CN102621425B - Electrified detection robot for horizontal insulator string - Google Patents
Electrified detection robot for horizontal insulator string Download PDFInfo
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- CN102621425B CN102621425B CN201210092798.8A CN201210092798A CN102621425B CN 102621425 B CN102621425 B CN 102621425B CN 201210092798 A CN201210092798 A CN 201210092798A CN 102621425 B CN102621425 B CN 102621425B
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Abstract
The invention discloses an electrified detection robot for a horizontal insulator string. The electrified detection robot comprises a plurality of crawler wheels, a plurality of rotating enclasping mechanisms, at least one insulator electrified detector and a plurality of anti-dropping protecting mechanisms, wherein the crawler wheels, the insulator electrified detector and the anti-dropping protecting mechanisms are arranged on the rotating enclasping mechanisms. The crawler wheels and the rotating enclasping mechanisms are connected into a whole and are uniformly encircled for 120 degrees on the periphery of the insulators when the robot is operated. The electrified detection robot is compact in structure, is stable to creep and causes less abrasion on the insulators, at most three pieces of insulators are short-circuited, safety and reliability in running are realized, and the robot can be electrified for detection along a horizontal single string of insulators.
Description
Technical field
The present invention relates to a kind of mobile machine that detects, especially a kind of testing that can be used to high-tension line horizontal insulator, detects robot with the horizontal insulator string live-wire that replaces manual work.
Background technology
The insulator of ultra-high-tension power transmission line is for transmission pressure and the steel tower equipment being connected that insulate.On ultra-high-tension power transmission line, its long-term work is in the common complicated rugged surroundings that form such as highfield, mechanical stress, filth and humiture, and the aging probability that breaks down is very large; When the deteriorated of insulator develops into a certain degree, or run into the external actions such as Lightning Over-voltage, impulse overvoltage, pollution flashover, the phenomenons such as easy generation ebb-flow discharge, head insulation puncture, likely develop into the faults such as porcelain patticoat bursts, steel cap explodes, steel pin blows, even develop into disconnected string, the accident that goes offline, power grid security is constituted a serious threat.
In order to realize online detection poor insulator, people have adopted many methods, and wherein the conventional spark that has is pitched method, photoelectric method, static probe method, self-propelled poor insulator resistance detection method etc.But, all require in use operating personnel to climb up shaft tower according to the device of these method developments, detect one by one insulators all on tower, on it, string labour intensity is very large.
Chinese patent ZL200820232350.0 discloses a kind of insulator detecting robot, comprise the first Athey wheel, casing, the second Athey wheel, displacement telescoping mechanism and probe driving mechanism, displacement telescoping mechanism is installed on casing, first and second Athey wheel is positioned at casing both sides, is hinged with displacement telescoping mechanism respectively, is connected with respectively first and second stroke sensor on first and second Athey wheel; The below of casing is provided with probe driving mechanism.Comprehensive analysis, this patent mainly contains following shortcoming: cannot detect single string level insulation substring.This patent adopts displacement telescoping mechanism that can telescopic variation, can adapt to the change of distance of duplex horizontal insulator substring, but, in transmission line of electricity, 220kV and following electric pressure have major part for single string level insulation substring, it can only be walked along the two insulator string serials of level, cannot complete single insulator string string is detected.
Chinese patent ZL201120069946.5 discloses the insulator checkout equipment of a kind of high pressure and extra high voltage network, comprise symmetrically arranged two ring supports, on two ring supports, be respectively arranged with climbing mechanism, between two climbing mechanisms, connect by web joint; Climbing mechanism comprises symmetrically arranged two guide rails, on two guide rails, card base mechanism is set respectively; Card base mechanism comprises carriage and pendulous device, and carriage comprises the card base slide block being slidably arranged on guide rail, and pendulous device comprises rocking key cover, and rocking key cover is connected on card base slide block by bearing; Rocking key cover is set on rocking key axle, and rocking key puts and is installed with card base; Card base slide block is connected with active drive step-servo motor, and rocking key axle is connected with card base wobble drive servo control mechanism.Comprehensive analysis, this patent mainly contains following shortcoming: 1) cannot detect transmission line of electricity level insulation substring.This patent, mainly for the high pressure also detection of vertically disposed insulator in pairs, cannot be applied to the testing of transmission line of electricity level insulation substring, particularly level list insulator string string.2) translational speed is slow, and detection efficiency is lower.The walking manner of this patent mainly adopts the claw in travel mechanism to block the outer of each insulator bottle, alternately moves up, and this travel mechanism is in testing process, and mobile slower, detection time is longer, inefficiency.
Chinese patent application 01102273.6 discloses a kind of high-voltage transmission line insulator live intelligent monitor, it includes the ring support that can be set in insulator body periphery, on the body of ring support, being provided with can be along insulator bottle along the climbing mechanism of creeping, detection probe is arranged on ring support or climbing mechanism, its control circuit output connects the control end of controlling climbing mechanism, probe, input connects the output terminal of probe, the detection action of control circuit control climbing mechanism, probe, and the output signal of receiving transducer.Comprehensive analysis, this patent mainly contains following shortcoming: 1) detection efficiency is lower.This patent is blocked insulator edge by the claw being set on parallel guidepost, and claw is divided into two-layer up and down, alternately moves up, and detection time is longer, inefficiency.2) being difficult for upper string installs.The ring support match-place fastening that this invention mainly contains more than three joints forms, and needs staff to install for the size fit of insulator before installation, wastes time and energy.3) can not be for crawler belt provides lasting tensile force, adaptability is less.The clamping force of crawler belt and insulator comes from a lot of springs on crawler belt flexible supporting frames, but robot is being held tightly after insulator, if insulator sizes is slightly large, amount of spring compression is larger, can cause crawler belt loose, do not have the tension to crawler belt, the power transmission of motor is impacted.
Summary of the invention
The object of the invention is for overcoming above-mentioned the deficiencies in the prior art, provide a kind of horizontal insulator string live-wire to detect robot, its compact conformation, creep steadily, little to insulator wearing and tearing, 3 insulators of short circuit at most, safe and reliable to operation, can be along level list insulator string string band electro-detection, detection efficiency is higher, and can adapt to duplex horizontal insulator substring and single string level insulation substring.
For achieving the above object, the present invention adopts following technical proposals:
A kind of horizontal insulator string live-wire detects robot; comprise some Athey wheels, some rotation hold-fast bodies, at least one insulator charged detection instrument and some Anti-fall protection mechanisms, described Athey wheel, insulator charged detection instrument and Anti-fall protection mechanism are all arranged on rotation hold-fast body.
The longitudinal length of described Athey wheel is greater than two and be less than the axial length of three insulator chains.
Described Athey wheel comprises crawler belt, drive motor, driving wheel, several bearings up pulley, two yoke plates, some support columns, transmission shaft and engaged wheels, between described two parallel yoke plates, connect by some support columns, every two are provided with an expansion tightening wheel between supporting, expansion tightening wheel is enclosed within on transmission shaft, transmission shaft two ends are arranged on two yoke plates, two ends between two yoke plates are respectively arranged with driving wheel and engaged wheel, described driving wheel and driven on be wound with crawler belt; The outside of a described yoke plate is provided with the drive motor being connected with driving wheel.
Described each rotation hold-fast body includes direct current generator, bearing seat, turning axle, spill spin block and connecting corner, the lower end of described turning axle is connected with the output shaft of direct current generator, on the top and bottom of described turning axle, cover has a bearing respectively, the outer ring of bearing is fixed on bearing seat, is fixedly connected with a short connection bracket on bearing seat; On turning axle between described diaxon bearing, be fixedly connected with two spill spin blocks that be arranged in parallel, on two spill spin blocks, be fixed with respectively a long connection bracket; The end of described short connection bracket and long connection bracket is equipped with the connecting corner of connecting band track wheel.
Described direct current generator is fixed on the bearing seat of turning axle lower end.
Described two short connection brackets be arranged in parallel.
Described two long connection brackets be arranged in parallel.
Described each Anti-fall protection mechanism includes a connecting rod, two fixed blocks, a latch segment and some fast locking plugs, described two fixed blocks are arranged in the long connection bracket on turning axle top, and described latch segment is fixed in the short connection bracket on turning axle top; Described connecting rod one end and one of them fixed block are hinged, and the other end is hinged by fast locking plug and latch segment.
On described connecting rod, have U-shaped groove with latch segment hinged end and middle part.
Described insulator charged detection instrument structure used adopts structure described in Chinese granted patent ZL200510063334.4 patent.
The present invention includes three Athey wheels, rotation hold-fast body, insulator charged detection instrument and Anti-fall protection mechanism; The left and right sides and middle Athey wheel link into an integrated entity by rotation hold-fast body, and become 120 degree evenly to encircle around insulator while moving in robot; On rotation hold-fast body, Anti-fall protection mechanism is installed;
Principle of work of the present invention:
In the present invention before string work, first robot body to be opened, sending controling instruction is to the direct current generator driven rotary axle forward on the two cover rotation hold-fast bodies of left and right, thereby drive the spill spin block being fixed on turning axle to rotate around bearing seat, spill spin block, connection bracket and Athey wheel connect as a whole by connecting corner, above-mentioned module is all rotated along with turning axle, thereby the Athey wheel of robot both sides becomes open mode.In addition, guarantee that Anti-fall protection mechanism is in open mode, fast locking plug is connected connecting rod with middle fixed block.
While string in robot, be lifted on insulating cord on the turning axle of both sides, Athey wheel in the middle of making is close to the upper surface of insulator chain, now, sending controling instruction reverses to the direct current generator of the left and right sides simultaneously again, thereby drive the connection bracket of both sides and Athey wheel to rotate, press close to gradually insulator chain, in the time that direct current generator reaches the output torque value of setting, to no longer rotate, now the Athey wheel of both sides has been held insulator chain tightly, simultaneously, increase the pressure between crawler belt and insulator chain, thereby increased friction force between the two.
When robot is held tightly after insulator chain; in order to prevent that power down etc. occurs in operational process causes robot to fall fortuitous event; the Anti-fall protection mechanism of both sides need to be closed; fast locking plug is manually extracted from middle fixed block; it is inserted in the U-shaped groove of connecting rod and the pin-and-hole of latch segment simultaneously; the opening angle of Anti-fall protection mechanism restriction robot both sides Athey wheel, makes its maximum scope of opening be less than the diameter of insulator chain like this, prevents that it from falling from insulator chain.
Drive motor work, drives coupled driving wheel rotation, and driving wheel rotates engaged wheel and stretching pulley by crawler belt, and robot relies on the crawler belt being close on insulator chain to walk forward.Wherein, be fixed on insulator charged detection instrument the advancing along with robot in connection bracket, gather insulator chain electric field intensity around, when row gathers after complete insulator string string, insulator charged detection instrument 5 forms an electric field intensity curve automatically, can judge that according to curve whether insulator chain is intact.
The invention has the beneficial effects as follows, the present invention is owing to adopting said structure, and three Athey wheels are evenly encircled in insulator chain, adopt crawler type mechanism, motion continuity is good, smooth running, ensure that charged detector can collect data and curves comparatively accurately, and less to insulator surface wearing and tearing; Safe, when robot walks on insulator chain, Anti-fall protection mechanism makes three Athey wheels and the laminating of insulator chain surface, is unlikely to depart from insulator chain in robot while operation; Due to insulator chain surface smoother, except robot self gravitation, rotation hold-fast body provides lasting enclasping force for robot, thereby has increased the snap-in force on crawler belt and insulator chain surface, is more conducive to the operation of robot; Robot manipulation is simple, and short circuit insulator sheet number is few, and 3 insulator chains of short circuit, meet electric operating rule at most; The testing of High-Voltage Insulation substring has been become to the robot manipulating task that the person is safe from harm from artificial work high above the ground.
Brief description of the drawings
Fig. 1 is perspective view of the present invention;
Fig. 2 is the structural representation of Athey wheel of the present invention;
Fig. 3 is the structural representation that the present invention rotates hold-fast body and Anti-fall protection mechanism;
Wherein: 1 is Athey wheel, 2 is insulator chain, and 3 is rotation hold-fast body, and 4 is Anti-fall protection mechanism; 5 is insulator charged detection instrument, and 6 is yoke plate, and 7 is crawler belt, and 8 is engaged wheel; 9 is stretching pulley, and 10 is transmission shaft, and 11 is support column, and 12 is drive motor; 13 is driving wheel, and 14 is connecting corner, and 15 is connection bracket, and 16 is fixed block; 17 is connecting rod, and 18 is fast locking plug, and 19 is latch segment, and 20 is bearing seat; 21 is spill spin block, and 22 is turning axle, and 23 is direct current generator.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further described.
The present invention moves on level insulation substring, as shown in Figure 1, comprises Athey wheel 1, rotation hold-fast body 3, Anti-fall protection mechanism 4 and insulator charged detection instrument 5; Insulator charged detection instrument 5 is fixed on rotation hold-fast body 3; Three Athey wheels 1 are evenly distributed on insulator chain 2, and two rotation hold-fast bodies 3 are connected and fixed three Athey wheels 1; On rotation hold-fast body 3, Anti-fall protection mechanism 4 is installed.
As shown in Figure 1, 2, Athey wheel has 3, and structure is identical, be fixed on respectively the two ends of rotation hold-fast body 3, form robot body, while operation in robot, can be evenly distributed on around insulator chain 2, its structure comprises yoke plate 6, crawler belt 7, engaged wheel 8, stretching pulley 9, transmission shaft 10, support column 11, drive motor 12, driving wheel 13; Wherein, Athey wheel 1 forms main skeleton by two yoke plates 6 of the left and right sides, and drive motor 12 is fixed on the yoke plate of right side, and its motor output shaft is connected with driving wheel 13; Multiple support columns 11 are installed between left and right sides yoke plate 6; Driving wheel 13 and engaged wheel 8 lay respectively at the rear and front end of Athey wheel 1; Multiple stretching pulleys 9 are arranged between left and right sides yoke plate 6 by transmission shaft 10, and are connected with engaged wheel 8 with driving wheel 13 by crawler belt 7, form transmission.The longitudinal length of Athey wheel 1 is greater than two and be less than the axial length of three insulator chains 2, when ensureing robot ambulation steadily and security;
As shown in Figure 1,3, rotation hold-fast body 3 and Anti-fall protection mechanism 4 have respectively two covers, and physical construction is identical, and the two ends of rotation hold-fast body 3 are installed with respectively Athey wheel 1, and Anti-fall protection mechanism 4 is fixed on rotation hold-fast body 3; Rotation hold-fast body comprises connecting corner 14, connection bracket 15, bearing seat 20, spill spin block 21, turning axle 22, direct current generator 23, and wherein, connection bracket 15, bearing seat 20, spill spin block 21 are divided into two-layer up and down; Multiple connecting corners 14 are fixed on one end of connection bracket 15, are connected with Athey wheel 1, and the other end of connection bracket 15 is fixed on bearing seat 20 or spill spin block 21; Turning axle 22 two ends are respectively connected with upper and lower two bearing seats 20, and direct current generator 23 is fixed on lower side shaft holder 20, and its output shaft is connected with turning axle 22; Spill spin block 21 is anchored on turning axle 22.
Wherein, Anti-fall protection mechanism 4 comprises two fixed blocks 16, connecting rod 17, fast locking plug 18, latch segment 19; Fixed block 16 and latch segment 19 are anchored in connection bracket 15, and one end of connecting rod 17 and one of them fixed block 16 are hinged, and the other end is hinged with latch segment 19 by fast locking plug 18; Connecting rod 17 centres and end have U-shaped groove, in the time of robot work operation, fast locking plug 18 is inserted in the U-shaped groove of end and the pin-and-hole of latch segment 19 of connecting rod 17, in the time going here and there under robot, open fast locking plug 18, and be inserted in the pin-and-hole of the middle U-shaped groove of connecting rod 17 and fixed block.
Described insulator charged detection instrument structure used adopts structure described in Chinese granted patent ZL200510063334.4 patent.
Principle of work of the present invention:
In the present invention before string work, first robot body to be opened, sending controling instruction is to direct current generator 23 driven rotary axle 22 forwards on the two cover rotation hold-fast bodies 3 of left and right, thereby drive the spill spin block 21 being fixed on turning axle 22 to rotate around bearing seat 20, spill spin block 21, connection bracket 15 and Athey wheel 1 connect as a whole by connecting corner 14, above-mentioned module is all rotated along with turning axle 22, thus 1 one-tenth open mode of the Athey wheel of robot both sides.In addition, guarantee that Anti-fall protection mechanism 4 is in open mode, fast locking plug 18 is connected connecting rod 17 with middle fixed block.
While string in robot, be lifted on insulating cord on the turning axle 22 of both sides, Athey wheel in the middle of making is close to the upper surface of insulator chain, now, then sending controling instruction reverses to the direct current generator 23 of the left and right sides simultaneously, thereby drives connection bracket 15 and the Athey wheel 1 of both sides to rotate, press close to gradually insulator chain, in the time that direct current generator 23 reaches the output torque value of setting, will no longer rotate, now the Athey wheel 1 of both sides has been held insulator chain tightly.
When robot is held tightly after insulator chain; in order to prevent that power down etc. occurs in operational process causes robot to fall fortuitous event; the Anti-fall protection mechanism 4 of both sides need to be closed; fast locking plug 18 is manually extracted from middle fixed block; it is inserted in the U-shaped groove of connecting rod 17 and the pin-and-hole of latch segment 19 simultaneously; Anti-fall protection mechanism 4 limits the opening angle of robot both sides Athey wheel 1 like this, makes its maximum scope of opening be less than the diameter of insulator chain, prevents that it from falling from insulator chain.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendments that creative work can make or distortion still in protection scope of the present invention.
Claims (5)
1. a horizontal insulator string live-wire detects robot, it is characterized in that, comprise some Athey wheels, some rotation hold-fast bodies, at least one insulator charged detection instrument and some Anti-fall protection mechanisms, described Athey wheel, insulator charged detection instrument and Anti-fall protection mechanism are all arranged on rotation hold-fast body;
The longitudinal length of described Athey wheel is greater than two and be less than the axial length of three insulator chains;
Described Athey wheel comprises crawler belt, drive motor, driving wheel, several bearings up pulley, two yoke plates, some support columns, transmission shaft and engaged wheels, between described two parallel yoke plates, connect by some support columns, every two are provided with a stretching pulley between supporting, stretching pulley is enclosed within on transmission shaft, transmission shaft two ends are arranged on two yoke plates, two ends between two yoke plates are respectively arranged with driving wheel and engaged wheel, described driving wheel and driven on be wound with crawler belt; The outside of a described yoke plate is provided with the drive motor being connected with driving wheel;
Described each rotation hold-fast body includes direct current generator, bearing seat, turning axle, spill spin block and connecting corner, the lower end of described turning axle is connected with the output shaft of direct current generator, on the top and bottom of described turning axle, cover has a bearing respectively, the outer ring of bearing is fixed on bearing seat, is fixedly connected with a short connection bracket on bearing seat; On turning axle between described diaxon bearing, be fixedly connected with two spill spin blocks that be arranged in parallel, on two spill spin blocks, be fixed with respectively a long connection bracket; The end of described short connection bracket and long connection bracket is equipped with the connecting corner of connecting band track wheel;
Described each Anti-fall protection mechanism includes a connecting rod, two fixed blocks, a latch segment and some fast locking plugs, described two fixed blocks are arranged in the long connection bracket on turning axle top, and described latch segment is fixed in the short connection bracket on turning axle top; Described connecting rod one end and one of them fixed block are hinged, and the other end is hinged by fast locking plug and latch segment.
2. horizontal insulator string live-wire as claimed in claim 1 detects robot, it is characterized in that, described direct current generator is fixed on the bearing seat of turning axle lower end.
3. horizontal insulator string live-wire as claimed in claim 1 detects robot, it is characterized in that, described two short connection brackets be arranged in parallel.
4. horizontal insulator string live-wire as claimed in claim 1 detects robot, it is characterized in that, described two long connection brackets be arranged in parallel.
5. horizontal insulator string live-wire as claimed in claim 1 detects robot, it is characterized in that, on described connecting rod, has U-shaped groove with latch segment hinged end and middle part.
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| CN201210092798.8A CN102621425B (en) | 2012-03-31 | 2012-03-31 | Electrified detection robot for horizontal insulator string |
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| CN201210092798.8A CN102621425B (en) | 2012-03-31 | 2012-03-31 | Electrified detection robot for horizontal insulator string |
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| CN102621425B true CN102621425B (en) | 2014-06-18 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103091579B (en) * | 2013-01-11 | 2015-04-29 | 山东鲁能智能技术有限公司 | Insulator chain intelligent detection robotic system |
| CN103158154B (en) * | 2013-03-29 | 2014-11-05 | 山东鲁能智能技术有限公司 | Insulator string intelligent detection robot system and control method thereof |
| CN104198849B (en) * | 2014-08-22 | 2017-02-15 | 国家电网公司 | Horizontal single-connection insulator string detection robot system |
| CN104198848B (en) * | 2014-08-22 | 2017-08-25 | 国家电网公司 | A kind of improved horizontal simply connected insulator chain detection robot |
| CN105738718B (en) * | 2014-12-09 | 2018-09-21 | 国家电网公司 | A kind of Intelligent insulation detection robot |
| CN105259078B (en) * | 2015-11-02 | 2017-12-12 | 国网山东省电力公司电力科学研究院 | A kind of composite insulator detecting system |
| CN106602461B (en) * | 2016-12-05 | 2018-06-26 | 东北大学 | Convertible Bian Bao mobile mechanisms |
| CN113189524B (en) * | 2021-04-30 | 2023-01-24 | 国家电网有限公司 | Cable detection device capable of live working |
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| CN2463839Y (en) * | 2001-01-20 | 2001-12-05 | 北京华中港科贸有限公司 | Charged intelligent detector for high tension transmission line insulator |
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Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co., Ltd. Address before: 250101 B, block 1-202, Qilu Software Park, Ji'nan hi tech Zone, Shandong Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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