WO2014108017A1 - Detection robot system of insulator strings - Google Patents

Detection robot system of insulator strings Download PDF

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Publication number
WO2014108017A1
WO2014108017A1 PCT/CN2013/089568 CN2013089568W WO2014108017A1 WO 2014108017 A1 WO2014108017 A1 WO 2014108017A1 CN 2013089568 W CN2013089568 W CN 2013089568W WO 2014108017 A1 WO2014108017 A1 WO 2014108017A1
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climbing
insulator string
insulator
control
detecting
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PCT/CN2013/089568
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French (fr)
Chinese (zh)
Inventor
韩磊
曹涛
付崇光
赵德利
张永生
孙大庆
李红玉
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山东鲁能智能技术有限公司
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Priority to CN201310010428.X priority Critical
Priority to CN201310010428.XA priority patent/CN103091579B/en
Application filed by 山东鲁能智能技术有限公司 filed Critical 山东鲁能智能技术有限公司
Publication of WO2014108017A1 publication Critical patent/WO2014108017A1/en

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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables

Abstract

An intelligent detection robot system of insulator strings, which is used for detecting horizontal strain twin insulator strings and comprises a robot motion system and an information processing system. The part of the robot motion system comprises: a mechanism connection plate (2); a climbing apparatus (5); a guiding apparatus for guiding insulator strings, which is provided on two sides of an advancing direction of the mechanism connection plate (2) and matches the twin insulator strings to be detected; a detection device (8), which is provided on the mechanism connection plate (2), a control unit, which outputs a driving apparatus being connected to the climbing apparatus (5), so as to control the angle deviation between one front group and one rear group of climbing arms (50); and a man-machine control terminal, which is communicatively connected to the control unit through a wireless communication unit, so as to remotely control the climbing apparatus (5). The robot system is compact in structure and fast in movement speed.

Description

一种绝缘子串检测机器人系统  Insulator string detection robot system
技术领域 Technical field
本发明涉及一种绝缘子串检测机器人系统,用于耐张塔绝缘子串的检测。 背景技术  The invention relates to an insulator string detecting robot system for detecting the tensile tower insulator string. Background technique
随着我国电力系统的不断发展, 电网安全、 稳定运行越来越受到重视。 尤其在近年来大力发展的超高压、 特高压输电系统中, 绝缘子的安全运行直 接决定了整个系统的投资及安全水平, 为保证高压输电线路的电气安全, 在 高压输电线路运行使用一段时间后, 需要检测线路的电气性能, 特别是绝缘 子的绝缘安全性能, 防止短路或断路等现象的发生。  With the continuous development of China's power system, the safe and stable operation of the power grid has received more and more attention. Especially in the ultra-high voltage and ultra-high voltage transmission systems that have been vigorously developed in recent years, the safe operation of the insulator directly determines the investment and safety level of the whole system. To ensure the electrical safety of the high-voltage transmission line, after the high-voltage transmission line is used for a period of time, It is necessary to detect the electrical performance of the line, especially the insulation safety of the insulator, to prevent short circuit or open circuit.
绝缘子是架空高压输电线路上用于导线与铁塔连接的绝缘元件, 具有两 个基本作用, 即支撑和防止电流回地, 这两个作用必须得到保证, 绝缘子不 应该由于环境和电负荷条件发生变化导致各种电应力而失效, 否则绝缘子就 不会产生所需的作用, 会损害整条线路的使用和运行寿命。  The insulator is an insulating component used for connecting the conductor to the tower on the overhead high-voltage transmission line. It has two basic functions, namely support and prevention of current return to the ground. These two functions must be guaranteed. The insulator should not change due to environmental and electrical load conditions. It causes various electrical stresses to fail, otherwise the insulator will not produce the required effect, which will damage the use and operating life of the entire line.
按照安装结构不同, 绝缘子串可分垂直绝缘子串和水平绝缘子串, 以及 倾斜绝缘子串, 当然, 由于安装的需要, 一般如垂直绝缘子串并不是绝对垂 直, 而是在竖直方向上一定角度范围之内都可以叫做垂直绝缘子串。 显而易 见的是, 应用于垂直绝缘子串检测的机器人要克服地球引力, 并且针对绝缘 子串的结构特点进行攀爬, 其基本结构特点是, 绝缘子串有若干节组成, 节 间通常存在形体空间。  According to the installation structure, the insulator string can be divided into a vertical insulator string and a horizontal insulator string, and a tilt insulator string. Of course, due to the installation requirements, generally, the vertical insulator string is not absolutely vertical, but a certain angular range in the vertical direction. Both can be called vertical insulator strings. It is obvious that the robot applied to the vertical insulator substring detection overcomes the gravitational force of the earth and climbs for the structural characteristics of the insulator string. The basic structural feature is that the insulator string has several sections, and the section usually has a body space.
用耐张绝缘子串悬挂导线或分裂导线的承受导线张力的杆塔称为耐张 塔, 是以基本水平的方向牽拉导线的塔架, 当然由于重力的影响, 不会绝对 水平。 这里所说的绝缘子串, 在耐张塔上基本上就是水平绝缘子串。  A tower that is subjected to wire tension by suspending a wire or a split wire with a tensile insulator string is called a tensile tower, and is a tower that pulls the wire in a substantially horizontal direction. Of course, due to the influence of gravity, it is not absolutely horizontal. The insulator string referred to here is basically a horizontal insulator string on the tension tower.
随着人性化作业推广的需要和智能机器人的发展, 目前, 越来越多的智 能机器人应用于电力线路巡检或者设备检测上。 在如中国第 CN201331558Y 号实用新型专利中, 公开了一种具有双履带轮结构的绝缘子检测机器人, 用 于水平双联绝缘子串的检测, 其通过履带跨越所述形体空间, 并通过两边的 阻挡装置进行行走方向的导向。 不过显然诸如履带和轮式结构的机器人并不 适合于垂直绝缘子串的检测, 为了保证机器人能可靠运行, 通常需要在辅助 在行进方向的导向结构, 结构比较复杂。 另外显见的一点是, 绝缘子串很多 是瓷质件, 表面非常光滑, 很难使机器人获得良好的驱动环境。 With the need for the promotion of humanized operations and the development of intelligent robots, more and more intelligent robots are currently used for power line inspection or equipment detection. In the utility model patent of Chinese Patent No. CN201331558Y, an insulator detecting robot with a double track wheel structure is disclosed for detecting the horizontal double insulator string, which crosses the body space through the crawler and passes through the blocking devices on both sides. Guide the direction of travel. However, it is obvious that robots such as track and wheel structures are not suitable for the detection of vertical insulator strings. In order to ensure reliable operation of the robot, it is usually necessary to assist the guiding structure in the traveling direction, and the structure is complicated. Another obvious point is that there are many insulator strings. It is a porcelain piece with a very smooth surface, making it difficult for the robot to get a good driving environment.
中国第 CN202013392U 号实用新型专利则公开了一种可用于垂直绝缘子 串检测的机器人, 包括对称设置的两个环形支架, 两个环形支架上分别设置 有爬行机构, 两个爬行机构之间通过连接板连接; 为适应在垂直绝缘子串上 的攀爬, 爬行机构包括对称设置的两个导轨, 两个导轨上分别设置卡脚机构; 而卡脚机构又包括滑动装置和摆动装置, 滑动装置包括滑动设置在导轨上的 卡脚滑块, 摆动装置包括摆动键套, 摆动键套通过轴承连接到卡脚滑块上, 结构复杂; 并且在实际使用中, 需要一系列的运动相配合, 不可避免的产生 个运动环节的衔接问题, 效率比较低。 另外, 其形体比较大, 携带困难, 而 高压线路多在野外, 不便于携带的缺陷会严重影响其实际使用的便捷性。  The utility model patent CN202013392U discloses a robot which can be used for vertical insulator sub-string detection, which comprises two annular brackets arranged symmetrically, and two ring brackets are respectively provided with a crawling mechanism, and two crawling mechanisms pass through the connecting plate In order to adapt to the climbing on the vertical insulator string, the crawling mechanism comprises two rails arranged symmetrically, and the two rails are respectively provided with a kick mechanism; and the kick mechanism further comprises a sliding device and a swinging device, and the sliding device comprises a sliding setting In the slider slider on the guide rail, the swinging device comprises a swinging key sleeve, and the swinging key sleeve is connected to the kicking slider through the bearing, and the structure is complicated; and in actual use, a series of motions are required to cooperate, which is inevitable The connection problem of a sports link is relatively inefficient. In addition, its shape is relatively large, it is difficult to carry, and high-voltage lines are mostly in the wild. The inconvenience of carrying defects will seriously affect the convenience of its practical use.
中国第 CN1165775C 号发明专利则公开了一种具有可套设于绝缘子本体 周边的环形支架的机器人,在该环形支架上设置爬行机构和检测探头, 显然, 由于绝缘子串两端连接, 环形支架套装在绝缘子串上需要通过辅助结构进行 配合, 否则无法完成套装, 该辅助的结构, 如两节或者两节以上拼对口和的 结构, 造成了其自身结构的复杂性。 另外, 其仍然采用导轨式结构, 并配合 卡爪结构, 体积仍然比较大, 体形笨重而难以携带。 同时, 卡爪结构动作比 较緩慢, 检测效率比较低。 通常, 这类检测机器人需要在断电的情况下进行 检测, 影响线路的正常运运行。  The Chinese Patent No. CN1165775C discloses a robot having a ring bracket that can be sleeved around the periphery of the insulator body, and a crawling mechanism and a detecting probe are disposed on the ring bracket. Obviously, since the two ends of the insulator string are connected, the ring bracket is set at The insulator string needs to be matched by the auxiliary structure, otherwise the package cannot be completed. The auxiliary structure, such as two or more sections and the structure of the counterpart, causes the complexity of its own structure. In addition, it still adopts a rail-type structure and cooperates with the claw structure, and the volume is still relatively large, and the body is bulky and difficult to carry. At the same time, the jaw structure is slower and the detection efficiency is lower. Usually, such detection robots need to be tested in the event of a power failure, affecting the normal operation of the line.
发明内容 Summary of the invention
因此, 本发明的目的在于提供一种结构紧凑, 移动速度快的用于耐张塔 绝缘子串检测的机器人系统。  SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a robotic system for the detection of tensile tower insulator strings with a compact structure and fast moving speed.
一种绝缘子串智能检测机器人系统,用于水平耐张双联绝缘子串的检测, 包括机器人运动系统和信息处理系统。  An insulator string intelligent detection robot system for detecting horizontal tensile double-insulator strings, including a robot motion system and an information processing system.
所述的机器人运动系统部分包括:  The robot motion system part includes:
机构连扳;  Institutional linkage
攀爬装置, 至少设置在所述机构连扳在行进方向的一侧, 且该攀爬装置 具有前后各一组的攀爬臂; 其中攀爬臂为中部连接有驱动轴并以驱动轴轴线 为基准的轴对称杆件;  The climbing device is disposed at least on a side of the mechanism in the traveling direction, and the climbing device has a climbing arm of a front and a rear group; wherein the climbing arm has a driving shaft connected to the middle thereof and the driving shaft axis is a reference axisymmetric rod;
导向装置, 用于导向于绝缘子串, 设置在机构连扳的在行进方向的两侧, 匹配待检测的双联绝缘子串; a guiding device for guiding the insulator string, disposed on both sides of the mechanism connecting plate in the traveling direction, Matching the double insulator string to be detected;
检测设备, 设置在所述机构连扳上;  Detecting device, disposed on the mechanism connecting plate;
控制单元, 输出连接所述攀爬装置的驱动装置, 以控制前后各一组攀爬 臂间的转角差; 以及  a control unit that outputs a driving device connected to the climbing device to control a difference in corner angle between each of the front and rear climbing arms;
人机控制终端, 与所述控制单元通过无线通信单元进行通信连接, 以遥 控所述攀爬装置。  The human-machine control terminal is in communication connection with the control unit through the wireless communication unit to remotely control the climbing device.
依据本发明的上述绝缘子串智能检测机器人系统, 采用攀爬臂驱动的结 构形式, 两对攀爬臂交替驱动, 其运行速度取决于攀爬臂的转动速度, 且该 转动速度不会受到绝缘子自身结构的影响,可以因此获得所需要的检测速度。 攀爬臂为杆件, 结构相对比较简单, 整体结构紧凑, 方便携带, 使其具有更 广泛的使用范围。  According to the above-mentioned insulator string intelligent detecting robot system of the present invention, the structure of the climbing arm driving is adopted, and the two pairs of climbing arms are alternately driven, and the running speed depends on the rotating speed of the climbing arm, and the rotating speed is not affected by the insulator itself. The influence of the structure can thus achieve the required detection speed. The climbing arm is a rod, the structure is relatively simple, the overall structure is compact, and it is convenient to carry, so that it has a wider range of use.
在进一步改进的方案中, 上述绝缘子串智能检测机器人系统, 当所述攀 爬装置设置在所述机构连扳在行进方向的一侧时, 或者仅在一侧设置攀爬装 置, 结构更加紧凑, 所述导向装置则包括设置在所述攀爬装置下侧的第一导 向部分, 可以进一步的简化结构。  In a further improved solution, the above-mentioned insulator string intelligent detection robot system is more compact when the climbing device is disposed on one side of the mechanism in the traveling direction, or only on one side of the climbing device. The guiding device then includes a first guiding portion disposed on the underside of the climbing device, which further simplifies the structure.
上述绝缘子串智能检测机器人系统, 所述第一导向部分包括在待检测绝 缘子串周向呈等腰梯形排布的四条雪橇, 整体形成 V型槽结构, 匹配绝缘子 串等效圆柱面, 具有可靠的导向性能, 且雪橇滑板面长度大于绝缘子串一倍 节距而小于三倍节距, 从而, 在满足正常使用的情况下, 所短接的绝缘子比 较少。  In the above-mentioned insulator string intelligent detection robot system, the first guiding portion includes four sleds arranged in an isosceles trapezoidal shape in the circumferential direction of the insulator string to be detected, and integrally forms a V-shaped groove structure, matching the equivalent cylindrical surface of the insulator string, and has reliable The guiding performance, and the length of the skid skateboard surface is greater than one pitch of the insulator string and less than three times the pitch, so that the shorted insulator is less when the normal use is satisfied.
进一步地, 关于绝缘子串智能检测机器人系统, 所述雪橇滑板长度为绝 缘子串两倍节距, 在满足结构紧凑的同时, 保证运行的可靠性。  Further, regarding the insulator string intelligent detecting robot system, the sled slider length is twice the pitch of the insulative substring, and the reliability of the operation is ensured while satisfying the compact structure.
进而, 如前所述的所形成的 V型槽结构, 对于上述的绝缘子串智能检测 机器人, 可进一步选的是, 绝缘子串与所述导向部分相接合的部分小于等于 180度并大于等于 120度, 且导向部分为以竖直面为基准的面对称结构, 形成 两边约束匹配重力作用的形式形成可靠的导向和位置约束作用。  Furthermore, the V-groove structure formed as described above, in the above-described insulator string intelligent detection robot, may further include that the portion of the insulator string that is joined to the guide portion is 180 degrees or less and 120 degrees or more. And the guiding portion is a plane symmetrical structure based on the vertical plane, and forms a form in which the two sides constrain the gravitational force to form a reliable guiding and positional restraint.
优选地, 每组攀爬臂有两个攀爬臂, 两攀爬臂以竖直面为基准面对称布 局,在绝缘子串的书对称平面两边分布, 形成有向内的且平衡的一对挤压力, 在获得前进动力的同时, 形成有自身的导向作用。 而连接前后攀爬臂的架体 为具有伸缩结构的架体, 实现了攀爬机构双转轴、 绝缘子双串间距的适应性 设计, 从而解决了绝缘子串检测机器人在不同电压等級、 不同线路上的使用。 Preferably, each set of climbing arms has two climbing arms, and the two climbing arms are symmetrically arranged with the vertical surface as a reference surface, and are distributed on both sides of the book symmetry plane of the insulator string, forming an inward and balanced pair. The squeezing force, while gaining the forward momentum, forms its own guiding effect. And the frame of the climbing arm before and after the connection For the frame with telescopic structure, the adaptive design of the double-axis and the double-string spacing of the climbing mechanism is realized, thereby solving the use of the insulator string detecting robot on different voltage levels and different lines.
进一步地, 上述绝缘子串智能检测机器人系统, 两组攀爬臂之一配置有 用于检测攀爬臂转角的传感器, 以反馈控制该攀爬臂的转速, 以使攀爬装置 运行更力口平稳。  Further, in the above-mentioned insulator string intelligent detecting robot system, one of the two sets of climbing arms is provided with a sensor for detecting the corner of the climbing arm to feedbackly control the rotation speed of the climbing arm to make the climbing device run more smoothly.
优选地, 上述绝缘子串智能检测机器人系统, 为了使攀爬臂运行更平稳 且可靠, 所述传感器有一对, 用于攀爬臂周向的位置反馈, 从而把攀爬臂的 轴向分成两个区间, 以反馈控制该组攀爬臂在不同区间的速度匹配, 另一组 攀爬臂则勾速控制。  Preferably, the above-mentioned insulator string intelligent detection robot system, in order to make the climbing arm run more smoothly and reliably, the sensor has a pair for positional feedback of the climbing arm in the circumferential direction, thereby dividing the axial direction of the climbing arm into two Interval, with feedback to control the speed of the set of climbing arms in different sections, and the other set of climbing arms to control the speed.
优选地, 上述绝缘子串智能检测机器人系统, 两组攀爬臂间转角差通过 电机差速运动控制或所述控制单元直接输出的延时运动控制, 以使前后两组 攀爬臂的转角差在 90度附近预定区间内变化, 保证驱动的可靠性。  Preferably, the above-mentioned insulator string intelligent detection robot system, the difference of the angle between the two sets of climbing arms is controlled by the motor differential motion control or the delay motion directly output by the control unit, so that the difference between the two groups of climbing arms is Change within a predetermined interval around 90 degrees to ensure the reliability of the drive.
一种优选的结构, 上述绝缘子串智能检测机器人系统, 所述检测设备包 括检测议类检测设备和用于检测绝缘子电阻的检测装置, 其中, 检测装置包 括通过同步连杆连接的一对探针, 驱动所述同步连杆以使所述探针摆动的舵 机。  A preferred structure, the above-described insulator string intelligent detection robot system, the detection device includes a detection type detection device and a detection device for detecting an insulator resistance, wherein the detection device includes a pair of probes connected through a synchronization link, A steering gear that drives the synchronization link to swing the probe.
优选地, 上述绝缘子串智能检测机器人系统, 为了更方便的控制机器人, 还包括连接于所述控制单元的可见光摄像机, 并配置有图像处理单元, 以识 别绝缘子串的边缘位置信息, 输出控制所述攀爬装置在绝缘子串上的位置。 从而, 在对边缘信息位置检测时, 检测机器人可^ f艮据绝缘子检测机器人在绝 缘子串上的停靠, 通过所携带的可见光摄像机抓取设备图像, 并对设备图像 进行图像处理和模式识别, 识别出绝缘子串的边缘位置信息, 从而实现绝缘 子串检测机器人在绝缘子串上边缘位置信息的确定。  Preferably, the above-mentioned insulator string intelligent detection robot system further includes a visible light camera connected to the control unit for more convenient control of the robot, and is configured with an image processing unit to identify edge position information of the insulator string, and output control The position of the climbing device on the insulator string. Therefore, when detecting the edge information position, the detecting robot can detect the stopping of the robot on the insulator string according to the insulator, capture the device image through the carried visible light camera, and perform image processing and pattern recognition on the device image, and identify The edge position information of the insulator string is output, thereby realizing the determination of the edge position information of the insulator string detecting robot on the insulator string.
上述绝缘子串智能检测机器人, 其改进之处重点体现在载具上, 当载具 满足在耐张塔绝缘子串上运行可靠的条件时, 显见的是所述检测设备可以据 此配置诸多可用的检测设备。  The above-mentioned insulator string intelligent detecting robot is mainly embodied on the carrier. When the carrier satisfies the condition of reliable operation on the tensile tower insulator string, it is obvious that the detecting device can configure many available detecting accordingly. device.
依据上述方案, 为更清楚的理解上述方案, 结合较佳的实施例, 进一步 的选择可匹配以下优点:  According to the above scheme, in order to more clearly understand the above scheme, in combination with the preferred embodiment, further selection can match the following advantages:
1、 本体部分前后安装电机轴的支撑座与支撑架采用可调节伸缩结构设 计, 可以适应结构高度不同的绝缘子串; 1. The support base and the support frame of the motor shaft are mounted on the front and rear of the main body with adjustable telescopic structure. Meter, can adapt to insulator strings with different structural heights;
2、 本体结构部分支架臂采用可调节伸缩结构和易更换结构设计, 以适应 结构高度和盘径不同的绝缘子串;  2. The body structure part of the bracket arm adopts an adjustable telescopic structure and an easy-to-replace structure design to adapt to the insulator string with different structure height and disk diameter;
3、 采用智能控制系统设计, 以提高前后不同方向运行适应性;  3. Adopt intelligent control system design to improve the adaptability of operation in different directions before and after;
4、 采用无线监控技术, 采用手持终端远程控制机器人本体操作;  4, using wireless monitoring technology, using a handheld terminal to remotely control the robot body operation;
5、 采用远程图像管理技术, 将机器人本体视频采集信息通过终端视频播 放设备, 同步观察机器人运动状态视频及绝缘子片图像信息;  5. Using remote image management technology, the robot body video acquisition information is passed through the terminal video playback device, and the robot motion state video and the insulator slice image information are simultaneously observed;
6、采用模式识别技术,通过分析检测机器人运动采集的绝缘子图像信息, 分析确定检测机器人在绝缘子串上相对位置;  6. Using pattern recognition technology, analyzing and detecting the insulator image information collected by the robot motion, analyzing and determining the relative position of the detection robot on the insulator string;
7、 边缘检测技术, 采用超声传感器、 光电传感器、 模式识别技术相结合 的传感器融合技术, 确定绝缘子串上的边缘位置信息;  7. Edge detection technology, using sensor fusion technology combining ultrasonic sensor, photoelectric sensor and pattern recognition technology to determine the edge position information on the insulator string;
8、 同步检测技术, 检测机器人采用同向运行, 双串同时检测方式, 检测 绝缘子片信息;  8. Synchronous detection technology, the detection robot adopts the same direction operation, double string simultaneous detection mode, and detects the insulation piece information;
9、可携带绝缘子阻值检测设备或分布电压检测设备或磁场分布检测设备 进行检测。  9. Carrying insulation resistance detection equipment or distributed voltage detection equipment or magnetic field distribution detection equipment for detection.
附图说明 施例或现有技术描述中所需要使用的附图作简单地介绍, 显而易见地, 下面 描述中的附图仅仅是本发明的一些实施例, 对于本领域普通技术人员来讲, 在不付出创造性劳动的前提下, 还可以根据这些附图获得其他的附图。  BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are set forth in the description of the claims Other drawings may also be obtained from these drawings without the use of creative labor.
图 1为依据本发明的一种绝缘子串智能检测机器人的结构示意图。  1 is a schematic structural view of an insulator string intelligent detecting robot according to the present invention.
图 2为一种检测装置的结构示意图。  2 is a schematic structural view of a detecting device.
图 3为一种攀爬装置的结构示意图。  Figure 3 is a schematic view showing the structure of a climbing device.
图 4为无线通讯模块的原理框图。  Figure 4 is a block diagram of the wireless communication module.
图 5为绝缘子串检测机器人控制系统原理框图。  Figure 5 is a block diagram of the control system of the insulator string detection robot.
图 6为绝缘子串检测机器人结构布局图。  Fig. 6 is a structural layout diagram of the insulator string detecting robot.
图 7为绝缘子串检测机器人功能布局图。  Figure 7 is a functional layout diagram of the insulator string detecting robot.
图 8为绝缘子串检测机器人运动控制流程图。  Figure 8 is a flow chart of the motion control of the insulator string detecting robot.
图 9为绝缘子串检测机器人初始化流程图。 图 10绝缘子串检测机器人与后台控制系统的交互步驟。 Fig. 9 is a flow chart showing the initialization of the insulator string detecting robot. Figure 10 shows the interaction steps between the insulator substring detection robot and the background control system.
图 11电气系统控制框图。  Figure 11 Electrical system control block diagram.
图中: 1.检测仪, 2.机构连板, 3.电源, 4.转接块, 5.攀爬装置, 6.防护罩, 7.通讯天线, 8.检测装置, 9.辅助支撑雪橇, 10.超声及光电传感器, 11辅助连 接台, 12微型可见摄像机;  In the picture: 1. Tester, 2. Mechanism connection board, 3. Power supply, 4. Transfer block, 5. Climbing device, 6. Protective cover, 7. Communication antenna, 8. Detection device, 9. Auxiliary support sled , 10. Ultrasound and photoelectric sensors, 11 auxiliary connection stations, 12 micro-visible cameras;
21.同步连杆, 22.支撑固定座, 23.舵机座, 24.舵机, 25.探针连杆, 26.探 针, 27.舵机连 28.检测连干;  21. Synchronous connecting rod, 22. Supporting fixed seat, 23. Rudder base, 24. Servo, 25. Probe connecting rod, 26. Probe, 27. Servo linkage 28. Detection and drying;
41.电机轴, 42.滚轮, 43.支撑座, 44.轴承端盖, 45.轴端盖, 46.支撑架, 47.电机, 48.限位开关, 49. P艮位座, 50.攀爬臂, 51.定位台, 52.大齿轮, 53.小 齿轮, 54.电机座, 55.支臂架, 56.轴承;  41. Motor shaft, 42. roller, 43. support seat, 44. bearing end cover, 45. shaft end cover, 46. support frame, 47. motor, 48. limit switch, 49. P-position seat, 50. Climbing arm, 51. Positioning table, 52. Large gear, 53. Pinion, 54. Motor base, 55. Arm frame, 56. Bearing;
61远程遥控器智能 MCU , 62代表遥控器电源系统, 63代表远程遥控器 显示部分, 64代表远程遥控器存储部分, 65代表无线 Wi-Fi模块, 66代表中 央控制主控 MCU , 67代表检测模块, 68代表运动驱动模块, 69代表系统指 示及报警系统;  61 remote remote intelligent MCU, 62 represents remote control power system, 63 represents remote remote display, 64 represents remote remote storage, 65 represents wireless Wi-Fi module, 66 represents central control master MCU, 67 represents detection module , 68 represents the motion drive module, 69 represents the system indication and alarm system;
71代表中央控制单元, 72代表信息采集模块, 73代表运动驱动器 I, 74 代表运动驱动器 Π, 75代表速度反馈编码器 I, 76代表速度反馈编码器 II , 77代表无线信号接收模块, 78代表检测仪触发控制模块, Ml代表直流电机 I, M2代表直流电机 II。  71 represents the central control unit, 72 represents the information acquisition module, 73 represents the motion driver I, 74 represents the motion driver Π, 75 represents the speed feedback encoder I, 76 represents the speed feedback encoder II, 77 represents the wireless signal receiving module, and 78 represents the detection The instrument triggers the control module, Ml stands for DC motor I, and M2 stands for DC motor II.
具体实施方式 detailed description
为了使本技术领域的人员更好地理解本发明实施例的方案, 下面结合附 图和实施方式对本发明实施例作进一步的详细说明。 应当理解, 本文中所涉及重点在于对载具所提出的改进, 对其中所涉及 的如图 1中所示的检测仪 1和检测装置 8,作为载具上的搭载品,在满足平台 对应可靠性的情况下, 本领域的技术人员应知其搭载方式, 因此, 在本文中, 对载具做相对简要的说明,本领域的技术人员依据本领域相关技术容易确知。  The embodiments of the present invention are further described in detail below in conjunction with the drawings and embodiments. It should be understood that the focus of the present invention is on the improvement of the carrier, and the detector 1 and the detecting device 8 as shown in FIG. 1 are used as the mounted articles on the carrier, and the platform is reliably matched. In the case of sex, those skilled in the art should be aware of the manner in which they are mounted. Therefore, in the present description, the carrier will be described relatively briefly, and those skilled in the art can easily ascertain it according to the related art in the art.
同时应当理解, 这里的机器人系统是典型的机电产品, 包括机械部分和 控制部分, 其中控制部分也可以叫做电气部分。  At the same time, it should be understood that the robot system here is a typical electromechanical product, including a mechanical part and a control part, wherein the control part may also be called an electric part.
应知, 本文中, 如导向装置, 分居于机构连扳 2两侧, 但并不必然表示 两侧的导向部分采用同样原理、 同样的结构, 更不必然表示绝对对称。 It should be noted that, in this paper, such as the guiding device, it is separated from the two sides of the mechanism, but it does not necessarily indicate The guiding parts on both sides adopt the same principle and the same structure, and do not necessarily represent absolute symmetry.
应知, 在本文中, 如机构连扳 2, 其作用是作为搭载物的搭载平台, 并 不必然表示其是板型件, 因此, 本文中, 所使用术语主要用于特定目的和所 要解决技术问题的表达, 不为其名称所直接限定。  It should be noted that in this paper, if the mechanism is connected, it functions as a mounting platform for the mounted object, and does not necessarily mean that it is a plate type. Therefore, in this paper, the terms used are mainly used for specific purposes and the technology to be solved. The expression of the question is not directly limited by its name.
在一些实施例中, 如图 1 所示的一种绝缘子串智能检测机器人系统的机 械部分, 用于水平耐张双联绝缘子串的检测, 其包括:  In some embodiments, the mechanical portion of the insulator string intelligent detection robot system shown in FIG. 1 is used for the detection of horizontal tensile double-insulator strings, which includes:
机构连扳 2, 用作载具和连接机体, 且如图 1所示, 对于双联绝缘子串, 载具最好分布在带绝缘子串 (图中双联的依次串联的伞状物) 中间的空隙里, 保证重心落入两绝缘子串中间, 运行稳定性比较好。 需要注意的是在结构上 表现为, 机构连扳 2的宽度受到双联绝缘子串之间空间的约束, 但并非是绝 对约束, 如图 1所示, 机构连扳 2受到机器人其他部分的顶托而使主体结构 位于双联绝缘子串的上方。  The mechanism is connected to the carrier 2 and used as the carrier and the connecting body, and as shown in Fig. 1, for the double insulator string, the carrier is preferably distributed in the middle of the insulator string (double-connected umbrellas in series) In the gap, the center of gravity is guaranteed to fall into the middle of the two insulator strings, and the running stability is better. It should be noted that the structure is such that the width of the mechanism 2 is constrained by the space between the double insulator strings, but it is not an absolute constraint. As shown in Fig. 1, the mechanism 2 is received by the rest of the robot. The main structure is placed above the double insulator string.
采用绝缘子双串同步检测技术, 消除了绝缘子串位置偏差对检测造成的 影响, 提高检测机器人作业效率和零值绝缘子检测准确性。  The double-string synchronous detection technology of the insulator eliminates the influence of the positional deviation of the insulator string on the detection, and improves the working efficiency of the detection robot and the detection accuracy of the zero-value insulator.
机器人配置攀爬装置 5, 为载具提供驱动力, 配置有两种基本方式, 在 一些实施例中,使用设置在所述机构连扳在行进方向的一侧的单边驱动方式, 如图 1和 3所示, 图中攀爬装置 5通过支撑架 46与机构连扳 2相连, 单边驱 动方式结构简单,且能够通过如该攀爬装置具有前后各一组的攀爬臂 50的结 构形式, 平衡因单边驱动所产生的转矩, 保证攀爬装置能够可靠运行。  The robot is configured with a climbing device 5, which provides a driving force for the carrier, and is configured in two basic manners. In some embodiments, a one-side driving manner is provided on one side of the mechanism in the traveling direction, as shown in FIG. As shown in FIG. 3, the climbing device 5 is connected to the mechanism connecting plate 2 through the support frame 46, and the single-side driving mode is simple in structure, and can be configured by the climbing arm 50 having the front and rear groups as the climbing device. , balance the torque generated by the unilateral drive to ensure reliable operation of the climbing device.
在另一些实施例中, 可以采用双边驱动的方式, 也就是加以对称的在机 构连扳 2的另一边也设置攀爬装置, 这种结构驱动性能比较好, 但结构相对 比较复杂, 且需要保证两边驱动的同步性。  In other embodiments, the bilateral driving mode may be adopted, that is, the climbing device is also disposed symmetrically on the other side of the mechanism connecting plate 2. This structure has better driving performance, but the structure is relatively complicated, and needs to be guaranteed. Synchronization of the two sides of the drive.
显见的是, 为了满足持续的驱动, 两组攀爬臂在攀爬时始终有一组作用 于一绝缘子, 在结构上更具体的表现为, 前后攀爬臂 50的中心距需要满足绝 缘子串节距和绝缘子外部轮廓, 本领域的技术人员据此容易计算。 而在进一 步的应用中, 可以把攀爬装置配置成前后可调的结构形式, 形成攀爬臂中心 距可调的结构, 如图 3所示的支撑架 46与前后电机轴 41的机架间通过可调 连接结构连接, 比如支撑架 46为套, 所说的机架为轴套配合的轴, 通过如顶 紧螺钉实现轴套活动连接的约束, 形成可调的结构形式, 从而, 满足各种节 距和外部轮廓的绝缘子的检测。 Obviously, in order to meet the continuous driving, the two sets of climbing arms always have a set of acts on an insulator when climbing, and the structurally more specific performance is that the center distance of the front and rear climbing arms 50 needs to satisfy the insulator string pitch. And the outer contour of the insulator, which is easily calculated by those skilled in the art. In a further application, the climbing device can be configured in a front-rear adjustable structure to form a structure in which the center distance of the climbing arm is adjustable, such as the support frame 46 and the frame between the front and rear motor shafts 41 as shown in FIG. The adjustable connection structure is connected, for example, the support frame 46 is a sleeve, and the frame is a shaft-fitted shaft, and the movable connection of the sleeve is restrained by, for example, a jacking screw, thereby forming an adjustable structure form, thereby satisfying each Species Detection of insulators from the outer and outer contours.
在一些实施例中, 如图 3所示, 攀爬臂 50为正交连接于驱动轴并以驱动 轴轴线为基准的轴对称杆件, 如图 3所示, 电机轴 41位连接机体, 攀爬臂 50 的中部连接在电机轴上而被驱动。  In some embodiments, as shown in FIG. 3, the climbing arm 50 is an axisymmetric rod orthogonally connected to the driving shaft and based on the axis of the driving shaft. As shown in FIG. 3, the motor shaft 41 is connected to the body, climbing The middle portion of the crawler arm 50 is coupled to the motor shaft to be driven.
在另一些实施例中, 攀爬臂 50与驱动轴, 如与图 3 中所示的电机轴 41 间未必采用正交结构, 以电机轴 41为连接基础, 向外辐射的攀爬臂可以偏折 一定的角度, 以匹配如图 3所示的相对的左右一对滚轮 42之间的距离。  In other embodiments, the climbing arm 50 and the drive shaft, such as the motor shaft 41 shown in FIG. 3, do not necessarily adopt an orthogonal structure, and the motor shaft 41 is used as a connection basis, and the outwardly radiating climbing arm may be biased. Fold a certain angle to match the distance between the pair of opposing left and right rollers 42 as shown in FIG.
关于驱动, 主要是电机轴 41的驱动, 其结构相对简单, 在此不再赘述。 只是如图 3所示, 前后各一组的攀爬臂都配置有独立的电机 47驱动的方式, 同步性保证需要附加其他的控制模式, 在另一些实施例中, 可以通过同步结 构进行同步控制, 比如齿轮传动, 且如齿轮传动的结构形式, 可以保证前后 两组的攀爬装置具有相对固定的转角, 更加容易保证驱动力的持续性, 当然, 如图 3所示的独立电机驱动的结构, 也非常容易调整其转角, 本领域的技术 人员是非常容理解的。  Regarding the driving, mainly the driving of the motor shaft 41, the structure thereof is relatively simple, and will not be described herein. As shown in FIG. 3, the climbing arms of each group before and after are equipped with independent motor 47 driving mode, the synchronization guarantees that other control modes need to be added, and in other embodiments, the synchronous structure can be synchronously controlled. For example, the gear transmission, and the structural form of the gear transmission, can ensure that the two sets of climbing devices have a relatively fixed rotation angle, which makes it easier to ensure the sustainability of the driving force. Of course, the independent motor-driven structure shown in FIG. It is also very easy to adjust its corners, which is well understood by those skilled in the art.
同时, 应知, 在现有的机器人的驱动方式中, 普遍采用前后同步驱动的 理解的是, 在这里同步驱动是一种选择, 而另一种选择则是不同步驱动, 但 同时应当理解, 在周转周期上, 前后一对攀爬臂是同步的, 而在一个周期内 则不一定是同步的。  At the same time, it should be understood that in the existing driving mode of the robot, the pre-synchronous driving is generally understood to be that the synchronous driving is an option here, and the other option is asynchronous driving, but at the same time, it should be understood that In the turnaround cycle, the pair of front and rear climbing arms are synchronized, but not necessarily synchronized in one cycle.
其中, 控制单元, 如图 5所示的中央控制单元 71输出连接匹配所述电机 轴 41的电机, 以控制攀爬臂的工作状态, 一种最简单的选择是前馈控制, 结 构简单, 为了保证控制精度, 如图 5所示, 最好采用闭环控制。 即便是前馈 控制, 只要合理设置传动部分, 仍然可以实现所需要的速度匹配。  Wherein, the control unit, the central control unit 71 shown in FIG. 5 outputs a motor connected to the motor shaft 41 to control the working state of the climbing arm. One of the simplest options is feedforward control, and the structure is simple, To ensure control accuracy, as shown in Figure 5, closed loop control is preferred. Even with feedforward control, the required speed matching can be achieved by simply setting the drive section.
作为梗概性说明, 包括人界控制终端在这里仅简略说明, 在后续的内容 中进行详细说明, 在绝缘子串检测机器人领域, 普遍都设置控制单元和人机 控制终端, 显然, 在基本配置上, 本领域的技术人员不需要付出创造性劳动 而完成相应的配置。  As a general description, including the human-centered control terminal, only a brief description will be given here. In the following content, the control unit and the human-machine control terminal are generally provided in the field of the insulator string detecting robot. Obviously, in the basic configuration, Those skilled in the art do not need to work creatively to complete the corresponding configuration.
对于此类机器人, 应当配置可靠的导向装置, 用于导向于绝缘子串, 在 图 1 所示的结构中, 匹配双联绝缘子串, 导向装置设置在机构连扳的在行进 方向的两侧, 对此, 本文本部分第二段已经有选择的相关说明, 在一些实施 例中, 会采用如图 1所示的结构对置相同的导向装置, 如图 1所示的辅助支 撑雪橇 9。 For such robots, reliable guides should be provided for guiding the insulator strings. In the structure shown in Figure 1, the double insulator strings are matched, and the guides are placed on the mechanism. On both sides of the direction, for this purpose, the second paragraph of this part has been selected and described. In some embodiments, the same guiding device as shown in Figure 1 will be used, as shown in Figure 1. Support the sled 9.
关于检测设备, 设置在所述机构连扳上, 依据匹配的功能检测, 搭载相 应的检测设备即可。  Regarding the detecting device, it is provided on the mechanism connecting plate, and the corresponding detecting device can be mounted according to the matching function detection.
当所述攀爬装置 5设置在所述机构连扳在行进方向的一侧时, 所述导向 装置则包括设置在所述攀爬装置 5下侧的第一导向部分, 如图 1所示, 一组 辅助支撑雪橇 9设置在攀爬装置 5的下侧。  When the climbing device 5 is disposed on a side of the mechanism in the traveling direction, the guiding device includes a first guiding portion disposed on a lower side of the climbing device 5, as shown in FIG. A set of auxiliary support skis 9 are provided on the underside of the climbing device 5.
应知, 在本文中所适用的绝缘子串中, 机器人是靠重力附着在绝缘子串 的上方, 因此, 在运行稳定性方面需要考虑的是重心和左右平衡的问题。  It should be noted that in the insulator string to which the present invention is applied, the robot is attached to the insulator string by gravity, and therefore, the problem of the center of gravity and the balance of the left and right needs to be considered in terms of operational stability.
当然, 只要重心落在双联的绝缘子串的中间, 其平衡问题通常不会有问 题, 只是重心越偏一侧, 稳定性就越差, 但由于攀爬装置 5位于的一侧虽然 重量大, 但由于攀爬时产生支反力会有一定的抵消作用。 况且, 攀爬装置设 置在较重的一侧, 驱动时更易取力。  Of course, as long as the center of gravity falls in the middle of the double insulator string, the balance problem is usually not a problem, but the more the center of gravity is on the side, the worse the stability, but because the weight of the climbing device 5 is large, However, due to the counter-force during climbing, there will be some offset. Moreover, the climbing device is placed on the heavier side and is easier to drive when driving.
关于如图 1所示的辅助支撑雪橇 9,形成一种半包围结构,能够形成可靠 的约束, 显然在一侧设置如图 1所示的辅助支撑雪橇 9时, 另一侧可以设置 一个相对简单的导向部分, 如一个滑板, 或者单一的一个雪橇, 该雪橇对应 地位于本侧绝缘子串的上母线侧, 也可以在本侧的绝缘子串的外侧, 显然也 都能够起到很好的支撑作用, 其导向作用可以处于次要地位, 而着重于支撑 作用, 以简化结构。  With regard to the auxiliary support sled 9 as shown in Fig. 1, a semi-enclosed structure is formed, which can form a reliable constraint. Obviously, when the auxiliary support sled 9 as shown in Fig. 1 is provided on one side, the other side can be relatively simple. The guiding portion, such as a sliding plate, or a single sled, is correspondingly located on the upper busbar side of the side insulator string, and can also be on the outer side of the insulator string on the side, and obviously can also play a good supporting role. Its guiding role can be in a secondary position, with emphasis on supporting effects to simplify the structure.
进一步地, 关于前述的辅助支撑雪橇 9的所说的半包围结构, 如图 1所 示, 所述第一导向部分包括在待检测绝缘子串周向呈等腰梯形排布的四条雪 橇, 且雪橇滑板面长度大于绝缘子串一倍节距而小于三倍节距, 以满足可靠 的运行, 雪橇采用双端翘曲结构, 满足在前后移动式的导向。  Further, regarding the aforementioned semi-enclosed structure of the auxiliary support ski 9 as shown in FIG. 1, the first guide portion includes four sleds arranged in an isosceles trapezoid in the circumferential direction of the insulator string to be inspected, and the sled The length of the skateboard surface is greater than one pitch of the insulator string and less than three times the pitch to meet the reliable operation. The ski has a double-end warped structure to meet the forward and backward movement guidance.
雪橇可以刚性连接, 保持如图 1 所示的结构, 也可以通过弹性部分附加 中部铰链连接的结构形式, 使雪橇具有前后俯仰的功能, 对应地, 弹性部分 如弹簧连接在雪橇铰接点的前后一侧, 形成复位结构, 在雪橇较短时, 如一 倍节距, 通过自适应的俯仰控制保证机器人的可靠运行。 应理解的是, 刚性 连接也能够形成可靠运行, 且运行稳定性更好。 为满足运行的平稳性, 显然, 两倍节距可以保证雪橇在任何阶段都有两 个点支撑在两个绝缘子的外缘, 稳定性可以获得保证。 且结构也比较紧凑, 仅同时短接两个绝缘子。 而大于一倍节距而小于两倍节距时, 雪橇最多端接 两个绝缘子。 The sled can be rigidly connected, maintaining the structure as shown in Fig. 1, or the structure of the middle hinge connection by the elastic part, so that the sled has the function of pitching forward and backward. Correspondingly, the elastic part is connected to the front and rear of the sled hinge point. On the side, a reset structure is formed, and when the sled is short, such as one pitch, the adaptive pitch control is used to ensure reliable operation of the robot. It should be understood that the rigid connection also enables reliable operation and better operational stability. In order to meet the smoothness of the operation, it is clear that the double pitch ensures that the sled has two points at the outer edge of the two insulators at any stage, and the stability can be guaranteed. The structure is also compact, and only two insulators are shorted at the same time. When the pitch is greater than one pitch and less than twice the pitch, the sled terminates at most two insulators.
显然, 大于两倍节距并小于三倍节距时的运行稳定性更好, 只是结构稍 长, 但大多数时间段内, 也仅端接两个绝缘子。  Obviously, operating stability is better than twice the pitch and less than three times the pitch, but the structure is slightly longer, but only two insulators are terminated for most of the time period.
关于半包围结构, 若雪橇间的连接件有足够的弹性形变的能力, 所说的 半包围可以大于 180度, 如使用弹簧片用于同侧雪橇之间的连接, 这样, 可 以获得更好的运行可靠性, 震动小, 对所搭载的电子设备的影响相对较小。  With regard to the semi-enclosed structure, if the connector between the skis has sufficient elastic deformation capability, the semi-enclosure can be greater than 180 degrees, such as using a spring piece for the connection between the same side sleds, so that a better Operational reliability, low vibration, and relatively small impact on the mounted electronic equipment.
为方便使用, 绝缘子串与所述导向部分相接合的部分小于等于 180度并 大于等于 120度, 且导向部分为以竖直面为为基准的面对称结构, 形成可靠 的夹持定位。  For convenience of use, the portion where the insulator string is joined to the guiding portion is 180 degrees or more and 120 degrees or more, and the guiding portion is a plane symmetrical structure based on the vertical surface to form a reliable clamping position.
进一步地, 为了满足驱动的可靠性, 每组攀爬臂 50有两个攀爬臂, 两攀 爬臂以竖直面为基准面对称布局, 从而, 驱动装置本身就具有一定的导向作 用。  Further, in order to satisfy the reliability of the driving, each group of climbing arms 50 has two climbing arms, and the two climbing arms are arranged symmetrically with respect to the vertical plane, so that the driving device itself has a certain guiding effect.
优选地, 两组攀爬臂 50同步驱动, 且每组攀爬臂通过电机轴 41 串接而 同步驱动, 如图 3所示。  Preferably, the two sets of climbing arms 50 are driven synchronously, and each set of climbing arms is synchronously driven by the motor shaft 41 in series, as shown in FIG.
优选地, 为了减小对绝缘子的损伤, 攀爬臂的端部为球面结构, 或者采 用如图 3所示的滚轮 42 , 变滑动摩擦为滚动摩擦。  Preferably, in order to reduce damage to the insulator, the end of the climbing arm is a spherical structure, or the roller 42 as shown in Fig. 3 is used, and the sliding friction is rolling friction.
进一步地, 为了更好的控制机器人的运行, 在一电机轴上设有位置检测 传感器, 或两电机轴上同时设有位置检测传感器。 关于位置检测传感器, 可 以采用小型的编码器, 还可以对于并精确的检测, 采用如在机架设置限位开 关 48, 而在攀爬臂 50上设置定位台 51, 通过两者的在预定相位的相互作用 产生位置的上的检测。  Further, in order to better control the operation of the robot, a position detecting sensor is provided on a motor shaft, or a position detecting sensor is simultaneously provided on the two motor shafts. Regarding the position detecting sensor, a small encoder can be used, and for accurate detection, for example, a limit switch 48 is provided in the rack, and a positioning table 51 is provided on the climbing arm 50, through the predetermined phase of the two. The interaction produces a detection of the position.
在一些实施例中, 两组攀爬臂 50间转角差为 90度, 以获得合理的持续 的驱动力。  In some embodiments, the difference in corner angle between the two sets of climbing arms 50 is 90 degrees to obtain a reasonable sustained driving force.
进一步, 为了适应绝缘子片的不同类型, 两组攀爬臂 50间转角差可通过 电机 47差速运动控制调节、 或延时运动控制调节, 使两组攀爬臂 50间转角 差在 90度附近调整, 以获得更加顺畅的驱动形式。如在绝缘子串智能检测机 器人沿绝缘子串运动方向正向移动时, 两组攀爬臂 50间转角差为 90度附近 一定值, 所述定值需根据实际绝缘子串设定, 当在绝缘子串智能检测机器人 沿绝缘子串运动方向逆向移动时, 通过电机 47差速运动控制调节、 或延时运 动控制调节, 使两组攀爬臂 50间转角差在 90度附近另一定值, 本领域专业 技术人员很容易理解是为简化描述所定。 再如在绝缘子串智能检测机器人在 绝缘子串运动时, 根据绝缘子串线路情况, 两组攀爬臂 50间转角差通过电机 47差速运动控制调节、 或延时运动控制调节 90度附近定值,这种运动方式驱 动性能比较好, 但控制相对比较复杂, 且需要实施调整攀爬臂 50运动的同步 性。 Further, in order to adapt to different types of insulator pieces, the difference of the angle between the two sets of climbing arms 50 can be adjusted by the differential motion control of the motor 47 or the delay motion control, so that the difference between the two sets of climbing arms 50 is around 90 degrees. Adjust for a smoother drive. As in the insulator string intelligent detector When the person moves forward in the direction of the movement of the insulator string, the difference between the angles of the two sets of climbing arms 50 is a certain value near 90 degrees, and the fixed value needs to be set according to the actual insulator string, when the intelligent detection robot in the insulator string is along the insulator string. When the moving direction is reversely moved, the differential motion control adjustment of the motor 47 or the delay motion control adjustment is performed, so that the difference between the two sets of climbing arms 50 is another value near 90 degrees, which is easily understood by those skilled in the art. Simplify the description. For example, when the insulator string intelligently detects that the robot moves in the insulator string, according to the insulator string circuit, the difference between the two sets of climbing arms 50 is adjusted by the differential motion control of the motor 47, or the delay motion control is adjusted to a value near 90 degrees. This type of motion mode has better driving performance, but the control is relatively complicated, and the synchronization of the movement of the climbing arm 50 needs to be implemented.
在更佳的实施例中, 经过长期的研究, 发明人提出一种更好的控制方式, 加以匹配的硬件配置是两组攀爬臂 50之一配置有用于检测攀爬臂转角的传感 器, 以反馈控制该攀爬臂的转速, 从而, 没有配置传感器的攀爬臂勾速控制, 配置有传感器的攀爬臂基于所述传感器可以采用另一种控制方式。  In a more preferred embodiment, after a long period of research, the inventors have proposed a better control method. The matching hardware configuration is that one of the two sets of climbing arms 50 is provided with a sensor for detecting the angle of the climbing arm, The feedback controls the rotational speed of the climbing arm such that the climbing arm hook speed control of the sensor is not configured, and the climbing arm configured with the sensor can adopt another control mode based on the sensor.
关于传感器, 可以是独立的一个编码器, 结构安装紧凑, 但成本较高。 另一种方式则是选择两个形位开关性质的传感器, 成本低, 结构简单, 并且 在所说的另一种方式中, 只需要位置控制。 显然, 前述的编码器通过转角的 采集, 可以准确的确定所说的位置。  Regarding the sensor, it can be a separate encoder, and the structure is compact, but the cost is high. Another way is to select two sensors with the nature of the shape switch, which is low in cost and simple in structure, and in the other way, only position control is required. Obviously, the aforementioned encoder can accurately determine the position by the collection of the corners.
借助于传感器, 采用双臂交替联动攀爬技术, 解决了架空输电线路均压 环对绝缘子串机器人高度的限制, 实现了绝缘子整串检测状态完整性。  By means of the sensor, the double-arm alternating climbing climbing technology is used to solve the limitation of the height of the insulator string on the overhead transmission line equalizing ring, and the integrity of the insulator inspection state is realized.
关于搭载的检测设备, 前面已经部分述及, 这里重点说明搭载设备在机 构连扳 2上的安装, 以降低重心, 并使载荷尽可能的分布均匀。 如图 1所示, 检测设备包括设置在机构连扳 2上侧检测仪 1和下侧的用于检测绝缘子电阻 的检测装置 8, 由于检测装置 8是活动部件,安装在机构连扳 2的下侧可以在 其活动时稳定性更好。 为避免掣肘, 如机器人上的电源 3可以设置在机构连 扳 2的上侧。  Regarding the mounting equipment, it has already been described in the previous section. The focus here is on the installation of the equipment on the mechanism 2 to reduce the center of gravity and to distribute the load as evenly as possible. As shown in FIG. 1, the detecting device includes a detecting device 8 for detecting the resistance of the insulator disposed on the upper side detector 1 of the mechanism connecting plate 2 and the lower side. Since the detecting device 8 is a movable member, it is installed under the mechanism connecting plate 2 The side can be more stable when it is active. To avoid elbows, the power supply 3 on the robot can be placed on the upper side of the mechanism 2 .
关于检测装置, 如图 1和 2所示, 一对探针 26悬垂, 通过正交连接探针 根部的同步连杆 21的驱动形成摆动结构, 使用时, 可以向前进方向的任意一 侧摆动, 完成摆动侧的绝缘子的检测。 检测装置通过构成其机架的支撑固定 座 22连接在机构连扳 2的下侧, 一舵机 24可以直连所述同步连 f 21 , 也可 以通过舵机连 f 27连接到一探针 26上形成四^机构进行驱动。 As for the detecting device, as shown in Figs. 1 and 2, a pair of probes 26 are suspended, and a swinging structure is formed by driving the synchronous link 21 that is orthogonally connected to the root of the probe, and when used, it can swing to either side in the forward direction. The detection of the insulator on the swing side is completed. The detecting device is connected to the lower side of the mechanism connecting plate 2 through a supporting fixing seat 22 constituting the frame thereof, and a steering gear 24 can directly connect the synchronous connection f 21 or The motor is driven by connecting a servo 27 to a probe 26 via a steering gear.
进一步地, 为了简化模型, 在涉及同步传动时, 本文以齿轮形式带动电 机轴 41旋转, 如图 1所示, 电机 47通过大齿轮 52和小齿轮 53构成的单极 齿轮实现传动, 此方式仅为运动传递的一种, 与其具有相同效果的同步带传 动、 软轴传动、 链条传动并以相应传动方式扩展的传动结构本文不再 图 示, 但均在本专利保护范围。 同时, 驱动电机安装方式亦可通过中间电机轴 带动两端传动轴运动, 或同时通过两个电机分别驱动两端电机轴轴, 其运动 效果与本文描述相同, 其通过中间电机轴轴带动、 或同时通过两个电机分别 驱动两端驱动轴均在本文描述、 保护范围内。  Further, in order to simplify the model, when the synchronous transmission is involved, the motor shaft 41 is rotated in the form of a gear. As shown in FIG. 1, the motor 47 is driven by a monopole gear composed of a large gear 52 and a pinion 53. A transmission structure for the movement, which has the same effect as the synchronous belt transmission, the flexible shaft transmission, the chain transmission and the corresponding transmission mode, is not illustrated here, but is within the scope of this patent. At the same time, the driving motor can also be driven by the intermediate motor shaft to drive the two end drive shafts, or simultaneously drive the motor shafts at both ends through two motors. The motion effect is the same as described in the paper, which is driven by the intermediate motor shaft, or At the same time, the drive shafts of both ends are driven by two motors respectively, which are within the scope of protection and protection described herein.
再进一步的应用中, 为了保证机器人的可靠运行, 可以辅助基于激光、 超声、 视觉等多传感器, 融合相应的检测数据实现了对绝缘子机器人防跌落 预警控制。  In a further application, in order to ensure the reliable operation of the robot, it can assist the multi-sensor based on laser, ultrasound, vision, etc., and integrate the corresponding detection data to realize the anti-drop warning control of the insulator robot.
在以下的内容中,则重点描述区域于现有技术的控制方式机器硬件配置, 首先描述基本构成:  In the following content, the focus is on the hardware configuration of the control mode in the prior art. First, the basic structure is described:
如图 4所示的无线通信模块原理图, 用于所述人机控制终端与机器人侧 的通信, 其包括:  The schematic diagram of the wireless communication module shown in FIG. 4 is used for communication between the human-machine control terminal and the robot side, and includes:
无线通讯模块, 如图 4所示的无线 Wi-Fi模块, 在控制端包括控制单元, 连接该控制单元的存储器和显示器, 接收端或者受控端则是用于控制通信的 通信控制单元, 无线通信模块基于双工通信模式。  The wireless communication module, such as the wireless Wi-Fi module shown in FIG. 4, includes a control unit on the control end, a memory and a display connected to the control unit, and a receiving or controlled end is a communication control unit for controlling communication, wireless The communication module is based on a duplex communication mode.
上述无线通讯模块, 所述控制单元为如图 4 所示的远程控制器智能 In the above wireless communication module, the control unit is a remote controller smart as shown in FIG.
MCU61 , 也可以采用其他的嵌入式控制器。 The MCU61 can also be used with other embedded controllers.
上述无线通讯模块, 控制端配有独立的电源, 以保证运行的稳定性。 另 夕卜, 由于在大多数情况下, 人机控制终端需要便携, 那么所说的电源可以是 机载蓄电池, 如图 4所示的遥控器电源系统 62 , 还可以是如背负式的外接蓄 电池。  The above wireless communication module has an independent power supply at the control end to ensure the stability of operation. In addition, since in most cases, the man-machine control terminal needs to be portable, the power source may be an onboard battery, the remote controller power supply system 62 as shown in FIG. 4, or may be a piggyback type external battery. .
受控端, 中央控制主控 MCU66可以直接连接运动驱动模块 68进行手动 控制, 并配置检测模块 67 , 用于绝缘子的检测。 当然, 这里的中央控制主控 MCU主要用于通信, 可配置通信指示的指示及报警系统 69。  The controlled terminal, the central control master MCU66 can be directly connected to the motion drive module 68 for manual control, and the detection module 67 is configured for insulator detection. Of course, the central control master MCU here is mainly used for communication, and the indication and alarm system 69 of the communication indication can be configured.
上述无线通讯模块, 所述控制端也可以设置报警系统。 在图 5中, 则是机器人端, 或者说受控端的控制系统: In the above wireless communication module, the control terminal may also be provided with an alarm system. In Figure 5, it is the robot side, or the controlled end control system:
其中, 无线信号接收模块 77接收来上位机或者遥控器的控制命令, 将控 制命令传递给中央控制单元 71 , 中央控制单元 71通过对控制命令的接解析, 通过运动驱动器 173和运动驱动器 Π74分别驱动直流电机 Ml和直流电机 M2, 同时, 中央控制单元接收来自速度反馈编码器 175和速度反馈编码器 Π76反 馈的速度信息, 通过经典 PID算法, 实现双轴电机速度闭环控制。 在以上的 结构中, 两台直流电机匹配前后的各一个电机轴 41 ,基于前后电机轴 41的匹 配控制, 进行前后攀爬臂的转角差控制以及各自的速度控制。  The wireless signal receiving module 77 receives the control command from the upper computer or the remote controller, and transmits the control command to the central control unit 71. The central control unit 71 drives the motion control 173 and the motion driver Π74 respectively by analyzing the control commands. The DC motor M1 and the DC motor M2, at the same time, the central control unit receives the speed information fed back from the speed feedback encoder 175 and the speed feedback encoder Π76, and realizes the closed-loop control of the speed of the two-axis motor through the classical PID algorithm. In the above structure, each of the motor shafts 41 before and after the two DC motors are matched, based on the matching control of the front and rear motor shafts 41, the angular difference control of the front and rear climbing arms and the respective speed control are performed.
为了保证攀爬效果, 克服绝缘子串安装误差较大的不利因素, 中央控制 单元 71接收来自信息采集模块反馈的位置信息, 通过对机器人位置的判断, 实现单轴电机位置闭环控制, 以达到双轴角度矫正的目的, 从而保证攀爬稳 定。  In order to ensure the climbing effect and overcome the disadvantage of large installation error of the insulator string, the central control unit 71 receives the position information fed back from the information acquisition module, and realizes the closed-loop control of the single-axis motor position by judging the position of the robot to achieve the double-axis. The purpose of angle correction is to ensure stable climbing.
再进一步涉及到的方案中, 还包括图像处理系统:  Further related to the solution, the image processing system is also included:
在对边缘信息位置检测时, 检测机器人可^ f艮据绝缘子检测机器人在绝缘 子串上的停靠, 通过所携带的可见光摄像机抓取设备图像, 并对设备图像进 行图像处理和模式识别, 识别出绝缘子串的边缘位置信息, 从而实现绝缘子 串检测机器人在绝缘子串上边缘位置信息的确定。  When detecting the edge information position, the detecting robot can detect the stopping of the robot on the insulator string according to the insulator, capture the device image through the carried visible light camera, and perform image processing and pattern recognition on the device image to identify the insulator. The edge position information of the string, thereby realizing the determination of the position information of the edge of the insulator string detecting robot on the insulator string.
依据如图 1至 3所示的较佳的实施例的绝缘子串智能检测机器人, 并结 合说明书附图 8-10 , —种检测方法是:  According to the preferred embodiment of the insulator string intelligent detecting robot shown in Figs. 1 to 3, and in conjunction with the drawings 8-10 of the specification, the detecting method is:
耐张塔绝缘子智能检测机器人经工作人员放置至绝缘子串上后, 如图 1 所示, 形成检测置位。 通过所搭载的控制器中无线通信模块接收工作人员的 控制指令, 恢复到运动初始位置。 其初始位置特点为前端驱动支架为竖直状 态, 并同时插入相邻同串绝缘件子间空处, 后侧驱动支架为水平状态。 这种 水平与竖直关系所形成的正交状态是一种初始状态, 如前所述, 所说的转角 差在 90度附近, 未必采用 90度, 本文不涉及具体角度的设计, 在此不再赘 述, 本文提出采用位置控制的硬件配置, 以获得更佳的控制方法。  The tensile tower insulator intelligent detection robot is placed on the insulator string by the staff, as shown in Figure 1, forming a detection set. The wireless communication module of the mounted controller receives the worker's control command and returns to the initial motion position. The initial position is characterized by the front drive bracket being in a vertical state and simultaneously inserted into the space between adjacent strings of insulators, and the rear drive bracket is horizontal. The orthogonal state formed by this horizontal and vertical relationship is an initial state. As described above, the angle difference is around 90 degrees, and it is not necessarily 90 degrees. This article does not refer to the design of a specific angle. Again, this paper proposes a hardware configuration using position control to obtain a better control method.
基于可见光摄像头、 红外摄像头, 可以基于多尺度 Retinex (MSR)算法模 式识别的绝缘子串状态检测技术,解决了由于强光户外环境下识别难的问题, 实现了对绝缘子片外观完整性检测及绝缘子串的线路端和杆塔端极限位置的 辨别。 Based on visible light camera and infrared camera, the insulator string state detection technology based on multi-scale Retinex (MSR) algorithm pattern can solve the problem of difficult identification in strong outdoor environment, and realize the appearance integrity inspection of insulator sheets and insulator strings. Line end and pole end limit position Identify.
具体动作为, 电机 47转动带动电机轴 41旋转, 具体说通过小齿轮 53大 齿轮 52间的啮合运动带动电机轴 41旋转; 进一步, 当前端插入相邻绝缘子 内的滚轮 42与其后侧绝缘子相接触时, 必然产生一向前推力, 显然, 绝缘子 串智能检测机器人在绝缘子放置时, 其辅助支撑雪橇 9与绝缘子相互作用, 使其只能在绝缘子上做单向运动, 具体地, 由于前端插入相邻绝缘子内的滚 轮 42与其后侧绝缘子相接触时, 必然绝缘子串智能检测机器人向前运动, 同 时当前端插入相邻绝缘子内的滚轮 42与其后侧绝缘子相接触将要结束时,后 端相应位置的驱动轮必然与其后侧绝缘子相接触, 进一步, 完成上述运动过 程; 艮明显通过驱动电机运动, 必然带动绝缘子串智能检测机器人向前运动; 相反, 当电机 47接收反方向运动命令, 同样使其绝缘子串智能检测机器人通 过完成上述运动, 进而使绝缘子串智能检测机器人完成向后行走运动。 进一 步, 当绝缘子串智能巡检机器人运动到指定位置, 通过检测装置动作, 完成 绝缘子相关信息检测。  The specific action is that the motor 47 rotates to drive the motor shaft 41 to rotate, specifically, the motor shaft 41 rotates by the meshing motion between the pinion 53 and the large gear 52; further, the roller 42 of the current end inserted into the adjacent insulator contacts the rear insulator. When a forward thrust is inevitably generated, it is apparent that the insulator string intelligent detecting robot interacts with the insulator when the insulator is placed, so that it can only perform one-way motion on the insulator, specifically, because the front end is inserted adjacently. When the roller 42 in the insulator is in contact with the rear insulator thereof, the insulator string intelligently detects the forward movement of the robot, and at the same time, when the current end is inserted into the adjacent insulator and the roller 42 is in contact with the rear insulator, the corresponding position of the rear end is driven. The wheel must be in contact with the rear insulator, and further, the above motion process is completed; 艮 obviously moving through the driving motor, inevitably drives the insulator string to intelligently detect the forward movement of the robot; on the contrary, when the motor 47 receives the reverse direction motion command, the insulator string is also Intelligent detector Completion of the movement of people through, thereby enabling the detection of the insulator string intelligent robot walking backward movement is completed. Further, when the insulator string intelligent inspection robot moves to a specified position, the detection of the insulator is completed by detecting the action of the insulator.
如图 11, 设计中使电机轴 a初始位置检测传感器安装位置与电机轴 b初 始位置检测传感器安装位置在空间坐标系中夹角成 90° , 电机轴 b启动低速 转动位置传感器安装和电机轴 b启动高速转动位置传感器安装成平行状态均 与 X轴成锐角 oc角。 在此处为区分前后电机轴, 在此用 a、 b简单区分。  As shown in Fig. 11, the motor shaft a initial position detecting sensor mounting position and the motor shaft b initial position detecting sensor mounting position are 90° in the space coordinate system, and the motor shaft b starts the low speed rotating position sensor mounting and the motor shaft b. The high-speed rotational position sensor is mounted in a parallel state with an acute angle oc with the X-axis. Here, to distinguish the front and rear motor shafts, a and b are simply distinguished here.
在一些实施例中, 电气控制系统向电机发出驱动信号, 控制电机轴 a和 电机轴 b转动到使得攀爬臂成 90° 角夹角初始状态, 在初始状态上由所述电 气控制系统控制电机轴 b转动到电机轴 b启动低速转动位置传感器; 此处低 速转动位置传感器匹配下面的高速转动位置传感器, 用于高低速转换的临界 控制; 使得电机轴 b附带的攀爬臂与电机轴 a附带的攀爬臂夹角小于 90° 即 为夹角为 (90-oc) ° , 所述电气控制系统采用经典 pid控制算法输出电机轴 a 所属电机的控制信号, 控制电机带动电机轴 a以角速度 V匀速旋转, 同样电 气控制系统采用经典 pid控制算法以与电机轴 a相同的角速度 V控制电机轴 b 旋转, 这样控制电机轴 a上的攀爬臂与电机轴 b上的攀爬臂成锐角 (90-oc) ° 和钝角 (90+oc) 。 交替运行。 不过, 这种控制方式同样会使机器人出现运行 事故。 因此单纯的改变电机轴 a与电机轴 b的转动初始夹角不能改变绝缘子 检测机器人的对环境的适应性。 In some embodiments, the electrical control system sends a drive signal to the motor to control the motor shaft a and the motor shaft b to rotate so that the climbing arm is at an initial angle of 90°, and the motor is controlled by the electrical control system in an initial state. The rotation of the shaft b to the motor shaft b starts the low speed rotation position sensor; here the low speed rotation position sensor matches the high speed rotation position sensor below, and is used for the critical control of the high and low speed conversion; the climbing arm and the motor shaft a attached to the motor shaft b are attached The angle of the climbing arm is less than 90°, that is, the angle is (90-oc) °. The electrical control system uses the classic pid control algorithm to output the control signal of the motor to which the motor shaft a belongs, and the control motor drives the motor shaft a to the angular velocity V. Rotating at a constant speed, the same electrical control system uses the classic pid control algorithm to control the rotation of the motor shaft b at the same angular velocity V as the motor shaft a, thus controlling the climbing arm on the motor shaft a to be at an acute angle to the climbing arm on the motor shaft b (90 -oc) ° and obtuse angle (90+oc). Run alternately. However, this type of control also causes the robot to run into an accident. Therefore, simply changing the initial angle between the rotation of the motor shaft a and the motor shaft b cannot change the insulator. Detect the adaptability of the robot to the environment.
在较佳的实施例中,给出的是所述电气控制系统控制电机轴 a以角速度 V 匀速转动, 通过改变电机轴 b的旋转角速度, 将原来同样以电机轴 a角速度 V 匀转动旋转区域划分为快慢两个角速度转速旋转的两个区域, 进而实现机器 人电机轴 a 的攀爬臂与电机轴 b 的攀爬臂接触绝缘子时的夹角始终保持是 ( 90-α) 。 。 电机轴 b慢角速度区和快角速度区的运行角度分别为 (90-oc) 。 和 (90+oc) 。 。 因为电机轴 a与电机轴 b共同旋转, 电机轴 b转过慢角速度 区角度时所用的时间是电机轴 a以角速度 V转过角度(90+oc) ° 所用时间 tl = ( 90+oc) /v , 才艮据电机轴 b转过慢角速度区需时间 tl计算出电机轴 b慢角速 度为 vl = ( 90-oc) I ( 90+oc) *v;电机轴 b转过快角度区时所需时间是电机轴 a 以角速度 V转过角度 (90-oc) ° 所用时间 t2= ( 90-oc) /v , 才艮据电机轴 b转过 快角速度区需时间 t2计算出电机轴 b快角速度为 v2= ( 90+oc) I ( 90-oc) *v。  In a preferred embodiment, it is provided that the electrical control system controls the motor shaft a to rotate at an angular velocity V at a constant speed. By changing the rotational angular velocity of the motor shaft b, the original rotational angle of the motor shaft a angular velocity V is also divided. In the two regions that rotate at two angular speeds, the angle between the climbing arm of the robot motor shaft a and the climbing arm of the motor shaft b is always maintained at (90-α). . Motor shaft b The operating angles of the slow angular velocity zone and the fast angular velocity zone are (90-oc), respectively. And (90+oc). . Since the motor shaft a rotates together with the motor shaft b, the time taken for the motor shaft b to rotate through the angle of the slow angular velocity region is the time when the motor shaft a is rotated by the angular velocity V (90 + oc) ° tl = ( 90 + oc) / v, according to the motor shaft b rotating through the slow angular velocity zone requires time tl to calculate the motor shaft b slow angular velocity is vl = (90-oc) I (90 + oc) * v; when the motor shaft b turns over the fast angle zone The required time is the motor shaft a is rotated at an angular velocity V by an angle (90-oc) °. The time t2=( 90-oc) /v is used to calculate the motor shaft b according to the time t2 when the motor shaft b rotates through the fast angular velocity zone. The angular velocity is v2 = (90+oc) I (90-oc) *v.
电气控制系统接收到启动电机轴 b低速传感器信号有效信息时电气控制 系统通过经典 pid控制算法, 使得电机轴 b转动角度始终是 vl 勾速转动; 所 述电气控制系统接收到启动电机轴 b快速传感器信号有效信息时电气控制系 统通过经典 pid控制算法, 使得电机轴 b转动角度始终是 v2勾速转动, 经过 快慢两次速度调整完成一次快慢交替, 完成一个周期变化控制, 这个运动周 期内始终保证智能绝缘子检测机器人使用安全稳定的运行在绝缘子串上, 缘 子智能机器人的运行适应性能, 针对不同的等級的绝缘串可以通过调整角度 α增强运行适应性能和运行的流畅。  When the electrical control system receives the valid information of the motor shaft b low speed sensor signal, the electrical control system passes the classical pid control algorithm, so that the motor shaft b rotation angle is always vl hook speed rotation; the electric control system receives the start motor shaft b fast sensor When the signal is valid, the electric control system adopts the classic pid control algorithm, so that the rotation angle of the motor shaft b is always the v2 hook speed rotation. After the speed adjustment, the speed adjustment is completed once, and a cycle change control is completed, and the motion period is always guaranteed. The insulator detection robot uses safe and stable operation on the insulator string, and the operation adaptive performance of the edge intelligent robot. The insulation string for different grades can enhance the operation adaptability and smooth operation by adjusting the angle α.
如图 10所示的控制方式, 在一般的机器人远程控制中较多的使用, 而对 于步驟 4 中的机器人抓图、 识别当前设备则是发明人提出的辅助控制机器人 的方式。  The control method shown in Fig. 10 is used more in general robot remote control, and the robot grasping and recognizing the current device in step 4 is the method proposed by the inventor to assist the robot.
说明书附图 8-10已经清楚地示出了机器人的控制方式, 在此不再赘述。 另外, 如图 3所示的结构, 支撑座 43 , 阵列有一组通孔, 支撑架 46选择 不同的通孔进行连接, 从而实现前后电机轴之间的间距调整。  The control mode of the robot has been clearly shown in the drawings 8-10 of the specification, and will not be described herein. In addition, as shown in Fig. 3, the support base 43 has a plurality of through holes in the array, and the support frame 46 selects different through holes for connection, thereby realizing the spacing adjustment between the front and rear motor shafts.
在一些实施例中, 可以仅在如支撑架 46上开有螺纹孔, 支撑座 43为板 件, 通过配合于所述螺纹孔的顶紧螺钉锁死支撑座, 则可以实现无級调整。  In some embodiments, only a threaded hole may be formed in the support frame 46, and the support base 43 is a plate member, and the support frame is locked by a top screw fitted to the threaded hole, so that stepless adjustment can be achieved.
在一些实施例中, 还可以通过轴套配合的结构进行前后的调整。 在又一些实施例中, 可以采用丝杠丝母结构进行两电机轴间距的调整, 其中丝杠固定设置, 丝母载有一套电机轴, 做成母套结构。 通过以上的实施方式的描述可知, 本领域的技术人员可以清楚地了解到 上述实施例方法中的全部或部分步驟可借助软件加必需的通用硬件平台的方 式来实现。 基于这样的理解, 本发明的技术方案本质上或者说对现有技术做 出贡献的部分可以以软件产品的形式体现出来, 该计算机软件产品可以存储 在存储介质中, 如 ROM/RAM、 磁碟、 光盘等, 包括若干指令用以使得一台 计算机设备 (可以是个人计算机, 服务器, 或者诸如媒体网关等网络通信设 备, 等等) 执行本发明各个实施例或者实施例的某些部分所述的方法。 实施例之间相同相似的部分互相参见即可, 每个实施例重点说明的都是与其 他实施例的不同之处。 尤其, 对于设备及系统实施例而言, 由于其基本相似 于方法实施例, 所以描述得比较简单, 相关之处参见方法实施例的部分说明 即可。 以上所描述的设备及系统实施例仅仅是示意性的, 其中作为分离部件 是或者也可以不是物理单元, 即可以位于一个地方, 或者也可以分布到多个 网络单元上。 可以根据实际的需要选择其中的部分或者全部模块来实现本实 施例方案的目的。 本领域普通技术人员在不付出创造性劳动的情况下, 即可 以理解并实施。 In some embodiments, the front and rear adjustments can also be made by the structure of the sleeve fit. In still other embodiments, the adjustment of the distance between the two motor shafts may be performed by using a lead screw structure, wherein the lead screw is fixedly disposed, and the silk core carries a set of motor shafts to form a mother sleeve structure. It can be clearly understood by those skilled in the art that all or part of the steps in the foregoing embodiment may be implemented by means of software plus a necessary general hardware platform. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, may be embodied in the form of a software product, which may be stored in a storage medium such as a ROM/RAM or a disk. , an optical disk, etc., comprising instructions for causing a computer device (which may be a personal computer, a server, or a network communication device such as a media gateway, etc.) to perform the various embodiments of the present invention or portions of the embodiments described herein. method. The same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the device and the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment. The apparatus and system embodiments described above are merely illustrative, and may or may not be physical units as separate components, ie may be located in one place, or may be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.
以上所述仅为本发明的较佳实施例而已, 并非用于限定本发明的保护范 围。 凡在本发明的精神和原则之内所作的任何修改、 等同替换、 改进等, 均 包含在本发明的保护范围内。  The above description is only the preferred embodiment of the present invention and is not intended to limit the scope of the present invention. Any modifications, equivalents, improvements, etc. made within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

权 利 要 求  Rights request
1、 一种绝缘子串智能检测机器人系统, 用于水平耐张双联绝缘子串的检 测, 其特征在于, 包括:  1. An insulator string intelligent detection robot system for detecting a horizontal tensile double-insulator substring, characterized in that it comprises:
机构连扳 (2) ;  Institutional linkage (2);
攀爬装置 (5), 至少设置在所述机构连扳在行进方向的一侧, 且该攀爬 装置具有前后各一组的攀爬臂 (50) ; 其中攀爬臂为中部连接有驱动轴并以驱 动轴轴线为基准的轴对称杆件;  The climbing device (5) is disposed at least on a side of the mechanism in the traveling direction, and the climbing device has a climbing arm (50) of a front and a rear group; wherein the climbing arm has a driving shaft connected to the middle And an axisymmetric rod member based on the axis of the drive shaft;
导向装置, 用于导向于绝缘子串, 设置在机构连扳的在行进方向的两侧, 匹配待检测的双联绝缘子串;  a guiding device, configured to guide the insulator string, disposed on both sides of the mechanism connecting plate in the traveling direction, and matching the double insulator string to be detected;
检测设备, 设置在所述机构连扳上;  Detecting device, disposed on the mechanism connecting plate;
控制单元, 输出连接所述攀爬装置 (5) 的驱动装置, 以控制前后各一组 攀爬臂间的转角差; 以及  a control unit that outputs a driving device connected to the climbing device (5) to control a difference in corner between each of the climbing arms;
人机控制终端, 与所述控制单元通过无线通信单元进行通信连接, 以遥 控所述攀爬装置。  The human-machine control terminal is in communication connection with the control unit through the wireless communication unit to remotely control the climbing device.
2、 根据权利要求 1所述的绝缘子串智能检测机器人系统, 其特征在于, 当所述攀爬装置 (5) 设置在所述机构连扳在行进方向的一侧时, 所述导向装 置则包括设置在所述攀爬装置 (5) 下侧的第一导向部分。  2. The insulator string intelligent detection robot system according to claim 1, wherein when the climbing device (5) is disposed on a side of the mechanism in the traveling direction, the guiding device includes A first guiding portion provided on a lower side of the climbing device (5).
3、 根据权利要求 2所述的绝缘子串智能检测机器人系统, 其特征在于, 所述第一导向部分包括在待检测绝缘子串周向呈等腰梯形排布的四条雪橇, 且雪橇滑板面长度大于绝缘子串一倍节距而小于三倍节距。  The insulator string intelligent detection robot system according to claim 2, wherein the first guiding portion comprises four sleds arranged in an isosceles trapezoid in the circumferential direction of the insulator string to be inspected, and the sled skater surface length is greater than The insulator strings are one pitch less than three times pitch.
4、 根据权利要求 4所述的绝缘子串智能检测机器人系统, 其特征在于, 绝缘子串与所述导向部分相接合的部分小于等于 180度并大于等于 120度, 且导向部分为以竖直面为为基准的面对称结构。  4. The insulator string intelligent detection robot system according to claim 4, wherein the portion of the insulator string that is joined to the guide portion is 180 degrees or less and 120 degrees or more, and the guide portion is a vertical surface. A plane symmetrical structure for the reference.
5、 根据权利要求 1所述的绝缘子串智能检测机器人系统, 其特征在于, 每组攀爬臂 (50) 有两个攀爬臂, 两攀爬臂以竖直面为基准面对称布局; 连 接前后攀爬臂的架体为具有伸缩结构的架体。  The insulator string intelligent detecting robot system according to claim 1, wherein each of the climbing arms (50) has two climbing arms, and the two climbing arms are symmetrically arranged with the vertical surface as a reference surface; The frame body connecting the front and rear climbing arms is a frame body having a telescopic structure.
6、 根据权利要求 1至 5任一所述的绝缘子串智能检测机器人系统, 其特 征在于, 两组攀爬臂 (50) 之一配置有用于检测攀爬臂转角的传感器, 以反 馈控制该攀爬臂的转速。 7、 根据权利要求 6所述的绝缘子串智能检测机器人系统, 其特征在于, 所述传感器有一对, 用于攀爬臂周向的位置反馈, 从而把攀爬臂的轴向分成 两个区间, 以反馈控制该组攀爬臂在不同区间的速度匹配, 另一组攀爬臂则 匀速控制。 The insulator string intelligent detecting robot system according to any one of claims 1 to 5, characterized in that one of the two sets of climbing arms (50) is provided with a sensor for detecting the corner of the climbing arm to feedback control the climbing The speed of the climbing arm. 7. The insulator string intelligent detection robot system according to claim 6, wherein the sensor has a pair for positional feedback of the climbing arm in the circumferential direction, thereby dividing the axial direction of the climbing arm into two sections. Feedback is used to control the speed of the set of climbing arms in different sections, and the other set of climbing arms is controlled at a constant speed.
8、 根据权利要求 7所述的绝缘子串智能检测机器人系统, 其特征在于, 两组攀爬臂 (50) 间转角差通过电机 (47) 差速运动控制或所述控制单元直 接输出的延时运动控制, 以使前后两组攀爬臂的转角差在 90度附近预定区间 内变化。  8. The insulator string intelligent detection robot system according to claim 7, wherein the difference between the two sets of climbing arms (50) is controlled by a differential motion of the motor (47) or a delay of direct output by the control unit. The motion control is such that the difference in the corners of the two sets of climbing arms varies within a predetermined interval around 90 degrees.
9、 根据权利要求 1所述的绝缘子串智能检测机器人系统, 其特征在于, 所述检测设备包括检测议类检测设备和用于检测绝缘子电阻的检测装置(8), 其中, 检测装置包括通过同步连杆 (21 ) 连接的一对探针 (26) , 驱动所述同 步连杆 (21 ) 以使所述探针摆动的舵机 (24)。  9. The insulator string intelligent detection robot system according to claim 1, wherein the detecting device comprises a detecting type detecting device and a detecting device (8) for detecting an insulator resistance, wherein the detecting device comprises synchronizing A pair of probes (26) to which the connecting rod (21) is connected, a steering gear (24) that drives the synchronous link (21) to swing the probe.
10、 根据权利要求 1所述的绝缘子串智能检测机器人系统, 其特征在于, 还包括连接于所述控制单元的可见光摄像机, 并配置有图像处理单元, 以识 别绝缘子串的边缘位置信息, 输出控制所述攀爬装置在绝缘子串上的位置。  10. The insulator string intelligent detection robot system according to claim 1, further comprising a visible light camera connected to the control unit, and configured with an image processing unit to identify edge position information of the insulator string, and output control The position of the climbing device on the insulator string.
PCT/CN2013/089568 2013-01-11 2013-12-16 Detection robot system of insulator strings WO2014108017A1 (en)

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