CN103944102B - Overhead transmission line cleaning robot - Google Patents
Overhead transmission line cleaning robot Download PDFInfo
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- CN103944102B CN103944102B CN201410123563.XA CN201410123563A CN103944102B CN 103944102 B CN103944102 B CN 103944102B CN 201410123563 A CN201410123563 A CN 201410123563A CN 103944102 B CN103944102 B CN 103944102B
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- Prior art keywords
- transmission line
- overhead transmission
- cleaning
- abluent
- moving body
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- 238000004140 cleaning Methods 0.000 title claims abstract description 82
- 230000005540 biological transmission Effects 0.000 title claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000004064 recycling Methods 0.000 claims description 11
- CTQNGGLPUBDAKN-UHFFFAOYSA-N O-Xylene Chemical compound CC1=CC=CC=C1C CTQNGGLPUBDAKN-UHFFFAOYSA-N 0.000 claims description 8
- 239000012528 membrane Substances 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 239000007921 spray Substances 0.000 abstract description 5
- 238000013461 design Methods 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 2
- 239000012530 fluid Substances 0.000 description 7
- 239000000428 dust Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000005507 spraying Methods 0.000 description 4
- 239000003153 chemical reaction reagent Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000003973 paint Substances 0.000 description 3
- 238000000576 coating method Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 210000003608 fece Anatomy 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 241000870659 Crassula perfoliata var. minor Species 0.000 description 1
- -1 Polypropylence Sheet Substances 0.000 description 1
- 239000000443 aerosol Substances 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000013332 literature search Methods 0.000 description 1
- 239000006210 lotion Substances 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 239000011241 protective layer Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Landscapes
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses a kind of overhead transmission line cleaning robot, it is made up of some modular structures, modular structure includes moving body, power module, cleaning motor, servo-driver, hold down gag and cleans device, moving body is suspended on overhead transmission line, and can seesaw along overhead transmission line, power module, cleaning motor, servo-driver and hold down gag are arranged on moving body upper cover plate, and upper cover plate bottom is connected with cleaning device.The present invention can be used alone, it is possible to supports the use with spray robot, and the present invention uses modular construction and design, can effectively reduce design cost, improve versatility, and the overhead transmission line for naked form provides efficient, safety and high-quality cleaning.
Description
Technical field
The present invention relates to a kind of overhead transmission line cleaning robot.
Background technology
The overhead transmission line set up is general without outsourcing insulating protective layer, commonly used bare wire form.Electric lines of force hangs with kite and
Laying dust on the foreign material such as Polypropylence Sheet, and insulator, stockbridge damper, wire clamp easily causes height at storm or the mudflow that formed when raining heavyly
Short circuit between the piezoelectricity line of force, causes the accidents such as accident power-off, thus threatens the safe operation of electrical network.
For improving overhead transmission line transmission of electricity and the safety run, need to use spraying or hand spray insullac method to think naked
Line coated insulation layer.But before protection insullac, also need to use the chemical reagent such as dimethylbenzene clean exposed overhead transmission line with
Remove the foreign material such as laying dust thereon.
Through existing literature search, Chinese patent application CN102228876A discloses a kind of ice-covering-proof remote spraying
Robot, including car body, the top of car body is provided with active roller and return idler, also includes control system, power module, hair
Brush system and paint finishing, hairbrush system is located at the front portion of car body, and paint finishing is located at the rear portion of car body, and control system is provided with distant
Control receiver module.Can walk on transmission line of electricity, and can be by robot car body on wireless remote controller control line under line
Double electric spray guns, spray antiicing coating automatically to lead wire and earth wire surface.But there are the following problems: 1) use contact type mechanical to rotate
Hairbrush, as cleaning device, does not the most use chemical reagent, is only capable of cleaning the laying dust on surface, it is impossible to the residual oil on cleaning wire
The stain such as laying dust between mark, filament crack and bird dung, 2) there is no the protection devices such as hold down gag, it is easy to inadvertently fall off
Accident.
Chinese patent application CN203140222U discloses a kind of charged paint robot of Development of Ice-Over Resistant Coatings.Robot master
Robot body to be included, control system, power-supply system and finishing system.Robot body is the skeleton of robot, constitutes each
The installation carrier of individual module, the both sides of body are robot arm, paint brush assembly in the walking mechanism of robot and finishing system
It is installed on arm.The bottom of robot body is divided into three regions, is respectively mounted control system and power supply, reservoir, gasoline
Machine and liquid pump.But there are the following problems: 1) active roller do not takes the compaction measures such as hold down gag, it is impossible at the wire of greater obliquity
Upper walking, is also easy to produce unexpected slip and affect the ice-covering-proof quality of spraying in ice-covering-proof spraying operation；2) system needs to carry gas
Source and hydraulic power source, system bulk is big, heavier, easily answers sealing problem to cause leakage；3) mechanical arm heavier loads, in operation process
By producing bigger deformation, affect control accuracy.
Summary of the invention
It is an object of the invention to as overcoming above-mentioned the deficiencies in the prior art, it is provided that a kind of overhead transmission line cleaning robot, this is clear
Washing robot can be used alone, it is possible to support the use with spray robot, cleaning robot uses modular construction and design, energy
Effectively reducing design cost, improve versatility, the overhead transmission line for naked form provides efficient, safety and high-quality cleaning.
For achieving the above object, the present invention uses following technical proposals:
A kind of overhead transmission line cleaning robot, it is made up of some modular structures, described modular structure include moving body,
Power module, cleaning motor, servo-driver, hold down gag and cleaning device, moving body is suspended on overhead transmission line,
And can seesaw along overhead transmission line, power module, cleaning motor, servo-driver and hold down gag are arranged on movement
On the upper cover plate of car body, upper cover plate bottom is connected with cleaning device；
Described moving body includes movable motor, main supporting plate, auxiliary support plate, roller, intermediate connecting rod and upper cover plate, a pair
Connected by former and later two rollers between the main supporting plate be arrangeding in parallel, by additionally between the auxiliary support plate of pair of parallel setting
Former and later two rollers connect, four rolling, main supporting plate and auxiliary support plate form mobile roof support, and mobile roof support is by centre
Connecting rod is connected with the upper cover plate of bottom, forms moving body, and mobile roof support is suspended on overhead transmission line by roller, and can
Drive moving body is walked, and mobile roof support lower end is fixed on upper plate；Movable motor is fixed on main supporting plate, and walking electricity
Machine output shaft drives one of them roller；
Described hold down gag includes slider-crank mechanism and pinch rollers, and slider-crank mechanism has dead point, and pinch rollers is installed
At slider in crank-slider mechanism end, the roller on power transmission shaft that pinch rollers and movable motor drive is pressed on overhead power transmission jointly
On line, prevent inadvertently falling off and sliding on overhead transmission line of robot.Described cleans the high pressure that motor includes being connected
Aerosol apparatus motor and membrane pump, membrane pump entrance is connected with the abluent bucket cleaning device, clear for by abluent bucket
Lotion is drawn and is delivered to clean in the cleaning head of device.
Described cleaning device includes cleaning head, attachment means, connecting rod, abluent bucket, lower cover and recycling bin, and cleaning head leads to
Cross spring, roller devices is pressed on overhead transmission line, and overhead transmission line is from two the 180 ° machines to the cleaning head of point articulated structure
Tool centre bore passes；The machine center hole employing sealing member sealing that overhead transmission line is middle with cleaning head；Cleaning head is through attachment means
It is connected with auxiliary support plate, it is achieved moving along overhead transmission line；The upper inlet of cleaning head and the membrane pump outlet cleaning motor
Being connected, the recovered device of lower outlet of cleaning head is connected with recycling bin, to prevent abluent from leaking；Recycling bin and abluent bucket
Being fixedly mounted on lower cover, lower cover is connected with upper cover plate through connecting rod.
Upper inlet and the lower outlet of described cleaning head all communicate with machine center hole.
Gap is had between described overhead transmission line and machine center hole.
Described abluent bucket is contained with dimethylbenzene abluent.
Described power module is lithium-ion-power cell, is arranged on the upper cover plate of moving body, drives for cleaning motor and servo
Dynamic device provides required electric power.
Described servo-driver includes a BLDC-5015A driver for brushless DC motor, with power module and movable motor phase
Even, it is provided that all kinds of control functions needed for movable motor motion.
The work process of the present invention: be suspended on overhead transmission line by cleaning robot, hold down gag compresses.Power module and ground
Hand held switch is connected, and is controlled the break-make of power supply by hand held switch, and turning on the power module is system power supply, it is achieved cleaning robot
Advance along overhead transmission line.During cleaning, abluent delivers to cleaning head through conduit under fluid pressure, cleaning motor, and the abluent of recovery is through liquid
Pressure pipeline, retracting device are back to abluent bucket, form the fluid pressure line of Guan Bi.
Compared with prior art, hold down gag is installed, has certain anti-side wind energy power, robot can be avoided from overhead transmission line
Inadvertently falling off on road, it is possible to climb up the overhead transmission line at certain angle of inclination；The chemical reagent such as dimethylbenzene can be used to clean,
The stains such as the remaining oil stain between overhead transmission line surface and filament crack, laying dust and bird dung can be cleaned simultaneously；Shower nozzle is adopted with wire
Use noncontact form, it is to avoid possible latent lesion to overhead transmission line surface；Retracting device recyclable from overhead transmission line and
The abluent splashed down on cleaning head, forms the conduit under fluid pressure of Guan Bi, prevents accidental pollution environment；Transfer pipeline by hydraulic quick coupler and
Pipeline forms, it is simple to realize security seal and quick-replaceable；It is easy to carry about with one, it is simple in occasion operations such as fields.
Accompanying drawing explanation
Fig. 1 is the overall schematic of one embodiment of the invention；
Fig. 2 is an embodiment moving body schematic diagram；
Fig. 3 is an embodiment compression module schematic diagram；
Fig. 4 is that an embodiment cleans device schematic diagram；
Wherein 1. movable motor, 2. main supporting plate, 3. auxiliary support plate, 4. roller, 5. intermediate connecting rod, 6. upper cover plate, 7.
Cleaning motor, 9. servo-driver, 10. power module, 17. four-bar mechanisms (slider-crank mechanism), 18 pinch rollers, 19.
Cleaning head, 20. attachment means, 21. connecting rods, 22. abluent buckets, 23. lower covers, 24. recycling bins, 25. fluid pressure lines.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiments of the invention are elaborated: the present embodiment enters under premised on technical solution of the present invention
Row is implemented, and gives detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following enforcement
Example.
As it is shown in figure 1, the present embodiment includes: moving body, power module, cleaning motor, servo-driver, hold down gag
And clean device etc..Wherein: moving body is suspended on overhead transmission line, and seesaw along overhead transmission line, power supply mould
Block, cleaning motor, servo-driver and hold down gag are arranged on upper cover plate, and upper cover plate is connected by support with lower cover, returns
Receive bucket and abluent bucket is arranged on lower cover.
As in figure 2 it is shown, described moving body includes: movable motor 1, main supporting plate 2, auxiliary support plate 3, roller 4,
Intermediate connecting rod 5 and upper cover plate 6 etc..Wherein: movable motor 1 is fixed on main supporting plate 2, walking is driven through rotating shaft, key etc.
Roller rotates.Four rolling is separately fixed on the mobile roof support that two sets are made up of main supporting plate 2 and auxiliary support plate 3, walking
Cradle hangs, on overhead transmission line, drives moving body walking.Mobile roof support is connected with upper cover plate 6 by intermediate connecting rod 5,
Composition moving body.7 is the cleaning motor being arranged on upper cover plate, and 9 is the servo-driver being arranged on upper cover plate, and 10 are
The power module being arranged on upper cover plate.
As it is shown on figure 3, described compression module includes: four-bar mechanism 17 and pinch rollers 18, wherein: four bar structures 17 have
There are dead point, pinch rollers 18 to be arranged on four-bar mechanism end, are jointly pressed on the roller on the power transmission shaft of movable motor 1 drive
On overhead transmission line, prevent inadvertently falling off and sliding on overhead transmission line of robot.
As shown in Figure 4, described cleaning device includes: cleaning head 19, attachment means 20, connecting rod 21, abluent bucket 22,
Lower cover 23 and recycling bin 24 etc..Wherein, cleaning head 19 is two the 180 ° articulated structure to dividing, and middle part is provided with laterally to be passed through
Logical centre bore, is pressed on overhead transmission line by spring, roller devices, and overhead transmission line is from the machine center of cleaning head 19
Pass.Sealing member is used to seal in the middle of overhead transmission line and cleaning head 19.Cleaning head 19 is through attachment means 20 and auxiliary support plate
3 are connected, it is achieved moving along overhead transmission line.Cleaning head 19 upper inlet is connected, clearly with the membrane pump outlet cleaning motor 7
19 times outlets of washing hair are connected with recycling bin 24, to prevent abluent from leaking.Recycling bin 24 and abluent bucket 22 are fixedly mounted on
On lower cover 23, lower cover 23 is connected with upper cover plate 6 through connecting rod 21.
The work process of the present embodiment: be suspended on overhead transmission line by cleaning robot, hold down gag compresses.Power module with
Ground hand held switch is connected, and is controlled the break-make of power supply by hand held switch, and turning on the power module is system power supply, it is achieved cleaning machine
Device people advances along overhead transmission line.During cleaning, abluent delivers to cleaning head through fluid pressure line 25, cleaning motor, the cleaning of recovery
Agent is back to abluent bucket through conduit under fluid pressure, retracting device, forms the fluid pressure line of Guan Bi.Abluent bucket 22 and recycling bin 24
Lower bottom part is connected by less clear opening, is coated with drainage screen on clear opening, it is achieved directly filtering of foreign material.
Although the detailed description of the invention of the present invention is described by the above-mentioned accompanying drawing that combines, but not limit to scope
System, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art need not pay
Go out various amendments or deformation that creative work can make still within protection scope of the present invention.
Claims (7)
1. an overhead transmission line cleaning robot, is characterized in that, it is made up of some modular structures, institute
State modular structure and include moving body, power module, cleaning motor, servo-driver, hold down gag and cleaning
Device, moving body is suspended on overhead transmission line, and can seesaw along overhead transmission line, power supply mould
Block, cleaning motor, servo-driver and hold down gag are arranged on the upper cover plate of moving body, upper cover plate bottom
It is connected with cleaning device；
Described moving body include movable motor, main supporting plate, auxiliary support plate, roller, intermediate connecting rod and on
Cover plate, is connected by former and later two rollers between the main supporting plate of pair of parallel setting, pair of parallel setting auxiliary
Help and connected, by four rolling, main supporting plate and auxiliary support plate by additionally former and later two rollers between gripper shoe
Composition mobile roof support, mobile roof support is connected with the upper cover plate of bottom by intermediate connecting rod, forms moving body, OK
Walk support to be suspended on overhead transmission line by roller, and moving body can be driven to walk, mobile roof support lower end
It is fixed on upper plate；Movable motor is fixed on main supporting plate, and movable motor output shaft drives one of them
Roller；
Described hold down gag includes slider-crank mechanism and pinch rollers, and slider-crank mechanism has dead point, pressure
Tight roller is arranged on slider in crank-slider mechanism end, the rolling on power transmission shaft that pinch rollers and movable motor drive
Wheel is pressed on overhead transmission line jointly, prevents inadvertently falling off and sliding on overhead transmission line of robot；
Described cleaning device includes cleaning head, attachment means, connecting rod, abluent bucket, lower cover and recycling bin,
Cleaning head is pressed on overhead transmission line by spring, roller devices, overhead transmission line from two 180 ° to point
The machine center hole of the cleaning head of articulated structure passes；Machine center hole in the middle of overhead transmission line and cleaning head is adopted
Seal with sealing member；Cleaning head is connected with auxiliary support plate through attachment means, it is achieved along the fortune of overhead transmission line
Dynamic；The upper inlet of cleaning head is connected with the membrane pump outlet cleaning motor, the recovered dress of lower outlet of cleaning head
Put and be connected with recycling bin, to prevent abluent from leaking；Recycling bin and abluent bucket are fixedly mounted on lower cover,
Lower cover is connected with upper cover plate through connecting rod.
2. overhead transmission line cleaning robot as claimed in claim 1, is characterized in that, described cleaning motor
Including the high-pressure sprayer motor being connected and membrane pump, membrane pump entrance and the abluent bucket cleaning device
Being connected, membrane pump is in the cleaning head that the abluent in abluent bucket is drawn and is delivered to clean device.
3. overhead transmission line cleaning robot as claimed in claim 1, is characterized in that, described cleaning head
Upper inlet and lower outlet all communicate with machine center hole.
4. overhead transmission line cleaning robot as claimed in claim 1, is characterized in that, described overhead power transmission
Gap is had between line and machine center hole.
5. overhead transmission line cleaning robot as claimed in claim 1, is characterized in that, described abluent bucket
In be contained with dimethylbenzene abluent.
6. overhead transmission line cleaning robot as claimed in claim 1, is characterized in that, described power supply mould
Block is lithium-ion-power cell, is arranged on the upper cover plate of moving body, carries for cleaning motor and servo-driver
For required electric power.
7. overhead transmission line cleaning robot as claimed in claim 1, is characterized in that, described servo is driven
Dynamic device includes a BLDC-5015A driver for brushless DC motor, is connected with power module and movable motor,
All kinds of control functions needed for movable motor motion are provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410123563.XA CN103944102B (en) | 2014-03-29 | 2014-03-29 | Overhead transmission line cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410123563.XA CN103944102B (en) | 2014-03-29 | 2014-03-29 | Overhead transmission line cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103944102A CN103944102A (en) | 2014-07-23 |
| CN103944102B true CN103944102B (en) | 2016-08-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410123563.XA Active CN103944102B (en) | 2014-03-29 | 2014-03-29 | Overhead transmission line cleaning robot |
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| Country | Link |
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| CN (1) | CN103944102B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104226623B (en) * | 2014-09-10 | 2016-06-08 | 国家电网公司 | Overhead transmission line atomization cleaning head |
| CN105709974B (en) * | 2016-04-22 | 2018-06-15 | 国网福建省电力有限公司 | A kind of overhead transmission line automatic spraying equipment |
| CN106737737A (en) * | 2016-12-22 | 2017-05-31 | 国网山东省电力公司鄄城县供电公司 | Overhead transmission line cleaning robot and system |
| US10461512B2 (en) | 2017-05-11 | 2019-10-29 | General Cable Technologies Corporation | Systems and methods for aerial treatment of overhead cabling |
| CN108748073B (en) * | 2018-06-08 | 2020-09-25 | 国网智能科技股份有限公司 | Live overhaul operation robot for substation equipment |
| CN114725826A (en) * | 2021-04-26 | 2022-07-08 | 徐倩倩 | Based on robot that takes off danger harms self preservation and protects device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102228876A (en) * | 2011-07-01 | 2011-11-02 | 北京深浪电子技术有限公司 | Remote control automatic coating robot for preventing icing on transmission line |
| EP2621041A1 (en) * | 2012-01-26 | 2013-07-31 | Redaelli Tecna S.p.A. Divisione Teci | Device for cable inspection, maintenance and painting |
| CN103317496A (en) * | 2013-06-20 | 2013-09-25 | 国家电网公司 | Electric transmission line foreign matter removal robot |
| CN203800476U (en) * | 2014-03-29 | 2014-08-27 | 国家电网公司 | Cleaning robot of overhead transmission lines |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101131604B1 (en) * | 2010-10-12 | 2012-03-30 | 지에스건설 주식회사 | Power transmission line inspection system and inspection method |
-
2014
- 2014-03-29 CN CN201410123563.XA patent/CN103944102B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102228876A (en) * | 2011-07-01 | 2011-11-02 | 北京深浪电子技术有限公司 | Remote control automatic coating robot for preventing icing on transmission line |
| EP2621041A1 (en) * | 2012-01-26 | 2013-07-31 | Redaelli Tecna S.p.A. Divisione Teci | Device for cable inspection, maintenance and painting |
| CN103317496A (en) * | 2013-06-20 | 2013-09-25 | 国家电网公司 | Electric transmission line foreign matter removal robot |
| CN203800476U (en) * | 2014-03-29 | 2014-08-27 | 国家电网公司 | Cleaning robot of overhead transmission lines |
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| Publication number | Publication date |
|---|---|
| CN103944102A (en) | 2014-07-23 |
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Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee after: State Grid Corporation of China Co-patentee after: National Network Intelligent Technology Co., Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee before: State Grid Corporation of China Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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| TR01 | Transfer of patent right |
Effective date of registration: 20201028 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. |