Insulator chain intelligent detection robotic system

Abstract

The invention discloses an insulator string intelligent detection robotic system which is used for detection of level tension twin insulator strings. The insulator string intelligent detection robotic system comprises a robot motion system and an information processing system. The robot motion system comprises a mechanism connecting plate, a climbing device, a guide device, detection equipment, a control unit and a man-machine control terminal, wherein the guide device guides the insulator strings, is placed on two sides of the proceeding direction of the mechanism connecting plate and is matched with the twin insulator strings to be detected, the detection equipment is placed on the mechanism connecting plate, the control unit outputs a drive device connected with the climbing device to control the angle deviation between a front set of climbing arms and a rear set of climbing arms, and the man-machine control terminal is communicated with the control unit through a wireless communication unit to remotely control the climbing device. The insulator string intelligent detection robotic system is compact in structure and fast in movement speed.

Description

technical field [0001] The invention relates to an insulator string detection robot system, which is used for the detection of tension tower insulator strings. Background technique [0002] With the continuous development of my country's power system, more and more attention has been paid to the safe and stable operation of the power grid. Especially in the EHV and UHV transmission systems that have been vigorously developed in recent years, the safe operation of insulators directly determines the investment and safety level of the entire system. It is necessary to detect the electrical performance of the line, especially the insulation safety performance of the insulator, to prevent the occurrence of short circuit or open circuit. [0003] The insulator is an insulating element used to connect the wire and the iron tower on the overhead high-voltage transmission line. It has two basic functions, namely, supporting and preventing the current from returning to the ground. Th...

AI Technical Summary

Problems solved by technology

However, it is obvious that robots such as crawler and wheeled structures are not suitable for the detection of vertical insulator strings. In order to ensure the reliable operation of the robot, it is usually necessary to assist the guiding structure in the direction of travel, and the structure is relatively complicated.

Another obvious point is that many insulator strings are made of porcelain, and the surface is very smooth, so it is difficult for the robot to obtain a good driving environment.

[0007] China's utility model patent No. CN202013392U discloses a robot that can be used for vertical insulator string detection, including two symmetrically arranged ring-shaped supports, and crawling mechanisms are respectively arranged on the two ring-shaped supports, and a connecting plate is passed between the two crawling mechanisms. Connection; in order to adapt to climbing on the vertical insulator string, the crawling mechanism includes two symmetrically arranged guide rails, and the clip mechanism is respectively arranged on the two guide rails; and the clip mechanism includes a sliding device and a swing device, and the sliding device includes a sliding device. On the card foot slider on the guide rail, the swing device includes a swing key sleeve, and the swing key sleeve is connected to the card foot slider through a bearing. The structure is complex; The connection problem of each movement link, the efficiency is relatively low

In addition, its shape is relatively large, and it is difficult to carry, and the high-voltage lines are mostly in the wild, so the defect that it is not easy to carry will seriously affect the convenience of its actual use.

[0008] China Patent No. CN1165775C discloses a robot with a ring-shaped support that can be sleeved around the insulator body. A crawling mechanism and a detection probe are set on the ring-shaped support. The insulator string needs to be coordinated through auxiliary structures, otherwise the assembly cannot be completed. The auxiliary structure, such as the structure of two or more joints, causes the complexity of its own structure

In addition, it still adopts the guide rail structure and cooperates with the claw structure, so the volume is still relatively large, and the body is bulky and difficult to carry.

At the same time, the movement of the claw structure is relatively slow, and the detection efficiency is relatively low

Usually, this type of detection robot needs to perform detection under the condition of power failure, which affects the normal operation of the line

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