CN115290933A - Horizontal simply connected strain insulator string live detection vehicle of transformer substation - Google Patents

Abstract

A substation horizontal single-connection tensile insulator string live detection vehicle, which includes a detection vehicle body, a traveling mechanism, a sensing system, an executive mechanism, a power supply system and a controller, and the detection vehicle body is movably connected to the top of a portal frame through the traveling mechanism. On the truss of the vehicle, the perception system, the actuator, the power supply system and the controller are respectively arranged on the detection vehicle body. a gripper on the robotic arm, the gripper is used for gripping a detection tool, the power supply system is used to supply power to the sensing system, the actuator and the controller, and the controller is used to connect the sensing system and the actuator; the The controller communicates with the ground station in real time. The invention improves the operation safety and comfort of the operator, and improves the operation efficiency.

Description

A substation horizontal single-connection tension insulator string live detection vehicle

technical field

The invention relates to live detection equipment, in particular to a live detection vehicle for substation horizontal single-connected tension insulator strings.

Background technique

With the advancement of science and technology, the requirements for the safety of high-voltage transmission systems are also increasing. The substation is an important facility at the end of the transmission system, and the safe operation of the substation is of great significance to the safety of the transmission system. Among many electrical equipment in substations, the insulation performance of insulators has an important impact on the safe operation of the entire substation. After a long period of operation, due to the influence of various environmental factors, the insulators will deteriorate. At present, the commonly used detection method requires the operator to climb above the high-altitude truss and carry out detection with hand-held detection tools. This method has great safety risks.

Contents of the invention

Aiming at the above problems, the present invention provides a substation horizontal single-connection tension insulator string electrified detection vehicle which is convenient to operate and improves efficiency and safety.

The technical solution of the present invention is: including detection car body, perception system, executive mechanism, power supply system and controller,

The detection vehicle body is movably connected to the truss at the top of the portal frame,

The sensing system, actuator, power supply system and controller are respectively arranged on the detection vehicle body,

The perception system includes landmark sensors, solid-state lidar and surveillance cameras,

The landmark sensor is used to provide the parking position coordinates of the detection car body,

The solid-state lidar is used for positioning the mechanical arm in the actuator,

The monitoring camera is used to take pictures of the environment near the insulator string and the detection situation of the detection tool;

The actuator includes a mechanical arm and a gripper provided on the robotic arm, the gripper is used to grip the detection tool,

The power supply system is used to supply power to the sensing system, actuators and controllers,

The controller is used to connect the sensing system and the actuator;

The controller is used for real-time communication with the ground station.

The truss is in the shape of a triangle, and the body of the inspection vehicle is in the shape of a square with a triangular hollow groove in the middle, and the truss is located in the hollow groove of the inspection vehicle body.

It also includes a travel mechanism, the travel mechanism is located inside the two ends of the inspection car body, so that the inspection car body is movably connected to the truss;

The power supply system is used for the traveling mechanism to supply power, and the traveling mechanism is connected to the controller.

Both ends of the truss are symmetrically provided with C-shaped tracks,

The traveling mechanism includes a servo motor, a motor reducer and a pulley, the servo motor drives the pulley through the motor reducer, and the pulley slides and is located in the track.

The bottom of the track is provided with a clamp, and the bottom of the clamp has a slot, and the clamp is connected to the truss through the slot.

It also includes a guide mechanism, the guide mechanism includes sliding balls, the sliding balls are located at the inner sides of both ends of the detection car body, and the sliding balls are used to contact the inner side of the track.

The power supply system includes a 48V power supply and a voltage conversion module, and the voltage conversion module is used to convert the 48V power supply into 24V and 12V power supplies.

When the present invention is in operation, the inspection car body moves along the truss at the top of the portal frame, and the insulator inspection tools are sequentially placed on each tension insulator string arranged horizontally according to the inspection sequence. This kind of inspection vehicle has fast moving speed, strong anti-overturning ability, and high detection efficiency. The staff can remotely complete the pick-and-place work of the insulator inspection tools on the ground, and receive the inspection result data at the same time, which improves the operating safety and comfort of the operators. Improved work efficiency.

Description of drawings

Fig. 1 is a structural representation of the present invention,

Fig. 2 is a structural schematic diagram of the detection car body,

Figure 3 is a schematic diagram of the structure of the track,

Fig. 4 is a control block diagram of the present invention;

In the figure, 1 is the detection vehicle body, 2 is the traveling mechanism, 3 is the solid-state laser radar, 4 is the surveillance camera, 5 is the mechanical arm, 6 is the gripper, 7 is the detection tool, 8 is the track, 9 is the fixture, and 10 is the Sliding ball, 11 is an insulator string, and 12 is a truss.

Detailed ways

As shown in Figures 1-4, the present invention includes a detection vehicle body 1, a traveling mechanism 2, a sensing system, an actuator, a power supply system and a controller,

The traveling mechanism 2, the sensing system, the executing mechanism, the power supply system and the controller are respectively arranged on the detection vehicle body,

The truss is in the shape of a triangle, and the inspection vehicle body 1 is in a square shape with a triangular cavity in the middle, and the truss is located in the cavity of the inspection vehicle body.

The traveling mechanism 2 is located at both ends of the inspection car body, so that the inspection car body is movably connected to the truss 12 at the top of the portal frame,

The perception system includes a landmark sensor, a solid-state laser radar 3 and a monitoring camera 4,

The landmark sensor is used to provide the parking position coordinates of the detection car body,

The solid-state laser radar 3 is used for positioning the mechanical arm in the actuator,

The monitoring camera 4 is used to take pictures of the environment near the insulator string and the detection situation of the detection tool;

The actuator includes a mechanical arm 5 and a clamping jaw 6 provided on the mechanical arm, the clamping jaw is used for clamping a detection tool 7,

The power supply system is used to supply power to the traveling mechanism 2, the sensing system, the actuator and the controller,

The controller is used to connect the traveling mechanism, the sensing system and the executing mechanism;

The controller is used for real-time communication with the ground station.

The detection car body in the present invention rides on the truss and walks, and the pulleys on both sides enter the special grooved track during the running. This structure allows the center of gravity to be lowered, which increases the stability of the inspection vehicle during travel and when picking and placing end inspection tools.

The traveling mechanism is driven by a servo motor and walks along the steel rails installed on both sides of the truss. The inspection vehicle will stop at a suitable position near the hanging point of the insulator string 11 according to the coordinates fed back by the controller, and then start to the next stage after recovering the inspection tools. A job location, and return to the starting location after all job tasks are completed.

The controller is responsible for controlling each subsystem and ensuring the real-time communication of the ground station, detection vehicle and detection tools.

The controller controls the traveling mechanism to walk forward and backward along the track according to the instructions issued by the ground, controls the detection vehicle to stop according to the coordinates provided by the perception system, and sends location information to notify the ground staff at the same time.

According to the spatial position of the insulator string measured by the sensing system, the robotic arm places the detection tool on the insulator string to be detected, and the detection tool moves forward autonomously according to the insulator information provided by the sensing system to complete the live detection task of each piece of insulator, and the detected data Send it back to the ground station for analysis by the operator. After completing the detection task of a string of insulators, the detection tool returns to the starting position, and the robotic arm recovers the detection tool according to the spatial position information of the detection tool provided by the sensing system. After the completion, start again to continue the task near the next insulator string, and return to the starting position according to the instructions issued by the ground after all the insulator string detection tasks are completed.

The landmark sensor in the perception system provides the parking position coordinates for the detection vehicle operation, and the solid-state laser radar establishes a digital model for the space near the insulator string to be detected, which facilitates the accurate positioning of the robotic arm. The monitoring camera is convenient for the staff on the ground to understand the environment near the insulator string and the detection conditions of the detection tools at close range.

When the detection vehicle arrives at a position suitable for the operation, the landmark sensor provides the ground station with the location information of the detection vehicle, and at the same time sends the information to the controller. The solid-state laser radar provides the target position of the manipulator arm, and assists the manipulator to accurately place the detection tool on the insulator Preset position on the string. After the detection tool starts to work autonomously, the surveillance camera monitors the detection tool in real time to provide close-range operation video data for ground operators.

After the detection tool completes the detection of a string of insulators and returns to the initial position, the solid-state lidar continues to assist the robotic arm in positioning and recovers the working tools to complete the detection task of a string of insulators.

The robotic arm in the actuator is responsible for placing the detection tool on the insulator string or recovering the detection tool from the insulator under the guidance and monitoring of the perception system.

At the end of the mechanical arm is a gripper, which is responsible for fixing the inspection tool to ensure that it will not fall until the inspection tool is placed on the insulator stably.

Both ends of the truss are symmetrically provided with a C-shaped track 8, and the traveling mechanism 2 includes a servo motor, a motor reducer and a pulley, and the servo motor drives the pulley through the motor reducer, and the pulley slides in the track.

A fixture 9 is provided at the bottom of the track, and the bottom of the fixture has a slot through which the fixture is connected to the truss.

Because the insulator inspection vehicle walks at high altitude, it needs a safe and reliable track, and the portal frame is an important steel structure facility at the end of the transmission line, it is not allowed to open holes for the truss at high altitude and fix it with screws, so special steel fixtures are used Fixed on both sides of the truss at the top of the portal frame. The C-shaped track is a groove-shaped track, and the pulley rolls in the groove-shaped track to ensure that the wheels of the inspection vehicle body will not deviate or roll over due to unbalanced force and deviating from the track during operation.

It also includes a guide mechanism, the guide mechanism includes sliding balls 10, and the sliding balls are located inside the two ends of the detection vehicle body.

The guiding mechanism includes four sliding balls on both sides of the inspection car body. When the inspection car is moving, the sliding balls always slide against the inner surface of the track. Its main function is to ensure that the inspection car can walk along the track without derailment.

The power supply system includes a 48V power supply and a voltage conversion module, and the voltage conversion module is used to convert the 48V power supply into 24V and 12V power supplies. In this way, the individual electrical systems are reliably supplied with power.

The invention aims at the live detection of single-connected tension insulator strings in 220kV substations, and develops an insulator detection vehicle. The detection vehicle moves forward and backward on the fixed track by ground operation, which can greatly improve the working efficiency of insulator detection compared with manual climbing. , to reduce the labor intensity and operational risk of manual inspection.

On the ground, the operator obtains the detection data and monitors the whole process of the operation in real time through the detection tools and cameras provided by the detection vehicle. Compared with manually recording the detection data at high altitude, it is beneficial to ensure the accuracy of the data. Accurate detection records are the key to the safe operation of the substation. provide assurance.

The specially made track ensures the anti-overturning performance of the vehicle, and enhances the stability and safety of the insulator inspection vehicle in the high-altitude environment.

The operator only needs to use the hoisting equipment to put the inspection vehicle on the track, and then operate the ground station to read and record the inspection data. There is no need for insulation protection, high-altitude operation and other safety protection, and only simple training is required to start work, greatly Lower barriers to entry for such jobs.

The invention actively explores and studies the detection technology of insulator performance in high-voltage and ultra-high voltage substations, develops a convenient, fast and safe insulator detection method, and ensures the safe operation of high-voltage and ultra-high voltage substations.

Regarding the content disclosed in this case, the following points need to be explained:

(1) The drawings of the embodiments disclosed in this case only relate to the structure involved in the embodiments disclosed in this case, other structures can refer to the general design;

(2) In the case of no conflict, the embodiments disclosed in this case and the features in the embodiments can be combined with each other to obtain new embodiments;

The above are only the specific implementation methods disclosed in this case, but the protection scope of the present disclosure is not limited thereto, and the protection scope disclosed in this case should be based on the protection scope of the claims.

Claims (5)

1. A transformer substation horizontal single-connection strain insulator string live-line detection vehicle is characterized by comprising a detection vehicle body and a traveling mechanism,

the travelling mechanisms are positioned on the inner sides of the two ends of the detection vehicle body, so that the detection vehicle body is movably connected to the truss at the top end of the portal frame;

the truss is triangular, the detection vehicle body is square, a triangular empty groove is formed in the middle of the detection vehicle body, and the truss is located in the empty groove of the detection vehicle body;

c-shaped rails are symmetrically arranged at two ends of the truss,

the traveling mechanism comprises a servo motor, a motor reducer and a pulley, the servo motor drives the pulley through the motor reducer, and the pulley is located in the track in a sliding mode.

2. The live-line detection vehicle for the horizontal single-unit strain insulator string of the transformer substation according to claim 1, wherein a clamp is arranged at the bottom of the track, a clamping groove is formed in the bottom of the clamp, and the clamp is connected to the truss through the clamping groove.

3. The live detection vehicle for the horizontal single-unit strain insulator string of the transformer substation according to claim 1 or 2, further comprising a guide mechanism, wherein the guide mechanism comprises sliding balls, the sliding balls are located on the inner sides of two ends of the detection vehicle body, and the sliding balls are used for contacting the inner sides of the rails.

4. The live detection vehicle for the horizontal single-unit strain insulator string of the transformer substation according to claim 1, further comprising a sensing system, an actuating mechanism, a power supply system and a controller,

the sensing system, the actuating mechanism, the power supply system and the controller are respectively arranged on the detection vehicle body,

the sensing system comprises a landmark sensor, a solid-state laser radar and a monitoring camera,

the landmark sensor is used for providing the coordinates of the parking position of the detection vehicle body,

the solid-state laser radar is used for positioning a mechanical arm in the actuating mechanism,

the monitoring camera is used for shooting the environment near the insulator string and the detection condition of the detection tool;

the actuating mechanism comprises a mechanical arm and a clamping jaw arranged on the mechanical arm, the clamping jaw is used for clamping a detection tool,

the power supply system is used for supplying power to the sensing system, the actuating mechanism and the controller,

the controller is used for connecting the sensing system and the actuating mechanism;

the controller is used for real-time communication with the ground station.

5. The live detection vehicle for the horizontal single-unit strain insulator string of the transformer substation according to claim 4, wherein the power supply system comprises a 48V power supply and a voltage conversion module, and the voltage conversion module is used for converting the 48V power supply into 24V and 12V power supplies.

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