CN102621426A - Detection robot for suspension porcelain insulator string - Google Patents
Detection robot for suspension porcelain insulator string Download PDFInfo
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- CN102621426A CN102621426A CN2012100930251A CN201210093025A CN102621426A CN 102621426 A CN102621426 A CN 102621426A CN 2012100930251 A CN2012100930251 A CN 2012100930251A CN 201210093025 A CN201210093025 A CN 201210093025A CN 102621426 A CN102621426 A CN 102621426A
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Abstract
The invention discloses a detection robot for a suspension porcelain insulator string. The detection robot comprises a clamping mechanism, a lifting mechanism and a detecting mechanism, wherein the clamping mechanism comprises an upper clamping mechanism and a lower clamping mechanism, the lifting mechanism is arranged between the upper and the lower clamping mechanisms, and the detecting mechanism comprises a probe drive device which is arranged on the upper clamping mechanism and a detector triggering device which is arranged on the lower clamping mechanism; the upper and lower clamping mechanisms are respectively provided with a flexible insulation paw which is matched with the outer edge of an insulator shed; the clamping mechanism, the lifting mechanism and the detecting mechanism are connected with the controller respectively through a circuit. The robot is designed by adequately utilizing appearance characteristics of the suspension porcelain insulator string, and the clamping paws are respectively made of rubber materials, so that abrasion on the insulator is small, and short-circuited insulators are fewer; the robot has good safety and a good protective value and the insulators are simple to string, the movement speed is stable, accuracy in detection is realized, and the robot system can move along the direction of the suspension porcelain insulator string and can be electrified for detection.
Description
Technical field
The present invention relates to a kind of mobile detection machine people, especially a kind of porcelain insulator string detection machine people of dangling.
Background technology
Development along with power industry; A large amount of insulators is used in the power transmission and transformation system; Insulator is to be used for the insulator arrangement that lead is connected with iron tower on the aerial high-voltage power transmission line; The direct threats that exists of deterioration insulator the safe operation of electric system, so the prevention of deterioration insulator is detected for guaranteeing that the ultra-high-tension power transmission line safe operation is significant.Traditional porcelain insulator string detection mode is that the tower height idle job is stepped in manual work; But raising along with electric pressure; Insulator chain length constantly increases; Therefore the difficulty of manual detection operation is also increasing, and developing a kind ofly can become the effective way of the insulator charged detection of present solution extra high voltage network along the porcelain insulator string insulator charged detection machine people of walking automatically.The use-pattern of insulator chain mainly contains two kinds in the extra high voltage network: the horizontal mode and the mode of dangling, and the domestic present convenient and reliable suitable type of also not developing of the automatic travel mechanism that the porcelain insulator string that dangles detects.
In use still there are a lot of problems in existing insulator testing agency, considers fully inadequately, and for example in testing process, the antifouling flush paint that scribbles on the insulator porcelain patticoat can detect in the walking process by scratch, wearing and tearing in existing insulator testing agency; Distance and electric potential difference between insulator chain and the iron tower are bigger, on go here and there detection difficult; Conductor along the insulator chain direction causes the direct of insulator or induction short circuit easily, and the security of hot line job is reduced; It is slow that the porcelain insulator string that dangles detects operating speed, can't popularize hot line job.In a word, up to the present effective, the practical charged detection machine people of porcelain insulator string of dangling is not appearring as yet in the art.
Chinese patent ZL200820232350.0 discloses a kind of insulator detecting robot; Comprise first Athey wheel, casing, second Athey wheel, displacement telescoping mechanism and probe driving mechanism; The displacement telescoping mechanism is installed on the casing; First and second Athey wheel is positioned at the casing both sides, is hinged with the displacement telescoping mechanism respectively, is connected with first and second stroke sensor on first and second Athey wheel respectively; The below of casing is provided with the probe driving mechanism.Through analyzing this patent, its said insulator detecting robot only is adapted to the detection of horizontal twin insulator strings, the detection of the inapplicable simply connected insulator chain that dangles.
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; Be respectively arranged with climbing mechanism on two ring supports, connect through web joint between two climbing mechanisms; 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 that is slidingly arranged on the guide rail, and pendulous device comprises the rocking key cover, and the rocking key cover is connected on the card base slide block through bearing; The rocking key cover is set on the rocking key axle, and rocking key puts and is installed with card base; The card base slide block is connected with the active drive step-servo motor, and the rocking key axle is connected with card base wobble drive servo control mechanism.Through analyzing this patent, its said checkout equipment is specially adapted to the dangle detection of twin insulator strings of high pressure and UHV (ultra-high voltage), but inapplicable to the detection of the simply connected insulator chain that dangles.
One Chinese patent application 01102273.6 discloses a kind of high-voltage transmission line insulator live intelligent detector apparatus; It includes the ring support that can be set in the insulator body periphery; The body of ring support is provided with can be along the insulator bottle along the climbing mechanism of creeping; Detection probe is arranged on ring support or the climbing mechanism, and its control circuit output connects the control end of control climbing mechanism, probe, and input connects the output terminal of probe; The detection action of control circuit control climbing mechanism, probe, and the output signal of receiving transducer.Find that after analyzing the said detector of this patent the ring support of this detector is to piece together being fastened and connected more than three joints, increased the work difficulty that the high-altitude application personnel install the insulator chain fit; This patent adopts two top and bottom that the same axis swing in claw edge blocks insulator sheet cluster parachute up and down; Claw locating piece surface of contact is the plane, can be known by general knowledge, and insulator outside surface upper surface all is a cambered surface; Then the claw locating piece is equivalent to line with the surface of contact of insulator and contacts; Even locating piece is the elastic body insulator outside surface of can not well fitting, contact area is little, makes chucking insecure.
Summary of the invention
The objective of the invention is for overcoming the deficiency of above-mentioned prior art, a kind of porcelain insulator string detection machine people of dangling is provided, this robot has made full use of the profile characteristics design of the porcelain insulator string that dangles; Clamp paw and adopt elastomeric material little to the insulator wearing and tearing, the short circuit insulator is few, and security protection is good; Last string operation is simple, and translational speed is steady, detects accurately; Charged detection can be moved along the porcelain insulator direction of dangling.
For realizing above-mentioned purpose, the present invention adopts following technical proposals:
A kind of porcelain insulator string detection machine people of dangling; Comprise clamp system, hoisting gear and testing agency; Said clamp system comprises upper and lower clamp system; Be connected with hoisting gear between the upper and lower clamp system, said testing agency comprises the probe actuation device that is arranged on the upper clamping mechanism and is arranged at down the detector flip flop equipment on the clamp system; Said upper and lower clamp system is provided with the flexible insulation paw that matches with insulator chain full skirt outer; Said clamp system, hoisting gear and testing agency all link to each other with controller through circuit.
Said clamp system bottom down is provided with some supporting legs.
Said upper and lower clamp system structure is identical, and its integral body is fan-shaped, and opening part expands outwardly; Said go up or down clamp system comprise big arm and the little arm that is fan-shaped, wherein, big arm and little arm are provided with for going up the position down in the upper clamping mechanism, big arm and little arm are the upper-lower position setting in the said clamp system down; Be provided with the paw device that can move horizontally between said big arm and the little arm; The big arm of said upper clamping mechanism is provided with some suspension ring; Be equipped with stop means on big arm of said upper clamping mechanism and the big arm of following clamp system, this stop means can be laser sensor, and the location is used for finding range.
Said paw device comprises some horizontal contractibilities, and an end of each horizontal contractibility links to each other with paw through bearing pin, and the other end is installed between big arm and the little arm through stud bolt; Said paw also is installed between big arm and the little arm through stud bolt; The end of said paw is provided with the insulation flexible material, and this end is towards fan-shaped center.
Be equipped with bearing in said big arm and the little arm, bearing is fixed on big arm or the little arm through single bearing cap or duplex bearing lid, and the two ends of stud bolt are passed said bearing respectively and passed through nut screwing clamping; Wherein, pass on the stud bolt of horizontal contractibility and be with sleeve.
Said insulation flexible material is an elastomeric material.
Said hoisting gear comprises the plurality of vertical extensible member of the big arm that connects upper and lower clamp system; The some polished rods that run through the big arm of upper and lower clamp system respectively; Said polished rod upper end is fixed on the web joint through last rhombus support; The flange linear bearing that is fixed on the big arm of upper clamping mechanism is passed at the middle part, and the lower end is passed down the big arm of clamp system and fixed through the following rhombus support that is installed on the big arm.
Said vertical extensible member two is fixed on the big arm of upper and lower clamp system through vertical extensible member holder.
The length of said polished rod is greater than the stroke of the vertical extensible member of twice.
Said web joint is fan-shaped.
Said probe actuation device comprises that probe, probe stationary seat, probe clamping plate, probe revolve seat, probe steering wheel and probe steering wheel holder; Said probe steering wheel holder is fixed on big arm one end of upper clamping mechanism; The probe steering wheel is fixed on the probe steering wheel holder through self mounting hole; Probe revolves seat one end and is fixedly connected with the probe steering wheel, and the other end is connected with the probe stationary seat, and probe passes through the Probe clip plate holder on the probe stationary seat.
Said probe has two, and the distance between two just in time is two distances between the insulator, connect insulator steel cap accurately when the installation site is just in time shunk or extended in robot.
Said detector flip flop equipment comprises detector, and the stiff end of said detector passes down the big arm of clamp system, passes the fixed orifice of detector through bolt, again through nut screwing clamping on the detector holder that is positioned on the big arm of clamp system down; The switch of said detector matches with the swing arm of trigger mechanism, and swing arm is fixed on the rotating disc that triggers steering wheel, triggers steering wheel and is installed on the triggering steering wheel holder, triggers the steering wheel holder and is fixed on down on the outer rim of the big arm of clamp system through Connection Block.
The present invention is equipped with insulator charged detection instrument, level/vertical extensible member, controller, battery etc., and the used structure of said insulator charged detection instrument adopts structure described in the Chinese granted patent ZL200510063334.4 utility model patent; But extensible member is market to be bought and tailor-make product; Controller is a prior art, can be PLC, single-chip microcomputer etc.; Battery is that product, voltage 12V are bought in market.
Upper and lower clamp system of the present invention is separately installed with the rubber clamping paw that three levels are uniformly distributed with, through three horizontal extensible members controls; Hoisting gear is equipped with three vertical extensible members, and the vertical polished rod in clamp system and edge is accomplished and moved up and down action about connecting; Upper clamping mechanism is equipped with the probe actuation device, and following clamp system is equipped with the detector flip flop equipment.
Wherein: said clamp system up and down contains three horizontal extensible members, three rubber paws respectively; A horizontal extensible member and a rubber paw are hinged; The inner arc of rubber paw can perfect applying insulator; Horizontal extensible member and rubber paw are installed between the big arm and little arm that has bearing, and use nut screwing clamping, and the position relation between arm, horizontal extensible member and the paw is determined by length sleeve; Like this when contractibility moves, paw can unclamp or clamps insulator chain around pin joint accordingly; Clamp system comprises three vertical extensible members that are uniformly distributed with, two vertical polished rods up and down, and each one of vertical extensible member is fixed on the big arm of upper clamping mechanism, on the big arm that is fixed on down clamp system; The lower end of every polished rod is fixed on down on the big arm of clamp system; The linear bearing that is installed in upper clamping mechanism is passed in the centre, and last upper end is fixed on the web joint, during work; Extensible member can be flexible up and down along the polished rod guiding, accomplishes the action of crossing insulator sheet up and down; Testing agency is made up of probe actuation device and detector flip flop equipment; The probe actuation device is to drive probe connect insulator steel cap through the steering wheel rotation; Steering wheel is installed on the big arm through the steering wheel holder, and the detector flip flop equipment is made up of swing arm, steering wheel, steering wheel holder, behind the probe connect insulator; Steering wheel drives the swing arm rotation, and the detection trigger appearance detects.
Principle of work of the present invention is:
When not working; The probe of probe in detecting mechanism is positioned at the insulator chain outside, and the swing arm of detector flip flop equipment is in opening, and the level of clamp system clamping paw is in contraction state up and down; Can not interfere with insulator chain; The vertical extensible member of hoisting gear is in contraction state, and entire machine people is in contraction state, can take up an area of the space by economization; Hang two suspension ring of clamp system with insulation rope, provoke the present invention with insulating bar and vertically take and put on insulator chain, the control robot level of clamp system up and down clamps paw and clamps two insulator sheets up and down.
Robot can carry out testing process when contraction state, at first, and the probe in detecting mechanism action; Controller is given probe steering wheel signal, the running of probe steering wheel, and the probe rotation predetermined angle that drives probe steering wheel connecting terminal is just in time beaten on insulator sheet steel cap; At the same time, controller is given the triggering steering wheel signal of detector flip flop equipment, triggers steering wheel drive swing arm rotation predetermined angle and beats on the trigger switch above the detector; Can hear " ticking " one this moment; Detector detects insulator and also writes down numerical value, and detector is given control panel through signal feedback after detecting the record numerical value that finishes, the probe steering wheel with trigger steering wheel and drive respectively separately that mechanism returns to zero-bit.
After detector detected and accomplishes first insulator c, like Fig. 4, the paw of upper clamping mechanism unclamped insulator sheet b; Vertically extensible member jacking upper clamping mechanism moves along polished rod, and when stop means detected insulator c, vertically extensible member stopped jacking; The upper clamping mechanism paw clamps insulator c, and following clamp system paw unclamped insulator sheet a after robot was in elongation state, and vertically extensible member shrinks; Clamp system moves along polished rod under driving, and after detecting insulator sheet b, vertically extensible member stops to shrink; Following clamp system paw clamps insulator sheet b, and can carry out the detection of second insulator this moment, and insulator detects with the above.
After the detection operation is all over, paw is contracted to the big arm of clamp system, and the vertical extensible member contraction that will extend, the detection machine people taken off from suspension insulator.
The present invention adopts the mechanism of telescopic moving up and down, and is little to the insulator wearing and tearing, the short circuit insulator is few, and security protection is good, and last string operation is simple, and translational speed is steady, and the probe overlap joint is reliable, and it is accurate to detect, and the charged detection of porcelain insulator string is fit to dangle.
The invention has the beneficial effects as follows:
1. has telescopic moving function up and down.The present invention has hoisting gear, and when the porcelain insulator string that dangles walked up and down, hoisting gear moved up and down through the control extensible member is flexible, and the batch (-type) that goes forward one by one that completion is three insulators from two insulators leaps moves.
2. security protection is good.The present invention is moving along the porcelain insulator that dangles when detecting, and the paw that is uniformly distributed with of clamp system has at least one group tightly to clamp insulator up and down, makes robot in the walking testing process, be unlikely to fall down from insulator chain.
3. it is simple to go up string operation.The present invention adopts sector structure, and widens at opening part, can make things convenient for robot to pack into insulator chain from opening part, and last string operation is simple, meets the electric power operation safety rule.
4. short circuit insulator number is few.The present invention contacts part and adopts insulating material with insulator, on the installing plate of clamp system, make the insulator sheet number of contact or induction short circuit be no more than two about non-insulating material is distributed in.
5. chucking is firm and little to the insulator coating abrasion.The paw that the present invention and insulator directly contact inboard for and the alike elastomeric material of insulator outer arc shape, the insulator outside surface of well fitting, and very little to the antifouling flush paint coating abrasion on the insulator porcelain patticoat.
6. it is accurate that insulator detects span.The present invention adopts extensible member to move up and down, and the stroke that utilizes stop means to control extensible member can stride across the height of an insulator sheet accurately.
7. the detection probe overlap joint is reliable.The active drive mode that the present invention adopts steering wheel to drive, the reliability that detection probe is contacted with insulator steel cap is better, has guaranteed to detect the authenticity of data.
Description of drawings
Fig. 1 is that spatial structure of the present invention is shunk synoptic diagram;
Fig. 2 is a structure vertical view of the present invention;
Fig. 3 is a structure diagram of the present invention;
Fig. 4 is the schematic diagram that climbs of the present invention;
Fig. 5 is a clamp system synoptic diagram up and down of the present invention;
Fig. 6 is a probe actuation device synoptic diagram of the present invention;
Fig. 7 is a detector flip flop equipment synoptic diagram of the present invention;
Wherein: 1 is supporting leg, and 2 are the following big arm of clamp system, and 3 is paw, and 4 is little arm, and 5 is the big arm of upper clamping mechanism, and 6 is polished rod, and 7 is web joint; 8 is probe, and 9 is the probe stationary seat, and 10 for probe revolves seat, and 11 is the probe steering wheel, and 12 is probe steering wheel holder, and 13 is the flange linear bearing, and 14 is vertical extensible member holder; 15 is vertical extensible member, and 16 is single bearing cap, and 17 for triggering the steering wheel holder, and 18 are swing arm, and 19 is detector, and 20 is horizontal extensible member; 21 are the duplex bearing lid, and 22 is bearing pin, and 23 is sleeve, and 24 is the probe clamping plate, and 25 is Connection Block, and 26 is stop means; 27 is stud bolt, and 28 is suspension ring, and 29 is last rhombus support, and 30 is the detector holder, and 31 are following clamp system, and 32 is upper clamping mechanism; 33 is hoisting gear, and 34 are following rhombus support, and 35 for triggering steering wheel, and 36 is bolt, and 37 is nut, and 38 is bearing.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
The present invention walks on the porcelain insulator string that dangles, and like Fig. 1, shown in Figure 3, comprises upper clamping mechanism 32, following clamp system 31, hoisting gear 33 and testing agency.Upper and lower clamp system 32,31 connects through polished rod 6 on the hoisting gear 33 and vertical extensible member 15, is separately installed with stop means 26 on the upper and lower clamp system 32,31, and testing agency is provided with probe actuation device and detector flip flop equipment.
Like Fig. 1, Fig. 2, shown in Figure 5; Upper and lower clamp system 32,31 structures are identical; Mainly be to clamp the insulator sheet through three paws of three horizontal contractibility 20 pullings 3; Hinged through bearing pin 22 between horizontal contractibility 20 and the paw 3, paw 3 is installed between big arm 5 of upper clamping mechanism and the little arm 4 through stud bolt 27; Horizontal contractibility 20 also is installed between big arm 5 of upper clamping mechanism and the little arm 4 through stud bolt 27; The bearing 38 that is embedded in big arm 5 and the little arm 4 is passed at the two ends of stud bolt 27; Bearing 38 is fixing through single bearing cap 16 or duplex bearing lid 21; Separate to confirm the position with sleeve 23 between horizontal contractibility 20 or paw 3 and big arm 5 and the little arm 4.Two suspension ring 28 are installed, so that the entire machine people is lifted string on the upper clamping mechanism; The big arm of following clamp system 2 bottoms are equipped with three supporting legs 1, and robot is vertically laid.
Like Fig. 1, shown in Figure 3, the hoisting gear main composition has three parts: vertical extensible member 15, polished rod 6, web joint 7; Polished rod 6 from top to bottom runs through the big arm of web joint 7, upper clamping mechanism 5, the big arm 2 of clamp system down; Polished rod 6 upper ends are fixed on the web joint 7 through last rhombus support 29; The flange linear bearing 13 that is fixed on the big arm 5 of upper clamping mechanism is passed at the middle part, and the big arm 2 of clamp system and fixing through the following rhombus support 34 that is installed on the big arm 2 is passed down in the lower end; Vertically extensible member 15 is installed between big arm 5 of upper clamping mechanism and the big arm 2 of following clamp system, and two is fixed on the big up and down arm through vertical extensible member holder 14; The length of polished rod 6 is greater than the stroke of the vertical extensible member 15 of twice, do not interfere the parts of installing on the upper clamping mechanism when the range to guarantee vertical extensible member 15.
As shown in Figure 6; The probe actuation device comprises that probe 8, probe stationary seat 9, probe clamping plate 24, probe revolve seat 10, probe steering wheel 11 and probe steering wheel holder 12; Probe steering wheel holder 12 is fixed on the big arm 5 of upper clamping mechanism, and probe steering wheel 11 is fixed on the probe steering wheel holder 12 through self mounting hole, and probe revolves seat 10 1 ends to be fixed with probe steering wheel 11; The other end is connected with probe stationary seat 9, and probe 8 usefulness probe clamping plate 24 are clipped on the probe stationary seat 9; Probe 8 has two, and the distance between two just in time is two distances between the insulator, connect insulator steel cap accurately when the installation site is just in time shunk or extended in robot.
As shown in Figure 7, detector 19 stiff ends of detector flip flop equipment pass down the big arm 2 of clamp system, pass the stiff end of detector 19 with bolt 36, are tightened on the detector holder 30 through nut 37; Trigger mechanism is through triggering the switch that steering wheel 35 drives swing arm 18 rotation detection trigger appearance 19; Swing arm 18 is fixed on the rotating disc that triggers steering wheel 35; Trigger steering wheel 35 and be installed on the triggering steering wheel holder 17, trigger steering wheel holder 17 and be fixed on down on the outer rim of the big arm 2 of clamp system through Connection Block 25.
The present invention is equipped with detector, extensible member, controller, battery etc., and detector is that product is bought in market, and can purchase the model of producing in Beijing Shenlang Electronic Technology Co., Ltd. is the detector of JXD35-500; But extensible member is market to be bought and tailor-make product; Controller is a prior art, can be PLC, single-chip microcomputer etc.; Battery is that product, voltage 12V are bought in market.
Principle of work of the present invention is:
When not working; The probe 8 of probe in detecting mechanism is positioned at the insulator chain outside, and the swing arm 18 of detector flip flop equipment is in opening, and the level of clamp system clamping paw 3 is in contraction state up and down; Can not interfere with insulator chain; The vertical extensible member 15 of hoisting gear is in contraction state, and entire machine people is in contraction state, can take up an area of the space by economization; Hang two suspension ring 28 of clamp system with insulation rope, provoke detection machine people of the present invention with insulating bar and vertically take and put on insulator chain, the control robot level of clamp system up and down clamps paw and clamps two insulator sheets up and down.
Robot can carry out testing process when contraction state, at first, and the probe in detecting mechanism action; Control panel is given probe steering wheel 11 signals; 11 runnings of probe steering wheel, the probe 8 rotation predetermined angle that drive probe steering wheel 11 connecting terminals are just in time beaten on insulator sheet steel cap, at the same time; Control panel is given triggering steering wheel 35 signals of detector flip flop equipment; Trigger steering wheel 35 drive swing arms 18 rotation predetermined angle and beat on the trigger switch above the detector, can hear " ticking " one this moment, and detector detects insulator and also writes down numerical value; Detector is given control panel through signal feedback after detecting the record numerical value that finishes, probe steering wheel 11 with trigger steering wheel 35 and drive respectively separately that mechanism returns to zero-bit.
After detector detected and accomplishes first insulator c, like Fig. 4, the paw 3 of upper clamping mechanism unclamped insulator sheet b; Vertically extensible member 15 jacking upper clamping mechanisms move along polished rod 6, and when stop means 26 detected insulator c, vertically extensible member 15 stopped jacking; Upper clamping mechanism paw 3 clamps insulator c, and following clamp system paw 3 unclamped insulator sheet a after robot was in elongation state, and vertically extensible member 15 shrinks; Clamp system moves along polished rod 6 under driving, and after detecting insulator sheet b, vertically extensible member 15 stops to shrink; Following clamp system paw 3 clamps insulator sheet b, and can carry out the detection of second insulator this moment, and insulator detects with the above.
After the detection operation is all over, paw 3 is contracted to the big arm of clamp system, and vertical extensible member 15 contractions that will extend, the detection machine people taken off from suspension insulator.
The present invention adopts the mechanism of telescopic moving up and down, and is little to the insulator wearing and tearing, the short circuit insulator is few, and security protection is good, and last string operation is simple, and translational speed is steady, and the probe overlap joint is reliable, and it is accurate to detect, and the charged detection of porcelain insulator string is fit to dangle.
Though the above-mentioned accompanying drawing specific embodiments of the invention that combines is described; But be not restriction to protection domain of the present invention; One of ordinary skill in the art should be understood that; On technical scheme of the present invention basis, those skilled in the art need not pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (10)
1. porcelain insulator string detection machine people of dangling; Comprise clamp system, hoisting gear and testing agency; It is characterized in that; Said clamp system comprises upper and lower clamp system, is connected with hoisting gear between the upper and lower clamp system, and said testing agency comprises the probe actuation device that is arranged on the upper clamping mechanism and is arranged at down the detector flip flop equipment on the clamp system; Said upper and lower clamp system is provided with the flexible insulation paw that matches with insulator chain full skirt outer; Said clamp system, hoisting gear and testing agency all link to each other with controller through circuit.
2. the porcelain insulator string detection machine people of dangling as claimed in claim 1 is characterized in that, said clamp system bottom down is provided with some supporting legs.
3. the porcelain insulator string detection machine people of dangling as claimed in claim 1 is characterized in that said upper and lower clamp system structure is identical, and its integral body is fan-shaped, and opening part expands outwardly; Said go up or down clamp system comprise big arm and the little arm that is fan-shaped, wherein, big arm and little arm are provided with for going up the position down in the upper clamping mechanism, big arm and little arm are the upper-lower position setting in the said clamp system down; Be provided with the paw device that can move horizontally between said big arm and the little arm; The big arm of said upper clamping mechanism is provided with some suspension ring; Be equipped with stop means on big arm of said upper clamping mechanism and the big arm of following clamp system; Said stop means is the laser sensor of the location of finding range.
4. the porcelain insulator string detection machine people of dangling as claimed in claim 3; It is characterized in that; Said paw device comprises some horizontal contractibilities, and an end of each horizontal contractibility links to each other with paw through bearing pin, and the other end is installed between big arm and the little arm through stud bolt; Said paw also is installed between big arm and the little arm through stud bolt; The end of said paw is provided with the insulation flexible material, and this end is towards fan-shaped center.
5. like claim 3 or the 4 described porcelain insulator string detection machine people of dangling; It is characterized in that; Be equipped with bearing in said big arm and the little arm; Bearing is fixed on big arm or the little arm through single bearing cap or duplex bearing lid, and the two ends of stud bolt are passed said bearing respectively and passed through nut screwing clamping; Wherein, pass on the stud bolt of horizontal contractibility and be with sleeve; Said insulation flexible material is an elastomeric material.
6. the porcelain insulator string detection machine people of dangling as claimed in claim 5; It is characterized in that; Said hoisting gear comprises the plurality of vertical extensible member of the big arm that connects upper and lower clamp system; The some polished rods that run through the big arm of upper and lower clamp system respectively; Said polished rod upper end is fixed on the web joint through last rhombus support, and the flange linear bearing that is fixed on the big arm of upper clamping mechanism is passed at the middle part, and the lower end is passed down the big arm of clamp system and fixed through the following rhombus support that is installed on the big arm.
7. the porcelain insulator string detection machine people of dangling as claimed in claim 6 is characterized in that said vertical extensible member two is fixed on the big arm of upper and lower clamp system through vertical extensible member holder; The length of said polished rod is greater than the stroke of the vertical extensible member of twice; Said web joint is fan-shaped.
8. the porcelain insulator string detection machine people of dangling as claimed in claim 1; It is characterized in that; Said probe actuation device comprises that probe, probe stationary seat, probe clamping plate, probe revolve seat, probe steering wheel and probe steering wheel holder; Said probe steering wheel holder is fixed on big arm one end of upper clamping mechanism, and the probe steering wheel is fixed on the probe steering wheel holder through self mounting hole, and probe revolves seat one end and is fixedly connected with the probe steering wheel; The other end is connected with the probe stationary seat, and probe passes through the Probe clip plate holder on the probe stationary seat.
9. the porcelain insulator string detection machine people of dangling as claimed in claim 8 is characterized in that said probe has two, and the distance between two just in time is two distances between the insulator.
10. the porcelain insulator string detection machine people of dangling as claimed in claim 3; It is characterized in that; Said detector flip flop equipment comprises detector; The stiff end of said detector passes down the big arm of clamp system, passes the fixed orifice of detector through bolt, again through nut screwing clamping on the detector holder that is positioned on the big arm of clamp system down; The switch of said detector matches with the swing arm of trigger mechanism, and swing arm is fixed on the rotating disc that triggers steering wheel, triggers steering wheel and is installed on the triggering steering wheel holder, triggers the steering wheel holder and is fixed on down on the outer rim of the big arm of clamp system through Connection Block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210093025.1A CN102621426B (en) | 2012-03-31 | 2012-03-31 | Detection robot for suspension porcelain insulator string |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210093025.1A CN102621426B (en) | 2012-03-31 | 2012-03-31 | Detection robot for suspension porcelain insulator string |
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| Publication Number | Publication Date |
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| CN102621426A true CN102621426A (en) | 2012-08-01 |
| CN102621426B CN102621426B (en) | 2014-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210093025.1A Active CN102621426B (en) | 2012-03-31 | 2012-03-31 | Detection robot for suspension porcelain insulator string |
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| CN103091579A (en) * | 2013-01-11 | 2013-05-08 | 山东鲁能智能技术有限公司 | Insulator chain intelligent detection robotic system |
| CN104215852A (en) * | 2014-09-03 | 2014-12-17 | 国家电网公司 | Electrified insulator detection device |
| CN107584492A (en) * | 2017-10-30 | 2018-01-16 | 安徽理工大学 | Foundry robot is with adaptive pneumatic gripping device |
| CN109633336A (en) * | 2019-01-03 | 2019-04-16 | 邢亮 | High-voltage electrical apparatus intelligent monitor system |
| CN113484637A (en) * | 2021-06-29 | 2021-10-08 | 海南电网有限责任公司电力科学研究院 | Insulator detection device and method based on infrared hot spot |
| CN114324988A (en) * | 2021-07-28 | 2022-04-12 | 苏州联讯仪器有限公司 | Probe base |
| CN115090469A (en) * | 2022-06-30 | 2022-09-23 | 国网山东省电力公司潍坊供电公司 | Suspension insulator string online spraying equipment |
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| CN104215852A (en) * | 2014-09-03 | 2014-12-17 | 国家电网公司 | Electrified insulator detection device |
| CN107584492B (en) * | 2017-10-30 | 2023-12-22 | 安徽理工大学 | Self-adaptive pneumatic gripper for casting robot |
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| CN114324988A (en) * | 2021-07-28 | 2022-04-12 | 苏州联讯仪器有限公司 | Probe base |
| CN114324988B (en) * | 2021-07-28 | 2024-03-01 | 苏州联讯仪器股份有限公司 | Probe seat |
| CN115090469A (en) * | 2022-06-30 | 2022-09-23 | 国网山东省电力公司潍坊供电公司 | Suspension insulator string online spraying equipment |
| CN115090469B (en) * | 2022-06-30 | 2024-01-19 | 国网山东省电力公司潍坊供电公司 | Suspension insulator chain on-line spraying equipment |
| CN115350842A (en) * | 2022-09-02 | 2022-11-18 | 国网山东省电力公司青岛市黄岛区供电公司 | Insulator chain high altitude touch-up paint device |
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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. |