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Robot based on detecting and cleaning insulators and control method of robot

A technology of insulators and robots, applied in cleaning methods and utensils, chemical instruments and methods, cleaning methods using liquids, etc., can solve the problems of insulators that are not yet widely popularized, operability and detection accuracy cannot meet the requirements, and insulators are effective Cleaning wastes manpower, material resources, water resources and other issues to achieve the effect of improving safety and reliability, improving automation, and improving cleaning efficiency and quality

Active Publication Date: 2020-08-14
RES INST OF ZHEJIANG UNIV TAIZHOU
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, short-circuit forks or spark gap detection methods are commonly used in China to detect low-zero value insulators, because they cannot quantitatively detect the distribution voltage of insulators, resulting in many missed and false detections.
Other methods such as live direct detection of resistance, detection of noise waves, infrared thermal imaging, ground detection of leakage current, corona pulse current and partial discharge current have not been adopted on a large scale because the actual operability and detection accuracy of the site cannot meet the requirements. Promotion
At the same time, the current common way to clean insulators in China is to spray non-electrolyzed water with a high-pressure water gun, but this method cannot ensure that each insulator is effectively cleaned and wastes manpower, material resources and water resources.

Method used

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  • Robot based on detecting and cleaning insulators and control method of robot
  • Robot based on detecting and cleaning insulators and control method of robot
  • Robot based on detecting and cleaning insulators and control method of robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0044] Such as Figure 1-8 As shown, a robot for detecting and cleaning insulators includes a cruising device, a cleaning device and a detection device. The cleaning device is arranged on the upper side of the cruising device. The detection device is connected to the cleaning device. Automatic navigation and patrol inspection complete the fixed-point positioning work of the cleaning device and the detection device. The cleaning device is used to clean the insulator 100, and the detection device is used to detect the resistance of the insulator 100.

[0045] Such as Figure 1-2 As shown, the cruise device includes an action actuator and a route planning mechanism, the action actuator is connected to the route planning mechanism, the action actuator drives the robot to move and rotate, and the route planning mechanism provides the robot with a forward route .

[0046] The action implementing mechanism includes an action wheel 111, a bearing body 112 and a drive motor (not show...

Embodiment 2

[0080] like Figure 11-13 As shown, the difference between this embodiment and Embodiment 1 is that, in Embodiment 1, the support mode of the extension rod group 211 is set as downward extension and extension. In this embodiment, the extension rod group 211 The support method is set as side extension and top extension.

[0081] The extension rod set 211 includes a body carrier 2123, a power extension device and a connecting piece 704 for connecting the body carrier 2123 and the power extension device, and the power extension device supports and fixes the whole device.

[0082] In this embodiment, the body carrier 2123 is configured as a square-like structure, specifically including a carrier front plate 700, a carrier slant plate 701, a carrier side plate 702, and a carrier rear plate 703. The carrier slant plate 701 is arranged as two symmetrical set and fixed on both sides of the carrier front plate 700, the carrier side plates 702 are arranged as two symmetrical groups and...

Embodiment 3

[0086] like Figure 14-15 As shown, 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 grip rod group 214 are controlled separately by different motors, and the two motors need to be linked to complete the The purpose of placing the insulator post at the center of the cleaning mechanism, but in this embodiment, only a single motor is set in the grasping telescopic linkage mechanism can achieve the above purpose.

[0087] The grip telescopic linkage mechanism includes a telescopic mechanism and a grip assembly, the grip assembly is connected to the telescopic mechanism, the grip assembly includes a circular slide rail 2135 , and the telescopic mechanism controls the opening and closing of the circular slide rail 2135 .

[0088]The telescopic mechanism includes a sliding cylinder telescopic block 2130, a telescoping cavity is fixed inside the sliding cylinder telesc...

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PUM

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Abstract

The present invention discloses a robot based on detecting and cleaning insulators and a control method of the robot. The robot includes a cruise device, a cleaning device and a detection device. Thecleaning device is arranged on the upper side of the cruise device, and the detection device is connected to the cleaning device. The cruise device is used for automatic robot navigation and routing inspection to complete the fixed-point positioning work of the cleaning device and the detection device. The cleaning device is used for cleaning the insulators, and the detection device is used for detecting the resistance of the insulators. A control center is in data connection with the cruise device, the cleaning device and the detection device, the purposes of automatic navigation and routinginspection of the robot are realized, and the automation degree of the robot is improved; the cleaning device moves in the vertical and horizontal directions, cleaning brush heads make surrounding cleaning actions around insulator columns, and the cleaning efficiency and quality are improved; and safety and reliability are improved by detecting the resistance of the insulators before and after cleaning through the detection device.

Description

technical field [0001] The invention belongs to the field of power transmission equipment, and relates to a robot based on detection and cleaning of insulators and a control method thereof. Background technique [0002] The substation insulator in the distribution network is an important primary equipment with a wide range of applications and a large number in the power system. During long-term operation, if the long-term accumulated dust on the insulator is not cleaned in time, the insulation of the insulator will be reduced. When the air humidity is high, partial discharge will cause system failure. Influenced by other factors, insulators will inevitably deteriorate and produce low zero value insulators. If poor-quality insulators, especially low-zero value insulators, cannot be detected in time, it will definitely bring hidden dangers to the safe and reliable operation of the power grid. Once faults such as line short circuit and disconnection are caused, the normal ope...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B08B1/04B08B3/02B08B13/00G01R27/02G01C21/20
CPCB08B13/00B08B3/02B08B1/12Y02E10/50
Inventor 郑军颜文俊邵园园王雪燕
Owner RES INST OF ZHEJIANG UNIV TAIZHOU