A clamping end of a transmission line tension insulator inspection robot

Abstract

The present invention discloses a clamping end of a robot for detecting tension insulators of power transmission lines, comprising a fixed clamp arm, a movable clamp arm, an automatic telescopic device and a detection device. The fixed clamp arm is in an arc shape as a whole, the detection device is installed at one end of the fixed clamp arm, and the movable clamp arm is hinged at the other end of the fixed clamp arm; both the fixed clamp arm and the movable clamp arm are provided with rubber-coated rollers, and the two ends of the automatic telescopic device are respectively hinged with the fixed clamp arm and the movable clamp arm, and the two ends of the rubber-coated roller are clamped with the periphery of the adjacent insulator magnetic sheet by the automatic telescopic device at the same time. The present invention clamps the outer edges of the magnetic disks of adjacent insulators at the same time by multiple pairs of rubber-coated rollers, and the automatic telescopic device has a self-locking function, which can ensure that the robot is stably clamped on the insulator without falling, and has high safety and accurate detection results. The rubber-coated roller is in stable soft contact with the outer edge of the insulator magnetic disk, and the coating of the magnetic disk is less worn.

Description

Technical Field

[0001] The invention relates to a live maintenance robot for a power transmission line, in particular to a clamping end of a robot for detecting tension insulators of a power transmission line. Background Art

[0002] Insulators are insulators used to support conductors. They play an important role in electrical insulation and mechanical support in transmission lines. Their reliability directly affects the reliability of power system operation. UHV transmission line insulators work in high field strength environments, and are subject to corrosion damage from strong mechanical loads and severe weather changes. They will gradually age and their insulation performance will deteriorate over a long period of time. When there are a certain number of degraded insulators in the line, flashover will occur, seriously affecting the overall safety of the transmission line and causing huge losses. UHV transmission line insulators are the weak link in line insulation and the most widely used component in UHV transmission lines. Therefore, inspecting and repairing insulators is a key step in maintaining the normal operation of UHV transmission lines.

[0003] However, the current transmission line insulator inspection robot has a complex structure, unstable and unsafe clamping, unstable walking on a single string, and cannot automatically switch between strings, resulting in inaccurate inspection results and low inspection efficiency. Summary of the invention

[0004] The object of the present invention is to provide a clamping end of a transmission line tension insulator detection robot with stable clamping and accurate detection results.

[0005] The clamping end of the transmission line tension insulator detection robot provided by the present invention adopts the following technical scheme: it includes a fixed clamp arm, a movable clamp arm, an automatic telescopic device and a detection device, the fixed clamp arm is in an arc shape as a whole, the detection device is installed at one end of the fixed clamp arm, and the movable clamp arm is hinged to the other end of the fixed clamp arm; the fixed clamp arm and the movable clamp arm are both provided with rubber-coated rollers, and the two ends of the automatic telescopic device are respectively hinged to the fixed clamp arm and the movable clamp arm, and the automatic telescopic device is used to realize that the two ends of the rubber-coated roller are simultaneously clamped with the periphery of the adjacent insulator magnetic sheet.

[0006] In one embodiment of the above technical solution, the fixed clamping arm includes a top seat and an adjustable clamping arm symmetrically connected at both ends thereof; the top seat includes a rectangular top plate and side plates symmetrically connected on both sides thereof in the length direction, and a plurality of circular holes arranged in an arc shape are provided on the side plates; the adjustable clamping arm includes two arc-shaped plates arranged in parallel and a connecting plate between their ends, and a plurality of circular holes arranged in an arc shape are provided on the arc-shaped plates; when the adjustable clamping arm is assembled with the top seat, the two arc-shaped plates are respectively fitted with the side plates and then connected and fixed by fasteners passing through some of the circular holes.

[0007] In one embodiment of the above technical solution, an upper groove along the axial direction of the adjustable clamp arm is provided on the outer side of the connecting plate, and the connecting plate is provided with a limit seat with a lower groove through a fastener, and the two end sections of the rubber-coated roller are rubber-coated sections, and the middle section is fixed by covering with the upper groove and the lower groove.

[0008] In one embodiment of the above technical solution, the movable clamping arm includes a clamping section and a driving section, and there is an arc transition section between the two sections. The clamping section is in an outwardly convex arc shape, the driving section is a straight arm, and the rubber-coated roller is arranged at the end of the clamping section.

[0009] In one implementation of the above technical solution, the detection device includes a disk motor and a detection probe, and the detection probe is driven by a rotating shaft of the disk motor.

[0010] In one implementation of the above technical solution, a hinged seat connected to the arc transition section of the movable clamping arm is disposed at one end of the fixed clamping arm, and a mounting seat for fixing the disc motor of the detection device is disposed at the other end.

[0011] In one embodiment of the above technical solution, the automatic telescopic device is an electric cylinder, including a brushless motor and a lead screw driven by the same, the lead screw is connected to a telescopic rod through a round nut connected to its outer wall, the telescopic rod is connected to an outer cylinder through a heavy-loaded linear bearing, and the end of the outer cylinder is connected to the motor housing through a fastener; the motor housing is hinged to the top seat, and the telescopic rod is hinged to the driving section of the movable clamp arm.

[0012] The invention clamps the outer edges of the magnetic disks of adjacent insulators simultaneously through multiple pairs of rubber-coated rollers. The automatic telescopic device has a self-locking function, which can ensure that the robot can stably clamp the insulators without falling. The safety is high and the detection results are accurate. The rubber-coated rollers are in stable soft contact with the outer edges of the insulator magnetic disks, which causes little wear on the coating of the magnetic disks. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the isometric structure of an embodiment of the present invention after being assembled with a robotic arm device.

[0014] Figure 2 for Figure 1 Schematic diagram of the enlarged side view of the clamping device.

[0015] Figure 3 It is a schematic diagram of the axonometric structure of the clamping device.

[0016] Figure 4 It is a cross-sectional enlarged structural schematic diagram of the automatic telescopic device in the clamping device.

[0017] Figure 5 Schematic diagram of the detection state of this embodiment. DETAILED DESCRIPTION

[0018] like Figure 1 The transmission line tension insulator inspection robot shown includes a clamping device 1 and a mechanical arm device 2.

[0019] Combination Figures 1 to 4 It can be seen that:

[0020] The clamping device 1 comprises a fixed clamping arm 11 , a movable clamping arm 12 , an automatic telescopic device 13 and a detection device 14 .

[0021] The fixed clamping arm 11 comprises a top seat 111 and adjustable clamping arms 112 symmetrically connected at two ends thereof, and the lower edges of the top seat 111 and the adjustable clamping arms 112 form a continuous arc shape.

[0022] The top seat 111 includes a rectangular top plate and side plates symmetrically connected on both sides of the top plate in the length direction. The side plates are provided with a plurality of circular holes arranged in an arc shape for connecting the adjustable clamping arms 112 .

[0023] The overall shape of the adjustable clamping arm 112 is U-shaped, including two arc-shaped plates arranged in parallel and a connecting plate between their ends. The arc-shaped plates are provided with a plurality of circular holes arranged in an arc shape for connecting to the top seat 111 .

[0024] When the adjustable clamp arm 112 is assembled with the top seat 111, the two arc-shaped plates are respectively fitted with the side plates and then connected and fixed by fasteners passing through circular holes at different positions, so that the fixed clamp arm 11 can change the contact point with the outer edge of the insulator, adjust the wrapping range, and adapt to insulators of sizes within a certain range.

[0025] The ends of the adjustable clamping arms 112 are detachably connected to the rubber-coated rollers GZ, which are arranged axially along the fixed clamping arms 11, and the middle sections are connected and fixed to the adjustable clamping arms through the limit seats XWZ and fasteners.

[0026] The movable clamping arm 12 comprises a clamping section 121 and a driving section 122, with an arc transition section between the two sections. The clamping section is in an outwardly convex arc shape, and the driving section is a straight arm. A rubber-coated roller GZ is provided at the end of the clamping section.

[0027] The limiting seat at the end of the right adjustable clamping arm 112 is connected with a hinge seat JJZ, and the outer end of the hinge seat is hinged to the arc transition section of the movable clamping arm 12.

[0028] The automatic telescopic device 13 is an electric cylinder, including a brushless motor 131 and a screw rod 132 driven by the same, the screw rod is connected to a telescopic rod 133 through a round nut connected to the outer wall thereof, the telescopic rod is connected to an outer cylinder 135 through a heavy-duty linear bearing 134, and the end of the outer cylinder is connected to the motor housing through a fastener. The above structure of the electric cylinder can make it more compact and lightweight while meeting the rigidity requirements.

[0029] Two ends of the electric cylinder are respectively hinged to the rectangular top plate of the top seat 111 and the driving section 122 of the movable clamping arm 12 .

[0030] The detection device 14 includes a mounting seat 141 , a disk motor 142 and a detection probe 143 . The detection probe 143 is driven by the rotating shaft of the disk motor 142 . The disk motor 142 is fixed to the limit seat XWZ of the left adjustable clamping arm 112 through the mounting seat 141 .

[0031] like Figure 5 As shown in the figure, the clamping device is installed on the mechanical arm, and the movable clamping arm is opened and closed by the telescopic movement of the electric cylinder. When clamping the insulator, the three pairs of rubber-coated rollers on the fixed clamping arm and the movable clamping arm clamp the outer edges of the two magnetic disks of the corresponding insulator at the same time, and the detection probe is pressed on the column head between the two clamped magnetic disks, which can ensure stable clamping and accurate detection results. There is soft contact between the rubber-coated roller and the magnetic disk to avoid damaging the magnetic disk.

Claims

1. A clamping end of a transmission line tension insulator inspection robot, Features: The clamping end comprises a fixed clamp arm, a movable clamp arm, an automatic telescopic device and a detection device. The fixed clamp arm is in an arc shape as a whole. The detection device is installed at one end of the fixed clamp arm, and the movable clamp arm is hinged at the other end of the fixed clamp arm. Both the fixed clamp arm and the movable clamp arm are provided with rubber-coated rollers, and both end sections of the rubber-coated rollers are rubber-coated sections. Both ends of the automatic telescopic device are respectively hinged to the fixed clamp arm and the movable clamp arm, and the two ends of the rubber-coated roller are clamped to the adjacent insulator disk periphery at the same time through the automatic telescopic device. The fixed clamping arm comprises a top seat and an adjustable clamping arm symmetrically connected at both ends thereof; the top seat comprises a rectangular top plate and side plates symmetrically connected at both sides thereof in the length direction, and a plurality of circular holes arranged in an arc are arranged on the side plates; the adjustable clamping arm comprises two arc plates arranged in parallel and a connecting plate between their ends, and a plurality of circular holes arranged in an arc are arranged on the arc plates; the ends of the adjustable clamping arm are detachably connected to the rubber-coated rollers respectively; When the adjustable clamp arm is assembled with the top seat, the two arc-shaped plates are respectively fitted with the side plates and then connected and fixed by fasteners passing through some of the circular holes; so that the fixed clamp arm can change the contact point with the outer edge of the insulator, adjust the wrapping range, and adapt to insulators of different sizes; The movable clamping arm comprises a clamping section and a driving section, and there is an arc transition section between the two sections. The clamping section is in an outwardly convex arc shape, and the driving section is a straight arm. The rubber-coated roller is arranged at the end of the clamping section. When clamping the insulator, three pairs of rubber-coated rollers on the fixed clamping arm and the movable clamping arm clamp the outer edges of the two magnetic disks of the corresponding insulator at the same time.

2. The clamping end of the transmission line tension insulator inspection robot according to claim 1, Features: An upper groove along the axial direction of the adjustable clamp arm is arranged on the outer side of the connecting plate, and a limiting seat with a lower groove is configured on the connecting plate through a fastener, and the middle section is fixed by covering with the upper groove and the lower groove.

3. The clamping end of the transmission line tension insulator inspection robot according to claim 1, Features: The detection device comprises a disk motor and a detection probe, and the detection probe is driven by the rotating shaft of the disk motor.

4. The clamping end of the transmission line tension insulator inspection robot according to claim 3, Features: One end of the fixed clamp arm is provided with a hinge seat connected with the arc transition section of the movable clamp arm, and the other end is provided with a mounting seat for fixing the disc motor of the detection device.

5. The clamping end of the transmission line tension insulator inspection robot according to claim 3, Features: The automatic telescopic device is an electric cylinder, including a brushless motor and a lead screw driven by the same. The lead screw is connected to a telescopic rod through a round nut connected to its outer wall. The telescopic rod is connected to an outer cylinder through a heavy-loaded linear bearing. The end of the outer cylinder is connected to the motor housing through a fastener. The motor housing is hinged to the top seat, and the telescopic rod is hinged to the driving section of the movable clamping arm.

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