A kind of extra-high voltage strain insulator string live detection robot

Abstract

The utility model discloses a kind of extra-high voltage strain insulator string live detection robots, including orientation unit, drive unit, detection unit and base. The orientation unit includes orientation track and damping component;The length of the orientation track is greater than the axial length of two pieces and less than three pieces insulator string. The detection unit includes attitude sensor, binocular camera, ultraviolet flaw detection sensor and zero value tester. Two pairs of detection probes of the zero value tester respectively contact, open double insulator string, realize the simultaneous detection of double insulator, greatly improve the detection efficiency. The base is fixed below support framework. The robot can carry out live detection to double strain insulator under the condition of uninterrupted power supply, and the detection efficiency is high, avoids the negative influence brought by power failure, reduces the case of human error with high operation intensity, improves the safety in operation process.

Description

Technical Field

[0001] This utility model relates to the field of power testing equipment, specifically to a robot for live testing of ultra-high voltage tension insulator strings. Background Technology

[0002] With the advancement of the new power system, the construction of ultra-high voltage (UHV) transmission lines has entered a new stage, placing higher demands on construction quality control. Insulators in transmission lines are crucial components used to fix conductors and maintain their electrical performance. During power system operation, they operate in a complex and harsh environment characterized by strong electric fields, mechanical stress, pollution, and varying temperature and humidity, resulting in a high probability of failure and seriously threatening the safe operation of the power system. Currently, the insulators used in domestic UHV and EHV AC transmission lines are mainly classified into three types according to their manufacturing materials: silicone rubber composite insulators, porcelain insulators, and glass insulators. Most of the tension strings for 1000kV transmission lines in my country use porcelain insulators, and the connection method is mostly a double-string structure. The insulation performance of insulators in operation needs to be tested regularly, especially for porcelain and glass insulators, whose testing cycles are short and the workload is large. Therefore, selecting appropriate testing methods and instruments is crucial for operating units.

[0003] In my country, insulator inspection mainly relies on manual tower climbing and piece-by-piece inspection, a cumbersome, dangerous, and inefficient method. In the performance testing of insulators for high-voltage transmission lines, employing a live-line insulator testing robot not only reduces the dangers of working at heights and improves insulator string inspection efficiency, shortening the inspection cycle, but also minimizes losses due to human negligence and missed inspections, ensuring the reliable operation of the power grid system. This has significant economic and social benefits. Utility Model Content

[0004] The purpose of this invention is to overcome the defects of the existing technology and provide a live-line inspection robot for ultra-high voltage tension insulator strings, so as to achieve accurate and efficient detection of the insulator's operating status.

[0005] The objective of this utility model can be achieved through the following technical solutions:

[0006] A live-line inspection robot for ultra-high voltage tension insulator strings includes a guiding unit, a driving unit, a detection unit, and a base;

[0007] The guiding unit includes a guide track sequentially distributed on the tension insulator strings of the overhead transmission line and a shock-absorbing component connected to the support frame; the guiding unit is distributed inside the support frame; the length of the guide track is greater than the axial length of two insulator strings but less than the axial length of three insulator strings.

[0008] The detection unit includes an attitude sensor, a binocular camera, an ultraviolet flaw detector, and a zero-value tester. The attitude sensor is installed below the binocular camera and the zero-value tester, and the ultraviolet flaw detector is installed on the gimbal at the top of the base.

[0009] The zero-value tester includes a servo motor, a slide rail, an inner rod, a hollow outer rod, and two pairs of probes. The slide rail is connected to the servo motor via a crossbar, and the servo motor is fixed in the middle of the servo motor base. The slide rail is fixedly connected to the inner rod and the hollow outer rod at a certain angle. The crossbar moves vertically and is slidably connected to the middle of the slide rail. The probe located on the inner side swings away from the robot, while the probe located on the outer side swings in the opposite direction to the inner probe. The servo motor drives the two pairs of detection probes to contact and separate the double-strand insulator strings, enabling simultaneous detection of the double-strand insulators.

[0010] As a further technical solution of this utility model: the guiding mechanism includes a track frame, a telescopic frame, a soft spring, an outer wheel frame, rollers, a guide track, and a shock-absorbing assembly. The pulleys are connected to both sides of the track frame through the telescopic frame, and the track covers the outside of all the pulleys. The shock-absorbing assembly includes a nut, a shock-absorbing spring, and a support rod. The shock-absorbing assembly is located on the front and rear sides of the upper end of the track frame.

[0011] As a further technical solution of this utility model: the base includes a control box and a communication module group disposed on the lower side of the base; the control box is installed inside the front end of the base and is used to send control signals to the detection robot and balance its center of gravity. The communication module group is installed on the lower side of the front end of the base and is used to sense wireless interference in the surrounding environment to select the channel with the best quality and transmit signals. The base is made of electromagnetic shielding material to reduce the interference of strong electromagnetic fields on the core control components.

[0012] As a further technical solution of this utility model: the binocular camera, attitude sensor and zero-value tester are all connected to the support frame through cantilever.

[0013] As a further technical solution of this utility model: the base is installed below the support frame to lower the robot's center of gravity and prevent the robot from deflecting.

[0014] As a further technical solution of this utility model: the support frame is bow-shaped and made of plastic.

[0015] As a further technical solution of this utility model: the drive unit includes a power motor, and a motor mounting bracket for mounting the motor is provided on the support frame, and the motor is fixed to the motor mounting bracket.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] When inspecting horizontal double insulator strings, the detection probe of this invention can simultaneously inspect two insulator strings, which greatly improves the work efficiency.

[0018] The guide rail unit for testing in this utility model adopts a flexible track structure, which protects the anti-pollution flashover coating on the surface of the tension insulator to the greatest extent.

[0019] This invention enables live testing of tension insulators without power interruption, improving power supply reliability, avoiding the negative impact of power outages, and significantly reducing outage time.

[0020] This utility model of a live-line testing robot is remotely controlled by an operator using a joystick. It requires less physical exertion from the operator, reduces the likelihood of human error due to high workload, and greatly improves safety during operation, thus reducing the occurrence of accidents to a certain extent. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This is a top view of the present invention traveling on a horizontal double-strand insulator string;

[0023] Figure 3 This is a schematic diagram of the guide unit of this utility model.

[0024] Figure 4 This is a schematic diagram of the zero-value tester of this utility model.

[0025] In the diagram: 1. Guiding unit; 101. Track frame; 102. Telescopic frame; 103. Soft spring; 104. Roller; 105. Guide track; 106. Shock-absorbing spring; 107. Nut; 108. Support rod; 109. Outer wheel frame; 110. Adjustable screw; 2. Drive unit; 201. Motor; 202. Reducer; 203. Walking track; 204. Motor mounting bracket; 3. Detection unit; 31. Pan-tilt unit; 32. 33. Ultraviolet flaw detector sensor; 34. Binocular camera; 35. Zero-value tester; 36. Test probe; 37. Test probe; 38. Inner rod; 39. Hollow outer rod; 30. Servo motor; 31. Slide rail; 32. Crossbar; 33. Servo motor mount; 34. Attitude sensor; 4. Support frame; 5. Base; 6. Tension insulator string; 601. Insulator; 7. Communication module group; 8. Control box; 9. Cantilever. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. The components of the embodiments of this utility model described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely to illustrate selected embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0027] Please see Figure 1 This utility model operates on a double-strand tension insulator string 6 and includes a guiding unit 1, a driving unit 2, a detection unit 3, and a base 5. The guiding unit includes a guide track 105 sequentially distributed on the overhead transmission line tension insulator string and a shock-absorbing component connected to the supporting frame; the guiding unit is distributed inside the supporting frame 4; the length of the guide track 105 is greater than the axial length of two insulator strings but less than the axial length of three insulator strings.

[0028] Please see Figure 1 2. The detection unit includes an attitude sensor 35, a binocular camera 303, an ultraviolet flaw detector 32, and a zero-value tester 34. The attitude sensor 35 is installed below the binocular camera 303, and the ultraviolet flaw detector 32 is installed on the gimbal 31 at the top of the base. The attitude sensor 35 is used to detect whether the angle between the axis of the tension insulator string 6 and the ground meets the requirements.

[0029] Please see Figure 3 The guiding mechanism includes a track frame 101, a telescopic frame 102, a soft spring 103, an outer wheel frame 109, rollers 104, a guide track 105, and a shock-absorbing assembly. The shock-absorbing assembly includes a nut 107, a shock-absorbing spring 106, and a support rod 108. The shock-absorbing assembly is located on the front and rear sides of the upper end of the track frame. The pulleys 104 are connected to both sides of the track frame 101 via the telescopic frame 102, and the guide track 105 covers the outside of all the rollers 104.

[0030] Please see Figure 1-4The zero-value tester 34 includes a servo motor 345, a slide rail 346, a crossbar 347, an inner rod 343, a hollow outer rod 344, and two pairs of probes 342. The slide rail 346 is connected to the servo motor 345 via the crossbar 347. The servo motor 345 is fixed in the middle position of the servo motor base 348. The slide rail 346 is fixedly connected to the inner rod 343 and the hollow outer rod 344 at a certain angle. The crossbar 347 moves vertically and is slidably connected to the middle of the slide rail 346. The inner probe 342 swings away from the robot, while the outer probe 342 swings in the opposite direction to the inner probe 342. The servo motor 345 drives the two pairs of detection probes 342 to contact and swing apart the double-stranded tension insulator string 6, realizing the simultaneous detection of the double-stranded tension insulator string 6.

[0031] The working principle of this utility model:

[0032] First, adjust the adjustable screw 110 in the guide mechanism according to the nominal diameter of the insulator so that the guide track 105 and the walking track 203 can fit tightly against the surface of the tension insulator string 6; then check the robot status, and the robot is ready to perform the test.

[0033] When the robot is working, the motor 201 drives the motor shaft to rotate and moves along the surface of the tension insulator string 6 via the walking track 203. The length of the walking track 203 is greater than the axial length of two insulators but less than the length of three insulators, and it only contacts a maximum of two insulators 601. Its material is insulating material, which can minimize the wear of the anti-flashover coating on the porcelain skirt of the insulator 601.

[0034] As the robot moves continuously on the tension insulator string 6, the control board of the detection system in the control box 9 sends a signal to control the servo motor 345 on the zero-value tester 34 to swing the detection probe 342, causing the two probes 342 to strike the steel caps of the adjacent insulator sheets respectively. Simultaneously, the detection system in the control box detects the insulators and records the detection values, comparing them with its own database. If a zero-value insulator is found, the detection is repeated 4-5 times. After the detection is completed, a signal is fed back to the control board, which then sends a signal to control the detection probes to return to their initial positions.

[0035] When inspecting the horizontal double tension insulator string 6, the probe 342 swings bidirectionally once at each inspection position, which can complete the inspection of the two tension insulator strings 6, greatly improving the inspection efficiency.

[0036] During movement and inspection operations, the binocular camera 303 can monitor the inspection location, damage and cracks on the surface of the insulator string, and surrounding hardware, providing real-time monitoring of the insulator 601's operational status. The ultraviolet flaw detector 32 primarily checks for partial discharge and corrosion phenomena on the surface of the tension insulator string 6 under operating conditions; the attitude sensor 35 is mainly used to detect whether the angle between the axis of the tension insulator string 6 and the ground meets the requirements. The communication module group 7 can autonomously sense wireless interference in the surrounding environment, monitoring interference in the 2.4GHz and 5.8GHz frequency bands at a frequency of 100 times per second, and automatically selecting the channel with the best quality based on the transmission capabilities of the two frequency bands.

[0037] After all the inspection work is completed, remove the robot from the insulator string, check whether each component is normal, and then disconnect the power supply.

[0038] This invention features stable movement speed, a tracked guide unit to prevent wear of the anti-flashover coating on the insulator porcelain skirt, good safety protection, simple string loading operation, reliable bidirectional probe connection, adaptability to insulator strings of different disc diameters, and applicability to live-line testing of horizontal single-span and horizontal double-span tension insulator strings.

[0039] It should be noted that 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 indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified. Furthermore, terms such as "horizontal" and "vertical" do not imply a requirement for the component to be absolutely horizontal or suspended, but rather that it may be slightly inclined. For example, "horizontal" merely means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it may be slightly inclined.

Claims

1. A robot for live-line testing of ultra-high voltage tension insulator strings, characterized in that, It includes a guide unit, a drive unit, a detection unit, a base, a zero-value tester, a support frame, and a binocular camera; The guiding unit includes a guide track sequentially distributed on the tension insulator string of the overhead transmission line and a shock-absorbing component connected to the support frame; the guiding unit is distributed inside the support frame; the length of the guide track is greater than the axial length of two insulator strings but less than the axial length of three insulator strings; The zero-value tester includes a servo motor, a slide rail, an inner rod, a hollow outer rod, and two pairs of probes. The slide rail is connected to the servo motor via a crossbar, and the servo motor is fixed in the middle of the servo motor base. The slide rail is fixedly connected to the inner rod and the hollow outer rod at a certain angle. The crossbar moves vertically and is slidably connected to the middle of the slide rail. The probe located on the inner side swings away from the robot, and the probe located on the outer side swings in the opposite direction to the probe located on the inner side. The detection unit includes an attitude sensor, a binocular camera, an ultraviolet flaw detector sensor, and a zero-value tester; the attitude sensor is installed below the binocular camera zero-value tester; the ultraviolet flaw detector sensor is installed on the gimbal at the top of the base; The supporting frame is bow-shaped and made of plastic. The base includes a control box and a communication module group located on the lower side of the base; the control box is installed at the front end inside the base and is used to send control signals to the detection robot and balance its center of gravity. The communication module assembly is installed on the lower side of the front end of the base; the base is made of electromagnetic shielding material. The base is installed below the supporting frame; The binocular camera, attitude sensor, and zero-value tester are all connected to the supporting frame via cantilever arms.

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