CN106093618B - A kind of lightning arrester live-line test robot - Google Patents

Abstract

The invention discloses a robot for live testing of lightning arresters, which comprises a car body, a mechanical arm, and a control module. The car body includes a vehicle frame and a driving mechanism. The arm and the control module are arranged on the car body, and a clamp is provided on the mechanical arm, the clamp is made of a conductive material, the clamp is installed on an insulating transfer block, and a signal line interface is provided on the clamp; the control module includes a controller, The signal output port of the controller is connected with the control end of the driving mechanism and the mechanical arm. The invention is simple in structure and durable, and can efficiently and quickly complete the live detection work of the ground-type arrester, improves the work efficiency and improves the accuracy of detection, and can ensure the safe operation of the arrester itself, while ensuring personal safety and reliable operation of the power grid.

Description

A robot for lightning arrester live test

technical field

The invention relates to the technical field of electric equipment, in particular to a robot for live testing of lightning arresters.

Background technique

There is a floor-mounted arrester in the substation. Because the installation position of this arrester is relatively low, there is often a safety fence around it, which makes it difficult for inspectors to test these arresters conveniently. At present, there are mainly the following problems in the live detection of floor-mounted arresters: 1. Floor-mounted arresters are generally installed for high-voltage lines, and their installation positions are relatively low. The inspectors cannot approach due to the problem that the safety distance cannot be guaranteed. The lightning arrester is live tested; 2. In the substation, in order to ensure the safety of people, equipment and the power grid, a fence with a sufficient distance is set up around the floor-mounted lightning arrester. According to the safety regulations of electric power work, the testing personnel are not allowed to step over the fence for testing; 3 The existing method is to test the arrester test car. The existing arrester test car only has a test rod fixing frame, and it is necessary to manually use the insulating rod to move the car to the test position. There are problems such as difficult operation and difficulty in aligning the arrester.

In view of the above problems, it is necessary to develop a live test robot for surge arresters, so that the live detection of floor-standing arresters can be completed efficiently and quickly, so as to improve work efficiency, improve the accuracy of detection, ensure the safe operation of the arrester itself, and at the same time ensure personal safety and The power grid operates reliably.

Contents of the invention

Aiming at the problem that the existing testing method is difficult to operate, the present invention develops a robot for live testing of lightning arresters. The equipment can efficiently and quickly complete the live testing of floor-standing lightning arresters, improve work efficiency, and improve detection accuracy. It can ensure the safe operation of the arrester itself, and at the same time ensure personal safety and reliable operation of the power grid.

The technical solution of the present invention to solve the technical problem is: a robot for live testing of lightning arresters, including a car body, a mechanical arm, and a control module. The two sides of the frame; the mechanical arm and the control module are set on the car body, and the clamp is set on the mechanical arm. The clamp is made of conductive material. The clamp is installed on the insulating adapter block, and the signal line interface is set on the clamp; The control module includes a controller, and the signal output port of the controller is connected with the control terminal of the driving mechanism and the mechanical arm.

As an optimization, the drive mechanism includes a track, a driving wheel, an auxiliary wheel, and a driving motor. The driving wheel and the auxiliary wheel are installed on the side of the vehicle frame through a rotating shaft. The track wraps the driving wheel and the auxiliary wheel, and the output shaft of the driving motor is connected to the The rotating shaft and the driving motor are arranged at the bottom of the frame, and the signal output port of the controller is connected to the control end of the driving motor.

As an optimization, the mechanical arm includes a first-level vertical rotation motor, a second-level vertical rotation motor, a vertical rotation motor, a clamping motor, a U-shaped bracket A, a U-shaped bracket B, clamps, an insulating adapter block, and gear teeth. Rod, mounting plate, auxiliary rod, U-shaped bracket A is installed on the vehicle frame, the first-level vertical rotation motor is installed on the U-shaped bracket A, the U-shaped bracket B is installed on the first-level vertical rotation motor, and the second-level vertical rotation motor The rotating motor is installed on the U-shaped bracket B, the vertical rotating motor is installed on the secondary vertical rotating motor, and the output shaft of the vertical rotating motor is connected to the mounting plate; One end of the connection block is connected to the gear rod, and the other end is connected to the auxiliary rod. The gear rod, the auxiliary rod, the mounting plate and the insulating adapter block form a parallelogram linkage mechanism. The gear rod is provided with gear teeth, and the gear rod has two , the left and right two gear rods mesh, the clamping motor is installed on the mounting plate, and the output shaft of the clamping motor is connected with the rotating shaft of the gear rod.

As an optimization, the lightning arrester live test robot also includes a lifting frame, the lifting frame is installed on the vehicle frame, and the U-shaped bracket A is installed on the lifting frame.

As an optimization, the lifting frame, U-shaped bracket A, and U-shaped bracket B are made of aluminum alloy, the insulating adapter block is made of insulating resin material, and the vehicle frame is made of thin stainless steel plate or engineering plastic.

As an optimization, the live test robot for the arrester also includes a wireless transmission module connected to the control module.

As an optimization, the lightning arrester live test robot further includes a camera, and the data port of the camera is connected to the signal receiving port of the controller.

As an optimization, the lightning arrester live test robot also includes an ultrasonic sensor, the ultrasonic sensor is installed on the front end of the vehicle frame, and the data port of the ultrasonic sensor is connected to the signal receiving port of the controller.

As an optimization, the wireless transmission module is connected with a relay, and the relay is arranged on the power circuit of the control module.

As an optimization, the lightning arrester live test robot also includes a line-finding sensor and a guide rod. The line-finding sensor is a photosensitive sensor or a magnetic sensor, and a ribbon or a magnetic strip is correspondingly arranged on the ground; the guide rod is arranged at the front end of the vehicle frame, and the lightning arrester The working position is provided with a guide sleeve corresponding to the guide rod, the front end of the guide rod is provided with a pointed head, and the opening of the guide sleeve is a bell mouth.

Beneficial effects of the present invention:

1. The present invention is simple in structure and durable, and can efficiently and quickly complete the live detection work of the floor-standing arrester. While improving work efficiency, the accuracy of detection is improved, and it can ensure the safe operation of the arrester itself, while ensuring personal safety and reliability of the power grid run.

2. By adopting the crawler-type drive structure, the machine has better load capacity and obstacle-surmounting ability, and can better adapt to the complex working conditions of the substation.

3. The mechanical arm is compact in structure and flexible in movement. It can not only realize the live test of the arrester, but also realize some simple fault repair work.

4. The height adjustment of the mechanical arm can be realized by setting the lifting frame. When the mechanical arm cannot meet the working height requirements, the lifting frame is installed. When the mechanical arm can meet the working height requirements, the lifting frame is removed, which increases the application range of the robot. .

5. The use of aluminum alloy can effectively reduce the weight of the manipulator; the insulating resin meets the insulation requirements under the premise of ensuring the strength of the equipment, which can ensure the integrity of the collected signal and keep the test end insulated from the ground; the vehicle is made of thin stainless steel plate or engineering plastic The frame makes the frame have excellent mechanical properties and insulation properties, large load capacity and small size.

6. By setting the wireless transmission module, the upper computer is equipped with a corresponding wireless transmission module, which can realize the remote operation of the robot.

7. By setting the camera, the image collected by the camera can be transmitted to the host computer through the wireless transmission module to realize the visualization of the operation process, and video recording can be performed as needed. This function can not only observe the surrounding environment during the live test of the arrester, but also Responsible for fault inspection in invisible areas, and provide support for the company to grasp first-hand information on site. The camera can detect the winding and hanging of the test line. At this time, the robot can be controlled to move the test line back.

8. By setting the ultrasonic sensor, the automatic detection of obstacles can be realized during the test process, and the automatic stop and bypass before the collision occurs, effectively protecting the safe operation of the power grid equipment.

9. By connecting the wireless transmission module to a relay, the relay is set on the power circuit of the control module. When the control module crashes, the remote cold start of the control module can be realized by controlling the action of the relay through the wireless transmission module, which increases the ability of the equipment to deal with sudden problems.

10. By setting the line-finding sensor, guide rod and guide sleeve, the precise positioning is realized through the simple structure, the work requirement is met, and the cost is saved.

Description of drawings

Fig. 1, Fig. 3, Fig. 4, Fig. 6 are the overall structural diagram of an embodiment of the present invention.

Fig. 2 is a partially enlarged view of the area in Fig. 1C.

Fig. 5 is a partially enlarged view of the area in Fig. 4B.

Detailed ways

In order to better understand the present invention, the implementation manner of the present invention will be explained in detail below in conjunction with the accompanying drawings.

Fig. 1 to Fig. 6 are a kind of embodiment of the present invention, as shown in Fig. 1, Fig. 2, a kind of robot for electrification test of lightning arrester, comprises vehicle body 1, mechanical arm 2, control module 3, and vehicle body 1 comprises vehicle frame 11. The driving mechanism 12 is provided with a ground wire 9 on the vehicle frame 11; the driving mechanism 12 is provided on both sides of the vehicle frame 11; the mechanical arm 2 and the control module 3 are provided on the vehicle body 1, and the mechanical arm 2 is provided with clamps 27. The clamp 27 is made of conductive material, the clamp 27 is installed on the insulating adapter block 28, and the clamp 27 is provided with a signal line interface 271; the control module 3 includes a controller, and the signal output port of the controller is connected to the drive mechanism 12 , the control end of the robotic arm 2. The clamp 27 is installed on the insulating adapter block 28, and the clamp 27 is connected to the corresponding position of the lightning arrester under test by controlling the movement of the driving mechanism 12 and the mechanical arm 2, and the signal to be tested is transmitted to the in the instrument. It can efficiently and quickly complete the live detection work of floor-standing arresters, improve work efficiency and improve the accuracy of detection, and can ensure the safe operation of the arrester itself, while ensuring personal safety and reliable operation of the power grid.

As shown in Figure 3, the drive mechanism 12 includes a crawler belt 121, a driving wheel 122, an auxiliary wheel 123, and a driving motor 124. , the auxiliary wheel 123, the output shaft of the drive motor 124 is connected to the rotating shaft of the drive wheel 122, the drive motor 124 is arranged at the bottom of the vehicle frame 11, and the signal output port of the controller is connected to the control end of the drive motor 124. The crawler-type drive structure enables the machine to have better load capacity and obstacle-surmounting ability, and can better adapt to the complex working conditions of the substation.

As shown in Fig. 4 and Fig. 5, the mechanical arm 2 includes a primary vertical rotation motor 21, a secondary vertical rotation motor 22, a vertical rotation motor 23, a clamping motor 24, a U-shaped support A25, and a U-shaped support B26. , clamp 27, insulation transfer block 28, gear tooth bar 29, mounting plate 201, auxiliary rod 202, U-shaped support A25 is installed on the vehicle frame 11, and the first-stage vertical rotation motor 21 is installed on the U-shaped support A25, U-shaped support B26 is installed on the one-level vertical rotation motor 21, and the second-level vertical rotation motor 22 is installed on the U-shaped support B26, and the vertical rotation motor 23 is installed on the second-level vertical rotation motor 22, and the vertical rotation motor 23 The output shaft is connected to the mounting plate 201; the gear pinion rod 29 and the auxiliary rod 202 are installed on the mounting plate 201 through the rotating shaft, one end of the insulating adapter block 28 is connected to the gear pinion rod 29, and the other end is connected to the auxiliary rod 202, and the gear pinion rod 29 and the auxiliary rod 202, mounting plate 201, insulating transfer block 28 form a parallelogram linkage mechanism, gear teeth are arranged on the gear rod 29, there are two gear rods 29, the left and right two gear rods 29 mesh, and the clamping motor 24 is installed On the mounting plate 201 , the output shaft of the clamping motor 24 is connected with the rotating shaft of the pinion rod 29 . The mechanical arm 2 has a compact structure and flexible movement. It can not only realize the live test of the arrester, but also realize some simple fault repair work. The lightning arrester live test robot also includes a lifting frame 4, the lifting frame 4 is installed on the vehicle frame 11, and the U-shaped bracket A25 is installed on the lifting frame 4. The height adjustment of the mechanical arm 2 can be realized by setting the lifting frame 4. When the mechanical arm 2 cannot meet the working height requirements, the lifting frame 4 is installed. When the mechanical arm 2 can meet the working height requirements, the lifting frame 4 is removed, which increases the robot. application range.

The lightning arrester live test robot also includes a wireless transmission module, and the wireless transmission module is connected to the control module 3 . The upper computer is equipped with a corresponding wireless transmission module, which can realize the remote operation of the robot. The lightning arrester live test robot also includes a camera 5, and the data port of the camera 5 is connected to the signal receiving port of the controller. The images collected by the camera 5 can be transmitted to the host computer through the wireless transmission module to realize the visualization of the operation process, and video recording can be performed according to the needs. Fault inspection work provides support for the company to grasp first-hand information on site. The camera 5 can detect the winding and hanging of the test line, and at this time, the robot can be controlled to move and pull the test line back.

As shown in FIG. 6 , the lightning arrester live test robot also includes an ultrasonic sensor 6 installed on the front end of the vehicle frame 11 , and the data port of the ultrasonic sensor 6 is connected to the signal receiving port of the controller. By setting the ultrasonic sensor 6, automatic detection of obstacles can be realized during the testing process, automatic stop and bypass before a collision occurs, and effectively protect the safe operation of the power grid equipment.

The wireless transmission module is connected with a relay, and the relay is arranged on the power circuit of the control module 3 . When the control module 3 crashes, the remote cold start of the control module 3 can be realized by controlling the action of the relay through the wireless transmission module.

As shown in Figure 3, Figure 4, and Figure 6, the lightning arrester live test robot also includes a line-finding sensor 111 and a guide rod 112, the line-finding sensor 111 is a photosensitive sensor or a magnetic sensor, and a ribbon or a magnetic strip is correspondingly arranged on the ground Belt; guide rod 112 is arranged on the front end of vehicle frame 11, and the working position of lightning arrester is provided with guide sleeve 113 corresponding with guide rod 112, and the front end of guide rod 113 is provided with pointed, and the opening of guide sleeve 114 is bell mouth. By setting the line-finding sensor 111, the guide rod 112, and the guide sleeve 113, the precise positioning is realized through a simple structure, the working requirements are met, and the cost is saved.

Although the specific implementation of the invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. On the basis of the technical solution of the present invention, those skilled in the art can make various Modifications or variations are still within the protection scope of the present invention.

Claims (8)

1. A robot for lightning arrester live testing, characterized in that it includes a car body (1), a mechanical arm (2), and a control module (3), and the car body (1) includes a vehicle frame (11) and a driving mechanism (12) , the frame (11) is provided with a ground wire (9); the driving mechanism (12) is provided on both sides of the frame (11); the mechanical arm (2) and the control module (3) are provided on the vehicle body (1) , the mechanical arm (2) is provided with a clamp (27), the clamp (27) is made of conductive material, the clamp (27) is installed on the insulating adapter block (28), and the clamp (27) is provided with a signal line interface (271); the control module (3) includes a controller, and the signal output port of the controller is connected to the control end of the drive mechanism (12) and the mechanical arm (2); the drive mechanism (12) includes crawlers (121), Driving wheel (122), auxiliary wheel (123), driving motor (124), driving wheel (122), auxiliary wheel (123) are installed on the side of vehicle frame (11) by rotating shaft, crawler belt (121) wraps driving wheel (122 ), auxiliary wheels (123), the output shaft of the driving motor (124) is connected to the rotating shaft of the driving wheel (122), the driving motor (124) is arranged at the bottom of the vehicle frame (11), and the signal output port of the controller is connected to the driving motor (124 ) control end; the mechanical arm (2) includes a primary vertical rotation motor (21), a secondary vertical rotation motor (22), a vertical rotation motor (23), a clamping motor (24), a U-shaped bracket A (25), U-shaped bracket B (26), clamp (27), insulating adapter block (28), gear tooth rod (29), mounting plate (201), auxiliary rod (202), U-shaped bracket A (25) Installed on the vehicle frame (11), the first-level vertical rotation motor (21) is installed on the U-shaped bracket A (25), and the U-shaped bracket B (26) is installed on the first-level vertical rotation motor (21) Above, the secondary vertical rotation motor (22) is mounted on the U-shaped bracket B (26), the vertical rotation motor (23) is mounted on the secondary vertical rotation motor (22), and the output shaft of the vertical rotation motor (23) Connect the mounting plate (201); the gear pinion rod (29) and the auxiliary rod (202) are all installed on the mounting plate (201) through the rotating shaft, and one end of the insulating adapter block (28) is connected to the gear pinion rod (29), and the other end is connected to the auxiliary rod Rod (202), gear tooth rod (29), auxiliary rod (202), mounting plate (201), insulating adapter block (28) form a parallelogram linkage, gear tooth rod (29) is provided with gear teeth , there are two gear rods (29), the left and right two gear rods (29) mesh, the clamping motor (24) is installed on the mounting plate (201), the output shaft of the clamping motor (24) and the gear rod ( 29) Shaft connection. 2. The robot for live test of lightning arrester according to claim 1, characterized in that, the robot for live test of lightning arrester also includes a lifting frame (4), and the lifting frame (4) is installed on the frame (11), U-shaped support A (25) is installed on the lifting frame (4). 3. A lightning arrester live test robot according to claim 2, characterized in that, the lifting frame (4), U-shaped bracket A (25), and U-shaped bracket B (26) are made of aluminum alloy materials, insulated The transfer block (28) is an insulating resin material, and the vehicle frame (101) is made of thin stainless steel plate or engineering plastics. 4 . The robot for live testing of lightning arresters according to claim 1 , wherein the robot for live testing of lightning arresters further includes a wireless transmission module connected to the control module ( 3 ). 5 . The robot for live testing of lightning arresters according to claim 4 , wherein the robot for live testing of lightning arresters further includes a camera ( 5 ), and the data port of the camera ( 5 ) is connected to the signal receiving port of the controller. 6. A lightning arrester live test robot according to claim 1, characterized in that the lightning arrester live test robot also includes an ultrasonic sensor (6), and the ultrasonic sensor (6) is installed on the front end of the frame (11), The data port of the ultrasonic sensor (6) is connected to the signal receiving port of the controller. 7 . The robot for lightning arrester live testing according to claim 4 , wherein the wireless transmission module is connected to a relay, and the relay is arranged on the power circuit of the control module ( 3 ). 8. The robot for live test of lightning arrester according to claim 1, characterized in that, the robot for live test of lightning arrester also includes a line-finding sensor (111) and a guide rod (112), and the line-finding sensor (111) is a photosensitive sensor or magnetic sensor, the ground is provided with a color ribbon or a magnetic strip correspondingly; the guide rod (112) is arranged at the front end of the vehicle frame (11), and the working position of the lightning arrester is provided with a guide sleeve (113) corresponding to the guide rod (112). ), the front end of the guide rod (113) is provided with a pointed end, and the opening of the guide sleeve (114) is a bell mouth.