of connection to realize moving up and down.

As shown in Figures 2 to 6, there are bar shaped groove, the bottom of mechanical gripper ZS on the thickness direction median plane of hinged seat JJZ In insertion bar shaped groove, the length direction two ends of hinged seat JJZ are symmetrically articulated with.

First servomotor F1 is fixed on the median plane in hinged seat JJZ sole lengths direction, and its output shaft is connected with to be worn The screw rod LG that hinged seat JJZ bottom surfaces are stretched in bar shaped groove is crossed, slide block HK, two length of hinged seat JJZ are connected with screw rod LG Slide rail HG is connected with the median plane of direction inwall, gathering sill is offered at correspondence slide rail HG on slide block HK, slide block HK is by leading Can move up and down along slide rail HG to groove, the two ends of slide block HK have been respectively articulated with connection sheet LJP, and the other end of connection sheet LJP is hinged On mechanical gripper ZS, the hinged place is located at the lower section of hinged place between mechanical gripper ZS and hinged seat JJZ.Slide block and slide rail Coordinate the stable motion for ensureing slide block, so that when slide block drives connection sheet to rotate, the driving mechanical handgrip that connection sheet can be stable Energy is stable to be rotated at its pin joint with hinged seat.

First servomotor F1 drive screws LG are rotated, and the rotational band movable slider HK of screw rod LG is along screw rod LG and slide rail HG Lower movement, drive connection sheet LJP that moves up and down of slide block HK is rotated, and the rotation driving mechanical handgrip ZS of connection sheet LJP rotates real The opening and closing movement of existing a pair of mechanical grippers.The structure of slide block and slide rail is as shown in Figure 7 to 9.

As shown in figure 1, frame body 3 be cuboid support body, first and the 3rd mechanical arm be arranged in the two of frame body 3 Side, the second mechanical arm 1 is fixed on first and the 3rd on the median plane between mechanical arm.

As shown in Figures 1 to 6, longitudinal driving device ZD includes that the second servomotor F2, motor mounting plate ZD1 and longitudinal direction pass Dynamic screw mandrel ZD2, motor mounting plate ZD1 are horizontally disposed, and the second servomotor F2 is fixed on down motor mounting plate ZD1 with output shaft Downside at length direction median plane, the upper end of longitudinal drive lead screw ZD2 passes through the output of shaft joint and the second servomotor F2 Axle is connected as a single entity.

As shown in figure 1, lateral driver device HD has been also respectively connected between frame body 3 and first, the 3rd mechanical arm, it is horizontal Include the 3rd servomotor F3 and horizontal drive lead screw HD1 to driving means HD.3rd servomotor F3 is with output shaft along level Direction arrangement is fixed on the vertical edge of guide holder DXZ, and one end of horizontal drive lead screw HD1 is by shaft coupling and the 3rd servo electricity The output shaft of machine F3 is connected as a single entity.

As shown in Figure 1, Figure 4 and Figure 5, first and the 3rd mechanical arm longitudinal drive lead screw ZD2 lower end threaded connection There is the guide holder DXZ being arranged in parallel with motor mounting plate ZD1.Guide holder DXZ is angle seat, and it is with the angle between angle steel both sides Outwardly, horizontally disposed on one side, longitudinal drive lead screw ZD2 and longitudinally guiding bar ZD3 is all connected in the horizontal sides of guide holder DXZ. The symmetrical tight fit connection in length direction two ends of motor mounting plate ZD1 has longitudinally guiding bar ZD3, the upper end of longitudinally guiding bar ZD3 Hinged seat JJZ upper and lower ends are fixed on through guide holder DXZ, longitudinally guiding bar ZD3 can be along the corresponding mounting hole on guide holder DXZ Move up and down.Second servomotor F2 drives longitudinal direction drive lead screw ZD2 to rotate, and longitudinal drive lead screw ZD2 is along guide holder The up and down motion that the up and down motion of DXZ passes through longitudinally guiding bar ZD3 driving mechanical arms.

As shown in Figure 1, Figure 2 and Figure 3, the lower end of the second mechanical arm longitudinal direction drive lead screw and longitudinally guiding bar does not connect Guide holder, its longitudinal drive lead screw is threadedly coupled with the first fixed plate 31 on frame body, and longitudinally guiding bar is fixed through first Plate 31, can move up and down along the installing hole in the first fixed plate 31.

There is the internally threaded sleeve 321 of the second fixed plate 32 and its both sides on frame body 3, horizontal drive lead screw HD1's is another Hold and be threadedly coupled between the second fixed plate 32 and internally threaded sleeve 321；Close the both sides of the upper 3rd servomotor F3 of guide holder DXZ Laterally steering bar HD2 is symmetrically connected with horizontal drive lead screw HD1, the other end of laterally steering bar HD2 is through on frame body Second fixed plate 32, laterally steering bar HD2 can be moved left and right along the installing hole in the second fixed plate 32.It is directed to a DXZ conduct The mounting seat of lateral driver device HD, improves the stability of lateral driver device motion while simplifying structure.By laterally drive Dynamic device HD realizes first and the 3rd side-to-side movement of mechanical arm and moving left and right for frame body, so as to realize whole robot Move left and right.When noticing that the length of horizontal drive lead screw that the 3rd mechanical arm connects need to ensure that frame body moves right, its Connection is laterally kept between drive lead screw and internally threaded sleeve, so that the 3rd mechanical arm can smoothly move forward.

A pair of mechanical grippers of three mechanical arms are firmly grasped and conductivity detection copper billet are mounted at the steel cap of insulator, and second The both sides of one mechanical gripper of mechanical arm are symmetrically connected with the spill spin block XZK of circular arc, and the outside side wall of spill spin block is provided with Driving cog, is respectively arranged with two motor QDDJ on each mechanical gripper, transmission is connected with the output shaft of motor The driving cog of gear C L, travelling gear CL and spill spin block XZK side wall is engaged and makes spill spin block move in a circle along two mechanical grippers, Cleaning brush（It is not drawn in figure）It is fixed on spill spin block as spill spin block moves in a circle cleaning insulator surface.In order to ensure rotation The stable motion of switch block, the periphery of corresponding rotation block arranges some directive wheel DXL on mechanical gripper.

As shown in figure 1, forming measure loop between the second mechanical arm and the 3rd mechanical arm, examined by control system Survey the insulaion resistance of insulator II.After the completion of the insulaion resistance detection of insulator II, by first and the 3rd mechanical arm Lateral driver device makes frame body be moved to the left with the second mechanical arm makes cleaning brush thereon to clean in insulator II Surface, then makes frame body move right with the second mechanical arm and cleans the outer surface of insulator III.Control after the completion of cleaning Second mechanical arm unclamps and is moved downward after insulator steel cap, then makes frame body move right under with the second mechanical arm At one insulator steel cap, the second mechanical arm of control moves upwards the promptly insulator steel cap, then makes the 3rd mechanical arm pine Open and moved downward after insulator steel cap, then move forward at previous insulator steel cap, then firmly grasp the steel insulator pin upwards Cap, as shown in figure 11, now forming two loops can respectively detect the insulaion resistance of insulator III and IV.The inspection of other insulators The rest may be inferred for survey.

The everything of robot and detection data analysis pass through control system control realization.As Figure 11 to Figure 13 institute Show, control system adopts processor for STM32f103zet6, external 24 high-precision AD1210 chips, through twin voltage essence Close low-power consumption instrument amplifier INA129 and general-purpose operation amplifier OPA2171 amplifications obtain a few mV to 2.5V or so can be gathered Voltage.The purpose of filtering is reached in respective pin series filtering electric capacity.In order to ensure the safety of rear end Acquisition Circuit, in computing Amplifier OPA2171 is added with protection circuit.The design, as single out-put supply, carries central processing module from 24 V lithium batteries 5 required V voltages, the 12 V voltages needed for 24 V voltages and 2 500 V detection voltages and camera needed for motor etc.. In the controls controller and communication module etc. generally need the stable DC voltage of very little, therefore the system designing voltage regulator is electric Realize that voltage stabilizing of the power supply to control system is exported in road.Detection voltage needed for detection insulator is higher, therefore adds DC- in the design DC booster circuits realize the conversion of voltage, reach 2 500 V direct current detection voltage back sample voltages needed for detection, configure PWM direct currents Motor drive module, controls the speed and the method for operation of each motor.Communication module include TT＆C system and ground remote control device it Between radio communication and gathered data GSM transmission.Wireless transmission method is used between TT＆C system and ground remote control device, by There is corona phenomenon in transmission line of electricity, interference may be produced to radio wave, therefore controller selects carrier frequency in adjustable The low-power consumption RF transceiver chip CC1010 of ISM frequency ranges, Jing be actual to measure its transmitting, receive distance can reach 150 m. Chip internal is integrated with 8051 kernels, it is not necessary to additionally increase control chip again so that it is easy to operate and control.This Shen Please adopt SIM800 as insulator dielectric resistance value transport module, by the data for collecting sent in the form of note to In earth moving equipment, staff judges the good and bad state of this insulator by the data for obtaining.

Claims (10)

1. a kind of transmission line insulator live is detected and the integrated robot for cleaning, it is characterised in that：It includes longitudinal direction altogether The frame body of three mechanical arms, the second machine are fixed in first, second, and third 3 mechanical arms of median plane arrangement and support Tool arm is located at first and the 3rd between mechanical arm, and cleaning brush is provided with thereon；First and the 3rd mechanical arm can be from Your Majesty Insulator steel cap is firmly grasped in lower motion and side-to-side movement, upwards motion, is unclamped and is moved downward after insulator steel cap, and side-to-side movement is grabbing The insulator steel cap of tight diverse location and moving left and right for whole robot is realized, the second mechanical arm can independently move up and down and grab It is tight and unclamp insulator steel cap, can be with the change of realizing its right position of moving left and right of frame body；Second mechanical arm is extremely Simultaneously promptly insulator steel cap forms measure loop in few and the first mechanical arm and the 3rd mechanical arm, by installing The insulaion resistance of insulator on the control system measure loop being fixed on frame body；Cleaning brush on second mechanical arm can revolve Turn to clean the filth of insulator surface.

2. transmission line insulator live as claimed in claim 1 is detected and the integrated robot for cleaning, it is characterised in that： Three mechanical arms include that respectively a pair of mechanical grippers, hinged seat, the first servomotor and its transmission mechanisms and longitudinal direction are driven Dynamic device, mechanical gripper is articulated with the upside of hinged seat, the middle position that the first servomotor is fixed on the downside of hinged seat, its Transmission mechanism driving mechanical handgrip folding, longitudinal driving device is connected to the downside of hinged seat, drives the upper of whole mechanical arm Lower motion；Conductivity detection copper billet is mounted at promptly insulator steel cap on the inside of three pairs of mechanical grippers.

3. transmission line insulator live as claimed in claim 2 is detected and the integrated robot for cleaning, it is characterised in that： There is bar shaped groove on the thickness direction median plane of the hinged seat, in the bottom insertion bar shaped groove of the mechanical gripper, symmetrically It is articulated with the length direction two ends of hinged seat.

4. transmission line insulator live as claimed in claim 3 is detected and the integrated robot for cleaning, it is characterised in that： The output shaft of first servomotor is connected with through hinged seat bottom surface the screw rod stretched in bar shaped groove, is connected with screw rod Slide block, at the median plane of the length direction inwall of hinged seat two slide rail is connected with, and gathering sill is offered at correspondence slide rail on slide block, sliding Block can be moved up and down by gathering sill along slide rail, and the two ends of slide block have been respectively articulated with connection sheet, and the other end of connection sheet is articulated with On the mechanical gripper, the hinged place is located at the lower section of hinged place between mechanical gripper and hinged seat；Screw rod, slide block and connection sheet Form the transmission mechanism of the first servomotor；First servomotor drive screw turns, the rotational band movable slider edge of screw rod Screw rod and slide rail are moved up and down, and the drive connection sheet that moves up and down of slide block is rotated, and the rotation driving mechanical handgrip of connection sheet is around it The opening and closing movement for realizing a pair of mechanical grippers is rotated with the pin joint of hinged seat.

5. transmission line insulator live as claimed in claim 2 is detected and the integrated robot for cleaning, it is characterised in that： The frame body is cuboid support body, described first and the 3rd mechanical arm be arranged in the both sides of frame body, frame body and the First, lateral driver device is connected between the 3rd mechanical arm, by lateral driver device first and the 3rd mechanical is realized The side-to-side movement of arm and moving left and right for frame body, so as to realize moving left and right for whole robot.

6. transmission line insulator live as claimed in claim 5 is detected and the integrated robot for cleaning, it is characterised in that： The longitudinal driving device includes the second servomotor, motor mounting plate and longitudinal drive lead screw, and motor mounting plate is horizontally disposed, The downside that second servomotor is fixed on down at motor mounting plate length direction median plane with output shaft, longitudinal drive lead screw Upper end is connected as a single entity by shaft joint with the output shaft of the second servomotor.

7. transmission line insulator live as claimed in claim 6 is detected and the integrated robot for cleaning, it is characterised in that： Described first and the 3rd the lower end of longitudinal drive lead screw of mechanical arm be threaded with described to the parallel cloth of motor mounting plate The guide holder put, the symmetrical tight fit connection in length direction two ends of the motor mounting plate has longitudinally guiding bar, longitudinally guiding bar Upper end be fixed on the hinged seat upper and lower end through guide holder, longitudinally guiding bar can be along the corresponding mounting hole on guide holder Lower movement, the second servomotor drives longitudinal drive lead screw to rotate, up and down motion of longitudinal drive lead screw along guide holder The up and down motion of whole mechanical arm is driven by longitudinally guiding bar；Guide holder is angle seat, and it is with the folder between angle steel both sides Angle outwardly, it is horizontally disposed on one side, longitudinal drive lead screw and longitudinally guiding bar are all connected in the horizontal sides of guide holder；It is described There are the first fixed plate perpendicular to second mechanical arm, longitudinal drive lead screw of the second mechanical arm and first on frame body It is threadedly coupled between fixed plate, longitudinally guiding bar passes through the first fixed plate, can move up and down along the installing hole in the first fixed plate.

8. transmission line insulator live as claimed in claim 7 is detected and the integrated robot for cleaning, it is characterised in that： The lateral driver device includes the 3rd servomotor and horizontal drive lead screw, the 3rd servomotor with output shaft in the horizontal direction Arrangement is fixed on the vertical edge of the guide holder, and one end of horizontal drive lead screw is defeated with the 3rd servomotor by shaft coupling Shaft is connected as a single entity；Have the internally threaded sleeve of the second fixed plate and its both sides on the frame body, horizontal drive lead screw it is another Hold and be threadedly coupled between the second fixed plate and internally threaded sleeve；The both sides of the 3rd servomotor are with regard to horizontal on the guide holder Drive lead screw is symmetrically connected with laterally steering bar, and the other end of laterally steering bar passes through the second fixed plate on the frame body, Laterally steering bar can be moved left and right along the installing hole in the second fixed plate.

9. transmission line insulator live as claimed in claim 2 is detected and the integrated robot for cleaning, it is characterised in that： The both sides of one mechanical gripper of second mechanical arm are symmetrically connected with the spill spin block of circular arc, the outside side wall of spill spin block Driving cog is provided with, motor is respectively arranged with two mechanical grippers, on the output shaft of motor driving cog is connected with Wheel, travelling gear is engaged with the driving cog of spill spin block side wall makes a pair of spill spin blocks move in a circle along two mechanical grippers, described Cleaning brush is fixed on spill spin block and cleans the filth of adjacent insulator inner surface and outer surface as spill spin block moves in a circle；Two The periphery of corresponding rotation block is provided with directive wheel on individual mechanical gripper, to ensure the stable motion of spill spin block.

10. transmission line insulator live detection as described in one of claim 1-9 and the integrated robot of cleaning, it is special Levy and be：The control system adopts STM32f103zet6 processors, external 24 high-precision AD1210 chips, Jing Guoshuan Voltage precision low-power consumption instrument amplifier INA129 and general-purpose operation amplifier OPA2171 amplifications obtain a few mV to 2.5V or so Collectable voltage；5 V voltages, each motor institute needed for central processing module is provided using the V lithium batteries of single out-put supply 24 The 24 V voltages for needing and 2 500 V detection voltages of measure loop；2 500 V detection voltages are realized by DC-DC booster circuit.