CN104438165A - Insulator cleaning robot system - Google Patents
Insulator cleaning robot system Download PDFInfo
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- CN104438165A CN104438165A CN201410713395.XA CN201410713395A CN104438165A CN 104438165 A CN104438165 A CN 104438165A CN 201410713395 A CN201410713395 A CN 201410713395A CN 104438165 A CN104438165 A CN 104438165A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 117
- 239000012212 insulator Substances 0.000 title claims abstract description 96
- 230000007246 mechanism Effects 0.000 claims abstract description 194
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 14
- 230000009194 climbing Effects 0.000 claims description 30
- 238000009413 insulation Methods 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 24
- 239000000523 sample Substances 0.000 claims description 22
- 238000012360 testing method Methods 0.000 claims description 13
- 230000000875 corresponding effect Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 230000004323 axial length Effects 0.000 claims description 3
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims description 3
- 239000010931 gold Substances 0.000 claims description 3
- 229910052737 gold Inorganic materials 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 230000009193 crawling Effects 0.000 abstract description 11
- 238000005299 abrasion Methods 0.000 abstract description 3
- 238000000576 coating method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 239000007788 liquid Substances 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 241001417527 Pempheridae Species 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000003373 anti-fouling effect Effects 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 239000011247 coating layer Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000011010 flushing procedure Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 229910052573 porcelain Inorganic materials 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
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- 239000010959 steel Substances 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Cleaning In General (AREA)
Abstract
The invention discloses an insulator cleaning robot system. The insulator cleaning robot system comprises a crawling mechanism, a cleaning mechanism, a locking mechanism, a detection mechanism and a battery control system, wherein the crawling mechanism is of a closed circumferential structure, surrounds an insulator string and drives a robot body to continuously move along the insulator string; the cleaning mechanism is of a closed circumferential structure and surrounds the insulator string; the locking mechanism is evenly arranged on the crawling mechanism, and the crawling mechanism is connected with the cleaning mechanism through the locking mechanism; the detection mechanism is arranged on one side of the locking mechanism, and the battery control system is installed on the crawling mechanism. The insulator cleaning robot system is simple in structure; due to the overall symmetrical structure, the stability of the robot is good; as the continuous type movement mode is adopted, the movement speed is high, the cleaning mode is simple, the cleaning speed is high, abrasion to coatings of insulators is small, locking is reliable, an adjustment mechanism can be suitable for insulator strings different in structural height and disc diameter, and electrification insulator string cleaning operation and insulator sheet quality detection can be carried out.
Description
Technical field
The present invention relates to a kind of insulator cleaning robot system.
Background technology
Along with the development of China's power system, power grid security, stable operation more and more come into one's own.Especially in the super-pressure greatly developed in recent years, system for ultra-high voltage transmission, the safe operation of insulator directly determines investment and the level of security of whole system, for ensureing the electrical safety of ultra-high-tension power transmission line, after ultra-high-tension power transmission line runs use a period of time, need the electric property of detection line, particularly the insulation safety performance of insulator, prevents the generation of the phenomenon such as short circuit or short circuit.
In use for some time, insulator surface will inevitably pile up dirt to insulator, thus causes the resistance of insulator to reduce, and decreasing insulating, easily produces pollution flashover accident, and normal operation of the safety for transmission line of electricity hides some dangers for, and therefore, insulator needs cleaned at regular intervals.When the cleaning of front insulator generally adopts hand sweeping, or coordinating limited simple and mechanical instrument to clean, operation danger is high, and often needs power failure to carry out cleaning work, not only labour intensity is large, cleaning speed is slow, and operational security is low, economic loss is large.
Along with the development of Robotics, at present, increasing Work robot is applied on power equipment and circuit homework.
Chinese patent CN103042000A discloses a kind of insulator chain Intelligent sweeping machine device robot system, comprise support, guiding parts, driving mechanism, cleaning agency and control device, its cleaning member can swing in support cross section and own rotation completes cleaning action.Comprehensive analysis, its driving mechanism adopts single-sided arrangement, easily forms crank and causes robot bias and cleaning plane deflection; Though its cleaning agency can planar swing and own rotation, full circle week cannot clean insulator, and cannot thoroughly clean insulator bottom groove.Meanwhile, no matter in any state, the upper and lower two groups of rollers of robot driving mechanism have at least one group to ride in insulation sub-pieces, and therefore in cleaning process, cleaning roller will certainly have interference with driving mechanism roller, cause mechanism unstable.
US Patent No. 005119851A discloses a kind of equipment cleaning Voltage for Insulators on HV Lines string, cleaning equipment is around being stuck on insulator chain, ligulate moving tooth circulation in its driving mechanism is stirred insulator chain upper surface and is driven cleaning equipment to move up and down along insulator chain, cleaning agency circumferentially has multiple shower nozzle along insulation sub-pieces, surface water tank car is utilized to provide insulation cleaning liquid, liquid sends cleaning equipment to after pressurized equipment, sprays insulation cleaning liquid carry out insulator chain cleaning by cleaning shower nozzle.As can be seen here, what this cleaning equipment adopted is that iknsulating liquid cleans, and need configuration water-tank lorry and pressurized equipment, quantities is larger, and be equipped with operating personnel many, cost is larger, is unfavorable for universal and application on a large scale.The complex structure of cleaning equipment own, be connected with again the water pipe etc. that cleaning liquid is provided, weight increases, task difficulty strengthens, and its ligulate moving tooth is connected on crawler belt, needs to stir insulation sub-pieces, but crawler belt has surrender flexible, therefore can there is angle change when stirring insulation sub-pieces and being stressed in ligulate moving tooth on crawler belt, causes adjacent ligulate moving tooth spacing unstable, is unfavorable for climbing insulator chain.
US Patent No. 7797781B2 discloses a kind of live cleaning and detects the robot mechanism of insulator chain, mainly comprise travel mechanism, cleaning agency, retaining mechanism and detector etc., move mode adopts batch (-type) to move, horizontal direction utilize steering wheel rotarily drive jaw along guide rail linear move carry out clamping insulation sub-pieces, vertical direction utilize screw slider coordinate move up and down.Cleaning agency can rotate at circumferencial direction, utilizes hairbrush to carry out the cleaning of insulation sub-pieces, and carries out isolator detecting with detector.What this mechanism adopted is batch (-type) move mode, translational speed is slow, and cleaning agency single can only clean upper surface or the lower surface of insulation sub-pieces, completing a slice insulator cleaning needs to carry out two times of clamping and lifting process, and cleaning speed is slow, and the insulation sub-pieces at insulator chain two ends cleaning less than, cleaning range is limited, and cleaning is not thorough, simultaneously, testing agency is arranged on circumference inner ring, will certainly cause the interference of hairbrush and testing agency's vertical rack when brush sweeper cleans.
Summary of the invention
The present invention, in order to solve the problem, proposes a kind of insulator cleaning robot system, and this device cleaning speed is fast, and cleaning thoroughly, can live cleaning.
To achieve these goals, the present invention adopts following technical scheme:
A kind of insulator cleaning robot system, comprise climbing mechanism, cleaning agency, retaining mechanism, testing agency and control system, wherein, described climbing mechanism is closed circumference shape structure, surrounds insulator chain, drives Robot insulator chain continuous moving; Described cleaning agency is closed circumference shape structure, and around insulator chain, described retaining mechanism is evenly arranged on climbing mechanism, and described climbing mechanism is connected with cleaning agency by retaining mechanism; Testing agency is arranged in retaining mechanism side, and described control system comprises robot body control system and remote controller, and robot body control system is installed on climbing mechanism.
Described climbing mechanism comprises driving mechanism, bindiny mechanism and several guide plates, wherein, described driving mechanism is upper and lower two-layer layout, and guide plate uniform circular is distributed on climbing mechanism, connected by bindiny mechanism between driving mechanism, guide plate is fixed on the inner side of driving mechanism.
Described driving mechanism is arranged symmetrically with in insulation sub-pieces sagittal plane, and be Synchronization Control, driving mechanism comprises drive motors, transmission mechanism, driving paw mechanism and fixed frame, drive motors output shaft is connected with transmission mechanism, transmission mechanism is gear reduction apparatus, comprises main driven gear group, fixed axis and power transmission shaft, and transmission mechanism output is connected with driving paw mechanism, drive motors is arranged on fixed frame inside, and transmission mechanism, driving paw mechanism are arranged on outside fixed frame.
Described driving paw mechanism end is provided with roller, and roller is Ins. ulative material, free to rotate, and in crawling process, roller contacts with insulation sub-pieces.
Described bindiny mechanism is vertical rack and various ring support, connect each driving mechanism and form a doughnut-shaped monolithic, vertical rack connects axial actuating mechanism, and ring support connects radial drive mechanism, vertical rack there is adjustment installing hole, the adjustment of axial actuating mechanism spacing can be carried out.
Described cleaning agency, comprise symmetrical semi-disc, upper and lower symmetrical rack, rack drives mechanism, rack guide rail, upper and lower brush device and some guide posts, wherein, described semi-disc is cleaning agency sole plate, peripheral annular structure is formed by symmetrical two semicircle disk bodies, in its inner arc, some guide posts are installed, semi-disc is provided with rack guide rail, described rack guide rail is upper and lower symmetrical structure, formed by several size roller bearing groups, under the effect of rack drives mechanism, the circular guideway that tooth bar is formed along roller bearing group carries out circular motion, upper and lower brush device is arranged on upper and lower tooth bar respectively, each tooth bar is provided with at least two group brush devices.
Described guide post is Ins. ulative material, and guide post length does not interfere hairbrush to clean path.
Described tooth bar is semicircle, is symmetrically distributed in the upper and lower both sides of semi-disc.
Described rack drives mechanism is fixed on semi-disc, each semi-disc is provided with at least one group of rack drives mechanism, when being designed to each semi-disc and having a rack drives mechanism, for ensureing that semicircle tooth bar is being connected smoothly through two rack drives mechanisms, the distribution angle of two rack drives mechanisms is less than 180 °.
Described rack drives mechanism, comprises rack drives motor, symmetrical gear, gear shaft and motor cabinet; Rack drives motor is fixed on motor cabinet, motor cabinet is fixed on semi-disc, and rack drives motor output shaft is connected with symmetrical gear through gear shaft, and symmetrical gear coordinates with upper and lower two symmetrical racks respectively, when drive motors axle rotates, upper and lower symmetrical rack synchronously can carry out circumferential movement.
Described upper and lower brush device, comprise steering engine seat, steering wheel, hair brush motor, hair brush motor seat, motor cabinet connection, reel and hairbrush, described hairbrush is divided into upper and lower hairbrush two kinds; Hairbrush is connected to hair brush motor output shaft end by reel, it is inner that hair brush motor is fixed on hair brush motor seat, and be fastened on steering wheel by motor cabinet, steering wheel is fixed on tooth bar by steering engine seat, when steering wheel axle rotates, band electric brush swings at insulation sub-pieces sagittal plane, and when hair brush motor axle rotates, band electric brush carries out rotation along own axes.
For increasing the adaptability of cleaning agency, steering engine seat, by increase and decrease keel and the mode such as hairbrush is replaceable, adapts to different large pony insulator sheet.
Retaining mechanism is divided into left and right two parts, and a place is hinging rotary center, and robot is around carrying out rotating folding herein, and another place is locking switch; The folding at hinging rotary center rotates around hinge, and folding band mobile robot left and right two parts carry out folding.
Same, hinging rotary center can increase drive motors etc. and drive folding to rotate robot opening and closing movement, and accordingly, locking switch can be simple socket type structural, also can be designed as motor and drives latch mode or adopt clamp snap close etc.
The functional unit such as configurable grip or suspension ring on described retaining mechanism, convenient working personnel carry and reach the standard grade.
Described testing agency, in order to monitoring robot operation conditions, insulator chain face crack and filth, around gold utensil, judges extreme position and detects corresponding data, comprising camera, stopping means and insulator detection device; Insulator detection device comprises probe driving mechanism, fixed mount and detector probe, described probe driving mechanism comprises driving steering wheel, swing arm, crank connecting link, rotating shaft etc., drive detector probe swings back and forth, described detector probe has two at least, and adjacent probe distance is two panels insulator axial length.
Described control system comprises robot body control system and remote controller, the instruction that robot body control system receives remote controller completes corresponding action, simultaneously by the status information of self and instruction feedback to remote controller, the action of remote control acquires guidance panel, edit instruction sends to robot, receives the state of robot, command information simultaneously.
Beneficial effect of the present invention is:
(1) adopt continous way move mode, translational speed is fast, and motion continuity is good, and integrated symmetric formula structure, makes robot stable, can not form mobile and cleaning process eccentric phenomena;
(2) speed of cleaning is fast, and thoroughly, cleaning mode is simply light in cleaning, utilizes single can clean the structure of insulation sub-pieces upper and lower surface, adds the efficiency of cleaning, and adopts that hairbrush is dry sweeps mode, reduces task difficulty and the workload of the modes such as water flushing;
(3) little to insulator coating abrasion, short circuit insulator number is few, and robot overall structure and insulator contact all select insulating materials, farthest avoids the wearing and tearing to antifouling flash coating layer on insulator porcelain patticoat;
(4) reliable lock, security protection is good, utilizes circumference closed manners, adds the job stability of robot; Have adaptability, robot crawling mechanism axial actuating mechanism line space design is adjustable, and cleaning agency upper and lower hairbrush line space design is adjustable, and brush length can be changed, can the cleaning work of commensurate structure height and the different insulator chain in dish footpath;
(5), after being equipped with mobile platform and checkout gear, automation cleaning and zero resistance insulator detection operation can be carried out.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention;
Fig. 2 is climbing mechanism schematic diagram of the present invention;
Fig. 3 is climbing mechanism top view of the present invention;
Fig. 4 is climbing mechanism driving mechanism schematic diagram of the present invention;
Fig. 5 is cleaning agency schematic diagram of the present invention;
Fig. 6 is cleaning agency rack drives structural scheme of mechanism of the present invention;
Fig. 7 is brush device schematic diagram on cleaning agency of the present invention;
Fig. 8 is brush device schematic diagram under cleaning agency of the present invention;
Fig. 9 is retaining mechanism schematic diagram of the present invention;
Figure 10 (a) is isolator detecting schematic diagram of the present invention;
Figure 10 (b) is isolator detecting schematic diagram of the present invention
Figure 11 is control system entire block diagram of the present invention;
Figure 12 is robot body control block diagram of the present invention.
Wherein: 100 climbing mechanisms, 110 driving mechanisms, 111 drive motors, 112 fixed frames, 120 transmission mechanisms, 121 driving gears, 122 driven gears, 123 fixed axis, 124 power transmission shafts, 130 drive paw mechanism, 131 drive paw, 132 rollers, 140 bindiny mechanisms, 141 vertical racks, 142 ring supports, 150 guide plates, 200 cleaning agencies, 210 semi-discs, 220 tooth bars, 230 rack drives mechanisms, 231 rack drives motors, 232 motor cabinets, 233 gears, 234 gear shafts, 240 rack guide rails, 241 big roller bearing group, 242 trundle bearing group, brush device on 250, 251 steering engine seats, 252 steering wheels, 253 hair brush motor, 254 hair brush motor seats, on 255, motor cabinet connects, hairbrush on 256, 257 reels, 260 times brush devices, 261 times motor cabinet connects, 262 times hairbrush, 300 retaining mechanisms, 301 foldings, 302 bearing pins, 303 handles, 400 testing agencies, 410 insulator detection device, 411 fixed mounts, 412 drive steering wheel, 413 swing arms, 414 crank connecting links, 415 rotating shafts, 416 detector probe, 420 cameras, 430 stopping means, 500 control boxes, 600 insulators, 800 remote controllers, 801 states receive, 802 instructions export, 803 guidance panels, 804 control signal collections, 805 remote controller battery, 810 robot body control systems, 811 feedback of status, 812 state acquisitions, 813 perform an action, 814 instruction feedbacks, 815 lithium dynamical batteries, 901 wireless data sending transceiver modules, 902 laser limit sensors, 903 proximity switches, 904 resistance measurements, 905 cleaning motor drivers, 906 movable motor drivers, 907 detector probe swinging drivers.
Detailed description of the invention:
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
The present invention creeps on insulator chain and in order to clean insulator chain, as shown in Figure 1, robot entirety is circumferential structure, comprises climbing mechanism 100, cleaning agency 200, retaining mechanism 300, testing agency 400 and battery control system 500.Climbing mechanism 100 and cleaning agency 200 are coupled together by retaining mechanism 300, and testing agency 400 is arranged in retaining mechanism 300 side, and control box 500 is arranged on climbing mechanism 100.
As shown in Figure 2, Figure 3, Figure 4, robot crawling mechanism 100 is closed circumference shape structure, surround insulator chain, can folding, form primarily of driving mechanism 110, bindiny mechanism 140 and some guide plates 150, driving mechanism 110 is connected by bindiny mechanism 140 symmetry, and symmetrical in insulation sub-pieces sagittal plane, the corresponding one group of guide plate 150 of each driving mechanism 110, guide plate 150 internal diameter laminating insulation sub-pieces outside diameter.Driving mechanism 110 comprises drive motors 111, transmission mechanism 120, drives paw mechanism 130 and fixed frame 112, it is inner that drive motors 111 is arranged on fixed frame 112, transmission mechanism 120, driving paw mechanism 130 are arranged on outside fixed frame 112, and fixed frame 112 is arranged on the periphery that guide plate 150 is formed.Often organizing driving mechanism 110 drives at least one group to drive paw 131 to form by least one drive motors 111, drive motors 111 output shaft is connected with transmission mechanism 120, transmission mechanism 120 is gear reduction apparatus, mainly comprise driving gear 121, driven gear 122, fixed axis 123, power transmission shaft 124, transmission mechanism 120 output and both sides drive paw mechanism 130 to be connected, drive paw 131 end that roller 132 is installed, roller 132 is free to rotate, and in crawling process, roller 132 contacts with insulator 600.Bindiny mechanism 140 comprises vertical rack 141 and various ring support 142, connect each driving mechanism 110 and form a doughnut-shaped monolithic, as shown in Figure 2, vertical rack 141 connects axial actuating mechanism 110, ring support 142 connects radial drive mechanism 110, vertical rack 141 there is adjustment installing hole, the adjustment of axial actuating mechanism 110 spacing can be carried out.
As shown in Figure 5, Figure 6, robot cleaning mechanism 200 entirety is also closed circumference shape structure, around insulator 600, and can folding.Cleaning agency 200 mainly comprises symmetrical semi-disc 210, up and down symmetrical rack 220, rack drives mechanism 230, rack guide rail 240, upper brush device 250, lower brush device 260 and some guide posts 270.Symmetrical two semi-discs 210 form peripheral annular structure, for cleaning agency 200 sole plate, some guide posts 270 are installed in its inner arc, its upper and lower two sides are distributed with symmetrical rack guide rail 240, rack guide rail 240 is formed by several big roller bearing group 241 and trundle bearing group 242, as Fig. 5, big roller bearing group 241 forms outer round guide at circumferencial direction, trundle bearing group 242 forms interior round guide at circumferencial direction, is limited in the guide level of regulation by tooth bar 220.Tooth bar 220 is semicircular structure, be symmetrically distributed in semi-disc about 210 both sides, an i.e. upper and lower rack guide rail 240 corresponding tooth bar 220 respectively, under the effect of rack drives mechanism 230, the circular guideway that two tooth bars 220 can be formed along roller bearing group carries out synchronous circular motion.Each semi-disc 210 is provided with at least one group of rack drives mechanism 230, when being designed to each semi-disc 210 and having a rack drives mechanism 230, for ensureing that semicircle tooth bar 220 is connected smoothly when through two rack drives mechanisms 230, the distribution angle of two rack drives mechanisms 230 is less than 180 °.
As shown in Figure 6, rack drives mechanism 230 is fixed on semi-disc 210, and rack drives mechanism 230 mainly comprises rack drives motor 231, symmetrical gear 233, gear shaft 234 and motor cabinet 232.Rack drives motor 231 is fixed on motor cabinet 232, motor cabinet 232 is fixed on semi-disc 210, rack drives motor 231 output shaft is connected with symmetrical gear 233 through gear shaft 234, symmetrical gear 233 engages with upper and lower two symmetrical racks 220 respectively, and rack drives motor 231 rotates and upper and lower symmetrical rack 220 can be driven to carry out synchronous circular motion.
As Fig. 5, Fig. 7, shown in Fig. 8, upper brush device 250 and lower brush device 260 are arranged on upper and lower tooth bar 220 respectively, each tooth bar 220 is provided with at least two group brush devices, because insulation sub-pieces upper and lower surface shape is different, upper and lower brush device is slightly different, upper brush device 250 is by steering engine seat 251, steering wheel 252, hair brush motor 253, hair brush motor seat 254, upper motor cabinet connects 255, reel 257, upper hairbrush 256 forms, lower brush device 260 is by steering engine seat 251, steering wheel 252, hair brush motor 253, hair brush motor seat 254, lower motor cabinet connects 261, reel 257, lower hairbrush 262 forms.Hairbrush is divided into upper and lower hairbrush two kinds, is designed specifically to the structure meeting insulation sub-pieces cleaning face.Hairbrush is connected to hair brush motor 253 output shaft end by reel 257, it is inner that hair brush motor 253 is fixed on hair brush motor seat 254, and be fastened on steering wheel 252 by motor cabinet, steering wheel 252 is fixed on tooth bar 220 by steering engine seat 251, when steering wheel 252 output shaft rotates, band electric brush swings at insulation sub-pieces sagittal plane, and when hair brush motor 253 output shaft rotates, band electric brush carries out rotation along own axes.
As shown in Fig. 1, Fig. 9, retaining mechanism is divided into left and right two parts, and a place is hinging rotary center, and robot is around carrying out rotating folding herein, and another place is locking switch.Folding as Fig. 9 hinging rotary center rotates around hinge, and folding band mobile robot left and right two parts carry out folding, the functional unit such as configurable grip or suspension ring on retaining mechanism, and convenient working personnel carry and reach the standard grade.
As shown in Fig. 1, Fig. 3, Fig. 4, Fig. 5, testing agency of robot comprises camera, stopping means and insulator detection device.Camera is in order to monitor climbing mechanism and brush sweeper operation conditions, and stopping means limiting robot shift position and cleaning, detection position, insulator detection device can detect insulator resistance and voltage.
As shown in Fig. 1, Figure 10 (a), (b), insulator detection device forms primarily of probe driving mechanism, fixed mount and detector probe, be arranged on cleaning agency side, probe driving mechanism comprises driving steering wheel, swing arm, crank connecting link, rotating shaft etc., detector probe has two at least, and adjacent probe distance is two panels insulator axial length, and steering wheel output shaft rotates, namely drive detector probe to swing back and forth, beat on adjacent two panels insulator steel cap.
As shown in figure 11, robot control system is made up of remote controller 800 and robot body 810.Remote controller 800 is communicated with robot body 810 by antenna, remote controller 800 can receive by state the information such as voltage, communications status that 801 obtain robot body, simultaneously remote controller 800 includes a guidance panel 803 and is used for gathering control signal 804, then exports 802 by control instruction and sends to robot body 810.Robot body 810 performs an action 813 after receiving control signal, gathers oneself state by state acquisition 812 simultaneously, and feeds back to remote controller 800 by state feedback unit 811.Robot body 810 passes through instruction feedback unit 814 feedback command to remote controller 800 simultaneously.
As shown in Figure 11, Figure 12, the control core of robot is MCU900, the signal received is passed to MCU900 by RS232 by wireless data sending transceiver module 901, completes resistance measurement 904, drives cleaning motor, drives movable motor 906, drives probe to swing 907 according to instruction.What wherein control motor employing is pwm signal.Robot self is provided with laser limit sensors 902 and proximity switch 903, knows the position of oneself in real time.
Operation principle of the present invention:
When the present invention does not work, climbing mechanism, cleaning agency, testing agency are in original state, the driving paw of the upper and lower driving mechanism of climbing mechanism is in vertical state, cleaning agency tooth bar semicircle border and semi-disc semicircle overlapping margins (as shown in Figure 5), upper and lower brush device is retracted to direction (as hairbrush position on the left of Fig. 5) that is tangent and circumference guide rail, detector probe is also retracted state (as Suo Shi Figure 10 (a)), retaining mechanism is in closure state, and robot entirety is circumference closure state.
Robot can adopt assembly pulley and hoisting mechanism, rise near shaft tower insulator chain by retaining mechanism handle and other lifting part, open robot battery control system, retaining mechanism is opened, retaining mechanism hinging rotary center can be simple hinged open-and-close mechanism herein, also can be designed to drive motors etc. and drive folding to rotate robot opening and closing movement, accordingly, locking switch can be simple socket type structural, also can be designed as motor and drives latch mode or adopt clamp snap close etc.
Adjustment robot aperture position, utilize insulating bar and other aid that robot is advanced insulator chain, start close switch, robot is locked on insulator chain, now climbing mechanism inner circle guide plate and cleaning agency inner circle guide post connect insulator string around insulator chain periphery, adjustment climbing mechanism drives paw position, and make its upper and lower driving mechanism have at least the driving paw of one deck to be overlapped on insulator chain upper surface, now namely robot completes and be arranged on insulator chain.
When robot manipulating task starts, the alternating movement of driving mechanism up and down controlling climbing mechanism completes crawling process, and the stopping means on it can accurately control to drive the paw anglec of rotation, location cleaning and detection position.When robot moves to predetermined cleaning position, namely cleaning program starts, carry out cleaning work, first up and down brush device steering wheel axle rotates, upper and lower hairbrush is rocked in insulation sub-pieces dish footpath, make hairbrush orientation of its axis insulator chain axis, next the built-in electric rotating machine of hairbrush starts up and down, drive upper and lower hairbrush rotation respectively, now only complete the spinning movement of hairbrush, then rack drives mechanism motor starts, drive upper and lower symmetrical gear synchronous rotary, then namely circumferentially move within the scope of rack guide rail with the symmetrical rack up and down of upper and lower symmetrical gears meshing, upper and lower hairbrush is driven to carry out cleaning work around insulation sub-pieces.Each semi-disc is provided with at least one group of rack drives mechanism, when being designed to each semi-disc and having a rack drives mechanism, for ensureing that semicircle tooth bar is being connected smoothly through two rack drives mechanisms, the distribution angle of two rack drives mechanisms is less than 180 °, now cleaning insulation sub-pieces hairbrush need carry out twice rotation back and forth and complete cleaning work, if be greater than Liang Zu rack drives mechanism in whole circumferential directions, then hairbrush carries out the cleaning work that 360 ° of rotations can complete insulation sub-pieces one circle.
Complete the operation of a slice insulator cleaning, hair brush motor shuts down, hairbrush is swung back initial position by hairbrush steering wheel, tooth bar rotates to initial position by rack drives mechanism, and climbing mechanism starts, and upper and lower driving mechanism interoperation band mobile robot moves to lower a slice cleaning insulation sub-pieces, under stopping means effect, arrive predetermined cleaning position, then cleaning agency drives operation procedure, carries out the cleaning of lower a slice insulator.So come and go work flow, finally complete the cleaning work of bunch of insulator.
Robot is except carrying out cleaning work, also detection operation can be carried out, the camera that it comprises is in order to monitor climbing mechanism and brush sweeper operation conditions, and stopping means limiting robot shift position and cleaning, detection position, insulator detection device can carry out the detection of insulator resistance and voltage.These checkout gears can monitoring robot operation conditions, insulator chain face crack and filth, around gold utensil, judge extreme position and detect to obtain insulation sub-pieces corresponding data.
The present invention adopts continous way move mode, and translational speed is fast, and motion continuity is good, integrated symmetric formula structure, can not form mobile and cleaning process eccentric phenomena; Cleaning speed is fast, and thoroughly, cleaning mode is simply light, avoids task difficulty and the workload of the modes such as water flushing in cleaning; Little to insulator coating abrasion, avoid the wearing and tearing to antifouling flash coating layer on insulator porcelain patticoat; Reliable lock, security protection is good, utilizes circumference closed manners, adds the job stability of robot; There is adaptability, robot crawling mechanism axial actuating mechanism line space design is adjustable, cleaning agency upper and lower hairbrush line space design is adjustable, and brush length can be changed, can the cleaning work of commensurate structure height and the different insulator chain in dish footpath, and resistance and voltage detecting can be carried out for insulator chain, judge that insulation sub-pieces is good and bad.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (10)
1. an insulator cleaning robot system, it is characterized in that: comprise climbing mechanism, cleaning agency, retaining mechanism, testing agency and battery control system, wherein, described climbing mechanism is closed circumference shape structure, surround insulator chain, drive Robot insulator chain continuous moving; Described cleaning agency is closed circumference shape structure, and around insulator chain, described retaining mechanism is evenly arranged on climbing mechanism, and described climbing mechanism is connected with cleaning agency by retaining mechanism; Testing agency is arranged in retaining mechanism side, and battery control system is installed on climbing mechanism.
2. a kind of insulator cleaning robot system as claimed in claim 1, it is characterized in that: described climbing mechanism comprises driving mechanism, bindiny mechanism and several guide plates, wherein, described driving mechanism is upper and lower two-layer layout, guide plate uniform circular is distributed on climbing mechanism, connected by bindiny mechanism between driving mechanism, guide plate is fixed on the inner side of driving mechanism.
3. a kind of insulator cleaning robot system as claimed in claim 2, it is characterized in that: described driving mechanism is arranged symmetrically with in insulation sub-pieces sagittal plane, and be Synchronization Control, driving mechanism comprises drive motors, transmission mechanism, drive paw mechanism and fixed frame, drive motors output shaft is connected with transmission mechanism, transmission mechanism is gear reduction apparatus, comprise main driven gear group, fixed axis and power transmission shaft, transmission mechanism output is connected with driving paw mechanism, drive motors is arranged on fixed frame inside, transmission mechanism, paw mechanism is driven to be arranged on outside fixed frame.
4. a kind of insulator cleaning robot system as claimed in claim 2, it is characterized in that: described bindiny mechanism is vertical rack and various ring support, connect each driving mechanism and form a doughnut-shaped monolithic, vertical rack connects axial actuating mechanism, ring support connects radial drive mechanism, vertical rack there is adjustment installing hole, the adjustment of axial actuating mechanism spacing can be carried out.
5. a kind of insulator cleaning robot system as claimed in claim 1, it is characterized in that: described cleaning agency, comprise symmetrical semi-disc, upper and lower symmetrical rack, rack drives mechanism, rack guide rail, upper and lower brush device and some guide posts, wherein, described semi-disc is cleaning agency sole plate, peripheral annular structure is formed by symmetrical two semicircle disk bodies, in its inner arc, some guide posts are installed, semi-disc is provided with rack guide rail, described rack guide rail is upper and lower symmetrical structure, formed by several size roller bearing groups, under the effect of rack drives mechanism, the circular guideway that tooth bar is formed along roller bearing group carries out circular motion, upper and lower brush device is arranged on upper and lower tooth bar respectively, each tooth bar is provided with at least two group brush devices.
6. a kind of insulator cleaning robot system as claimed in claim 5, is characterized in that: described guide post is Ins. ulative material, and guide post length does not interfere hairbrush to clean path; Described tooth bar is semicircle, is symmetrically distributed in the upper and lower both sides of semi-disc.
7. a kind of insulator cleaning robot system as claimed in claim 5, it is characterized in that: described rack drives mechanism is fixed on semi-disc, each semi-disc is provided with at least one group of rack drives mechanism, when being designed to each semi-disc and having a rack drives mechanism, for ensureing that semicircle tooth bar is being connected smoothly through two rack drives mechanisms, the distribution angle of two rack drives mechanisms is less than 180 °.
8. a kind of insulator cleaning robot system as claimed in claim 5, is characterized in that: described rack drives mechanism, comprises rack drives motor, symmetrical gear, gear shaft and motor cabinet; Rack drives motor is fixed on motor cabinet, motor cabinet is fixed on semi-disc, and rack drives motor output shaft is connected with symmetrical gear through gear shaft, and symmetrical gear coordinates with upper and lower two symmetrical racks respectively, when drive motors axle rotates, upper and lower symmetrical rack synchronously can carry out circumferential movement;
Described upper and lower brush device, comprise steering engine seat, steering wheel, hair brush motor, hair brush motor seat, motor cabinet connection, reel and hairbrush, described hairbrush is divided into upper and lower hairbrush two kinds; Hairbrush is connected to hair brush motor output shaft end by reel, it is inner that hair brush motor is fixed on hair brush motor seat, and be fastened on steering wheel by motor cabinet, steering wheel is fixed on tooth bar by steering engine seat, when steering wheel axle rotates, band electric brush swings at insulation sub-pieces sagittal plane, and when hair brush motor axle rotates, band electric brush carries out rotation along own axes.
9. a kind of insulator cleaning robot system as claimed in claim 1, it is characterized in that: described testing agency is in order to monitoring robot operation conditions, insulator chain face crack and filth, around gold utensil, judge extreme position and detect corresponding data, comprising camera, stopping means and insulator detection device; Insulator detection device comprises probe driving mechanism, fixed mount and detector probe, described probe driving mechanism comprises driving steering wheel, swing arm, crank connecting link and rotating shaft, drive detector probe swings back and forth, described detector probe has two at least, and adjacent probe distance is two panels insulator axial length.
10. a kind of insulator cleaning robot system as claimed in claim 1, it is characterized in that: described control system comprises robot body control system and remote controller, the instruction that robot body control system receives remote controller completes corresponding action, simultaneously by the status information of self and instruction feedback to remote controller, the action of remote control acquires guidance panel, edit instruction sends to robot, receives the state of robot, command information simultaneously.
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| CN112295976A (en) * | 2020-09-29 | 2021-02-02 | 重庆南电科技有限公司 | Porcelain insulator zero-value-measuring cleaning robot and control system |
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| CN114938068A (en) * | 2022-07-25 | 2022-08-23 | 国网山东省电力公司东营供电公司 | Cable cleaning power supply fault self-rescue control method, system, terminal and medium |
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| CN115350964A (en) * | 2022-08-19 | 2022-11-18 | 国网上海市电力公司 | Intelligent insulator decontamination robot for direct current converter station |
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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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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. |
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