CN102621425A - Electrified detection robot for horizontal insulator string - Google Patents

Abstract

The invention discloses an electrified detection robot for a horizontal insulator string. The electrified detection robot comprises a plurality of crawler wheels, a plurality of rotating enclasping mechanisms, at least one insulator electrified detector and a plurality of anti-dropping protecting mechanisms, wherein the crawler wheels, the insulator electrified detector and the anti-dropping protecting mechanisms are arranged on the rotating enclasping mechanisms. The crawler wheels and the rotating enclasping mechanisms are connected into a whole and are uniformly encircled for 120 degrees on the periphery of the insulators when the robot is operated. The electrified detection robot is compact in structure, is stable to creep and causes less abrasion on the insulators, at most three pieces of insulators are short-circuited, safety and reliability in running are realized, and the robot can be electrified for detection along a horizontal single string of insulators.

Description

Horizontal insulator string live detection robot

technical field

The invention relates to a mobile detection machine, in particular to a horizontal insulator string live detection robot which can be used to complete the detection work of the horizontal insulator of a high-voltage line to replace manual work.

Background technique

The insulator of the high-voltage transmission line is a device used for insulating and connecting the transmission wire and the iron tower. On the high-voltage transmission line, it has been working in the complex and harsh environment composed of strong electric field, mechanical stress, pollution and temperature and humidity for a long time, and the probability of failure and aging is very high; when the deterioration of the insulator develops to a certain External effects such as lightning strike overvoltage, impulse overvoltage, and pollution flashover are prone to phenomena such as streamer discharge and head insulation breakdown, which may develop into failures such as porcelain skirt bursting, steel cap explosion, and steel foot burning, and even develop It is a serious threat to the safety of the power grid due to string disconnection and line drop accidents.

In order to realize the online detection of bad insulators, people have adopted many methods, among which the spark fork method, photoelectric method, electrostatic probe method, self-propelled bad insulator resistance detection method, etc. are commonly used. However, the devices developed according to these methods all require operators to climb up the pole tower to detect all the insulators on the tower one by one, and the labor intensity is very high.

Chinese patent ZL200820232350.0 discloses an insulator detection robot, which includes a first crawler wheel, a box body, a second track wheel, a pitch-variable telescopic mechanism and a probe drive mechanism. The pitch-variable telescopic mechanism is installed on the box body. The track wheels are located on both sides of the box body and are respectively hinged with the pitch-variable telescopic mechanism. The first and second track wheels are respectively connected with the first and second stroke sensors; the bottom of the box body is provided with a probe driving mechanism. Comprehensive analysis shows that this patent mainly has the following disadvantages: it cannot detect a single string of horizontal insulator strings. This patent adopts a variable-distance telescopic mechanism capable of telescopic changes, which can adapt to the distance change of double-connected horizontal insulator strings. However, most of the voltage levels of 220kV and below in transmission lines are single-string horizontal insulator strings, which can only be used along the horizontal double-connected String insulators run in series, and the detection of single string insulator strings cannot be completed.

Chinese patent ZL201120069946.5 discloses an insulator detection device for high-voltage and ultra-high-voltage transmission lines, which includes two symmetrically arranged ring supports, and crawling mechanisms are respectively arranged on the two ring supports, and the two crawling mechanisms are connected by a connecting plate ; The crawling mechanism includes two guide rails arranged symmetrically, and the snap mechanism is respectively arranged on the two guide rails; the snap mechanism includes a sliding device and a swing device, the sliding device includes a snap slide block slidingly arranged on the guide rail, and the swing device includes a swing key The swing key sleeve is connected to the card foot slider through the bearing; the swing key sleeve is set on the swing key shaft, and the clamp foot is fixed on the swing key sleeve; the card foot slider is connected with an active drive stepping servo motor, and the swing key The shaft is connected with a card foot to swing and drive a servo mechanism. According to comprehensive analysis, this patent mainly has the following disadvantages: 1) It is impossible to detect the horizontal insulator strings of transmission lines. This patent is mainly aimed at the detection of high-voltage paired and vertically arranged insulators, and cannot be applied to the detection of horizontal insulator strings of transmission lines, especially horizontal single-string insulator strings. 2) The moving speed is slow and the detection efficiency is low. The walking method of this patent mainly uses the claws on the moving mechanism to clamp the outer edge of each insulator bottle and move upwards alternately. This moving mechanism moves slowly during the detection process, and the detection time is long and the efficiency is low.

Chinese patent application 01102273.6 discloses a high-voltage transmission line insulator charged intelligent monitor, which includes a ring bracket that can be sleeved around the insulator body. The body of the ring bracket is provided with a crawling mechanism that can crawl along the edge of the insulator bottle. Set on the ring bracket or crawling mechanism, the output of the control circuit is connected to the control end of the crawling mechanism and the probe, and the input is connected to the output end of the probe. The control circuit controls the detection action of the crawling mechanism and the probe, and receives the output signal of the probe. Comprehensive analysis, this patent mainly has following shortcoming: 1) detection efficiency is lower. In this patent, the edge of the insulator is clamped by claws sleeved on parallel guide columns. The claws are divided into upper and lower layers, which move upwards alternately. The detection time is long and the efficiency is low. 2) It is not easy to install on the string. This invention is mainly composed of more than three ring-shaped brackets that are assembled and fastened together. Before installation, workers need to fit and install the insulator according to the size, which is time-consuming and labor-intensive. 3) It cannot provide continuous tension force for the track, and the adaptability is small. The clamping force between the track and the insulator comes from the many springs on the elastic support frame of the track. However, after the robot hugs the insulator, if the size of the insulator is slightly larger and the compression of the spring is larger, the track will be relatively loose and the track will not be aligned. The tension effect of the motor affects the power transmission of the motor.

Contents of the invention

The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a live detection robot for horizontal insulator strings, which has a compact structure, stable crawling, little wear on the insulators, short-circuits up to 3 insulators, safe and reliable operation, and can move along the horizontal Single-string insulator string live detection has high detection efficiency, and can adapt to double-connected horizontal insulator strings and single-string horizontal insulator strings.

To achieve the above object, the present invention adopts the following technical solutions:

A live detection robot for horizontal insulator strings, comprising several crawler wheels, several rotating and tightening mechanisms, at least one insulator live detector and several anti-drop protection mechanisms, the crawler wheels, insulator live detectors and anti-drop protection mechanisms are all Set on the rotating holding mechanism.

The longitudinal length of the track wheel is greater than the two-piece but less than the axial length of the three-piece insulator string.

The track wheel includes a track, a driving motor, a driving wheel, several tensioning wheels, two connecting plates, several supporting columns, a transmission shaft and a driven wheel, and the two parallel connecting plates are connected by several supporting columns, each There is a tensioning wheel between the two supports, and the tensioning wheel is sleeved on the transmission shaft. The driving wheel, the driving wheel and the driven wheel are wound with caterpillar belts; the outer side of the one connecting plate is provided with a driving motor connected with the driving wheel.

Each of the rotating and tightening mechanisms includes a DC motor, a bearing seat, a rotating shaft, a rotating block and a connecting corner, the lower end of the rotating shaft is connected with the output shaft of the DC motor, and the upper and lower ends of the rotating shaft are respectively sleeved There is a bearing, the outer ring of the bearing is fixed on the bearing seat, and a short connecting bracket is fixedly connected to the bearing seat; two rotating blocks arranged in parallel are fixedly connected to the rotating shaft between the two bearing seats, and the two rotating blocks are respectively A long connecting bracket is fixed; the ends of the short connecting bracket and the long connecting bracket are provided with connecting corners for connecting track wheels.

The DC motor is fixed on the bearing seat at the lower end of the rotating shaft.

The two short connecting brackets are arranged in parallel.

The two long connecting brackets are arranged in parallel.

Each of the anti-drop protection mechanisms includes a connecting rod, two fixed blocks, a locking block and a number of quick lock pins, the two fixed blocks are arranged on the long connecting bracket on the upper part of the rotating shaft, and the lock The tight block is fixed on the short connecting bracket on the upper part of the rotating shaft; one end of the connecting rod is hinged to one of the fixed blocks, and the other end is hinged to the locking block through the quick lock bolt.

There are U-shaped grooves on the hinged end of the connecting rod and the locking block and the middle part respectively.

The structure used in the insulator live detector adopts the structure described in the Chinese patent No. ZL200510063334.4.

The invention includes three crawler wheels, a rotating and tightening mechanism, an insulator live detector and an anti-drop protection mechanism; the left and right sides and the middle crawler wheels are connected into one body through the rotating and tightening mechanism, and are uniformly formed at 120 degrees when the robot is running. Surrounded around the insulator; anti-drop protection mechanism is installed on the rotating holding mechanism;

Working principle of the present invention:

Before the stringing work of the present invention, the robot body must be opened first, and control instructions are sent to the DC motors on the left and right two sets of rotating clamping mechanisms to drive the rotating shaft to rotate forward, thereby driving the rotating block fixed on the rotating shaft to rotate around the bearing seat. The rotating block, the connecting bracket and the crawler wheels are connected as a whole through the connecting corners, and the above-mentioned modules all rotate with the rotating shaft, so that the crawler wheels on both sides of the robot are in an open state. Also, make sure the fall protection mechanism is on, i.e. the quick lock pin connects the link to the fixed block in the middle.

When the robot is on the string, it can be hoisted on the rotating shafts on both sides with insulating ropes, so that the track wheel in the middle is close to the upper surface of the insulator string. At this time, control commands are sent to the DC motors on the left and right sides to reverse simultaneously. , so as to drive the connecting brackets and track wheels on both sides to rotate, and gradually get close to the insulator string. When the DC motor reaches the set output torque value, it will no longer rotate. At this time, the track wheels on both sides have hugged the insulator string tightly. At the same time, The pressure between the track and the insulator string is increased, thereby increasing the friction between the two.

When the robot hugs the insulator string tightly, in order to prevent the robot from falling unexpectedly due to power failure during operation, it is necessary to close the anti-drop protection mechanisms on both sides, and manually pull out the quick lock pin from the fixed block in the middle. Insert it into the U-shaped groove of the connecting rod and the pin hole of the locking block at the same time, so that the anti-drop protection mechanism limits the opening angle of the crawler wheels on both sides of the robot, so that the maximum opening range is smaller than the diameter of the insulator string, preventing its Falling from a string of insulators.

The driving motor works to drive the driving wheel connected to it to rotate. The driving wheel rotates the driven wheel and the tensioning wheel through the crawler belt, and the robot walks forward by the crawler belt close to the insulator string. Among them, the live insulator detector fixed on the connecting bracket collects the electric field strength around the insulator strings as the robot advances. After collecting the complete string of insulators, the live insulator detector 5 automatically forms an electric field strength curve, which can be judged according to the curve Whether the insulator string is intact.

The beneficial effect of the present invention is that, due to the adoption of the above structure, the present invention adopts the above-mentioned structure, and the three crawler wheels evenly surround the insulator string, adopts the crawler mechanism, has good motion continuity and stable walking, and ensures that the electrification detector can collect relatively accurate data curves , and less wear on the surface of the insulator; high safety, when the robot walks on the insulator string, the anti-drop protection mechanism makes the three crawler wheels stick to the surface of the insulator string, and will not break away from the insulator string when the robot is running; because the insulator The surface of the string is relatively smooth. In addition to the robot's own gravity, the rotating clamping mechanism provides a continuous clamping force for the robot, thereby increasing the pressing force on the surface of the track and the insulator string, which is more conducive to the operation of the robot; the robot is easy to operate and short-circuit The number of insulators is small, and a maximum of 3 insulator strings are short-circuited, which complies with the rules of electric power work; the detection of high-voltage insulator strings has been changed from manual high-altitude operations to robot operations that are not harmful to humans.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is the structural representation of track wheel of the present invention;

Fig. 3 is a structural schematic diagram of the rotating holding mechanism and the anti-drop protection mechanism of the present invention;

Among them: 1 is the crawler wheel, 2 is the insulator string, 3 is the rotating and holding mechanism, 4 is the anti-drop protection mechanism, 5 is the insulator live detector, 6 is the connecting plate, 7 is the track, 8 is the driven wheel, 9 is Tensioning pulley, 10 is transmission shaft, 11 is support column, 12 is driving motor, 13 is driving wheel, 14 is connecting corner, 15 is connecting bracket, 16 is fixed block, 17 is connecting rod, 18 is quick lock bolt, 19 is a locking block, 20 is a bearing seat, 21 is a rotating block, 22 is a rotating shaft, and 23 is a DC motor.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

The present invention operates on a horizontal insulator string, as shown in Figure 1, including a crawler wheel 1, a rotating holding mechanism 3, an anti-drop protection mechanism 4 and an insulator live detector 5; the insulator live detector 5 is fixed on the rotating holding mechanism 3; the three crawler wheels 1 are evenly distributed on the insulator string 2, and the three crawler wheels 1 are connected and fixed together by two rotating locking mechanisms 3; the anti-drop protection mechanism 4 is installed on the rotating locking mechanism 3.

As shown in Figures 1 and 2, there are three track wheels with the same structure, which are respectively installed and fixed on the two ends of the rotating holding mechanism 3 to form the robot body, which will be evenly distributed around the insulator string 2 when the robot is running. Its structure includes Connecting plate 6, crawler belt 7, driven wheel 8, tensioning wheel 9, transmission shaft 10, supporting column 11, driving motor 12, driving wheel 13; wherein, track wheel 1 is formed by two connecting plates 6 on the left and right sides to form the main skeleton , the driving motor 12 is fixed on the right connecting plate, and its motor output shaft is connected with the driving wheel 13; a plurality of supporting columns 11 are installed between the connecting plates 6 on the left and right sides; The front and rear ends; a plurality of tensioning wheels 9 are installed between the left and right side connecting plates 6 through the transmission shaft 10, and are connected with the driving wheel 13 and the driven wheel 8 through the crawler belt 7 to form a transmission. The longitudinal length of the track wheel 1 is greater than two pieces and less than the axial length of the three-piece insulator string 2, so as to ensure the stability and safety of the robot when walking;

As shown in Figures 1 and 3, there are two sets of the rotating holding mechanism 3 and the anti-drop protection mechanism 4 respectively, and the mechanical structure is the same. 4 is fixed on the rotating holding mechanism 3; the rotating holding mechanism includes connecting corner 14, connecting bracket 15, bearing seat 20, rotating block 21, rotating shaft 22, DC motor 23, wherein, connecting bracket 15, bearing seat 20, rotating The block 21 is divided into upper and lower layers; a plurality of connecting corners 14 are fixed on one end of the connecting bracket 15 and connected with the track wheel 1, and the other end of the connecting bracket 15 is fixed on the bearing seat 20 or the rotating block 21; the two ends of the rotating shaft 22 Each is connected with upper and lower two bearing blocks 20, a DC motor 23 is fixed on the lower side bearing blocks 20, and its output shaft links to each other with the rotating shaft 22; the rotating block 21 is fastened on the rotating shaft 22.

Wherein, anti-drop protection mechanism 4 comprises two fixed blocks 16, connecting rod 17, quick lock bolt 18, locking block 19; It is hinged with one of the fixed blocks 16, and the other end is hinged with the locking block 19 through the quick lock pin 18; the middle and the end of the connecting rod 17 have a U-shaped groove. When the robot is working and running, the quick lock pin 18 is inserted into the connecting rod 17. In the U-shaped groove at the end and the pin hole of the locking block 19, when the robot goes down the string, open the quick lock latch 18, and insert it into the U-shaped groove in the middle of the connecting rod 17 and the pin hole of the fixed block.

The structure used in the insulator live detector adopts the structure described in the Chinese patent No. ZL200510063334.4.

Working principle of the present invention:

Before the work of the present invention, the robot body should be opened first, and control instructions should be sent to the DC motors 23 on the left and right two sets of rotating holding mechanisms 3 to drive the rotating shaft 22 to rotate forward, thereby driving the rotating block 21 fixed on the rotating shaft 22 Rotating around the bearing seat 20, the rotating block 21, the connecting bracket 15 and the crawler wheel 1 are connected as a whole through the connecting corner 14, and the above-mentioned modules are all rotated with the rotating shaft 22, so that the crawler wheels 1 on both sides of the robot are in an open state. In addition, ensure that the anti-drop protection mechanism 4 is in an open state, that is, the quick lock pin 18 connects the connecting rod 17 with the middle fixed block.

When the robot is on the string, it can be hoisted on the rotating shafts 22 on both sides with an insulating rope, so that the middle crawler wheel is close to the upper surface of the insulator string. At this time, control commands are sent to the DC motors 23 on the left and right sides at the same time reverse, thereby driving the connecting brackets 15 and track wheels 1 on both sides to rotate, and gradually approaching the insulator string, when the DC motor 23 reaches the set output torque value, it will no longer rotate, and at this time the track wheels 1 on both sides have embraced Tight string of insulators.

When the robot hugs the insulator string tightly, in order to prevent the robot from falling unexpectedly due to power failure during operation, it is necessary to close the anti-drop protection mechanisms 4 on both sides, and manually pull out the quick lock pin 18 from the middle fixing block , insert it into the U-shaped groove of the connecting rod 17 and the pin hole of the locking block 19 at the same time, so that the anti-drop protection mechanism 4 limits the opening angle of the crawler wheels 1 on both sides of the robot, so that the maximum opening range is smaller than that of the insulator string diameter to prevent it from falling from the insulator string.

Drive motor 12 works, drives the driving wheel 13 that is connected with it to rotate, and driving wheel 13 makes driven wheel 8 and tension pulley 9 rotate by crawler belt 7, and robot relies on 3 crawler belts 7 that are close on the insulator string to walk forward. Among them, the live insulator detector 5 fixed on the connection bracket 15 collects the electric field strength around the insulator string as the robot advances. After collecting the complete string of insulators, the live insulator detector 5 automatically forms an electric field strength curve, according to the curve It can judge whether the insulator string is intact.

Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.

Claims (9)

1. A horizontal insulator string electrified detection robot is characterized in that it comprises some crawler wheels, some rotating holding mechanisms, at least one insulator electrification detector and some anti-drop protection mechanisms, the crawler wheels, the insulator electrification detector and The anti-drop protection mechanisms are all arranged on the rotating and holding mechanism. 2. The live detection robot for horizontal insulator strings according to claim 1, wherein the longitudinal length of the crawler wheels is greater than the axial length of the two-piece insulator string and less than the axial length of the three-piece insulator string. 3. The horizontal insulator string electrification detection robot as claimed in claim 2, is characterized in that, described crawler wheel comprises crawler belt, driving motor, driving wheel, some tensioning wheels, two connecting plates, some support columns, drive shaft and The driven wheel, the two parallel connecting plates are connected by a number of support columns, and a tensioner is arranged between each two supports, and the tensioner is sleeved on the transmission shaft, and the two ends of the transmission shaft are arranged on two On the connecting plate, the two ends between the two connecting plates are respectively provided with a driving wheel and a driven wheel, and crawler belts are wound on the driving wheel and the driven wheel; a drive motor connected with the driving wheel is provided on the outside of the one connecting plate . 4. The live detection robot for horizontal insulator strings as claimed in claim 3 is characterized in that, each of said rotating and holding mechanisms comprises a DC motor, a bearing block, a rotating shaft, a rotating block and a connecting corner, and each of said rotating shafts The lower end is connected with the output shaft of the DC motor, and a bearing is respectively set on the upper end and the lower end of the rotating shaft, and the outer ring of the bearing is fixed on the bearing seat, and a short connecting bracket is fixedly connected to the bearing seat; between the two bearing seats Two rotating blocks arranged in parallel are fixedly connected to the rotating shaft, and a long connecting bracket is respectively fixed on the two rotating blocks; the ends of the short connecting bracket and the long connecting bracket are provided with connecting corners for connecting track wheels. 5. The live detection robot for horizontal insulator strings according to claim 4, wherein the DC motor is fixed on the bearing seat at the lower end of the rotating shaft. 6. The live detection robot for horizontal insulator strings according to claim 4, wherein the two short connecting brackets are arranged in parallel. 7. The live detection robot for horizontal insulator strings according to claim 4, wherein the two long connecting brackets are arranged in parallel. 8. The live detection robot for horizontal insulator strings as claimed in claim 1, wherein each of the anti-drop protection mechanisms includes a connecting rod, two fixed blocks, a locking block and some quick-lock bolts, The two fixed blocks are arranged on the long connecting bracket on the upper part of the rotating shaft, and the locking block is fixed on the short connecting bracket on the upper part of the rotating shaft; The latch is hinged with the locking block. 9. The live detection robot for horizontal insulator strings according to claim 8, characterized in that, U-shaped grooves are respectively opened on the hinged end and the middle part of the connecting rod and the locking block.

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