CN104438165B - Insulator cleaning robot system - Google Patents
Insulator cleaning robot system Download PDFInfo
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- CN104438165B CN104438165B CN201410713395.XA CN201410713395A CN104438165B CN 104438165 B CN104438165 B CN 104438165B CN 201410713395 A CN201410713395 A CN 201410713395A CN 104438165 B CN104438165 B CN 104438165B
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- 239000012212 insulator Substances 0.000 title claims abstract description 89
- 230000007246 mechanism Effects 0.000 claims abstract description 189
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- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 230000009194 climbing Effects 0.000 claims description 26
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- 238000005299 abrasion Methods 0.000 abstract description 4
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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
Landscapes
- 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
With the continuous development of China's power system, power grid security, stable operation are increasingly taken seriously.Especially in recent years
Come to greatly develop supertension, in system for ultra-high voltage transmission, the safe operation of insulator directly determines the investment of whole system
And level of security, for ensureing the electrical safety of ultra-high-tension power transmission line, after ultra-high-tension power transmission line ran using a period of time, need
The electric property of detection circuit, the particularly insulation safety performance of insulator, prevent the generation of the phenomenons such as short circuit or short circuit.
In use for some time, insulator surface will necessarily pile up dirt to insulator, thus leading to the resistance of insulator
Reduce, decreasing insulating, be also easy to produce pollution flashover accident, be that normal operation of safety of transmission line of electricity hides some dangers for, therefore, insulator
Need periodically to clean.When the cleaning of front insulator typically adopts hand sweeping, or limited simple and mechanical instrument is coordinated to enter
Row cleans, and operation is dangerous high, and often needs power failure to carry out cleaning work, and not only high labor intensive, cleaning speed are slow, and
Operational security is low, economic loss is big.
With the development of roboticses, at present, increasing Work robot is applied to power equipment and circuit is made
In industry.
Chinese patent CN103042000A discloses a kind of insulator chain Intelligent sweeping machine device people's system, including support, leads
To part, drive mechanism, cleaning agency and control device, its cleaning member can swing in support cross section and own rotation is complete
Become cleaning action.Comprehensive analysis, its drive mechanism adopts single-sided arrangement, easily forms crank and causes robot eccentric and clear
Put down face deflection；Though its cleaning agency can planar swing and own rotation, full circle week insulator, Er Qiewu cannot be cleaned
Method thoroughly cleans insulator bottom groove.Meanwhile, no matter in any state, the upper and lower two groups of rollers of robot driving mechanism are at least
One group rides in sub-pieces, and therefore in cleaning process, cleaning roller will certainly have interference with drive mechanism roller, causes machine
Structure is unstable.
United States Patent (USP) US005119851A discloses a kind of equipment cleaning Voltage for Insulators on HV Lines string, cleaning equipment cincture
It is stuck on insulator chain, the tongue shape moving tooth circulation in its drive mechanism is stirred insulator chain upper surface and driven cleaning equipment along insulation
Substring moves up and down, and cleaning agency circumferentially has multiple shower nozzles along sub-pieces, provides insulation cleaning using ground water-tank lorry
Liquid, liquid sends cleaning equipment after pressurized equipment to, carries out insulator chain by cleaning shower nozzle injection insulation cleaning liquid clear
Wash.As can be seen here, this cleaning equipment uses iknsulating liquid and is carried out, and needs to configure water-tank lorry and pressurized equipment, work
Journey amount ratio is larger, and operating personnel is relatively more for outfit, and cost ratio is larger, is unfavorable for popularizing on a large scale and applying.Cleaning equipment is originally
Body structure is complicated, connects again and is provided with water pipe of sweeping fluid body etc., and weight increases, and task difficulty increases, and its tongue shape moving tooth connects
On crawler belt, need to stir sub-pieces, but crawler belt has surrender elasticity, therefore tongue shape moving tooth is stirring sub-pieces stress
When on crawler belt, angle change can occur, cause adjacent tongue shape moving tooth spacing unstable, be unfavorable for climb insulator chain.
United States Patent (USP) US7797781B2 discloses a kind of live cleaning and the robot mechanism of detection insulator chain, mainly
Including travel mechanism, cleaning agency, retaining mechanism and detector etc., move mode adopts batch (-type) to move, and horizontal direction utilizes
Steering wheel rotarily drive jaw move along guide rail linear carry out clamp sub-pieces, vertical direction using screw slider cooperation carry out on
Lower movement.Cleaning agency can rotate in circumferencial direction, carry out the cleaning of sub-pieces using hairbrush, and carries out absolutely with detector
Edge detects.This mechanism uses batch (-type) move mode, and translational speed is slow, and cleaning agency single can only clean insulator
The upper surface of piece or lower surface, completing a piece of insulator cleaning needs to carry out two times of clamping and lifting process, cleans speed slowly, and
The sub-pieces at insulator chain two ends clean less than cleaning range is limited, cleans not thorough, meanwhile, testing agency is arranged on circle
All inner rings, will certainly be caused the interference of hairbrush and testing agency's vertical rack when brush sweeper cleans.
Content of the invention
In order to solve the above problems it is proposed that a kind of insulator cleaning robot system, this device cleans speed to the present invention
Hurry up, clean thoroughly, can be with live cleaning.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of insulator cleaning robot system, including climbing mechanism, cleaning agency, retaining mechanism, testing agency and control
System processed, wherein, described climbing mechanism is closed circumference shape structure, surrounds insulator chain, drives Robot insulator series winding
Continuous movement；Described cleaning agency is closed circumference shape structure, and around insulator chain, described retaining mechanism is uniformly arranged on creeper
On structure, described climbing mechanism is connected with cleaning agency by retaining mechanism；Testing agency is arranged in retaining mechanism side, described control
System processed includes robot body control system and remote control, and robot body control system is installed on climbing mechanism.
Described climbing mechanism includes drive mechanism, bindiny mechanism and several guide plates, and wherein, described drive mechanism is upper
Lower two-layer arrangement, guide plate uniform circular is distributed on climbing mechanism, is connected by bindiny mechanism between drive mechanism, guide plate
It is fixed on the inner side of drive mechanism.
Described drive mechanism is arranged symmetrically in sub-pieces sagittal plane, and is Synchronization Control, and drive mechanism includes driving
Galvanic electricity machine, drive mechanism, driving paw mechanism and fixed frame, driving motor output shaft is connected with drive mechanism, drive mechanism
For gear reduction unit device, including main driven gear group, fixing axle and power transmission shaft, drive mechanism outfan with drive paw mechanism
Connect, motor is arranged on inside fixed frame, drive 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, in crawling process
Roller is contacted with sub-pieces.
Described bindiny mechanism is vertical rack and various ring support, connects one annular of each drive mechanism formation whole
Body, vertical rack connects axial actuating mechanism, and ring support connects radial drive mechanism, and vertical rack has regulation installing hole,
Axial actuating mechanism spacing adjustment can be carried out.
Described cleaning agency, including symmetrical semi-disc, tooth bar symmetrical above and below, rack drives mechanism, rack guide rail, on
Lower brush device and some guide posts, wherein, described semi-disc is cleaning agency sole plate, by symmetrical two semi-discs
Body forms peripheral annular structure, is provided with some guide posts, semi-disc is provided with rack guide rail in its inner arc, described tooth
Bar guide rail is structure symmetrical above and below, is formed by several size roller bearing groups, in the presence of rack drives mechanism, tooth bar edge
The circular guideway that roller bearing group is formed carries out circular motion；Brush device is separately mounted on upper and lower tooth bar up and down, each tooth
At least two groups brush devices are provided with bar.
Described guide post is Ins. ulative material, and guiding pole 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, and each semi-disc is provided with least one set rack drives machine
Structure, when being designed as each semi-disc and having a rack drives mechanism, for ensureing semicircle tooth bar through two rack drives machines
It is connected smoothly during structure, the distribution angle of two rack drives mechanisms is less than 180 °.
Described rack drives mechanism, including rack drives motor, symmetrical gear, gear shaft and motor cabinet；Rack drives electricity
Machine is fixed on motor cabinet, and motor cabinet is fixed on semi-disc, and rack drives motor output shaft is through gear shaft and symmetrical gear
Connect, symmetrical gear is coordinated with upper and lower two symmetrical racks respectively, and when motor axle rotates, tooth bar symmetrical above and below can same stepping
Row circumferential movement.
Described upper and lower brush device, including steering engine seat, steering wheel, hair brush motor, hair brush motor seat, motor cabinet connection, reel
And hairbrush, described hairbrush is divided into two kinds of upper and lower hairbrush；Hairbrush is connected to hair brush motor by reel and exports shaft end, hair brush motor
It is fixed on inside hair brush motor seat, and is 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 in sub-pieces sagittal plane, and when hair brush motor axle rotates, band electric brush is along itself
Axis carries out rotation.
For increasing the adaptability of cleaning agency, steering engine seat, by increasing and decreasing keel and the mode such as hairbrush is replaceable, adapts to
Different size sub-pieces.
Retaining mechanism is divided into left and right two parts, is hinging rotary center at one, robot around carrying out rotating folding herein,
Another place is locking switch；The folding at hinging rotary center rotates around hinge, and about folding band mobile robot, two parts are carried out
Folding.
Folding rotation is driven to complete robot opening and closing movement, phase likewise, hinging rotary center can increase motor etc.
Answer, locking switch can be for simple socket type structural it is also possible to be designed as Motor drive latch mode or using clamp lock
Button 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, surrounding gold utensil, is sentenced
Determine extreme position and detection corresponding data, comprise photographic head, stopping means and insulator detection device；Insulator detection device bag
Include probe driving mechanism, fixed mount and detection probe, described probe driving mechanism comprises to drive steering wheel, swing arm, crank connecting link, rotation
Rotating shaft etc., drives detection probe to swing back and forth, described detection probe at least two, and adjacent probe distance is two panels insulator axle
To length.
Described control system includes robot body control system and remote control, and robot body control system receives remote control
The instruction of device completing corresponding action, simultaneously by the status information of itself and instruction feedback to remote control, remote control collection behaviour
Make the action of panel, edit instruction is sent to robot, receive state, the command information of robot simultaneously.
Beneficial effects of the present invention are：
(1) adopt continuous way move mode, translational speed is fast, and motion continuity is good, integrated symmetric formula structure, makes robot
Stable, mobile and cleaning process eccentric phenomena will not be formed；
(2) clean speed fast, clean thoroughly, the mode that cleans is simply light, can clean sub-pieces using single upper and lower
The structure on surface, increased the efficiency of cleaning, and sweeps mode using hairbrush is dry, reduce water rinse etc. the task difficulty of mode and
Workload；
(3) little to insulator coating abrasion, short circuit insulator number is few, and robot overall structure is equal with insulator contact
From insulant, farthest avoid the abrasion to antifouling flash coating layer on insulator porcelain patticoat；
(4) reliable lock, security protection is good, using circumference closed manners, increased the job stability of robot；Tool
There is adaptability, robot crawling mechanism axial actuating mechanism line space design is adjustable, cleaning agency upper and lower hairbrush line space design
For adjustable, and brush length can be changed, and is suitable for the cleaning work of the structure height insulator chain different with disk footpath；
(5), after being equipped with mobile platform and detection means, can be automated cleaning and zero resistance insulator detection operation.
Brief description
Fig. 1 is the 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 drive 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 drive mechanisms, 111 motors, 112 fixed frames, 120 drive mechanisms, 121
Driving gear, 122 driven gears, 123 fixing axles, 124 power transmission shafts, 130 driving paw mechanisms, 131 driving paws, 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 is big
Roller bearing group, 242 trundle bearing group, brush device on 250,251 steering engine seats, 252 steering wheels, 253 hair brush motor, 254 maos
Brush motor seat, on 255, motor cabinet connects, hairbrush on 256,257 reels, 260 times brush devices, and 261 times motor cabinet connects, and 262
Lower hairbrush, 300 retaining mechanisms, 301 foldings, 302 bearing pins, 303 handles, 400 testing agencies, 410 insulator detection device, 411
Fixed mount, 412 driving steering wheels, 413 swing arms, 414 crank connecting links, 415 rotary shafts, 416 detection probes, 420 photographic head, 430 limits
Position device, 500 control box, 600 insulators, 800 remote controls, 801 states receive, 802 instruction outputs, 803 guidance panels, and 804
Control signal gathers, 805 remote controller battery, 810 robot body control systems, 811 feedback of status, 812 state acquisitions, and 813
Execution action, 814 instruction feedbacks, 815 lithium dynamical batteries, 901 wireless data sending transceiver modules, 902 laser limit sensors, 903
Proximity switch, 904 resistance measurements, 905 cleaning motor drivers, 906 movable motor drivers, 907 detection probe wobble drive
Device.
Specific embodiment：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
The present invention creeps and in order to clean insulator chain on insulator chain, as shown in figure 1, robot generally circumferential
Structure, including climbing mechanism 100, cleaning agency 200, retaining mechanism 300, testing agency 400 and battery control system 500.Climb
Row mechanism 100 is coupled together by retaining mechanism 300 with cleaning agency 200, and testing agency 400 is arranged in retaining mechanism 300 1
Side, 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, surrounds insulator chain, can open
Close, be mainly made up of drive mechanism 110, bindiny mechanism 140 and some guide plates 150, drive mechanism 110 passes through bindiny mechanism
140 symmetrically connect, and symmetrical in sub-pieces sagittal plane, and each drive mechanism 110 corresponds to one group of guide plate 150, guiding
Plate 150 internal diameter laminating sub-pieces outside diameter.Drive mechanism 110 comprises motor 111, drive mechanism 120, drives paw
Mechanism 130 and fixed frame 112, motor 111 is arranged on inside fixed frame 112, drive mechanism 120, driving paw machine
Structure 130 is arranged on outside fixed frame 112, and fixed frame 112 is then arranged on the periphery of guide plate 150 formation.Every group of drive
Motivation structure 110 by least one motor 111 drive least one set drive paw 131 form, motor 111 output shaft with
Drive mechanism 120 connects, drive mechanism 120 be gear reduction unit device, mainly comprise driving gear 121, driven gear 122,
Fixing axle 123, power transmission shaft 124, drive mechanism 120 outfan drives paw mechanism 130 to be connected with both sides, drives paw 131 end
End is provided with roller 132, and roller 132 is free to rotate, and in crawling process, roller 132 is contacted with insulator 600.Bindiny mechanism
140 comprise vertical rack 141 and various ring support 142, connect each drive mechanism 110 and form an annular entirety, such as Fig. 2
Shown, vertical rack 141 connects axial actuating mechanism, and ring support 142 connects radial drive mechanism, and vertical rack 141 has
Adjust installing hole, axial actuating mechanism spacing adjustment can be carried out.
As shown in Figure 5, Figure 6, robot cleaning mechanism 200 is overall is also closed circumference shape structure, around insulator 600,
Can folding.Cleaning agency 200 mainly include symmetrical semi-disc 210, tooth bar symmetrical above and below 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 composition peripheral annular structures, are cleaning agency 200 sole plate, are provided with some guide posts 270 in its inner arc, its
Two sides are distributed with symmetrical rack guide rail 240 up and down, and rack guide rail 240 is by several big roller bearing group 241 and trundle
Bearing group 242 is formed, such as Fig. 5, and big roller bearing group 241 forms outer round guide in circumferencial direction, and trundle bearing group 242 is being justified
Circumferential direction forms interior round guide, and tooth bar 220 is limited in the guide level of regulation.Tooth bar 220 is semicircular structure, symmetrical point
About 210 both sides in semi-disc for cloth, and that is, rack guide rail 240 corresponds to a tooth bar 220 respectively up and down, in rack drives mechanism 230
In the presence of, the circular guideway that two tooth bars 220 can be formed along roller bearing group synchronizes circular motion.Each semi-disc 210
On least one set rack drives mechanism 230 is installed, when being designed as each semi-disc 210 and having a rack drives mechanism 230,
It is connected smoothly when through two rack drives mechanisms 230 for the semicircle tooth bar 220 of guarantee, the distribution of two rack drives mechanisms 230
Angle is less than 180 °.
As shown in fig. 6, rack drives mechanism 230 is fixed on semi-disc 210, rack drives mechanism 230 mainly includes tooth
Bar motor 231, symmetrical gear 233, gear shaft 234 and motor cabinet 232.Rack drives motor 231 is fixed on motor cabinet
On 232, motor cabinet 232 is fixed on semi-disc 210, and rack drives motor 231 output shaft is through gear shaft 234 and symmetrical gear
233 connections, symmetrical gear 233 is engaged with upper and lower two symmetrical racks 220 respectively, and rack drives motor 231 rotation can drive
Lower symmetrical rack 220 synchronizes circular motion.
As shown in Fig. 5, Fig. 7, Fig. 8, upper brush device 250 and lower brush device 260 are separately mounted to upper and lower tooth bar 220
On, each tooth bar 220 is provided with least two groups brush devices, because sub-pieces upper and lower surface shape is different, upper and lower brush machine
Structure is slightly different, and upper brush device 250 is by steering engine seat 251, steering wheel 252, hair brush motor 253, hair brush motor seat 254, upper motor
Seat connects 255, reel 257, upper hairbrush 256 and forms, lower brush device 260 by steering engine seat 251, steering wheel 252, hair brush motor 253,
Hair brush motor seat 254, lower motor cabinet connect 261, reel 257, lower hairbrush 262 forms.Hairbrush is divided into two kinds of upper and lower hairbrush, specifically
It is configured to conform to the structure that sub-pieces clean face.Hairbrush is connected to hair brush motor 253 by reel 257 and exports shaft end, hair
Brush motor 253 is fixed on inside hair brush motor seat 254, and is fastened on steering wheel 252 by motor cabinet, and steering wheel 252 passes through
Steering engine seat 251 is fixed on tooth bar 220, and when steering wheel 252 output shaft rotates, band electric brush swings in sub-pieces sagittal plane,
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, is hinging rotary center, robot is around this at one
Place carries out rotating folding, and another place is locking switch.Folding as Fig. 9 hinging rotary center rotates around hinge, and folding drives
About robot, two parts carry out folding, the functional unit such as configurable grip or suspension ring on retaining mechanism, and convenient working personnel remove
Transport and reach the standard grade.
As shown in Fig. 1, Fig. 3, Fig. 4, Fig. 5, testing agency of robot comprises photographic head, stopping means and isolator detecting dress
Put.Photographic head in order to monitor climbing mechanism and brush sweeper operation conditions, stopping means limit robot shift position and cleaning,
Test position, insulator detection device can detect insulator resistance and voltage.
As shown in Fig. 1, Figure 10 (a), (b), insulator detection device is mainly visited by probe driving mechanism, fixed mount and detection
Pin forms, and is arranged on cleaning agency side, and probe driving mechanism comprises to drive steering wheel, swing arm, crank connecting link, rotary shaft etc., inspection
At least two, probing pin, adjacent probe distance is two panels insulator axial length, and steering wheel output shaft rotates, that is, drive detection to visit
Pin swings back and forth, and beats on adjacent two panels insulator steel cap.
As shown in figure 11, robot control system is made up of remote control 800 and robot body 810.Remote control 800 passes through
Antenna is communicated with robot body 810, and remote control 800 can receive 801 by state and obtains the voltage of robot body, leads to
The information such as letter state, simultaneously remote control 800 include a guidance panel 803 for acquisition controlling signal 804, then pass through control
System instruction output 802 is sent to robot body 810.Robot body 810 receives execution action 813 after control signal, with
When oneself state is gathered by state acquisition 812, and remote control 800 is fed back to by state feedback unit 811.Robot simultaneously
Body 810 passes through instruction feedback unit 814 feedback command to remote control 800.
As shown in Figure 11, Figure 12, the control core of robot is MCU900, and wireless data sending transceiver module 901 will receive
Signal MCU900 is passed to by RS232, according to instruction come complete resistance measurement 904, drive clean motor, drive movable motor
906th, probe is driven to swing 907.Wherein controlled motor uses pwm signal.Robot itself is provided with the spacing sensing of laser
Device 902 and proximity switch 903, to know the position of oneself in real time.
The operation principle of the present invention：
When the present invention does not work, climbing mechanism, cleaning agency, testing agency are in original state, and climbing mechanism drives up and down
The driving paw of motivation structure is in vertical state, and cleaning agency tooth bar semicircle border and semi-disc semicircle overlapping margins are (as Fig. 5 institute
Show), upper and lower brush device is retracted to tangent and circumference guide rail direction (hairbrush position on the left of Fig. 5), and detection probe is also to receive
Return state (as shown in Figure 10 (a)), retaining mechanism is in closure state, robot generally circumference closure state.
Robot can adopt assembly pulley and hoisting mechanism, rises to shaft tower by retaining mechanism handle and other lifting part exhausted
Near edge substring, open robot battery control system, retaining mechanism is opened, retaining mechanism hinging rotary center can be herein
Simply hinged open-and-close mechanism, is also designed to motor etc. and drives folding rotation to complete robot opening and closing movement, accordingly, lock
Switch for locking can be for simple socket type structural it is also possible to be designed as Motor drive latch mode or using clamp lock etc..
Robot is advanced insulator chain using insulating bar and other aid, starts by adjustment robot aperture position
Closure switch, robot is locked on insulator chain, now climbing mechanism inner circle guide plate and cleaning agency inner circle guide post
Contact insulator chain around insulator chain periphery, adjustment climbing mechanism drive paw position so as to upper lower drive mechanism at least
The driving paw having one layer is overlapped on insulator chain upper surface, and now robot completes to be arranged on insulator chain.
When robot manipulating task starts, the upper lower drive mechanism alternating movement of climbing mechanism is controlled to complete crawling process, thereon
Stopping means be accurately controlled driving the paw anglec of rotation, positioning clean and test position.Make a reservation for clearly when robot moves to
When sweeping position, cleaning program starts, and carries out cleaning work, brush device steering wheel axle rotation up and down first, and upper and lower hairbrush is put
Move to sub-pieces disk footpath, make hairbrush axis point to insulator chain axis, next the built-in electric rotating machine of hairbrush starts up and down,
Drive upper and lower hairbrush rotation respectively, be now only completed the spinning movement of hairbrush, then rack drives mechanism motor starts, in drive
Symmetrical gear synchronous rotary down, then the tooth bar symmetrical above and below engaging with gear symmetrical above and below i.e. in the range of rack guide rail circumferentially
Motion, drives upper and lower hairbrush to carry out cleaning work around sub-pieces.Least one set rack drives are provided with each semi-disc
Mechanism, when being designed as each semi-disc and having a rack drives mechanism, for ensureing semicircle tooth bar through two rack drives
It is connected smoothly during mechanism, the distribution angle of two rack drives mechanisms is less than 180 °, now clean sub-pieces hairbrush and need to carry out coming
Return rotation twice and complete cleaning work, if being more than two groups of teeth bar drive mechanism in whole circumference direction arrangement, hairbrush carries out one
Secondary 360 ° of rotations can complete the cleaning work of sub-pieces one circle.
Complete a piece of insulator cleaning operation, hair brush motor shuts down, and hairbrush is swung back initial position, tooth by hairbrush steering wheel
Bar drive mechanism rotates tooth bar to initial position, and climbing mechanism starts, and upper lower drive mechanism interoperation band mobile robot moves
Move under a piece of cleaning sub-pieces, under stopping means effect, reach predetermined clean position, then cleaning agency drives operation
Program, the cleaning of a piece of insulator under carrying out.So come and go work flow, be finally completed the cleaning work of bunch of insulator.
Robot, in addition to carrying out cleaning work, also can carry out detection operation, and the photographic head comprising thereon is creeped in order to monitor
Mechanism and brush sweeper operation conditions, stopping means limit robot shift position and cleaning, test position, and isolator detecting fills
Put the detection that can carry out insulator resistance and voltage.These detection means can be with monitoring robot operation conditions, insulator string list
Facial cleft stricture of vagina and filth, surrounding gold utensil, judge that extreme position and detection obtain sub-pieces corresponding data.
The present invention adopts continuous way move mode, and translational speed is fast, and motion continuity is good, integrated symmetric formula structure, will not
Form mobile and cleaning process eccentric phenomena；Clean speed fast, clean thoroughly, clean mode simply light, it is to avoid water flushing
Task difficulty and workload etc. mode；Little to insulator coating abrasion, it is to avoid the mill to antifouling flash coating layer on insulator porcelain patticoat
Damage；Reliable lock, security protection is good, using circumference closed manners, increased the job stability of robot；Have and be suitable for
Property, 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, and is suitable for the cleaning work of the structure height insulator chain different with disk footpath, and can be for insulation
Substring carries out resistance and voltage detecting, judges that sub-pieces are good and bad.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not model is protected to the present invention
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay the various modifications that creative work can make or deformation still within protection scope of the present invention.
Claims (8)
1. a kind of insulator cleaning robot system, is characterized in that：Including climbing mechanism, cleaning agency, retaining mechanism, testing machine
Structure and battery 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, cleaning agency is disposed with up and down
Tooth bar symmetrical above and below, tooth bar is provided with upper and lower brush device, and upper brush device is arranged on upper rack, and lower brush device is installed
On lower tooth bar, each tooth bar is provided with least two groups brush devices, upper and lower hairbrush spacing is adjustable, and brush length is replaceable；
Described retaining mechanism is uniformly arranged on climbing mechanism, and described climbing mechanism is connected with cleaning agency by retaining mechanism；Detection
Arrangement of mechanism is installed on climbing mechanism in retaining mechanism side, battery control system；
Described upper and lower brush device, including steering engine seat, steering wheel, hair brush motor, hair brush motor seat, motor cabinet connection, reel and hair
Brush, described hairbrush is divided into two kinds of upper and lower hairbrush；Hairbrush is connected to hair brush motor by reel and exports shaft end, and hair brush motor is fixed
Inside hair brush motor seat, and it is fastened on steering wheel by motor cabinet, steering wheel is fixed on tooth bar by steering engine seat, works as rudder
During arbor rotation, band electric brush swings in sub-pieces sagittal plane, and when hair brush motor axle rotates, band electric brush is along own axes
Carry out rotation；
Described climbing mechanism includes drive mechanism, bindiny mechanism and several guide plates, and wherein, described drive mechanism is upper and lower two
Layer arrangement, axial spacing is adjustable, and guide plate uniform circular is distributed on climbing mechanism, between drive mechanism by bindiny mechanism even
Connect, guide plate is fixed on the inner side of drive mechanism；
Described drive mechanism is arranged symmetrically in sub-pieces sagittal plane, and is Synchronization Control, and drive mechanism includes driving electricity
Machine, drive mechanism, driving paw mechanism and fixed frame, driving motor output shaft is connected with drive mechanism, and drive mechanism is tooth
Wheel decelerator device, including main driven gear group, fixing axle and power transmission shaft, drive mechanism outfan connects with driving paw mechanism
Connect, motor is arranged on inside fixed frame, drive mechanism, driving paw mechanism are arranged on outside fixed frame, described drive
Dynamic paw mechanism is symmetrically distributed in motor both sides, and there is roller paw end, drives paw alternating action up and down.
2. a kind of insulator cleaning robot system as claimed in claim 1, is characterized in that：Described bindiny mechanism is vertically to prop up
Frame and various ring support, connect each drive mechanism and form an annular entirety, vertical rack connects axial actuating mechanism, ring
Shape support connects radial drive mechanism, vertical rack has regulation installing hole, can carry out axial actuating mechanism spacing adjustment.
3. a kind of insulator cleaning robot system as claimed in claim 1, is characterized in that：Described cleaning agency, including left
Right symmetrical semi-circular disk, tooth bar symmetrical above and below, rack drives mechanism, rack guide rail, upper and lower brush device and some guide posts, its
In, described semi-disc is cleaning agency sole plate, forms peripheral annular structure by symmetrical two semicircle disk bodies, inside it
Some guide posts are installed in circular arc, semi-disc is provided with rack guide rail, described rack guide rail is structure symmetrical above and below, if by
A dry size roller bearing group is formed, in the presence of rack drives mechanism, the circular guideway that tooth bar is formed along roller bearing group
Carry out circular motion；Brush device is separately mounted on upper and lower tooth bar up and down, and each tooth bar is provided with least two groups brush machines
Structure.
4. a kind of insulator cleaning robot system as claimed in claim 3, is characterized in that：Described guide post is insulating properties material
Material, and guiding pole 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.
5. a kind of insulator cleaning robot system as claimed in claim 3, is characterized in that：Described rack drives mechanism is fixed
On semi-disc, each semi-disc is provided with least one set rack drives mechanism, has a tooth when being designed as each semi-disc
During bar drive mechanism, it is connected smoothly when through two rack drives mechanisms for the semicircle tooth bar of guarantee, two rack drives mechanisms
Distribution angle is less than 180 °.
6. a kind of insulator cleaning robot system as claimed in claim 3, is characterized in that：Described rack drives mechanism, bag
Include rack drives motor, symmetrical gear, gear shaft and motor cabinet；Rack drives motor is fixed on motor cabinet, and motor cabinet is fixed
On semi-disc, rack drives motor output shaft is connected with symmetrical gear through gear shaft, and symmetrical gear is right with upper and lower two respectively
Claim tooth bar cooperation, when motor axle rotates, tooth bar symmetrical above and below can synchronously carry out circumferential movement.
7. a kind of insulator cleaning robot system as claimed in claim 1, is characterized in that：Described testing agency is in order to monitor
Robot operation conditions, insulator chain face crack and filth, surrounding gold utensil, judge extreme position and detection corresponding data, bag
Containing photographic head, stopping means and insulator detection device；Insulator detection device includes probe driving mechanism, fixed mount and detection
Probe, described probe driving mechanism comprises to drive steering wheel, swing arm, crank connecting link and rotary shaft, drives detection probe to swing back and forth,
Described detection probe at least two, adjacent probe distance is two panels insulator axial length.
8. a kind of insulator cleaning robot system as claimed in claim 1, is characterized in that：Described battery control system includes
Robot body control system and remote control, robot body control system receives the instruction of remote control completing to move accordingly
Make, simultaneously by the status information of itself and instruction feedback to remote control, the action of remote control acquisition operations panel, edit instruction is sent out
Give robot, receive state, the command information of robot simultaneously.
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| CN201410713395.XA CN104438165B (en) | 2014-11-28 | 2014-11-28 | Insulator cleaning robot system |
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| CN104438165B true CN104438165B (en) | 2017-02-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108714583A (en) * | 2018-06-08 | 2018-10-30 | 山东鲁能智能技术有限公司 | Substation's support insulator live cleaning system |
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| CN104438164B (en) * | 2014-11-28 | 2017-02-22 | 国家电网公司 | Insulator cleaning robot |
| WO2016082805A1 (en) * | 2014-11-28 | 2016-06-02 | 国家电网公司 | Insulator cleaning robot |
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| CN107257103B (en) * | 2017-06-12 | 2018-08-03 | 国网山东省电力公司平原县供电公司 | Voltage for Insulators on HV Lines automatic cleaning tool |
| CN107716360B (en) * | 2017-11-28 | 2023-03-10 | 国网河南省电力公司巩义市供电公司 | Automatic cleaning device of insulator |
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| KR100589635B1 (en) * | 2004-10-08 | 2006-06-14 | (주)대홍전력 | The connection structure of robot frame to clear an insulator |
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| CN204276402U (en) * | 2014-11-28 | 2015-04-22 | 国家电网公司 | A kind of insulator cleaning robot |
| CN104438164B (en) * | 2014-11-28 | 2017-02-22 | 国家电网公司 | Insulator cleaning robot |
| CN204276404U (en) * | 2014-11-28 | 2015-04-22 | 国家电网公司 | A kind of insulator cleaning robot system |
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| CN108714583A (en) * | 2018-06-08 | 2018-10-30 | 山东鲁能智能技术有限公司 | Substation's support insulator live cleaning system |
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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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