CN215415719U - Ultrahigh voltage transmission line insulator detection robot - Google Patents
Ultrahigh voltage transmission line insulator detection robot Download PDFInfo
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- CN215415719U CN215415719U CN202121373938.XU CN202121373938U CN215415719U CN 215415719 U CN215415719 U CN 215415719U CN 202121373938 U CN202121373938 U CN 202121373938U CN 215415719 U CN215415719 U CN 215415719U
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Abstract
The utility model relates to the technical field of insulator detection, in particular to an insulator detection robot for an ultrahigh-voltage power transmission line. The device comprises a control box body, a self-adaptive guide module, an encircling guide executing mechanism, an encircling guide driving mechanism, a moving mechanism, a detection clamping jaw mechanism, an insulator resistance detector and a power supply, wherein the self-adaptive guide module and the moving mechanism are arranged at the top of the control box body; the encircling guide actuating mechanisms are divided into two groups and are symmetrically arranged on two sides of the control box body; the surrounding guide driving mechanism is arranged at the end part of the control box body and used for driving the surrounding guide executing mechanism to open or close; the insulator resistance detector and the power supply are arranged on the encircling guide actuating mechanism; the two groups of detection clamping jaw mechanisms are fixed at the top of the control box body, the other group of detection clamping jaw mechanisms are arranged on the moving mechanism, and the two pairs of detection clamping jaw mechanisms are used for crawling and insulator string resistance detection. The utility model has the advantages of simple structure, continuous walking, stable crawling, high detection efficiency, safety and reliability.
Description
Technical Field
The utility model relates to the technical field of insulator detection, in particular to an insulator detection robot for an ultrahigh-voltage power transmission line, which is simultaneously suitable for moving and detecting suspension insulator strings, horizontal insulator strings and insulator strings with larger inclination angles.
Background
The insulator of the extra-high voltage transmission line is an insulating device connected between an extra-high voltage transmission line tower and the transmission line, and aims to electrically insulate the transmission line tower and the transmission line, however, in actual work, the insulator may have degradation phenomena such as reduction of insulation resistance, surface cracking and the like due to long-term mechanical and electrical load, temperature and humidity change and dirt adhesion, so that the degraded insulator is generated, and further the insulator is subjected to flashover or even string falling, and the safe operation of the transmission line is greatly influenced. Therefore, the insulator periodic detection is essential to ensure a normal and safe power supply.
With the improvement of voltage grade, the length of the insulator string is continuously increased, and the problems of high labor intensity, low safety coefficient, low detection accuracy and the like exist in manual tower climbing detection, so that the insulator detection robot applied to the high-voltage transmission line is developed and becomes an effective scheme for solving the problems of related research institutions or researchers. Insulator strings in the ultrahigh-voltage transmission line are mainly used in a suspension or horizontal state, and part of the insulator strings have larger inclination angles, so that an insulator detection robot which can adapt to the movement and detection of the insulator strings in the above state is urgently needed.
SUMMERY OF THE UTILITY MODEL
In view of the above problems, an object of the present invention is to provide a robot for detecting insulators of an ultra-high voltage transmission line, the robot has a simple structure, is continuous in walking, stable in crawling, high in detection efficiency, safe and reliable, and can move along a suspension, horizontal and insulator string with a large inclination angle, and at most three insulators are short-circuited.
In order to achieve the purpose, the utility model adopts the following technical scheme:
an insulator detection robot for an ultrahigh-voltage transmission line comprises a control box body, a self-adaptive guide module, an encircling guide executing mechanism, an encircling guide driving mechanism, a moving mechanism, a detection clamping jaw mechanism, an insulator resistance detector and a power supply, wherein the self-adaptive guide module and the moving mechanism are arranged at the top of the control box body; the two groups of encircling guide actuating mechanisms are symmetrically arranged on two sides of the control box body and are used for encircling the insulator strings; the surrounding guide driving mechanism is arranged at the end part of the control box body and used for driving the surrounding guide executing mechanism to open or close; the insulator resistance detector and the power supply are arranged on the encircling guide actuating mechanism; the two groups of detection clamping jaw mechanisms are fixed at the top of the control box body, the other group of detection clamping jaw mechanisms are arranged on the moving mechanism, and the two pairs of detection clamping jaw mechanisms are used for crawling and insulator string resistance detection.
The self-adaptive guide module comprises two bottom guide rods, two bottom guide rod brackets, a guide external frame and guide shafts, wherein the two bottom guide rods are fixed on the tops of the two bottom guide rod brackets in parallel; the top of the control box body is provided with a guide external frame; the two bottom guide rod brackets are connected with the guide external frame in a sliding way through guide shafts.
The guide external frame comprises four guide shaft sleeves and four guide cups, wherein the four guide shaft sleeves are symmetrically embedded at two ends of the top of the control box body, the four guide cups are respectively arranged at the lower ends of the four guide shaft sleeves, and the bottom of each guide cup is provided with a spring; the bottom of each bottom guide rod support is provided with two guide shafts, each guide shaft is in sliding connection with the corresponding guide shaft sleeve, and the lower end of each guide shaft is abutted to a spring in the guide cup.
The bottom guide rod is made of POM with a smooth surface.
The encircling guide executing mechanism comprises encircling front claws, encircling rear claws, top guide rods and transmission shafts, wherein the two transmission shafts are rotatably arranged on two sides of the control box body; one end of each transmission shaft is connected with the two surrounding front claws, and the other end of each transmission shaft is connected with the two surrounding rear claws; the surrounding front claw and the surrounding rear claw which are positioned on the same side are connected through a top guide rod, a top guide rod connecting piece is arranged on the top guide rod, and the top guide rod connecting piece is used for connecting the insulator resistance detector and the power supply;
the two transmission shafts are connected with the surrounding guide driving mechanism and driven to rotate reversely by the surrounding guide driving mechanism, so that the surrounding front claw and the surrounding rear claw are driven to be synchronously opened or closed.
The encircling guide driving mechanism comprises a driving synchronous belt pulley, opposite driving synchronous belt pulleys, a primary straight gear reducer, a coupler and a bottom worm gear reducer, wherein the primary straight gear reducer and the bottom worm gear reducer are respectively and fixedly connected in the control box body; the output shaft of the bottom worm gear reducer is fixedly connected with the input shaft of the first-stage straight gear reducer through a coupler; a first output shaft and a second output shaft of the first-stage spur gear reducer are respectively and fixedly connected with a driving synchronous belt pulley and an opposite driving synchronous belt pulley; the driving synchronous belt wheel and the opposite driving synchronous belt wheel are respectively connected with driven synchronous belt wheels arranged at the end parts of the two transmission shafts through synchronous belts; the power of the motor-driven bottom worm gear reducer is transmitted to a first output shaft and a second output shaft of the first-stage straight gear reducer to drive the driving synchronous belt pulley and the opposite driving synchronous belt pulley to rotate in opposite directions, and then the driving encircling guide executing mechanism is opened or closed.
The moving mechanism comprises a linear driving mechanism, a moving connecting piece and a slide rail, wherein the linear driving mechanism and the slide rail are arranged at the top of the control box body, the linear driving mechanism outputs power along the direction parallel to the slide rail, the moving connecting piece is connected with the slide rail in a sliding manner and is connected with the output end of the linear driving mechanism, and the detection clamping jaw mechanism is arranged on the moving connecting piece.
The linear driving mechanism comprises a moving motor, a motor support, a power input synchronous belt pulley, a power output synchronous belt pulley, a sliding lead screw support, a transmission nut and a sliding lead screw, wherein the sliding lead screw is arranged in parallel with the slide rail, and two ends of the sliding lead screw are supported by the sliding lead screw support; the moving motor is arranged on the motor support, the output end of the moving motor is connected with the power input synchronous belt wheel, and the power output synchronous belt wheel is arranged at the end part of the sliding screw rod and is connected with the power input synchronous belt wheel through a synchronous belt; the movable connecting piece is connected with the transmission nut.
The detection clamping jaw mechanism comprises a clamping jaw motor, a left-handed worm gear reducer, a connecting shaft, a right-handed worm gear reducer, a clamping jaw connecting rod, an elastic pad, a metal detection tail end, an insulating gasket and an opposite side clamping jaw connecting rod, wherein the left-handed worm gear reducer and the right-handed worm gear reducer are fixedly connected through the connecting shaft; the clamping jaw connecting rod is arranged at the end part of the right-handed worm gear reducer, and the opposite side clamping jaw connecting rod is arranged at the end part of the left-handed worm gear reducer; elastic pads are fixedly connected to the two sides of the clamping jaw connecting rod and the opposite side clamping jaw connecting rod, and the tops of the clamping jaw connecting rod and the opposite side clamping jaw connecting rod are connected with the metal detection tail end through insulating gaskets; the clamping jaw motor is connected with the left-handed worm gear reducer and worm reducer and used for driving the clamping jaw connecting rod and the opposite side clamping jaw connecting rod to rotate in different directions to present two states of clamping and loosening, and the metal detection tail end is used for detecting the resistance value of the insulator.
And a visible light detection module is arranged at the top of the control box body.
The utility model has the advantages and positive effects that:
according to the insulator detection robot for the ultrahigh-voltage transmission line, provided by the utility model, the robot can move along the insulator string by detecting the loosening and closing periodic movement of the clamping jaw mechanism, and the insulator resistance detection and the visual detection are simultaneously completed, so that the working efficiency is high, and the control is easy. The robot walks continuously, crawls steadily, can be along dangling, level and possess great inclination insulator chain motion.
The encircling guide driving mechanism disclosed by the utility model adopts a worm and gear reducer to output power, has self-locking capability and avoids the robot from falling.
The surrounding guide actuating mechanism and the guide rods of the self-adaptive guide module are distributed around the edge of the umbrella skirt of the insulator, so that secondary damage to the insulator is avoided. The robot short circuits three insulators at most, accords with electric power operation rule.
The encircling guide driving mechanism, the encircling guide executing mechanism and the self-adaptive guide module are combined for use, the autonomous up-and-down string function of the robot is realized, the opening and closing motion is realized by the output torque of one motor, the control is simple, and the device has the characteristics of light weight and low power consumption.
Drawings
Fig. 1 is a schematic structural diagram of an insulator detection robot for an extra-high voltage transmission line according to the present invention;
FIG. 2 is a schematic structural diagram of a control box according to the present invention;
FIG. 3 is a schematic structural diagram of an adaptive steering module according to the present invention;
FIG. 4 is a schematic structural view of the encircling guide actuator of the present invention;
FIG. 5 is a schematic structural view of the encircling guide driving mechanism according to the present invention;
FIG. 6 is a schematic structural view of a moving mechanism according to the present invention;
FIG. 7 is a schematic view of the mechanism for detecting the unclamped state of the clamping jaw mechanism according to the present invention;
FIG. 8 is a schematic view of the structure for detecting the clamping state of the clamping jaw mechanism in the present invention;
FIG. 9 is a schematic structural diagram of the robot in an initial state according to the present invention;
FIG. 10 is a schematic view of the robot in a suspended state;
FIG. 11 is a second schematic view of the robot in a suspension working state according to the present invention;
FIG. 12 is a schematic structural view of the robot in a horizontal working state according to the present invention;
fig. 13 is a schematic structural view of the robot in a working state with a large inclination angle.
In the figure: 1 is a control box body, 101 is a box body top plate, 102 is a mechanism connecting side plate, 103 is a box body bottom plate, 104 is a box body side plate, 2 is an adaptive guide module, 201 is a bottom guide rod, 202 is a bottom guide rod bracket, 203 is a guide shaft sleeve, 204 is a guide cup, 205 is a guide shaft, 3 is an encircling guide executing mechanism, 301 is an encircling front claw, 302 is an encircling rear claw, 303 is a top guide rod, 304 is a top guide rod connecting piece, 305 is a transmission shaft stopper, 306 is a bearing support, 307 is a transmission shaft, 308 is a driven synchronous pulley, 4 is an encircling guide driving mechanism, 401 is a driving synchronous pulley, 402 is an opposite driving synchronous pulley, 403 is a one-stage spur gear reducer, 404 is a coupler, 405 is a bottom worm gear reducer, 5 is a moving mechanism, 501 is a moving motor, 502 is a motor support, 503 is a power input synchronous pulley, 504 is a power output synchronous pulley, 505 is a sliding lead screw support, 506 is a limiting block, 507 is a moving connecting piece, 508 is a transmission nut, 509 is a sliding rail, 5010 is a sliding lead screw, 6 is a detection clamping jaw mechanism, 601 is a clamping jaw motor, 602 is a left-handed worm gear reducer, 603 is a connecting shaft, 604 is a right-handed worm gear reducer, 605 is a clamping jaw connecting rod, 606 is an elastic pad, 607 is a metal detection tail end, 608 is an insulating gasket, 609 is an opposite-sided clamping jaw connecting rod, 6010 is a clamping jaw blocking piece, 7 is an insulator resistance detector, 8 is a power supply, and 9 is a visible light detection module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the robot for detecting the insulator of the ultra-high voltage transmission line provided by the utility model comprises a control box body 1, a self-adaptive guide module 2, an encircling guide executing mechanism 3, an encircling guide driving mechanism 4, a moving mechanism 5, a detection clamping jaw mechanism 6, an insulator resistance detector 7 and a power supply 8, wherein the self-adaptive guide module 2 and the moving mechanism 5 are arranged at the top of the control box body 1; the two groups of encircling guide actuating mechanisms 3 are symmetrically arranged on two sides of the control box body 1 and are used for encircling insulator strings; the surrounding guide driving mechanism 4 is arranged at the end part of the control box body 1 and is used for driving the surrounding guide executing mechanism 3 to open or close; the insulator resistance detector 7 and the power supply 8 are arranged on the encircling guide actuating mechanism 3; the two groups of detection clamping jaw mechanisms 6 are arranged, one group is fixed at the top of the control box body 1, the other group is arranged on the moving mechanism 5, and the two pairs of detection clamping jaw mechanisms 6 are used for crawling and insulator string resistance detection.
Furthermore, the top of the control box body 1 is also provided with a visible light detection module 9, and the visible light detection module 9 is used for observing appearance conditions of hardware fittings such as an insulator umbrella skirt and an iron cap.
As shown in fig. 2, in the embodiment of the present invention, the control box 1 includes a box top plate 101, two mechanism connecting side plates 102, a box bottom plate 103, and two box side plates 104, wherein the two box side plates 104 symmetrically disposed and the two mechanism connecting side plates 102 symmetrically disposed are distributed around the control box 1 and are fixedly connected by bolts; the box top plate 101 and the box bottom plate 103 are fixedly connected to the top and the bottom of the control box 1. The self-adaptive guide module 2, the moving mechanism 5, the detection clamping jaw mechanism 6 and the visible light detection module 9 are all arranged on the box body top plate 101.
As shown in fig. 3, in the embodiment of the present invention, the adaptive guide module 2 includes two bottom guide rods 201, two bottom guide rod brackets 202, a guide outer frame, and a guide shaft 205, wherein the bottom guide rods 201 are fixed on the tops of the two bottom guide rod brackets 202 in parallel; a box top plate 101 of the control box 1 is provided with a guide external frame; the two bottom guide bar supports 202 are slidably connected to the guide outer frame by guide shafts 205.
In the embodiment of the utility model, the guiding external frame comprises four guiding shaft sleeves 203 and four guiding cups 204, wherein the four guiding shaft sleeves 203 are symmetrically embedded at two ends of the box top plate 101, the four guiding cups 204 are respectively arranged below the box top plate 101 and are respectively connected with the lower ends of the four guiding shaft sleeves 203, and the bottom of each guiding cup 204 is provided with a spring; two guide shafts 205 are arranged at the bottom of each bottom guide rod support 202, each guide shaft 205 is connected with the corresponding guide shaft sleeve 203 in a sliding mode, the lower end of each guide shaft 205 is abutted against a spring in the guide cup 204, and the bottom guide rods 201 can be in flexible contact with the insulator string.
Further, the bottom guide rod 201 is made of a smooth-surfaced material POM. The four guide shafts 205 are D-shaped shafts, are embedded in the guide external frame and slide up and down, and two ends of each guide shaft 205 are respectively connected with the bottom of the bottom guide rod bracket 202 and a rectangular spring inside the guide cup 204; when bottom guide bar 201 contacted the insulator edge, bottom guide bar 201 can radial movement, adapts to the robot along the stable motion of insulator chain axis disalignment, improves the compliance of robot overall motion.
As shown in fig. 4, in the embodiment of the present invention, the encircling guide actuator 3 includes an encircling front claw 301, an encircling rear claw 302, a top guide rod 303 and two transmission shafts 307, wherein the two transmission shafts 307 are rotatably disposed on two sides of the control box 1; one end of each of the two transmission shafts 307 is connected with the two surrounding front claws 301, and the other end is connected with the two surrounding rear claws 302; the surrounding front claw 301 and the surrounding rear claw 302 which are positioned on the same side are connected through a top guide rod 303, a top guide rod connecting piece 304 is arranged on the top guide rod 303, and the insulator resistance detector 7 and the power supply 8 are connected to the top guide rod connecting pieces 304 on the two sides. The two transmission shafts 307 are connected with the encircling guide driving mechanism 4, and are driven by the encircling guide driving mechanism 4 to rotate in opposite directions, so as to drive the encircling front claw 301 and the encircling rear claw 302 to synchronously open or close.
Specifically, the encircling front claw 301, the encircling rear claw 302 and the driven synchronous pulley 308 are connected to two ends of the transmission shaft 307 through keys, rotate along with the transmission shaft 307, and form a group of encircling assemblies with the transmission shaft stop 305 and the bearing support 306; the three bearing supports 306 are arranged at the two ends and the middle part of the transmission shaft 307, are rotatably connected with the transmission shaft 307 and are fixedly connected with the box body side plate 104; the two top guide rods 303 are fixedly connected by a top guide rod connecting piece 304 to form a group of guide components, wherein the guide components are fixedly connected with the encircling front claw 301 and the encircling rear claw 302. The surrounding assemblies and the guide assemblies are two groups and are respectively symmetrically arranged on two sides of the box body side plate 104 and are driven by surrounding guide driving mechanisms 4 connected to the driven synchronous belt wheels 308 through synchronous belts.
As shown in fig. 1 and 5, in the embodiment of the present invention, the looping and guiding driving mechanism 4 includes a driving synchronous pulley 401, an opposite driving synchronous pulley 402, a primary spur gear reducer 403, a coupler 404 and a bottom worm gear reducer 405, wherein the primary spur gear reducer 403 and the bottom worm gear reducer 405 are respectively and fixedly connected in the control box 1; an output shaft of the bottom worm gear reducer 405 is fixedly connected with an input shaft of the first-stage spur gear reducer 403 through a coupler 404; a first output shaft and a second output shaft of the primary spur gear reducer 403 are fixedly connected with a driving synchronous pulley 401 and an opposite driving synchronous pulley 402 respectively; the driving synchronous pulley 401 and the opposite driving synchronous pulley 402 are respectively connected with the driven synchronous pulleys 308 arranged at the end parts of the two transmission shafts 307 through synchronous belts; the power of the motor-driven bottom worm gear reducer 405 is transmitted to the first output shaft and the second output shaft of the first-stage spur gear reducer 403, so as to drive the driving synchronous pulley 401 and the opposite driving synchronous pulley 402 to rotate in opposite directions, and then the driving encircling guide executing mechanism 3 is opened or closed.
As shown in fig. 5 and 6, in the embodiment of the present invention, the moving mechanism 5 includes a linear driving mechanism, a moving connecting member 507 and a sliding rail 509, wherein the linear driving mechanism and the sliding rail 509 are disposed on the top of the control box 1, the linear driving mechanism outputs power along a direction parallel to the sliding rail 509, the moving connecting member 507 is slidably connected to the sliding rail 509 and connected to an output end of the linear driving mechanism, and the detection clamping jaw mechanism 6 is disposed on the moving connecting member 507.
In the embodiment of the present invention, the linear driving mechanism includes a moving motor 501, a motor support 502, a power input synchronous pulley 503, a power output synchronous pulley 504, a sliding lead screw support 505, a transmission nut 508 and a sliding lead screw 5010, wherein the sliding lead screw 5010 is arranged in parallel with a slide rail 509, and two ends of the sliding lead screw 5010 are supported by the sliding lead screw support 505; the moving motor 501 is arranged on the motor support 502, the output end of the moving motor is connected with the power input synchronous pulley 503, and the power output synchronous pulley 504 is arranged at the end part of the sliding screw 5010 and is connected with the power input synchronous pulley 503 through a synchronous belt; the moving connector 507 is connected to a drive nut 508.
Further, a limit block 506 is arranged on the sliding lead screw support 505 and used for limiting the stroke of the movable connecting piece 507. When the moving motor 501 reciprocates, the power input timing pulley 503 drives the power output timing pulley 504 through a timing belt, and the slide screw 5010 rotates, so that the moving link 507 reciprocates along the axial direction of the slide screw 5010 with the drive nut 508.
As shown in fig. 7 and 8, in the embodiment of the present invention, the detection gripper mechanism 6 includes a gripper motor 601, a left-handed worm gear reducer 602, a connecting shaft 603, a right-handed worm gear reducer 604, a gripper link 605, an elastic pad 606, a metal detection end 607, an insulating spacer 608, and an opposite-handed gripper link 609, wherein the left-handed worm gear reducer 602 and the right-handed worm gear reducer 604 are fixedly connected through the connecting shaft 603; the clamping jaw connecting rod 605 is arranged at the end part of the right-handed worm gear reducer 604, and the opposite side clamping jaw connecting rod 609 is arranged at the end part of the left-handed worm gear reducer 602; elastic pads 606 are fixedly connected to two sides of the clamping jaw connecting rod 605 and the opposite side clamping jaw connecting rod 609, and the tops of the clamping jaw connecting rod 605 and the opposite side clamping jaw connecting rod 609 are connected with a metal detection terminal 607 through an insulating gasket 608; the clamping jaw motor 601 is connected with the left-handed worm gear reducer 602 and used for driving the clamping jaw connecting rod 605 and the opposite side clamping jaw connecting rod 609 to rotate in different directions, two states of clamping and loosening are presented, and the metal detection tail end 607 is used for detecting the resistance value of the insulator.
When the jaw motor 601 rotates, the jaw connecting rod 605 and the opposite jaw connecting rod 609 rotate in different directions, and two states of clamping and loosening are presented for robot body movement and insulator resistance detection.
Furthermore, the bottom guide rod 201 and the top guide rod 303 are made of POM (polyoxymethylene) with smooth surfaces and distributed around the umbrella skirt of the insulator, and the contact mode has small abrasion on the insulator.
Further, the elastic pad 606 of the detection clamping jaw mechanism 6 is made of polyurethane material, and is arranged on two sides of the clamping jaw connecting rod 605 and the opposite clamping jaw connecting rod 609, and is used for contacting the cross section of the insulator shed, providing contact force for the overall movement of the robot, and avoiding damage to the insulator shed.
The utility model provides a working principle of an insulator detection robot for an extra-high voltage transmission line, which comprises the following steps:
as shown in fig. 9, in the initial state of the insulator detection robot for the ultra-high voltage transmission line of the present invention before stringing, the surrounding guide driving mechanism 4 makes the surrounding front claw 301 and the surrounding rear claw 302 in the surrounding guide executing mechanism 3 in an open state.
As shown in fig. 10 to 13, the robot of the present invention can move on a suspension insulator string, a horizontal insulator string, and an insulator string having a large inclination angle.
The working principle of the robot in the state of the insulator string is the same, taking the robot as an example when the robot hangs the insulator string, as shown in fig. 10, two groups of detection clamping jaw mechanisms 6 are both in a closed state and are arranged at two ends of the control box body 1, when the robot moves upwards along the insulator string, one group of detection clamping jaw mechanisms 6 fixed on the control box body 1 is driven by the clamping jaw motor 601 to be loosened, and at the moment, the moving mechanism 5 executes actions to drive the control box body 1 and the group of detection clamping jaw mechanisms 6 fixed on the control box body 1 to move upwards; when the metal detection end 607 of the detection clamping jaw mechanism 6 fixed at one end of the box top plate 101 of the control box 1 moves to the position of the insulator cap, the moving mechanism 5 stops acting, the detection clamping jaw mechanism 6 fixed on the box clamps the insulator cap, and at the moment, the insulator resistance detector 7 automatically detects the insulator resistance, as shown in fig. 12; and the other group of detection clamping jaw mechanisms 6 fixedly connected with the moving mechanism 5 is loosened, the moving mechanism 5 executes action, and when the other group of detection clamping jaw mechanisms 6 and the moving mechanism 5 move upwards together to the position of the next insulator iron cap, the detection clamping jaw mechanisms 6 are closed.
The utility model has simple structure, continuous walking, stable crawling, high detection efficiency, safety and reliability, and can realize the movement of the insulator string along the suspension, horizontal and larger inclination angle by shorting three insulators at most.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The robot for detecting the insulator of the ultrahigh-voltage transmission line is characterized by comprising a control box body (1), a self-adaptive guide module (2), an encircling guide executing mechanism (3), an encircling guide driving mechanism (4), a moving mechanism (5), a detection clamping jaw mechanism (6), an insulator resistance detector (7) and a power supply (8), wherein the self-adaptive guide module (2) and the moving mechanism (5) are arranged at the top of the control box body (1); the two groups of encircling guide actuating mechanisms (3) are symmetrically arranged on two sides of the control box body (1) and are used for encircling insulator strings; the surrounding guide driving mechanism (4) is arranged at the end part of the control box body (1) and is used for driving the surrounding guide actuating mechanism (3) to open or close; the insulator resistance detector (7) and the power supply (8) are arranged on the encircling guide actuating mechanism (3); the two groups of detection clamping jaw mechanisms (6) are arranged, one group of the detection clamping jaw mechanisms is fixed at the top of the control box body (1), the other group of the detection clamping jaw mechanisms is arranged on the moving mechanism (5), and the two pairs of detection clamping jaw mechanisms (6) are used for crawling and insulator string resistance detection.
2. The robot for detecting the insulator of the extra-high voltage transmission line according to claim 1, wherein the self-adaptive guide module (2) comprises two bottom guide rods (201), two bottom guide rod brackets (202), two guide external frames and a guide shaft (205), wherein the two bottom guide rods (201) are fixed on the tops of the two bottom guide rod brackets (202) in parallel; the top of the control box body (1) is provided with a guide external frame; the two bottom guide bar supports (202) are slidably connected with the guide outer frame through guide shafts (205).
3. The robot for detecting the insulator of the extra-high voltage transmission line according to claim 2, wherein the guiding external frame comprises four guiding shaft sleeves (203) and four guiding cups (204), wherein the four guiding shaft sleeves (203) are symmetrically embedded at two ends of the top of the control box body (1), the four guiding cups (204) are respectively arranged at the lower ends of the four guiding shaft sleeves (203), and a spring is arranged at the bottom of each guiding cup (204); two guide shafts (205) are arranged at the bottom of each bottom guide rod bracket (202), each guide shaft (205) is connected with the corresponding guide shaft sleeve (203) in a sliding mode, and the lower end of each guide shaft is abutted to a spring in a guide cup (204).
4. The robot for detecting the insulator of the extra-high voltage transmission line according to claim 2, wherein the bottom guide rod (201) is made of POM (polyoxymethylene) with a smooth surface.
5. The robot for detecting the insulator of the extra-high voltage transmission line according to claim 1, wherein the encircling guide executing mechanism (3) comprises an encircling front claw (301), an encircling rear claw (302), a top guide rod (303) and two transmission shafts (307), wherein the two transmission shafts (307) are rotatably arranged on two sides of the control box body (1); one ends of the two transmission shafts (307) are respectively connected with the two encircling front claws (301), and the other ends of the two transmission shafts are respectively connected with the two encircling rear claws (302); the surrounding front claw (301) and the surrounding rear claw (302) which are positioned on the same side are connected through a top guide rod (303), a top guide rod connecting piece (304) is arranged on the top guide rod (303), and the top guide rod connecting piece (304) is used for connecting the insulator resistance detector (7) and the power supply (8);
the two transmission shafts (307) are connected with the encircling guide driving mechanism (4) and driven to rotate reversely by the encircling guide driving mechanism (4), so that the encircling front claw (301) and the encircling rear claw (302) are driven to be synchronously opened or closed.
6. The insulator detection robot for the extra-high voltage transmission line according to claim 5, wherein the encircling guiding driving mechanism (4) comprises a driving synchronous pulley (401), an opposite driving synchronous pulley (402), a primary straight gear reducer (403), a coupler (404) and a bottom worm gear reducer (405), wherein the primary straight gear reducer (403) and the bottom worm gear reducer (405) are respectively and fixedly connected into the control box body (1); an output shaft of the bottom worm gear reducer (405) is fixedly connected with an input shaft of the first-stage straight gear reducer (403) through a coupler (404); a first output shaft and a second output shaft of the primary spur gear reducer (403) are respectively and fixedly connected with a driving synchronous pulley (401) and an opposite driving synchronous pulley (402); the driving synchronous pulley (401) and the opposite driving synchronous pulley (402) are respectively connected with driven synchronous pulleys (308) arranged at the ends of the two transmission shafts (307) through synchronous belts; the power of the motor-driven bottom worm gear reducer (405) is transmitted to a first output shaft and a second output shaft of the primary straight gear reducer (403), so that the driving synchronous pulley (401) and the opposite driving synchronous pulley (402) are driven to rotate in opposite directions, and then the surrounding guide executing mechanism (3) is driven to open or close.
7. The robot for detecting the insulator of the extra-high voltage transmission line according to claim 1, wherein the moving mechanism (5) comprises a linear driving mechanism, a moving connecting piece (507) and a sliding rail (509), the linear driving mechanism and the sliding rail (509) are arranged at the top of the control box body (1), the linear driving mechanism outputs power in a direction parallel to the sliding rail (509), the moving connecting piece (507) is connected with the sliding rail (509) in a sliding mode and is connected with an output end of the linear driving mechanism, and the detecting clamping jaw mechanism (6) is arranged on the moving connecting piece (507).
8. The robot for detecting the insulator of the extra-high voltage transmission line according to claim 7, wherein the linear driving mechanism comprises a mobile motor (501), a motor support (502), a power input synchronous pulley (503), a power output synchronous pulley (504), a sliding lead screw support (505), a transmission nut (508) and a sliding lead screw (5010), wherein the sliding lead screw (5010) is arranged in parallel with the slide rail (509), and two ends of the sliding lead screw (5010) are supported by the sliding lead screw support (505); the mobile motor (501) is arranged on the motor support (502), the output end of the mobile motor is connected with the power input synchronous pulley (503), and the power output synchronous pulley (504) is arranged at the end part of the sliding screw rod (5010) and is connected with the power input synchronous pulley (503) through a synchronous belt; the movable connecting piece (507) is connected with the transmission nut (508).
9. The insulator detection robot for the extra-high voltage transmission line according to claim 1, wherein the detection clamping jaw mechanism (6) comprises a clamping jaw motor (601), a left-handed worm gear reducer (602), a connecting shaft (603), a right-handed worm gear reducer (604), a clamping jaw connecting rod (605), an elastic pad (606), a metal detection terminal (607), an insulating gasket (608) and an opposite-handed clamping jaw connecting rod (609), wherein the left-handed worm gear reducer (602) is fixedly connected with the right-handed worm gear reducer (604) through the connecting shaft (603); the clamping jaw connecting rod (605) is arranged at the end part of the right-handed worm gear reducer (604), and the opposite side clamping jaw connecting rod (609) is arranged at the end part of the left-handed worm gear reducer (602); elastic pads (606) are fixedly connected to the two sides of the clamping jaw connecting rod (605) and the opposite side clamping jaw connecting rod (609), and the tops of the clamping jaw connecting rod (605) and the opposite side clamping jaw connecting rod (609) are connected with a metal detection tail end (607) through an insulating gasket (608); the clamping jaw motor (601) is connected with the left-handed worm gear reducer (602) and used for driving the clamping jaw connecting rod (605) and the opposite side clamping jaw connecting rod (609) to rotate in different directions to present two states of clamping and loosening, and the metal detection tail end (607) is used for detecting the resistance value of the insulator.
10. The robot for detecting the insulator of the extra-high voltage transmission line according to claim 1, wherein a visible light detection module (9) is arranged at the top of the control box body (1).
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| CN202121373938.XU CN215415719U (en) | 2021-06-21 | 2021-06-21 | Ultrahigh voltage transmission line insulator detection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115902548A (en) * | 2022-11-23 | 2023-04-04 | 国网江苏省电力有限公司镇江供电分公司 | Overhead line insulator detection robot in transformer substation and obstacle crossing method of overhead line insulator detection robot |
| CN117970060A (en) * | 2023-12-01 | 2024-05-03 | 杭州明韵科技有限公司 | Zero value detection creeping robot for insulator string |
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2021
- 2021-06-21 CN CN202121373938.XU patent/CN215415719U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115902548A (en) * | 2022-11-23 | 2023-04-04 | 国网江苏省电力有限公司镇江供电分公司 | Overhead line insulator detection robot in transformer substation and obstacle crossing method of overhead line insulator detection robot |
| CN115902548B (en) * | 2022-11-23 | 2023-09-22 | 国网江苏省电力有限公司镇江供电分公司 | Overhead wire insulator detection robot in transformer substation and obstacle crossing method of overhead wire insulator detection robot |
| CN117970060A (en) * | 2023-12-01 | 2024-05-03 | 杭州明韵科技有限公司 | Zero value detection creeping robot for insulator string |
| CN117970060B (en) * | 2023-12-01 | 2024-06-18 | 杭州明韵科技有限公司 | Zero value detection creeping robot for insulator string |
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