CN110160820A - Arm carries formula insulator contamination object Sampling Machine - Google Patents
Arm carries formula insulator contamination object Sampling Machine Download PDFInfo
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- CN110160820A CN110160820A CN201910592974.6A CN201910592974A CN110160820A CN 110160820 A CN110160820 A CN 110160820A CN 201910592974 A CN201910592974 A CN 201910592974A CN 110160820 A CN110160820 A CN 110160820A
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- sampling
- guide rail
- snap ring
- folding
- insulator
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- 238000005070 sampling Methods 0.000 title claims abstract description 149
- 239000012212 insulator Substances 0.000 title claims abstract description 76
- 238000011109 contamination Methods 0.000 title claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 58
- 239000004744 fabric Substances 0.000 claims abstract description 24
- 239000011229 interlayer Substances 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 18
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000009413 insulation Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims description 3
- 230000009194 climbing Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 6
- 230000007480 spreading Effects 0.000 description 4
- 238000003892 spreading Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 238000005273 aeration Methods 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000010616 electrical installation Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003792 electrolyte Substances 0.000 description 1
- 238000009422 external insulation Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 238000009991 scouring Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 239000000080 wetting agent Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N2001/028—Sampling from a surface, swabbing, vaporising
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- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a kind of arms to carry formula insulator contamination object Sampling Machine, including being horizontally set on above moveable platform by mechanical arm for being set in the interbedded folding snap ring of insulator, folding snap ring is connected with the folding control device for automatically controlling folding snap ring folding, opens and closes the sampling apparatus for being provided on the top end face of snap ring and being wrapped with sampling cloth and being used to wipe dunghill between insulator interlayer along folding snap ring circumferential movement；The PLC controller for control device overall operation is provided on the moveable platform, the controlled end of mechanical arm, folding control device and sampling apparatus is connected to PLC controller.The present invention realizes automation to the sampling operation of dunghill, instead of manually operation, without manually carrying out climbing sampling, substantially increase the safety of sampling, greatly increase working efficiency, therefore the generation for efficiently avoiding pollution flashover phenomenon, is effectively guaranteed the service life of insulator.
Description
Technical field
The present invention relates to power equipment high pressure external insulation technical field, especially a kind of arm carries the sampling of formula insulator contamination object
Machine.
Background technique
In air over time, general electrical equipment surface can all save bit by bit many dunghills, such as air
In dust and the excrement of small bird etc., particularly for insulator, there is applied voltage adsorption capacity can more hold
Yi Qi saves bit by bit filth in surface.If encountering the higher weather of the humidity such as dense fog or on the ground that certain humidity remain high throughout the year
Area, the electrolyte being attached in the dunghill on insulation of electrical installation surface will be dissolved in water, this will be in electrical equipment surface shape
At conductive film, the dielectric level of equipment surface is greatly reduced, very strong put will then occur under the action of electric field force
Electrical phenomena, this phenomenon are referred to as pollution flashover phenomenon.Certainly pollution flashover phenomenon is not very common yet, only when dunghill reaches one
Quantitative, ambient temperature reach certain condition and humidity it is enough under the conditions of be possible to occur.
Super-pressure, UHV transmission are greatly developed in recent years, and the safe operation of power transmission and transformation insulator directly determines
The investment and level of security of whole system.Pollution flashover phenomenon occurs for route and electrical equipment especially insulator in order to prevent, is
A possibility that pollution flashover accident occurs is reduced, to the maximum extent in order to provide science to preventing the generation of pollution flashover accident this research
Foundation, it is often necessary to the dunghill of insulator surface be sampled, detecting to dunghill is then passed through by experimenter
To ash is close, salt is close etc. information.
But sampling operation is carried out by method manually for a long time, the method for sampling has following two:
1, it first has to prepare the relevant external member of filthy sampling: sampling cloth, wetting agent, sampling gloves, collecting bag before being sampled
And sample box；Then the corresponding position of insulator is climbed to equipment；It wears gloves again, sampling towel is taken out from hermetic bag,
The upper and lower surface of insulator is wiped respectively.When dunghill is more, the surface of insulator is carefully wiped using multiple sampling towel, one
Until dunghill is transferred completely on sampling towel.
2, insulator to be measured can also be removed, the sealing situation of insulator is at this moment paid special attention to, after being transported to laboratory,
Dunghill is collected with wipe method or ablution again.If still having after cleaning several times, dunghill is remaining, using scraping by its
It scrapes, is then placed in soiling solution.Notice that the position of cement and fitting not clean during scouring.Two are done in the process
Promise: guarantee that filth zero is lost in handling and handling process；The quantity of the position and sampling that guarantee sampling is met the requirements.
The artificial treatment method of both the above pollution severity of insulators object sampling will receive the limitation of job site, especially
High altitude operation can face various dangerous and challenge.The safety protection problem of sample collector is difficult to solve, operation people
Member needs to climb to be sampled to eminence, undoubtedly increases the risk of work, and heavy workload, and sample rate is slow, sampling effect
Rate is low, and working strength is high.The insulator having simultaneously is not entirely vertical, and with certain tilt angle, this is resulted in
Sampling operation also can be considerably complicated, cumbersome, slow.Therefore, the device that R & D design one kind is capable of efficient sampling seems especially heavy
It wants.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of arms to carry formula insulator contamination object Sampling Machine, existing to solve
Insulator contamination object sample mode be the mode of artificial sample and increase the risk, heavy workload, sampling efficiency of work
Problem low, working strength is high and sampling operation is complicated, to be exclusively used in insulator surface sampling operation using mechanical structure, and
Manually operation is replaced with this, so that sampling operation becomes simple, efficient, quick.
In order to solve the above technical problems, the technical solution used in the present invention is as follows.
Arm carries formula insulator contamination object Sampling Machine, including is horizontally set on above moveable platform by mechanical arm for covering
It is located at the interbedded folding snap ring of insulator, folding snap ring is connected with the folding for automatically controlling folding snap ring folding
Control device is opened and closed to be provided with to be wrapped with sampling cloth and be used to wipe along folding snap ring circumferential movement on the top end face of snap ring and be insulated
The sampling apparatus of dunghill between sub-folder layer；The PLC control for control device overall operation is provided on the moveable platform
The controlled end of device processed, mechanical arm, folding control device and sampling apparatus is connected to PLC controller.
Advanced optimize technical solution, the bottom of the folding snap ring be provided with chassis and respectively with chassis and mechanical arm
Mutually fixed mechanical arm connecting plate, chassis and mechanical arm connecting plate are horizontally disposed；
The folding snap ring include left semicircle ring guide rail and with left semicircle ring guide rail split settings and with left semicircle ring guide rail phase
Cooperatively form the right semi-circle ring guide rail of closed circle；The top end face of the left semicircle ring guide rail and right semi-circle ring guide rail is respectively set
There is arc-shaped guide rail, two arc-shaped guide rails head and the tail closure forms circular guideway.
Technical solution is advanced optimized, the folding control device includes mutually fixed in most round shape with right semi-circle ring guide rail
Guide rail driving gear and and with guide rail driving gear be meshed guide rail in most round shape mutually fixed with left semicircle ring guide rail
Driven gear, guide rail driving gear are connected with the driving being arranged on chassis by the driving shaft being rotatably arranged on chassis
Motor, the controlled end of driving motor are connected to PLC controller, and guide rail driven gear passes through the driven shaft that is rotatably arranged on chassis
It is arranged on chassis.
It advanced optimizes technical solution, is provided with and is used on the top end face of the guide rail driving gear and guide rail driven gear
Detect the sampling apparatus position detecting device of sampling apparatus movement position on folding snap ring, sampling apparatus position detecting device packet
Include the photoelectric sensor being separately positioned on the top end face of guide rail driving gear and guide rail driven gear, the signal of photoelectric sensor
Output end is connected to the input terminal of PLC controller.
Technical solution is advanced optimized, the sampling apparatus includes being fastened in circular guideway and circumferentially transporting along circular guideway
Dynamic circumferential movement trolley is arranged on circumferential movement trolley by driving mechanism for extending in the deflated condition to extend into
The interbedded two-way cylinder of insulator and the air charging system for being inflated into two-way cylinder, circumferential movement trolley,
The controlled end of driving mechanism and air charging system is connected to the output end of PLC controller；The tailpiece of the piston rod of two-way cylinder connects
There is the sampling joint and wrapping up in sampling cloth interface to be located on sampling joint and with leachy rubber pneumatic bag, samples cloth and wrap up in and sets
On rubber pneumatic bag.
Advanced optimize technical solution, the circumferential movement trolley include setting circumferential movement trolley bottom and with folding
The four rolling that the top end face of snap ring is in contact, the trolley driving mechanism for driving wheel actions and setting are in circumferential movement
Trolley bottom is simultaneously mutually equipped with the connection sliding block that guiding role is played for the movement to circumferential movement trolley with arc-shaped guide rail；It is described
Trolley driving mechanism includes the trolley drive shaft being arranged between two idler wheels and is connected with trolley drive shaft for driving week
The trolley drive motor moved on folding snap ring to trolley.
Technical solution is advanced optimized, the air charging system includes the compression being connected by gas piping with two-way cylinder
The controlled end of air tank and the solenoid valve being arranged on compressed air cylinder, solenoid valve is connected to the output end of PLC controller.
Technical solution is advanced optimized, the driving mechanism includes that the sampling turntable drive of circumferential movement car interior is arranged in
Dynamic motor and the sampling turntable that circumferential movement car top is set and is mutually fixedly connected with sampling turntable driving motor, sampling
The controlled end of turntable driving motor is connected to the output end of PLC controller.
Technical solution is advanced optimized, is provided on the chassis and coaxially positions inspection for realizing insulator and folding snap ring
The centering detection device of survey；The centering detection device includes multiple is separately positioned on the bottom face on chassis for detecting chassis
The ultrasonic sensor of distance between insulator and folding snap ring, ultrasonic sensor is at least provided with three, all ultrasounds
Wave sensor is respectively positioned on same circumference, and the signal output end of ultrasonic sensor is connected to the input terminal of PLC controller.
Technical solution is advanced optimized, is additionally provided on the chassis for detecting folding snap ring opposing insulation height position
The height detecting device set, height detecting device include being arranged on the top end face of chassis by vertical bar for shooting observation insulation
The camera of the position of height, the signal output end of camera are connected to the input terminal of PLC controller between son and folding snap ring.
Due to using above technical scheme, the invention technological progress is as follows.
The present invention controls the folding of folding snap ring by folding control device, and height detecting device realizes that folding snap ring is high
The detection of position is spent, centering detection device realizes the same shaft detection to folding snap ring and insulator, then by wrapping up on sampling apparatus
The interbedded dunghill of insulator is wiped if sampling cloth and realizing, so that the present apparatus realizes the sampling automated to dunghill
Work, substantially increases the safety of sampling, greatly mentions instead of manually operation without manually carrying out climbing sampling
High working efficiency, therefore the generation of pollution flashover phenomenon is efficiently avoided, it is effectively guaranteed the service life of insulator.
Camera in height detecting device of the present invention is able to detect the folding sub- height and position of snap ring opposing insulation, that is, passes through
Control mechanical arm is in two-way cylinder between certain two panels insulator, and telescopic rod and full skirt is avoided to collide.
At least three ultrasonic sensors being arranged in centering detection device of the present invention realize insulator using ultrasonic wave
With the folding coaxial detection and localization of snap ring.The setting of camera and ultrasonic sensor of the present invention, so that the present apparatus is completed to exhausted
The positioning work of edge, intelligence degree are very high.
The present invention opens and closes snap ring and is divided into left semicircle ring guide rail and right semi-circle ring guide rail, and right semi-circle ring guide rail and guide rail are actively
Gear is mutually fixed, and guide rail driven gear is mutually fixed with left semicircle ring guide rail, and then passes through driving guide rail driving tooth by driving motor
The opening and closing function of folding snap ring can be realized in the rotation of wheel.
The tailpiece of the piston rod of the two-way cylinder of the present invention is connected with sampling joint, and rubber pneumatic bag is wrapped on sampling joint, samples
Sampling cloth interface is provided on connector, sampling cloth, which is wrapped up in, to be located on rubber pneumatic bag, and stomata is offered on rubber pneumatic bag, can pass through stomata
It is inflated into rubber pneumatic bag, so that rubber pneumatic bag spreading, guarantees that sampling cloth comes into full contact with insulator.Due to depositing for glue air bag
, sampling cloth each position it is identical as insulator contact pressure, not will cause sampling error.
The idler wheel of circumferential movement trolley setting of the present invention can move on folding snap ring top end face, and the connection being arranged is sliding
Block is mutually equipped with arc-shaped guide rail, plays guiding role to the movement of circumferential movement trolley, ensure that circumferential movement trolley can be
It is moved on folding snap ring, structure is very novel.
Detailed description of the invention
Fig. 1 is main view of the invention；
Fig. 2 is top view of the invention；
Fig. 3 is side view of the invention；
Fig. 4 is the top view of part-structure of the present invention；
Fig. 5 is the main view of Fig. 4；
Fig. 6 is the side view of Fig. 4；
Fig. 7 is cross-sectional view when arc-shaped guide rail of the present invention is mutually equipped with connection sliding block；
Fig. 8 is top view when folding snap ring of the present invention is opened；
Fig. 9 is structural schematic diagram when folding snap ring of the present invention is set between interlayer.
Wherein: 1, moveable platform；2, air charging system, 21, compressed air cylinder, 22, gas piping；3, mechanical arm；4, machine
Tool arm connecting plate；5, snap ring, 51, left semicircle ring guide rail, 52, right semi-circle ring guide rail, 53, arc-shaped guide rail are opened and closed；6, chassis, 61,
Connecting hole；7, folding control device, 71, guide rail driving gear, 72, guide rail driven gear, 73, retarder, 74, driving motor；
8, sampling apparatus, 81, circumferential movement trolley, 82, sampling turntable, 83, two-way cylinder, 84, sampling joint A, 85, sampling joint B,
86, rubber pneumatic bag a, 87, rubber pneumatic bag b, 88, stomata, 89, sampling turntable driving motor, 810, connection sliding block；9, centering detects
Device, 91, ultrasonic sensor；10, sampling apparatus position detecting device, 101, photoelectric sensor；11, height detecting device,
111, vertical bar, 112, camera.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be described in further detail.
A kind of arm load formula insulator contamination object Sampling Machine, in conjunction with shown in Fig. 1 to Fig. 9, including folding snap ring 5, folding control
Device 7 and sampling apparatus 8.
Folding snap ring 5 is horizontally set on the top of moveable platform 1 by mechanical arm 3, for be set in insulator interlayer it
Between.Mechanical arm 3 is multiple degrees of freedom aloft-work mechanical arm, can move, go up and down and run-off the straight, and device is integrally in the present invention
It is mounted on the front end of mechanical arm 3.
PLC controller is provided on moveable platform 1, PLC controller is used for control device overall operation, and mechanical arm 3 is opened
The controlled end for closing control device 7 and sampling apparatus 8 is connected to PLC controller.Display screen and control are provided in PLC controller
Button processed.
The bottom of folding snap ring 5 is provided with chassis 6 and mechanical arm connecting plate 4, mechanical arm connecting plate 4 respectively with chassis 6
It is mutually fixed with mechanical arm 3.Connecting hole 61 is offered on chassis 6, connection bolt passes through connecting hole 61 and mechanical arm connecting plate 4 connects
It connects.Chassis 6 and mechanical arm connecting plate 4 are horizontally disposed, so that the folding snap ring 5 being arranged on chassis 6 is in a horizontal state.
It opens and closes snap ring 5 and includes left semicircle ring guide rail 51 and right semi-circle ring guide rail 52, right semi-circle ring guide rail 52 and left semicircle
51 split settings of ring guide rail, and match to form closed circle with left semicircle ring guide rail 51.Left semicircle ring guide rail 51 and right semi-circle
The top end face of ring guide rail 52 is respectively arranged with arc-shaped guide rail 53, and two arc-shaped guide rails head and the tail closure forms circular guideway.
Folding control device 7 connect setting with folding snap ring 5, opens and closes for automatically controlling folding snap ring 5.Folding control dress
Setting 7 includes guide rail driving gear 71, guide rail driven gear 72 and driving motor 74.
Guide rail driving gear 71 is fixed with 52 phase of right semi-circle ring guide rail, guide rail driving gear 71 and right semi-circle ring guide rail 52 1
Body setting, it is with teeth in being opened up on the side wall of most round shape on guide rail driving gear 71 in most round shape.Guide rail driven gear 72 with
51 phase of left semicircle ring guide rail is fixed, and guide rail driven gear 72 is wholely set with left semicircle ring guide rail 51, and with guide rail driving gear
71 are meshed, with teeth in opening up on the side wall of most round shape on guide rail driven gear 72 in most round shape.
Guide rail driving gear 71 is connected with driving motor 74 by driving shaft, and the controlled end of driving motor 74 is connected to
PLC controller.It can also connect retarder 73 between driving shaft and driving motor 74,73 one end of retarder and active axis connection, one
End is coupled with driving motor 74 by shaft coupling.Driving shaft is arranged on chassis 6 by bearing, can between driving shaft and chassis 6
It is rotated.Guide rail driven gear 72 is arranged on chassis 6 by driven shaft, and driven shaft is arranged on chassis 6 by bearing, from
It can be rotated between moving axis and chassis 6.The fixing end of driving motor 74 is arranged on chassis 6, and driving motor 74 is able to drive
Guide rail driving gear 71 rotates, and then the guide rail driven gear 72 being engaged with is driven to rotate backward, thus to realize left semicircle
The folding of ring guide rail 51 and right semi-circle ring guide rail 52.
Sampling apparatus position detecting device 10 is provided on the top end face of guide rail driving gear 71 and guide rail driven gear 72,
Sampling apparatus position detecting device 10 is for detecting the movement position on folding snap ring 5 of sampling apparatus 8.Sampling apparatus position detection
Device 10 includes the photoelectric sensor 101 being separately positioned on the top end face of guide rail driving gear 71 and guide rail driven gear 72,
The signal output end of photoelectric sensor 101 is connected to the input terminal of PLC controller.
Photoelectric sensor includes transmitter, receiver and detection circuit, and transmitter is directed at sampling apparatus 8 and emits light beam, hair
The light beam penetrated is typically derived from semiconductor light source, light emitting diode (LED), laser diode and infrared-emitting diode.Light beam
Emit incessantly, or changes pulse width.Receiver is made of photodiode, phototriode, photocell.It is receiving
Before device, equipped with optical element such as lens and aperture etc..Face is detection circuit behind, it can filter out useful signal and application
The signal, detection circuit can will test information and feed back to PLC controller.
The present invention uses the infrared electric transducer that diffuses of PBT plastic shell.
Sampling apparatus 8 is arranged on the top end face of folding snap ring 5, sampling cloth is wrapped on sampling apparatus 8, and block along folding
5 circumferential movement of ring, for wiping dunghill between insulator interlayer.Sampling apparatus 8 includes circumferential movement trolley 81, driving machine
Structure, two-way cylinder 83 and air charging system 2, the controlled end of circumferential movement trolley 81, driving mechanism and air charging system 2 are separately connected
In the output end of PLC controller；
Circumferential movement trolley 81 is fastened in circular guideway, and along circular guideway circumferential movement.Two-way cylinder 83 passes through driving machine
Structure is arranged on circumferential movement trolley 81, for extending in the deflated condition to extend between insulator interlayer.Two-way cylinder
83 tailpiece of the piston rod is connected with sampling joint and wraps up in the rubber pneumatic bag being located on sampling joint, and sampling is provided on sampling joint
Cloth interface, sampling cloth, which is wrapped up in, to be located on rubber pneumatic bag, and stomata 88 is offered on rubber pneumatic bag, can be by stomata 88 into rubber pneumatic bag
Inflation, so that rubber pneumatic bag spreading, guarantees that sampling cloth comes into full contact with insulator.Due to the presence of glue air bag, it is each to sample cloth
Position is identical as insulator contact pressure, not will cause sampling error.
Two-way cylinder 83 in the present invention is Double-head telescopic cylinder, i.e., the bottom end of two-way cylinder 83 is fixing end, two heads
For telescopic end, both ends can be inflated respectively under the action of air charging system 2, to control 83 liang of heads of two-way cylinder respectively
It is flexible.83 model DXWM10X10 type of two-way cylinder in the present invention, can also be used other models.Sampling positioned at one end
Connector is sampling joint A84, wraps up in the rubber pneumatic bag set on sampling joint A84 as rubber pneumatic bag a86, the sampling positioned at the other end connects
Head is sampling joint B85, wraps up in the rubber pneumatic bag set on sampling joint B85 as rubber pneumatic bag b87, rubber pneumatic bag a86 and rubber gas
A stomata is offered on capsule b87 respectively.
Circumferential movement trolley 81 includes four rolling, trolley driving mechanism and connection sliding block 810.Four rolling setting exists
81 bottom of circumferential movement trolley, and be in contact with the top end face of folding snap ring 5, i.e., idler wheel is moved up in the top end face of folding snap ring 5
Dynamic, idler wheel includes two driving wheels and two driven wheels.
For trolley driving mechanism for driving wheel actions, trolley driving mechanism includes trolley drive shaft and trolley driving electricity
Machine, trolley drive shaft are arranged between two idler wheels.Trolley drive motor is connected with trolley drive shaft, for driving circumferential movement
Trolley 81 moves on folding snap ring 5.
Connection sliding block 810 is arranged in 81 bottom of circumferential movement trolley, and equipped with 53 phase of arc-shaped guide rail, for circumferential fortune
Guiding role is played in the movement of dynamic trolley 81.The cross section of arc-shaped guide rail 53 is inverted T-shaped groove shape, the shape of connection sliding block 810
For the sliding block of T-shaped shape, connection sliding block 810, which clamps, to be arranged in arc-shaped guide rail 53, so that circumferential movement trolley 81 is when moving
It can circumferentially be moved along folding snap ring 5.
Air charging system 2 into two-way cylinder 83 for being inflated.Air charging system 2 include by gas piping 22 with it is two-way
The compressed air cylinder 21 that cylinder 83 is connected and the solenoid valve being arranged on compressed air cylinder 21, the controlled end connection of solenoid valve
In the output end of PLC controller, two-way gas can control by aeration quantity of the control compressed air cylinder 21 into two-way cylinder 83
The piston rod elongation of cylinder 83.
Driving mechanism includes sampling turntable driving motor 89 and sampling turntable 82, and the sampling setting of turntable driving motor 89 exists
Inside circumferential movement trolley 81.Specifically, sampling turntable driving motor 89 uses stepper motor, can rotate 90 ° every time, sampling
The controlled end of turntable driving motor 89 is connected to the output end of PLC controller.Turntable 82 is sampled to be arranged in circumferential movement trolley 81
Top is simultaneously fixedly connected with sampling 89 phase of turntable driving motor, so sampling turntable driving motor 89 is able to drive two-way cylinder 83
Rotation.
Centering detection device 9 is provided on chassis 6, centering detection device 9 is coaxial for realizing insulator and folding snap ring 5
Detection and localization.Centering detection device 9 includes ultrasonic sensor 91, and the signal output end of ultrasonic sensor 91 is connected to PLC
The input terminal of controller, ultrasonic sensor 91 are provided with multiple, at least provided with three, are separately positioned on the bottom end on chassis 6
On face, for detecting distance between 6 insulator of chassis and folding snap ring 5, all ultrasonic sensors 91 are respectively positioned on same circle
Zhou Shang, the center of circle after the center of circle of the circumference is closed with folding snap ring 5 coincides, it can be ensured that the requirement of centering.
Ultrasonic sensor 91 include send sensor (or wave transmitter), receiving sensor (or wave receiver),
Control section and power unit form, and the ultrasonic sensor in the present invention is for detecting each ultrasonic sensor and insulator
The distance between, send sensor emission ultrasonic signal reflected by insulator after, then be received sensor and received, into
And to detect the distance between ultrasonic sensor and insulator.Ultrasonic sensor 91 in the present invention uses QR18-
D100N-GM proximity ultrasonic sensor.
Height detecting device 11 is additionally provided on chassis 6, height detecting device 11 is for detecting folding 5 opposing insulation of snap ring
Sub- height and position is in two-way cylinder 83 between certain two panels insulator by controlling mechanical arm 3, avoids telescopic rod and full skirt
Collision.Height detecting device 11 includes vertical bar 111 and camera 112, and camera 112 is arranged by vertical bar 111 on chassis 6
On top end face, camera is visual identity camera, for shooting observation insulator and opening and closing the position between snap ring 5.Camera shooting
First 112 signal output end is connected to the input terminal of PLC controller, the information that camera 112 takes can be fed back to PLC
Controller, and then the adjusting that mechanical arm 3 carries out height is controlled again convenient for PLC controller.
The present invention is as follows in the sampling process for actually carrying out insulator contamination object.
Step 1, the preparation of sampling.The work responsible person of sampling enters sample man under the leading of operations staff
Make scene, whether the safety measure for first looking at scene meets the requirement of sampling operation, and handles relevant license formality.Work
Job site, disconnecting switch (pulling open state) and earthing switch will conscientiously be checked under the leading of operations staff by making responsible person
Situations such as (closed state).It is sampled preparation, first handbarrow and material again, to be protected in the handling process with charging equipment
Hold safe distance.Then in sampling scene installing fence, staff should focus on to notice site environment, forbid someone across safety
Fence.Then check connection sampling needed for ground line whether reliable ground, finally to make a copy of the parameter and record of sampling equipment
The environment temperature and humidity at scene.
Rubber pneumatic bag a86 is installed on the sampling joint A84 of two-way cylinder by step 2, and rubber pneumatic bag b87 is installed to
On the sampling joint B85 of two-way cylinder, two pieces of sampling cloth are set on rubber pneumatic bag a86 and rubber pneumatic bag b87, are stuck in
The sampling cloth interface of sampling joint.
Step 3 opens and closes the check of 5 height and position of snap ring.Adjusting mechanical arm height, camera 112 will open and close snap ring 5
Elevation information is shot, and feeds back to PLC controller, and staff is observed by the display screen in PLC controller, then
The mechanical arm 3 of Sampling Machine is set to be increased to a certain place value of insulator by the control of PLC controller, such as the position of the 4th insulator
It sets.
Step 4, insulator enter in folding snap ring 5.
1) opening of snap ring 5 is opened and closed.PLC controller controls driving motor 74 and obtains electric, the rotating forward of driving motor 74, drive active
Axis rotates clockwise, and driving shaft drives guide rail driving gear 71 and the right semi-circle ring guide rail 52 fixed with 71 phase of guide rail driving gear
It rotates clockwise；Meanwhile guide rail driving gear 71 will drive the guide rail driven gear 72 being engaged with and with guide rail driven gear
The fixed left semicircle ring guide rail 51 of 72 phases rotates counterclockwise, and realizes the opening of left semicircle ring guide rail 51 and right semi-circle ring guide rail 52.
2) after folding snap ring 5 is opened, PLC controller control mechanical arm 3 is moved horizontally, and insulator is made to enter folding snap ring 5
It is interior.
The centering of step 5, folding snap ring 5 and insulator detects.Three ultrasonic waves being arranged on 6 bottom face of chassis pass
Sensor 91 measures insulator and feeds back to PLC controller, PLC at a distance from each ultrasonic sensor sensor, and by metrical information
Controller is again adjusted the horizontal position of mechanical arm 3, and then to realize the adjusting to folding 5 horizontal position of snap ring, realization
Insulator and folding snap ring 5 are coaxial, i.e. centering.
Step 6 opens and closes the closure of snap ring 5, so that folding snap ring 5 is set in the periphery of insulator.Driving motor 74 drives
Driving shaft rotates counterclockwise, and driving shaft drives guide rail driving gear 71 and the right semi-circle ring fixed with 71 phase of guide rail driving gear to lead
Rail 52 rotates counterclockwise；Meanwhile guide rail driving gear 71 will drive the guide rail driven gear 72 being engaged with and driven with guide rail
The fixed left semicircle ring guide rail 51 of 72 phase of gear rotates clockwise, and realizes closing for left semicircle ring guide rail 51 and right semi-circle ring guide rail 52
It closes.
Step 7, sampling turntable driving motor 89 it is electric, sampling turntable driving motor 89 drive sampling turntable 82 and with
The fixed two-way cylinder 83 of sampling turntable 82 rotates clockwise 90 °, so that sampling joint A84 is radial to insulator, PLC controller
Control air charging system 2 realize the end two-way cylinder 83 piston rod elongation, control telescopic rod stretch out certain value, by stomata to
Inflation, makes rubber pneumatic bag a spreading in rubber pneumatic bag a, so that sampling cloth comes into full contact with insulator.
Step 8, trolley drive motor obtain it is electric, realize circumferential movement trolley 81 around folding the circumferential movement clockwise of snap ring 5,
The position of circumferential movement trolley 81 is detected by photoelectric sensor 101 in the process of running, photoelectric sensor 101 is small by circumferential movement
The position signal of vehicle 81 feeds back to PLC controller, and after a week, PLC controller controls trolley drive motor power loss, circumferential to transport for movement
Dynamic 81 stop motion of trolley, PLC controller control sampling turntable driving motor 89 again and invert, and sampling turntable driving motor 89 controls
Two-way cylinder 83 rotates counterclockwise 90 °, and then PLC controller control circumferential movement trolley 81 returns origin in the counterclockwise direction,
Sampling is completed, rubber pneumatic bag a deflates.
Step 9, PLC controller control mechanical arm lifting again, are observed by camera photographing information, adjustment is opened
5 height of snap ring is closed, the second position is sampled using second piece of sampling cloth (being rolled on rubber pneumatic bag).
Step 10, sampling turntable driving motor 89 it is electric, sampling turntable driving motor 89 drive sampling turntable 82 and with
The fixed two-way cylinder 83 of sampling turntable 82 rotates counterclockwise 90 °, so that sampling joint B85 is radial to insulator, PLC controller
Control air charging system 2 realize the end two-way cylinder 83 piston rod elongation, control telescopic rod stretch out certain value, by stomata to
Inflation, makes rubber pneumatic bag b spreading in rubber pneumatic bag b, so that sampling cloth comes into full contact with insulator.
Step 11, trolley drive motor obtain electric, realize circumferential movement trolley 81 around folding snap ring 5 circumferential fortune clockwise
It is dynamic, detect the position of circumferential movement trolley 81 by photoelectric sensor 101 in the process of running, photoelectric sensor 101 is by circumferential fortune
The position signal of dynamic trolley 81 feeds back to PLC controller, and after a week, PLC controller controls trolley drive motor power loss, week for movement
To 81 stop motion of trolley, PLC controller controls sampling turntable driving motor 89 again and inverts, and samples turntable driving motor 89
It controls two-way cylinder 83 and rotates counterclockwise 90 °, then PLC controller control circumferential movement trolley 81 returns original in the counterclockwise direction
Point, completes sampling, and rubber pneumatic bag b deflates.
Step 12, PLC controller control folding snap ring 5 are opened, and control mechanical arm 3 is mobile, leaves insulator, replacement is adopted
Sample cloth.
Claims (10)
1. arm carries formula insulator contamination object Sampling Machine, it is characterised in that: removable flat including being horizontally set on by mechanical arm (3)
For being set in the interbedded folding snap ring (5) of insulator above platform (1), folding snap ring (5) is connected with for automatic
Control opens and closes the folding control device (7) of snap ring (5) folding, is provided on the top end face of folding snap ring (5) and is wrapped with sampling cloth
And it is used to wipe the sampling apparatus (8) of dunghill between insulator interlayer along folding snap ring (5) circumferential movement；It is described removable flat
The PLC controller for control device overall operation, mechanical arm (3), folding control device (7) and sampling are provided on platform (1)
The controlled end of device (8) is connected to PLC controller.
2. arm according to claim 1 carries formula insulator contamination object Sampling Machine, it is characterised in that: the folding snap ring (5)
Bottom be provided with chassis (6) and respectively with chassis (6) and mechanical arm (3) mutually fixed mechanical arm connecting plate (4), chassis
(6) and mechanical arm connecting plate (4) is horizontally disposed；
The folding snap ring (5) includes left semicircle ring guide rail (51) and with left semicircle ring guide rail (51) split settings and with left half
Annulus guide rail (51) matches the right semi-circle ring guide rail (52) to form closed circle；The left semicircle ring guide rail (51) and right semi-circle
The top end face of ring guide rail (52) is respectively arranged with arc-shaped guide rail (53), and two arc-shaped guide rails head and the tail closure forms circular guideway.
3. arm according to claim 2 carries formula insulator contamination object Sampling Machine, it is characterised in that: the folding control device
(7) include with right semi-circle ring guide rail (52) mutually fixed guide rail driving gear (71) in most round shape and with left semicircle ring guide rail
(51) guide rail driven gear (72) that is mutually fixed and being meshed with guide rail driving gear (71) in most round shape, guide rail driving gear
(71) driving motor (74) being arranged on chassis (6) is connected with by the driving shaft being rotatably arranged on chassis (6), driven
The controlled end of dynamic motor (74) is connected to PLC controller, guide rail driven gear (72) by be rotatably arranged on chassis (6) from
Moving axis is arranged on chassis (6).
4. arm according to claim 3 carries formula insulator contamination object Sampling Machine, it is characterised in that: the guide rail driving gear
(71) and on the top end face of guide rail driven gear (72) it is provided with and is moved in folding snap ring (5) for detecting sampling apparatus (8)
The sampling apparatus position detecting device (10) of position, sampling apparatus position detecting device (10) include being separately positioned on guide rail actively
Photoelectric sensor (101) on the top end face of gear (71) and guide rail driven gear (72), the signal of photoelectric sensor (101) are defeated
Outlet is connected to the input terminal of PLC controller.
5. arm according to claim 2 carries formula insulator contamination object Sampling Machine, it is characterised in that: the sampling apparatus (8)
Including being fastened on circumferential movement trolley (81) in circular guideway and along circular guideway circumferential movement, being existed by driving mechanism setting
On circumferential movement trolley (81) for extend in the deflated condition with extend into the interbedded two-way cylinder (83) of insulator with
And the air charging system (2) for being inflated into two-way cylinder (83), circumferential movement trolley (81), driving mechanism and inflation dress
The controlled end for setting (2) is connected to the output end of PLC controller；The tailpiece of the piston rod of two-way cylinder (83) is connected with sampling
The sampling joint of cloth interface and wrapping up in is located on sampling joint and has the rubber pneumatic bag of stomata (88), and sampling cloth, which is wrapped up in, is located at rubber
On air bag.
6. arm according to claim 5 carries formula insulator contamination object Sampling Machine, it is characterised in that: the circumferential movement trolley
(81) include setting circumferential movement trolley (81) bottom and with folding snap ring (5) top end face be in contact four rolling, use
In driving wheel actions trolley driving mechanism and setting circumferential movement trolley (81) bottom and with arc-shaped guide rail (53) phase
It is equipped with the connection sliding block (810) that guiding role is played for the movement to circumferential movement trolley (81)；The trolley driving mechanism
It is connected including the trolley drive shaft being arranged between two idler wheels and with trolley drive shaft for driving circumferential movement trolley
(81) trolley drive motor moved in folding snap ring (5), the controlled end of trolley drive motor are connected to the defeated of PLC controller
Outlet.
7. arm according to claim 5 carries formula insulator contamination object Sampling Machine, it is characterised in that: the air charging system (2)
Including the compressed air cylinder (21) being connected by gas piping (22) with two-way cylinder (83) and it is arranged in compressed air cylinder
(21) controlled end of the solenoid valve on, solenoid valve is connected to the output end of PLC controller.
8. arm according to claim 5 carries formula insulator contamination object Sampling Machine, it is characterised in that: the driving mechanism includes
It is arranged and is pushed up in the internal sampling turntable driving motor (89) of circumferential movement trolley (81) and setting in circumferential movement trolley (81)
Portion and the sampling turntable (82) being mutually fixedly connected with sampling turntable driving motor (89), sample the controlled of turntable driving motor (89)
End is connected to the output end of PLC controller.
9. arm according to claim 2 carries formula insulator contamination object Sampling Machine, it is characterised in that: set on the chassis (6)
It is equipped with for realizing the centering detection device (9) of insulator and folding snap ring (5) coaxial detection and localization；The centering detection device
It (9) include on multiple bottom faces for being separately positioned on chassis (6) for detecting between chassis (6) insulator and folding snap ring (5)
The ultrasonic sensor (91) of distance, ultrasonic sensor (91) is at least provided with three, all ultrasonic sensors (91)
It is respectively positioned on same circumference, the signal output end of ultrasonic sensor (91) is connected to the input terminal of PLC controller.
10. arm according to claim 2 carries formula insulator contamination object Sampling Machine, it is characterised in that: on the chassis (6) also
It is provided with the height detecting device (11) for detecting the folding sub- height and position of snap ring (5) opposing insulation, height detecting device
(11) include by vertical bar (111) be arranged on chassis (6) top end face for shoot observation insulator and folding snap ring (5) it
Between height position camera (112), the signal output end of camera (112) is connected to the input terminal of PLC controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910592974.6A CN110160820B (en) | 2019-07-03 | 2019-07-03 | Arm-carried insulator filth sampling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910592974.6A CN110160820B (en) | 2019-07-03 | 2019-07-03 | Arm-carried insulator filth sampling machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110160820A true CN110160820A (en) | 2019-08-23 |
| CN110160820B CN110160820B (en) | 2024-01-02 |
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ID=67637783
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910592974.6A Active CN110160820B (en) | 2019-07-03 | 2019-07-03 | Arm-carried insulator filth sampling machine |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110587624A (en) * | 2019-09-11 | 2019-12-20 | 国网山东省电力公司烟台市福山区供电公司 | Intelligent detection robot for insulator of power transmission line |
| CN111398303A (en) * | 2020-03-24 | 2020-07-10 | 郑州铁路职业技术学院 | Railway power supply insulator contamination online detection system |
| CN111504717A (en) * | 2020-06-15 | 2020-08-07 | 国网天津市电力公司电力科学研究院 | Special sampling tool for testing particle size distribution of insulator dirt |
| CN112525582A (en) * | 2020-11-12 | 2021-03-19 | 国网河南省电力公司叶县供电公司 | Insulator salt density and ash density sampling device in operation |
| CN113281080A (en) * | 2021-07-22 | 2021-08-20 | 广东电网有限责任公司东莞供电局 | Insulator surface filth sampling device |
| CN116148613A (en) * | 2023-04-12 | 2023-05-23 | 江苏峰工电气科技有限公司 | Fault positioning on-line detector and detection method thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587624A (en) * | 2019-09-11 | 2019-12-20 | 国网山东省电力公司烟台市福山区供电公司 | Intelligent detection robot for insulator of power transmission line |
| CN110587624B (en) * | 2019-09-11 | 2022-11-22 | 国网山东省电力公司烟台市福山区供电公司 | Intelligent detection robot for insulator of power transmission line |
| CN111398303A (en) * | 2020-03-24 | 2020-07-10 | 郑州铁路职业技术学院 | Railway power supply insulator contamination online detection system |
| CN111504717A (en) * | 2020-06-15 | 2020-08-07 | 国网天津市电力公司电力科学研究院 | Special sampling tool for testing particle size distribution of insulator dirt |
| CN111504717B (en) * | 2020-06-15 | 2024-05-24 | 国网天津市电力公司电力科学研究院 | Special sampling tool for testing particle size distribution of insulator pollutants |
| CN112525582A (en) * | 2020-11-12 | 2021-03-19 | 国网河南省电力公司叶县供电公司 | Insulator salt density and ash density sampling device in operation |
| CN113281080A (en) * | 2021-07-22 | 2021-08-20 | 广东电网有限责任公司东莞供电局 | Insulator surface filth sampling device |
| CN116148613A (en) * | 2023-04-12 | 2023-05-23 | 江苏峰工电气科技有限公司 | Fault positioning on-line detector and detection method thereof |
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