Foldable light-weight double-track insulator zero-value detection robot

Abstract

The utility model discloses a kind of foldable lightweight double-track insulator zero-value detection robot, including upper skeleton, two track modules located in the upper part of insulator and two detection modules located below insulator;One is zero-value detection device;Detection module is provided with the boom of rotation connection with the upper skeleton;Spring pin is slidably connected on the upper skeleton;Probe is rotatably connected on the zero-value detection device;Probe can be selectively rotated towards the direction of approaching or moving away from the upper skeleton;The distance between detection module and the upper skeleton can be adjusted.Insulator string is detected for zero value, appearance detection, and can also be folded;It can be placed by engineer to detect tower, and unmanned aerial vehicle assisted automatic detection can also be used.It can detect the insulator string in side in two insulator strings arranged horizontally, and detect the insulator string below in two insulator strings arranged longitudinally.

Description

Technical Field

[0001] This utility model belongs to the field of high-altitude power detection, and in particular relates to a foldable, lightweight, double-tracked insulator zero-value detection robot. Background Technology

[0002] Zero-value insulators refer to insulators on power transmission lines that, due to prolonged exposure to outdoor environments such as wind, sun, and voltage, have suffered performance degradation, resulting in insulation failure and an insulation resistance approaching zero. The voltage across the insulator string is also close to zero. Zero-value insulators fail to provide proper insulation, leading to a decline in the insulation performance of transmission lines, increasing the risk of line faults, and potentially causing tripping, power outages, and other accidents, affecting the stable operation of the power grid system. The mechanical structure of zero-value insulators is also easily damaged; under the tension of transmission lines, their impact resistance is extremely poor, making them prone to cracking, which could cause conductors to fall and other safety accidents, threatening the safety of line workers and nearby residents. To ensure the safety of high-voltage power grids, regular zero-value testing, visual inspection, and cleaning of insulator strings are necessary to effectively detect hidden faults within the insulators, promptly replace zero-value insulators, prevent further escalation of faults, and improve the reliability of the power grid system. Manual inspection in high-altitude, high-voltage environments is time-consuming, labor-intensive, and unsafe; therefore, fully automated insulator string inspection robots have emerged to address this need.

[0003] Chinese patent document CN112014706A discloses an insulator zero-value detection robot, including a main structure. The main structure includes a track module, a connecting arm module, a drive control box, a detection probe, and a support plate. The track module is connected to the drive control box via the connecting arm module. The support plate is installed on the belly of the drive control box. The track module is attached to the insulator string by the clamping force of the connecting arm module and the support plate. The drive control box controls the track module and the detection probe to detect the insulator. The robot can adapt to insulators of different disc diameters by adjusting the control joints, and can automatically walk and detect single strings of insulators arranged horizontally, vertically, and in a V-shape. This effectively reduces safety factors for workers during detection, improves work efficiency, reduces detection costs, and can be folded to reduce volume for easy carrying.

[0004] In practical applications, the aforementioned patented solution suffers from several drawbacks. Because the tracked modules are positioned at the bottom of the insulator, after the robot is placed on the insulator, the two tracked modules need to be controlled to clamp and press against the insulator string. This increases the robot's size and weight due to the associated movement and control mechanisms, reducing its portability. Furthermore, the detection probe for zero-value detection in the patented solution is located at the top of the robot, allowing only zero-value detection on the insulator string where the robot is located. For two vertically arranged insulator strings, the robot's placement on the lower insulator string is obstructed by the upper insulator string, making it inconvenient to use the patented solution for zero-value detection. Utility Model Content

[0005] To overcome the technical problems of existing inspection robots where the tracked module needs to hug and press against insulator strings to move, resulting in reduced portability due to the increased motion and control structures, and the detection probes only being able to perform zero-value detection on the insulator string where the robot is located, limiting its application scenarios, this utility model aims to provide a foldable, lightweight, dual-tracked insulator zero-value inspection robot. By placing the tracked module on the upper part of the robot, its own weight is used to press the tracked module against the upper end of the insulator string, which not only facilitates the placement of the robot but also simplifies the structure and reduces the overall size and weight. In addition, the zero-value detection device is placed on the lower part of the robot. By changing the length of the boom or setting the direction of probe rotation, zero-value detection can be performed on longitudinally arranged insulator strings located at the bottom and horizontally arranged insulator strings located on the sides, resulting in greater flexibility and wider compatibility.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: a foldable, lightweight, double-tracked insulator zero-value detection robot, comprising an upper frame, two tracked modules respectively disposed on the left and right sides of the upper frame at the top of the insulator, and two detection modules respectively disposed on the left and right sides of the upper frame at the bottom of the insulator; each detection module is provided with two lifting rods rotatably connected to the upper frame; a spring pin for limiting the rotation of the lifting rods is slidably connected to the upper frame; wherein, one detection module is a vision detection device; the other detection module is a zero-value detection device; two probes are rotatably connected to the upper end of the zero-value detection device; the probes can be selectively rotated toward or away from the upper frame; the distance between the detection module and the upper frame can be selectively adjusted.

[0007] Optionally, the boom is detachably connected to the upper frame, and the boom has various specifications with different lengths.

[0008] Optionally, the boom is slidably connected to the upper frame, and the upper frame is provided with a locking device for locking the position of the boom.

[0009] The probe rotates towards the upper frame, abutting against the steel caps at both ends of the insulator sheet, and performs a zero-value detection on the insulator string where the robot is located. The probe also rotates away from the upper frame, and the two horizontally arranged insulator strings perform a zero-value detection on another insulator string next to the one where the robot is located. By replacing the boom with a longer one, the probe's detection position is lowered, and the two vertically arranged insulator strings perform a zero-value detection on another insulator string below the one where the robot is located.

[0010] Furthermore, a pendulum shaft is rotatably connected to the zero-value detection device; two probes are respectively disposed on the pendulum shaft; and a pendulum motor that is drively connected to the pendulum shaft is disposed on the zero-value detection device.

[0011] Specifically, a first bevel gear is coaxially mounted on the rocker arm shaft; a second bevel gear, which is connected to the first bevel gear, is coaxially mounted on the output shaft of the rocker arm motor.

[0012] Furthermore, the track module includes a track frame mounted on the upper frame and a track rotatably connected to the track frame; a drive shaft is provided between the two track modules; universal joints are respectively provided at both ends of the drive shaft for driving connection with the adjacent track; a travel motor for driving connection with the adjacent track is provided on one of the track frames.

[0013] Specifically, a center ranging sensor is provided in the middle of the track frame; the detection plane of the center ranging sensor is parallel to the arrangement direction of the insulators; edge ranging sensors are provided at both ends of the track frame; the detection planes of the two edge ranging sensors have an angle of less than 90° with the arrangement direction of the insulators.

[0014] One of the walking motors drives the movement of both tracks simultaneously, simplifying the structure and reducing the overall size and weight; the center ranging sensor and the edge ranging sensor locate the robot's position, enabling the probe to accurately rest on the steel cap.

[0015] Furthermore, a drone docking plate is provided at the center of the upper end of the upper frame.

[0016] Furthermore, the upper frame is an arc shape with its center at the bottom; the upper frame is provided with two hollow areas located on the left and right sides of the UAV docking plate respectively; the hollow areas are provided with reinforcing ribs for holding the upper frame.

[0017] The drone docking plate is used to dock drones. The robot can be inspected by engineers climbing the tower, or it can be automatically inspected by drones assisting in loading and unloading.

[0018] Furthermore, the upper frame is provided with support arms at its front and rear ends respectively; the upper end of the boom is provided with a locking block that is rotatably connected to the end of the support arm; a spring is provided between the support arm and the spring pin for inserting the spring pin into the locking block; the sliding direction of the spring pin is parallel to and does not coincide with the rotation axis of the locking block.

[0019] Specifically, a guide rod is horizontally arranged between the two booms located on the same detection module.

[0020] Specifically, the zero-value detection device has two rotating seats on its outer side, and the two rotating seats are rotatably connected to the middle part of the swing arm shaft and one end of the swing arm shaft, respectively; of the two probes, one is located between the two rotating seats, and the other is located on the side away from the two rotating seats.

[0021] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0022] 1. This utility model can perform zero-value detection and appearance inspection on tension insulator strings; it is not only small and lightweight, but also foldable, which is convenient for high-altitude operations; it can be used by engineers to climb towers and place the insulator strings for inspection, or drones can be used to assist in the loading and unloading of the insulator strings for automatic inspection.

[0023] 2. This utility model has a compact structure, flexible application, and wide compatibility; it can not only perform zero-value detection on the insulator string where the robot is located, but also change the rotation direction of the probe to detect the insulator string on the side of the robot among two horizontally arranged insulator strings, and change the distance between the detection module and the upper frame to detect the lower insulator string among two vertically arranged insulator strings.

[0024] 3. The main structural materials of this utility model are nylon and carbon fiber, and the motor is a joint motor with a large reduction ratio harmonic reducer. Under the same structure, the weight is greatly reduced. The latest zero-value detection method for insulators is adopted: the high-voltage pulse method. It can also detect the withstand voltage of insulators through multiple high voltage levels. It can not only detect zero-value insulators that are already in a breakdown state during normal operation, but also detect insulators with potential safety hazards. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of this utility model;

[0026] Figure 2 This is a schematic diagram of the upper frame structure of this utility model;

[0027] Figure 3 This is a structural schematic diagram of the track module of this utility model;

[0028] Figure 4 This is a schematic diagram of the structure of the visual inspection device of this utility model;

[0029] Figure 5 This is a schematic diagram of the zero-value detection device of this utility model;

[0030] Figure 6 This is a schematic diagram of the locking block and spring pin of this utility model;

[0031] Figure 7 This is a schematic diagram of the structure of this utility model in its folded state;

[0032] Figure 8 This is a schematic diagram of the detection process for two longitudinally arranged insulator strings according to this utility model;

[0033] Figure 9 This is a schematic diagram of the detection process for two horizontally arranged insulator strings according to this utility model.

[0034] In the diagram: 11. Upper frame; 12. Support arm; 13. UAV docking plate; 14. Hollowed-out area; 15. Reinforcing rib; 2. Track module; 21. Track frame; 22. Track; 23. Center distance sensor; 24. Walking motor; 25. Edge distance sensor; 26. Drive shaft; 27. Universal joint; 31. Hoist; 32. Guide rod; 321. Clearance opening; 33. Control box; 34. Camera; 35. Swing shaft; 351. First bevel gear; 36. Probe; 37. Swing motor; 371. Second bevel gear; 38. Zero-value detection device; 39. Rotating seat; 41. Locking block; 42. Spring pin; 51. Insulator; 52. Steel cap. Detailed Implementation

[0035] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0036] In the description of this utility model, it should be noted that the directional terms such as "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific protection scope of this utility model.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. Thus, the use of "first" and "second" to define a feature may explicitly or implicitly include one or more of that feature. In this description of the utility model, "a number" means two or more, unless otherwise explicitly specified.

[0038] In this utility model, unless otherwise explicitly specified and limited, terms such as "set" and "install" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can also refer to a mechanical connection; they can refer to a direct connection or a connection through an intermediate medium; or they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0039] See Figures 1-9 A foldable, lightweight, double-tracked insulator zero-value detection robot includes an upper frame 11, two track modules 2 respectively located on the left and right sides of the upper frame 11 on the upper part of the insulator 51, two support arms 12 respectively located on the front and rear sides of the upper frame 11, and two detection modules respectively located on the left and right sides of the upper frame 11 below the insulator 51.

[0040] The detection module is provided with two parallel hanging rods 31; the distance between the detection module and the upper frame 11 is adjustable; the upper end of the hanging rod 31 is provided with a locking block 41 that is rotatably connected to the end of the support arm 12; the two ends of the support arm 12 are respectively slidably connected with spring pins 42 for limiting the rotation of adjacent locking blocks 41; a spring is provided between the support arm 12 and the spring pins 42 for inserting the spring pins 42 into the locking blocks 41; the sliding direction of the spring pins 42 is parallel to and does not coincide with the rotation axis of the locking blocks 41.

[0041] Of the two detection modules, one is a visual inspection device; the other is a zero-value detection device 38. A swing arm shaft 35 is rotatably connected to the zero-value detection device 38. Two probes 36 are provided on the swing arm shaft 35. The probes 36 can selectively rotate towards or away from the upper skeleton 11. A swing arm motor 37 is provided on the zero-value detection device 38 and is driven by the swing arm shaft 35. A first bevel gear 351 is coaxially provided on the swing arm shaft 35. A second bevel gear 371 is coaxially provided on the output shaft of the swing arm motor 37 and is driven by the first bevel gear 351.

[0042] A guide rod 32 is horizontally arranged between the two rods 31 located on the same detection module; wherein, the guide rod 32 near the probe 36 is provided with a clearance opening 321 for avoiding the probe 36.

[0043] In one embodiment, the boom 31 is detachably connected to the upper frame 11, and the boom 31 has various specifications with different lengths. In another embodiment, the boom 31 is slidably connected to the locking block 41, and the locking block 41 is provided with a locking device for locking the position of the boom 31; the locking device includes a through hole that is slidably connected to the boom 31 in the locking block 41 and a locking screw that is threaded into the through hole and can be used to abut against the boom 31.

[0044] The visual inspection device includes a control box 33 located at the lower end of the two booms 31 and a camera 34 located at the upper end of the control box 33; the camera 34 is tilted towards the insulator 51.

[0045] The track module 2 includes a track frame 21 mounted on the upper frame 11 and a track 22 rotatably connected to the track frame 21; a drive shaft 26 is provided between the two track modules 2; universal joints 27 that are rotatably connected to the adjacent track 22 are respectively provided at both ends of the drive shaft 26; a walking motor 24 that is rotatably connected to the adjacent track 22 is provided on one of the track frames 21.

[0046] A center ranging sensor 23 is provided in the middle of the track frame 21; the detection plane of the center ranging sensor 23 is parallel to the arrangement direction of the insulators 51; edge ranging sensors 25 are respectively provided at both ends of the track frame 21; the detection planes of the two edge ranging sensors 25 have an angle of less than 90° with the arrangement direction of the insulators 51.

[0047] The upper frame 11 is provided with a drone docking plate 13 at the center of its upper end; the upper frame 11 is an arc shape with the center at the bottom; the upper frame 11 is provided with two hollow areas 14 located on the left and right sides of the drone docking plate 13 respectively; the hollow areas 14 are provided with reinforcing ribs 15 for holding the upper frame 11.

[0048] Two rotating seats 39 are provided on the outside of the zero-value detection device 38. The two rotating seats 39 are rotatably connected to the middle part of the swing arm shaft 35 and one end of the swing arm shaft 35, respectively. Of the two probes 36, one is located between the two rotating seats 39, and the other is located on the side away from the two rotating seats 39.

[0049] Robot folding process: Pull the spring pin 42 to separate it from the locking block 41, rotate the boom 31 inward to directly below the upper frame 11, release the spring pin 42, insert the spring pin 42 into the locking block 41, and lock the position of the boom 31.

[0050] Robot unfolding process: Similar to the folding process described above, pull out the elastic pin 42, rotate the boom 31 outward to a vertical position, release the spring pin 42, and the spring pin 42 locks the boom 31 in position.

[0051] The process of a person going online and offline:

[0052] 1. Manual Method: A person carries a foldable robot to the vicinity of the insulator string to be tested. Before starting the operation, the folded robot is unfolded, and the robot enters the on-line mode with the probe pointing vertically upwards. The robot is then placed flat on the insulator string. After the test is completed, the robot is removed from the insulator string, folded, and carried to the ground.

[0053] 2. Drone Deployment: Deploy the robot with the probe pointing vertically upwards, attach the robot to the drone, and have the drone lift the robot to the vicinity of the insulator string to be tested, placing it flat on the string. After the test is completed, the drone docks with the robot and carries it to the ground.

[0054] Robot Inspection Process: Tracked module 2 drives the robot along the insulator string. The center distance sensor 23 and edge distance sensors 25 determine the position of the insulator string. Based on the sensor detection positions, the robot automatically moves to the measurement position of one insulator and then stops. The swing arm motor 37 drives the swing arm shaft 35 to rotate inward, causing the two probes 36 to rotate until they abut against the steel caps 52 on both sides of the insulator below the robot, performing a zero-value detection on the insulator between the two steel caps 52. After one insulator is inspected, tracked module 2 drives the robot along the insulator string to the next adjacent insulator, i.e., the robot travels the distance between two insulators. The above process is repeated, and so on.

[0055] For two longitudinally arranged insulator strings (such as...) Figure 8 As shown): Before the test begins, replace the rod with a longer rod 31 or adjust the lowering length of the extended rod 31. When the two probes 36 rotate inward, the probes 36 will directly abut against the steel caps 52 on the insulator string below.

[0056] For two horizontally arranged insulator strings (such as...) Figure 9 As shown): The swing arm motor 37 drives the swing arm shaft 35 to rotate outward, that is, the two probes 36 rotate outward, so that the probes 36 abut against the steel caps 52 of the other insulator string adjacent to the insulator string where the robot is located, and the detection is carried out according to the above process.

[0057] The above description is only a specific embodiment of the present utility model, but the technical features of the present utility model are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present utility model are covered by the patent scope of the present utility model.

Claims

1. A foldable, lightweight, double-tracked insulator zero-value detection robot, characterized in that: The device includes an upper frame, two track modules located on the left and right sides of the upper frame above the insulators, and two detection modules located on the left and right sides of the upper frame below the insulators. Each detection module has two rods rotatably connected to the upper frame. A spring pin is slidably connected to the upper frame to limit the rotation of the rods. One detection module is a visual inspection device, and the other is a zero-value detection device. The zero-value detection device has two probes rotatably connected to its upper end. The probes can be selectively rotated towards or away from the upper frame. The distance between the detection module and the upper frame is adjustable.

2. The robot as described in claim 1, characterized in that: The boom is detachably connected to the upper frame, and the boom comes in various specifications with varying lengths.

3. The robot as described in claim 1, characterized in that: The boom is slidably connected to the upper frame, and the upper frame is provided with a locking device for locking the position of the boom.

4. The robot as described in any one of claims 1-3, characterized in that: The zero-value detection device is rotatably connected to a swing arm shaft; two probes are respectively disposed on the swing arm shaft; a first bevel gear is coaxially disposed on the swing arm shaft; a swing arm motor is disposed on the zero-value detection device; a second bevel gear, which is drivenly connected to the first bevel gear, is coaxially disposed on the output shaft of the swing arm motor.

5. The robot as described in any one of claims 1-3, characterized in that: The track module includes a track frame mounted on the upper frame and a track rotatably connected to the track frame; a drive shaft is provided between two track modules; universal joints are respectively provided at both ends of the drive shaft for driving connection with the adjacent track; a travel motor for driving connection with the adjacent track is provided on one of the track frames.

6. The robot as described in claim 5, characterized in that: A center distance sensor is provided in the middle of the track frame; the detection plane of the center distance sensor is parallel to the arrangement direction of the insulators; edge distance sensors are provided at both ends of the track frame; the detection planes of the two edge distance sensors have an angle of less than 90° with the arrangement direction of the insulators.

7. The robot as described in any one of claims 1-3, characterized in that: A drone docking plate is provided at the center of the upper end of the upper frame.

8. The robot as described in claim 7, characterized in that: The upper frame is an arc shape with the center at the bottom; the upper frame is provided with two hollow areas located on the left and right sides of the UAV docking plate respectively; the hollow areas are provided with reinforcing ribs for holding the upper frame.

9. The robot as described in any one of claims 1-3, characterized in that: The upper frame is provided with support arms at its front and rear ends respectively; the upper end of the boom is provided with a locking block that is rotatably connected to the end of the support arm; a spring is provided between the support arm and the spring pin for inserting the spring pin into the locking block; the sliding direction of the spring pin is parallel to and does not coincide with the rotation axis of the locking block.

10. The robot as described in any one of claims 1-3, characterized in that: A guide rod is horizontally arranged between the two booms located on the same detection module.

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