CN107570452B

CN107570452B - Robot capable of automatically cleaning insulator under high-voltage electrification

Info

Publication number: CN107570452B
Application number: CN201710991990.3A
Authority: CN
Inventors: 刘铭光; 吕守国; 高铨卿
Original assignee: Shandong Lingneng Electric Power Engineering Co ltd
Current assignee: Tengzhou City Zhixing Electric Power & Electronic Engineering Co ltd
Priority date: 2017-10-13
Filing date: 2017-10-13
Publication date: 2023-06-06
Anticipated expiration: 2037-10-13
Also published as: CN107570452A

Abstract

The invention discloses a robot for automatically cleaning an insulator under high-voltage electrification, which comprises an insulator, an active clamping device, a cleaning clamping device, a transverse transmission device and a cleaning device, wherein the active clamping device and the cleaning clamping device are arranged on the outer side of the insulator, the active clamping device is connected with the cleaning clamping device through the transverse transmission device, the cleaning device is arranged at one end of the cleaning clamping device, the active clamping device and the cleaning clamping device are respectively composed of a supporting plate, a supporting column, a mounting plate, a top plate, a screw rod, a longitudinal sliding rod, a stepping motor, a driving belt pulley, a driven belt pulley, a belt, a connecting rod, a rotating shaft, a driving sliding block, a driven sliding block, a rocker arm, a sliding rail, a U-shaped plate and a clamping plate, the supporting columns are respectively fixed at four corners of the top of the supporting plate, the robot for cleaning the insulator can clean the insulator in a working state, the practicability is stronger, and the two cleaning devices are mutually matched, so that no dead angle is formed on the insulator.

Description

Robot capable of automatically cleaning insulator under high-voltage electrification

Technical Field

The invention relates to the field of insulator maintenance equipment, in particular to a robot capable of automatically cleaning an insulator under high-voltage electrification.

Background

The insulator is a special insulation control and can play an important role in overhead transmission lines. The insulator is mainly used for telegraph poles in early years, and a plurality of disc-shaped insulators are hung at one end of a high-voltage wire connecting tower, so that the creepage distance is increased, and the insulator is usually made of glass or ceramic. The insulator should not fail due to various electromechanical stresses caused by changes in environmental and electrical load conditions, otherwise the insulator will not have a significant effect, which would impair the service and operational life of the entire line.

After one end of the outdoor use of the insulator is finished, the surface of the insulator can fall with one layer of dust, so that the use effect of the insulator is reduced, a certain potential safety hazard exists, most of the existing insulator cleaning devices cannot clean the insulator in a working state, and even if the insulator cleaning devices can clean the insulator, the cleaning effect is poor.

Disclosure of Invention

The invention aims to provide a robot for automatically cleaning an insulator under high-voltage electrification so as to solve the problems in the background technology.

In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a robot of high-voltage electrified automatic cleaning insulator, includes insulator, initiative clamping device, cleans clamping device, horizontal transmission and cleaning device, initiative clamping device and cleaning clamping device are installed in the outside of insulator, initiative clamping device passes through horizontal transmission with cleaning clamping device and is connected, cleaning device is installed to cleaning clamping device's one end.

Further, initiative clamping device and cleaning clamping device comprise backup pad, support column, mounting panel, roof, lead screw, vertical slide bar, step motor, driving pulley, driven pulley, belt, connecting rod, pivot, initiative slider, driven slider, rocking arm, slide rail, U shaped plate and splint, the top four corners of backup pad all is fixed with the support column, the top of support column is fixed with the mounting panel, be equipped with the roof directly over the mounting panel, be equipped with lead screw and vertical slide bar between roof and the mounting panel, the both ends of lead screw all rotate with roof and mounting panel through the bearing respectively and be connected, the both ends of vertical slide bar respectively with roof and mounting panel fixed connection, one side that the roof is close to the mounting panel is fixed with step motor, step motor's output shaft end is fixed with the driving pulley, the outside of lead screw cup joints and is fixed with driven pulley, driven pulley passes through the belt and is connected with the driving pulley, step motor's corresponding both sides are equipped with connecting rod and pivot, the both ends of connecting rod respectively with initiative slider and driven slider fixed connection, the rocking arm is all installed at the both ends of initiative slider, both ends respectively with the rocker arm on the mounting panel, both ends are equipped with the rocking arm and driven slider fixed connection through the rocking arm, the rocking arm is equipped with the bearing, the U shaped plate is fixed with the pivot, the top is connected with the rocker.

Further, horizontal transmission comprises servo motor, fixed block, internal thread slider, lead screw, horizontal slide bar, control box and control panel, mounting panel bottom on the initiative clamping device is fixed with servo motor and fixed block, the mounting panel bottom on the sweeping clamping device is fixed with the internal thread slider, servo motor's output shaft passes the fixed block and passes through the one end fixed connection of shaft coupling and lead screw, and servo motor's output shaft and the junction of fixed block pass through the bearing and rotate to be connected, the other end of lead screw passes the internal thread slider and expose in the air, and the junction of lead screw and internal thread slider passes through the screw thread meshing and be connected, the top symmetry of roof is equipped with horizontal slide bar, two U-shaped plates on the initiative clamping device are passed in proper order to horizontal slide bar and the U-shaped plate fixed connection on the initiative clamping device, the other end of horizontal slide bar passes two U-shaped plates on the sweeping clamping device in proper order, and horizontal slide bar and the U-shaped plate sliding connection on the sweeping clamping device, the backup pad top on the sweeping clamping device is fixed with the control box, the control box passes through wire and connects the control panel, electric connection servo motor control panel.

Further, the control board is electrically connected with the stepping motor.

Further, cleaning device comprises arc rack, I shape slide rail, slide, sliding sleeve, driving motor, drive gear, motor, driving gear, driven gear, round pin axle and brush, the splint outside on the cleaning clamping device is fixed with the arc rack, the one end of splint on the cleaning clamping device is fixed with I shape slide rail, the one end of slide is fixed with the sliding sleeve, the sliding sleeve cover is established in the I shape slide rail, the top of slide is fixed with driving motor, driving motor's output shaft is fixed with drive gear, drive gear meshes with the arc rack, the top center of slide is fixed with the motor, the output shaft of motor passes slide and the driving gear fixed connection who sets up in the slide bottom, the bottom four corners of slide all is provided with driven gear, driven gear passes through the round pin axle and is connected with the slide rotation, driven gear meshes with driving gear, driven gear is fixed with the brush in one side that the slide is kept away from, electric connection driving motor and motor.

Compared with the prior art, the invention has the beneficial effects that: according to the invention, the stepping motor on the driving clamping device is controlled to rotate through the operation control board, the stepping motor drives the screw rod to rotate through the driving belt pulley, the driven belt pulley and the belt, the driving slide block and the connecting rod are further enabled to move upwards, one end of the rocker arm is enabled to lift upwards by the connecting rod, the other end of the rocker arm moves towards the insulator, the clamping plate clamps the insulator, after clamping, the servo motor is enabled to rotate through the operation control board, the servo motor drives the screw rod to rotate, the cleaning clamping device and the cleaning device are enabled to move transversely together, when the cleaning clamping device moves to a certain position, the operation control board enables the stepping motor on the cleaning clamping device to start, the cleaning clamping device and the insulator are enabled to be fixed relatively, after fixing is completed, the operation control board controls the driving motor and the motor to start, the driving gear is driven to rotate by the motor, the driving gear drives the driven gear and the brush to rotate together, the driving gear drives the driving gear to rotate by the driving gear, the driving gear is meshed with the arc-shaped rack, the cleaning device is driven to reciprocate around the rotation center line of the insulator by the output shaft of the driving motor, and the cleaning device is enabled to clean the insulator.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the structure of the active gripping device, the sweeping gripping device, the transverse transmission device and the sweeping device of the present invention;

FIG. 3 is a schematic view of the structure of the area A of the present invention;

FIG. 4 is a schematic view of the cleaning apparatus of the present invention;

FIG. 5 is a schematic view of the structure of the B region of the present invention;

FIG. 6 is a schematic view of the sweeping clamp device and sweeping device of the present invention;

FIG. 7 is a bottom view of the cleaning clamp and cleaning device of the present invention;

FIG. 8 is a schematic view of the position of the I-shaped slide rail and slide sleeve of the present invention;

reference numerals in the drawings: 1. an insulator; 2. an active clamping device; 3. a cleaning and clamping device; 4. a transverse transmission device; 5. a cleaning device; 6. a support plate; 7. a support column; 8. a mounting plate; 9. a top plate; 10. a screw rod; 11. a longitudinal slide bar; 12. a stepping motor; 13. a driving pulley; 14. a driven pulley; 15. a belt; 16. a connecting rod; 17. a rotating shaft; 18. a driving slide block; 19. a driven slide block; 20. a rocker arm; 21. a slide rail; 22. a U-shaped plate; 23. a clamping plate; 24. a servo motor; 25. a fixed block; 26. an internal thread slider; 27. a screw rod; 28. a transverse slide bar; 29. a control box; 30. a control board; 31. an arc-shaped rack; 32. i-shaped slide rail; 33. a slide plate; 34. a sliding sleeve; 35. a driving motor; 36. a drive gear; 37. a motor; 38. a drive gear; 39. a driven gear; 40. a pin shaft; 41. a brush.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-8, the invention provides a robot for automatically cleaning an insulator under high voltage electrification, which comprises an insulator 1, an active clamping device 2, a cleaning clamping device 3, a transverse transmission device 4 and a cleaning device 5, wherein the active clamping device 2 and the cleaning clamping device 3 are arranged on the outer side of the insulator 1, the active clamping device 2 is connected with the cleaning clamping device 3 through the transverse transmission device 4, and the cleaning device 5 is arranged at one end of the cleaning clamping device 3.

Further, the driving clamping device 2 and the cleaning clamping device 3 are composed of a supporting plate 6, a supporting column 7, a mounting plate 8, a top plate 9, a screw rod 10, a longitudinal sliding rod 11, a stepping motor 12, a driving pulley 13, a driven pulley 14, a belt 15, a connecting rod 16, a rotating shaft 17, a driving sliding block 18, a driven sliding block 19, a rocker arm 20, a sliding rail 21, a U-shaped plate 22 and a clamping plate 23, the supporting column 7 is fixed at four corners of the top of the supporting plate 6, the mounting plate 8 is fixed at the top end of the supporting column 7, the top plate 9 is arranged right above the mounting plate 8, the screw rod 10 and the longitudinal sliding rod 11 are arranged between the top plate 9 and the mounting plate 8, two ends of the screw rod 10 are respectively connected with the top plate 9 and the mounting plate 8 in a rotating way through bearings, two ends of the longitudinal sliding rod 11 are respectively connected with the top plate 9 and the mounting plate 8 in a fixed way, one side of the top plate 9 close to the mounting plate 8 is fixed with the stepping motor 12, the end part of the output shaft of the stepping motor 12 is fixed with a driving belt pulley 13, the outer side of the screw rod 10 is sleeved and fixed with a driven belt pulley 14, the driven belt pulley 14 is connected with the driving belt pulley 13 through a belt 15, two corresponding sides of the stepping motor 12 are provided with a connecting rod 16 and a rotating shaft 17, two ends of the connecting rod 16 are respectively fixedly connected with a driving slide block 18 and a driven slide block 19, two ends of the driving slide block 18 and two ends of the driven slide block 19 are respectively provided with a rocker arm 20, two ends of the rotating shaft 17 are respectively fixedly connected with a rocker arm 20 on the driving slide block 18 and a rocker arm 20 on the driven slide block 19, one end of the rocker arm 20 is provided with a sliding rail 21, the connecting rod 16 is arranged in the sliding rail 21, the top of the top plate 9 is symmetrically fixed with a U-shaped plate 22, two ends of the U-shaped plate 22 are respectively rotatably connected with the rotating shaft 17 through bearings, the other end of the rocker arm 20 is hinged with a clamping plate 23, the active clamping device 2 and the cleaning clamping device 3 can be fixed with the insulator 1.

Further, the transverse transmission device 4 is composed of a servo motor 24, a fixed block 25, an internal thread sliding block 26, a lead screw 27, a transverse sliding rod 28, a control box 29 and a control board 30, wherein the servo motor 24 and the fixed block 25 are fixed at the bottom of the mounting plate 8 on the driving clamping device 2, the internal thread sliding block 26 is fixed at the bottom of the mounting plate 8 on the cleaning clamping device 3, an output shaft of the servo motor 24 penetrates through the fixed block 25 and is fixedly connected with one end of the lead screw 27 through a coupler, the connecting part of the output shaft of the servo motor 24 and the fixed block 25 is rotationally connected through a bearing, the other end of the lead screw 27 penetrates through the internal thread sliding block 26 and is exposed in the air, the connecting part of the lead screw 10 and the internal thread sliding block 26 is in threaded engagement connection, the top of the top plate 9 is symmetrically provided with the transverse sliding rod 28, one end of the transverse sliding rod 28 sequentially penetrates through two U-shaped plates 22 on the driving clamping device 2, the transverse sliding rod 28 is fixedly connected with the U-shaped plates 22 on the driving clamping device 2, the other end of the transverse sliding rod 28 sequentially penetrates through the two U-shaped plates 22 on the clamping device 3, the transverse sliding rod 28 is in sliding connection with the U-shaped plates 22 on the cleaning device 3, the top of the supporting plate 6 on the clamping device 3 is fixedly connected with the control box 29 on the clamping device 3 through the lead screw, the control box 29 is in electric connection with the control board, and the control board is electrically connected with the control board 3, so that the cleaning device can be electrically connected with the cleaning device through the control board and the cleaning device through the control box 30.

Further, the control board 30 is electrically connected to the stepper motor 12, and controls the stepper motor 12 to rotate.

Further, the cleaning device 5 is composed of an arc-shaped rack 31, an I-shaped slide rail 32, a sliding plate 33, a sliding sleeve 34, a driving motor 35, a driving gear 36, a motor 37, a driving gear 38, a driven gear 39, a pin shaft 40 and a brush 41, wherein the arc-shaped rack 31 is fixed on the outer side of a clamping plate 23 on the cleaning clamping device 3, the I-shaped slide rail 32 is fixed at one end of the clamping plate 23 on the cleaning clamping device 3, the sliding sleeve 34 is fixed at one end of the sliding plate 33, the sliding sleeve 34 is sleeved in the I-shaped slide rail 32, the driving motor 35 is fixed at the top of the sliding plate 33, the driving gear 36 is fixed on an output shaft of the driving motor 35, the driving gear 36 is meshed with the arc-shaped rack 31, the motor 37 is fixed at the center of the top of the sliding plate 33, the output shaft of the motor 37 penetrates through the sliding plate 33 and is fixedly connected with the driving gear 38 arranged at the bottom of the sliding plate 33, the driven gear 39 is rotatably connected with the sliding plate 33 through the pin shaft 40, the driven gear 39 is meshed with the driving gear 38, the brush 41 is fixed at one side of the driven gear 39 far away from the sliding plate 33, and the control board 30 is electrically connected with the driving motor 35 and the motor 37, and dust on the surface of the insulator 1 is cleaned.

Based on the above, the invention has the advantages that the stepping motor 12 on the driving clamping device 2 is controlled to rotate by the operation control board 30, the stepping motor 12 drives the screw rod 10 to rotate by the driving pulley 13, the driven pulley 14 and the belt 15, the driving sliding block 18 and the connecting rod 16 are further moved upwards, the connecting rod 16 enables one end of the rocker arm 20 to be lifted upwards, the other end of the rocker arm 20 moves towards the insulator 1, the clamping plate 23 clamps the insulator 1, after clamping, the servo motor 24 is driven to rotate by the operation control board 30, the screw rod 27 is driven to rotate by the servo motor 24, the cleaning clamping device 3 and the cleaning device 5 are further moved transversely together, when moving to a certain position, the stepping motor 12 on the cleaning clamping device 3 is started by the operation control board 30, and then make cleaning clamping device 3 and insulator 1 relatively fixed, operation control panel 30 control driving motor 35 and motor 37 start after the fixing is accomplished, motor 37 drives driving gear 38 and rotates, driving gear 38 drives driven gear 39 and brush 41 and rotates together, driving motor 35 drives driving gear 36 and rotates, driving gear 36 meshes with arc rack 31, drive cleaning device 5 through the positive and negative rotation of driving motor 35's output shaft and reciprocate around the rotation central line of insulator 1, clean insulator 1, this robot that cleans the insulator can clean the insulator when insulator 1 is in operating condition, the practicality is stronger, two cleaning device 5 cooperate each other, clean insulator 1 does not have the dead angle.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a robot that high-voltage electrified automatically cleans insulator, includes insulator (1), initiative clamping device (2), cleans clamping device (3), transverse transmission device (4) and cleaning device (5), its characterized in that: an active clamping device (2) and a cleaning clamping device (3) are arranged on the outer side of the insulator (1), the active clamping device (2) is connected with the cleaning clamping device (3) through a transverse transmission device (4), and a cleaning device (5) is arranged at one end of the cleaning clamping device (3);

the driving clamping device (2) and the cleaning clamping device (3) are composed of a supporting plate (6), a supporting column (7), a mounting plate (8), a top plate (9), a screw rod (10), a longitudinal sliding rod (11), a stepping motor (12), a driving pulley (13), a driven pulley (14), a belt (15), a connecting rod (16), a rotating shaft (17), a driving sliding block (18), a driven sliding block (19), a rocker arm (20), a sliding rail (21), a U-shaped plate (22) and a clamping plate (23), the supporting column (7) is fixed at four corners of the top of the supporting plate (6), the mounting plate (8) is fixed at the top end of the supporting column (7), the top plate (8) is provided with the top plate (9) right above the mounting plate (8), the screw rod (10) and the longitudinal sliding rod (11) are arranged between the top plate (9) and the mounting plate (8), two ends of the screw rod (10) are respectively connected with the top plate (9) and the mounting plate (8) in a rotating manner through bearings, two ends of the longitudinal sliding rod (11) are respectively fixedly connected with the top plate (9) and the mounting plate (8), one side of the top plate (9) close to the stepping motor (8) is fixed with the mounting plate (12), the driving belt pulley (13) is fixed at the end part of an output shaft of the stepping motor (12), the driven belt pulley (14) is fixedly sleeved at the outer side of the screw rod (10), the driven belt pulley (14) is connected with the driving belt pulley (13) through a belt (15), connecting rods (16) and rotating shafts (17) are arranged at two corresponding sides of the stepping motor (12), two ends of each connecting rod (16) are fixedly connected with a driving sliding block (18) and a driven sliding block (19) respectively, rocker arms (20) are respectively mounted at two ends of each driving sliding block (18) and each driven sliding block (19), two ends of each rotating shaft (17) are respectively fixedly connected with rocker arms (20) on the driving sliding blocks (18) and rocker arms (20) on the driven sliding blocks (19), sliding rails (21) are arranged at one ends of each rocker arms (20), U-shaped plates (22) are symmetrically fixed at the top of each top plate (9), two ends of each U-shaped plate (22) are rotatably connected with the corresponding rotating shafts (17) through bearings, and clamping plates (23) are hinged to the other at the other ends of each rocker arms (20).

The transverse transmission device (4) consists of a servo motor (24), a fixed block (25), an internal thread sliding block (26), a lead screw (27), a transverse sliding rod (28), a control box (29) and a control board (30), wherein the bottom of a mounting plate (8) on the driving clamping device (2) is fixedly provided with the servo motor (24) and the fixed block (25), the bottom of the mounting plate (8) on the cleaning clamping device (3) is fixedly provided with the internal thread sliding block (26), an output shaft of the servo motor (24) penetrates through the fixed block (25) to be fixedly connected with one end of the lead screw (27) through a coupler, the connection part of the output shaft of the servo motor (24) and the fixed block (25) is rotationally connected through a bearing, the other end of the lead screw (27) penetrates through the internal thread sliding block (26) to be exposed in the air, the connection part of the lead screw (10) and the internal thread sliding block (26) through thread engagement, the top of the top plate (9) is symmetrically provided with the transverse sliding rod (28), one end of the transverse sliding rod (28) penetrates through two U (22) on the driving clamping device (2) in turn, and the connecting plate (22) on the driving clamping device (2) and the transverse sliding rod (28) in turn, the other end of the transverse sliding rod (28) sequentially penetrates through two U-shaped plates (22) on the cleaning and clamping device (3), the transverse sliding rod (28) is in sliding connection with the U-shaped plates (22) on the cleaning and clamping device (3), a control box (29) is fixed at the top of a supporting plate (6) on the cleaning and clamping device (3), the control box (29) is connected with a control board (30) through a wire, and the control board (30) is electrically connected with a servo motor (24);

the control board (30) is electrically connected with the stepping motor (12);

the cleaning device (5) consists of an arc-shaped rack (31), an I-shaped sliding rail (32), a sliding plate (33), a sliding sleeve (34), a driving motor (35), a driving gear (36), a motor (37), a driving gear (38), a driven gear (39), a pin shaft (40) and a hairbrush (41), wherein the arc-shaped rack (31) is fixed on the outer side of a clamping plate (23) on the cleaning clamping device (3), the I-shaped sliding rail (32) is fixed at one end of the clamping plate (23) on the cleaning clamping device (3), the sliding sleeve (34) is fixed at one end of the sliding plate (33), the sliding sleeve (34) is sleeved in the I-shaped sliding rail (32), the driving motor (35) is fixed at the top of the sliding plate (33), the driving gear (36) is fixed at the output shaft of the driving motor (35), the driving gear (36) is meshed with the arc-shaped rack (31), the motor (37) is fixed at the center of the top of the sliding plate (33), the output shaft of the motor (37) penetrates through the sliding plate (33) and is fixedly connected with the driving gear (38) arranged at the bottom of the sliding plate (33), the driven gear (39) is rotationally connected with the sliding plate (33) through a pin shaft (40), the driven gear (39) is meshed with the driving gear (38), a hairbrush (41) is fixed on one side, far away from the sliding plate (33), of the driven gear (39), and the control board (30) is electrically connected with the driving motor (35) and the motor (37).