An unmanned aerial vehicle hanging and removing insulator zero-value electrification detection robot

Abstract

The utility model provides a kind of unmanned plane hangs and detaches edition insulator zero-value electrified detection robot, including frame, frame is n-shaped, frame one side is equipped with rudder; Rudder includes rudder drive part, rudder frame, probe and guide sleeve, rudder drive part is installed on frame, rudder frame is drivingly connected with rudder drive part, guide sleeve is installed on rudder frame and can three-dimensionally float relative to frame, probe is installed on guide sleeve and can float relative to guide sleeve, and compression spring is arranged between probe and guide sleeve.In the utility model, in the process of rudder rotation, guide sleeve will adaptively adjust three-dimensional posture and completely fit on the insulator to be detected, and probe will also adaptively position with guide sleeve as center, and compression spring can press probe on steel cap on both sides of insulator, to reduce measurement error and increase measurement accuracy.

Description

Technical Field

[0001] This invention relates to the field of power testing, specifically to a drone-based robot for detecting zero-value live-line insulators. Background Technology

[0002] Insulators play a crucial role in power transmission lines, providing both electrical insulation and mechanical support. Their reliability directly impacts the safe operation of the power system. Because insulators operate outdoors for extended periods, their environment is extremely harsh. Mechanically, they must withstand long-term working loads, combined loads, and conductor galloping; electrically, they must withstand strong electric fields, lightning impulse currents, and power frequency arc currents. In the field, they are susceptible to damage from lightning strikes, pollution, bird damage, ice and snow, high humidity, and temperature fluctuations. Currently, domestic and international power grid companies primarily use methods for testing the insulation resistance of line insulators, including observation, ultrasonic testing, ultraviolet imaging, infrared imaging, leakage current testing, and insulation resistance measurement. However, these methods are affected by many factors, cannot accurately reflect the degree of degradation, and are very costly. With industrial development, insulator inspection robots are becoming increasingly common. Using these robots, maintenance personnel only need to operate the robot according to its testing program, placing the robot on the insulator requiring inspection.

[0003] The prior art disclosed in application publication number CN120870774A is a multi-span tension insulator testing device based on UAV mounting. The testing device is n-shaped and is mounted on the multi-span insulator string by UAV mounting. The testing device has a built-in walking mechanism that can move along the insulator string. The testing device also includes a servo motor that can drive the probe to rotate. The testing device moves along the insulator string to realize the testing of different insulators.

[0004] The shortcomings of existing technology are as follows: Probe testing requires contact with the steel caps of two adjacent insulators. The insulation resistance of the corresponding insulator is calculated by measuring the voltage difference between the two adjacent steel caps. However, after long-term operation of the insulator string, individual insulators may experience localized deflection or tilting relative to the axis of the entire insulator string due to aging of the porcelain components (i.e., the insulator body) and loosening of the fittings. Combined with potential deformation of the probe itself, when the servo motor drives the probe to rotate in the horizontal plane to contact the steel caps and complete the test, the contact position between the probe and the steel caps of the two adjacent insulators can change significantly, potentially leading to poor contact between some probes and the steel caps, thus affecting the test results. Summary of the Invention

[0005] The purpose of this invention is to provide a drone-based robot for zero-value live-line testing of insulators to solve the technical problem that existing testing devices may have insufficient accuracy due to local deflection or tilting of individual insulators relative to the axis of the entire insulator string, or due to deformation of the probe itself.

[0006] A drone-mounted insulator zero-value live-line testing robot includes a frame, which is n-shaped to straddle the insulator string to be tested. One side of the frame is hollowed out and equipped with a servo motor.

[0007] The servo motor includes a servo motor drive unit, a servo motor frame, a probe, and a guide sleeve. The servo motor drive unit is mounted on the frame, and the servo motor frame is driven to rotate by the servo motor drive unit. The guide sleeve is mounted on the servo motor frame and can float three-dimensionally relative to the frame. The probe is mounted on the guide sleeve and can float relative to the guide sleeve. A compression spring is provided between the probe and the guide sleeve. When the guide sleeve is fully fitted onto the corresponding insulator, the compression spring undergoes elastic deformation that presses the probe against the steel caps on both sides of the insulator.

[0008] Furthermore, the servo drive unit can be floatingly mounted on the frame in the front-to-back and up-to-down directions. The servo frame includes a fixed frame and a floating frame. The fixed frame is mounted on the output shaft of the servo drive unit to rotate therewith. The floating frame is hinged to the fixed frame via a ball joint. The guide sleeve can be floatingly mounted below the floating frame along the length direction of the floating frame.

[0009] Furthermore, the frame is provided with an elongated hole extending along its length direction. The servo drive part is suspended on the frame by a first bolt. The first bolt can move along the elongated hole to achieve back-and-forth floating. A compression spring is sleeved on the first bolt. The compression spring is located above the elongated hole to achieve up-and-down floating of the servo frame.

[0010] Furthermore, a second elongated hole extending along its length is provided on the guide sleeve, and the guide sleeve is suspended below the floating frame by a second bolt. The second bolt can move along the second elongated hole to realize the left and right floating of the guide sleeve.

[0011] Furthermore, the guide sleeve has extension shafts extending to both sides, and the probe is rotatably mounted on the extension shafts. The compression spring is a torsion spring disposed between the extension shafts and the probe.

[0012] Furthermore, the guide sleeve includes a guide cavity that matches the shape of half of the insulator body, and also includes a bevel angle provided at the open end, which causes the open end of the guide sleeve to expand outward to guide the fitting of the guide sleeve.

[0013] Furthermore, the frame includes a guiding mechanism, which is disposed on both sides of the frame to be attached to both sides of the insulator string, and the front and rear ends of the guiding mechanism are machined with straightening portions.

[0014] Furthermore, the distance between the guide mechanisms on both sides of the frame is less than the diameter of the insulator. The guide mechanism is located on the upper half of the insulator string to be tested and travels along the upper half of the insulator string to be tested. The servo motor is installed below the guide mechanism.

[0015] The beneficial effects of this invention are as follows: When using this invention for zero-value live-line testing of insulators, the guide sleeve adaptively adjusts its three-dimensional attitude during the rotation of the servo motor, thus ensuring complete fit around the insulator to be tested. The probe positions on both sides are fixed relative to the guide sleeve. During the three-dimensional attitude adjustment of the guide sleeve, the probes essentially reposition themselves adaptively around the guide sleeve. Each test ensures that the probes contact the same point on both sides of the insulator's steel cap, reducing errors from two measurements and increasing measurement accuracy.

[0016] Meanwhile, a torsion spring is installed between the probe and the extension shaft. During the latter half of the guide sleeve's rotation, the probe initially maintains contact with the steel cap. As the guide sleeve continues to rotate until it is fully engaged with the insulator body, the probe compresses the torsion spring, causing it to deform. Ultimately, this ensures that the probe maintains stable contact with the steel cap under the pressure of the torsion spring, thus avoiding measurement errors caused by poor contact. Attached Figure Description

[0017] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and elements are not necessarily drawn to scale.

[0018] Figure 1 This is a three-dimensional structural schematic diagram of a drone-based robot for detecting zero-value liveness of insulators according to a first embodiment of the present invention;

[0019] Figure 2 yes Figure 1 The front view;

[0020] Figure 3 yes Figure 1 Side view;

[0021] Figure 4 This is a schematic diagram of the servo motor;

[0022] Figure 5 This is a schematic diagram of the servo motor from another perspective.

[0023] In the diagram: 1. Frame; 2. Lifting ring; 3. Traveling mechanism; 4. Guiding mechanism; 5. Motor; 6. Servo motor; 7. Vision module; 8. High voltage module; 9. Insulator string;

[0024] 61. Servo frame; 62. Probe; 63. Guide sleeve; 64. Servo drive unit; 66. Compression spring; 611. Fixture; 612. Floating frame; 613. Ball joint; 631. Extension shaft; 632. Guide cavity; 633. Slope angle; 671. First bolt; 672. Second bolt; 91. Insulator. Detailed Implementation

[0025] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0026] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

[0027] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0028] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0029] Embodiment 1 of the present invention: A drone-based robot for detecting zero-value live-line insulators.

[0030] A drone-based robot for detecting zero-value live-line insulators, its structure is as follows: Figures 1 to 5 As shown, it includes a robot body and a handheld terminal. The handheld terminal is used to send operation commands to the robot body, and the robot body moves under control.

[0031] The robot body includes an n-shaped frame 1. The frame 1 can be clamped onto the insulator string 9 to be tested through the opening at the lower end. The insulator string 9 is composed of multiple insulators 91 connected in series. The upper end of the frame 1 is provided with a lifting ring 2. The drone can lift the robot body through the lifting ring 2 and install the robot body onto the insulator string 9 without the need for high-altitude operations.

[0032] The frame 1 includes a guiding mechanism 4. The frame 1 is also equipped with a walking mechanism 3, a motor 5, a servo motor 6, a vision module 7, and a high-voltage module 8. The motor 5 provides power to the walking mechanism 3 to drive the robot body to move along the axis of the insulator string 9.

[0033] Guide mechanisms 4 are positioned on both sides of the frame 1 to adhere to the sides of the insulator string 9. Their function is to keep the robot body moving along the insulator string 9 without deviating. The distance between the two guide mechanisms 4 is less than the diameter of the insulator 91, and their length is sufficient to span two adjacent insulators 91. The front and rear ends of the guide mechanisms 4 are machined into straightening sections, which include outwardly expanding wedges located at both ends of the guide straight track. The ends of the guide mechanisms 4 smoothly transition into the outwardly expanding wedges. After the robot body straddles the insulator string 9, the guide mechanisms 4 are located on the upper half of the insulator 91 to move along it.

[0034] The vision module 7 is used to acquire image information reflecting the robot's position in real time and transmit it to the display screen of the handheld terminal. The high-voltage module 8 is used to generate high-voltage electricity. Two probes 62 are respectively in conductive contact with the two poles of the high-voltage module 8. After the probes 62 contact the steel caps on both sides of the insulator 91, the high-voltage module 8 applies a high-voltage impulse pulse to the insulator 91. The insulation performance of the corresponding insulator 91 can be determined by the potential difference detected by the two probes 62. It should be emphasized that the high-voltage module, communication module, connecting lines and other energized components in this invention all adopt a fully shielded structure, which can effectively shield the electromagnetic interference of high field strength during live detection and improve measurement accuracy.

[0035] The frame 1 has hollowed-out sections on both sides, and a servo motor 6 is installed in one of the hollowed-out sections. The servo motor 6 includes a servo motor frame 61, a probe 62, a guide sleeve 63, and a servo motor drive part 64. In this embodiment, the guide part 4 is installed at the upper end of the hollowed-out section, and the servo motor drive part 64 is floatingly installed on the guide part 4 on that side along the length direction. The servo motor frame 61 is installed on the rotation output shaft of the servo motor drive part 64. The servo motor frame 61 extends along the length direction of the frame 1, and the probe 62 and the guide sleeve 63 are installed on the servo motor frame 61. The servo motor drive part 64 is used to drive the servo motor frame 61 to rotate along the width direction of the robot body.

[0036] The servo frame 61 includes a fixed frame 611 and a floating frame 612. The fixed frame 611 is fixed to the output shaft of the servo drive unit 64 and rotates with it. The floating frame 612 is hinged to the bottom of the fixed frame 611 via a ball joint 613, and the floating frame 612 can rotate relative to the fixed frame 611. The guide sleeve 63 is floatingly mounted on the floating frame 612, and the sliding direction of the guide sleeve 63 is along the length direction of the floating frame 612 (i.e., the width direction of the robot body). The ball joint 613 is a small-angle ball joint with a swing angle of ±7°, so as to limit the swing amplitude of the floating frame 612 while meeting the usage requirements, and prevent the guide sleeve 63 from deviating significantly from the rotation plane of the fixed frame 611 along the output axis of the servo drive unit 64.

[0037] The specific principle of the servo drive part 64 sliding along the length direction of the guide part 4 is as follows: The guide part 4 has an elongated hole, and the housing of the servo drive part 64 has bolt holes. The servo drive part 64 is suspended on the guide part 4 by a first bolt 671. The first bolt 671 does not press the servo drive part 64 tightly onto the guide part 4, but leaves a certain gap between them. Therefore, the servo drive part 64 can move slightly within a certain range along the length direction of the guide part 4. In this embodiment, the length of the elongated hole is 4cm, and the diameter of the bolt hole is 2cm, so the servo drive part 64 has a 2cm clearance in the length direction (i.e., the front-to-back direction).

[0038] Meanwhile, a compression spring 66 is fitted on the first bolt 671. The compression spring 66 is located above the guide part 4. Under normal conditions, the compression spring 66 is slightly compressed. During the process of the guide sleeve 63 fitting with the insulator body of the insulator 91, when fine adjustment is needed in the up and down direction, the compression spring 66 can adaptably deform to ensure that the guide sleeve 63 can fit completely with the insulator body.

[0039] The guide sleeve 63 is floatingly mounted on the floating frame 612. The specific structure is as follows: an elongated hole is opened on the guide sleeve 63, and bolt holes are provided on the floating frame 612. The guide sleeve 63 is suspended below the floating frame 612 by the second bolt 672. The guide sleeve 63 can float within a small range along the length direction of the floating frame 612 so that the guide sleeve 63 can adaptively adjust its posture in the width direction of the robot body.

[0040] Probes 62 are mounted on guide sleeves 63, with two probes 62 symmetrically distributed on both sides of the guide sleeves 63. While the probes 62 are mounted on both sides of the guide sleeves 63, they are not fixedly connected. Instead, extension shafts 631 extend from the guide sleeves 63 to both sides, and the probes 62 are rotatably mounted on the extension shafts 631. A torsion spring is installed between the extension shafts 631 and the probes 62. Under normal conditions, the torsion spring is in its natural state. When the guide sleeve 63 is fully engaged with the insulator body, the torsion spring is compressed, and the probes 62 are pressed against the steel cap and maintain contact with it under the action of the torsion spring. That is, in the latter half of the rotation of the guide sleeve 63, the probes 62 initially maintain contact with the steel cap. As the guide sleeve 63 continues to rotate until it is fully engaged with the insulator body of the insulator 91, the probes 62 compress the torsion spring, deforming it. Finally, after the servo drive part 64 no longer applies torque, the probes 62 can maintain stable contact with the steel cap under spring pressure.

[0041] It should be emphasized that the guide sleeve 63 is made of insulating material, such as engineering plastic, and the conductive connection between the high voltage module 8 and the probe 62 is achieved by the wires embedded in the guide sleeve 63.

[0042] When the servo motor frame 61 rotates outward, the robot body can move along the insulator track. When the robot body reaches the appropriate position, it can be stopped by remote control, causing the servo motor frame 61 to rotate inward. The guide sleeve 63 can float in any direction in three dimensions to completely cover the insulating body of the insulator sheet to be tested, and the probe 62 follows. After the guide sleeve 63 is completely covered on the insulator 91, the two probes 62 can stably contact the steel caps on both sides of the insulator 91 to test the insulation performance of the corresponding insulator.

[0043] The guide sleeve 63 includes a guide cavity 632 that matches the shape of half of the insulator body, and a bevel angle 633 provided at the open end. The bevel angle 633 causes the open end of the guide sleeve 63 to expand outward and guides the fitting of the guide sleeve 63.

[0044] In this embodiment, the open end of the guide sleeve 63 is thickened outward, with a thickness of 2cm. The inner wall surface has a chamfer radius of 16mm and a chamfer slope of 70 degrees, which can provide a guide clearance of ±1.6cm.

[0045] In this embodiment, the hinge point between the fixing frame 611 and the servo drive part 64 is located below the rotation axis of the insulator 91.

[0046] In other embodiments, the guide mechanism 4 may be used solely for guiding purposes, with the servo drive unit 64 directly suspended on the frame 1.

[0047] The working principle of this invention is as follows: The invention is lifted by a drone and placed on top of the insulator string 9 to be tested, moving it to one end of the string. Then, the walking mechanism 3 starts and slowly moves towards the other end of the string. When the vision module 7 detects that the position of the servo motor frame 61 corresponds to the position of the first insulator 91, the servo motor drive part 64 drives the servo motor frame 61 to rotate inward until the guide sleeve 63 is completely attached to the insulator 91 to be tested. At this time, the guide sleeve 63 is pressed against the steel caps on both sides of the insulator 91 by the elastic force of the torsion spring. High voltage is applied by the high-voltage module 8, and the insulation performance of the corresponding insulator 91 can be determined by the detection data from the two probes 62.

[0048] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A drone-based robot for detecting zero-value live-line insulators, characterized in that: Includes a frame, which is n-shaped to straddle the insulator string to be tested, with one side of the frame being hollowed out and equipped with a servo motor; The servo motor includes a servo motor drive unit, a servo motor frame, a probe, and a guide sleeve. The servo motor drive unit is mounted on the frame, and the servo motor frame is driven to rotate by the servo motor drive unit. The guide sleeve is mounted on the servo motor frame and can float three-dimensionally relative to the frame. The probe is mounted on the guide sleeve and can float relative to the guide sleeve. A compression spring is provided between the probe and the guide sleeve. When the guide sleeve is fully fitted onto the corresponding insulator, the compression spring undergoes elastic deformation that presses the probe against the steel caps on both sides of the insulator.

2. The unmanned aerial vehicle (UAV) robot for detecting zero-value live-line insulators according to claim 1, characterized in that: The servo drive unit can be floatingly mounted on the frame in the front-to-back and up-to-down directions. The servo frame includes a fixed frame and a floating frame. The fixed frame is mounted on the output shaft of the servo drive unit to rotate therewith. The floating frame is hinged to the fixed frame below by a ball joint. The guide sleeve can be floatingly mounted below the floating frame along the length of the floating frame.

3. The unmanned aerial vehicle (UAV) robot for detecting zero-value live-line insulators according to claim 1, characterized in that: The frame has an elongated hole extending along its length. The servo drive unit is suspended on the frame by a first bolt. The first bolt can move along the elongated hole to achieve back-and-forth floating. A compression spring is fitted on the first bolt. The compression spring is located above the elongated hole to achieve up-and-down floating of the servo frame.

4. The unmanned aerial vehicle (UAV) robot for detecting zero-value live-line insulators according to claim 1, characterized in that: The guide sleeve has a second elongated hole extending along its length. The guide sleeve is suspended below the floating frame by a second bolt. The second bolt can move along the second elongated hole to achieve left and right floating of the guide sleeve.

5. The unmanned aerial vehicle (UAV) robot for detecting zero-value live-line insulators according to claim 1, characterized in that: The guide sleeve has extension shafts extending to both sides, and the probe is rotatably mounted on the extension shafts. The compression spring is a torsion spring disposed between the extension shaft and the probe.

6. The unmanned aerial vehicle (UAV) robot for detecting zero-value live-line insulators according to claim 1, characterized in that: The guide sleeve includes a guide cavity that matches the shape of half of the insulator body, and also includes a bevel angle provided at the open end. The bevel angle causes the open end of the guide sleeve to expand outward to guide the fitting of the guide sleeve.

7. A drone-based robot for detecting zero-value live-line insulators according to any one of claims 1 to 6, characterized in that: The frame includes a guide mechanism, which is disposed on both sides of the frame to be attached to both sides of the insulator string, and the front and rear ends of the guide mechanism are machined with straightening parts.

8. The unmanned aerial vehicle (UAV) robot for detecting zero-value live-line insulators according to claim 7, characterized in that: The distance between the guide mechanisms on both sides of the frame is less than the diameter of the insulator. The guide mechanism is located on the upper half of the insulator string to be tested and moves along the upper half of the insulator string to be tested. The servo motor is installed below the guide mechanism.

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