A transmission line strain insulator detection robot and an application method thereof

Abstract

The application discloses a power transmission line strain insulator detection robot and an application method thereof. The robot comprises clamping devices and a mechanical arm device. The clamping device comprises a fixed clamping arm, a movable clamping arm, an automatic telescopic device and a detection device. The fixed clamping arm is in a whole circular arc shape. The detection device is installed at one end of the fixed clamping arm. The movable clamping arm is hinged at the other end of the fixed clamping arm. The fixed clamping arm and the movable clamping arm are provided with rubber-coated rollers. The automatic telescopic device is hinged at both ends of the fixed clamping arm and the movable clamping arm. The rubber-coated rollers are clamped at the peripheries of adjacent insulator magnetic sheets. The mechanical arm device is in an inverted V shape in whole and comprises end joints, arm bodies and intermediate joints. Two sets of clamping devices are connected to two ends of the mechanical arm device. The end joint comprises a driving device capable of driving the clamping device to rotate horizontally and lifting the end of the arm body. The intermediate joint between the two arm bodies is a driving device capable of changing the included angle between the two arm bodies. The driving devices are all AK series power modules.

Description

TECHNICAL FIELD

[0001] The application relates to a live-line maintenance robot for a power transmission line, in particular to a tension insulator detection robot for a power transmission line and an application method thereof. BACKGROUND

[0002] An insulator is an insulator for supporting a conductor, and plays an important role in electrical insulation and mechanical support in a power transmission line. The reliability of the insulator directly affects the reliability of the operation of a power system. The insulator for an ultra-high voltage power transmission line works in a high field strength environment, bears strong mechanical load and severe weather changes, and is eroded and damaged by adverse environments. The insulator gradually ages and the insulation performance decreases during long-term operation. When a certain number of deteriorated insulators exist in the line, flashover is caused, which seriously affects the overall safety of the power transmission line and brings huge losses. The insulator for an ultra-high voltage power transmission line is a weak link of line insulation and is the largest component used in the ultra-high voltage power transmission line. Therefore, the maintenance of the insulator is a key step for maintaining the normal operation of the ultra-high voltage power transmission line.

[0003] However, the current insulator detection robot for a power transmission line has a complex structure, is unstable and unsafe in clamping, is unstable in walking on a single string, cannot automatically realize conversion between strings, and has problems of inaccurate detection results and low detection efficiency. SUMMARY

[0004] The purpose of the application is to provide a tension insulator detection robot which is stable in clamping, stable and fast in walking, can automatically convert between strings, has accurate detection results and high detection efficiency.

[0005] The tension insulator detection robot for a power transmission line provided by the application adopts the following technical scheme: including clamping devices and a mechanical arm device; the clamping device includes a fixed clamping arm, a movable clamping arm, an automatic telescopic device and a detection device, the fixed clamping arm is in the shape of a whole circular arc, the detection device is installed at one end of the fixed clamping arm, and the movable clamping arm is hinged to the other end of the fixed clamping arm; the fixed clamping arm and the movable clamping arm are both provided with rubber-coated rollers, the two ends of the automatic telescopic device are hinged to the fixed clamping arm and the movable clamping arm respectively, and the two ends of the rubber-coated rollers are clamped to the periphery of adjacent insulator magnetic sheets at the same time through the automatic telescopic device; the mechanical arm device is in the shape of an inverted V as a whole, includes end joints, arm bodies and intermediate joints, two sets of clamping devices are connected to the two ends of the mechanical arm device respectively, the end joint includes a driving device capable of driving the clamping device to rotate horizontally and lifting the end of the arm body, and the intermediate joint between the two arm bodies is a driving device capable of changing the included angle between the two arm bodies; the driving devices all adopt AK series power modules.

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

[0007] In one embodiment of the above technical solution, the outer side of the connecting plate is provided with an upper groove along the axial direction of the adjustable clamping arm, and the connecting plate is configured with a limiting seat with a lower groove by fasteners. The two ends of the rubber-coated roller are rubber-coated sections, and the middle section is covered and fixed by the upper and lower grooves.

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

[0009] In one embodiment of the above technical solution, the detection device includes a disc motor and a detection probe, the detection probe being driven by the rotating shaft of the disc motor.

[0010] In one embodiment of the above technical solution, one end of the fixed clamping arm is provided with a hinge seat that connects to the arc transition section of the movable clamping arm, and the other end is provided with a mounting seat for fixing the disc motor of the detection device.

[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 it. The lead screw is connected to the telescopic rod through a round nut connected to its outer wall. The telescopic rod is connected to the outer cylinder through a heavy-duty linear bearing. The end of the outer cylinder is connected to the motor housing through fasteners. The motor housing is hinged to the top seat, and the telescopic rod is hinged to the drive section of the movable clamping arm.

[0012] In one embodiment of the above technical solution, one arm of the robotic arm device includes a cylindrical rod and connecting plates extending in the same direction at both ends, with the two connecting plates arranged symmetrically about the axial center plane of the cylindrical rod. The other arm includes a cylindrical rod, a connecting plate extending in the same direction at one end, and a cylindrical shell extending in the same direction at the other end, with the axial direction of the cylindrical shell perpendicular to the axial direction of the cylindrical rod.

[0013] In one embodiment of the above technical solution, the end joint includes two AK series power modules and a dual-module mounting base. One AK series power module is arranged vertically and connected to the center of the top base to drive the clamping device to rotate horizontally. The other AK series power module is arranged horizontally and connected to the connecting plate at the end of the arm body for driving the end of the arm body to rise and fall.

[0014] The intermediate joint is an AK series power module arranged horizontally, and the connecting plate at the other end of the arm body is connected with the AK series power module, and the cylindrical shell of the other arm body is sleeved outside the AK series power module.

[0015] The method for detecting the tension insulator by using the robot comprises the following steps:

[0016] (1) The worker carries the robot to the tower, and the movable clamping arms and the detection probes of the two clamping devices are in the outward opening state, and then the rubber-coated rollers of the two clamping devices are clamped and fixed on the outer edges of the first and second insulator discs at the tower end of the first and second strings of insulators;

[0017] (2) The clamping device on the first string of insulators is kept clamped, the clamping device on the second string of insulators is loosened from the disc, and is moved above the disc;

[0018] (3) The loosened clamping device is rotated to be directly above the fourth and fifth discs of the first string of insulators, as the front clamping device;

[0019] (4) The front clamping device is lowered and clamped and fixed on the outer edges of the fourth and fifth discs by the rubber-coated rollers;

[0020] (5) The detection probes of the two clamping devices are respectively pressed on the steel caps between the first and second discs and the fourth and fifth discs, and the resistance between the two steel caps is measured;

[0021] (6) The front clamping device is kept fixed, the rear clamping device is loosened from the disc and is moved upward above the insulator, and then is moved forward and lowered to clamp the outer edges of the second and third discs by the rubber-coated rollers, the detection probes are pressed on the steel caps between the second and third discs, and the resistance between the two detection probes is measured;

[0022] (7) Steps (4)-(6) are repeated to sequentially measure the resistances of the insulator discs;

[0023] (8) The resistances of the insulator discs of the subsequent strings of insulators are sequentially detected according to steps (2)-(7);

[0024] (9) The worker loosens the insulator discs of the clamping device, turns off the power, lifts the robot upward to separate from the insulator, and carries the robot to the tower.

[0025] This invention utilizes a robotic arm device with high degrees of freedom. Its end effector joints can drive the gripping device to rotate horizontally and raise / lower the arm's end, thus enabling the gripping device to move up and down. Intermediate joints can change the angle between the two arm sections, allowing the gripping device to move forward and change its gripping position. When one gripping device is fixed, it can also drive another released gripping device through the end effector joint connected to the fixed gripping device to achieve inter-string switching, and it is applicable to different string spacing conversions. The gripping device simultaneously clamps the outer edge of adjacent insulator disks using multiple pairs of rubber-coated rollers. The automatic telescopic device has a self-locking function, ensuring stable gripping of the robot on the insulators without falling, resulting in high safety and accurate detection results. The rubber-coated rollers maintain stable soft contact with the outer edge of the insulator disk, minimizing wear on the disk coating. Each joint of the robotic arm uses an AK series power module as its drive unit, providing high power and strong motion performance, enabling the entire robot to change position quickly and stably, thereby improving detection efficiency and simplifying the overall structure of the robotic arm device. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of an isometric structure according to an embodiment of the present invention.

[0027] Figure 2 for Figure 1 A side view magnified structural schematic diagram of the clamping device.

[0028] Figure 3 This is an enlarged isometric schematic diagram of the clamping device.

[0029] Figure 4 This is a cross-sectional enlarged structural diagram of the automatic telescopic device in the clamping device.

[0030] Figure 5 for Figure 1 A magnified schematic diagram of the robotic arm device.

[0031] Figure 6 for Figure 5 A magnified structural diagram of the left side arm.

[0032] Figure 7 for Figure 5 Enlarged structural diagram of the right arm.

[0033] Figure 8 This is a schematic diagram of the detection status in this embodiment. Detailed Implementation

[0034] like Figure 1 As shown, the transmission line tension insulator inspection robot disclosed in this embodiment includes a clamping device 1 and a robotic arm device 2.

[0035] Combination Figures 1 to 4 It can be seen that:

[0036] 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.

[0037] The fixed clamping arm 11 comprises a top base 111 and adjustable clamping arms 112 symmetrically connected at both ends of the top base 111, and the lower edges of the top base 111 and the adjustable clamping arms 112 form a continuous circular arc shape.

[0038] The top base 111 comprises a rectangular top plate and side plates symmetrically connected at both lengthwise sides of the top plate, and a plurality of circular holes arranged in an arc shape are arranged on the side plates for connecting the adjustable clamping arms 112.

[0039] The adjustable clamping arms 112 have a U-shaped overall shape, comprising two arc-shaped plates arranged in parallel and a connecting plate between the ends of the arc-shaped plates, and a plurality of circular holes arranged in an arc shape are arranged on the arc-shaped plates for connecting the top base 111.

[0040] When the adjustable clamping arms 112 are assembled with the top base 111, the two arc-shaped plates are respectively attached to the side plates and are connected and fixed by fasteners passing through the circular holes at different positions, so that the fixed clamping arm 11 can change the contact point with the outer edge of the insulator, adjust the wrapping range, and adapt to insulators of a certain range of sizes.

[0041] The ends of the adjustable clamping arms 112 are respectively detachably connected to rubber-coated rollers GZ, which are arranged along the axial direction of the fixed clamping arm 11, and the middle section is connected and fixed to the adjustable clamping arm by a limiting seat XWZ and a fastener.

[0042] The movable clamping arm 12 comprises a clamping section 121 and a driving section 122, and a circular arc transition section is arranged between the two sections, the clamping section has an outward convex circular arc shape, the driving section is a straight arm, and a rubber-coated roller GZ is arranged at the end of the clamping section.

[0043] The limiting seat at the end of the right adjustable clamping arm 112 is connected to a hinged seat JJZ, and the outer end of the hinged seat is hinged to the circular arc transition section of the movable clamping arm 12.

[0044] The automatic telescopic device 13 is an electric cylinder, comprising a brushless motor 131 and a lead screw 132 driven by the brushless motor 131, the lead screw is connected to a telescopic rod 133 through a circular nut connected to the outer wall of the lead screw, the telescopic rod is connected to an outer cylinder 135 through a heavy load 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 miniaturized and lightweight while meeting the stiffness requirement.

[0045] The two ends of the electric cylinder are respectively hinged to the rectangular top plate of the top base 111 and the driving section 122 of the movable clamping arm 12.

[0046] The detection device 14 comprises a mounting seat 141, a disc motor 142, and a detection probe 143 driven by a rotating shaft of the disc motor 142, and the disc motor 142 is fixed on the limiting seat XWZ of the left adjustable clamping arm 112 through the mounting seat 141.

[0047] In combination Figure 1 , Figures 5 to 7 It can be seen that:

[0048] The overall shape of the mechanical arm device 2 is inverted V-shaped, comprising a left arm body 21, a right arm body 22, and a terminal joint 23 connected at the ends of the two arm bodies and an intermediate joint between the two arm bodies.

[0049] The terminal joint 23 comprises two AK series power modules MZ and a double module mounting seat 231, one of which is arranged vertically, and the other is arranged horizontally. The double module mounting seat comprises a cylindrical shell with an opening facing downward and a U-shaped shell connected vertically at the bottom surface thereof, the cylindrical shell is sleeved on the vertically arranged AK series power module MZ, and the U-shaped shell is sleeved on the horizontally arranged AK series power module MZ.

[0050] The intermediate joint is an AK series power module MZ.

[0051] The left arm body 21 comprises a cylindrical rod, a connecting plate at the lower end thereof, and a cylindrical shell at the upper end thereof. The right arm body comprises a cylindrical rod and connecting plates at both ends thereof.

[0052] The horizontally arranged AK series power module MZ of the left terminal joint 23 is connected and fixed with the connecting plate at the lower end of the left arm body 21. The cylindrical shell at the upper end of the left arm body 21 is sleeved on the outside of the intermediate joint 24.

[0053] The AK series power module MZ of the intermediate joint is connected and fixed with the connecting plate at the upper end of the right arm body, and the horizontally arranged AK series power module MZ of the right terminal joint is connected and fixed with the connecting plate at the lower end of the right arm body 22.

[0054] As shown in Figure 1 When the mechanical arm device is assembled with the two sets of clamping devices, the movable clamping arms of the two sets of clamping devices are at opposite sides, and the vertically arranged AK series power modules MZ at both ends of the mechanical arm device are respectively connected and fixed with the center positions of the top seats of the clamping devices.

[0055] The terminal joint of the mechanical arm device has two degrees of freedom, and the intermediate joint has one degree of freedom, so that the entire mechanical arm device has five degrees of freedom.

[0056] Specifically, the end joint can drive the clamping device to rotate horizontally through the AK series power module, the horizontally arranged AK series power module can drive the left and right arm bodies to lift, and the middle joint can drive the left arm body to change the included angle between the left and right arm bodies, so that the clamping device connected to the left arm body changes the distance between the clamping device connected to the right arm body, and the walking of the robot is realized.

[0057] The use process of the robot is as follows:

[0058] I. On-line

[0059] The worker carries the robot to the high-voltage transmission line tower, the whole tension insulator string is horizontally arranged, and the two ends are respectively the near-tower end and the far-tower end. The far-tower end is connected to the high-voltage transmission line. The worker carries the robot to the near-tower end, starts the detection robot, and makes the posture of the two sets of clamping devices correspond to each other, and makes the telescopic rod of the electric cylinder of the clamping device retract, the movable clamping arm opens outward, and the disc motor of the detection device works to make the detection probe open outward to the initial state.

[0060] Suppose there are four tension insulator strings arranged in turn, which are respectively a, b, c, and d strings. From the near-tower end, the single insulators of each string are a1, a2, ….

[0061] The worker places the robot on the adjacent a and b strings, and then makes the rubber-coated rollers at both ends of the fixed clamping arms of the two clamping devices contact the outer edges of the magnetic discs of the insulators a1 and a2 and b1 and b2. Then the telescopic rod of the electric cylinder is extended, and the rubber-coated rollers on the movable clamping arms and the rubber-coated rollers on the fixed clamping arms together clamp and fix the outer edges of the magnetic discs.

[0062] II. Single string detection

[0063] The clamping device on the a string remains clamped, the electric cylinder of the clamping device on the b string drives the movable clamping arm to open outward, and then through the coordinated work of the AK series power modules connected to the two arm bodies at the ends of the mechanical arm device and the AK series power modules between the two arm bodies, the clamping device on the b string is lifted to above the insulator.

[0064] The AK series power modules connected to the end joint of the mechanical arm device and the clamping device work in coordination to make the clamping device above the b string rotate to the front side corresponding to the clamping device on the a string, and then through the coordinated work of the AK series power modules connected to the two arm bodies at the ends of the mechanical arm device and the AK series power modules between the two arm bodies, the rotated clamping device is above a3 and a4 of the a string, and then it is lowered to the position where the rubber-coated rollers of the fixed clamping arms contact the outer edges of the magnetic discs of a4 and a5. Next, the electric cylinder works, and the rubber-coated rollers on the movable clamping arms and the rubber-coated rollers on the fixed clamping arms together clamp and fix the outer edges of the magnetic discs.

[0065] Keeping the front side clamping device fixed, the rear side clamping device is loosened, moved forward to above a2 and a3, and then lowered to clamp the outer edge of the discs of a2 and a3, the disc motors of the detection devices of the two clamping devices work to make the probes of the two detection probes respectively press on the surface of the steel caps between a1 and a2 and a3 and a4 to form a loop resistance measurement.

[0066] The two detection probes perform resistance measurement, as shown in Figure 8

[0067] Referring to the above steps, the rear side clamping device is kept fixed, the front side clamping device is moved to the next clamping position to measure the resistance, and the resistance of each single disc insulation group is measured in turn.

[0068] After the detection of the first string of insulators is completed, the robot is transferred to the second string for detection according to the above steps, and the detection is performed in turn until the detection of all the insulator strings is completed, and the robot returns to the near tower end.

[0069] After the two clamping devices of the robot are loosened, the power is turned off, the robot is pulled up to be separated from the insulators, and the worker carries the robot down the tower.​

Claims

1. A robot for inspecting tension insulators of power transmission lines, characterized in that: The robot includes a gripping device and a robotic arm. The clamping device includes a fixed clamping arm, a movable clamping arm, an automatic telescopic device, and a detection device. The fixed clamping arm is generally arc-shaped, and the detection device is installed at one end of the fixed clamping arm. The movable clamping arm is hinged to the other end of the fixed clamping arm. Both the fixed clamping arm and the movable clamping arm are equipped with rubber-coated rollers, and both ends of the rubber-coated rollers are rubber-coated sections. The two ends of the automatic telescopic device are respectively hinged to the fixed clamping arm and the movable clamping arm. The automatic telescopic device enables the two ends of the rubber-coated rollers to simultaneously clamp the periphery of adjacent insulator magnetic sheets. The fixed clamping arm includes a top seat and adjustable clamping arms symmetrically connected at both ends; the top seat includes a rectangular top plate and side plates symmetrically connected on both sides along its length, with multiple round holes arranged in an arc shape on the side plates; the adjustable clamping arm includes two parallel arc-shaped plates and a connecting plate between their ends, with multiple round holes arranged in an arc shape on the arc-shaped plates; the ends of the adjustable clamping arms are detachably connected to rubber-coated rollers; when the adjustable clamping arm is assembled with the top seat, the two arc-shaped plates are respectively attached to the side plates and then connected and fixed by fasteners passing through some of the round holes; this allows the fixed clamping arm to 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 includes a clamping section and a driving section, with an arc transition section between the two sections. The clamping section is convex arc-shaped, and the driving section is a straight arm. The rubber-coated roller is provided at the end of the clamping section. The rubber-coated rollers on the movable clamping arm and the rubber-coated rollers on the fixed clamping arm together clamp and fix the outer edge of the disk. The overall shape of the robotic arm device is an inverted V shape, including an end joint, an arm body, and an intermediate joint. Two sets of gripping devices are respectively connected to the two ends of the robotic arm device. The end joint includes a drive device that can drive the gripping device to rotate horizontally and raise and lower the end of the arm body. The intermediate joint between the two arms is a drive device that can change the angle between the two arms. All drive units use AK series power modules.

2. The transmission line tension insulator inspection robot as described in claim 1, characterized in that: The outer side of the connecting plate is provided with an upper groove along the axial direction of the adjustable clamping arm. The connecting plate is equipped with a limiting seat with a lower groove by fasteners. The middle section of the rubber-coated roller is covered and fixed by the upper and lower grooves.

3. The transmission line tension insulator inspection robot as described in claim 1, characterized in that: The detection device includes a disc motor and a detection probe, the detection probe being driven by the rotating shaft of the disc motor.

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

5. The transmission line tension insulator inspection robot as described in claim 3, characterized in that: The automatic telescopic device is an electric cylinder, including a brushless motor and a lead screw that drives it. The lead screw is connected to the telescopic rod through a round nut connected to its outer wall. The telescopic rod is connected to the outer cylinder through a heavy-duty linear bearing. The end of the outer cylinder is connected to the motor housing through fasteners. The motor housing is hinged to the top seat, and the telescopic rod is hinged to the drive section of the movable clamping arm.

6. The transmission line tension insulator inspection robot as described in claim 1, characterized in that: One arm of the robotic arm device includes a cylindrical rod and connecting plates extending in the same direction at both ends. The two connecting plates are symmetrically arranged about the axial center plane of the cylindrical rod. The other arm includes a cylindrical rod, a connecting plate extending in the same direction at one end, and a cylindrical shell extending in the same direction at the other end. The axial direction of the cylindrical shell is perpendicular to the axial direction of the cylindrical rod.

7. The transmission line tension insulator inspection robot as described in claim 6, characterized in that: The end joint includes two AK series power modules and a dual-module mounting base. One AK series power module is arranged vertically and connected to the center of the top base to drive the clamping device to rotate horizontally. The other AK series power module is arranged horizontally and connected to the connecting plate at the end of the arm body to drive the arm body end to lift and lower. The intermediate joint is a horizontally arranged AK series power module. The connecting plate at the other end of one arm is connected to the AK series power module, and the cylindrical shell of the other arm is fitted over the AK series power module.

8. A method for inspecting tension insulators using the robot described in any one of claims 1-7, comprising the following steps: (1) The staff carried the robot up the tower, and the movable clamping arms and detection probes of the two clamping devices were all in the outward opening state. Then the rubber-coated rollers of the two clamping devices were clamped and fixed to the outer edge of the disk of the first and second insulators at the tower end of the first and second strings of insulators. (2) The clamping device on the first string of insulators remains clamped, so that the clamping device on the second string of insulators releases the disk and moves to above the disk; (3) Rotate the released clamping device to directly above the fourth and fifth disks of the first string of insulators, as the front clamping device; (4) Lower the front clamping device and clamp and fix the outer edges of the fourth and fifth disks with rubber-coated rollers; (5) Press the detection probes of the two clamping devices onto the steel caps between the first and second, and the fourth and fifth disks respectively, and measure the resistance between the two steel caps; (6) Keep the front clamping device fixed, so that the rear clamping device releases the disk and moves upward to above the insulator, then moves forward and descends to clamp the outer edge of the second and third disks with the rubber-coated roller, and the detection probe is pressed on the steel cap between the second and third disks to measure the resistance between the two detection probes; (7) Repeat steps (4)-(6) to measure the resistance of each insulator in turn; (8) Refer to steps (2)-(7) to sequentially test the resistance of each insulator piece in each subsequent string of insulators; (9) After the staff loosens the insulator disk by the clamping device, they turn off the power, lift the robot up and detach it from the insulator, and carry the robot down the tower.

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