CN113608081A - Device for measuring zero value of insulator - Google Patents
Device for measuring zero value of insulator Download PDFInfo
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- CN113608081A CN113608081A CN202110832500.1A CN202110832500A CN113608081A CN 113608081 A CN113608081 A CN 113608081A CN 202110832500 A CN202110832500 A CN 202110832500A CN 113608081 A CN113608081 A CN 113608081A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
- G01R31/1245—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of line insulators or spacers, e.g. ceramic overhead line cap insulators; of insulators in HV bushings
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/02—General constructional details
- G01R1/04—Housings; Supporting members; Arrangements of terminals
- G01R1/0408—Test fixtures or contact fields; Connectors or connecting adaptors; Test clips; Test sockets
- G01R1/0416—Connectors, terminals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1218—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using optical methods; using charged particle, e.g. electron, beams or X-rays
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Abstract
The utility model provides a device for insulator zero value measurement, it includes unmanned aerial vehicle, unmanned aerial vehicle is connected with the horizontal pole of lead screw slide rail mechanism through the connecting rod, and lead screw slide rail mechanism includes horizontal pole, the lead screw that is parallel to each other, and horizontal pole, lead screw and spacing box interlude formula are connected and lead screw and spacing box are threaded connection, and the lead screw rotates and can make spacing box come/go back the motion, and the both ends of lead screw slide rail mechanism all are equipped with mechanical tongs; the invention aims to provide a device for detecting the zero value of an insulator on an overhead high-voltage transmission line by using an unmanned aerial vehicle technology.
Description
Technical Field
The invention belongs to the technical field of insulator detection, and particularly relates to a device for measuring the zero value of an insulator.
Background
The insulator is an insulating device used for connecting a lead and an iron tower on an overhead high-voltage transmission line, and the insulator is exposed outdoors for a long time and is subjected to factors such as wind, sunshine, mechanical stress, temperature and humidity change, a strong electric field, dirt and the like, so that under the long-term action of the factors, the insulation performance of the insulator is reduced when the insulator is degraded to a certain degree, the performance of individual insulators can be damaged, and the insulator cannot play an insulating role. Therefore, the prevention detection of the deteriorated insulator has important significance for ensuring the safe operation of the high-voltage transmission line.
The patent document with application publication number CN110136131A discloses a zero-value insulator detection method based on deep learning, which comprises the steps of 1, preprocessing an image according to the infrared image characteristics of an insulator; step 2, segmenting the preprocessed infrared image and correcting the image angle; step 3, extracting the insulator disc surface; step 4, extracting the infrared image characteristics of the insulator and deeply learning; step 5, detecting zero-value insulators, classifying the infrared images of the insulators by using the trained deep learning network model, and detecting the zero-value insulators; the zero-value insulator detection algorithm based on the infrared imaging technology and the deep learning algorithm can greatly reduce the workload of insulator inspection, reduce safety accidents caused by electric power detection, reduce the power failure probability caused by insulator pollution flashover and contribute to enhancing the running stability of an electric power system.
Traditional detection mode is for artifical tower-climbing high altitude construction, nevertheless along with the improvement of high-pressure level, insulator chain length constantly increases, and the degree of difficulty of artifical detection operation is also bigger and bigger, and efficiency is extremely low, and danger is also higher simultaneously, in view of above-mentioned defect, cooperates unmanned aerial vehicle's nimble advantage, designs an automatic ability automatic continuous insulator zero value measurement's device, is the problem that awaits the solution at present.
Disclosure of Invention
The invention aims to provide a device for detecting the zero value of an insulator on an overhead high-voltage transmission line by using an unmanned aerial vehicle technology.
The utility model provides a device for insulator zero value measurement, it includes unmanned aerial vehicle, unmanned aerial vehicle is connected with the horizontal pole of lead screw slide rail mechanism through the connecting rod, and lead screw slide rail mechanism includes horizontal pole, the lead screw that is parallel to each other, and horizontal pole, lead screw and spacing box interlude formula are connected and lead screw and spacing box are threaded connection, and the lead screw rotates and can make spacing box come/go back the motion, and the both ends of lead screw slide rail mechanism all are equipped with mechanical tongs;
a motor is arranged in the limiting box, a connecting frame is arranged below the limiting box and comprises an elliptical track, the long axis of the elliptical track is perpendicular to the screw rod, the short axis of the elliptical track is parallel to the screw rod, the elliptical track is fixedly connected with one end of the connecting rod body, and the other end of the connecting rod body is fixedly connected with the limiting box; the connecting end of the output shaft of the motor is fixedly connected with the rotating body, a first measuring probe and a second measuring probe are vertically arranged in the elliptical track and perpendicular to the track surface of the elliptical track, the motor drives the rotating body to do forward/reverse rotation movement, the vertically arranged first measuring probe and the vertically arranged second measuring probe can move in the track groove of the elliptical track, and the first measuring probe and the second measuring probe are always located at opposite positions in the elliptical track.
One end of the first section of mechanical arm is connected with the end part of the lead screw sliding rail mechanism, the other end of the first section of mechanical arm is connected with one end of the second section of mechanical arm, a mechanical hand is arranged at the other end of the second section of mechanical arm and used for grasping/loosening the end part of the insulator string, the first section of mechanical arm moves close to or away from the end part of the lead screw sliding rail mechanism in the horizontal direction, and the second section of mechanical arm moves on the vertical surface.
An infrared device and a video camera device are arranged on the mechanical gripper, and a zero value measuring device is arranged in the limiting box.
The connecting rod is used for being connected unmanned aerial vehicle and lead screw slide rail mechanism, be equipped with forward sliding connection structure and side direction sliding connection structure on the connecting rod, forward sliding connection structure and side direction sliding connection structure can provide not hard up margin, at operating condition, when lead screw slide rail mechanism passes through mechanical tongs and insulator fixed closely the time, if the circumstances such as strong wind come suddenly, forward sliding connection structure and side direction sliding connection structure can avoid unmanned aerial vehicle and lead screw slide rail mechanism interlock tension, unmanned aerial vehicle accident out of control has been avoided.
The lead screw slide rail mechanism comprises 2 cross rods which are positioned on the same horizontal plane, the cross rods are parallel to each other, and the 2 cross rods all penetrate through the limiting boxes.
The cross section of rotator is circular, be equipped with 2 guide way structures in the outside of rotator and relatively altogether, be first guide way structure respectively, the second guide way structure, first guide way structure, the second guide way structure all includes the bar guide way, 2 guide way structures are located the symmetry axis of rotator circular cross-section, the guide way structure is located the planar top in oval track place, first measuring probe is from last to passing the guide way of first guide way structure down in proper order, oval orbital track groove, second measuring probe is from last to passing the guide way of second guide way structure down in proper order, oval orbital track groove, rely on the rotatory drive of rotator, at the direction of guide way, under the limiting displacement, measuring probe can be in oval track according to the stable motion in oval route.
When the device is used, the following steps are adopted:
step 1) the unmanned aerial vehicle drives the screw rod sliding rail mechanism to fly to a target position above the insulator string through the connecting rod and then keeps a standing state;
step 2) mechanical grippers at two ends of the screw rod sliding rail mechanism respectively hold a connecting part between a steel cap and a steel cap on the insulator string downwards, at the moment, a straight line where the first guide groove structure and the second guide groove are located is parallel to the screw rod, and meanwhile, the first measuring probe and the second measuring probe are enabled to be tightly attached to two sides of the first insulator to carry out zero value measurement;
step 3) after the zero value measurement of the first insulator is finished, the motor drives the rotating body to rotate, so that the straight line where the first guide groove structure and the second guide groove structure are located is perpendicular to the screw rod, and the first measuring probe and the second measuring probe are separated from the first insulator;
step 4), rotating the lead screw to enable the limiting box, the rotating body and the elliptical track to move towards the next insulator;
step 5) after the limiting box moves to the position above the next insulator and is stable, the motor drives the rotating body to rotate, so that the straight line where the first guide groove structure and the second guide groove structure are located is parallel to the screw rod, and the first measuring probe and the second measuring probe are tightly attached to two sides of the next insulator to perform zero value measurement;
and repeating the operation until the zero value of the last insulator is measured.
The utility model provides an operation method for carrying out insulator zero value measurement through unmanned aerial vehicle, it adopts above-mentioned device for insulator zero value measurement to measure, includes the following measurement step:
the method comprises the following steps: the remote control unmanned aerial vehicle carries the lead screw sliding rail mechanism and the zero value measuring device to fly to a specified position right above the insulator string of the power transmission tower;
step two: the mechanical hand is in a position to hold the two ends of the insulator string.
Step three: judging whether the mechanical gripper is positioned right above the insulator string according to an infrared device arranged on the mechanical gripper, transmitting a video signal to an operator hand of an unmanned aerial vehicle under the power transmission tower through a video camera device, and performing subsequent operation after determining whether the position is accurate;
step four: controlling an unmanned aerial vehicle to descend to enable a manipulator of the mechanical gripper to be close to two ends of the insulator, measuring and calculating the distance between a clamp ring and a fixed end by using an infrared device, inputting the distance to a control end in the mechanical gripper, adaptively adjusting the length of the mechanical gripper by controlling a hydraulic control device, opening the manipulator, clamping the end part of the insulator and locking the manipulator, and preparing for zero value detection of the insulator when the fixing operation of a lead screw slide rail and the insulator chain is finished;
step five: the screw rod is used for controlling the position of the zero-value measuring device, the motor, the rotating body and the elliptical track are used for controlling and adjusting the contact position of the measuring needle and the insulator sheet, the zero-value measuring device and the motor are arranged in the limiting box, at the moment, the insulator measuring device is positioned right above the first insulator, the motor drives the rotating body to rotate anticlockwise, the two measuring needles of the zero-value measuring device slide to the narrowest side from the widest two sides of the ellipse along the elliptical track, the measuring needles are enabled to be tightly attached to the two ends of the insulator, the signal mechanism sends out an instruction to carry out zero-value measurement, and the instruction is uploaded to the background end of an operator to be recorded and stored;
step six: after the zero value measurement of one insulator is completed, the motor drives the rotating body to rotate clockwise, and the two measuring needles of the zero value measuring device slide to the widest side from the narrowest sides of the ellipse along the elliptical track, so that the measuring needles are separated from the blocking range of the insulator;
step seven: the screw rod moves towards the lower insulator, so that the zero-value measuring device stays above a new insulator to be measured, the motor drives the rotating body to rotate anticlockwise, the two measuring needles of the zero-value measuring device slide to the narrowest side from the widest two sides of the ellipse along the elliptical track, the measuring needles are tightly attached to the two ends of the insulator, the signal mechanism sends out an instruction to perform zero-value measurement, and the instruction is uploaded to the background end of an operator to be recorded and stored;
and repeating the steps until the zero value of the last insulator is measured and all data are recorded and stored.
Compared with the prior art, the invention has the following technical effects:
1) compared with a manual method, the zero value detection of the insulator string is carried out by using the unmanned aerial vehicle, so that personal safety accidents caused by climbing onto an iron tower can be avoided, and the detection efficiency can be improved;
2) compared with the prior unmanned aerial vehicle insulator string zero-value detection, the device has the advantages that all external materials are FRP (fiber reinforced plastics), so that the intensity is ensured, and meanwhile, the electromagnetic interference between the unmanned aerial vehicle and a power transmission line is effectively avoided;
3) compared with the prior zero-value detection of the insulator string of the unmanned aerial vehicle, the device can clamp two ends of the insulator string by using the mechanical arm, so that the unmanned aerial vehicle is prevented from violently shaking and colliding with an iron tower due to sudden strong wind or various emergencies;
4) compare in unmanned aerial vehicle insulator chain zero value detection in the past, this measuring device can replace automatically, can measure the multi-disc insulator in succession, promotes measurement of efficiency greatly.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic view of the connection of the drone and the connecting rod of fig. 1;
FIG. 3 is a schematic diagram of the mechanical gripper of FIG. 1;
FIG. 4 is a schematic view of the mechanical grip of FIG. 1 in gripping engagement with an end of an insulator;
FIG. 5 is a schematic view of the mechanical gripper of the present invention after deployment;
FIG. 6 is a schematic view of an infrared device and a video camera mounted on a mechanical gripper;
FIG. 7 is a schematic structural view of the connection of the screw-sliding rail mechanism, the limiting box and the elliptical rail according to the present invention;
FIG. 8 is a schematic view of an elliptical orbit configuration;
FIG. 9 is a bottom view of the elliptical orbit;
FIG. 10 is a schematic view of two measurement probes being detached from an insulator sheet;
fig. 11 is a schematic view of the connection of the screw-slide mechanism, the mechanical gripper, and the insulator according to the present invention.
Detailed Description
As shown in fig. 1, a device for measuring the zero value of an insulator comprises an unmanned aerial vehicle 1, wherein the unmanned aerial vehicle 1 is connected with a cross rod 3 of a lead screw slide rail mechanism 7 through a connecting rod 2, the lead screw slide rail mechanism comprises the cross rod 3 and a lead screw 4 which are parallel to each other, the cross rod 3, the lead screw 4 and a limiting box 5 are connected in an interpenetration mode, the lead screw 4 is in threaded connection with the limiting box 5, the lead screw 4 rotates to enable the limiting box 5 to move back and forth, and mechanical grippers 6 are arranged at two ends of the lead screw slide rail mechanism;
a motor is arranged in the limiting box 5, a connecting frame is arranged below the limiting box 5, the connecting frame comprises an elliptical track 8, the long axis of the elliptical track 8 is perpendicular to the screw rod 4, the short axis of the elliptical track 8 is parallel to the screw rod 4, the elliptical track 8 is fixedly connected with one end of a connecting rod body 9, and the other end of the connecting rod body 9 is fixedly connected with the limiting box 5; the connecting end of the output shaft of the motor is fixedly connected with the rotating body 10, a first measuring probe 11 and a second measuring probe 12 are vertically arranged in the elliptical track 8 and perpendicular to the track surface of the elliptical track 8, the motor drives the rotating body 10 to rotate forwards or backwards, so that the vertically arranged first measuring probe 11 and the vertically arranged second measuring probe 12 can move in the track groove of the elliptical track 8, and the first measuring probe 11 and the second measuring probe 12 are always located at opposite positions in the elliptical track 8.
As shown in fig. 2, the connecting rod is used for being connected unmanned aerial vehicle and lead screw slide rail mechanism, be equipped with forward sliding connection structure and side direction sliding connection structure on the connecting rod, forward sliding connection structure and side direction sliding connection structure can provide not hard up margin, at operating condition, when lead screw slide rail mechanism passes through mechanical tongs and insulator fixed inseparable, if circumstances such as strong wind come suddenly, forward sliding connection structure and side direction sliding connection structure can avoid unmanned aerial vehicle and lead screw slide rail mechanism interlock tension, avoided unmanned aerial vehicle accident out of control.
As shown in fig. 3, 4 and 5, the mechanical gripper 6 comprises a first section of mechanical arm 13 and a second section of mechanical arm 14, one end of the first section of mechanical arm 13 is connected with the end of the screw rod slide rail mechanism, the other end of the first section of mechanical arm is connected with one end of the second section of mechanical arm 14, the other end of the second section of mechanical arm 14 is provided with a mechanical hand 15, the mechanical hand 15 is used for grasping/loosening the end of the insulator string, the first section of mechanical arm 13 moves towards or away from the end of the screw rod slide rail mechanism in the horizontal direction, and the second section of mechanical arm 14 moves in the vertical plane.
As shown in fig. 6, an infrared device 18 and/or a video camera device 19 are arranged on the mechanical gripper 6, and a zero value measuring device is arranged in the limit box.
The lead screw slide rail mechanism comprises 2 cross rods 3 which are positioned on the same horizontal plane, the cross rods are parallel to each other, and the 2 cross rods all penetrate through a limiting box 5.
As shown in fig. 7, 8 and 9, the cross section of the rotating body 10 is circular, 2 guide groove structures, namely a first guide groove structure 16 and a second guide groove structure 17, are oppositely arranged on the outer side of the rotating body 10, the first guide groove structure 16 and the second guide groove structure 17 both comprise strip-shaped guide grooves, the 2 guide groove structures are positioned on the symmetry axis of the circular cross section of the rotating body 10, the guide groove structures are positioned above the plane of the elliptical track, the first measuring probe 11 sequentially passes through the guide groove of the first guide groove structure 16 and the track groove of the elliptical track 8 from top to bottom, the second measuring probe 12 sequentially passes through the guide groove of the second guide groove structure 17 and the track groove of the elliptical track 8 from top to bottom, and the rotating body 10 rotates, under the guiding and limiting effects of the guide groove, the measuring probe can stably move in the elliptical orbit along an elliptical path.
As shown in fig. 1 to 11, in use, the following steps are taken:
step 1) the unmanned aerial vehicle 1 drives a screw rod slide rail mechanism 7 to fly to a target position above an insulator string through a connecting rod 2 and then keeps a standing state;
step 2) mechanical grippers 6 at two ends of a screw rod sliding rail mechanism 7 respectively hold a connecting part between a steel cap and a steel cap on an insulator string downwards, at the moment, straight lines of a first guide groove structure 16 and a second guide groove 17 are parallel to a screw rod 4, and meanwhile, a first measuring probe 11 and a second measuring probe 12 are enabled to be tightly attached to two sides of a first insulator to carry out zero value measurement;
step 3) after the zero value measurement of the first insulator is finished, the motor drives the rotating body 10 to rotate, so that the straight line where the first guide groove structure 16 and the second guide groove structure 17 are located is perpendicular to the screw rod 4, and the first measuring probe 11 and the second measuring probe 12 are separated from the first insulator;
step 4), rotating the screw rod 4 to enable the limiting box 5, the rotating body 10 and the elliptical track 8 to move towards the next insulator;
step 5) after the limiting box 5 moves to the position above the next insulator and is stable, the motor drives the rotating body 10 to rotate, so that the straight line where the first guide groove structure 16 and the second guide groove structure 17 are located is parallel to the screw rod 4, and the first measuring probe 11 and the second measuring probe 12 are tightly attached to the two sides of the next insulator to perform zero value measurement;
and repeating the operation until the zero value of the last insulator is measured.
An operation method for insulator zero value measurement through an unmanned aerial vehicle adopts the device for insulator zero value measurement to carry out measurement, and comprises the following measurement steps:
the method comprises the following steps: the remote control unmanned aerial vehicle carries the lead screw sliding rail mechanism and the zero value measuring device to fly to a specified position right above the insulator string of the power transmission tower;
step two: the mechanical hand is in a position to hold the two ends of the insulator string.
Step three: judging whether the mechanical gripper is positioned right above the insulator string according to an infrared device arranged on the mechanical gripper, transmitting a video signal to an operator hand of an unmanned aerial vehicle under the power transmission tower through a video camera device, and performing subsequent operation after determining whether the position is accurate;
step four: controlling an unmanned aerial vehicle to descend to enable a manipulator of the mechanical gripper to be close to two ends of the insulator, measuring and calculating the distance between a clamp ring and a fixed end by using an infrared device, inputting the distance to a control end in the mechanical gripper, adaptively adjusting the length of the mechanical gripper by controlling a hydraulic control device, opening the manipulator, clamping the end part of the insulator and locking the manipulator, and preparing for zero value detection of the insulator when the fixing operation of a lead screw slide rail and the insulator chain is finished;
step five: the screw rod is used for controlling the position of the zero-value measuring device, the motor, the rotating body and the elliptical track are used for controlling and adjusting the contact position of the measuring needle and the insulator sheet, the zero-value measuring device and the motor are arranged in the limiting box, at the moment, the insulator measuring device is positioned right above the first insulator, the motor drives the rotating body to rotate anticlockwise, the two measuring needles of the zero-value measuring device slide to the narrowest side from the widest two sides of the ellipse along the elliptical track, the measuring needles are enabled to be tightly attached to the two ends of the insulator, the signal mechanism sends out an instruction to carry out zero-value measurement, and the instruction is uploaded to the background end of an operator to be recorded and stored;
step six: after the zero value measurement of one insulator is completed, the motor drives the rotating body to rotate clockwise, and the two measuring needles of the zero value measuring device slide to the widest side from the narrowest sides of the ellipse along the elliptical track, so that the measuring needles are separated from the blocking range of the insulator;
step seven: the screw rod moves towards the lower insulator, so that the zero-value measuring device stays above a new insulator to be measured, the motor drives the rotating body to rotate anticlockwise, the two measuring needles of the zero-value measuring device slide to the narrowest side from the widest two sides of the ellipse along the elliptical track, the measuring needles are tightly attached to the two ends of the insulator, the signal mechanism sends out an instruction to perform zero-value measurement, and the instruction is uploaded to the background end of an operator to be recorded and stored;
and repeating the steps until the zero value of the last insulator is measured and all data are recorded and stored.
Claims (8)
1. The utility model provides a device for insulator zero value measurement, a serial communication port, it includes unmanned aerial vehicle (1), unmanned aerial vehicle (1) is connected with horizontal pole (3) of lead screw slide rail mechanism (7) through connecting rod (2), lead screw slide rail mechanism includes horizontal pole (3) that are parallel to each other, lead screw (4), horizontal pole (3), lead screw (4) are connected with spacing box (5) interlude formula and lead screw (4) are threaded connection with spacing box (5), lead screw (4) rotate can make spacing box (5) come/go back the motion, the both ends of lead screw slide rail mechanism all are equipped with mechanical tongs (6);
a motor is arranged in the limiting box (5), a connecting frame is arranged below the limiting box (5), the connecting frame comprises an elliptical track (8), the long axis of the elliptical track (8) is perpendicular to the screw rod (4), the short axis of the elliptical track (8) is parallel to the screw rod (4), the elliptical track (8) is fixedly connected with one end of a connecting rod body (9), and the other end of the connecting rod body (9) is fixedly connected with the limiting box (5); the connecting end of the output shaft of the motor is fixedly connected with the rotating body (10), a first measuring probe (11) and a second measuring probe (12) are vertically arranged on the track surface perpendicular to the elliptical track (8) in the elliptical track (8), the motor drives the rotating body (10) to rotate positively or negatively to enable the vertically arranged first measuring probe (11) and the vertically arranged second measuring probe (12) to move in the track groove of the elliptical track (8), and the first measuring probe (11) and the second measuring probe (12) are always located at opposite positions in the elliptical track (8).
2. The device according to claim 1, characterized in that the mechanical gripper (6) comprises a first section of mechanical arm (13) and a second section of mechanical arm (14), one end of the first section of mechanical arm (13) is connected with the end part of the screw rod sliding rail mechanism, the other end of the first section of mechanical arm is connected with one end of the second section of mechanical arm (14), the other end of the second section of mechanical arm (14) is provided with a mechanical arm (15), the mechanical arm (15) is used for grasping/loosening the end part of the insulator string, the first section of mechanical arm (13) moves close to or away from the end part of the screw rod sliding rail mechanism in the horizontal direction, and the second section of mechanical arm (14) moves in a vertical plane.
3. Device according to claim 2, characterized in that on the mechanical gripper (6) there are provided infrared means (18) and video camera means (19), zero value measuring means being provided in the limit box.
4. The device according to claim 1, characterized in that the connecting rod (2) is used for connecting the unmanned aerial vehicle with the screw rod and slide rail mechanism (7), and a positive sliding connection structure and a lateral sliding connection structure are arranged on the connecting rod (2), and can provide a loosening margin.
5. The device according to claim 1, characterized in that the screw-slide mechanism comprises 2 cross bars (3) which are positioned on the same horizontal plane, the cross bars are parallel to each other, and 2 cross bars pass through the limiting box (5).
6. The device according to claim 1, characterized in that the cross section of the rotating body (10) is circular, 2 guide groove structures are oppositely arranged on the outer side of the rotating body (10), the two guide groove structures are respectively a first guide groove structure (16) and a second guide groove structure (17), the first guide groove structure (16) and the second guide groove structure (17) both comprise strip-shaped guide grooves, the 2 guide groove structures are positioned on the symmetry axis of the circular cross section of the rotating body (10), the guide groove structures are positioned above the plane of the elliptical orbit, the first measuring probe (11) sequentially passes through the guide grooves of the first guide groove structure (16) and the orbit grooves of the elliptical orbit (8) from top to bottom, the second measuring probe (12) sequentially passes through the guide grooves of the second guide groove structure (17) and the orbit grooves of the elliptical orbit (8) from top to bottom, and is driven by the rotation of the rotating body (10), under the guiding and limiting effects of the guide groove, the measuring probe can stably move in the elliptical orbit along an elliptical path.
7. A device according to claim 6, wherein, in use, the following steps are taken:
step 1), driving a screw rod sliding rail mechanism (7) to fly to a target position above an insulator string by an unmanned aerial vehicle (1) through a connecting rod (2), and keeping a standing state;
step 2), mechanical grippers (6) at two ends of a screw rod and slide rail mechanism (7) respectively hold a connecting part between a steel cap and a steel cap on an insulator string downwards, at the moment, a straight line where a first guide groove structure (16) and a second guide groove (17) are located is parallel to a screw rod (4), and meanwhile, a first measuring probe (11) and a second measuring probe (12) are enabled to be tightly attached to two sides of a first insulator to perform zero value measurement;
step 3) after the zero value measurement of the first insulator is finished, the motor drives the rotating body (10) to rotate, so that the straight line where the first guide groove structure (16) and the second guide groove structure (17) are located is perpendicular to the screw rod (4) to enable the first measuring probe (11) and the second measuring probe (12) to be separated from the first insulator;
step 4), rotating the lead screw (4) to enable the limiting box (5), the rotating body (10) and the elliptical track (8) to move towards the lower insulator;
step 5) after the limiting box (5) moves to the position above the next insulator and is stable, the motor drives the rotating body (10) to rotate, so that the straight line where the first guide groove structure (16) and the second guide groove structure (17) are located is parallel to the screw rod (4), and the first measuring probe (11) and the second measuring probe (12) are tightly attached to the two sides of the next insulator to perform zero value measurement;
and repeating the operation until the zero value of the last insulator is measured.
8. An operating method for insulator zero value measurement by unmanned aerial vehicle, characterized in that it uses the device of claim 6 for measurement, comprising the following measurement steps:
the method comprises the following steps: the remote control unmanned aerial vehicle carries the lead screw sliding rail mechanism and the zero value measuring device to fly to a specified position right above the insulator string of the power transmission tower;
step two: enabling the mechanical gripper to be located at positions capable of grasping two ends of the insulator string;
step three: judging whether the mechanical gripper is positioned right above the insulator string according to an infrared device arranged on the mechanical gripper, transmitting a video signal to an operator hand of an unmanned aerial vehicle under the power transmission tower through a video camera device, and performing subsequent operation after determining whether the position is accurate;
step four: controlling an unmanned aerial vehicle to descend to enable a manipulator of the mechanical gripper to be close to two ends of the insulator, measuring and calculating the distance between a clamp ring and a fixed end by using an infrared device, inputting the distance to a control end in the mechanical gripper, adaptively adjusting the length of the mechanical gripper by controlling a hydraulic control device, opening the manipulator, clamping the end part of the insulator and locking the manipulator, and preparing for zero value detection of the insulator when the fixing operation of a lead screw slide rail and the insulator chain is finished;
step five: the screw rod is used for controlling the position of the zero-value measuring device, the motor, the rotating body and the elliptical track are used for controlling and adjusting the contact position of the measuring needle and the insulator sheet, the zero-value measuring device and the motor are arranged in the limiting box, at the moment, the insulator measuring device is positioned right above the first insulator, the motor drives the rotating body to rotate anticlockwise, the two measuring needles of the zero-value measuring device slide to the narrowest side from the widest two sides of the ellipse along the elliptical track, the measuring needles are enabled to be tightly attached to the two ends of the insulator, the signal mechanism sends out an instruction to carry out zero-value measurement, and the instruction is uploaded to the background end of an operator to be recorded and stored;
step six: after the zero value measurement of one insulator is completed, the motor drives the rotating body to rotate clockwise, and the two measuring needles of the zero value measuring device slide to the widest side from the narrowest sides of the ellipse along the elliptical track, so that the measuring needles are separated from the blocking range of the insulator;
step seven: the screw rod moves towards the lower insulator, so that the zero-value measuring device stays above a new insulator to be measured, the motor drives the rotating body to rotate anticlockwise, the two measuring needles of the zero-value measuring device slide to the narrowest side from the widest two sides of the ellipse along the elliptical track, the measuring needles are tightly attached to the two ends of the insulator, the signal mechanism sends out an instruction to perform zero-value measurement, and the instruction is uploaded to the background end of an operator to be recorded and stored;
and repeating the steps until the zero value of the last insulator is measured and all data are recorded and stored.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110832500.1A CN113608081A (en) | 2021-07-22 | 2021-07-22 | Device for measuring zero value of insulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110832500.1A CN113608081A (en) | 2021-07-22 | 2021-07-22 | Device for measuring zero value of insulator |
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| CN113608081A true CN113608081A (en) | 2021-11-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116106704A (en) * | 2023-04-04 | 2023-05-12 | 国网山东省电力公司潍坊供电公司 | Intelligent live detection device for zero-value porcelain insulator of alternating-current transmission line |
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2021
- 2021-07-22 CN CN202110832500.1A patent/CN113608081A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116106704A (en) * | 2023-04-04 | 2023-05-12 | 国网山东省电力公司潍坊供电公司 | Intelligent live detection device for zero-value porcelain insulator of alternating-current transmission line |
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