WO2021223523A1 - Robot for detecting and cleaning insulator, and control method therefor - Google Patents

Robot for detecting and cleaning insulator, and control method therefor Download PDF

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Publication number
WO2021223523A1
WO2021223523A1 PCT/CN2021/081708 CN2021081708W WO2021223523A1 WO 2021223523 A1 WO2021223523 A1 WO 2021223523A1 CN 2021081708 W CN2021081708 W CN 2021081708W WO 2021223523 A1 WO2021223523 A1 WO 2021223523A1
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Prior art keywords
cleaning
rod group
insulator
robot
insulators
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PCT/CN2021/081708
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French (fr)
Chinese (zh)
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郑军
颜文俊
邵园园
王雪燕
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浙江大学台州研究院
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Publication of WO2021223523A1 publication Critical patent/WO2021223523A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Definitions

  • the invention belongs to the field of power transmission equipment, and relates to a robot based on detecting and cleaning insulators and a control method thereof.
  • Substation insulators in the distribution network are important primary equipment with a wide range of applications and a large number in the power system. If the dust accumulated on the insulator is not cleaned in time during the long-term operation, the insulation of the insulator will be reduced. When the air humidity is high, the partial discharge phenomenon will cause the system failure, and it will be affected by the electric field, mechanical force and the on-site environment during the long-term operation. Influenced by other factors, insulators will inevitably deteriorate and produce low zero value insulators. If inferior insulators, especially low zero value insulators cannot be detected in time, they will inevitably bring hidden dangers to the safe and reliable operation of the power grid.
  • a robot based on detecting and cleaning insulators and a control method thereof comprising a cruise device, a cleaning device and a detection device, the cleaning device is arranged on the upper side of the cruise device, the detection device is connected to the cleaning device, and the cruise device is used For automatic robot navigation and inspection, the fixed-point positioning work of the cleaning device and the detection device are completed.
  • the cleaning device is used for cleaning the insulator, and the detection device is used for detecting the resistance of the insulator.
  • the action execution mechanism includes an action wheel, a carrying body and a driving motor, the action wheel is arranged on the carrying body, the driving motor drives the action wheel to rotate, and controls the movement direction of the robot, and the route planning mechanism includes A camera for providing visual input and a route mark for providing a planned route, the route mark is set on the ground of the robot's forward route and on the insulator that needs to be cleaned and inspected, and is used for the robot's automatic navigation and inspection.
  • the drive motor stops, and the control center issues an in-situ rotation command to the drive motor.
  • the image collected by the drive motor to drive the entire in-situ rotation camera recognizes the mark on the insulator And adjust the identified mark to a specific position of the collected image through the overall action;
  • the control center After cleaning a group of insulators, the control center drives the vertical lifting rod group to lower to the height of the latter group of insulators through the driving motor, and controls the cleaning brush head to surround the insulator by driving the power connecting rod group to make a circular cleaning action around the insulator, and at the same time pass the cleaning fluid
  • the built-in power control water injection pressure gun in the water tank sprays the non-electrolyzed water cleaning liquid, and the above process is reciprocated to complete the cleaning of an insulator;
  • the control center drives the action wheel to drive the whole back to the initial node of the next insulator to be cleaned by driving the motor, adjusts the direction of travel of the action wheel, and recognizes the next line mark on the ground through the image collected by the camera.
  • the execution command is issued to the drive motor, and the action wheel is driven by the drive motor to travel along the line mark, and the cleaning of the vertical insulators in the substation is completed in a reciprocating cycle.
  • the linkage rod group is driven by the driving motor to drive one end of the three detection probes to be placed on the group of insulators that need to be cleaned and detected.
  • the sampling resistor returns the measured data to the control center, and the control center stores it in the built-in database for query and filing.
  • the control center drives the linkage rod through the drive motor
  • the group drives the three detection probes to return to the initial position and starts the surrounding cleaning work described in S through the drive motor;
  • Fig. 3 is a schematic diagram of the downward extension and extension mode of the extension rod group in the present invention.
  • Fig. 9 is a first schematic diagram of the control method of the present invention.
  • the gripping mechanism includes a moving block 2145, which is fixedly connected to the output shaft of the moving motor 517, and the moving block 2145 is rotatably connected to a rotating shaft 2140 at a symmetrical position, and the rotating shaft 2140 is fixedly attached to it.
  • a driving link 2143 is provided, the other side of the driving link 2143 is rotatably connected with a driven rod 2144, and the horizontal driving member 422 is fixedly provided with a fixed support column 2141 located at a symmetrical position of the moving block 2145.
  • the fixed support column 2141 is provided with a trough structure to strengthen strength, avoid bending and deformation under tensile force, and improve stability.
  • the power jacking device includes a power motor 2118, a bone one 2119, a driving motor 2120, a bone two 2121, and a bone three 2122.
  • the power motor 2118 is rotatably connected to the connecting piece 704, and the bone one 2119 is connected to the connecting piece shaft.
  • the output shaft of the power motor 2118 is connected to the bone one 2119.
  • the power motor 2118 drives the bone one 2119 to rotate around the connecting piece 704 to realize the opening and closing of the bone one 2119.
  • One 2119 is set as a double-layer bending structure to change the direction of the force.
  • the first bone 2119 is rotatably connected with the second bone 2121, and the first bone 2119 is connected to the driving motor 2120.
  • damper 2112 there may be no damper 2112 on the 2118.

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  • Cleaning In General (AREA)
  • Insulators (AREA)
  • Manipulator (AREA)

Abstract

Disclosed are a robot for detecting and cleaning an insulator, and a control method therefor. The robot comprises a cruising device, a cleaning device and a detection device, wherein the cleaning device is arranged on an upper side of the cruising device, the detection device is connected to the cleaning device, the cruising device is used for the automatic navigation and inspection of the robot to complete fixed-point positioning work of the cleaning device and the detection device, the cleaning device is used for cleaning an insulator (100), and the detection device is used for detecting a resistance value of the insulator (100). In the control method, a control center establishes a data connection with a cruising device, a cleaning device and a detection device, and automatic navigation and inspection of a robot are achieved, such that the degree of automation of the robot is increased; the cleaning device moves in a longitudinal direction and a transverse direction, while a cleaning brush head performs an encircling cleaning action around an insulator column, such that the cleaning efficiency and quality are improved; and resistance detection is carried out by means of the detection device before and after cleaning the insulator, and thus, the safety and reliability are improved.

Description

一种基于检测和清扫绝缘子的机器人及其控制方法Robot based on detecting and cleaning insulators and its control method
本申请要求于2020年05月07日提交中国专利局、申请号为202010376516.1、发明名称为“一种基于检测和清扫绝缘子的机器人及其控制方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on May 07, 2020, the application number is 202010376516.1, and the invention title is "A robot based on detecting and cleaning insulators and its control method". The entire content of the application is approved. The reference is incorporated in this application.
技术领域Technical field
本发明属于电力输送设备领域，涉及一种基于检测和清扫绝缘子的机器人及其控制方法。The invention belongs to the field of power transmission equipment, and relates to a robot based on detecting and cleaning insulators and a control method thereof.
背景技术Background technique
配网中变电站绝缘子是电力***中使用范围广泛、数量庞大的重要一次设备。长期运行过程中若不及时清洗绝缘子上长期积累的灰尘将导致绝缘子的绝缘性降低，在空气湿度较大时发生局部放电现象引起***故障，并且在长期运行过程中受电场、机械力和现场环境等因素的影响，绝缘子必然会劣化并产生低零值绝缘子。劣质绝缘子特别是低零值绝缘子如不能及时被检测出来，必将给电网的安全可靠运行带来隐患。一旦引起线路短路、掉线等故障将严重影响电网的正常运行，同时带来巨大的经济损失和社会影响。故及时检测出运行绝缘子中的低零值绝缘子以及清洗长时间暴露在空气中的绝缘子十分必要。Substation insulators in the distribution network are important primary equipment with a wide range of applications and a large number in the power system. If the dust accumulated on the insulator is not cleaned in time during the long-term operation, the insulation of the insulator will be reduced. When the air humidity is high, the partial discharge phenomenon will cause the system failure, and it will be affected by the electric field, mechanical force and the on-site environment during the long-term operation. Influenced by other factors, insulators will inevitably deteriorate and produce low zero value insulators. If inferior insulators, especially low zero value insulators cannot be detected in time, they will inevitably bring hidden dangers to the safe and reliable operation of the power grid. Once the line is short-circuited, disconnected and other faults will seriously affect the normal operation of the power grid, and at the same time bring huge economic losses and social impact. Therefore, it is necessary to timely detect the low zero value insulators in the operating insulators and clean the insulators exposed to the air for a long time.
目前国内普遍使用短路叉或火花间隙检测方法检测低零值绝缘子，因其不能定量检测绝缘子的分布电压而造成很多漏检、误检的情况。其他诸如带电直接检测电阻、检测噪声电波、红外热像、地面检测泄漏电流和电晕脉冲电流及局放电流的方法，因现场的实际可操作性和检测准确性达不到要求而未大规模的推广。同时，目前国内普遍的清洗绝缘子的方式是用高压水枪喷射非电解水，但是此种方式不能保证每片绝缘子都得到有效清洗并且浪费人力物力以及水资源。因此，一种绝缘子清扫—检测一体化机器人在提倡节能减排和提高效率的今天非常有必要。At present, short-circuit fork or spark gap detection methods are commonly used in China to detect low zero value insulators. Because they cannot quantitatively detect the distributed voltage of insulators, many cases of missed and false detections have been caused. Other methods such as direct detection of resistance, detection of noise waves, infrared thermal imaging, ground detection of leakage current, corona pulse current, and partial discharge current are not large-scale due to the actual operability and detection accuracy of the site. Promotion. At the same time, the current domestic common method for cleaning insulators is to spray non-electrolyzed water with a high-pressure water gun, but this method cannot guarantee that each insulator is effectively cleaned and wastes manpower, material resources and water resources. Therefore, an insulator cleaning-inspection integrated robot is very necessary today when it advocates energy saving, emission reduction and efficiency improvement.
发明内容Summary of the invention
基于此，有必要提供一种基于检测和清扫绝缘子的机器人及其控制方法。Based on this, it is necessary to provide a robot and its control method based on detecting and cleaning insulators.
为实现上述目的，本发明提供了如下方案：In order to achieve the above objectives, the present invention provides the following solutions:
一种基于检测和清扫绝缘子的机器人及其控制方法：包括巡航装置、清扫装置和检测装置，所述清扫装置设置于巡航装置上侧，所述检测装置与清扫装置连接设置，所述巡航装置用于机器人自动导航及巡检，完成清扫装置和检测装置的定点定位工作，所述清扫装置用于清洗绝缘子，所述检测装置用于对绝缘子的阻值检测。A robot based on detecting and cleaning insulators and a control method thereof: comprising a cruise device, a cleaning device and a detection device, the cleaning device is arranged on the upper side of the cruise device, the detection device is connected to the cleaning device, and the cruise device is used For automatic robot navigation and inspection, the fixed-point positioning work of the cleaning device and the detection device are completed. The cleaning device is used for cleaning the insulator, and the detection device is used for detecting the resistance of the insulator.
进一步的，所述巡航装置包括动作执行机构和路线规划机构，所述动作执行机构与路线规划机构连接设置，所述动作执行机构驱动机器人进行移动和转动，所述路线规划机构提供机器人提供前进路线。Further, the cruise device includes an action executing mechanism and a route planning mechanism, the action executing mechanism is connected to the route planning mechanism, the action executing mechanism drives the robot to move and rotate, and the route planning mechanism provides the robot to provide a forward route. .
进一步的，所述动作执行机构包括动作轮、承载主体和驱动电机，所述动作轮设置于承载主体上，所述驱动电机驱动动作轮转动，控制机器人的移动方向，所述路线规划机构包括用于提供视觉输入的摄像头和用于提供规划路线的线路标识，所述线路标识设置于机器人前进路线的地面上以及需要清洗和检测的绝缘子上，用于机器人自动导航及巡检。Further, the action execution mechanism includes an action wheel, a carrying body and a driving motor, the action wheel is arranged on the carrying body, the driving motor drives the action wheel to rotate, and controls the movement direction of the robot, and the route planning mechanism includes A camera for providing visual input and a route mark for providing a planned route, the route mark is set on the ground of the robot's forward route and on the insulator that needs to be cleaned and inspected, and is used for the robot's automatic navigation and inspection.
进一步的，所述清扫装置包括卡位机构和清扫机构，所述卡位机构与清扫机构连接设置，所述卡位机构驱动清扫机构水平和竖直移动，所述清扫机构移动至绝缘子位置并清洗绝缘子。Further, the cleaning device includes a detent mechanism and a cleaning mechanism, the detent mechanism is connected to the cleaning mechanism, the detent mechanism drives the cleaning mechanism to move horizontally and vertically, and the cleaning mechanism moves to the insulator position and cleans insulator.
进一步的，所述卡位机构包括顶伸杆组、垂直升降杆组、水平伸缩杆组和抓握杆组，所述顶伸杆组与承载主体连接，所述水平伸缩杆组设置于垂直升降杆组上侧，所述抓握杆组与水平伸缩杆组连接，所述顶伸杆组用于对设备的支撑和固定，所述垂直升降杆组控制水平伸缩杆组在垂直方向上的移动，所述水平伸缩杆组控制抓握杆组在水平方向的移动。Further, the locking mechanism includes a top extension rod group, a vertical lifting rod group, a horizontal telescopic rod group, and a gripping rod group. The top extension rod group is connected to the carrying body, and the horizontal telescopic rod group is arranged in the vertical lifting rod group. On the upper side of the rod group, the gripping rod group is connected with the horizontal telescopic rod group, the top extension rod group is used to support and fix the equipment, and the vertical lifting rod group controls the movement of the horizontal telescopic rod group in the vertical direction , The horizontal telescopic rod group controls the movement of the grasping rod group in the horizontal direction.
进一步的，所述顶伸杆组对机器人的支撑方式设置为下展顶伸，且设置于所述承载主体内部，所述顶伸杆组包括固定支撑机构和顶伸机构，所述固定支撑机构与所述承载主体连接，所述顶伸机构设置于固定支撑机构上，所述固定支撑机构用于固定和支撑顶伸杆组，所述顶伸机构用于将设 备进行顶伸。Further, the support mode of the jacking rod group to the robot is set to extend downward and to extend, and is arranged inside the carrying body, and the jacking rod group includes a fixed support mechanism and a jacking mechanism, and the fixed support mechanism Connected with the carrying body, the jacking mechanism is arranged on a fixed supporting mechanism, the fixed supporting mechanism is used for fixing and supporting the jacking rod group, and the jacking mechanism is used for jacking the equipment.
进一步的，所述水平伸缩杆组包括固设于垂直升降杆组上的上底板，所述上底板左右两侧对称固设有上侧板，所述上底板上固设有连接块，所述水平伸缩杆组设置有伸缩电机，所述伸缩电机与连接块通过卡接方式进行连接，所述伸缩电机固设有伸缩轴，所述伸缩轴连接有水平驱动件，所述伸缩电机驱动水平驱动件水平移动。Further, the horizontal telescopic rod group includes an upper bottom plate fixed on the vertical lifting rod group, upper side plates are symmetrically fixed on the left and right sides of the upper bottom plate, and connecting blocks are fixed on the upper bottom plate. The horizontal telescopic rod group is provided with a telescopic motor, the telescopic motor and the connecting block are connected by a snap connection, the telescopic motor is fixedly provided with a telescopic shaft, the telescopic shaft is connected with a horizontal drive member, and the telescopic motor drives the horizontal drive Pieces move horizontally.
进一步的，所述检测装置包括定位机构和阻值测控机构，所述阻值测控机构包括阻值检测电路和检测探针，所述定位机构包括联动杆组和联动板，所述定位机构驱动检测探针转动。Further, the detection device includes a positioning mechanism and a resistance measurement and control mechanism, the resistance measurement and control mechanism includes a resistance detection circuit and a detection probe, the positioning mechanism includes a linkage rod group and a linkage plate, and the positioning mechanism drives the detection The probe rotates.
进一步的，包括控制中心，所述控制中心与所述巡航装置、清扫装置和检测装置均建立数据连接，所述控制中心内置有机器人的控制方法，具体为：Further, a control center is included, and the control center establishes a data connection with the cruise device, the cleaning device, and the detection device. The control center has a built-in robot control method, specifically:
S1.控制中心通过所述路线规划机构中的摄像头所采集的图像识别到地面上的线路标识，通过识别出的线路标识将执行命令下达至驱动电机，通过驱动电机驱动动作轮沿线路标识行进；S1. The control center recognizes the line mark on the ground through the image collected by the camera in the route planning agency, sends the execution command to the drive motor through the recognized line mark, and drives the action wheel to travel along the line mark through the drive motor;
S2.当到达所识别的地面上线路标识的终点时，驱动电机停止动作，控制中心下达原地转动指令至驱动电机，通过驱动电机驱动整体原地转动摄像头所采集的图像识别到绝缘子上的标识并通过整体动作将所识别的标识调整到所采集的图像的特定位置；S2. When reaching the end of the identified line mark on the ground, the drive motor stops, and the control center issues an in-situ rotation command to the drive motor. The image collected by the drive motor to drive the entire in-situ rotation camera recognizes the mark on the insulator And adjust the identified mark to a specific position of the collected image through the overall action;
S3.控制中心向驱动电机下达指令，通过驱动电机驱动水平伸缩杆组作前伸动作并同时配合驱动抓握杆组作扩张动作，将清扫机构在水平面上推送至绝缘子处的同时张开清扫机构将绝缘子卡入清扫机构中心，通过摄像头所采集的图像识别出绝缘子已位于清扫机构中心，向驱动电机下达指令驱动抓握杆组作收紧动作使清扫机构环抱绝缘子；S3. The control center issues a command to the drive motor. The horizontal telescopic rod group is driven by the drive motor to extend forward and cooperate with the drive gripping rod group to expand at the same time. The cleaning mechanism is pushed to the insulator on the horizontal surface and the cleaning mechanism is opened at the same time. Clamp the insulator into the center of the cleaning mechanism, recognize that the insulator is located at the center of the cleaning mechanism through the image collected by the camera, and issue a command to the drive motor to drive the gripping rod group to tighten the insulator so that the cleaning mechanism surrounds the insulator;
S4.控制中心通过驱动电机驱动垂直升降杆组上升至绝缘子顶端第一个绝缘子上并通过驱动动力连杆杆组控制清洗刷头围绕绝缘子作环绕清洗动作，同时通过清洗液水箱内置动力控制注水压力枪喷洒非电解水清洗液；S4. The control center drives the vertical lifting rod group to rise to the first insulator at the top of the insulator through the drive motor, and controls the cleaning brush head to surround the insulator by driving the power connecting rod group to make a cleaning action around the insulator, and at the same time, the water injection pressure is controlled by the built-in power of the cleaning liquid tank Spray the non-electrolyzed water cleaning fluid with the gun;
S5.清洗完一组绝缘子后，控制中心通过驱动电机驱动垂直升降杆组 下降至后一组绝缘子的高度并通过驱动动力连杆杆组控制清洗刷头围绕绝缘子作环绕清洗动作，同时通过清洗液水箱内置动力控制注水压力枪喷洒非电解水清洗液，往复循环上述过程完成一个绝缘子的清洗工作；S5. After cleaning a group of insulators, the control center drives the vertical lifting rod group to lower to the height of the latter group of insulators through the driving motor, and controls the cleaning brush head to surround the insulator by driving the power connecting rod group to make a circular cleaning action around the insulator, and at the same time pass the cleaning fluid The built-in power control water injection pressure gun in the water tank sprays the non-electrolyzed water cleaning liquid, and the above process is reciprocated to complete the cleaning of an insulator;
S6.控制中心通过驱动电机驱动动作轮带动整体沿原路返回至下一个所需清洗的绝缘子的初始节点，调整动作轮行进方向，通过摄像头所采集的图像识别到地面上的下一条线路标识将执行命令下达至驱动电机，通过驱动电机驱动动作轮沿线路标识行进，往复循环完成变电站中竖状绝缘子的清洗工作。S6. The control center drives the action wheel to drive the whole back to the initial node of the next insulator to be cleaned by driving the motor, adjusts the direction of travel of the action wheel, and recognizes the next line mark on the ground through the image collected by the camera. The execution command is issued to the drive motor, and the action wheel is driven by the drive motor to travel along the line mark, and the cleaning of the vertical insulators in the substation is completed in a reciprocating cycle.
进一步的，还包括有检测装置的工作步骤，具体为：Further, it also includes the working steps of the detection device, specifically:
S41.在所述的控制中心通过驱动电机驱动动力连杆杆组前，先通过驱动电机驱动联动杆组带动所述的三根检测探针一端搭于需要被清洗和检测的该组绝缘子上，所述的采样电阻将测得数据返回所述的控制中心，由所述控制中心储存于内置数据库以供查询和备案，在完成该组绝缘子阻值检测后所述的控制中心通过驱动电机驱动联动杆组带动所述的三根检测探针回复到初始位置并通过驱动电机开启S中所述的环绕清洗工作；S41. Before the control center drives the power connecting rod group by the driving motor, the linkage rod group is driven by the driving motor to drive one end of the three detection probes to be placed on the group of insulators that need to be cleaned and detected. The sampling resistor returns the measured data to the control center, and the control center stores it in the built-in database for query and filing. After the resistance value detection of the group of insulators is completed, the control center drives the linkage rod through the drive motor The group drives the three detection probes to return to the initial position and starts the surrounding cleaning work described in S through the drive motor;
S42.当所述的控制中心通过驱动电机清洗完该组绝缘子后，先通过驱动电机驱动联动杆组带动所述的三根检测探针一端搭于需要被清洗和检测的该组绝缘子上，所述的采样电阻将测得数据返回所述的控制中心，由所述的控制中心储存于内置数据库以供查询和备案，在完成该组绝缘子阻值检测后所述的控制中心通过驱动电机驱动联动杆组带动所述的三根检测探针回复到初始位置并通过驱动电机开启S中垂直升降工作。S42. After the control center has cleaned the group of insulators through the drive motor, the linkage rod group is driven by the drive motor to drive one end of the three detection probes onto the group of insulators that need to be cleaned and tested. The sampling resistor returns the measured data to the control center, and the control center stores it in the built-in database for query and filing. After the resistance value detection of the set of insulators is completed, the control center drives the linkage rod through the drive motor The group drives the three detection probes to return to their initial positions and starts vertical lifting in S through the drive motor.
与现有技术相比，本发明的有益效果是：Compared with the prior art, the beneficial effects of the present invention are:
本发明设置的控制中心与巡航装置、清扫装置和检测装置建立数据连接，巡航装置设定设备的移动路线，实现机器人自动导航和巡检的目的，提高了机器人的自动化程度，并通过清扫装置在纵向和横向上移动，将绝缘子置于清扫机构的中心，同时清洗刷头围绕绝缘子柱作环绕清洗动作，提高了清洗效率和质量，本发明通过检测装置对绝缘子清洗前后进行阻值检测，进而可将发生绝缘劣化的低零值绝缘子检测出防止局部放电的安全事故发生，提高了安全性和可靠性。The control center set up in the present invention establishes a data connection with the cruise device, the cleaning device, and the detection device. The cruise device sets the movement route of the equipment, realizes the purpose of automatic navigation and inspection of the robot, and improves the automation degree of the robot. Move longitudinally and laterally to place the insulator in the center of the cleaning mechanism, and at the same time, the cleaning brush head surrounds the insulator column to perform a circular cleaning action, which improves the cleaning efficiency and quality. The detection of low-zero-value insulators with insulation deterioration prevents partial discharge safety accidents, and improves safety and reliability.
说明书附图Attached drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative labor, other drawings can be obtained based on these drawings.
图1为本发明的装置示意图一。Figure 1 is the first schematic diagram of the device of the present invention.
图2为本发明的装置示意图二。Figure 2 is the second schematic diagram of the device of the present invention.
图3为本发明中顶伸杆组下展顶伸方式的示意图。Fig. 3 is a schematic diagram of the downward extension and extension mode of the extension rod group in the present invention.
图4为图2中A的放大示意图。Fig. 4 is an enlarged schematic diagram of A in Fig. 2.
图5为本发明中清扫机构的示意图。Figure 5 is a schematic diagram of the cleaning mechanism in the present invention.
图6为本发明中水平导向伸缩杆组的示意图。Fig. 6 is a schematic diagram of the horizontally guided telescopic rod group in the present invention.
图7为本发明中清洗接触头与注水压力枪交错排布的示意图。Fig. 7 is a schematic diagram of the staggered arrangement of cleaning contact heads and water injection pressure guns in the present invention.
图8为本发明中检测装置的示意图。Fig. 8 is a schematic diagram of the detection device in the present invention.
图9为本发明的控制方法的示意图一。Fig. 9 is a first schematic diagram of the control method of the present invention.
图10为本发明中检测装置的控制方法的示意图一。Fig. 10 is the first schematic diagram of the control method of the detection device in the present invention.
图11为本发明中顶伸杆组旁展顶伸方式示意图一。Figure 11 is the first schematic diagram of the side-spreading and extending method of the ejecting rod group in the present invention.
图12为本发明中顶伸杆组旁展顶伸方式示意图二。Fig. 12 is the second schematic diagram of the side spreading and extending method of the ejecting rod group in the present invention.
图13为图11中B的放大示意图。Fig. 13 is an enlarged schematic diagram of B in Fig. 11.
图14为本发明中抓握伸缩联动机构的示意图一。Figure 14 is the first schematic diagram of the gripping telescopic linkage mechanism in the present invention.
图15为本发明中抓握伸缩联动机构的示意图二。Figure 15 is a second schematic diagram of the gripping telescopic linkage mechanism in the present invention.
图中标识：绝缘子100、动作轮111、承载主体112、主体侧板1121、主体端板1123、主体上板1122、主体内腔1124、主体侧腔1125、顶伸杆组211、垂直升降杆组212、水平伸缩杆组213、液压油杆2110、固定柱体2111、阻尼器2112、主体钢架2113、联动支撑杆2115、支撑底板2116、连接杆600、转块601、连接固定板603、连接板组604、伸缩连接杆605、连撑板607、连肋板608、对板609、对柱610、上底板400、上侧板401、伸缩电机403、卡接柱404、连接块405、卡接槽406、伸缩轴407、导槽408、导板409、转连板410、驱动连板411、驱动底板412、驱动侧板413、卡接件420、开口腔421、水平驱动件422、抓握杆组214、滑轨组件221、 抱紧轮组件222、动力连杆杆组223、水平导向伸缩杆组224、清洗刷头225、固定支撑件514、连接件导块515、导块516、移动电机517、连块520、抓握杆组214、旋转轴2140、固定支撑柱2141、固定支撑面2142、驱动连杆2143、从动杆2144、移动块2145、滑接板2211、弧槽2212、垫板2213、下垫片2230、旋转轴2231、上垫片2232、固定连杆2233、动力连杆一2234、动力连杆二2235、动力连杆三2236、卡扣2237、固定块2221、定位轴2222、小滑轮2223、导向底座2241、径向轴2242、中心部件2243、伸缩杆腿一2244、伸缩杆腿二2245、固板2246、折板2247、定板2248、外壳2251、清洗接触头2252、注水压力枪2253、联动杆组311、联动板312、阻值检测电路321、检测探针322、直流电源3211、保护电阻3212、电感3213、采样电阻3214、载体前板700、载体斜板701、载体后板703、载体后板703、连件704、连件板705、连件柱706、连件轴707、动力电机2118、骨骼一2119、驱使电机2120、骨骼二2121、骨骼三2122、本体载体2123、动电机2124、动连板2125、垫板2126、旋转电机800、中心轴801、顶部盖板802、边腔803、滑动槽804、耳底部805、耳中部806、耳上部807、滑缸伸。Identified in the figure: insulator 100, action wheel 111, carrying body 112, body side plate 1121, body end plate 1123, body upper plate 1122, body cavity 1124, body side cavity 1125, top extension rod group 211, vertical lifting rod group 212. Horizontal telescopic rod group 213, hydraulic oil rod 2110, fixed column 2111, damper 2112, main steel frame 2113, linkage support rod 2115, support base plate 2116, connecting rod 600, rotating block 601, connecting fixing plate 603, connecting Plate group 604, telescopic connecting rod 605, connecting support plate 607, connecting rib 608, opposite plate 609, opposite column 610, upper bottom plate 400, upper side plate 401, telescopic motor 403, clamping column 404, connecting block 405, card Connecting groove 406, telescopic shaft 407, guide groove 408, guide plate 409, rotating connecting plate 410, driving connecting plate 411, driving bottom plate 412, driving side plate 413, clamping part 420, opening cavity 421, horizontal driving part 422, grip Rod group 214, slide rail assembly 221, holding wheel assembly 222, power link rod group 223, horizontally guided telescopic rod group 224, cleaning brush head 225, fixed support 514, connecting piece guide block 515, guide block 516, mobile Motor 517, connecting block 520, grasping rod group 214, rotating shaft 2140, fixed support column 2141, fixed support surface 2142, driving link 2143, driven rod 2144, moving block 2145, sliding plate 2211, arc groove 2212 Backing plate 2213, lower washer 2230, rotating shaft 2231, upper washer 2232, fixed link 2233, power link 1 2234, power link 2 2235, power link 3 2236, buckle 2237, fixed block 2221, positioning Shaft 2222, small pulley 2223, guide base 2241, radial shaft 2242, central part 2243, telescopic rod leg 1 2244, telescopic rod leg 2 2245, fixed plate 2246, folded plate 2247, fixed plate 2248, housing 2251, cleaning contact head 2252, water injection pressure gun 2253, linkage rod group 311, linkage plate 312, resistance detection circuit 321, detection probe 322, DC power supply 3211, protection resistor 3212, inductor 3213, sampling resistor 3214, carrier front plate 700, carrier inclined plate 701, carrier back plate 703, carrier back plate 703, connecting piece 704, connecting piece plate 705, connecting piece 706, connecting piece shaft 707, power motor 2118, bone one 2119, driving motor 2120, bone two 2121, bone three 2122 , Body carrier 2123, moving motor 2124, moving connecting plate 2125, backing plate 2126, rotating motor 800, central shaft 801, top cover 802, side cavity 803, sliding groove 804, ear bottom 805, ear middle 806, ear upper 807 , Slide cylinder extension.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
本发明实施例中所有方向性指示(诸如上、下、左、右、前、后、横向、纵向……)仅用于解释在某一特定姿态下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。All directional indicators (such as up, down, left, right, front, back, horizontal, vertical...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of the components in a certain posture And so on, if the specific posture changes, the directional indication changes accordingly.
实施例一：Example one:
如图1-8所示，一种检测和清扫绝缘子的机器人，包括巡航装置、清扫装置和检测装置，所述清扫装置设置于巡航装置上侧，所述检测装置与清扫装置连接设置，所述巡航装置用于机器人自动导航及巡检，完成清扫装置和检测装置的定点定位工作，所述清扫装置用于清洗绝缘子100，所述检测装置用于对绝缘子100的阻值检测。As shown in Figures 1-8, a robot for detecting and cleaning insulators includes a cruise device, a cleaning device, and a detection device. The cleaning device is arranged on the upper side of the cruise device. The detection device is connected to the cleaning device. The cruise device is used for robot automatic navigation and inspection to complete the fixed-point positioning work of the cleaning device and the detection device. The cleaning device is used for cleaning the insulator 100, and the detection device is used for detecting the resistance of the insulator 100.
如图1-2所示，所述巡航装置包括动作执行机构和路线规划机构，所述动作执行机构与路线规划机构连接设置，所述动作执行机构驱动机器人进行移动和转动，所述路线规划机构提供机器人提供前进路线。As shown in Figure 1-2, the cruise device includes an action executing mechanism and a route planning mechanism. The action executing mechanism is connected to the route planning mechanism. The action executing mechanism drives the robot to move and rotate. The route planning mechanism Provide robots to provide a route forward.
所述动作执行机构包括动作轮111、承载主体112和驱动电机(图未显示)，所述承载主体112包括左右对称的主体侧板1121、前后对称的主体端板1123以及连接主体侧板1121和主体端板1123的主体上板1122，所述主体侧板1121、主体端板1123和主体上板1122组成箱体，且该箱体内侧设置有主体内腔1124，所述主体侧板1121上设置有多组主体侧腔1125，通过所述主体侧腔1125将主体内腔1124与外部空间连通，在本实施例中，所述主体侧腔1125设置为前后对称的两组，且所述动作轮111贯穿主体侧腔1125延伸至外部空间；所述驱动电机设置于主体内腔1124内且与动作轮111连接，所述动作轮111可设置为万向轮或麦克纳姆轮，所述驱动电机驱动动作轮111转动，进而控制机器人的移动方向；所述路线规划机构包括用于提供视觉输入的摄像头(图未显示)和用于提供规划路线的线路标识(图未显示)，所述摄像头可设置于机器人任意位置，所述线路标识设置于机器人前进路线的地面上以及需要清洗和检测的绝缘子100上，从而实现机器人自动导航及巡检。The action actuator includes an action wheel 111, a carrying body 112, and a drive motor (not shown in the figure). The carrying body 112 includes a symmetrical main body side plate 1121, a symmetrical main body end plate 1123, and a connecting main body side plate 1121 and The main body upper plate 1122 of the main body end plate 1123, the main body side plate 1121, the main body end plate 1123 and the main body upper plate 1122 constitute a box body, and the inner side of the box body is provided with a main body cavity 1124, and the main body side plate 1121 is provided There are multiple sets of main body side cavities 1125, and the main body inner cavity 1124 is communicated with the external space through the main body side cavity 1125. In this embodiment, the main body side cavities 1125 are arranged in two groups that are symmetrical forward and backward, and the action wheel 111 penetrates the main body side cavity 1125 and extends to the external space; the drive motor is arranged in the main body cavity 1124 and is connected to the action wheel 111. The action wheel 111 can be set as a universal wheel or a mecanum wheel. The action wheel 111 is driven to rotate to control the direction of movement of the robot; the route planning mechanism includes a camera (not shown in the figure) for providing visual input and a route mark (not shown in the figure) for providing a planned route. The camera can Set at any position of the robot, the line mark is set on the ground of the robot's forward route and on the insulator 100 that needs to be cleaned and inspected, so as to realize the robot's automatic navigation and inspection.
如图2-4所示，所述清扫装置包括卡位机构和清扫机构，所述卡位机构与清扫机构连接设置，所述卡位机构驱动清扫机构水平和竖直移动，所述清扫机构移动至绝缘子100位置并清洗绝缘子100。As shown in Figures 2-4, the cleaning device includes a detent mechanism and a cleaning mechanism, the detent mechanism is connected to the cleaning mechanism, the detent mechanism drives the cleaning mechanism to move horizontally and vertically, and the cleaning mechanism moves Go to the position of the insulator 100 and clean the insulator 100.
如图2-3所示，所述卡位机构包括顶伸杆组211、垂直升降杆组212、水平伸缩杆组213和抓握杆组214，所述顶伸杆组211与承载主体112连接，所述水平伸缩杆组213设置于垂直升降杆组212上侧，所述抓握杆组 214与水平伸缩杆组213连接，所述顶伸杆组211用于对设备的支撑和固定，所述垂直升降杆组212控制水平伸缩杆组213在垂直方向上的移动，所述水平伸缩杆组213控制抓握杆组214在水平方向的移动。As shown in Figures 2-3, the locking mechanism includes a top extension rod group 211, a vertical lifting rod group 212, a horizontal telescopic rod group 213, and a gripping rod group 214. The top extension rod group 211 is connected to the carrier body 112. The horizontal telescopic rod group 213 is arranged on the upper side of the vertical lifting rod group 212, the gripping rod group 214 is connected to the horizontal telescopic rod group 213, and the top extension rod group 211 is used to support and fix the equipment, so The vertical lifting rod group 212 controls the movement of the horizontal telescopic rod group 213 in the vertical direction, and the horizontal telescopic rod group 213 controls the movement of the grasping rod group 214 in the horizontal direction.
如图2所示，所述垂直升降杆组212内设置有驱动电机(图未显示)，所述垂直升降杆组212固设于承载主体112上侧，具体的，所述垂直升降杆组212固设于主体上板1122上，所述垂直升降杆组212采用本领域公知的升降装置，可采用叉式升降杆组、套杆式升降杆组、单立柱升降杆组、双立柱升降杆组、多立柱升降杆组或曲臂式升降杆组，所述垂直升降杆组212进行升降工作时，使水平伸缩杆组213在垂直方向上进行移动，从而使清扫机构在纵向上移至需要进行清扫和检测的绝缘子100位置。As shown in FIG. 2, a drive motor (not shown in the figure) is provided in the vertical lifting rod group 212, and the vertical lifting rod group 212 is fixed on the upper side of the carrying body 112. Specifically, the vertical lifting rod group 212 Fixed on the upper plate 1122 of the main body, the vertical lifting rod group 212 adopts a lifting device known in the art, and can adopt a fork lifting rod group, a sleeve-type lifting rod group, a single-pillar lifting rod group, and a double-pillar lifting rod group. , Multi-column lifting rod group or crank arm type lifting rod group, when the vertical lifting rod group 212 performs lifting work, the horizontal telescopic rod group 213 is moved in the vertical direction, so that the cleaning mechanism is moved in the longitudinal direction to the required 100 positions of insulators for cleaning and inspection.
如图3所示，在本实施例中，所述顶伸杆组211对机器人的支撑方式设置为下展顶伸，且设置于所述承载主体112内部，所述顶伸杆组211包括固定支撑机构和顶伸机构，所述固定支撑机构与所述承载主体112连接，所述顶伸机构设置于固定支撑机构上，所述固定支撑机构用于固定和支撑顶伸杆组211，所述顶伸机构用于将设备进行顶伸。As shown in FIG. 3, in this embodiment, the top extension rod group 211 supports the robot in a downward extension and top extension mode, and is arranged inside the carrier body 112. The top extension rod group 211 includes a fixed The supporting mechanism and the jacking mechanism, the fixed supporting mechanism is connected with the carrying body 112, the jacking mechanism is arranged on the fixed supporting mechanism, the fixed supporting mechanism is used to fix and support the jacking rod group 211, the The jacking mechanism is used to jack the equipment.
所述固定支撑机构包括主体钢架2113、支撑底板2116和连接板组604，所述主体钢架2113包括有横梁和竖梁，所述横梁和竖梁之间固定连接，所述主体钢架2113的横梁固定在所述承载主体112的主体端板1123上，所述主体钢架2113的竖梁固定在所述承载主体112的主体侧板1121上，通过所述主体钢架2113将顶伸杆组211与承载主体112固设连接；所述连接板组604设置为平行的两组且位于主体钢架2113的竖梁之间，所述每组连接板组604包括左右对称的连接固定板603，所述连接固定板603下侧与支撑底板2116固设，在实施过程中，所述支撑底板2116与接触面相抵，从而实现对装置的支撑，以免装置的偏移和动作轮111的滑动。The fixed support mechanism includes a main steel frame 2113, a supporting bottom plate 2116, and a connecting plate group 604. The main steel frame 2113 includes a cross beam and a vertical beam. The cross beam and the vertical beam are fixedly connected. The main steel frame 2113 The beam is fixed on the main body end plate 1123 of the carrying body 112, and the vertical beam of the main body steel frame 2113 is fixed on the main body side plate 1121 of the carrying body 112. The group 211 is fixedly connected to the carrying body 112; the connecting plate groups 604 are arranged in two parallel groups and are located between the vertical beams of the main steel frame 2113, and each group of connecting plate groups 604 includes a left-right symmetrical connecting fixing plate 603 The lower side of the connecting fixing plate 603 is fixed to the supporting bottom plate 2116. During the implementation, the supporting bottom plate 2116 abuts against the contact surface, so as to support the device to prevent the device from shifting and sliding of the action wheel 111.
所述顶伸机构包括液压油杆2110、固定柱体2111和联动支撑杆2115，所述联动支撑杆2115与支撑底板2116转动连接，所述连接固定板603上设置有滑槽，所述滑槽内滑动设置有与联动支撑杆2115转动连接的转板602，所述转板602上固设有转块601，所述转块601上固设有连接杆600，所述连接杆600上设置有阻尼器2112，以此达到平滑所述的顶伸杆 组211动作的目的，所述连接杆600上端面固设有固定柱体2111，所述固定柱体2111上固设有连撑板607，所述连撑板607相对的一侧固设有对板609，所述连撑板607和对板609间固设有前后对称的连肋板608，所述连肋板608用于加强对板609的强度，避免在压力作用下变形，所述两组对板609间设置有对柱610，所述液压油杆2110相互对称固设于所述对柱610上，所述液压油杆2110上侧与固设于承载主体112连接，所述主体钢架2113上固设有撑杆2114，所述撑杆2114内设置有驱动电机，所述驱动电机输出轴与伸缩连接杆605固设，所述伸缩连接杆605与联动支撑杆2115转动连接，所述驱动电机通过伸缩连接杆605控制联动支撑杆2115的开合。The jacking mechanism includes a hydraulic oil rod 2110, a fixed cylinder 2111, and a linkage support rod 2115. The linkage support rod 2115 is rotatably connected to the support bottom plate 2116. The connecting and fixing plate 603 is provided with a sliding groove. The inner sliding plate is provided with a rotating plate 602 which is rotatably connected with the linkage support rod 2115. The damper 2112, in order to achieve the purpose of smoothing the action of the top extension rod group 211, is fixedly provided with a fixed column 2111 on the upper end surface of the connecting rod 600, and a connecting support plate 607 is fixed on the fixed column 2111, An opposite side of the supporting plate 607 is fixedly provided with a counter plate 609, and a front-to-rear symmetrical rib 608 is fixed between the supporting plate 607 and the counter plate 609, and the rib 608 is used to strengthen the counter plate The strength of 609 prevents deformation under pressure. A pair of pillars 610 are arranged between the two sets of opposed plates 609. The hydraulic oil rods 2110 are symmetrically fixed to the pair of pillars 610, and the hydraulic oil rods 2110 are The side is connected to the main body 112 fixedly mounted on the main body. The main body steel frame 2113 is fixedly provided with a strut 2114, the strut 2114 is provided with a drive motor, and the drive motor output shaft is fixed to the telescopic connecting rod 605, so The telescopic connecting rod 605 is rotatably connected with the linkage support rod 2115, and the driving motor controls the opening and closing of the linkage support rod 2115 through the telescopic connecting rod 605.
在本实施例实施过程中，液压机控制液压油杆2110下降，将顶伸杆组211整个机构下压，直至所述支撑底板2116与地面相抵，通过所述支撑底板2116对装置进行支撑，所述驱动电机带动联动支撑杆2115张开，向下的压力朝向地面，向上的力通过转板602、转块601和连接杆600的传递向上支撑，使整个顶伸机构向上移动，从而使整体设备上移。During the implementation of this embodiment, the hydraulic machine controls the hydraulic oil rod 2110 to descend, and the entire mechanism of the top extension rod group 211 is pressed down until the support bottom plate 2116 touches the ground, and the device is supported by the support bottom plate 2116. The drive motor drives the linkage support rod 2115 to expand, and the downward pressure faces the ground. The upward force is transmitted through the rotating plate 602, the rotating block 601 and the connecting rod 600 to support upwards, so that the entire elevating mechanism moves upwards, thereby making the overall equipment shift.
如图4所示，所述水平伸缩杆组213包括固设于垂直升降杆组212上的上底板400，所述上底板400左右两侧对称固设有上侧板401，所述上底板400上固设有连接块405，所述水平伸缩杆组213设置有伸缩电机403，所述伸缩电机403与连接块405通过卡接方式进行连接，便于拆卸和安装，具体地说，用于卡接方式的部件包括固设于连接块405上的开口腔421，所述开口腔421左右两侧固设有卡接槽406，所述伸缩电机403上固设有卡接柱404，所述卡接柱404固设有左右对称的卡槽(图未显示)，所述卡槽端面固设有卡接件420,所述卡接柱404和卡接件420直径大于卡接槽406宽度，所述卡槽直径与卡接槽406宽度相配，上述结构进行卡接时，所述卡槽与卡接槽406进行卡接，所述卡接件420与卡接柱404相抵于卡接槽406左右两侧，通过两侧的卡接，保证所述卡接柱404处于稳定的状态，提高了装置的稳定性，所述伸缩电机403固设有伸缩轴407，通过所述伸缩轴407将动力传递至其他结构。As shown in FIG. 4, the horizontal telescopic rod group 213 includes an upper bottom plate 400 fixed on the vertical lifting rod group 212, and upper side plates 401 are symmetrically fixed on the left and right sides of the upper bottom plate 400. The upper bottom plate 400 A connecting block 405 is fixed on the upper part, and the horizontal telescopic rod group 213 is provided with a telescopic motor 403. The telescopic motor 403 and the connecting block 405 are connected by a snap connection, which is convenient for disassembly and installation, specifically, for snap connection The components of the method include an opening cavity 421 fixed on the connecting block 405. The column 404 is fixedly provided with a symmetrical card slot (not shown in the figure), the end surface of the card slot is fixed with a clamping member 420, and the diameter of the clamping column 404 and the clamping member 420 is larger than the width of the clamping groove 406. The diameter of the clamping groove matches the width of the clamping groove 406. When the above structure is used for clamping, the clamping groove and the clamping groove 406 are clamped, and the clamping piece 420 and the clamping post 404 abut on the left and right sides of the clamping groove 406. Side, through the clamping on both sides, the clamping post 404 is ensured to be in a stable state, and the stability of the device is improved. The telescopic motor 403 is fixedly equipped with a telescopic shaft 407, and the power is transmitted to Other structures.
所述上底板400上侧设置有水平驱动件422，所述水平驱动件422包 括驱动底板412、导板409和左右对称的驱动侧板413；所述驱动侧板413与上侧板401滑动连接，在本实施例中，所述驱动侧板413和上侧板401上分别固设有滑轮(图未显示)，所述滑轮分别与上侧板401和驱动侧板413滑动连接，通过上侧板401和驱动侧板413间设置交叉的滑动方式，提高了滑动的稳定性和可靠性；所述驱动底板412上固设有驱动连板411，所述驱动连板411上固设有左右对称的转连板410，所述导板409上设置有导槽408，所述伸缩轴407贯穿导槽408并与转连板410转动连接，所述导槽408对伸缩轴407进行支撑和导向，在本实施例实施过程中，所述伸缩电机403驱动水平驱动件422在横向上移动，从而使设置于水平驱动件422上侧的清扫机构在横向上移至需要进行清扫的绝缘子100位置，方便进行下一步操作。A horizontal driving member 422 is provided on the upper side of the upper bottom plate 400, and the horizontal driving member 422 includes a driving bottom plate 412, a guide plate 409, and a left-right symmetrical driving side plate 413; the driving side plate 413 is slidably connected to the upper side plate 401, In this embodiment, the drive side plate 413 and the upper side plate 401 are respectively fixed with pulleys (not shown in the figure), and the pulleys are respectively slidably connected to the upper side plate 401 and the drive side plate 413 through the upper side plate 401 and the driving side plate 413 are provided with a cross sliding manner, which improves the stability and reliability of sliding; The connecting plate 410, the guide plate 409 is provided with a guide groove 408, the telescopic shaft 407 penetrates the guide groove 408 and is rotatably connected with the rotary connecting plate 410, and the guide groove 408 supports and guides the telescopic shaft 407. During the implementation of the embodiment, the telescopic motor 403 drives the horizontal driving member 422 to move laterally, so that the cleaning mechanism provided on the upper side of the horizontal driving member 422 is moved laterally to the position of the insulator 100 that needs to be cleaned, which is convenient for down One step operation.
如图5-7所示，所述清扫机构包括抓握杆组214、滑轨组件221、抱紧轮组件222、动力连杆杆组223、水平导向伸缩杆组224和清洗刷头225，所述抱紧轮组件222与滑轨组件221连接，所述抓握杆组214与滑轨组件221连接，所述抓握杆组214控制滑轨组件221开合，所述动力连杆杆组223驱动抱紧轮组件222沿滑轨组件221的滑动并控制滑动行程，所述水平导向伸缩杆组224连接抱紧轮组件222和清洗刷头225，所述清洗刷头225清扫绝缘子100。As shown in Figures 5-7, the cleaning mechanism includes a gripping rod group 214, a slide rail assembly 221, a holding wheel assembly 222, a power link rod group 223, a horizontal guide telescopic rod group 224, and a cleaning brush head 225. The holding wheel assembly 222 is connected to the sliding rail assembly 221, the gripping rod group 214 is connected to the sliding rail assembly 221, the gripping rod group 214 controls the opening and closing of the sliding rail assembly 221, and the power connecting rod group 223 The holding wheel assembly 222 is driven to slide along the sliding rail assembly 221 and the sliding stroke is controlled. The horizontal guide telescopic rod assembly 224 connects the holding wheel assembly 222 and the cleaning brush head 225, and the cleaning brush head 225 cleans the insulator 100.
如图5所示，所述抓握杆组214包括动力机构和抓握机构，所述动力机构控制抓握机构的开合，所述动力机构包括固设于水平驱动件422上的固定支撑件514，所述固定支撑件514上固设有连块520，与所述连块520卡接设置有移动电机517，所述移动电机517端面固设有导块516，所述移动电机517的输出轴贯穿导块516且与导块516滑动连接设置，所述导块516与固定支撑件514通过连接件导块515连接，便于安装和拆卸，从而提高了装置的便携性。As shown in FIG. 5, the gripping rod set 214 includes a power mechanism and a gripping mechanism. The power mechanism controls the opening and closing of the gripping mechanism. The power mechanism includes a fixed support fixed on the horizontal driving member 422. 514, the fixed support 514 is fixedly provided with a connecting block 520, and a moving motor 517 is set to be clamped with the connecting block 520. The end surface of the moving motor 517 is fixed with a guide block 516. The output of the moving motor 517 The shaft penetrates the guide block 516 and is slidably connected to the guide block 516. The guide block 516 and the fixed support 514 are connected by the connecting member guide block 515 to facilitate installation and disassembly, thereby improving the portability of the device.
所述抓握机构包括移动块2145，所述移动块2145与所述移动电机517输出轴固设连接，所述移动块2145的左右对称位置转动连接有旋转轴2140，所述旋转轴2140上固设有驱动连杆2143，所述驱动连杆2143另一侧转动连接有从动杆2144，所述水平驱动件422上固设有位于移动块 2145左右对称位置的固定支撑柱2141，在本实施例中，所述固定支撑柱2141设置为槽型结构，以加强强度，避免在受到拉力作用下弯曲变形，提高稳定性，所述固定支撑柱2141上设置有固定支撑面2142，所述固定支撑面2142设置为L型结构，所述固定支撑面2142包括水平成型面和竖直成型面，所述固定支撑面2142竖直成型面与固定支撑柱2141侧面固设，所述固定支撑面2142水平成型面与固定支撑柱2141上侧面相抵，避免所述固定支撑面2142相对于固定支撑柱2141产生平面侧滑，所述从动杆2144中部位置与固定支撑面2142水平成型面转动连接，在本实施例实施过程中，所述移动电机517输出轴驱动移动块2145在横向上移动，根据图的视觉角度，所述移动电机517通过输出轴驱动移动块2145前后移动，控制从动杆2144的开合，从而使清扫机构与绝缘子100相互分离或接触。The gripping mechanism includes a moving block 2145, which is fixedly connected to the output shaft of the moving motor 517, and the moving block 2145 is rotatably connected to a rotating shaft 2140 at a symmetrical position, and the rotating shaft 2140 is fixedly attached to it. A driving link 2143 is provided, the other side of the driving link 2143 is rotatably connected with a driven rod 2144, and the horizontal driving member 422 is fixedly provided with a fixed support column 2141 located at a symmetrical position of the moving block 2145. In this embodiment In an example, the fixed support column 2141 is provided with a trough structure to strengthen strength, avoid bending and deformation under tensile force, and improve stability. The fixed support column 2141 is provided with a fixed support surface 2142, and the fixed support The surface 2142 is arranged in an L-shaped structure. The fixed support surface 2142 includes a horizontal molding surface and a vertical molding surface. The molding surface abuts against the upper side surface of the fixed support column 2141 to prevent the fixed support surface 2142 from sliding sideways relative to the fixed support column 2141. The middle position of the driven rod 2144 is rotatably connected with the fixed support surface 2142 horizontal molding surface. During the implementation of the embodiment, the output shaft of the moving motor 517 drives the moving block 2145 to move laterally. According to the visual angle of the figure, the moving motor 517 drives the moving block 2145 to move back and forth through the output shaft to control the opening of the driven rod 2144.合, so that the cleaning mechanism and the insulator 100 are separated or in contact with each other.
所述滑轨组件221设置为左右对称的两组，所述滑轨组件221上侧固设有滑接板2211，在本实施例中，所述滑轨组件221和滑接板2211设置为弧形结构，且所述滑轨组件221宽度大于滑接板2211宽度；所述滑轨组件221内设置有贯穿的弧槽2212，所述弧槽2212作为环形滑道，所述滑轨组件221还可设置有与抓握机构转动连接的垫板2213，所述垫板2213与从动杆2144转动连接。The slide rail assemblies 221 are arranged in two symmetrical groups. The upper side of the slide rail assembly 221 is fixedly provided with a sliding plate 2211. In this embodiment, the slide rail assembly 221 and the sliding plate 2211 are arranged in arcs. Shaped structure, and the width of the slide rail assembly 221 is greater than the width of the sliding plate 2211; the slide rail assembly 221 is provided with a penetrating arc groove 2212, the arc groove 2212 serves as an annular slide, the slide rail assembly 221 also A backing plate 2213 rotatably connected with the gripping mechanism may be provided, and the backing plate 2213 is rotatably connected with the driven rod 2144.
所述动力连杆杆组223包括固设于水平伸缩杆组213左右对称位置的旋转轴2231，所述旋转轴2231由固设在所述水平伸缩杆组213内的驱动电机驱动，所述旋转轴2231上固设有上垫片2232，所述上垫片2232上固设有下垫片2230，所述上垫片2232上固设有位于上垫片2232和下垫片2230间的固定连杆2233，即所述固定连杆2233限制在上垫片2232和下垫片2230之间，避免发生固定连杆2233脱离的情况，提高了设备的稳定性和可靠性，所述固定连杆2233另一侧依次设置有动力连杆一2234、动力连杆二2235和动力连杆三2236，所述固定连杆2233、动力连杆一2234、动力连杆二2235和动力连杆三2236间转动连接，在本实施例中，所述动力连杆一2234包括转动部和滑动部，所述固定连杆2233和所述动力连杆一2234的转动部通过卡扣2237进行连接，所述卡扣2237与固定连杆2233转动连接且设置为上下对称的两组，所述动力连杆一2234转动 部设置在两组卡扣2237之间，且与所述卡扣2237转动连接，在本实施例实施过程中，所述驱动电机带动所述动力连杆一2234绕旋转轴2231旋转，所述动力连杆一2234受到离心力，而其他连杆仅受到拉力，因而所述卡扣2237将动力连杆一2234在纵向的移动进行限制，避免所述动力连杆一2234受力脱离，所述水平伸缩杆组213侧面固设有位于所述动力连杆二2235下侧的滑动件(图未显示)，所述滑动件与所述动力连杆一2234的滑动部滑动连接，即所述动力连杆一2234转动部绕旋转轴2231旋转时，所述动力连杆一2234滑动部前后移动，进而控制所述动力连杆三2236移动。The power connecting rod group 223 includes a rotating shaft 2231 fixed at a symmetrical position of the horizontal telescopic rod group 213, and the rotating shaft 2231 is driven by a driving motor fixed in the horizontal telescopic rod group 213. An upper gasket 2232 is fixed on the shaft 2231, a lower gasket 2230 is fixed on the upper gasket 2232, and a fixed connection between the upper gasket 2232 and the lower gasket 2230 is fixed on the upper gasket 2232. The rod 2233, that is, the fixed connecting rod 2233 is restricted between the upper washer 2232 and the lower washer 2230, to prevent the fixed connecting rod 2233 from being detached, and improve the stability and reliability of the equipment. The fixed connecting rod 2233 The other side is provided with power link one 2234, power link two 2235, and power link three 2236 in sequence. The fixed link 2233, power link one 2234, power link two 2235 and power link three 2236 rotate between In this embodiment, the power link-2234 includes a rotating part and a sliding part. The fixed link 2233 and the rotating part of the power link-2234 are connected by a buckle 2237. The buckle 2237 is rotatably connected to the fixed link 2233 and arranged in two groups symmetrically up and down. The power link-2234 rotating part is arranged between the two sets of buckles 2237 and is rotatably connected with the buckles 2237. In this embodiment In the implementation process, the driving motor drives the power connecting rod 2234 to rotate around the rotating shaft 2231, the power connecting rod 2234 receives centrifugal force, and the other connecting rods only receive pulling force, so the buckle 2237 turns the power connecting rod The longitudinal movement of one 2234 is restricted to prevent the force of the power link one 2234 from being separated. The side of the horizontal telescopic rod group 213 is fixedly provided with a sliding member located on the lower side of the power link two 2235 (not shown) , The sliding member is slidably connected to the sliding part of the power link-2234, that is, when the power link-2234 rotating part rotates around the rotating shaft 2231, the power link-2234 sliding part moves forward and backward, thereby controlling The power link 3 2236 moves.
所述抱紧轮组件222包括固定块2221、定位轴2222和小滑轮2223，本实施例中，所述定位轴2222和小滑轮2223分别设置为四个，且两两对称，所述固定块2221贯穿弧槽2212且与弧槽2212滑动连接，所述固定块2221与动力连杆三2236转动连接，所述动力连杆三2236带动所述固定块2221在弧槽2212内滑动，所述固定块2221上固设有位于滑轨组件221内外两侧的定位轴2222，所述定位轴2222与所述滑接板2211内外表面的距离是所述小滑轮2223的半径长度，所述小滑轮2223设置在所述定位轴2222上且可绕轴心旋转，所述滑轨组件221上侧面与所述小滑轮2223下侧面相抵，对小滑轮2223进行支撑；所述定位轴2222下侧设置有定位轮(图未标记)，所述定位轮上侧面与滑轨组件221下侧面相抵，通过所述小滑轮2223下侧面与滑轨组件221的上侧面相抵限制了竖直方向的上侧移动，通过定位轮上侧面与滑轨组件221的下侧面相抵限制了竖直方向的下侧移动，从而将小滑轮2223稳定地与滑轨组件221连接，避免小滑轮2223脱离，进一步提高了设备的可靠性。The holding wheel assembly 222 includes a fixed block 2221, a positioning shaft 2222, and a small pulley 2223. In this embodiment, the positioning shafts 2222 and the small pulley 2223 are respectively set in four and are symmetrical in pairs. The fixed block 2221 It penetrates the arc groove 2212 and is slidably connected to the arc groove 2212, the fixed block 2221 is rotatably connected with the power link 3 2236, and the power link 3 2236 drives the fixed block 2221 to slide in the arc groove 2212, the fixed block 2221 is fixedly provided with positioning shafts 2222 located on the inner and outer sides of the slide rail assembly 221. The distance between the positioning shafts 2222 and the inner and outer surfaces of the sliding plate 2211 is the radius of the small pulley 2223. The small pulley 2223 is set On the positioning shaft 2222 and rotatable around the axis, the upper side of the slide rail assembly 221 abuts against the lower side of the small pulley 2223 to support the small pulley 2223; the positioning shaft 2222 is provided with a positioning wheel on the lower side (Not marked in the figure), the upper side of the positioning wheel abuts against the lower side of the slide rail assembly 221, and the upper side of the small pulley 2223 resists the upper side of the slide rail assembly 221 to limit the upper side movement in the vertical direction. The upper side of the wheel and the lower side of the slide rail assembly 221 restrict the movement of the lower side in the vertical direction, thereby stably connecting the small pulley 2223 with the slide rail assembly 221, avoiding the small pulley 2223 from detaching, and further improving the reliability of the equipment.
如图6所示，所述水平导向伸缩杆组224包括导向底座2241、径向轴2242、中心部件2243、伸缩杆腿一2244和伸缩杆腿二2245，所述径向轴2242一侧贯穿导向底座2241，另一侧与所述固定块2221固设，所述径向轴2242跟随所述固定块2221进行移动，所述中心部件2243与径向轴2242滑动连接，所述中心部件2243上固设折板2247，所述折板2247设置为可折弯结构，所述折板2247与径向轴2242固设连接，在受到外力推动时，所述折板2247发生折弯，在受到外力拉动时，所述折板2247张开，即所述折板2247随受到力的方向发生折弯或张开，所述折板2247 也可具备弹性回复能力，在受到外力推动时，所述折板2247发生折弯，在外力消失时，所述折板2247发生弹性回复，即所述折板2247张开；具体地说，所述折板2247控制中心部件2243在径向轴2242上的滑动范围，提高了装置的精准度，所述中心部件2243上固设有定板2248，所述导向底座2241上固设有固板2246，所述伸缩杆腿一2244和伸缩杆腿二2245转动连接，且所述伸缩杆腿一2244和伸缩杆腿二2245的另一侧分别与固板2246和定板2248转动连接，在本实施例中，所述折板2247、伸缩杆腿一2244和伸缩杆腿二2245设置为环形阵列的三组，提高了稳定性。As shown in FIG. 6, the horizontally guided telescopic rod group 224 includes a guide base 2241, a radial shaft 2242, a central part 2243, a telescopic rod leg 1 2244 and a telescopic rod leg 2 2245. One side of the radial shaft 2242 penetrates the guide The base 2241, the other side is fixed to the fixed block 2221, the radial shaft 2242 follows the fixed block 2221 to move, the central part 2243 is slidably connected to the radial shaft 2242, and the central part 2243 is fixed on top A folded plate 2247 is provided. The folded plate 2247 is configured as a bendable structure. The folded plate 2247 is fixedly connected to the radial shaft 2242. When pushed by an external force, the folded plate 2247 bends and is pulled by an external force. When the folded plate 2247 is opened, that is, the folded plate 2247 is bent or opened in the direction of the force. The folded plate 2247 can also have elastic recovery ability. 2247 is bent. When the external force disappears, the folded plate 2247 elastically recovers, that is, the folded plate 2247 opens; specifically, the folded plate 2247 controls the sliding range of the central component 2243 on the radial axis 2242 , To improve the accuracy of the device, the central part 2243 is fixedly provided with a fixed plate 2248, the guide base 2241 is fixedly provided with a fixed plate 2246, the telescopic rod leg 1 2244 and the telescopic rod leg 2 2245 are rotatably connected, And the other side of the first telescopic rod leg 2244 and the second telescopic rod leg 2245 are respectively rotatably connected with the fixed plate 2246 and the fixed plate 2248. In this embodiment, the folded plate 2247, the telescopic rod leg 1 2244 and the telescopic rod The second leg 2245 is arranged in three groups of a circular array, which improves the stability.
如图7所示，所述清洗刷头225包括外壳2251、清洗接触头2252和注水压力枪2253，所述外壳2251外表面与所述导向底座2241外表面固定连接，所述径向轴2242贯穿导向底座2241并与所述外壳2251固定连接，所述外壳2251内部设有注水空腔(图未显示)，所述径向轴2242中心设有空腔(图未显示)，所述径向轴2242的空腔与所述外壳2251的注水空腔连通，可内置输水软管，输水软管另一端连接清洗液水箱(图未显示)；所述清洗接触头2252与所述注水压力枪2253交错排布，在本实施例中，所述清洗接触头2252可设置为绝缘橡胶管；所述注水压力枪2253设置成与所述外壳2251内部注水空腔连接的突起结构，所述清洗液水箱为注水压力枪2253提供水压。As shown in Figure 7, the cleaning brush head 225 includes a housing 2251, a cleaning contact head 2252, and a water injection pressure gun 2253. The outer surface of the housing 2251 is fixedly connected to the outer surface of the guide base 2241, and the radial shaft 2242 penetrates The guide base 2241 is fixedly connected to the housing 2251. The housing 2251 is provided with a water injection cavity (not shown in the figure), the radial shaft 2242 is provided with a cavity (not shown in the figure) in the center, and the radial shaft The cavity of 2242 is connected to the water injection cavity of the housing 2251, and a water delivery hose can be built in. The other end of the water delivery hose is connected to a cleaning liquid tank (not shown); the cleaning contact head 2252 and the water injection pressure gun 2253 are arranged in a staggered arrangement. In this embodiment, the cleaning contact head 2252 can be set as an insulating rubber tube; the water injection pressure gun 2253 is configured as a protrusion structure connected to the water injection cavity inside the housing 2251, The water tank provides water pressure for the water injection pressure gun 2253.
在本实施例中，所述清扫机构的实施方式具体为：所述抓握杆组214中动力机构控制抓握机构的开合，所述抓握机构开启使清洗刷头225脱离与绝缘子100的贴合状态，即所述清洗刷头225完成对绝缘子100清扫的工作，所述抓握机构向内合拢促使清洗刷头225与绝缘子100相贴，即所述清洗刷头225可随时对绝缘子100进行清扫工作，所述动力连杆杆组223驱动所述抱紧轮组件222沿滑轨组件221滑动，同时通过水平导向伸缩杆组224带动清洗刷头225围绕绝缘子100作环绕清洗动作，从而提高了清扫的质量。In this embodiment, the implementation of the cleaning mechanism is specifically: the power mechanism in the grasping rod group 214 controls the opening and closing of the grasping mechanism, and the grasping mechanism is opened to make the cleaning brush head 225 separate from the insulator 100 Closed state, that is, the cleaning brush head 225 completes the cleaning work of the insulator 100, and the gripping mechanism closes inward to promote the cleaning brush head 225 to adhere to the insulator 100, that is, the cleaning brush head 225 can align the insulator 100 at any time. For cleaning work, the power connecting rod group 223 drives the holding wheel assembly 222 to slide along the slide rail assembly 221, and at the same time, the horizontal guiding telescopic rod group 224 drives the cleaning brush head 225 around the insulator 100 to perform a circular cleaning action, thereby improving Improve the quality of cleaning.
如图2、8所示，所述检测装置包括定位机构和阻值测控机构，所述阻值测控机构包括阻值检测电路321和检测探针322，所述定位机构包括联动杆组311和联动板312，所述定位机构驱动检测探针322转动。As shown in Figures 2 and 8, the detection device includes a positioning mechanism and a resistance measurement and control mechanism. The resistance measurement and control mechanism includes a resistance detection circuit 321 and a detection probe 322. The positioning mechanism includes a linkage rod group 311 and a linkage The plate 312, the positioning mechanism drives the detection probe 322 to rotate.
所述联动板312作为检测装置的支撑和固定平台，所述联动板312与绝缘子100相对，便于检测，在本实施例中，所述联动板312设置为L型结构，所述联动板312竖直成型面与水平伸缩杆组213固设连接，所述联动板312水平成型面与所述联动杆组311固设，所述定位机构还包括有驱动电机，所述驱动电机的输出轴与联动杆组311固设，所述驱动电机驱动联动杆组311转动。The linkage plate 312 is used as a supporting and fixing platform for the detection device. The linkage plate 312 is opposite to the insulator 100 for easy detection. In this embodiment, the linkage plate 312 is arranged in an L-shaped structure, and the linkage plate 312 is vertical. The straight forming surface is fixedly connected to the horizontal telescopic rod set 213, the horizontal forming surface of the linkage plate 312 is fixed to the linkage rod set 311, the positioning mechanism further includes a drive motor, and the output shaft of the drive motor is connected to the linkage The rod group 311 is fixed, and the driving motor drives the linkage rod group 311 to rotate.
所述检测探针322设置于联动杆组311上，所述检测探针322为三根导体棒，与直流电源3211、保护电阻3212、电感3213以及采样电阻3214共同构成阻值检测电路321，所述采样电阻3214设置为伏安表，当通过所述驱动电机驱动所述检测探针322绕轴旋转并将检测探针322一端搭在绝缘子上时，构成了回路，并通过所述采样电阻3214测定绝缘子的对应阻值。The detection probe 322 is arranged on the linkage rod group 311, and the detection probe 322 is three conductor rods, which together with the DC power supply 3211, the protection resistor 3212, the inductor 3213, and the sampling resistor 3214 form a resistance detection circuit 321. The sampling resistor 3214 is set as a volt-ampere meter. When the detection probe 322 is driven to rotate around the axis by the drive motor and one end of the detection probe 322 is placed on the insulator, a loop is formed and measured by the sampling resistor 3214 The corresponding resistance of the insulator.
如图9所示，一种检测和清扫绝缘子机器人的控制方法，包括控制中心，所述控制中心与所述巡航装置、清扫装置和检测装置均建立数据连接，所述控制中心内置有机器人的控制方法，具体为：As shown in Figure 9, a control method of a robot for detecting and cleaning insulators includes a control center, which establishes a data connection with the cruise device, the cleaning device, and the detection device, and the control center has built-in robot control Methods, specifically:
S1.控制中心通过所述路线规划机构中的摄像头所采集的图像识别到地面上的线路标识，通过识别出的线路标识将执行命令下达至驱动电机，通过驱动电机驱动动作轮111沿线路标识行进。S1. The control center recognizes the line mark on the ground through the image collected by the camera in the route planning agency, sends the execution command to the drive motor through the recognized line mark, and drives the action wheel 111 to travel along the line mark through the drive motor. .
S2.当到达所识别的地面上线路标识的终点时，驱动电机停止动作，控制中心下达原地转动指令至驱动电机，通过驱动电机驱动整体原地转动摄像头所采集的图像识别到绝缘子100上的标识并通过整体动作将所识别的标识调整到所采集的图像的特定位置。S2. When reaching the end of the identified line mark on the ground, the drive motor stops, and the control center issues an in-situ rotation instruction to the drive motor, and the image collected by the insulator 100 is identified by the drive motor to drive the entire in-situ rotation of the camera. Mark and adjust the recognized mark to a specific position of the captured image through the overall action.
S3.控制中心向驱动电机下达指令，通过驱动电机驱动水平伸缩杆组213作前伸动作并同时配合驱动抓握杆组214作扩张动作，将清扫机构在水平面上推送至绝缘子100处的同时张开清扫机构将绝缘子100卡入清扫机构中心，通过摄像头所采集的图像识别出绝缘子100已位于清扫机构中心，向驱动电机下达指令驱动抓握杆组214作收紧动作使清扫机构环抱绝缘子100。S3. The control center issues a command to the drive motor, and the horizontal telescopic rod group 213 is driven by the drive motor to extend forward and cooperate with the drive gripping rod group 214 to expand at the same time. The cleaning mechanism is opened to snap the insulator 100 into the center of the cleaning mechanism. The image collected by the camera recognizes that the insulator 100 is located at the center of the cleaning mechanism, and commands the drive motor to drive the gripping rod group 214 to tighten the insulator 100 so that the cleaning mechanism surrounds the insulator 100.
S4.控制中心通过驱动电机驱动垂直升降杆组212上升至绝缘子100 顶端第一个绝缘子100上并通过驱动动力连杆杆组223控制清洗刷头225围绕绝缘子100作环绕清洗动作，同时通过清洗液水箱内置动力控制注水压力枪2253喷洒非电解水清洗液。S4. The control center drives the vertical lifting rod group 212 to rise to the first insulator 100 at the top of the insulator 100 through the driving motor, and controls the cleaning brush head 225 to surround the insulator 100 by driving the power connecting rod group 223 to make a circular cleaning action around the insulator 100, and at the same time pass the cleaning liquid The built-in power control water injection pressure gun 2253 in the water tank sprays non-electrolytic water cleaning fluid.
S5.清洗完一组绝缘子100后，控制中心通过驱动电机驱动垂直升降杆组212下降至后一组绝缘子100的高度并通过驱动动力连杆杆组223控制清洗刷头225围绕绝缘子100作环绕清洗动作，同时通过清洗液水箱内置动力控制注水压力枪2253喷洒非电解水清洗液，往复循环上述过程完成一个绝缘子100的清洗工作。S5. After cleaning a group of insulators 100, the control center drives the vertical lifting rod group 212 through the drive motor to lower to the height of the latter group of insulators 100, and drives the power connecting rod group 223 to control the cleaning brush head 225 to surround the insulator 100 for cleaning. At the same time, the non-electrolytic water cleaning liquid is sprayed through the built-in power control water injection pressure gun 2253 of the cleaning liquid water tank, and the above process is reciprocated to complete the cleaning of an insulator 100.
S6.控制中心通过驱动电机驱动动作轮111带动整体沿原路返回至下一个所需清洗的绝缘子100的初始节点，调整动作轮111行进方向，通过摄像头所采集的图像识别到地面上的下一条线路标识将执行命令下达至驱动电机，通过驱动电机驱动动作轮111沿线路标识行进，往复循环完成变电站中竖状绝缘子100的清洗工作。S6. The control center drives the action wheel 111 to drive the whole back to the initial node of the next insulator 100 to be cleaned by driving the motor, adjusts the direction of travel of the action wheel 111, and recognizes the next one on the ground through the image collected by the camera. The line identification sends the execution command to the drive motor, and the action wheel 111 is driven by the drive motor to travel along the line identification, and the cleaning of the vertical insulator 100 in the substation is completed in a reciprocating cycle.
其中，所述步骤S4中所述的控制中心通过驱动电机驱动动力连杆杆组223控制清洗刷头225围绕绝缘子100作环绕清洗动作前后可加入对清洗的一组绝缘子100进行阻值检测的工作，所述检测装置对所述绝缘子100进行阻值检测可将发生绝缘劣化的低零值绝缘子100检测出，防止局部放电的安全事故发生，同时对所述绝缘子100清洗前后都进行阻值检测的工作可通过清洗前后阻值的变化来量化清扫装置的清洗效果。Wherein, the control center described in the step S4 drives the power connecting rod group 223 to control the cleaning brush head 225 around the insulator 100 before and after the cleaning action can be added to the resistance detection of the cleaning group of insulators 100. The detection device detects the resistance of the insulator 100 to detect the low zero-value insulator 100 that has deteriorated insulation to prevent partial discharge safety accidents. At the same time, the resistance detection is performed on the insulator 100 before and after cleaning. The cleaning effect of the cleaning device can be quantified by the change of the resistance value before and after cleaning.
如图10所示，所述检测装置对绝缘子100阻值检测工作的具体步骤可以为：As shown in FIG. 10, the specific steps of the detection device for detecting the resistance of the insulator 100 may be as follows:
S41.在所述的控制中心通过驱动电机驱动动力连杆杆组223前，先通过驱动电机驱动联动杆组311带动所述的三根检测探针322一端搭于需要被清洗和检测的该组绝缘子100上，所述的采样电阻3214将测得数据返回所述的控制中心，由所述控制中心储存于内置数据库以供查询和备案，在完成该组绝缘子100阻值检测后所述的控制中心通过驱动电机驱动联动杆组311带动所述的三根检测探针322回复到初始位置并通过驱动电机开启S4中所述的环绕清洗工作。S41. Before the control center drives the power connecting rod group 223 through the driving motor, the linkage rod group 311 is driven by the driving motor to drive one end of the three detection probes 322 to the group of insulators that need to be cleaned and tested. 100, the sampling resistor 3214 returns the measured data to the control center, and the control center stores the data in the built-in database for query and filing. After the resistance detection of the set of insulators 100 is completed, the control center The linkage rod group 311 is driven by the driving motor to drive the three detection probes 322 to return to the initial position, and the surrounding cleaning work described in S4 is started by the driving motor.
S42.当所述的控制中心通过驱动电机清洗完该组绝缘子100后，先通 过驱动电机驱动联动杆组311带动所述的三根检测探针322一端搭于需要被清洗和检测的该组绝缘子100上，所述的采样电阻3214将测得数据返回所述的控制中心，由所述的控制中心储存于内置数据库以供查询和备案，在完成该组绝缘子100阻值检测后所述的控制中心通过驱动电机驱动联动杆组311带动所述的三根检测探针322回复到初始位置并通过驱动电机开启S5中垂直升降工作。S42. After the control center has cleaned the group of insulators 100 through the drive motor, first drive the linkage rod group 311 through the drive motor to drive the three detection probes 322 to place one end of the group of insulators 100 that need to be cleaned and tested. Above, the sampling resistor 3214 returns the measured data to the control center, and the control center stores the data in the built-in database for query and filing. After the resistance detection of the set of insulators 100 is completed, the control center The linkage rod group 311 is driven by the driving motor to drive the three detection probes 322 to return to the initial position and the vertical lifting operation in S5 is turned on by the driving motor.
实施例二：Embodiment two:
如图11-13所示，本实施例与实施例一的区别在于，在实施例一中，所述顶伸杆组211的支撑方式设置为下展顶伸，在本施例中，所述顶伸杆组211的支撑方式设置为旁展顶伸。As shown in Figures 11-13, the difference between this embodiment and the first embodiment is that, in the first embodiment, the support mode of the top extension rod group 211 is set to extend downward and the top extension. In this embodiment, the The support mode of the jacking rod group 211 is set to be side spreading and jacking.
所述顶伸杆组211包括本体载体2123、动力顶伸装置和用于连接本体载体2123和动力顶伸装置的连件704，所述动力顶伸装置对整体装置进行支撑和固定。The jacking rod set 211 includes a body carrier 2123, a power jacking device, and a connecting piece 704 for connecting the body carrier 2123 and the power jacking device. The power jacking device supports and fixes the entire device.
在本实施例中，所述本体载体2123设置为类方形结构，具体包括载体前板700、载体斜板701、载体侧板702和载体后板703，所述载体斜板701设置为对称的两组且与载体前板700两侧固设，所述载体侧板702设置为对称的两组且固设连接载体斜板701和载体后板703，所述载体侧板702与2122、所述载体侧板702与载体斜板701和载体斜板701与载体前板700的夹角设置为钝角，所述本体载体2123设置为框架结构而非实体结构，以减轻重量，降低动力顶伸装置进行支撑的难度。In this embodiment, the main body carrier 2123 is arranged in a square-like structure, and specifically includes a carrier front plate 700, a carrier inclined plate 701, a carrier side plate 702, and a carrier rear plate 703. The carrier inclined plate 701 is arranged as two symmetrical The carrier side plates 702 are arranged in two symmetrical groups and fixedly connected to the carrier sloping plate 701 and the carrier back plate 703. The carrier side plates 702 and 2122 are fixed on both sides of the carrier front plate 700. The angles between the side plate 702 and the carrier inclined plate 701 and the carrier inclined plate 701 and the carrier front plate 700 are set at obtuse angles, and the body carrier 2123 is set as a frame structure instead of a solid structure to reduce weight and reduce the power jacking device to support The difficulty.
所述连件704固设于本体载体2123侧面，在本实施例中，所述连件704设置为六组，具体地说，所述载体斜板701侧面固设一组连件704，所述载体侧板702侧面固设有两组连件704，所述连件704分布均匀，从而使动力顶伸装置进行支撑作用时可提供均匀的支撑力，使整体装置在顶伸过程中保持稳定，所述连件704包括有上下对称的连件板705，所述连件板705间固设有连件柱706，所述连件柱706上固设有连件轴707，所述连件轴707与连件柱706垂直设置，所述连件柱706与连件轴707间设置有肋柱，所述肋柱加强连件轴707的强度，避免连件轴707受到拉力作用下弯曲变形。The connecting pieces 704 are fixed on the side of the main body carrier 2123. In this embodiment, the connecting pieces 704 are arranged in six groups. Specifically, a group of connecting pieces 704 are fixed on the side of the carrier inclined plate 701. Two sets of connecting pieces 704 are fixedly arranged on the side of the carrier side plate 702, and the connecting pieces 704 are evenly distributed, so that the dynamic jacking device can provide uniform supporting force when supporting, so that the whole device remains stable during the jacking process. The connecting piece 704 includes a connecting piece plate 705 that is symmetrical up and down, a connecting piece post 706 is fixed between the connecting piece plates 705, a connecting piece shaft 707 is fixed on the connecting piece post 706, and the connecting piece shaft 707 is arranged perpendicular to the connecting piece post 706, and a rib post is arranged between the connecting piece post 706 and the connecting piece shaft 707. The rib post strengthens the strength of the connecting piece shaft 707 and prevents the connecting piece shaft 707 from bending and deforming under tensile force.
所述动力顶伸装置包括动力电机2118、骨骼一2119、驱使电机2120、骨骼二2121和骨骼三2122，所述动力电机2118与所述连件704转动连接，所述骨骼一2119与连件轴707转动连接诶，所述动力电机2118输出轴与骨骼一2119连接，具体的说，所述动力电机2118驱动骨骼一2119绕连件704转动，实现所述骨骼一2119的开合，所述骨骼一2119设置为双层折弯结构，以变化力的方向，所述骨骼一2119与骨骼二2121转动连接，所述骨骼一2119与驱使电机2120连接，所述驱使电机2120输出轴与骨骼二2121连接，所述驱使电机2120驱动骨骼二2121张开或闭合，所述骨骼二2121与骨骼三2122连接有动连板2125，所述动连板2125分别与骨骼二2121与骨骼三2122转动连接，所述骨骼三2122由设置于骨骼二2121上的动电机2124驱动，所述骨骼三2122下侧固设有与地面接触的垫板2126，所述垫板2126可设置为防滑材料，具体可为橡胶、EVA、毛毡、硅胶、水晶板或泡棉，增加与地面的摩擦力，防止滑动，同时避免因骨骼三2122与地面直接接触，造成骨骼三2122的损伤，从而提高了设备的可靠性。The power jacking device includes a power motor 2118, a bone one 2119, a driving motor 2120, a bone two 2121, and a bone three 2122. The power motor 2118 is rotatably connected to the connecting piece 704, and the bone one 2119 is connected to the connecting piece shaft. The output shaft of the power motor 2118 is connected to the bone one 2119. Specifically, the power motor 2118 drives the bone one 2119 to rotate around the connecting piece 704 to realize the opening and closing of the bone one 2119. One 2119 is set as a double-layer bending structure to change the direction of the force. The first bone 2119 is rotatably connected with the second bone 2121, and the first bone 2119 is connected to the driving motor 2120. The output shaft of the driving motor 2120 is connected to the second bone 2121. Connected, the driving motor 2120 drives the bone two 2121 to open or close, the bone two 2121 and the bone three 2122 are connected with a movable connecting plate 2125, and the movable connecting plate 2125 is rotatably connected with the bone two 2121 and the bone three 2122, respectively, The bone three 2122 is driven by a motor 2124 arranged on the bone two 2121, and the underside of the bone three 2122 is fixedly provided with a backing plate 2126 that is in contact with the ground. The backing plate 2126 can be made of non-slip material, which can be specifically Rubber, EVA, felt, silica gel, crystal plate or foam can increase the friction with the ground and prevent sliding. At the same time, it avoids the direct contact between the bone three 2122 and the ground and the damage of the bone three 2122, thereby improving the reliability of the equipment.
实施例三：Example three:
如图14-15所示，本实施例与上述实施例的区别在于，在上述实施例中，所述水平伸缩杆组213和抓握杆组214由不同电机分开控制的，并需要联动两者的电机，完成将绝缘子柱置于清扫机构中心的目的，而本实施例中，仅在抓握伸缩联动机构中设置单电机即可实现上述目的。As shown in Figures 14-15, the difference between this embodiment and the above-mentioned embodiment is that in the above-mentioned embodiment, the horizontal telescopic rod group 213 and the gripping rod group 214 are separately controlled by different motors, and both need to be linked. The motor achieves the purpose of placing the insulator column at the center of the cleaning mechanism. In this embodiment, only a single motor is provided in the gripping telescopic linkage mechanism to achieve the above purpose.
所述抓握伸缩联动机构包括伸缩机构和抓握组件，所述抓握组件与伸缩机构连接，所述抓握组件包括有环形滑轨2135，所述伸缩机构控制环形滑轨2135的开合。The gripping and telescopic linkage mechanism includes a telescopic mechanism and a gripping assembly, the gripping assembly is connected to the telescopic mechanism, and the gripping assembly includes an annular slide rail 2135, and the telescopic mechanism controls the opening and closing of the annular slide rail 2135.
所述伸缩机构包括滑缸伸缩块2130，所述滑缸伸缩块2130内固设有伸缩腔，所述伸缩腔内固设有旋转电机800，所述旋转电机800的输出轴固设有中心轴801，所述中心轴801贯穿滑缸伸缩块2130，并与所述滑缸伸缩块2130滑动连接，所述滑缸伸缩块2130前侧设置有顶部盖板802，所述顶部盖板802上固设有对称的固定板2131，在本实施例中，所述固定板2131设置为T型结构，所述两组固定板2131间设置有边腔803，所 述中心轴801贯穿顶部盖板802延伸至边腔803内。The telescopic mechanism includes a sliding cylinder telescopic block 2130, a telescopic cavity is fixed in the sliding cylinder telescopic block 2130, a rotary electric machine 800 is fixed in the telescopic cavity, and the output shaft of the rotary electric machine 800 is fixed with a central shaft 801. The central shaft 801 penetrates the sliding cylinder telescopic block 2130 and is slidably connected with the sliding cylinder telescopic block 2130. The front side of the sliding cylinder telescopic block 2130 is provided with a top cover 802, and the top cover 802 is fixed on A symmetrical fixing plate 2131 is provided. In this embodiment, the fixing plate 2131 is set in a T-shaped structure, a side cavity 803 is provided between the two sets of fixing plates 2131, and the central axis 801 extends through the top cover 802 To the side cavity 803.
所述抓握组件包括中心滑片2132，所述中心滑片2132设置于边腔803内且与中心轴801滑动连接，所述中心滑片2132左右两侧对称设置有边腔803，所述边腔803内转动设置联动杆2133，所述联动杆2133与固定板2131的T型横端部转动设置有耳状杆2134，具体地说，所述耳状杆2134包括耳底部805、耳中部806和耳上部807，所述耳底部805与联动杆2133转动连接，所述耳中部806与固定板2131T型横端部转动连接，所述耳中部806与所述环形滑轨2135转动连接，所述环形滑轨2135上固设有滑动槽804，所述滑动槽804作为滑动通道。The gripping assembly includes a central sliding piece 2132, the central sliding piece 2132 is arranged in the side cavity 803 and slidably connected to the central shaft 801, the left and right sides of the central sliding piece 2132 are symmetrically provided with side cavities 803, the side A linkage rod 2133 is rotatably provided in the cavity 803. The linkage rod 2133 and the fixed plate 2131 are rotatably provided with an ear-shaped rod 2134 at their T-shaped lateral ends. Specifically, the ear-shaped rod 2134 includes an ear bottom 805 and a middle ear 806 And the upper part of the ear 807, the bottom part of the ear 805 is rotatably connected with the linkage rod 2133, the middle part 806 is rotatably connected with the fixed plate 2131T-shaped lateral end, and the middle part 806 is rotatably connected with the annular slide rail 2135. A sliding groove 804 is fixed on the annular sliding rail 2135, and the sliding groove 804 serves as a sliding channel.
所述上述实施例中，所述驱动电机可设置为全部不同的动力装置，也可设置为部分相同的动力装置。In the above-mentioned embodiment, the driving motors can be set as all different power devices, or can be set as part of the same power devices.
在其他实施例中，所述伸缩杆腿一2244和伸缩杆腿二2245可直接与导向底座2241和中心部件2243转动连接。In other embodiments, the first telescopic rod leg 2244 and the second telescopic rod leg 2245 may be directly rotatably connected with the guide base 2241 and the central component 2243.
在其他实施例中，所述清洗刷头225中的注水压力枪2253可全部替换为注气压力枪，也可部分替换，注水压力枪2253和注气压力枪同时存在。In other embodiments, the water injection pressure gun 2253 in the cleaning brush head 225 can be completely replaced with an air injection pressure gun, or partly replaced. The water injection pressure gun 2253 and the air injection pressure gun exist at the same time.
在其他实施例中，所述2118上可以没有阻尼器2112。In other embodiments, there may be no damper 2112 on the 2118.
在其他实施例中，上述电机驱动方式可采用电机+滚珠丝杠、同步带、气缸、或伺服电缸。In other embodiments, the above-mentioned motor driving method may adopt a motor + a ball screw, a timing belt, an air cylinder, or a servo electric cylinder.
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.
本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处。综上所述，本说明书内容不应理解为对本发明的限制。Specific examples are used in this article to illustrate the principles and implementation of the present invention. The descriptions of the above examples are only used to help understand the methods and core ideas of the present invention; at the same time, for those of ordinary skill in the art, according to the present invention There will be changes in the specific implementation and scope of application. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims (10)

  1. 一种检测和清扫绝缘子的机器人，其特征在于：包括巡航装置、清扫装置和检测装置，所述清扫装置设置于巡航装置上侧，所述检测装置与清扫装置连接设置，所述巡航装置用于机器人自动导航及巡检，完成清扫装置和检测装置的定点定位工作，所述清扫装置用于清洗绝缘子，所述检测装置用于对绝缘子的阻值检测。A robot for detecting and cleaning insulators, characterized in that it comprises a cruise device, a cleaning device and a detection device, the cleaning device is arranged on the upper side of the cruise device, the detection device is connected to the cleaning device, and the cruise device is used for The robot automatically navigates and inspects to complete the fixed-point positioning work of the cleaning device and the detection device. The cleaning device is used for cleaning the insulator, and the detection device is used for detecting the resistance of the insulator.
  2. 根据权利要求1所述的一种检测和清扫绝缘子的机器人，其特征在于：所述巡航装置包括动作执行机构和路线规划机构，所述动作执行机构与路线规划机构连接设置，所述动作执行机构驱动机器人进行移动和转动，所述路线规划机构提供机器人提供前进路线。The robot for detecting and cleaning insulators according to claim 1, characterized in that: the cruise device includes an action executing mechanism and a route planning mechanism, the action executing mechanism is connected to the route planning mechanism, and the action executing mechanism The robot is driven to move and rotate, and the route planning mechanism provides the robot to provide a forward route.
  3. 根据权利要求1所述的一种检测和清扫绝缘子的机器人，其特征在于：所述动作执行机构包括动作轮、承载主体和驱动电机，所述动作轮设置于承载主体上，所述驱动电机驱动动作轮转动，控制机器人的移动方向，所述路线规划机构包括用于提供视觉输入的摄像头和用于提供规划路线的线路标识，所述线路标识设置于机器人前进路线的地面上以及需要清洗和检测的绝缘子上，用于机器人自动导航及巡检。The robot for detecting and cleaning insulators according to claim 1, characterized in that: the action execution mechanism comprises an action wheel, a carrying body and a driving motor, the action wheel is arranged on the carrying body, and the driving motor drives The action wheel rotates to control the movement direction of the robot. The route planning mechanism includes a camera for providing visual input and a route mark for providing a planned route. The route mark is set on the ground of the robot's forward route and needs to be cleaned and inspected. On the insulators, it is used for robot automatic navigation and inspection.
  4. 根据权利要求1所述的一种检测和清扫绝缘子的机器人，其特征在于：所述清扫装置包括卡位机构和清扫机构，所述卡位机构与清扫机构连接设置，所述卡位机构驱动清扫机构水平和竖直移动，所述清扫机构移动至绝缘子位置并清洗绝缘子。The robot for detecting and cleaning insulators according to claim 1, characterized in that: the cleaning device comprises a detent mechanism and a cleaning mechanism, the detent mechanism is connected to the cleaning mechanism, and the detent mechanism drives the cleaning The mechanism moves horizontally and vertically, and the cleaning mechanism moves to the position of the insulator and cleans the insulator.
  5. 根据权利要求1所述的一种检测和清扫绝缘子的机器人，其特征在于：所述卡位机构包括顶伸杆组、垂直升降杆组、水平伸缩杆组和抓握杆组，所述顶伸杆组与承载主体连接，所述水平伸缩杆组设置于垂直升降杆组上侧，所述抓握杆组与水平伸缩杆组连接，所述顶伸杆组用于对设备的支撑和固定，所述垂直升降杆组控制水平伸缩杆组在垂直方向上的移动，所述水平伸缩杆组控制抓握杆组在水平方向的移动。The robot for detecting and cleaning insulators according to claim 1, wherein the locking mechanism includes a top extension rod group, a vertical lifting rod group, a horizontal telescopic rod group, and a gripping rod group. The rod group is connected to the carrying body, the horizontal telescopic rod group is arranged on the upper side of the vertical lifting rod group, the grasping rod group is connected to the horizontal telescopic rod group, and the top extension rod group is used to support and fix the equipment, The vertical lifting rod group controls the movement of the horizontal telescopic rod group in the vertical direction, and the horizontal telescopic rod group controls the movement of the gripping rod group in the horizontal direction.
  6. 根据权利要求1所述的一种检测和清扫绝缘子的机器人，其特征在于：所述顶伸杆组对机器人的支撑方式设置为下展顶伸，且设置于所述承载主体内部，所述顶伸杆组包括固定支撑机构和顶伸机构，所述固定支撑机构与所述承载主体连接，所述顶伸机构设置于固定支撑机构上，所述固 定支撑机构用于固定和支撑顶伸杆组，所述顶伸机构用于将设备进行顶伸。The robot for detecting and cleaning insulators according to claim 1, characterized in that: the support mode of the top extension rod group to the robot is set to extend downward and top extension, and is set inside the carrier body, and the top The extension rod set includes a fixed support mechanism and a jacking mechanism, the fixed support mechanism is connected to the carrier body, the jacking mechanism is arranged on the fixed support mechanism, and the fixed support mechanism is used to fix and support the jacking rod assembly , The jacking mechanism is used for jacking the equipment.
  7. 根据权利要求1所述的一种检测和清扫绝缘子的机器人，其特征在于：所述水平伸缩杆组包括固设于垂直升降杆组上的上底板，所述上底板左右两侧对称固设有上侧板，所述上底板上固设有连接块，所述水平伸缩杆组设置有伸缩电机，所述伸缩电机与连接块通过卡接方式进行连接，所述伸缩电机固设有伸缩轴，所述伸缩轴连接有水平驱动件，所述伸缩电机驱动水平驱动件水平移动。The robot for detecting and cleaning insulators according to claim 1, wherein the horizontal telescopic rod group includes an upper base plate fixed on the vertical lifting rod group, and the left and right sides of the upper base plate are symmetrically fixed. The upper side plate, the upper bottom plate is fixedly provided with a connecting block, the horizontal telescopic rod group is provided with a telescopic motor, the telescopic motor and the connecting block are connected by a clamping method, and the telescopic motor is fixed with a telescopic shaft, The telescopic shaft is connected with a horizontal driving member, and the telescopic motor drives the horizontal driving member to move horizontally.
  8. 根据权利要求1所述的一种检测和清扫绝缘子的机器人，其特征在于：所述检测装置包括定位机构和阻值测控机构，所述阻值测控机构包括阻值检测电路和检测探针，所述定位机构包括联动杆组和联动板，所述定位机构驱动检测探针转动。The robot for detecting and cleaning insulators according to claim 1, wherein the detection device includes a positioning mechanism and a resistance value measurement and control mechanism, and the resistance value measurement and control mechanism includes a resistance value detection circuit and a detection probe. The positioning mechanism includes a linkage rod group and a linkage plate, and the positioning mechanism drives the detection probe to rotate.
  9. 一种检测和清扫绝缘子机器人的控制方法，其特征在于：包括控制中心，所述控制中心与所述巡航装置、清扫装置和检测装置均建立数据连接，所述控制中心内置有机器人的控制方法，具体为：A control method of a robot for detecting and cleaning insulators, characterized in that it includes a control center, the control center establishes data connections with the cruise device, the cleaning device, and the detection device, and the control center has a built-in control method for the robot, Specifically:
    S1.控制中心通过所述路线规划机构中的摄像头所采集的图像识别到地面上的线路标识，通过识别出的线路标识将执行命令下达至驱动电机，通过驱动电机驱动动作轮沿线路标识行进；S1. The control center recognizes the line mark on the ground through the image collected by the camera in the route planning agency, sends the execution command to the drive motor through the recognized line mark, and drives the action wheel to travel along the line mark through the drive motor;
    S2.当到达所识别的地面上线路标识的终点时，驱动电机停止动作，S2. When it reaches the end of the identified line mark on the ground, the drive motor stops.
    控制中心下达原地转动指令至驱动电机，通过驱动电机驱动整体原地转动摄像头所采集的图像识别到绝缘子上的标识并通过整体动作将所识别的标识调整到所采集的图像的特定位置；The control center issues an in-situ rotation command to the drive motor, and the image collected by the overall in-situ rotation of the camera is recognized by the drive motor to identify the mark on the insulator, and the identified mark is adjusted to the specific position of the collected image through the overall action;
    S3.控制中心向驱动电机下达指令，通过驱动电机驱动水平伸缩杆组作前伸动作并同时配合驱动抓握杆组作扩张动作，将清扫机构在水平面上推送至绝缘子处的同时张开清扫机构将绝缘子卡入清扫机构中心，通过摄像头所采集的图像识别出绝缘子已位于清扫机构中心，向驱动电机下达指令驱动抓握杆组作收紧动作使清扫机构环抱绝缘子；S3. The control center issues a command to the drive motor. The horizontal telescopic rod group is driven by the drive motor to extend forward and cooperate with the drive gripping rod group to expand at the same time. The cleaning mechanism is pushed to the insulator on the horizontal surface and the cleaning mechanism is opened at the same time. Clamp the insulator into the center of the cleaning mechanism, recognize that the insulator is located at the center of the cleaning mechanism through the image collected by the camera, and issue a command to the drive motor to drive the gripping rod group to tighten the insulator so that the cleaning mechanism surrounds the insulator;
    S4.控制中心通过驱动电机驱动垂直升降杆组上升至绝缘子顶端第一个绝缘子上并通过驱动动力连杆杆组控制清洗刷头围绕绝缘子作环绕清 洗动作，同时通过清洗液水箱内置动力控制注水压力枪喷洒非电解水清洗液；S4. The control center drives the vertical lifting rod group to rise to the first insulator at the top of the insulator through the drive motor, and controls the cleaning brush head to surround the insulator by driving the power connecting rod group to make a cleaning action around the insulator, and at the same time, the water injection pressure is controlled by the built-in power of the cleaning liquid tank Spray the non-electrolyzed water cleaning fluid with the gun;
    S5.清洗完一组绝缘子后，控制中心通过驱动电机驱动垂直升降杆组下降至后一组绝缘子的高度并通过驱动动力连杆杆组控制清洗刷头围绕绝缘子作环绕清洗动作，同时通过清洗液水箱内置动力控制注水压力枪喷洒非电解水清洗液，往复循环上述过程完成一个绝缘子的清洗工作；S5. After cleaning a group of insulators, the control center drives the vertical lifting rod group to lower to the height of the latter group of insulators through the driving motor, and controls the cleaning brush head to surround the insulator by driving the power connecting rod group to make a circular cleaning action around the insulator, and at the same time pass the cleaning fluid The built-in power control water injection pressure gun in the water tank sprays the non-electrolyzed water cleaning liquid, and the above process is reciprocated to complete the cleaning of an insulator;
    S6.控制中心通过驱动电机驱动动作轮带动整体沿原路返回至下一个所需清洗的绝缘子的初始节点，调整动作轮行进方向，通过摄像头所采集的图像识别到地面上的下一条线路标识将执行命令下达至驱动电机，通过驱动电机驱动动作轮沿线路标识行进，往复循环完成变电站中竖状绝缘子的清洗工作。S6. The control center drives the action wheel to drive the whole back to the initial node of the next insulator to be cleaned by driving the motor, adjusts the direction of travel of the action wheel, and recognizes the next line mark on the ground through the image collected by the camera. The execution command is issued to the drive motor, and the action wheel is driven by the drive motor to travel along the line mark, and the cleaning of the vertical insulators in the substation is completed in a reciprocating cycle.
  10. 根据权利要求9所述的一种检测和清扫绝缘子机器人的控制方法，其特征在于：还包括有检测装置的工作步骤，具体为：The control method of a robot for detecting and cleaning insulators according to claim 9, characterized in that it further comprises the working steps of a detecting device, specifically:
    S41.在所述的控制中心通过驱动电机驱动动力连杆杆组前，先通过驱动电机驱动联动杆组带动所述的三根检测探针一端搭于需要被清洗和检测的该组绝缘子上，所述的采样电阻将测得数据返回所述的控制中心，由所述控制中心储存于内置数据库以供查询和备案，在完成该组绝缘子阻值检测后所述的控制中心通过驱动电机驱动联动杆组带动所述的三根检测探针回复到初始位置并通过驱动电机开启S中所述的环绕清洗工作；S41. Before the control center drives the power connecting rod group by the driving motor, the linkage rod group is driven by the driving motor to drive one end of the three detection probes to be placed on the group of insulators that need to be cleaned and detected. The sampling resistor returns the measured data to the control center, and the control center stores it in the built-in database for query and filing. After the resistance value detection of the group of insulators is completed, the control center drives the linkage rod through the drive motor The group drives the three detection probes to return to the initial position and starts the surrounding cleaning work described in S through the drive motor;
    S42.当所述的控制中心通过驱动电机清洗完该组绝缘子后，先通过驱动电机驱动联动杆组带动所述的三根检测探针一端搭于需要被清洗和检测的该组绝缘子上，所述的采样电阻将测得数据返回所述的控制中心，由所述的控制中心储存于内置数据库以供查询和备案，在完成该组绝缘子阻值检测后所述的控制中心通过驱动电机驱动联动杆组带动所述的三根检测探针回复到初始位置并通过驱动电机开启S中垂直升降工作。S42. After the control center has cleaned the group of insulators through the drive motor, the linkage rod group is driven by the drive motor to drive one end of the three detection probes onto the group of insulators that need to be cleaned and tested. The sampling resistor returns the measured data to the control center, and the control center stores it in the built-in database for query and filing. After the resistance value detection of the set of insulators is completed, the control center drives the linkage rod through the drive motor The group drives the three detection probes to return to their initial positions and starts vertical lifting in S through the drive motor.
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