Metamorphic crawling mechanism insulator detection robot supporting swinging contact

Abstract

The invention provides a metamorphic crawling mechanism insulator detection robot supporting swinging contact. The robot comprises three sets of moving units and detection elements. Each moving unit comprises a rectangular framework, a crawling mechanism and a guiding locking mechanism. A driving device is installed on each crawling mechanism which is also fixedly connected with a claw. The guiding locking mechanism is arranged on each rectangular framework along an insulator radially. The guiding locking mechanism is used for guiding the moving unit during climbing and for locking the moving unit during detection. The guiding locking mechanism is in flexible contact with an insulator string, avoids causing wear on the surface of the insulator during the guiding process, and can be well adapted to errors of the insulator string. As the claw can contact with or withdraw from the edge of the insulator almost in a translational mode, no engagement friction with the surface of the insulator is made, so that the surface coating of the insulator is not damaged. The robot has good error tolerance on insulator strings, has a simple structure, is convenient for dismounting and carrying, has stably running mechanisms, can be used for detecting horizontal, vertical and inclined insulator strings, and has a broad application prospect.

Description

technical field [0001] The invention belongs to the field of insulator detection, and relates to an insulator detection robot with a metamorphic crawling mechanism capable of swinging and cutting in, which is a metamorphic mechanism obtained by an R / P metamorphic kinematic pair. Background technique [0002] With the rapid development of my country's economy, electricity consumption continues to increase. In order to meet the demand, my country's power companies are committed to the development of high-voltage and ultra-high-voltage transmission systems. Whether it can operate safely determines whether the power system is stable, but insulators are subjected to climate changes such as sun and rain and corrosion of chemical substances. After long-term operation, insulation resistance will decrease, the surface will be dirty, cracked and even hit Wear and other failures. When there are a certain number of degraded insulators in the line, it will cause a flashover phenomenon, ca...

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Problems solved by technology

Manual inspection is a traditional inspection method. Maintenance personnel generally operate in the event of a power outage. During live inspection, maintenance personnel not only have to work at heights, climb up the pole tower to inspect the operation status of all insulators one by one, but also have excellent professional skills. This method is labor intensive. Large, low efficiency, high cost and high risk; the other is to use mechanical equipment to automatically detect insulators, which can reduce the danger of manual work. Therefore, an intelligent robot system is developed for automatic detection of insulators. It is of great significance for the stability of power transmission to detect the operating status and discover potential risks

However, the commonly used robots are common at present: the structure is complex, most of them are one-piece structure, and cannot be disassembled, and most of the walking devices are wheeled, so that the robot and the surface of the insulator are in rolling contact, and the stability of the path and attitude is insufficient. There is meshing friction with the surface of the insulator, which will damage the surface coating of the insulator, and the existing rotating meshing crawler mechanism has poor fault tolerance and may be stuck during operation.

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