CN207931529U - a kind of strain insulator string detection robot - Google Patents
a kind of strain insulator string detection robot Download PDFInfo
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- CN207931529U CN207931529U CN201820333540.5U CN201820333540U CN207931529U CN 207931529 U CN207931529 U CN 207931529U CN 201820333540 U CN201820333540 U CN 201820333540U CN 207931529 U CN207931529 U CN 207931529U
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Abstract
The utility model discloses a kind of strain insulator strings to detect robot, including crawler belt mobile mechanism, robot holder, guiding mechanism, control cabinet, insulator appearance video detection system, detection case, probe swing mechanism and locating module, the robot holder is connected with the crawler belt mobile mechanism；The probe swing mechanism is connected to the robot holder；The guiding mechanism is connected with the robot holder；The arc-shaped hook solid of robot holder, and the control cabinet is located at the end tail portion of the robot holder.The utility model clever structure, easy to operate, one can be operated robot and carries out insulator chain detection operation, and wide adaptability can detect strain insulator simply connected, the twin insulator strings of different types.
Description
Technical field
The utility model is related to a kind of robot, especially a kind of robot that can detect strain insulator string.
Background technology
Insulator is a kind of insulation control applied to overhead transmission line, is usually made of glass or ceramics, Neng Gou
Play the role of mechanically hanging conducting wire in transmission line of electricity, electrically completely cut off conducting wire and shaft tower.In practical application absolutely due to every
The insulation performance of edge is limited, if needing dry plate insulator being linked to be insulator chain to use.According to the difference of suspension type, absolutely
Edge substring can divide suspension insulator and strain insulator string.Suspension insulator is suitable for straight line pole, bears conducting wire and attached
The vertical load and wind load added.Strain insulator string is suitable for strain rod tower, is primarily subjected to whole Horizontal Tensions of conducting wire.By
Can constantly it decline in the insulation performance of the reasons such as manufacturing defect, the variation of electric load, environmental pollution, insulator, when a string of insulation
When zero or low resistance insulator are more than certain amount in son, line tripping can be caused, personal safety accident and electric energy is caused to be lost in,
Reduce use and the service life of whole transmission line of electricity.Therefore great to the Clinical significance of detecting of insulator chain.
Currently, to the detection of insulator chain based on artificial detection.End is held by electric operating personnel carry electricity
The insulating bar of the resistance detection devices such as detector or spread voltage detector detects insulator piecewise.There is efficiency for artificial detection
The shortcomings of low, dangerous high, operation intensity is big, and with the continuous development of China's electric system, voltage class is higher and higher,
The length of insulator chain is also increasingly longer, and artificial detection cannot meet the detection demand of super extra high voltage line.
In recent years, with the construction of China's intelligent grid and the development of robot technology, more and more insulator chain inspections
It surveys robot application and carries out insulator chain detection in overhead transmission line.
101769971 A of patent CN disclose a kind of insulator detecting robot, including the first Athey wheel, babinet, second
Athey wheel, displacement telescoping mechanism and driving mechanism of popping one's head in, are equipped with displacement telescoping mechanism, the first and second Athey wheel is located on babinet
Babinet both sides are hinged with displacement telescoping mechanism respectively, and the first and second stroke sensor is connected separately on the first and second Athey wheel；
The lower section of babinet is equipped with probe driving mechanism.Through analysis, the walking mechanism of the robot is respectively erected on two insulator strings, only
Strain insulator twin insulator strings can be detected, strain insulator simply connected insulator chain can not be detected, it is bigger using limitation.
203929915 U of patent CN disclose a kind of transmission line of electricity zero resistance insulator live detection robot, including insulation
Connecting rod, detection pointer, supply unit, rotating driving device, TT＆C system and two manipulators for catching insulator steel cap,
Two manipulators are separately mounted to the both ends of insulated connecting rod and are driven respectively in the same plane around insulation by a rotating driving device
Each end of connecting rod is overturn, and manipulator catches insulator steel cap by a corresponding gripper motor control respectively.Through analysis, the robot
A kind of sub-pieces of level altitude are only applicable to, and the structure height of insulator differs greatly in actual track, works as insulator
It is susceptible to hand when height change and grabs the case where can't reach steel cap, the robot adaptability is poor.In addition, different insulative is sub
The steel cap size difference of string is larger, and the robot can not work normally when steel cap diameter is less than paw.
106002912 A of patent CN disclose a kind of insulator change born of the same parents detection robot mechanism, including mobile unit and inspection
Element is surveyed, and is at least integrated using mobile unit interconnection described in two groups, the mobile mechanism for encircling insulator chain is formed；Institute
The curved surface frame that mobile unit includes middle part hollow out is stated, curved surface frame side is provided with cam mechanism, is provided on cam mechanism
Parallelogram mechanism is equipped with driving device on parallelogram mechanism, claw, curved surface is provided on parallelogram mechanism
Frame upper edge insulator is radially provided with crawler type guiding mechanism.Through analysis, which has three groups of mobile mechanisms, each other
It is connected two-by-two by buckle.When practical application, three groups of mechanisms are installed under high-altitude, high-voltage case very difficult.
104198848 A of patent CN disclose a kind of improved horizontal simply connected insulator chain detection robot, including symmetrical
Two pedrail mechanisms being arranged on horizontal insulator, two pedrail mechanisms are connected with each other, two pedrail mechanisms respectively with it is right
The balancing device connection answered, the balancing device is arranged in the both sides of horizontal insulator, for reducing robot center of gravity and
Prevent robot from deflecting.Through analysis, when insulator disk diameter changes, crawler belt plane is become with sub-pieces edge from tangent
Intersection, at this moment the side edge contact sub-pieces of robot crawler belt, crawler belt are easily worn.In addition, the robot reach the standard grade when
It waits and needs to choose handgrip beside crawler belt respectively with two insulating bars, this just needs two people while compounding practice, increases machine
Device people reaches the standard grade difficulty.
In conclusion current insulator chain detects robot there are bad adaptability, difficulty of reaching the standard grade, climbing efficiency is low etc. to ask
Topic, it is necessary to design a strain insulator string detection robot and solve the above problems.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of clever structure, easy to operate, and detection efficiency is high, fits
The strain insulator string of Ying Xingguang detects robot.
In order to solve the above technical problems, the utility model proposes technical solution be, the strain insulator string detect machine
People, including crawler belt mobile mechanism, robot holder, guiding mechanism, control cabinet, insulator appearance video detection system, detection case,
Probe swing mechanism and locating module, robot holder are connected with crawler belt mobile mechanism；Probe swing mechanism is connected to machine
People's holder；Guiding mechanism is connected with robot holder；The arc-shaped hook solid of robot holder, and control cabinet is located at robot branch
The end tail portion of frame.
In above-mentioned technical proposal, due to the arc-shaped hook solid of robot holder, it can very easily be hooked on insulator chain
On, the end tail portion of robot holder, clever structure are located in conjunction with control cabinet, control cabinet plays the work for adjusting robot center of gravity
With the end tail portion that control cabinet is located at robot holder can conveniently adjust robot center of gravity, side during avoiding robot from climbing
Partially, robot center of gravity has the ability of automatic deviation correction, steadily of centre of gravity, smooth running in the control cabinet position of lower section；In robot
String installation is simple, only a people is needed to provoke robot with insulating bar, and robot is inserted into insulator chain from insulator chain side, is reduced
Personnel labour, easy to operate, detection efficiency is high, due to walking using continuous track, is adapted to various forms of insulation
Substring, such as antifouling double-umbrella insulator string, bell-jar insulator chain, a tractor serves several purposes, wide adaptability；Meanwhile in actual track, due to
The techniques difference such as installation, manufacture, two often some differences of strain insulator twin insulator strings, for example two insulator chain height are not
Together, full skirt and steel cap have dislocation, which only needs when detecting on an insulator string installed therein, you can to strain insulator list
Connection, duplex are detected, and effectively prevent the above problem.
Furthermore using crawler belt mobile mechanism, crawler belt and the contact of insulator chain direct friction, contact area is big, walking process
Middle guiding mechanism guided robot direction of travel ensures the walking of Robot insulator chain direction.
Preferably, robot holder is made of main support and auxiliary stand；Wherein, main support includes main support arm one, main support arm
Two, main support arm fixed frame one, main support arm fixed frame two, and main support is fixed on crawler belt by the main support arm one, main support arm two
On mobile mechanism side；Auxiliary stand includes auxiliary support arm one, auxiliary support arm two, auxiliary support arm fixed frame one, auxiliary support arm fixed frame two, and auxiliary
Holder is fixed on by the auxiliary support arm one, auxiliary support arm two on the crawler belt mobile mechanism other side.
Robot holder is divided into main support and auxiliary stand two parts, crawler belt mobile mechanism be located at main support and auxiliary stand it
Between, facilitate the equipped of robot；And either main support or auxiliary stand are that there are two support arms so that robot architecture's property is more
Good, support force is strong, and stability is more preferable during robot climbing.
Preferably, crawler belt mobile mechanism includes crawler belt, driving wheel, driven wheel, carrying roller, tensioning wheel, motor and crawler belt side
Plate is constituted；Wherein, crawler belt side plate has crawler belt side plate one and crawler belt side plate two；Driving wheel, driven wheel, carrying roller and tensioning wheel are equal
It is arranged in the cavity that crawler belt, crawler belt side plate one and crawler belt side plate two are surrounded, carrying roller is located at the axis of driving wheel and driven wheel
The lower section of line plane, tensioning wheel are located at the top of the axial plane of driving wheel and driven wheel；Motor is arranged in one He of crawler belt side plate
On the outside of the cavity that crawler belt side plate two is surrounded；Driving wheel is installed on the output shaft of the motor.
The cavity that crawler belt, crawler belt side plate one and crawler belt side plate two are surrounded, can be used for being equipped with driving wheel, driven wheel, load-bearing
Wheel and tensioning wheel, structure optimization are beautiful；Above-mentioned axial plane refers to what the axis of driving wheel and the axis of driven wheel were constituted
Plane；Tensioning wheel is located at the top of the axial plane of driving wheel and driven wheel, in this way, tensioning wheel, which can move up and down, adjusts crawler belt
Elasticity；Carrying roller is located at the lower section of the axial plane of driving wheel and driven wheel, such structure so that carrying roller can be used for holding
Connect crawler belt；Crawler belt can rotate under the drive of driving wheel, to be movably walking with mobile robot is front and back on insulator chain.
Preferably, tensioning wheel fixed seat is provided between crawler belt side plate one and crawler belt side plate two, tensioning wheel, which is mounted on, to be opened
On bearing up pulley holder, tension pulley support can move up and down to adjust the elasticity of the crawler belt along the groove of tensioning wheel fixed seat.
Preferably, guiding mechanism includes guide rod, guide sleeve, telescopic block and spring；Spring pocket on the outside of the telescopic block,
Telescopic block reciprocatingly slides in guide sleeve；Guide rod is horizontally installed on robot holder by guide sleeve and is located inside.
Using the above structure due to guiding mechanism, spring can be flexible according to the difference of insulator diameter, ensures machine
The support arm of device people is close to insulator chain, while in turn avoiding the rigid contact of robot and insulator chain, is Elastic Contact, plays
It is oriented to, the effect of damping；Robot is adaptable, is adapted to different disk diameters, different nominal heights, various forms of insulators
String, the guiding mechanism with elastic shock absorbing function, can make robot adapt to the insulator chain of different disk diameter sizes.
Preferably, probe swing mechanism includes steering engine, steering engine fixing piece, swing arm fixing piece, swing arm and detection probe；Swing arm
It is fixed on swing arm fixing piece, swing arm fixing piece is mounted on the output shaft of steering engine；Detection probe is mounted in swing arm, with swing arm
Swing is acted；Steering engine is connected to by steering engine fixing piece on robot holder.
Detection probe contacts the steel cap at sub-pieces both ends with swinging back and forth for swing arm, and detection probe material leads for metal
Electric material；Steering engine is connected to by steering engine fixing piece on robot holder so that probe swing mechanism and robot backing positions
Fixed, robot holder movement is where, probe swing mechanism be detected by where.
Preferably, insulator appearance video detection system includes rearview camera, rear-camera head frame, side view camera shooting
Head, looks up camera, looks up lens supporting structure, forward sight camera and forward sight lens supporting structure side view lens supporting structure；
Rearview camera is mounted on rear-camera head frame, and rear-camera head frame is mounted in the crawler belt mobile mechanism；
Forward sight camera is mounted on forward sight lens supporting structure, and forward sight lens supporting structure is mounted in crawler belt mobile mechanism；Side view
Camera is mounted on side view lens supporting structure, and side view lens supporting structure is mounted in crawler belt mobile mechanism；Look up camera shooting
Head is mounted on and looks up on lens supporting structure, looks up lens supporting structure on robot holder.
Steel cap, full skirt, grading ring and connection gold utensil of the forward sight camera for the sub-pieces in front of observer robot；Afterwards
Insulator umbrella, connection gold utensil depending on camera for observer robot rear；Side view camera is for detecting side insulator
The apparent condition of string；Look up detection probe swing position state of the camera for observing probe swing mechanism.
Preferably, locating module includes alignment sensor and sensor stand；Alignment sensor is installed on sensor branch
On frame, sensor stand is installed in crawler belt mobile mechanism；Sensor stand adjusts angle of inclination by installing screw.
Alignment sensor can be laser range sensor, alignment sensor be used for detect robot insulator chain phase
To position.
Preferably, control cabinet is internally provided with battery and circuit board；Detection case is mounted on the control cabinet, and detection case is used
The sub-pieces are detected in sending out detection signal.
Preferably, it is provided with hanging ring above robot holder, hanging ring is installed on hanging ring fixed block, and hanging ring is used for hoisting machine
Insulator chain above and below device people.
Upper string installation is simple, and transmission rope is fastened on the hanging ring of robot, robot is lifted on iron tower of power transmission line,
Only a people is needed to provoke the hanging ring in robot with insulating bar, robot is inserted into insulator chain from insulator chain side, is reduced
Personnel labour.
Description of the drawings
Fig. 1 is the preceding diagram of the utility model；
Fig. 2 is the dimensional structure diagram of the utility model；
Fig. 3 a are the crawler belt mobile mechanism schematic diagram of the utility model；
Fig. 3 b are the exploded view of Fig. 3 a crawler belts mobile mechanism；
Fig. 4 is the main support schematic diagram of the utility model；
Fig. 5 is the auxiliary stand and probe swing mechanism schematic diagram of the utility model；
Fig. 6 is the guiding mechanism schematic diagram of the utility model；
Fig. 7 is B-B cross-sectional views in Fig. 6；
Wherein：1- crawler belts mobile mechanism；101- crawler belts；102- driving wheels；103- driven wheels；104- carrying rollers；1041- is held
Roller one；1042- carrying rollers two；105- tensioning wheels；1051- tensioning wheel fixed seats；1052- tension pulley supports；106- motors；
107- crawler belt side plates；1071- crawler belts side plate one；1072- crawler belts side plate two；1073- crawler belt side plates connector one；1074- crawler belts
Side plate connector two；1075- crawler belt side plates connector three；1076- crawler belt side plates connector four；2- robots holder；201- master
Holder；The main support arms of 2011- one；The main support arms of 2012- two；The main support arm fixed frames of 2013- one；The main support arm fixed frames of 2014- two；202-
Auxiliary stand；The auxiliary support arms of 2021- one；2022 auxiliary support arms two；The auxiliary support arm fixed frames of 2023- one；The auxiliary support arm fixed frames of 2024- two；
The auxiliary support arm connectors of 2025- one；The auxiliary support arm connectors of 2026- two；3- guiding mechanisms；301- guide rods one；302- springs one；
303- guide sleeves one；304- telescopic blocks one；305- guide rods two；306- springs two；307- telescopic blocks two；308- guide sleeves two；4- is controlled
Case processed；401- control cabinet connectors；5- insulator appearance video detection systems；501- rearview cameras；502- rearview cameras
Fixed frame；503- side view cameras；504- side view lens supporting structures；505- looks up camera；506- looks up camera and fixes
Frame；507- forward sight cameras；508- forward sight lens supporting structures；6- detection cases；7- probe swing mechanisms；701- steering engines are fixed
Part；702- steering engines；703- swing arm fixing pieces；704- swing arms；705- detection probes；8- locating modules；801- alignment sensors；
802- sensor stands；9- hanging rings, 901- hanging ring fixed blocks；10- insulator chains；1001 insulator chains one；1002- sub-pieces
Steel cap one；1003- insulator chains two；1004- sub-pieces steel cap two.
Specific implementation mode
The utility model is described in further detail with example below in conjunction with the accompanying drawings.
As shown in Figure 1, the strain insulator string of the utility model detects robot, including crawler belt mobile mechanism 1, robot
Holder 2, guiding mechanism 3, control cabinet 4, insulator appearance video detection system 5, detection case 6, probe swing mechanism 7 and positioning mould
Block 8, robot holder 2 are connected with crawler belt mobile mechanism 1；Probe swing mechanism 7 is connected to robot holder 2；Guiding mechanism 3
It is connected with robot holder 2；2 arc-shaped hook solid of robot holder (such as clothes hanger hook shape), and control cabinet 4 is located at robot
The end tail portion of holder 2.
As shown in Fig. 3 a, 3b, crawler belt mobile mechanism 1 include crawler belt 101, driving wheel 102, driven wheel 103, carrying roller 104,
Tensioning wheel 105, motor 106 and crawler belt side plate 107 are constituted；Wherein, crawler belt side plate 107 has crawler belt side plate 1 and crawler belt side
Plate 2 1072；Driving wheel 102, driven wheel 103, carrying roller 104 and tensioning wheel 105 are arranged at crawler belt 101, crawler belt side plate one
1071 and the cavity that is surrounded of crawler belt side plate 2 1072 in (i.e. driving wheel 102, driven wheel 103, carrying roller 104 and tensioning wheel 105
Periphery installation crawler belt 101), carrying roller 104 is located at the lower section of the axial plane of driving wheel 102 and driven wheel 103, by carrying roller
1 and carrying roller 2 1042 constitute, tensioning wheel 105 is located at the top of the axial plane of driving wheel 102 and driven wheel 103；Electricity
Machine 106 is arranged on the outside of the cavity that crawler belt side plate 1 and crawler belt side plate 2 1072 are surrounded；Driving wheel 102 is installed on motor
On 106 output shaft, driven wheel 103 is installed between crawler belt side plate 1 and crawler belt side plate 2 1072.In crawler belt side plate one
Tensioning wheel fixed seat 1051 is provided between 1071 and crawler belt side plate 2 1072, tensioning wheel 105 is mounted on tension pulley support 1052
On, tension pulley support 1052 can move up and down to adjust the elasticity of crawler belt 101 along the groove of tensioning wheel fixed seat 1051.
In Fig. 3 a, 3b, it is further seen that 2 top of robot holder is provided with hanging ring 9, and hanging ring 9 is installed on hanging ring and fixes
On block 901；Hanging ring fixed block 901 is installed in tensioning wheel fixed seat 1051, and hanging ring 9 is for insulator chain above and below lifting machine people
10。
In the present embodiment, crawler belt side plate 1 and crawler belt side plate 2 1072 pass through crawler belt side plate connector, i.e. 1073-
Crawler belt side plate connector 1, crawler belt side plate connector 2 1074, crawler belt side plate connector 3 1075, crawler belt side plate connector
4 1076 are connected and fixed.Motor 106 is mounted on crawler belt side plate 1.
Crawler belt 101 can rotate under the drive of driving wheel 102, to the front and back shifting on insulator chain 10 with mobile robot
Dynamic walking.
Locating module 8 includes alignment sensor 801 and sensor stand 802；Alignment sensor 801 is installed on sensor
On holder 802, sensor stand 802 is installed in crawler belt mobile mechanism 1, specifically, as shown in Fig. 2, sensor stand 802 is pacified
Loaded on crawler belt side plate 2 1072；Sensor stand 802 adjusts angle of inclination by installing screw, and in the present embodiment, positioning passes
Sensor 801 is laser range sensor.
From Fig. 1,4 and 5, it can be seen that the robot holder 2 of the present embodiment is by 202 structure of main support 201 and auxiliary stand
At；Wherein, main support 201 is fixed including main support arm 1, main support arm 2 2012, main support arm fixed frame 1, main support arm
Frame 2 2014, and main support 201 is fixed on by main support arm 1, main support arm 2 2012 on 1 side of crawler belt mobile mechanism, it is main
Support arm 1, main support arm 2 2012 are screwed on crawler belt side plate 2 1072；Auxiliary stand 202 includes auxiliary support arm one
2021, auxiliary support arm 2 2022, auxiliary support arm fixed frame 1, auxiliary support arm fixed frame 2 2024, and auxiliary stand 202 passes through auxiliary support arm
One 2021, auxiliary support arm 2 2022 is fixed on 1 other side of crawler belt mobile mechanism, and particularly, auxiliary support arm 1 is connected and fixed
To auxiliary support arm connector 1, auxiliary support arm connector 1 is connected to crawler belt side plate 1, and auxiliary support arm 2 2022 connects
Fixed to auxiliary support arm connector 2 2026, auxiliary support arm connector 2 2026 is connected to crawler belt side plate 1.
As shown in Figure 6,7, guiding mechanism includes guide rod, guide sleeve, telescopic block and spring；Spring pocket is outside telescopic block
Side, telescopic block reciprocatingly slide in guide sleeve；Guide rod is horizontally installed on robot holder by guide sleeve and is located inside.Such as figure
Shown in 4, in the present embodiment, there are two sets of guiding mechanisms, i.e. guiding mechanism one and guiding mechanism two, be separately positioned on main support
201 and auxiliary stand 202 on, wherein guiding mechanism one is located on main support 201, include guide rod 1, spring 1,
Guide sleeve 1 and telescopic block 1, spring 1 are sleeved on one 304 outside of telescopic block, and the telescopic block 1 can be in guide sleeve
It is reciprocatingly slided in one 303 to adapt to the insulator of different disk diameters.Guiding mechanism one is connected respectively by two identical guide sleeves 1
It is connected to main support arm 1 and main support arm 2 2012, since every insulator diameter has either large or small difference, the guiding
The spring 1 of mechanism one can be flexible according to the difference of insulator diameter, ensures that the main support arm of robot is close to insulator
String, while the rigid contact of robot and insulator chain is in turn avoided, play the role of guiding, damping.
Likewise, as shown in figure 5, guiding mechanism two includes guide rod 2 305, guide sleeve 2 308, telescopic block 2 307, spring
2 306.Spring 2 306 is sleeved in telescopic block 2 307, and the telescopic block 2 307 can be reciprocatingly slided in guide sleeve 2 308 to fit
Answer the insulator of different disk diameters.Two structure of Guiding machine is connected to one 2021 He of auxiliary support arm by two identical guide sleeves 2 308
Auxiliary support arm 2 2022.Guiding mechanism two play with one identical effect of guiding mechanism, make robot elastic contact insulator chain, lead
To, shock-absorbing.
The probe swing mechanism 7 of strain insulator string detection robot in the present embodiment is fixed including steering engine 702, steering engine
Part 706, swing arm fixing piece 703, swing arm 704 and detection probe 705, as shown in Figure 5；Swing arm fixing piece is fixed in swing arm 704
703, swing arm fixing piece 703 is mounted on the output shaft of steering engine 702；Detection probe 705 is mounted in swing arm 704, with swing arm 704
Swing acted；Steering engine 702 is connected to by steering engine fixing piece 701 on the auxiliary stand 202 of robot holder 2, such as Fig. 1 institutes
Show, detection probe 705 contacts the steel cap at sub-pieces both ends with swinging back and forth for swing arm 704, shown in dotted line is examine in figure
The position that probing needle 705 swings.705 material of the detection probe is metal conductive materials.
As shown in Figure 3a, insulator appearance video detection system 5 includes rearview camera 501, rear-camera head frame
502, side view camera 503, side view lens supporting structure 504, look up camera 505, look up lens supporting structure 506, forward sight
Camera 507 and forward sight lens supporting structure 508；Rearview camera 501 is mounted on rear-camera head frame 502, backsight
Lens supporting structure 502 is mounted in crawler belt mobile mechanism 1, and rear-camera head frame 502 is mounted on crawler belt mobile mechanism 1
Between crawler belt side plate 1 and crawler belt side plate 2 1072；Forward sight camera 507 is mounted on forward sight lens supporting structure 508,
Forward sight lens supporting structure 508 is mounted in crawler belt mobile mechanism 1, specifically, forward sight lens supporting structure 508 is mounted on crawler belt
Between the crawler belt side plate 1 and crawler belt side plate 2 1072 of mobile mechanism 1；Side view camera 503 is solid mounted on side view camera
Determine on frame 504, side view lens supporting structure 504 is mounted in crawler belt mobile mechanism 1, and side view lens supporting structure 504 is mounted on
On crawler belt side plate 1；Camera 505 is looked up mounted on looking up on lens supporting structure 506, looks up lens supporting structure 506
On robot holder 2, as shown in figure 4, looking up lens supporting structure 506 on main support arm 1.
Control cabinet 4 is connected to main support arm 1 and main support arm two by two identical control cabinet connectors 401
2012, detection case 6 is installed on control cabinet 4, has battery, circuit board, control cabinet 4 to play adjusting robot inside control cabinet 4
The effect of center of gravity can conveniently adjust robot center of gravity by the link position of control cabinet connector 401 and main support arm, avoid machine
Lateral deviation during device people climbing.
For detecting strain insulator twin insulator strings, the strain insulator string detection machine of the utility model manually makees process
It is as follows：
Surface personnel fastens transmission rope on robot hanging ring 9, and robot is lifted on iron tower of power transmission line, high
Empty staff, which removes, to be penetrated the hanging ring 9 of robot after robot with insulating bar front end hook and provokes robot, by robot
Detection probe 705 is swung out, and the notch that a width is more than sub-pieces diameter is formed on the left of robot at this time, then by machine
Device people is put into from 10 upper right lower left of insulator chain on insulator chain.Since the robot center of gravity is in lower section control cabinet 4
It sets, has the ability of automatic deviation correction after so that the robot is installed, will not deflect, fall.
Under the drive of motor 106, driving wheel 102 rotates, and drives crawler belt 101 to rotate, due to crawler belt 101 and insulator chain
10 direct frictions contact, and robot can walk forward, and guiding mechanism one and guiding mechanism two can guide machine in walking process
People's direction of travel ensures the 10 direction walking of Robot insulator chain.
It walks forward when robot and arrives test position, alignment sensor 801 can detect signal to machine human hair, and robot is received
Stop walking after to signal, while steering engine 702 rotates, swing arm 704 and detection probe 705 is driven to be put to insulator chain 1
Dynamic, after detection probe 705 contacts sub-pieces steel cap 1, detection case 6 sends out detection signal and is examined to the sub-pieces
It surveys.702 negative direction of steering engine rotates after detection, and swing arm 704 and detection probe 705 is driven to be swung to insulator chain 2 1003,
After detection probe 705 contacts sub-pieces steel cap 2 1004, detection case 6 sends out detection signal and is detected to the sub-pieces.
Detection probe 705 swings back original state after detection, i.e. state shown in solid in Fig. 1.Robot has detected left and right two panels
Continue to walk forward after insulator, until next test position is arrived in walking, alignment sensor 801 sends detection letter to robot
Number.
Such process detects insulator piecewise, and after bunch of insulator detects, robot returns.In return course
Insulator chain need not be detected.
After robot returns to initial place, working at height personnel are chosen with insulating bar on robot hanging ring 9, by robot
It fetches, power off.It is fastened on hanging ring with transmission rope, robot is put back into ground.
In the entire detection process of robot, the four-way CCD camera being arranged in robot can observe the shape of sub-pieces
State, such as pollution level, corrosion, coating aging degree, flashover electric discharge.Pass through forward sight camera 507 and rearview camera 501
The position of observer robot opposing insulation substring stops walking, prevents robot at robot ambulation to insulator chain both ends
It falls.
It is above-mentioned although specific embodiments of the present invention are described with reference to the accompanying drawings, but not to this practicality newly
The limitation of type protection domain, those skilled in the art should understand that, based on the technical solution of the present invention, ability
Field technique personnel need not make the creative labor the various modifications or changes that can be made still in the protection model of the utility model
Within enclosing.
Claims (10)
1. a kind of strain insulator string detects robot, including crawler belt mobile mechanism, robot holder, guiding mechanism, control cabinet,
Insulator appearance video detection system, detection case, probe swing mechanism and locating module, characterized in that the robot holder
It is connected with the crawler belt mobile mechanism；The probe swing mechanism is connected to the robot holder；The guiding mechanism with
The robot holder is connected；The arc-shaped hook solid of robot holder, and the control cabinet is located at the robot branch
The end tail portion of frame.
2. strain insulator string as described in claim 1 detects robot, characterized in that the robot holder is by main support
It is constituted with auxiliary stand；Wherein, the main support includes main support arm one, main support arm two, main support arm fixed frame one, main support arm fixed frame
Two, and the main support is fixed on by the main support arm one, main support arm two on crawler belt mobile mechanism side；The auxiliary branch
Frame include auxiliary support arm one, auxiliary support arm two, auxiliary support arm fixed frame one, auxiliary support arm fixed frame two, and the auxiliary stand pass through it is described auxiliary
Support arm one, auxiliary support arm two are fixed on the crawler belt mobile mechanism other side.
3. strain insulator string as described in claim 1 detects robot, characterized in that the crawler belt mobile mechanism includes carrying out
Band, driving wheel, driven wheel, carrying roller, tensioning wheel, motor and crawler belt side plate are constituted；Wherein, the crawler belt side plate has crawler belt side
Plate one and crawler belt side plate two；The driving wheel, driven wheel, carrying roller and tensioning wheel are arranged at the crawler belt, crawler belt side plate one
In the cavity surrounded with crawler belt side plate two, the carrying roller is located at the lower section of the axial plane of the driving wheel and driven wheel,
The tensioning wheel is located at the top of the axial plane of the driving wheel and driven wheel；The motor is arranged in the crawler belt side plate one
On the outside of the cavity surrounded with crawler belt side plate two；The driving wheel is installed on the output shaft of the motor.
4. strain insulator string as claimed in claim 3 detects robot, characterized in that in the crawler belt side plate one and crawler belt
Tensioning wheel fixed seat is provided between side plate two, the tensioning wheel is mounted on tension pulley support, and the tension pulley support can edge
The groove of the tensioning wheel fixed seat moves up and down to adjust the elasticity of the crawler belt.
5. strain insulator string as described in claim 1 detects robot, characterized in that the guiding mechanism includes to be oriented to
Bar, guide sleeve, telescopic block and spring；The spring pocket on the outside of the telescopic block, in the guide sleeve back and forth slide by the telescopic block
It is dynamic；The guide rod is horizontally installed on the robot holder by the guide sleeve and is located inside.
6. strain insulator string as described in claim 1 detects robot, characterized in that the probe swing mechanism includes rudder
Machine, steering engine fixing piece, swing arm fixing piece, swing arm and detection probe；Swing arm fixing piece is fixed in the swing arm, and the swing arm is fixed
Part is mounted on the output shaft of the steering engine；The detection probe is mounted in the swing arm, is carried out with the swing of the swing arm
Action；The steering engine is connected to by the steering engine fixing piece on the robot holder.
7. strain insulator string as described in claim 1 detects robot, characterized in that the insulator appearance video detection
System includes rearview camera, rear-camera head frame, side view camera, side view lens supporting structure, looks up camera, faces upward
Depending on lens supporting structure, forward sight camera and forward sight lens supporting structure；The rearview camera is solid mounted on rearview camera
Determine on frame, the rear-camera head frame is mounted in the crawler belt mobile mechanism；The forward sight camera is mounted on forward sight
On lens supporting structure, the forward sight lens supporting structure is mounted in the crawler belt mobile mechanism；The side view camera peace
On side view lens supporting structure, the side view lens supporting structure is mounted in the crawler belt mobile mechanism；It is described to look up
Camera is mounted on and looks up on lens supporting structure, and the lens supporting structure of looking up is on the robot holder.
8. strain insulator string as described in claim 1 detects robot, characterized in that the locating module includes positioning
Sensor and sensor stand；The alignment sensor is installed on sensor stand, and the sensor stand is installed on described
In crawler belt mobile mechanism；The sensor stand adjusts angle of inclination by installing screw.
9. strain insulator string as described in claim 1 detects robot, characterized in that the control cabinet is internally provided with electricity
Pond and circuit board；The detection case is mounted on the control cabinet.
10. as claim 1-9 any one of them strain insulator strings detect robot, characterized in that the robot branch
It is provided with hanging ring above frame, the hanging ring is installed on hanging ring fixed block, and the hanging ring is for insulator above and below lifting machine people
String.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820333540.5U CN207931529U (en) | 2018-03-12 | 2018-03-12 | a kind of strain insulator string detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820333540.5U CN207931529U (en) | 2018-03-12 | 2018-03-12 | a kind of strain insulator string detection robot |
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| Publication Number | Publication Date |
|---|---|
| CN207931529U true CN207931529U (en) | 2018-10-02 |
Family
ID=63654196
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820333540.5U Active CN207931529U (en) | 2018-03-12 | 2018-03-12 | a kind of strain insulator string detection robot |
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| Country | Link |
|---|---|
| CN (1) | CN207931529U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110618358A (en) * | 2019-09-24 | 2019-12-27 | 国网山东省电力公司电力科学研究院 | Flying on-line and off-line insulator string detection robot system, platform and method |
| CN110979501A (en) * | 2019-12-19 | 2020-04-10 | 安徽工业大学 | Insulator detection robot |
| CN110988611A (en) * | 2019-11-07 | 2020-04-10 | 广西电网有限责任公司电力科学研究院 | A crawler-type insulator inspection robot that can be opened and closed |
| CN113156286A (en) * | 2021-04-28 | 2021-07-23 | 尖端智能科技(山东)有限公司 | Adjustable enclasping device of strain insulator string detection robot |
| CN113872100A (en) * | 2021-09-13 | 2021-12-31 | 国家电网有限公司 | Unmanned aerial vehicle zero detection device for ultra-high voltage transmission line tension tower porcelain insulator |
| CN114089133A (en) * | 2021-11-18 | 2022-02-25 | 国网江苏省电力有限公司扬州供电分公司 | A robot end tool for live detection of horizontal single tension insulator strings |
| CN115158498A (en) * | 2022-07-01 | 2022-10-11 | 南京中泓智电电气有限公司 | High-voltage insulator detection robot and detection method |
| CN119125318A (en) * | 2024-11-13 | 2024-12-13 | 浙江三元龙兴科技股份有限公司 | A method for detecting a three-way catalytic converter housing |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110618358A (en) * | 2019-09-24 | 2019-12-27 | 国网山东省电力公司电力科学研究院 | Flying on-line and off-line insulator string detection robot system, platform and method |
| CN110618358B (en) * | 2019-09-24 | 2022-03-18 | 国网智能科技股份有限公司 | Flying on-line and off-line insulator string detection robot system, platform and method |
| CN110988611A (en) * | 2019-11-07 | 2020-04-10 | 广西电网有限责任公司电力科学研究院 | A crawler-type insulator inspection robot that can be opened and closed |
| CN110979501A (en) * | 2019-12-19 | 2020-04-10 | 安徽工业大学 | Insulator detection robot |
| CN113156286A (en) * | 2021-04-28 | 2021-07-23 | 尖端智能科技(山东)有限公司 | Adjustable enclasping device of strain insulator string detection robot |
| CN113872100A (en) * | 2021-09-13 | 2021-12-31 | 国家电网有限公司 | Unmanned aerial vehicle zero detection device for ultra-high voltage transmission line tension tower porcelain insulator |
| CN114089133A (en) * | 2021-11-18 | 2022-02-25 | 国网江苏省电力有限公司扬州供电分公司 | A robot end tool for live detection of horizontal single tension insulator strings |
| CN114089133B (en) * | 2021-11-18 | 2024-12-03 | 国网江苏省电力有限公司扬州供电分公司 | A robot end tool for live inspection of horizontal single-unit tension insulator strings |
| CN115158498A (en) * | 2022-07-01 | 2022-10-11 | 南京中泓智电电气有限公司 | High-voltage insulator detection robot and detection method |
| CN115158498B (en) * | 2022-07-01 | 2024-05-17 | 南京中鑫智电科技有限公司 | High-voltage insulator detection robot and detection method |
| CN119125318A (en) * | 2024-11-13 | 2024-12-13 | 浙江三元龙兴科技股份有限公司 | A method for detecting a three-way catalytic converter housing |
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