CN102430546A

CN102430546A - Electrified cleaning robot for insulator of transformer substation

Info

Publication number: CN102430546A
Application number: CN2011102809021A
Authority: CN
Inventors: 唐术锋; 孙利强; 刘江; 王彪; 陈世慧; 郭晓红
Original assignee: Inner mongolia electric power science research institute
Current assignee: Inner mongolia electric power science research institute
Priority date: 2011-09-09
Filing date: 2011-09-09
Publication date: 2012-05-02

Abstract

An electrified cleaning robot for an insulator of a transformer substation is disclosed, and relates to the application field of robot technology, in particular to an electrified cleaning robot for a vertical insulator of a transformer substation. The robot consists of a mobile platform, a mechanical arm with three degrees of freedom, a tail end tool, and a positioning sensor. The mechanical arm with three degrees of freedom is installed on the mobile platform. The tail end tool is installed at the top end of the mechanical arm with three degrees of freedom. The positioning sensor is installed in the tail end tool. Electrified cleaning operation for the insulator of the transformer substation is realized by the robot so as to solve the contradiction between power cut to clean and continuous power supply. Dry ice particles are used as a medium to accelerate in high pressure air flow and the surface of the insulator is impacted by a nozzle of the tail end tool so as to realize non-contact cleaning of the insulator.

Description

The charged cleaning robot of Substation Insulator

Technical field

The charged cleaning robot of a kind of Substation Insulator relates to the Robotics application, particularly a kind of robot that realizes that the vertically insulated subband electricity of transformer station cleans.

Background technology

Insulator is in long-time running, and the dirt particle in the atmosphere deposits to its surface and forms pollution layer, and when dry climate, pollution layer resistance is very big; Insulating properties can not reduce, but descend in meteorological conditions such as mist, dew, light rain, snow, after the electrolyte in the pollution layer is moistening, surface conductivity are increased; Decreasing insulating, and the maintenance moisture that grades of ash wherein promotes that pollution layer further makes moist; Thereby dissolve more electrolyte, cause the flashover discharge of insulation wetted surface, be called for short pollution flashover.Insulator contamination is to cause supply line that the principal element of tripping operation fault takes place, and mostly occurs at the beginning of last month of spring in winter and the time of the year when autumn changes into winter.Frequent pollution flashover trips and brings harmful effect to normal power supply, also causes the generation of broken string accident when serious, brings great hidden danger to safe power supply.

At present, be the generation of control pollution flashover, power supply department all cleans by the cycle, and the annual time of wanting ad hoc program to go out one or two months is carried out the cleaning works of insulator in batch.In some heavy dirty districts, almost be all will clean once in per season or clean once in every month, worker's labour intensity is big, and under the objective circumstances of skylight point compression, has wasted the power off time of many preciousnesses, causes annual horizontal sliding maintenance task very nervous.Therefore, be necessary to develop a kind of robot and realize the charged cleaning of Substation Insulator.

Summary of the invention

The objective of the invention is for realizing that the charged cleaning of Substation Insulator provides a kind of robot.

This robot is made up of mobile platform, three freedom degree manipulator, end-of-arm tooling, alignment sensor; Three freedom degree manipulator is contained on the mobile platform; End-of-arm tooling is contained in the top of three freedom degree manipulator; Alignment sensor is contained in the end-of-arm tooling.

Near the working method of this robot: through mobile platform robot is moved to the Substation Insulator in the opereating specification of robot, realize the location with the insulator center through three freedom degree manipulator.Through the alignment sensor location, end-of-arm tooling is realized pitching and driftage rotational freedom through three rotary freedoms and three freedom degree manipulator, is used to compensate the both direction error of perpendicularity of insulator and robot moving platform.Making medium with dry ice particles quickens in high pressure draught; Rifle mouth through end-of-arm tooling impacts insulator surface; Realize the cleaning of insulator, under the cooperation of orientation rotary freedom, realize the cleaning of insulator circumference 360 degree, cleaned one section; Three joint elevating mechanisms move one section cleaning on again, thereby realize the cleaning of whole insulator.

Realized the charged washing and cleaning operation of Substation Insulator through this robot, solved and had only power failure just can clean and the contradiction of supplying power continuously in the past.Make medium with dry ice particles and in high pressure draught, quicken,, realize the contactless cleaning of insulator through the rifle mouth impact insulator surface of end-of-arm tooling.

Description of drawings

Fig. 1 is the structural representation of the charged cleaning robot of this Substation Insulator;

Fig. 2 is the structure schematic top plan view of the charged cleaning robot of this Substation Insulator;

Fig. 3 is the insulator cleaning sketch map of the charged cleaning robot of this Substation Insulator.

The specific embodiment

Embodiment:

This robot is made up of mobile platform 1, three freedom degree manipulator 2, end-of-arm tooling 3, alignment sensor 4; Three freedom degree manipulator is contained on the mobile platform; End-of-arm tooling is contained in the top of three freedom degree manipulator; Alignment sensor is contained in the end-of-arm tooling;

Mobile platform 1 is located at the bottom of robot, is made up of universal caster wheel 1-1 and substrate 1-2, and universal caster wheel 1-2 is fixed on the substrate 1-2;

Three freedom degree manipulator 2 is located on the mobile platform 1; Support 2-4 is fixed on the pedestal 1-2; The first segment lifting arm is established 2-3 and is located on the support 2-4; The second joint lifting arm 2-2 is located at the first segment lifting arm and establishes on the 2-3, and the 3rd joint lifting arm 2-1 is located at the second joint lifting arm and establishes on the 2-2, and two dimensional surface mechanism base 2-5 is connected on the 3rd joint lifting arm 2-1; The seat 2-8 of travel mechanism is connected on the two dimensional surface mechanism base 2-5 through line slideway 2-6, and cantilever arm 2-9 is connected on the seat 2-8 of travel mechanism through line slideway 2-7;

End-of-arm tooling 3 is by driftage rotating shaft 3-1, pitching rotating shaft 3-2, arc-shaped guide rail 3-3, constitute through tracheae 3-4, rifle mouth matrix 3-5 and rifle mouth 3-6; Driftage rotating shaft 3-1 is contained in the end of the cantilever arm 2-9 of three freedom degree manipulator 2, and rotatable; Pitching rotating shaft 3-2 and driftage rotating shaft 3-1 interconnection, and rotatable; Pitching rotating shaft 3-2 is terminal to be connected with rifle mouth matrix 3-5 through arc-shaped guide rail 3-3, and rifle mouth 3-6 is fixed on the rifle mouth matrix 3-5, through tracheae 3-4 all rifle mouth 3-6 is communicated with;

Alignment sensor 4 is made up of feeler 4-1 and sliding bar 4-2, is located in the rifle mouth matrix 3-5 of end-of-arm tooling 3, and sliding bar 4-2 and rifle mouth matrix 3-5 are slidingly connected, and stretch out during the location, withdraw during cleaning; Feeler 4-1 is fixed on the sliding bar 4-2.

Like 5 of Fig. 3 is Substation Insulator.

Claims

1. the charged cleaning robot of Substation Insulator is characterized in that this robot is made up of mobile platform (1), three freedom degree manipulator (2), end-of-arm tooling (3), alignment sensor (4); Three freedom degree manipulator (2) is contained on the mobile platform (1); End-of-arm tooling (3) is contained in the top of three freedom degree manipulator (2); Alignment sensor (4) is contained in the end-of-arm tooling (3).

2. the charged cleaning robot of Substation Insulator according to claim 1 is characterized in that mobile platform (1) is located at the bottom of robot, is made up of universal caster wheel (1-1) and substrate (1-2), and universal caster wheel (1-2) is fixed in substrate (1-2 is last).

3. the charged cleaning robot of Substation Insulator according to claim 1; It is characterized in that three freedom degree manipulator (2) is located on the mobile platform (1); Support (2-4) is fixed on the pedestal (1-2); The first segment lifting arm is established (2-3) and is located on the support (2-4); The second joint lifting arm (2-2) is located at the first segment lifting arm and establishes on (2-3), and the 3rd joint lifting arm (2-1) is located at the second joint lifting arm and establishes on (2-2), and two dimensional surface mechanism base (2-5) is connected on the 3rd joint lifting arm (2-1); Travel mechanism's seat (2-8) is connected on the two dimensional surface mechanism base (2-5) through line slideway (2-6), and cantilever arm (2-9) is connected on travel mechanism's seat (2-8) through line slideway (2-7).

4. the charged cleaning robot of Substation Insulator according to claim 1 is characterized in that end-of-arm tooling (3) is by driftage rotating shaft (3-1), pitching rotating shaft (3-2), arc-shaped guide rail (3-3), constitute through tracheae (3-4), rifle mouth matrix (3-5) and rifle mouth (3-6); Driftage rotating shaft (3-1) is contained in the end of the cantilever arm (2-9) of three freedom degree manipulator (2), and rotatable; Pitching rotating shaft (3-2) and driftage rotating shaft (3-1) interconnection, and rotatable; Pitching rotating shaft (3-2) is terminal to be connected with rifle mouth matrix (3-5) through arc-shaped guide rail (3-3), and rifle mouth (3-6) is fixed on the rifle mouth matrix (3-5), through tracheae (3-4) all rifle mouths (3-6) is communicated with.

5. the charged cleaning robot of Substation Insulator according to claim 1; It is characterized in that alignment sensor (4) is made up of feeler (4-1) and sliding bar (4-2); Be located in the rifle mouth matrix (3-5) of end-of-arm tooling (3); Sliding bar (4-2) is slidingly connected with rifle mouth matrix (3-5), and feeler (4-1) is fixed on the sliding bar (4-2).