Insulator replacement device for high-voltage line insulator detection equipment

Abstract

The application provides an insulator replacement device for a high-voltage line insulator detection equipment, which comprises a replacement assembly, the replacement assembly comprises a walking robot, a support and a plurality of clamping assemblies from bottom to top, the support is arranged on the top of the walking robot, the plurality of clamping assemblies are symmetrically distributed about the support, and the walking robot drives the clamping assemblies to move to the detection equipment to replace the insulator through the support; the idle clamping assembly is used to unload the detected insulator, the driving system of the walking robot drives the clamping assembly to horizontally rotate, after the clamping assembly drives the to-be-detected insulator to be located at the detection equipment, the clamping assembly loads the insulator into the bracket to be detected by the detection equipment, the replacement device effectively replaces the insulator manually, is high in working efficiency, and is safe because no one is located in the high-voltage line area.

Description

Technical Field

[0001] This invention relates to the field of insulator replacement technology, and more particularly to an insulator replacement device for high-voltage line insulator testing equipment. Background Technology

[0002] Insulators can be divided into low-voltage insulators and high-voltage insulators according to the voltage level they are used in. High-voltage insulators are used in high-voltage and ultra-high-voltage overhead transmission lines and substations. In order to meet the needs of different voltage levels, different numbers of single insulators of the same type are usually used to form insulator strings or multi-section insulating supports.

[0003] An insulator is a special type of insulating component that plays a crucial role in overhead power transmission lines. In the early days, insulators were mostly used on utility poles. Gradually, they evolved to be used on one end of high-voltage power transmission towers, where many disc-shaped insulators are hung to increase the creepage distance. They are usually made of glass or ceramic and are called insulators. Insulators should not fail due to various electromechanical stresses caused by changes in environmental and electrical load conditions. Otherwise, the insulators will not play a significant role and will damage the service life and operational life of the entire line. After production, insulators need to be tested by testing equipment to ensure they are up to standard.

[0004] The existing technology has the following shortcomings: as shown in the appendix to the instruction manual. Figure 4 As shown, the top of insulator 2 is connected to bracket 1, and the bottom is connected to the high-voltage line 4 of testing equipment 3 via connecting component 5. Testing equipment 3 then performs the testing. However, after testing by equipment 3, with the assistance of auxiliary equipment, workers typically remove the tested insulator 2 before replacing it with the one to be tested. This is problematic because: firstly, the testing environment is high-voltage, posing a safety hazard even with proper safety precautions; secondly, it requires multiple personnel for replacement, resulting in high labor costs; and thirdly, manual replacement requires equipment 3 to be shut down, de-energizing the high-voltage line 4, which not only reduces the testing efficiency of equipment 3 but also increases the power consumption of restarting it, further increasing testing costs.

[0005] Therefore, there is a need for a high-voltage line insulator testing equipment that uses an insulator replacement device to replace manual replacement, in order to solve the problems mentioned in the background art. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides an insulator replacement device for high-voltage line insulator testing equipment.

[0007] The present invention solves the above-mentioned technical problems through the following technical means: an insulator replacement device for a high-voltage line insulator testing equipment, comprising a replacement component, wherein the replacement component comprises, from bottom to top, a walking robot, a support member, and several clamping components, wherein the support member is disposed on the top of the walking robot and is connected to the driving system of the walking robot, and the several clamping components are centrally symmetrically distributed about the support member, and the walking robot drives the clamping components through the support member to move to the testing equipment to replace the insulator;

[0008] Preferably, the support component includes a cylinder, a support rod, and a motor. The cylinder is located on the top of the walking robot, the support rod is connected to the cylinder's telescopic shaft, the motor is embedded in the top of the support rod, and the clamping assembly is connected to the motor via an output shaft.

[0009] Preferably, the overall height of the clamping component can be finely adjusted by a cylinder according to the height of the insulator connected to the connecting component on the testing equipment, thereby facilitating accurate positioning. Furthermore, after the walking robot drives the clamping component to rotate, the horizontal orientation of the clamping component can also be finely adjusted by a motor, facilitating accurate positioning.

[0010] Preferably, multiple slide rods are fixedly provided at the top edge of the cylinder, and the support rod is slidably connected to the slide rods. The multiple slide rods are used to assist in supporting the support rod to ensure the stability of the lifting and lowering of the clamping assembly.

[0011] Preferably, the clamping assembly includes a cover, a bracket, an electric push rod, an electric clamp, and a clamping member, wherein,

[0012] The cover is fitted onto the top of the support rod, and the cover is connected to the motor via the output shaft. Multiple supports are provided, and the multiple supports are symmetrically distributed about the center of the cover. The electric push rod is horizontally fixed at the bottom of the support. The electric clamp is connected to the electric push rod via the telescopic shaft. The clamping part is fixedly connected to the clamping arm of the electric clamp.

[0013] Preferably, after the clamping component moves to the front of the insulator after testing, the electric clamp drives the clamping component to unfold, and the electric push rod drives the electric clamp to move the clamping component to the outside of the insulator. After the electric clamp drives the clamping component to clamp the insulator, the electric push rod drives the clamping component to pull the insulator out of the testing equipment. Subsequently, the drive system drives the clamping component to rotate through the support component, so that another clamping component drives the insulator to rotate and be positioned in front of the testing equipment. The clamping component then sends the insulator into the testing equipment for continued testing. Through the above steps, insulators can be tested continuously, improving the testing efficiency of insulators. Moreover, the entire process does not require the testing equipment and high-voltage line to be stopped and restarted, resulting in low power consumption and thus reducing the testing cost of insulators.

[0014] Preferably, the clamping component includes two half-sleeves and two silicone sleeves, wherein the two half-sleeves are arranged opposite to each other, and the two silicone sleeves are arranged opposite to each other, and the two silicone sleeves are respectively fixed between the two half-sleeves by adhesive. The two half-sleeves are respectively fixedly connected to the two clamping arms of the electric clamp. When clamping, the electric clamp drives the two half-sleeves to clamp the insulator. After the two silicone sleeves clamp the insulator, they deform, which not only avoids damage to the insulator, but also has a large friction between the silicone sleeves and the insulator, which can prevent the insulator from falling off.

[0015] Preferably, the inner side of the silicone sleeve has a groove that matches the shape of the outer circumferential surface of the insulator. This way, when the insulator is clamped, the protrusion on the outer circumferential surface of the insulator can be embedded in the groove, thereby making the clamping more secure.

[0016] Preferably, in actual operation, we have found that since insulators are clamped on multiple clamping components, if there is a human error or too many insulators to be tested, some insulators on the clamping components may be transferred directly to the next processing position by the walking robot without being tested. This poses a safety hazard to the later use of the insulators (such as if the insulation performance of the insulators is not up to standard, it may cause the high-voltage tower to be energized by the high-voltage line when it is put into use). This is a very dangerous mistake.

[0017] Preferably, a controller is fixedly installed at the top of the cover, and a pressure sensor is embedded inside the silicone sleeve. An indicator light is fixedly installed on the side of the bracket, and the output end of the pressure sensor is electrically connected to the input end of the controller, and the input end of the indicator light is electrically connected to the output end of the controller.

[0018] The beneficial effects of this invention are:

[0019] 1. This invention uses a walking robot to automatically identify the internal state of the workshop. The walking robot moves the clamping assembly to the testing equipment via a support component. The unloaded clamping assembly unloads the insulator that has been tested. The walking robot's drive system drives the clamping assembly to rotate horizontally via the support component, so that the clamping assembly moves the insulator to be tested to the testing equipment. The clamping assembly then loads the insulator into the bracket for testing by the testing equipment. This replacement device effectively replaces manual replacement of insulators, which is not only more efficient, but also safer as there are no manual personnel in the high-voltage line area.

[0020] 2. According to the height of the insulator connected to the connecting component on the testing equipment, the overall height of the clamping component can be finely adjusted by the cylinder, which facilitates accurate positioning. Furthermore, after the walking robot drives the clamping component to rotate, the horizontal orientation of the clamping component can also be finely adjusted by the motor, which also facilitates accurate positioning.

[0021] 3. The robot drive system of the present invention drives the clamping component to rotate through the support component, so that another clamping component drives the insulator to rotate and is located in front of the detection equipment. After the clamping component sends the insulator into the detection equipment for continued detection, the insulator can be continuously detected through the above steps, improving the detection efficiency of the insulator. Moreover, the entire process does not require the detection equipment and high voltage line to be stopped and restarted, resulting in low power consumption and thus reducing the detection cost of the insulator.

[0022] 4. By setting a half-sleeve and a silicone sleeve, the silicone sleeve deforms after clamping the insulator, which not only avoids damage to the insulator, but also has a large frictional force between the silicone sleeve and the insulator, which can prevent the insulator from falling off. In order to further improve the clamping force of the silicone sleeve, we also have a groove on the inner side of the silicone sleeve. The groove matches the shape of the outer peripheral surface of the insulator. In this way, when clamping the insulator, the protrusions on the outer peripheral surface of the insulator can be embedded in the groove, thereby making the clamping more secure.

[0023] 5. This invention acquires image information through an industrial camera and sends it to the controller. At this time, the pressure sensor is under pressure and sends an electrical signal to the controller. The controller can then control the indicator light corresponding to the position of the pressure sensor to light up. In this way, the indicator light indicates that the current insulator has been detected, which effectively prevents the insulator from being transferred to the next processing or detection position without being detected, and ensures the safe use of the insulator in the later stage. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a diagram showing the usage state of the present invention;

[0026] Figure 3 This is a schematic diagram of the support structure in this invention;

[0027] Figure 4 This is a schematic diagram of a testing device for insulators in the prior art.

[0028] In the diagram: 1. Bracket; 2. Insulator; 3. Testing equipment; 4. High-voltage line; 5. Connecting assembly; 6. Replacement assembly; 61. Walking robot; 62. Support component; 621. Cylinder; 622. Support rod; 623. Slide rod; 624. Motor; 63. Clamping assembly; 631. Cover; 632. Bracket; 633. Electric push rod; 634. Electric clamp; 635. Clamping component; 6351. Half sleeve; 6352. Silicone sleeve; 6353. Pressure sensor; 636. Indicator light; 7. Controller. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0031] The existing technology has the following shortcomings: as shown in the appendix to the instruction manual. Figure 4 As shown, the top of insulator 2 is connected to bracket 1, and the bottom is connected to the high-voltage line 4 of testing equipment 3 via connecting component 5. Testing equipment 3 then performs the testing. However, after testing by equipment 3, with the assistance of auxiliary equipment, workers typically remove the tested insulator 2 before replacing it with the one to be tested. This is problematic because: firstly, the testing environment is high-voltage, posing a safety hazard even with proper safety precautions; secondly, it requires multiple personnel for replacement, resulting in high labor costs; and thirdly, manual replacement requires equipment 3 to be shut down, de-energizing the high-voltage line 4, which not only reduces the testing efficiency of equipment 3 but also increases the power consumption of restarting it, further increasing testing costs.

[0032] To address the above problems, we propose the following solutions;

[0033] Example 1

[0034] Please see Figure 2 As shown in the figure, the insulator replacement device for high-voltage line insulator testing equipment described in this embodiment includes a replacement component 6. The replacement component 6 includes, from bottom to top, a walking robot 61, a support member 62, and several clamping components 63. The support member 62 is located on the top of the walking robot 61 and is connected to the drive system of the walking robot 61. The several clamping components 63 are centrally symmetrically distributed about the support member 62. The walking robot 61 drives the clamping components 63 to move to the testing equipment 3 to replace the insulator 2 through the support member 62.

[0035] Please see Figure 3As shown, during use, the walking robot 61 automatically identifies the internal state of the workshop, automatically avoids obstacles during its movement, and locates the area where the testing equipment 3 is located according to the built-in cruise route. It then moves the clamping assembly 63 to the testing equipment 3 via the support member 62. One clamping assembly 63 is unloaded, while the other clamping assemblies 63 clamp the insulator 2 to be tested. After the unloaded clamping assembly 63 removes the tested insulator 2, the driving system of the walking robot 61 drives the clamping assembly 63 to rotate horizontally via the support member 62, so that the clamping assembly 63 moves the insulator 2 to be tested to the testing equipment 3. The clamping assembly 63 then loads the insulator into the bracket 1 for testing by the testing equipment 3. Once a group of insulators 2 on the replacement assembly 6 has been tested, the walking robot 61 transfers the tested insulators 2 to other processing or testing positions. This replacement device effectively replaces manual replacement of insulators 2, not only increasing work efficiency but also ensuring better safety as no one is present in the high-voltage line 4 area.

[0036] Example 2

[0037] In this embodiment, the structure of the support member 62 is mainly disclosed, as follows:

[0038] The support component 62 includes a cylinder 621, a support rod 622, and a motor 624. The cylinder 621 is located on the top of the walking robot 61, the support rod 622 is connected to the telescopic shaft of the cylinder 621, the motor 624 is embedded in the top of the support rod 622, and the clamping assembly 63 is connected to the motor 624 through the output shaft.

[0039] Specifically, based on the height of the insulator 2 connected to the connecting component 5 on the testing equipment 3, the overall height of the clamping component 63 can be finely adjusted by the cylinder 621 to facilitate precise positioning. Furthermore, after the walking robot 61 drives the clamping component 63 to rotate, the horizontal orientation of the clamping component 63 can also be finely adjusted by the motor 624 to facilitate precise positioning.

[0040] In order to improve the stability of the support rod 622 during the lifting process, we also fix multiple sliding rods 623 at the top edge of the cylinder 621, and the support rod 622 is slidably connected to the sliding rods 623. The multiple sliding rods 623 are used to assist in supporting the support rod 622 to ensure the smooth lifting of the clamping assembly 63.

[0041] Example 3

[0042] In this embodiment, the specific structure of the clamping component 63 is as follows:

[0043] The clamping assembly 63 includes a cover 631, a bracket 632, an electric push rod 633, an electric clamp 634, and a clamping member 635, wherein...

[0044] The cover 631 is sleeved on the top of the support rod 622, and the cover 631 is connected to the motor 624 through the output shaft. Multiple brackets 632 are provided, and the multiple brackets 632 are centrally symmetrically distributed about the cover 631. The electric push rod 633 is horizontally fixed at the bottom of the bracket 632. The electric clamp 634 is connected to the electric push rod 633 through the telescopic shaft. The clamping member 635 is fixedly connected to the clamping arm of the electric clamp 634.

[0045] Specifically, after the clamping member 635 moves to the front of the insulator 2 after testing, the electric clamp 634 drives the clamping member 635 to unfold. The electric push rod 633 drives the electric clamp 634 to move the clamping member 635 to the outside of the insulator 2. After the electric clamp 634 drives the clamping member 635 to clamp the insulator 2, the electric push rod 633 drives the clamping member 635 to pull the insulator 2 out of the testing device 3. Subsequently, the drive system drives the clamping member 635 to rotate through the support member 62, so that the other clamping member 635 drives the insulator 2 to rotate and be positioned in front of the testing device. The clamping member 635 then sends the insulator 2 into the testing device 3 for continued testing. Through the above steps, the insulator 2 can be tested continuously, improving the testing efficiency of the insulator 2. Moreover, the entire process does not require the testing device 3 and the high-voltage line 4 to be stopped and restarted, resulting in low power consumption and thus reducing the testing cost of the insulator 2.

[0046] Example 4

[0047] Since insulator 2 is usually made of ceramic material, which is inherently brittle, in this embodiment, the structure of the clamping member 635 needs to be optimized so that the optimized clamping member 635 can not only stably clamp insulator 2, but also will not cause damage to insulator 2. The specific details are as follows:

[0048] The clamping component 635 includes two half-sleeves 6351 and two silicone sleeves 6352. The two half-sleeves 6351 are arranged opposite each other, and the two silicone sleeves 6352 are arranged opposite each other. The two silicone sleeves 6352 are respectively fixed between the two half-sleeves 6351 by adhesive. The two half-sleeves 6351 are respectively fixedly connected to the two clamping arms of the electric clamp 634. When clamping, the electric clamp 634 drives the two half-sleeves 6351 to clamp the insulator 2. After the two silicone sleeves 6352 clamp the insulator 2, they deform, which not only avoids damage to the insulator 2, but also has a large friction between the silicone sleeves 6352 and the insulator 2, which can prevent the insulator 2 from falling off.

[0049] Furthermore, in order to further improve the clamping force of the silicone sleeve 6352, we have also provided a groove on the inner side of the silicone sleeve 6352. The groove matches the shape of the outer peripheral surface of the insulator 2. In this way, when clamping the insulator 2, the protrusion on the outer peripheral surface of the insulator 2 can be embedded in the groove, thereby making the clamping more secure.

[0050] Example 5

[0051] In actual operation, we found that since multiple clamping components 63 clamp insulators 2, if there is a human error or too many insulators 2 to be tested, some insulators 2 on the clamping components 63 may be directly transferred to the next processing position by the walking robot 61 without being tested. This poses a safety hazard to the later use of insulators 2 (e.g., if the insulation performance of insulators 2 is not up to standard, it may cause the high-voltage tower to be energized by the high-voltage line 4 when it is put into use). This is a very dangerous mistake.

[0052] Therefore, we fix a controller 7 at the top of the cover 631, embed a pressure sensor 6353 inside the silicone sleeve 6352, fix an indicator light 636 on the side of the bracket 632, and electrically connect the output end of the pressure sensor 6353 to the input end of the controller 7, and electrically connect the input end of the indicator light 636 to the output end of the controller 7.

[0053] The specific implementation method is as follows: The controller 7, pressure sensor 6353, and indicator light 636 are mainly used in conjunction with the industrial camera of the walking robot 61. When the empty clamping part 635 rotates to face the detection device 3, the industrial camera of the walking robot 61 also faces the detection device 3. When the clamping part 635 removes the detected insulator 2 from the detection device 3, the walking robot 61 acquires image information through the industrial camera and sends it to the controller 7. At this time, the pressure sensor 6353 is pressurized and sends an electrical signal to the controller 7. The controller 7 can then control the indicator light 636 corresponding to the position of the pressure sensor 6353 to light up. In this way, the indicator light 636 illuminates to indicate that the insulator 2 has been detected, effectively preventing the insulator 2 from being transferred to the next processing or detection position without being detected, thus ensuring the safe use of the insulator 2 in the later stages.

[0054] Example 6

[0055] The walking robot 61 has two light sources in the form of line lasers inside. These line lasers are arranged to project vertical laser lines within the field of view of the industrial camera. The industrial camera will repeatedly record photos of the space illuminated by these two line lasers so that a representation of the illuminated space can be created for accurate positioning, thereby achieving obstacle avoidance.

[0056] It should be noted that in one embodiment of the invention, the robot positioning system includes a single light source; however, using two light sources improves positioning accuracy and the recorded photographs will contain more information to help create a detailed representation of the environment in which the robot positioning system operates. Throughout this description, the use of two line lasers will be described.

[0057] Data processing and derivation of a representation of an illuminated space are typically performed by a processing unit implemented in the form of one or more microprocessors, which are arranged to execute a corresponding computer program downloaded to a suitable storage medium associated with the microprocessor, such as random access memory (RAM), flash memory, or hard disk drive.

[0058] The processing unit is configured to at least partially implement the methods according to various embodiments of the present invention when a suitable computer program containing computer-executable instructions is downloaded to a storage medium and executed by the processing unit.

[0059] The storage medium may also be a computer program product containing the computer program. Alternatively, the computer program may be transferred to the storage medium via a suitable computer program product such as a floppy disk or memory stick.

[0060] As an alternative, the computer program can be downloaded to a storage medium via a network. The processing unit can also be implemented as an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD).

[0061] It should be further noted that when the robot positioning system is integrated with a device such as controller 7, the robot positioning system can use controller 7, via an industrial camera and at least one line laser, each image taken by the camera can be used to create a representation of a portion of the illuminated space along the emitted laser beam.

[0062] It should be noted that, in this document, the use of relational terms such as "first" and "second" is merely for distinguishing one entity or operation from another, and does not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0063] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An insulator replacement device for a high-voltage line insulator testing equipment, characterized in that: Includes a replacement component (6), which comprises, from bottom to top, the following components: The walking robot (61), the support component (62), and several clamping components (63) are included. The clamping assembly (63) is centrally symmetrical about the support member (62). The support member (62) is set on the top of the walking robot (61) and is connected to the drive system of the walking robot (61). The walking robot (61) drives the clamping assembly (63) to move to the testing equipment (3) to replace the insulator (2) through the support member (62). The support member (62) includes a cylinder (621), a support rod (622), and a motor (624). The cylinder (621) is located on the top of the walking robot (61), the support rod (622) is connected to the telescopic shaft of the cylinder (621) via a drive, the motor (624) is embedded in the top of the support rod (622), and the clamping assembly (63) is connected to the motor (624) via an output shaft. The clamping assembly (63) includes a cover (631), a bracket (632), an electric push rod (633), an electric clamp (634), and a clamping member (635). The cover (631) is sleeved on the top of the support rod (622), and the cover (631) is connected to the motor (624) through the output shaft. The electric push rod (633) is horizontally fixed at the bottom of the bracket (632). The electric clamp (634) is connected to the electric push rod (633) through the telescopic shaft. The clamping member (635) is fixedly connected to the clamping arm of the electric clamp (634).

2. The insulator replacement device for a high-voltage line insulator testing equipment according to claim 1, characterized in that: The clamping component (635) includes two half-sleeves (6351) and two silicone sleeves (6352), wherein the two half-sleeves (6351) are arranged opposite to each other, the two silicone sleeves (6352) are arranged opposite to each other, and the two silicone sleeves (6352) are respectively fixed between the two half-sleeves (6351) by adhesive. The two half-sleeves (6351) are respectively fixedly connected to the two clamping arms of the electric clamp (634).

3. The insulator replacement device for a high-voltage line insulator testing equipment according to claim 2, characterized in that: The inner side of the silicone sleeve (6352) is provided with a groove, and the groove matches the shape of the outer peripheral surface of the insulator (2).

4. The insulator replacement device for a high-voltage line insulator testing equipment according to claim 3, characterized in that: A controller (7) is fixedly installed at the top of the cover (631), a pressure sensor (6353) is embedded inside the silicone sleeve (6352), and an indicator light (636) is fixedly installed on the side of the bracket (632).

5. The insulator replacement device for a high-voltage line insulator testing equipment according to claim 4, characterized in that: The output of the pressure sensor (6353) is electrically connected to the input of the controller (7), the input of the indicator light (636) is electrically connected to the output of the controller (7), and the input / output of the walking robot (61) is electrically connected to the output / input of the controller (7).

6. An insulator replacement device for a high-voltage line insulator testing equipment according to any one of claims 1-5, characterized in that: Multiple slide rods (623) are fixedly provided at the top edge of the cylinder (621), and the support rod (622) is slidably connected to the slide rods (623).

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