CN209946286U - Detection robot guide rod capable of self-adapting to insulator disc diameter - Google Patents
Detection robot guide rod capable of self-adapting to insulator disc diameter Download PDFInfo
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- CN209946286U CN209946286U CN201920358103.3U CN201920358103U CN209946286U CN 209946286 U CN209946286 U CN 209946286U CN 201920358103 U CN201920358103 U CN 201920358103U CN 209946286 U CN209946286 U CN 209946286U
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Abstract
The utility model discloses a detection robot guide bar capable of adapting to the disc diameter of an insulator, which comprises a telescopic female seat, a telescopic rod, a slide bar, a positioning mechanism, a first guide head, a second guide head, a first support connecting rod and a second support connecting rod; the telescopic female seat is fixed on the robot body and is provided with a telescopic hole; the first ends of the first support connecting rod and the second support connecting rod are connected with the robot body; one end of the sliding rod is movably connected with the second end of the first support connecting rod through the first guide head, and the other end of the sliding rod is movably connected with the second end of the second support connecting rod through the second guide head; one end of the telescopic rod is fixedly connected with the middle part of the slide rod, the other end of the telescopic rod penetrates through the telescopic hole, and the distance between the slide rod and the robot body is adjusted through the telescopic rod; the positioning mechanism is arranged perpendicular to the telescopic rod so as to fix the telescopic rod in the telescopic female seat; the utility model discloses simple structure, regulation convenience, but the disc footpath of fast transform in order to adapt to different insulators has reduced equipment redundancy, has reduced use cost and maintenance cost.
Description
Technical Field
The utility model belongs to the technical field of electric power engineering safety inspection, more specifically relates to a but detection robot guide bar of self-adaptation insulator dish footpath.
Background
As the capacity and voltage class of power grids continue to increase, the safety requirements for power transmission are increasing. Insulators in power transmission lines are mainly used to support and secure electrical conductors, which are able to withstand voltages between different potentials and to withstand the mechanical stresses of live conductors. The insulation performance of the insulator is important for the safe operation of the power transmission line, but the insulator is susceptible to the influence of strong electric fields, mechanical stress, dirt, temperature and humidity and other environmental factors, so that the performance is reduced, and the safe operation of a power system is seriously threatened. In order to ensure the safe operation of the power transmission line, operation and maintenance personnel of the power system can regularly check the insulator string, and once a faulty insulator is found, the insulator string needs to be replaced in time, so that serious safety accidents are prevented. At present, the insulator is detected by common methods including a spark fork method and a distributed voltage tester method, but the detection method has the disadvantages of complex operation, high labor intensity, low efficiency and high risk coefficient.
In order to improve the intelligent degree of operation and maintenance of the power transmission line, a plurality of research institutions begin the research of insulator detection robots. Insulator inspection robot's structure is various, and wherein, the insulator inspection robot that adopts the guide bar to carry out the direction is relatively poor to the insulator adaptability of different dish footpaths, need customize the robot of multiple specification to the insulator of different models. Although the operation difficulty of the insulator detection robot is reduced, a large amount of equipment cost is increased from the economic perspective; in terms of equipment maintenance, more people are needed to maintain the equipment, and the labor cost is increased; from the perspective of a user, the insulator detection robot with a proper specification is selected from a plurality of specifications, and the user experience is poor.
SUMMERY OF THE UTILITY MODEL
At least one defect or improvement demand to prior art, the utility model provides a but detection robot guide bar mechanism in self-adaptation insulator dish footpath makes detection robot can adapt to the insulator in different dish footpaths, detects to the insulator of different specifications, greatly reduced economic cost and human cost, promoted user experience, the poor problem of adaptability that its aim at solved current guide bar insulator detection robot existence.
In order to achieve the above object, according to an aspect of the present invention, there is provided a robot guide bar for testing insulator disc diameter, including a telescopic female seat, a telescopic rod, a slide rod, a positioning mechanism, a first guide head, a second guide head, a first support link and a second support link;
the telescopic female seat is fixed on the robot body and is provided with at least one telescopic hole for allowing the telescopic rod to pass through;
the first ends of the first support connecting rod and the second support connecting rod are connected with the robot body, and connecting points of the first support connecting rod and the second support connecting rod with the robot body are respectively positioned on two opposite sides of the telescopic female seat;
one end of the sliding rod is movably connected with the second end of the first support connecting rod through the first guide head, and the other end of the sliding rod is movably connected with the second end of the second support connecting rod through the second guide head;
one end of the telescopic rod is fixedly connected with the middle of the sliding rod, the other end of the telescopic rod penetrates through the telescopic hole, the distance between the sliding rod and the robot body is adjusted through the telescopic rod, and the positioning mechanism is perpendicular to the telescopic rod and is arranged to fix the telescopic rod in the telescopic female seat.
Preferably, the positioning mechanism of the detection robot guide rod comprises a fixing screw, a top column and an elastic component positioned between the fixing screw and the top column;
the top column is connected with the end of the telescopic rod, and the fixing screw applies pressure to the top column through the elastic component to fix the telescopic rod.
Preferably, the detection robot guide bar is provided with a plurality of grooves on the contact surface of the telescopic rod and the ejection column at intervals, and the radian of the end surface of the ejection column is matched with the grooves.
Preferably, the detection robot guide rod is provided with two support lugs on a contact surface between the telescopic female seat and the robot body, and the telescopic female seat is fixed on the robot body through the support lugs.
Preferably, the detection robot guide bar further includes a first base and a second base respectively disposed adjacent to the support lug;
the first base and the second base respectively comprise a chassis and a protruding part arranged on the chassis, and the chassis is fixed on the robot body; the first end of the first supporting connecting rod is movably connected with the protruding part of the first base through a rotating shaft; the first end of the second support connecting rod is movably connected with the protruding part of the second base through a rotating shaft.
Preferably, the second ends of the first and second support links of the detection robot guide bar are bent, and the bent structure is curved in an arc shape or an obtuse angle.
Preferably, the first guide head and/or the second guide head of the guide rod of the inspection robot comprises two movably connected guide units, the end of the first guide unit is movably connected with the slide rod through a rotating shaft, and the joint of the first guide unit and the second guide unit is movably connected with the second end of the first support connecting rod or the second support connecting rod through a rotating shaft.
Preferably, the angle between the first guide unit and the slide bar of the inspection robot guide bar is greater than 90 ° and smaller than 180 °.
Preferably, the slide rod, the first guide head, the second guide head, the first support link and the second support link of the guide rod of the inspection robot have side surfaces provided with grooves.
Preferably, the distance between adjacent grooves on the telescopic rod of the detection robot guide rod is 1 cm.
Generally, through the utility model discloses above technical scheme who conceives compares with prior art, can gain following beneficial effect:
(1) the utility model provides a but detection robot guide bar of self-adaptation insulator dish footpath adjusts the radius of insulator detection robot's annular skeleton according to the measured object, then adjusts the distance between slide bar and the annular skeleton through adjusting the length that the telescopic link worn out flexible female seat to reach the bow-shaped bending angle that first direction head and second direction head and slide bar constitute, thereby makes this guide bar can adapt to the insulator of different dish footpaths;
(2) the utility model provides a but detection robot guide bar of self-adaptation insulator dish footpath, the recess that sets up on the contact surface of telescopic link and bulb fore-set not only can improve positioning strength, can also mark flexible distance to can be convenient make the position of a plurality of guide bars go on synchronizing;
(3) the utility model provides a but detection robot guide bar of self-adaptation insulator dish footpath, the both ends of support connecting rod respectively with annular skeleton, direction head swing joint, can not restrict the flexible distance variation range of guide bar, make the guide bar can produce as big as flexible change as possible to adapt to bigger dish footpath variation range, and can ensure the stability of guide bar;
(4) the utility model provides a but detection robot guide bar in self-adaptation insulator dish footpath, simple structure, regulation convenience, but the dish footpath of fast transform in order to adapt to different insulators has reduced equipment redundancy, has reduced use cost and maintenance cost, has promoted user experience.
Drawings
Fig. 1 is a three-dimensional structure diagram of a detection robot guide bar capable of adapting to the disc diameter of an insulator provided by an embodiment of the present invention;
fig. 2 is a cross-sectional view of a positioning mechanism provided in an embodiment of the present invention;
in all the figures, the same reference numerals denote the same features, in particular: 1-a telescopic female seat; 101-a lug 101; 2-a ring-shaped framework; 3, a telescopic rod; 4-a first support link; 5-a second support link; 6-a slide bar; 7-a first guiding head; 701-a first guiding unit; 702-a second guiding unit; 8-a second guiding head; 801-a first guiding unit; 802-a second guiding unit; 9-a positioning mechanism; 901-set screws; 902-ball nose top post; 903-an elastic component; 10-a first base; 11-a second base; 401, 402, 501, 502, 601, 602 — rotation axis joint.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
The detection robot guide rod capable of self-adapting to the disc diameter of the insulator provided by the embodiment comprises a telescopic female seat 1, an annular framework 2, a telescopic rod 3, a first support connecting rod 4, a second support connecting rod 5, a sliding rod 6, a first guide head 7, a second guide head 8 and a positioning mechanism 9;
the telescopic female seat 1 is arranged on an annular framework 2 of the robot body and is locked and fixed by screws or buckles; the telescopic female seat 1 is provided with two telescopic holes for allowing the telescopic rod 3 to pass through; preferably, two support lugs 101 are oppositely arranged on the contact surface of the telescopic female base 1 and the annular framework 2, and the telescopic female base 1 is fixed on the annular framework 2 through the support lugs 101.
The first end of the first support connecting rod 4 is connected with the upper side edge of the annular framework 2, the first end of the second support connecting rod 5 is connected with the lower side edge of the annular framework 2, and the connecting points of the first support connecting rod 4, the second support connecting rod 5 and the annular framework 2 are respectively positioned at two opposite sides of the telescopic female seat 1;
one end of the sliding rod 6 is movably connected with the second end of the first support connecting rod 4 through a first guide head 7; the other end is movably connected with the second end of the second support connecting rod 5 through a second guide head 8;
the number of the telescopic rods 3 is matched with the number of the telescopic holes in the telescopic female seat 1, one end of each of the two telescopic rods 3 is fixedly connected with the middle part of the corresponding slide rod 6, the other end of each of the two telescopic rods 3 penetrates through the corresponding telescopic hole, and the positioning mechanism 9 is arranged perpendicular to the telescopic rods 3 to fix the telescopic rods 3 in the telescopic female seat 1; the distance between the sliding rod 6 and the annular framework 2 and the angles between the first guide head 7 and the sliding rod 6 and between the second guide head 8 and the sliding rod 6 are adjusted by adjusting the length of the telescopic rod 3 penetrating out of the telescopic female seat 1, so that the guide rod provided by the embodiment can adapt to insulators with different disc diameters.
Preferably, in the embodiment, the first support connecting rod 4 and the second support connecting rod 5 are movably connected with the annular framework 2, and the movable connection structure is more favorable for adjusting the angle between the sliding rod 6 and the two guide heads, so that the deformation degree of the guide rod is not limited, and the application range of the guide rod to the insulator disc diameter is wider.
The positioning mechanism 9 is located on a side wall of the telescopic female socket 1 and is used for controlling the telescopic distance of the telescopic rod 3, as shown in fig. 2, the positioning mechanism 9 comprises a fixing screw 901, a ball head jack 902 and an elastic component 903;
ball nose fore-set 902 terminates with telescopic link 3, and elastic component 903 one end is connected with ball nose fore-set 902, and another is connected with fixed screw 901, and fixed screw 901 is fixed in the lateral wall of flexible female seat 1, and fixed screw 901 exerts pressure to fore-set 902 through elastic component 903 in order to realize fixed to telescopic link 3. In order to improve the fixing strength of the positioning mechanism to the telescopic rod, in this embodiment, a plurality of circular grooves are preferably arranged on the contact surface between the telescopic rod 3 and the ball-head top post 902 at intervals, and the radian of the end surface of the ball-head top post 902 is matched with the circular grooves to ensure tight connection; the telescopic rod 3 stretches out and draws back a recess interval at every turn, and after the flexible completion, bulb fore-set 902 can tightly press in the recess of telescopic rod 3 under the elasticity effect of elastic component 903 to reach the effect of location.
The cross-sectional shape of the telescopic rod 3 can be any one of a circle, an oblate circle, a square, a triangle or a polygon, the embodiment preferably adopts a cylinder shape, the circular grooves on the telescopic rod 3 can be used for marking the telescopic distance, and the distance between the adjacent circular grooves is preferably 1 cm.
The sliding rod 6 is mainly used for limiting the inner diameter of the insulator detection robot to enable the inner diameter to be in line with the disc diameter of the insulator shed, and when the insulator detection robot is used, the sliding rod 6 slides up and down on the outline of the insulator shed, so that the insulator detection robot is guaranteed to walk smoothly. The cross section of the sliding rod 6 can be any one of round, square and flat, and the square sliding rod is preferably used in the embodiment; in addition, in order to reduce the weight of the insulator detection robot, the side wall of the slide bar 6 is subjected to grooving treatment, and the groove of the side wall can reduce the weight without reducing the strength of the slide bar 6.
As a preference of this embodiment, the guide bar further includes a first base 10 and a second base 11 respectively disposed adjacent to the two lugs of the telescopic female socket 1;
the first base 10 and the second base 11 both comprise a chassis and a boss arranged on the chassis, and the chassis is fixed on the annular framework 2; the first end of the first support connecting rod 4 is movably connected with the convex part of the first base 10 through a rotating shaft joint 401; the first end of the second support link 5 is movably connected with the protruding part of the second base 11 through a rotating shaft joint 501.
The first support connecting rod 4 and the second support connecting rod 5 adopt a J-shaped structure, the bent end of the first support connecting rod 4 is movably connected with the first guide head 7 through a rotating shaft joint 402, and the non-bent end is movably connected with the convex part of the first base 10 through a rotating shaft joint 401; similarly, the bent end of the second support link 5 is movably connected with the second guide head 8 through a rotating shaft joint 502, and the non-bent end is movably connected with the convex part of the second base 11 through a rotating shaft joint 501;
the bent end may be bent in a circular arc shape or an obtuse angle, and the circular arc shape is preferably used in this embodiment. The cross-sectional shape of the first support link 4 and the second support link 5 may be any one of circular, square and flat, of course, the cross-sectional shape of the first support link 4 and the second support link 5 is not limited thereto, and in this embodiment, the first support link 4 and the second support link 5 preferably have a square structure. In order to reduce the weight, the side surfaces of the first support connecting rod 4 and the second support connecting rod 5 are provided with grooves.
One end of the first guide head 7 and one end of the second guide head 8 are movably connected with two ends of the sliding rod 6 through rotating shaft joints (601, 602), the first guide head 7 and the second guide head 8 form an arc shape together, and when the distance between the sliding rod 6 and the annular framework 2 is adjusted through the telescopic rod 3, the arc-shaped bending radian formed by the first guide head 7, the second guide head 8 and the sliding rod 6 is changed along with the change of the arc-shaped bending radian, so that the purpose of adapting to insulators with different disc diameters is achieved. The cross-sectional shapes of the first guide head 7 and the second guide head 8 can be any one of circular, square and flat, and of course, the cross-sectional shapes of the first guide head 7 and the second guide head 8 are not limited to this; in the embodiment, the first guide head 7 and the second guide head 8 preferably adopt a square structure, and are matched with the shapes of the first support connecting rod 4 and the second support connecting rod 5; in order to reduce the weight, the side walls of the first guide head 7 and the second guide head 8 are grooved.
As a preference of this embodiment, the first guiding head 7 comprises two movably connected guiding units (701, 702), and the second guiding head 8 comprises two movably connected guiding units (801, 802); the end of a first guide unit 701 in the first guide head 7 is movably connected with the slide bar 6 through a rotating shaft 601, and the angle between the first guide unit 701 and the slide bar 6 is larger than 90 degrees and smaller than 180 degrees; the joint of the first guide unit 701 and the second guide unit 702 is movably connected with the bent end of the first support connecting rod 4 through a rotating shaft 402; the end of the first guide unit 801 in the second guide head 8 is movably connected with the slide bar 6 through a rotating shaft 602, and the angle between the first guide unit 801 and the slide bar 6 is larger than 90 degrees and smaller than 180 degrees; the joint of the first guide unit 801 and the second guide unit 802 is movably connected with the bent end of the second support link 5 through a rotating shaft joint 502. By adopting the structural design, the second guide unit 702 and the second guide unit 802 are tilted upwards in the using process, so that the head or the tail of the insulator detection robot cannot be clamped inside the insulator umbrella skirt when the insulator detection robot walks on the insulator string; of course, the first guide head 7 and the second guide head 8 having the above structure can also achieve the purpose of preventing the head or the tail of the detection robot from being clamped in the insulator shed, and the method also belongs to the protection scope of the scheme.
When the telescopic rod 3 is pulled, the rotating shaft joint 601/402/401/602/502/501 can synchronously rotate, the sliding rod 6 moves towards the annular framework 2, the angles of the first guide head 7, the second guide head 8 and the sliding rod 6 can be synchronously increased, but the angles cannot be changed into 180 degrees in the use range, and at the moment, the insulator detection robot can detect the insulator with the larger disc diameter; when the telescopic rod 3 is inserted inwards, the rotating shaft joint 601/402/401/602/502/501 can also be rotated synchronously, the sliding rod 6 moves towards the direction far away from the annular framework 2, the angles of the first guide head 7, the second guide head 8 and the sliding rod 6 can be reduced synchronously, but in the use range, the angles cannot be changed into 90 degrees, and at the moment, the insulator detection robot can detect the insulator with a small disc diameter.
It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A detection robot guide rod capable of adapting to the disc diameter of an insulator is characterized by comprising a telescopic female seat, a telescopic rod, a slide rod, a positioning mechanism, a first guide head, a second guide head, a first support connecting rod and a second support connecting rod;
the telescopic female seat is fixed on the robot body and is provided with at least one telescopic hole for allowing the telescopic rod to pass through;
the first ends of the first support connecting rod and the second support connecting rod are connected with the robot body, and connecting points of the first support connecting rod and the second support connecting rod with the robot body are respectively positioned on two opposite sides of the telescopic female seat;
one end of the sliding rod is movably connected with the second end of the first support connecting rod through the first guide head, and the other end of the sliding rod is movably connected with the second end of the second support connecting rod through the second guide head;
one end of the telescopic rod is fixedly connected with the middle of the sliding rod, the other end of the telescopic rod penetrates through the telescopic hole, the distance between the sliding rod and the robot body is adjusted through the telescopic rod, and the positioning mechanism is perpendicular to the telescopic rod and is arranged to fix the telescopic rod in the telescopic female seat.
2. The inspection robot guide bar of claim 1, wherein the positioning mechanism comprises a set screw, a top post, and a resilient assembly between the set screw and the top post;
the top column is connected with the end of the telescopic rod, and the fixing screw applies pressure to the top column through the elastic component to fix the telescopic rod.
3. The detection robot guide bar as claimed in claim 2, wherein a plurality of grooves are formed at intervals on the contact surface of the telescopic bar and the top post, and the radian of the end surface of the top post is matched with that of the grooves.
4. The inspection robot guide bar according to claim 1 or 3, wherein two support lugs are provided on a contact surface of the female telescopic base with the robot body, and the female telescopic base is fixed to the robot body by the support lugs.
5. The inspection robot guide bar of claim 4, further comprising a first base and a second base respectively disposed adjacent to the support lugs;
the first base and the second base respectively comprise a chassis and a protruding part arranged on the chassis, and the chassis is fixed on the robot body; the first end of the first supporting connecting rod is movably connected with the protruding part of the first base through a rotating shaft; the first end of the second support connecting rod is movably connected with the protruding part of the second base through a rotating shaft.
6. The inspection robot guide bar of claim 1 or 5, wherein the second ends of the first and second support links adopt a bent structure having a shape of an arc-shaped bend or an obtuse-angle bend.
7. The detection robot guide bar of claim 6, wherein the first guide head and/or the second guide head comprises a first guide unit and a second guide unit which are movably connected, the end of the first guide unit is movably connected with the slide bar through a rotating shaft, and the joint of the first guide unit and the second guide unit is movably connected with the second end of the first support connecting rod or the second support connecting rod through a rotating shaft.
8. The inspection robot guide bar of claim 7, wherein an angle between the first guide unit and the slide bar is greater than 90 ° and less than 180 °.
9. The inspection robot guide bar of claim 1 or 8, wherein the slide bar, the first guide head, the second guide head, the first support link, and the second support link are formed with grooves on their side surfaces.
10. The inspection robot guide bar of claim 3, wherein a distance between adjacent grooves is 1 cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920358103.3U CN209946286U (en) | 2019-03-20 | 2019-03-20 | Detection robot guide rod capable of self-adapting to insulator disc diameter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920358103.3U CN209946286U (en) | 2019-03-20 | 2019-03-20 | Detection robot guide rod capable of self-adapting to insulator disc diameter |
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| Publication Number | Publication Date |
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| CN209946286U true CN209946286U (en) | 2020-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920358103.3U Active CN209946286U (en) | 2019-03-20 | 2019-03-20 | Detection robot guide rod capable of self-adapting to insulator disc diameter |
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| CN (1) | CN209946286U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114910760A (en) * | 2022-06-14 | 2022-08-16 | 国网山东省电力公司高唐县供电公司 | Automatic zero detection adjusting device for insulator of power transmission line |
-
2019
- 2019-03-20 CN CN201920358103.3U patent/CN209946286U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114910760A (en) * | 2022-06-14 | 2022-08-16 | 国网山东省电力公司高唐县供电公司 | Automatic zero detection adjusting device for insulator of power transmission line |
| CN114910760B (en) * | 2022-06-14 | 2023-08-25 | 国网山东省电力公司高唐县供电公司 | Automatic zero-detection adjusting device for insulator of power transmission line |
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Denomination of utility model: A guide rod of detection robot with adaptive insulator disc diameter Effective date of registration: 20220331 Granted publication date: 20200114 Pledgee: Wuhan area branch of Hubei pilot free trade zone of Bank of China Ltd. Pledgor: WUHAN SANJIANG CLP TECHNOLOGY Co.,Ltd. Registration number: Y2022420000094 |