CN219162250U

CN219162250U - Insulator electric field test robot that multisensory fuses

Info

Publication number: CN219162250U
Application number: CN202223373094.6U
Authority: CN
Inventors: 孟令煜; 杨铭; 张锦程
Original assignee: Nanjing Zhongxin Zhidian Technology Co ltd
Current assignee: Nanjing Zhongxin Zhidian Technology Co ltd
Priority date: 2022-12-16
Filing date: 2022-12-16
Publication date: 2023-06-09
Anticipated expiration: 2032-12-16

Abstract

The utility model relates to a multi-sensor integrated insulator electric field testing robot which comprises a robot main body, wherein a control module, a communication module, a power module, a crawler traveling module, an electric field testing module, a temperature testing module, a distance laser sensing module and an image acquisition module are arranged on the robot main body, and the control module is respectively and electrically connected with the modules. According to the utility model, the characteristic that the crawling height of the robot on the insulator string is unchanged is utilized to ensure that the distance from the sensor to the umbrella skirt is unchanged, and the test data are effective, so that the live detection of the strain insulator string is realized by using an electric field test method, and meanwhile, the temperature test is carried out to assist in judging, and the change curve of the electric field and the change curve of the temperature are consistent. The utility model uses the robot to climb on the insulator chain and test the electric field and temperature at the same time, the test efficiency is very high.

Description

Insulator electric field test robot that multisensory fuses

Technical Field

The utility model relates to a multi-sensor fusion insulator electric field testing robot, and belongs to the technical field of insulator detection.

Background

An insulator is an insulating control applied to overhead transmission lines, is usually made of glass or ceramic, and can play a role in mechanically suspending wires, electrically isolating wires and towers in the transmission lines. In practical application, because the insulating property of each insulator is limited, a plurality of insulators are required to be connected into an insulator string for use. Depending on the suspension type, the insulator string may be divided into a suspension insulator string and a strain insulator string. The suspension insulator string is suitable for a linear tower and bears wires and additional vertical load and wind load. The strain insulator string is suitable for a strain tower and mainly bears all horizontal tension of a wire.

Due to manufacturing defects, changes of electric loads, environmental pollution and the like, the insulation performance of the insulators can be continuously reduced, when zero value or low value insulators in a series of insulators exceed a certain number, line tripping can be caused, personal safety accidents and electric energy loss are caused, and the service life and the operation life of the whole transmission line are reduced. Therefore, the detection of the insulator string is significant.

At present, the existing mode often needs line outage and manual climbing tower to perform high-altitude operation, the insulator damaged by the accurate positioning cannot be tested by the aid of the high-pressure rod in a generalized manner, and the defects of low efficiency, high danger, high operation strength and the like exist in manual detection. With the continuous development of power systems in China, the voltage level is higher and higher, the length of an insulator string is longer and longer, the manual detection cannot meet the detection requirement of an ultra-high voltage circuit, and the development of an autonomous insulator string detection device is urgent.

Disclosure of Invention

The utility model aims to: in order to overcome the problems in the prior art, the utility model provides the multi-sensor fusion insulator electric field testing robot, which realizes the live detection of the strain insulator string by using a multi-sensor fusion testing method, and simultaneously realizes the automatic detection of the insulator string by carrying and driving the robot.

The technical scheme is as follows: in order to achieve the above purpose, the utility model provides a multi-sensor fusion insulator electric field testing robot, which comprises a robot main body for realizing the enclasping of an insulator, wherein a crawler traveling module is arranged on the robot main body and is used for realizing the traveling driving of the robot main body along an insulator string, a control module, a communication module, a power module, an electric field testing module, a temperature testing module, a distance laser sensing module and an image acquisition module are also arranged on the robot main body, and the control module is respectively and electrically connected with the communication module, the power module, the electric field testing module, the temperature testing module, the distance laser sensing module, the image acquisition module and the crawler traveling module.

Further, the robot main body comprises a top support and limiting supports distributed on two sides of the top support, and the limiting supports are fastened on two sides of the top support through threads, so that the installation angle of the limiting supports is adjusted, and insulators with different diameters are held tightly.

Further, the top support and the limiting support are of arc-shaped structures, so that the enclasping stability of the robot is enhanced.

Further, the crawler traveling module comprises a mounting frame arranged on the limiting support, a traveling motor, a driving belt pulley, a driven belt pulley and a traveling crawler are arranged on the mounting frame, the traveling motor is in driving connection with the driving belt pulley, and the traveling crawler is tensioned between the driving belt pulley and the driven belt pulley, so that crawler driving is achieved.

Further, the electric field test module, the temperature test module, the distance laser sensor module and the image acquisition module respectively adopt an electric field sensor, a temperature sensor, a distance laser sensor and a camera, and the electric field sensor, the temperature sensor and the distance laser sensor are arranged on the same cross section of the robot main body.

Therefore, the same umbrella skirt is ensured to be tested, namely, the trend lines of the electric field and the temperature change are consistent (the electric field and the temperature change when the insulator is damaged), and the distance laser sensor is used for positioning the test positions of the electric field sensor and the temperature sensor. The camera is used for observing the position of the robot on the insulator string, and meanwhile, whether the surface of the insulator is damaged or not can be observed.

Further, an insulation shielding box for accommodating the control module, the communication module and the power module is arranged on the robot main body and used for realizing insulation shielding protection.

Further, be equipped with the protection casing on the robot main part, provide effective protection for the robot main part.

The beneficial effects are that: compared with the prior art, the multi-sensor fused insulator electric field testing robot provided by the utility model has the following advantages:

1. the characteristic that the crawling height of the robot on the insulator string is unchanged is utilized to ensure that the distance from the sensor to the umbrella skirt (namely the insulator) is unchanged, and test data are effective, so that the live detection of the strain insulator string is realized by utilizing an electric field test method, and meanwhile, the temperature test is carried out to assist in judging that the change curve of an electric field is consistent with the change curve of the temperature;

2. the distance laser sensing module and the image acquisition module are utilized to realize the effective positioning of the robot on the insulator string, thereby realizing the automatic detection of the insulator string in cooperation, being relatively low in efficiency of the resistance test method, utilizing the electric field and the temperature test to be carried out when the robot crawls on the insulator string, and being very efficient in test efficiency.

Drawings

FIG. 1 is a schematic diagram of a circuit configuration of an insulator electric field testing robot in an embodiment of the utility model;

FIG. 2 is a schematic diagram of a structure of an electric field testing robot for an insulator according to an embodiment of the present utility model;

FIG. 3 is a diagram illustrating a state of use of the electric field testing robot for insulators according to an embodiment of the present utility model;

in the figure: 1. arc, 2, insulating shielding case, 3, walking motor, 4, walking track, 5, mounting bracket, 6, high definition digtal camera, 7, distance laser sensor, 8, electric field sensor, 9, temperature sensor, 10, connecting rod, 11, handle, 12, protection casing.

Detailed Description

The present utility model will be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the utility model and therefore show only the structures which are relevant to the utility model.

Fig. 1 shows a multi-sensor integrated insulator electric field testing robot, which comprises a robot main body for realizing the enclasping of an insulator, and a control module, a communication module, a power module, a crawler traveling module, an electric field testing module, a temperature testing module, a distance laser sensing module and an image acquisition module which are arranged on the robot main body.

As shown in fig. 2, the robot main body includes a top support and limit supports distributed on two sides of the top support, wherein the top support and the limit supports are composed of arc plates 1 and connecting rods 10, the opposite arc plates 1 are connected and fixed through the connecting rods 10, the limit supports are fastened on two sides of the top support through threads (the adjacent arc plates 1 are connected through threads), and therefore installation angle adjustment of the limit supports is achieved, and insulators with different diameters are adapted.

Further, the crawler traveling modules are arranged at the outer ends of the limit brackets on two sides, each crawler traveling module comprises a mounting frame 5 fixedly connected with the limit bracket, a traveling motor 3, a driving belt wheel, a driven belt wheel and a traveling crawler 4 which are arranged on the mounting frame 5, the traveling crawler 4 is tensioned between the driving belt wheel and the driven belt wheel, and the traveling motor 3 is in driving connection with the driving belt wheel, so that crawler driving is realized. In addition, flexible friction plates are distributed on the walking crawler belt 4 and used for increasing crawler belt friction and avoiding slipping.

In this embodiment, the electric field test module, the temperature test module, the distance laser sensor module adopt electric field sensor 8, temperature sensor 9, distance laser sensor 7 respectively, wherein electric field sensor 8, temperature sensor 9 and distance laser sensor 7 install on the same side arc 1 of top support, guaranteed that the three test is same umbrella skirt, electric field and temperature's change trend line should be unanimous (electric field and temperature here will change when the insulator has the damage), and distance laser sensor 7 can be used to the test position of accurate location electric field sensor 8 and temperature sensor 9 simultaneously.

Further, the image acquisition module comprises a high-definition camera 6 arranged on the limiting support, so that whether the surface of the insulator is damaged or not can be observed, the position of the robot on the insulator string can be observed, and the robot is prevented from falling when crawling to the end part.

In this embodiment, three insulation shielding cases 2 (the casing includes an external insulation layer and an internal shielding layer) are disposed on the robot main body, and are respectively erected on the top support and the connecting rods 10 of the two side limiting supports, and a power module, a control module and a communication module are respectively disposed in the insulation shielding cases 2, wherein the power module is used for realizing power supply of each module, and the control module is used for receiving detection signals of the electric field sensor 8, the temperature sensor 9, the distance laser sensor 7 and the high-definition camera 6, and realizing driving control of the walking motor 3.

As shown in fig. 3, the top bracket and the limit bracket are respectively provided with a protective cover 12 for improving the protective capability; install handle 11 on the top support, be convenient for unmanned aerial vehicle snatchs, need not artifical tower of climbing from this, can realize the automated inspection of insulator chain when electrified.

The specific embodiments of the present utility model are as follows:

before testing, the installation angle of the crawler belt walking modules at the two sides is adjusted through the screw thread locking between the top support and the limit support so as to adapt to the disc diameter of the insulator to be tested, and the crawler belt 4 at the two sides is ensured to be in contact with the insulator string.

During testing, the unmanned aerial vehicle grabs the handle 11 and drives the robot to drop on the insulator string to be tested, so that the robot main body is tightly held on the insulator string, and the running detection process can be started, namely, the crawler running module drives the robot to run along the insulator string at a constant speed, and the automatic detection of the insulator string is realized through the electric field testing module, the temperature testing module, the distance laser sensing module and the image acquisition module until all the detection of the whole tension insulator string is completed.

In the test process, the crawling height of the robot on the insulator string is unchanged, and the distance between the electric field and the temperature test cannot be changed, so that test data are ensured to be effective (the distance between the electric field sensor and the umbrella skirt is ensured to be 0-300 mm by using the electric field test method, and the distance cannot be changed during the test). The utility model uses the robot to climb on the insulator string and test the electric field and the temperature, and the test efficiency is very high.

With the above-described preferred embodiments according to the present utility model as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present utility model. The technical scope of the present utility model is not limited to the description, but must be determined according to the scope of claims.

Claims

1. The utility model provides an insulator electric field test robot that multisensory fuses, its characterized in that, including the robot main part that is used for realizing that the insulator is held tightly, and be equipped with track walking module in the robot main part for realize the robot main part along the walking drive of insulator chain, still arranged control module, communication module, power module, electric field test module, temperature test module, distance laser sensor module and image acquisition module in the robot main part, and control module respectively with communication module, power module, electric field test module, temperature test module, distance laser sensor module, image acquisition module, track walking module electricity connection.

2. The multi-sensor fusion insulator electric field test robot according to claim 1, wherein the robot body comprises a top support and limit supports distributed on two sides of the top support, and the limit supports are fastened on two sides of the top support through threads.

3. The multi-sensor fusion insulator electric field test robot of claim 2, wherein the top support and the limit support are arc-shaped.

4. The multi-sensor-fused insulator electric field test robot according to claim 2, wherein the crawler traveling module comprises a mounting frame arranged on the limiting support, a traveling motor, a driving pulley, a driven pulley and a traveling crawler are arranged on the mounting frame, the traveling motor is in driving connection with the driving pulley, and the traveling crawler is tensioned between the driving pulley and the driven pulley.

5. The multi-sensor fusion insulator electric field test robot according to claim 1, wherein the electric field test module, the temperature test module, the distance laser sensor module and the image acquisition module respectively adopt an electric field sensor, a temperature sensor, a distance laser sensor and a camera, and the electric field sensor, the temperature sensor and the distance laser sensor are arranged on the same cross section of the robot main body.

6. The multi-sensor fusion insulator electric field test robot of claim 1, wherein an insulating shielding box for accommodating a control module, a communication module and a power module is arranged on the robot body.

7. The multi-sensor fusion insulator electric field test robot of claim 1, wherein the robot body is provided with a protective cover.