Insulator string intelligent detection robot system and control method thereof

Abstract

The invention discloses an insulator string intelligent detection robot system which comprises two groups of drive mechanisms which are symmetrically arranged, the opposite sides of the two drive mechanisms are connected in a hinged mode through a holding mechanism, the other opposite sides of the two drive mechanisms are respectively and fixedly provided with a guide arm through clamping blocks, an insulator detector is installed on the holding mechanism, one of the clamping block is provided with an electronic control box, and a control system which is electrically connected with the drive mechanisms, the holding mechanism and the insulator detector is arranged in the electronic control box. The invention further discloses a control method of the insulator string intelligent detection robot. According to the control method of the insulator string intelligent detection robot, the robot is matched with the rise and fall of the drive mechanisms so that the lower surface of an insulator can be effectively detected, and the robot is led to be in a holding state with the insulator by means of an extensible structure controlled by a position close loop. Accurate and reliable walking of the robot can be guaranteed by means of biaxial drive crawling controlled by the differential speed. Accurate and reliable stopping in the process of the crawling can be guaranteed by a servo motor. Due to the fact that the contacting between the insulator string and the ground is less, the abrasion of coating of the porcelain skirt portion of the insulator is little, and the force of friction is small.

Description

technical field [0001] The invention relates to a robot, in particular to an insulator string intelligent detection robot system and a control method thereof. Background technique [0002] At present, 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...

AI Technical Summary

Problems solved by technology

When the robot moves on the insulator, it also connects three insulator pieces, and the overall structure size is large, which is inconvenient for workers to carry.

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