CN108971043A - A kind of support insulator live cleaning system and method - Google Patents
A kind of support insulator live cleaning system and method Download PDFInfo
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- CN108971043A CN108971043A CN201811065830.7A CN201811065830A CN108971043A CN 108971043 A CN108971043 A CN 108971043A CN 201811065830 A CN201811065830 A CN 201811065830A CN 108971043 A CN108971043 A CN 108971043A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 167
- 239000012212 insulator Substances 0.000 title claims abstract description 100
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 60
- 238000004891 communication Methods 0.000 claims abstract description 37
- 239000000428 dust Substances 0.000 claims description 47
- 230000033001 locomotion Effects 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000010926 purge Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000009422 external insulation Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000011109 contamination Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000035800 maturation Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 101000711475 Homo sapiens Serpin B10 Proteins 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 102100034012 Serpin B10 Human genes 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000004062 sedimentation Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- 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
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
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- Cleaning In General (AREA)
Abstract
The invention discloses a kind of support insulator live cleaning system and method, system includes cleaning module, transmission module and ground system；Cleaning module includes recognition unit, control unit, cleaning unit and SMART SKIN；SMART SKIN is cylindric and can open and close on one side along barrel；Recognition unit, cleaning unit and SMART SKIN are electrically connected with control unit；Transmission module one end is fixedly connected with cleaning module, and the other end is fixedly connected with ground system；Ground system includes ground control module and carrier trolley；Transmission module and ground control module are electrically connected；Control unit and ground control module communication connection.Ground system is moved near support insulator to be cleaned by carrier trolley, and transmission module drives cleaning module to move up and down；Recognition unit identification cleans the relative position of module and support insulator to be cleaned；After alignment, cleaning unit cleans support insulator to be cleaned.The present invention can not influence to power when support insulator cleans, and save manpower.
Description
Technical field
The invention belongs to electric power project engineering field more particularly to a kind of support insulator live cleaning system and methods.
Background technique
Support insulator is the common external insulation equipment of substation, not only to bear the effect of working voltage, usually go back
It will be as the mechanical support of electrical equipment.Therefore, safe and stable operation is paid close attention to by run unit.China is most at present
Substation still using outdoor substation, all external insulation equipments be substantially it is exposed in air, by atmospheric sedimentation particle,
The effect of the factors such as droplet and wind, support insulator full skirt surface, which will unavoidably accumulate, covers dunghill, meets with drizzle, dense fog
Or the wet weathers such as condensation, support insulator surface filth object form wet pollution layer, and conductivity sharply increases, under working voltage,
Its leakage current increases rapidly, and may cause pollution flashover, in turn result in power outage.Especially in the weight such as heavy industrial district, mining area
Polluted area or neighbouring outdoor substation, support insulator surface contamination speed and contamination degree far surpass other regions；Separately
On the one hand, the support insulator of substation once puts into operation, and the later period is difficult to replace it, and with the hair of China's economy
Exhibition, the area Zhong Chongwu area increase sharply, and the external insulation design of early stage substation has been unable to meet existing dirty area to equipment outer insulation
Requirement.Therefore, in the process of running, need periodically to clean support insulator in substation, to avoid equipment because of product
Dirt is overweight to cause pollution flashover accident.However, as user requires power supply reliability higher and higher, the off interval week of substation
The problem of phase is increasingly longer, brings is exactly that the dunghill on support insulator full skirt surface can not be cleared up in time, is met with not
Pollution flashover may be caused when sharp weather；On the other hand, it is cleaned even if having a power failure, it is also desirable to expend a large amount of human resources and insulate by branch
Full skirt wipes son piecewise.
Therefore, it is necessary to design it is a kind of can improve power supply reliability, save the support insulator live cleaning of human resources
System and its application method.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of post insulator subband for defect existing for known technology
Electric purging system and method can not only reduce power off time, improve power supply reliability, save human resources, can also shorten clear
It sweeps the period, ensures that equipment operates normally.
The technical solution provided by the present invention is:
A kind of support insulator live cleaning system, including clean module 1, transmission module 2 and ground system 3；
The cleaning module 1 includes that recognition unit 12, control unit 13, communication unit 14, cleaning unit 15 and intelligence are outer
Shell 16；The SMART SKIN 16 is cylindric and can open and close on one side along barrel；The recognition unit 12, control unit 13, communication
Unit 14 and 15 integrated installation of cleaning unit are in the inside of SMART SKIN 16；The recognition unit 12, cleans list at communication unit 14
Member 15 and SMART SKIN 16 are electrically connected with control unit 13；
The upper end of the transmission module 2 is fixedly connected with the axis side central location for cleaning the folding of 1 SMART SKIN 16 of module, peace
On the one hand symmetrical above and below mounted in central location, another aspect left-right balance does not influence shell folding；The lower end of transmission module 2 is solid
Surely ground system 3 is connected；
The ground system 3 includes ground control module 31, communication module 32 and carrier trolley 35；The ground controls mould
Block 31 and communication module 32 are mounted on carrier trolley 35；The transmission module 2 and communication module 32 control mould with ground
Block 31 is electrically connected；
32 two-way communication link of communication module in the communication unit 14 and ground system 3 cleaned in module 1；For
Two-way communication between control unit 13 and ground control module 31；
The carrier trolley 35 is for ground system 3 to be moved near support insulator to be cleaned；
The transmission module 2 is for driving cleaning module 1 to move up and down；
The recognition unit 12 cleans the relative position of module 1 and support insulator to be cleaned for identification, and by information
Feed back to control unit 13；
The cleaning unit 15 is for cleaning support insulator to be cleaned.
The ground system 3 further includes the dust extractor 33 being installed on carrier trolley 35；The dust extractor 33 and ground
Face control module 31 is electrically connected；The dust extractor 33 is used to clean support insulator to be cleaned in cleaning module 1
Afterwards, dust suction is carried out to 16 inner cavity of SMART SKIN.
The upper end junction of the SMART SKIN 16 and transmission module 2 is provided with aperture and connects for the dust sucting pipeline of dust extractor 33
Enter, the dust sucting pipeline of dust extractor 33 accesses aperture along the arm of transmission module 2.
The recognition unit 12 is laser scanning and ranging instrument.Recognition unit 12 is by laser ranging, aiming and identification and clearly
Sweep object alignment.
The transmission module 2 is sixdegree-of-freedom simulation.
The cleaning unit includes multiple in cleaning subelement of the layered arrangement on the inside of SMART SKIN；Each cleaning is single
Member includes multiple cleaning arms, and one group of pressure sensor and Electric brush of bristles are equipped on each cleaning arm, and the end of Electric brush of bristles is logical
It crosses rolling bearing to be fixed on pressure sensor, pressure sensor is fixedly connected with one end of cleaning arm, and the cleaning arm other end is solid
It is scheduled on SMART SKIN.
Further, the cleaning unit cleans subelement including 4 or more, so that cleaning unit 15 can clean 4 simultaneously
Group or more full skirt；Each cleaning subelement includes 8 or more cleaning arms.
The brush head of the Electric brush of bristles is in truncated cone-shaped and replaceable.
The cleaning unit 15 can be changed according to object difference is cleaned as corresponding model.
The cleaning module 1 further includes power supply unit 11, and power supply unit 11 is each unit power supply for cleaning module 1.For
Electric unit 11 is fixedly mounted on the outside of SMART SKIN 16, and power supply unit 11 is detachably replaced.
The ground system 3 further includes the power supply module 34 being mounted on carrier trolley 35, and power supply module 34 is transmission mould
Block 2, ground control module 31, communication module 32 and dust extractor 33 are powered.
The power supply module 34 has battery and external general lighting circuit dual power supply.The battery of power supply module 34 can
Disassembly replacement.
The present invention also provides a kind of support insulator live cleaning methods, using above-mentioned support insulator live cleaning
System, comprising the following steps:
Step 1: ground system 3 is moved near support insulator to be cleaned by carrier trolley 35；To ensure personnel safety,
Staff, ground system 3 and charging equipment keep enough safe distances, this distance is inquired according to charging equipment voltage class
Electric power safety regulation determines that ground system 3 makees temporary grounding, and device housings electric leakage is avoided to hurt sb.'s feelings；
Step 2: ground control module 31 controls transmission module 2 and cleaning module 1 is driven to move up and down；Recognition unit 12
Identification cleans the relative position of module 1 and support insulator to be cleaned, and feeds back to ground by control unit 13 for identification information
Face control module 31；
Step 3: ground control module 31 adjusts the direction of motion of transmission module 2 according to feedback information, until cleaning module 1
To the setting position for reaching support insulator to be cleaned, ground control module 31 controls 2 stopping of transmission module movement, and will stop
The signal of movement is sent to control unit 13；
Step 4: after control unit 13 obtains the signal of 2 stopping of transmission module movement, controlling cleaning unit 15 to be cleaned
Support insulator is cleaned.
If cleaning from the bottom up, the ash cleaned above is possible to fall on the insulator surface cleaned below, therefore described
In step 2, ground control module 31 controls transmission module 2, and the outstanding act of cleaning module 1 is attached topmost to support insulator to be cleaned
Closely, it is cleaned from top to bottom with realizing, avoids secondary pollution.
Further include step 5: after the completion of support insulator to be cleaned cleans, it is right that ground control module 31 controls dust extractor 33
16 inner cavity of SMART SKIN carries out dust suction.
Support insulator to be cleaned is numbered in advance, and the relevant parameter with corresponding support insulator to be cleaned will be numbered
(including structural parameters and installation parameter) is stored in ground control module 31；Need to clean the post insulator period of the day from 11 p.m. to 1 a.m, selection with to
The cleaning unit 15 for cleaning support insulator setted structure is mounted on 16 internal interface of SMART SKIN for cleaning module 1；Make intelligence
Shell 16 and cleaning unit 15 keep the state opened.
In the step 2 and step 3, start the ground control module 31 of ground system 3, selection is stored in ground control mould
Support insulator to be cleaned number in block 31 controls transmission module 2 by ground control module 31 and drives about 1 module of cleaning
It moves left and right, and assigns identification instruction to control unit 13；Control unit 13 controls the identification of recognition unit 12 and is directed at branch to be cleaned
(recognition unit 12 is installed on SMART SKIN inner axis central location to the full skirt group of column insulator, and the alignment refers to SMART SKIN
Opening be directed at the axis of support insulator to be cleaned) after feed back information to control unit 13, control unit 13 will be to definite message or answer
Breath is sent to ground control module 31, and ground control module 31, which is connected to after alignment information, to be manipulated transmission module 2 automatically and will clean mould
Block 1 is pushed forward, and recognition unit 12 continues to identify during being pushed forward, and is recognized and is cleaned between module 1 and support insulator to be cleaned
When distance reaches set distance, information will be reached and feed back to control unit 13, control unit 13 is sent to ground for information is reached
Control module 31, ground control module 31 manipulates 2 stopping of transmission module movement after being connected to arrival information automatically, and stopping is acted
Signal be sent to control unit 13.
The step 4 specifically: after control unit 13 obtains the signal of 2 stopping of transmission module movement, to SMART SKIN 16
Assign close command；SMART SKIN 16 is closed after receiving close command, and the full skirt group of support insulator to be cleaned is complete
It is intracavitary to be coated on its；Control unit 13 assigns cleaning instruction to cleaning unit 15；Cleaning unit 15 receives each cleaning arm after instruction
It stretches, the insulator umbrella surface tight closure of Electric brush of bristles and respective layer；
When cleaning unit 15 by the pressure sensor of its Electric brush of bristles end sense all Electric brush of bristles all with to
Full skirt surface is cleaned to be bonded and clean with rotation is automatically begun to after certain pressure (pressure of 10-30N) completely；
After the cleaning that cleaning unit 15 completes the current location predetermined time, ground control module 31 drives transmission module 2
It drives and cleans module 1 in the same level of current location to clean object axle center as axis, relative current position is successively to the left
The right side turns an angle, and respectively completes primary clean.The purpose that rotation cleans is to allow brush head all standing, is avoided because of brush head covering surface
It not enough may cause and clean dead angle, make to clean in the case where limited brush head number more thorough；It can be the dynamic angle θ of first turning left
Degree, the angle of dynamic θ/2 of turning right again or first the turn left dynamic angle of θ/2, dynamic θ angle of turning right again, wherein the value of θ is by Electric brush of bristles brush head
Number determines that when brush head is 8, θ takes 30 °, if brush head number is more, θ can be smaller.
After cleaning module 1 and completing 3 times to clean, each cleaning arm is shunk, and makes the Electric brush of bristles and insulator surface of its end
Separation, cleaning unit 15 will clean completion information and feed back to control unit 13；Control unit 13 is connected to will after information is completed in cleaning
Information sends ground control module 31 to；Ground control module 31 starts dust extractor 33 after being connected to information；Dust extractor 33 is complete
At being automatically stopped work after predetermined time dust suction.
The support insulator live cleaning method, further includes step 6: ground control module 31 is under control unit 13
It opens and instructs up to SMART SKIN 16；After SMART SKIN 16 opens, ground control module 31 is exhausted according to pre-stored pillar to be cleaned
Edge relevant parameter, automatic manipulation clean module 1, transmission module 2 and dust extractor 33 and complete the subsequent clear of the support insulator
Work is swept (to be limited by coating space, each round cleans the part full skirt group for only cleaning support insulator, and subsequent cleaning refers to portion
After the completion of dividing full skirt group to clean, then clean other full skirt groups).
Surface personnel such as finds the problem in system cleaning process, can stop system by ground control module 31 at any time
System cleaning works.The battery of power supply unit 11 and power supply module 34 can shut down replacement at any time as needed.
As shut down in cleaning process, after being again started up system, ground system 3, which manipulates transmission module 2, will clean module 1
It is outstanding to lift to the full skirt group of support insulator to be cleaned, it repeats the above steps and completes subsequent cleaning.
The beneficial effects of the present invention are:
1) power off time, can be reduced, power supply reliability is improved,；
2) a large amount of human resources, can be saved, intensity of workers is reduced；
3) cleaning period, can be shortened.
Detailed description of the invention
Fig. 1 is the structure chart of a specific embodiment of the invention；
Fig. 2 is structure of the invention block diagram
Fig. 3 is cleaning unit local structural graph in the present invention；
Fig. 4 is cleaning unit structure chart in the present invention, and Fig. 4 (a) is closed state, and Fig. 4 (b) is open configuration；
Fig. 5 is working state figure of the present invention；
It is denoted as in figure:
1-cleans module
11-power supply units
12-recognition units
13-control units
14-communication units
15-cleaning units
151-cleaning arms
152-Electric brush of bristles
153-pressure sensors
16-SMART SKINs
2-transmission modules
3-ground systems
31-ground control modules
32-communication modules
33-dust extractors
34-power supply modules
35-carrier trolleies
Specific embodiment
The present invention is described in more detail below in conjunction with the drawings and specific embodiments.
Referring to Fig. 1~5, the invention discloses a kind of support insulator live cleaning systems, including clean module 1, transmission
Module 2 and ground system 3；
The cleaning module 1 includes that recognition unit 12, control unit 13, communication unit 14, cleaning unit 15 and intelligence are outer
Shell 16；The SMART SKIN 16 is cylindric and can open and close on one side along barrel；The recognition unit 12, control unit 13, communication
Unit 14 and 15 integrated installation of cleaning unit are in the inside of SMART SKIN 16；The recognition unit 12, cleans list at communication unit 14
Member 15 and SMART SKIN 16 are electrically connected with control unit 13；
The upper end of the transmission module 2 is fixedly connected with the axis side central location for cleaning the folding of 1 SMART SKIN 16 of module, peace
On the one hand symmetrical above and below mounted in central location, another aspect left-right balance does not influence shell folding；The lower end of transmission module 2 is solid
Surely ground system 3 is connected；
The ground system 3 includes ground control module 31, communication module 32 and carrier trolley 35；The ground controls mould
Block 31 and communication module 32 are mounted on carrier trolley 35；The transmission module 2 and communication module 32 control mould with ground
Block 31 is electrically connected；
32 two-way communication link of communication module in the communication unit 14 and ground system 3 cleaned in module 1；For
Two-way communication between control unit 13 and ground control module 31.
The ground system 3 further includes the dust extractor 33 being installed on carrier trolley 35；The dust extractor 33 and ground
Face control module 31 is electrically connected；The dust extractor 33 is used to clean support insulator to be cleaned in cleaning module 1
Afterwards, dust suction is carried out to 16 inner cavity of SMART SKIN.
The upper end junction of the SMART SKIN 16 and transmission module 2 is provided with aperture and connects for the dust sucting pipeline of dust extractor 33
Enter, the dust sucting pipeline of dust extractor 33 accesses aperture along the arm of transmission module 2.
The recognition unit 12 is laser scanning and ranging instrument.Recognition unit 12 is by laser ranging, aiming and identification and clearly
Sweep object alignment.
The transmission module 2 is sixdegree-of-freedom simulation.
The cleaning unit includes multiple in cleaning subelement of the layered arrangement on the inside of SMART SKIN；Each cleaning is single
Member includes multiple cleaning arms, and one group of pressure sensor and Electric brush of bristles are equipped on each cleaning arm, and the end of Electric brush of bristles is logical
It crosses rolling bearing to be fixed on pressure sensor, pressure sensor is fixedly connected with one end of cleaning arm, and the cleaning arm other end is solid
It is scheduled on SMART SKIN.
Further, the cleaning unit cleans subelement including 4 or more, so that cleaning unit 15 can clean 4 simultaneously
Group or more full skirt；Each cleaning subelement includes 8 or more cleaning arms.
The brush head of the Electric brush of bristles is in truncated cone-shaped and replaceable.
The cleaning unit 15 can be changed according to object difference is cleaned as corresponding model.
The cleaning module 1 further includes power supply unit 11, and power supply unit 11 is each unit power supply for cleaning module 1.For
Electric unit 11 is fixedly mounted on the outside of SMART SKIN 16, and power supply unit 11 is detachably replaced.
The ground system 3 further includes the power supply module 34 being mounted on carrier trolley 35, and power supply module 34 is transmission mould
Block 2, ground control module 31, communication module 32 and dust extractor 33 are powered.
The power supply module 34 has battery and external general lighting circuit dual power supply.The battery of power supply module 34 can
Disassembly replacement.
The invention also discloses a kind of support insulator live cleaning methods, using above-mentioned support insulator live cleaning
System, comprising the following steps:
Step 1: ground system 3 is moved near support insulator to be cleaned by carrier trolley 35；To ensure personnel safety,
Staff, ground system 3 and charging equipment keep enough safe distances, this distance is inquired according to charging equipment voltage class
Electric power safety regulation determines that ground system 3 makees temporary grounding, and device housings electric leakage is avoided to hurt sb.'s feelings；
Step 2: ground control module 31 controls transmission module 2 and cleaning module 1 is driven to move up and down；Recognition unit 12
Identification cleans the relative position of module 1 and support insulator to be cleaned, and feeds back to ground by control unit 13 for identification information
Face control module 31；
Step 3: ground control module 31 adjusts the direction of motion of transmission module 2 according to feedback information, until cleaning module 1
To the setting position for reaching support insulator to be cleaned, ground control module 31 controls 2 stopping of transmission module movement, and will stop
The signal of movement is sent to control unit 13；
Step 4: after control unit 13 obtains the signal of 2 stopping of transmission module movement, controlling cleaning unit 15 to be cleaned
Support insulator is cleaned.
If cleaning from the bottom up, the ash cleaned above is possible to fall on the insulator surface cleaned below, therefore described
In step 2, ground control module 31 controls transmission module 2, and the outstanding act of cleaning module 1 is attached topmost to support insulator to be cleaned
Closely, it is cleaned from top to bottom with realizing, avoids secondary pollution.
Further include step 5: after the completion of support insulator to be cleaned cleans, it is right that ground control module 31 controls dust extractor 33
16 inner cavity of SMART SKIN carries out dust suction.
Support insulator to be cleaned is numbered in advance, and the relevant parameter with corresponding support insulator to be cleaned will be numbered
(including structural parameters and installation parameter) is stored in ground control module 31；Need to clean the post insulator period of the day from 11 p.m. to 1 a.m, selection with to
The cleaning unit 15 for cleaning support insulator setted structure is mounted on 16 internal interface of SMART SKIN for cleaning module 1；Make intelligence
Shell 16 and cleaning unit 15 keep the state opened.
In the step 2 and step 3, start the ground control module 31 of ground system 3, selection is stored in ground control mould
Support insulator to be cleaned number in block 31 controls transmission module 2 by ground control module 31 and drives about 1 module of cleaning
It moves left and right, and assigns identification instruction to control unit 13；Control unit 13 controls the identification of recognition unit 12 and is directed at branch to be cleaned
(recognition unit 12 is installed on SMART SKIN inner axis central location to the full skirt group of column insulator, and the alignment refers to SMART SKIN
Opening be directed at the axis of support insulator to be cleaned) after feed back information to control unit 13, control unit 13 will be to definite message or answer
Breath is sent to ground control module 31, and ground control module 31, which is connected to after alignment information, to be manipulated transmission module 2 automatically and will clean mould
Block 1 is pushed forward, and recognition unit 12 continues to identify during being pushed forward, and is recognized and is cleaned between module 1 and support insulator to be cleaned
When distance reaches set distance, information will be reached and feed back to control unit 13, control unit 13 is sent to ground for information is reached
Control module 31, ground control module 31 manipulates 2 stopping of transmission module movement after being connected to arrival information automatically, and stopping is acted
Signal be sent to control unit 13.
The step 4 specifically: after control unit 13 obtains the signal of 2 stopping of transmission module movement, to SMART SKIN 16
Assign close command；SMART SKIN 16 is closed after receiving close command, and the full skirt group of support insulator to be cleaned is complete
It is intracavitary to be coated on its；Control unit 13 assigns cleaning instruction to cleaning unit 15；Cleaning unit 15 receives each cleaning arm after instruction
It stretches, the insulator umbrella surface tight closure of Electric brush of bristles and respective layer；
When cleaning unit 15 by the pressure sensor of its Electric brush of bristles end sense all Electric brush of bristles all with to
Full skirt surface is cleaned to be bonded and clean with rotation is automatically begun to after certain pressure (pressure of 10-30N) completely；
After the cleaning that cleaning unit 15 completes the current location predetermined time, ground control module 31 drives transmission module 2
It drives and cleans module 1 in the same level of current location to clean object axle center as axis, relative current position is successively to the left
The right side turns an angle, and respectively completes primary clean.The purpose that rotation cleans is to allow brush head all standing, is avoided because of brush head covering surface
It not enough may cause and clean dead angle, make to clean in the case where limited brush head number more thorough；It can be the dynamic angle θ of first turning left
Degree, the angle of dynamic θ/2 of turning right again or first the turn left dynamic angle of θ/2, dynamic θ angle of turning right again, wherein the value of θ is by Electric brush of bristles brush head
Number determines that when brush head is 8, θ takes 30 °, if brush head number is more, θ can be smaller.
After cleaning module 1 and completing 3 times to clean, each cleaning arm is shunk, and makes the Electric brush of bristles and insulator surface of its end
Separation, cleaning unit 15 will clean completion information and feed back to control unit 13；Control unit 13 is connected to will after information is completed in cleaning
Information sends ground control module 31 to；Ground control module 31 starts dust extractor 33 after being connected to information；Dust extractor 33 is complete
At being automatically stopped work after predetermined time dust suction.
The support insulator live cleaning method, further includes step 6: ground control module 31 is under control unit 13
It opens and instructs up to SMART SKIN 16；After SMART SKIN 16 opens, ground control module 31 is exhausted according to pre-stored pillar to be cleaned
Edge relevant parameter, automatic manipulation clean module 1, transmission module 2 and dust extractor 33 and complete the subsequent clear of the support insulator
Work is swept (to be limited by coating space, each round cleans the part full skirt group for only cleaning support insulator, and subsequent cleaning refers to portion
After the completion of dividing full skirt group to clean, then clean other full skirt groups).
Surface personnel such as finds the problem in system cleaning process, can stop system by ground control module 31 at any time
System cleaning works.The battery of power supply unit 11 and power supply module 34 can shut down replacement at any time as needed.
As shut down in cleaning process, after being again started up system, ground system 3, which manipulates transmission module 2, will clean module 1
It is outstanding to lift to the full skirt group of support insulator to be cleaned, it repeats the above steps and completes subsequent cleaning.
The power supply unit 11 of the embodiment uses 4 commercially available great source 30AH high power lithium battery assembled in series, recognition unit 12
Using commercially available HOKUYO laser scanning and ranging instrument, control unit 13 grasps fiery STM32F429 programming using commercially available, and communication unit 14 is adopted
With the onboard WIFI of fiery STM32F429 is grasped, cleaning unit 15 uses the two degrees of freedom mechanical arm of technology maturation as cleaning arm, electronic
Hairbrush is used according to object shape installation micromotor in electronic bristles brush head tail portion customized is cleaned, and pressure sensor uses city
0-10KG weighing sensor is sold, SMART SKIN 16 is opened customized using high molecular material；Transmission module 2 is using technology maturation
Sixdegree-of-freedom simulation, elongation height, scope of activities can be according to transformer substation voltage level customizations, and it is small that lower end is fixed on carrier
On vehicle 35；Ground control module 31 uses bright this 1037U type industrial personal computer of song, and communication module 32 uses Intel5100wifi module,
Dust extractor 33 uses Bo Er PI10 type technical grade dust catcher, and the battery of power supply module 34 uses commercially available sail 12V battery pack
Simultaneously transformation is filled, there are 220V lighting circuit interfaces for power supply module 34, can connect the place of electricity in lighting circuit, preferential using illumination
Circuit power supply, carrier trolley 35 are customized using 304 stainless steels.
A kind of support insulator live cleaning system and application method of above structure are on probation through manufacturing experimently, and it is good to be proved to effect
It is good, securely and reliably, design requirement is fully achieved.
Claims (10)
1. a kind of support insulator live cleaning system, which is characterized in that including cleaning module, transmission module and ground system；
The cleaning module includes recognition unit, control unit, communication unit, cleaning unit and SMART SKIN；Outside the intelligence
Shell is cylindric and can open and close on one side along barrel；The recognition unit, control unit, communication unit and cleaning unit integrated installation
In the inside of SMART SKIN；The recognition unit, communication unit, cleaning unit and SMART SKIN electrically connect with control unit
It connects；
The upper end of the transmission module is fixedly connected with the axis side central location for cleaning SMART SKIN folding in module, transmission module
Lower end be fixedly connected with ground system；
The ground system includes ground control module, communication module and carrier trolley；The ground control module and communication mould
Block is mounted on carrier trolley；The transmission module and communication module are electrically connected with ground control module；
The communication module two-way communication link in communication unit and ground system in the cleaning module；
The carrier trolley is for ground system to be moved near support insulator to be cleaned；
The transmission module is for driving cleaning module to move up and down；
The recognition unit cleans the relative position of module Yu support insulator to be cleaned for identification；
The cleaning unit is for cleaning support insulator to be cleaned.
2. support insulator live cleaning system according to claim 1, which is characterized in that the cleaning unit includes more
A is in layered arrangement in the cleaning subelement of SMART SKIN inner surface；Each cleaning subelement includes multiple cleaning arms, Mei Geqing
It sweeps and one group of pressure sensor and Electric brush of bristles is installed on arm, the end of Electric brush of bristles is fixed on pressure sensing by rolling bearing
On device, pressure sensor is fixedly connected with one end of cleaning arm, and the cleaning arm other end is fixed on SMART SKIN.
3. support insulator live cleaning system according to claim 1, which is characterized in that the ground system further includes
The dust extractor being installed on carrier trolley；The dust extractor and ground control module are electrically connected；The dust extractor is used
In after cleaning module and cleaning to support insulator to be cleaned, dust suction is carried out to SMART SKIN inner cavity.
4. support insulator live cleaning system according to claim 1, which is characterized in that on the SMART SKIN with biography
The upper end junction of dynamic model block is provided with aperture and accesses for the dust sucting pipeline of dust extractor, and the dust sucting pipeline of dust extractor is along transmission mould
The arm of block accesses aperture.
5. support insulator live cleaning system according to claim 1, which is characterized in that the cleaning module further includes
Power supply unit, power supply unit are each unit power supply for cleaning module；
The ground system further includes the power supply module being mounted on carrier trolley, and power supply module is transmission module, ground control
Module, communication module and dust extractor power supply.
6. a kind of support insulator live cleaning method, which is characterized in that use branch according to any one of claims 1 to 5
The insulator charged purging system of column, cleaning method the following steps are included:
Step 1: ground system is moved near support insulator to be cleaned by carrier trolley；
Step 2: ground control module control transmission module drives cleaning module to move up and down；Recognition unit identification cleans mould
The relative position of block and support insulator to be cleaned, and identification information is fed back into ground control module by control unit；
Step 3: ground control module according to feedback information adjust transmission module the direction of motion, until clean module to reach to
The setting position of support insulator is cleaned, ground control module controls transmission module stopping movement, and the signal that stopping is acted
It is sent to control unit；
Step 4: after control unit obtains the signal of transmission module stopping movement, controlling cleaning unit to support insulator to be cleaned
It is cleaned.
7. support insulator live cleaning method according to claim 6, which is characterized in that the ground system further includes
The dust extractor being installed on carrier trolley；The equal ground control module of dust extractor is electrically connected；
The cleaning method further includes step 5: after the completion of support insulator to be cleaned cleans, ground control module controls dust suction mould
Block carries out dust suction to SMART SKIN inner cavity.
8. support insulator live cleaning method according to claim 7, which is characterized in that in advance that pillar to be cleaned is exhausted
Edge number, and the relevant parameter of number and corresponding support insulator to be cleaned is stored in ground control module；It needs
The post insulator period of the day from 11 p.m. to 1 a.m is cleaned, selects to be mounted on the intelligence for cleaning module with the cleaning unit of support insulator setted structure to be cleaned
Interior of shell interface.
9. support insulator live cleaning method according to claim 8, which is characterized in that the step 4 specifically: control
After unit processed obtains the signal of transmission module stopping movement, close command is assigned to SMART SKIN；SMART SKIN receives closure and refers to
It is closed after order, it is intracavitary that the full skirt group of support insulator to be cleaned is coated on its completely；Control unit is under cleaning unit
It is instructed up to cleaning, the insulator umbrella surface that cleaning unit receives the stretching, extension of each cleaning arm, Electric brush of bristles and respective layer after instruction is tight
Closed conjunction；
When cleaning unit by the pressure sensor of its Electric brush of bristles end sense all Electric brush of bristles all with umbrella to be cleaned
Skirt surface is bonded completely and cleans with rotation is automatically begun to after certain pressure；
After the cleaning that cleaning unit completes the current location predetermined time, ground control module drives transmission module to drive and cleans mould
For block to clean object axle center as axis in the same level of current location, relative current position successively rotates certain angle to the left and right
Degree, and respectively complete primary clean.
10. support insulator live cleaning method according to claim 9, which is characterized in that further include step 6: ground
Control module assigns SMART SKIN to control unit and opens instruction；After SMART SKIN opens, ground control module is according to pre-stored
Support insulator relevant parameter to be cleaned, automatic manipulation cleans module, transmission module and dust extractor and completes the post insulator
The subsequent cleaning works of son.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811065830.7A CN108971043A (en) | 2018-09-13 | 2018-09-13 | A kind of support insulator live cleaning system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811065830.7A CN108971043A (en) | 2018-09-13 | 2018-09-13 | A kind of support insulator live cleaning system and method |
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| CN108971043A true CN108971043A (en) | 2018-12-11 |
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| CN201811065830.7A Pending CN108971043A (en) | 2018-09-13 | 2018-09-13 | A kind of support insulator live cleaning system and method |
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| CN112657895A (en) * | 2020-11-09 | 2021-04-16 | 国网山东省电力公司曲阜市供电公司 | Live-line cleaning device for transformer substation insulator |
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Application publication date: 20181211 |
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