CN110160820B - Arm-carried insulator filth sampling machine - Google Patents
Arm-carried insulator filth sampling machine Download PDFInfo
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- CN110160820B CN110160820B CN201910592974.6A CN201910592974A CN110160820B CN 110160820 B CN110160820 B CN 110160820B CN 201910592974 A CN201910592974 A CN 201910592974A CN 110160820 B CN110160820 B CN 110160820B
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- insulator
- closing
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- 238000005070 sampling Methods 0.000 title claims abstract description 149
- 239000012212 insulator Substances 0.000 title claims abstract description 81
- 239000004744 fabric Substances 0.000 claims abstract description 24
- 239000011229 interlayer Substances 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims description 51
- 238000001514 detection method Methods 0.000 claims description 36
- 230000002457 bidirectional effect Effects 0.000 claims description 28
- 239000002689 soil Substances 0.000 claims 3
- 238000000034 method Methods 0.000 description 13
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 238000005201 scrubbing Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 239000004568 cement Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 239000003792 electrolyte Substances 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 238000009422 external insulation Methods 0.000 description 1
- 210000003608 fece Anatomy 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 238000007790 scraping 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
- 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
Abstract
The invention discloses an arm-mounted insulator filth sampler, which comprises an opening and closing clamp ring horizontally arranged above a movable platform through a mechanical arm and used for being sleeved between insulator interlayers, wherein the opening and closing clamp ring is connected with an opening and closing control device used for automatically controlling the opening and closing of the opening and closing clamp ring, and the top end surface of the opening and closing clamp ring is provided with a sampling device which is wrapped with sampling cloth and moves along the circumferential direction of the opening and closing clamp ring and is used for wiping filth between the insulator interlayers; the movable platform is provided with a PLC controller for controlling the whole operation of the device, and the controlled ends of the mechanical arm, the opening and closing control device and the sampling device are respectively connected with the PLC controller. The invention realizes the automatic sampling work of the filth, replaces manual operation, does not need to climb and sample manually, greatly increases the safety of sampling, and greatly improves the working efficiency, thereby effectively avoiding the occurrence of the pollution flashover phenomenon and effectively ensuring the service life of the insulator.
Description
Technical Field
The invention relates to the technical field of high-voltage external insulation of power equipment, in particular to an arm-mounted insulator filth sampler.
Background
Over time in air, the surface of a general electrical device can accumulate a lot of pollutants, such as dust in the air, bird feces and the like, and particularly for insulators, the surface of the insulator can be more easily accumulated by the adsorption force of the applied voltage. If the electric equipment is exposed to high humidity weather such as heavy fog or in areas with high humidity throughout the year, electrolyte in filth attached to the insulating surface of the electric equipment is dissolved in water, a conductive film is formed on the surface of the electric equipment, the insulating level of the surface of the equipment is greatly reduced, and a strong discharge phenomenon, called pollution flashover phenomenon, occurs under the action of an electric field force. Of course, the pollution flashover phenomenon is not very common, and can only happen when the pollution reaches a certain amount, the external temperature reaches a certain condition and the humidity is enough.
The ultra-high voltage and ultra-high voltage transmission is greatly developed in recent years, and the safe operation of the transmission and transformation insulator directly determines the investment and the safety level of the whole system. In order to prevent pollution flashover of lines and electrical equipment, particularly insulators, and to reduce the possibility of pollution flashover accidents to the greatest extent, in order to provide scientific basis for the research of avoiding pollution flashover accidents, the filth on the surfaces of the insulators is often required to be sampled, and then the experimenters can obtain information such as dust density, salt density and the like through detecting the filth.
However, the sampling work has been carried out by means of manual methods for a long time, and the sampling methods include the following two methods:
1. a set of dirty sampling-related sets is first prepared before sampling: the device comprises a sampling cloth, a wetting agent, sampling gloves, a collecting bag and a sample box; then carrying the equipment to climb to the corresponding position of the insulator; and putting on gloves, taking out the sampling towel from the sealing bag, and wiping the upper surface and the lower surface of the insulator respectively. When the dirt is more, a plurality of sampling tissues are used for carefully wiping the surface of the insulator until the dirt is completely transferred to the sampling tissues.
2. The insulator to be tested can also be removed, and the sealing condition of the insulator is particularly paid attention to, and the insulator is transported to a laboratory and then the filth is collected by a wiping method or a cleaning method. If dirt remains after scrubbing for several times, scraping the dirt by using a scraper, and then putting the dirt into the dirt liquid. Care is taken during scrubbing that the cement and hardware locations are not scrubbed. Two guarantees are needed in the process: ensuring zero pollution loss in the loading, unloading and carrying processes; the sampling position and the sampling quantity are ensured to meet the requirement.
The manual treatment method for sampling the filth on the surface of the insulator is limited by the working place, and particularly, the high-altitude operation can face various dangers and challenges. The safety protection problem of sampling personnel is difficult to solve, the operators need to climb to a high place to sample, the danger of work is certainly increased, the workload is large, the sampling speed is low, the sampling efficiency is low, and the working strength is high. Meanwhile, all insulators are not vertical, and a certain inclination angle is formed, so that the sampling work is quite complex, tedious and slow. Therefore, it is important to develop a device that can efficiently sample.
Disclosure of Invention
The invention aims to solve the technical problems that the existing insulator filth sampling mode is a manual sampling mode, so that the problems of increased working danger, large workload, low sampling efficiency, high working strength and complex sampling work are solved, a mechanical structure is adopted to be specially used for the insulator surface sampling work, and manual operation is replaced by the mechanical structure, so that the sampling work becomes simple, efficient and quick.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
The arm-mounted insulator filth sampler comprises an opening and closing clamp ring which is horizontally arranged above a movable platform through a mechanical arm and is used for being sleeved between insulator interlayers, the opening and closing clamp ring is connected with an opening and closing control device which is used for automatically controlling the opening and closing of the opening and closing clamp ring, and the top end surface of the opening and closing clamp ring is provided with a sampling device which is wrapped with sampling cloth and moves along the circumferential direction of the opening and closing clamp ring and is used for wiping filth between the insulator interlayers; the movable platform is provided with a PLC controller for controlling the whole operation of the device, and the controlled ends of the mechanical arm, the opening and closing control device and the sampling device are respectively connected with the PLC controller.
According to the further optimized technical scheme, the bottom of the opening and closing clamp ring is provided with a chassis and a mechanical arm connecting plate which is respectively fixed with the chassis and the mechanical arm, and the chassis and the mechanical arm connecting plate are horizontally arranged;
the opening and closing clamp ring comprises a left semicircular guide rail and a right semicircular guide rail which is arranged in a split mode with the left semicircular guide rail and is matched with the left semicircular guide rail to form a closed circular ring; the top end surfaces of the left semicircular guide rail and the right semicircular guide rail are respectively provided with an arc guide rail, and the two arc guide rails are closed end to form a circular guide rail.
Further optimizing technical scheme, open and shut controlling means includes the guide rail driving gear that is many semicircle with right semicircle ring guide rail looks fixed and is many semicircle ring guide rail driven gear that is the meshing mutually with left semicircle ring guide rail looks fixed and with guide rail driving gear, guide rail driving gear is provided with the driving motor that sets up on the chassis through rotating the driving shaft connection that sets up on the chassis, driving motor's controlled end is connected in the PLC controller, and guide rail driven gear sets up on the chassis through rotating the driven shaft that sets up on the chassis.
Further optimizing technical scheme, be provided with the sampling device position detection device who is used for detecting sampling device on the snap ring of opening and shutting on the terminal surface of guide rail driving gear and guide rail driven gear, sampling device position detection device is including setting up photoelectric sensor on the terminal surface of guide rail driving gear and guide rail driven gear respectively, and photoelectric sensor's signal output part is connected in the input of PLC controller.
According to a further optimized technical scheme, the sampling device comprises a circumferential movement trolley which is clamped in the circular guide rail and moves along the circumferential direction of the circular guide rail, a bidirectional cylinder which is arranged on the circumferential movement trolley through a driving mechanism and is used for extending to extend into the space between the insulator interlayers in an inflated state, and an inflation device which is used for inflating the bidirectional cylinder, wherein the circumferential movement trolley, the driving mechanism and the controlled end of the inflation device are respectively connected with the output end of the PLC; the piston rod end of the bidirectional cylinder is connected with a sampling joint with a sampling cloth interface and a rubber air bag which is wrapped on the sampling joint and provided with an air hole, and the sampling cloth is wrapped on the rubber air bag.
According to the technical scheme, the circumferential movement trolley comprises four rollers, a trolley driving mechanism and a connecting sliding block, wherein the four rollers are arranged at the bottom of the circumferential movement trolley and are in contact with the top end surface of the opening and closing clamping ring, the trolley driving mechanism is used for driving the rollers to act, and the connecting sliding block is arranged at the bottom of the circumferential movement trolley and is matched with the arc-shaped guide rail to play a role in guiding the movement of the circumferential movement trolley; the trolley driving mechanism comprises a trolley driving shaft arranged between the two rollers and a trolley driving motor connected with the trolley driving shaft and used for driving the trolley to move on the opening and closing clamp ring.
Further optimizing technical scheme, aerating device includes the compressed air jar that is linked together with two-way cylinder through the gas piping and sets up the solenoid valve on the compressed air jar, and the controlled end of solenoid valve is connected in the output of PLC controller.
Further optimizing technical scheme, actuating mechanism is including setting up at the inside sampling carousel driving motor of circumference motion dolly and setting up at circumference motion dolly top and with sampling carousel driving motor looks fixed connection's sampling carousel, sampling carousel driving motor's controlled end is connected in the output of PLC controller.
According to the further optimized technical scheme, a centering detection device for realizing coaxial positioning detection of the insulator and the opening and closing clamping ring is arranged on the chassis; the centering detection device comprises a plurality of ultrasonic sensors which are respectively arranged on the bottom end face of the chassis and used for detecting the distance between the chassis insulator and the opening and closing clamp ring, at least three ultrasonic sensors are arranged, all the ultrasonic sensors are located on the same circumference, and the signal output end of each ultrasonic sensor is connected with the input end of the PLC.
Further optimizing technical scheme, still be provided with the high detection device who is used for detecting the relative insulator height position of snap ring that opens and shuts on the chassis, high detection device is including setting up the camera that is used for shooting the position of observing the height between insulator and the snap ring that opens and shuts on the chassis top end face through vertical pole, and the signal output part of camera is connected in the input of PLC controller.
By adopting the technical scheme, the invention has the following technical progress.
According to the invention, the opening and closing of the opening and closing clamp ring is controlled by the opening and closing control device, the height detection device is used for detecting the height position of the opening and closing clamp ring, the centering detection device is used for coaxially detecting the opening and closing clamp ring and the insulator, and the sampling cloth is wrapped on the sampling device to wipe the filth between the interlayers of the insulator, so that the device is used for realizing automatic filth sampling work, replacing manual work, and no climbing sampling is needed, the sampling safety is greatly improved, the working efficiency is greatly improved, the occurrence of pollution flashover is effectively avoided, and the service life of the insulator is effectively ensured.
The camera in the height detection device can detect the height position of the opening and closing clamp ring relative to the insulators, namely, the bidirectional cylinder is positioned between two insulators through controlling the mechanical arm, so that the telescopic rod is prevented from colliding with the umbrella skirt.
The at least three ultrasonic sensors arranged in the centering detection device realize coaxial positioning detection of the insulator and the opening and closing clamp ring by utilizing ultrasonic waves. The camera and the ultrasonic sensor are arranged, so that the device completes the positioning work of the insulator, and the intelligent degree is high.
The opening and closing clamp ring is divided into the left semicircular guide rail and the right semicircular guide rail, the right semicircular guide rail is fixed with the guide rail driving gear, the guide rail driven gear is fixed with the left semicircular guide rail, and the opening and closing function of the opening and closing clamp ring can be realized by driving the rotation of the guide rail driving gear through the driving motor.
The piston rod end of the bidirectional cylinder is connected with the sampling joint, the sampling joint is wrapped with the rubber air bag, the sampling joint is provided with the sampling cloth connector, the sampling cloth is wrapped on the rubber air bag, the rubber air bag is provided with the air hole, and the air hole can be used for inflating the rubber air bag, so that the rubber air bag is expanded, and the sampling cloth is ensured to be fully contacted with the insulator. Due to the existence of the rubber air bag, the contact pressure of each position of the sampling cloth and the insulator is the same, and sampling errors cannot be caused.
The rollers arranged on the circumferential movement trolley can move along the top end surface of the opening and closing clamping ring, the connecting sliding blocks are matched with the arc-shaped guide rails, the movement of the circumferential movement trolley is guided, the circumferential movement trolley is ensured to move on the opening and closing clamping ring, and the structure is quite novel.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is a top view of a portion of the structure of the present invention;
FIG. 5 is a front view of FIG. 4;
FIG. 6 is a side view of FIG. 4;
FIG. 7 is a cross-sectional view of the arcuate guide rail of the present invention mated with a connecting block;
FIG. 8 is a top view of the snap ring of the present invention when open;
fig. 9 is a schematic structural view of the snap ring of the present invention sleeved between the interlayers.
Wherein: 1. a movable platform; 2. an inflator 21, a compressed air tank 22, and a gas line; 3. a mechanical arm; 4. a mechanical arm connecting plate; 5. the opening and closing clamp ring, 51, a left semicircular guide rail, 52, a right semicircular guide rail, 53 and an arc guide rail; 6. chassis, 61, connecting hole; 7. the opening and closing control device comprises an opening and closing control device 71, a guide rail driving gear 72, a guide rail driven gear 73, a speed reducer 74 and a driving motor; 8. the device comprises a sampling device 81, a circumferential movement trolley 82, a sampling turntable 83, a bidirectional cylinder 84, sampling connectors A and 85, sampling connectors B and 86, rubber air bags a and 87, rubber air bags B and 88, air holes 89, a sampling turntable driving motor 810 and a connecting sliding block; 9. a centering detection device 91 and an ultrasonic sensor; 10. sampling device position detection device, 101, photoelectric sensor; 11. height detection device 111, vertical pole, 112, camera.
Detailed Description
The invention will be described in further detail with reference to the drawings and the specific embodiments.
An arm-mounted insulator filth sampling machine is shown in combination with fig. 1 to 9, and comprises an opening-closing clamping ring 5, an opening-closing control device 7 and a sampling device 8.
The opening and closing clamp ring 5 is horizontally arranged above the movable platform 1 through the mechanical arm 3 and is used for being sleeved between the insulator interlayers. The mechanical arm 3 is a multi-degree-of-freedom aerial working mechanical arm, can move, lift and incline, and the whole device is arranged at the front end of the mechanical arm 3.
The movable platform 1 is provided with a PLC (programmable logic controller) which is used for controlling the whole operation of the device, and the controlled ends of the mechanical arm 3, the opening and closing control device 7 and the sampling device 8 are respectively connected with the PLC. The PLC controller is provided with a display screen and control buttons.
The bottom of the opening and closing clamp ring 5 is provided with a chassis 6 and a mechanical arm connecting plate 4, and the mechanical arm connecting plate 4 is respectively fixed with the chassis 6 and the mechanical arm 3. The chassis 6 is provided with a connecting hole 61, and a connecting bolt passes through the connecting hole 61 to be connected with the mechanical arm connecting plate 4. The chassis 6 and the mechanical arm connecting plate 4 are horizontally arranged, so that the opening and closing clamp ring 5 arranged on the chassis 6 is in a horizontal state.
The opening and closing clamp ring 5 comprises a left semicircular guide rail 51 and a right semicircular guide rail 52, wherein the right semicircular guide rail 52 and the left semicircular guide rail 51 are arranged in a split mode and are matched with each other to form a closed circular ring. The top end surfaces of the left semicircular guide rail 51 and the right semicircular guide rail 52 are respectively provided with an arc guide rail 53, and the two arc guide rails are closed end to form a circular guide rail.
The opening and closing control device 7 is connected with the opening and closing clamp ring 5 and is used for automatically controlling the opening and closing of the opening and closing clamp ring 5. The opening and closing control device 7 includes a rail driving gear 71, a rail driven gear 72, and a driving motor 74.
The guide rail driving gear 71 is fixed with the right semicircular guide rail 52, the guide rail driving gear 71 and the right semicircular guide rail 52 are integrally arranged to form a plurality of semicircular shapes, and the side wall of the guide rail driving gear 71 which is formed into a plurality of semicircular shapes is provided with teeth. The guide driven gear 72 is fixed with the left semicircular guide 51, the guide driven gear 72 is integrally arranged with the left semicircular guide 51 and meshed with the guide driving gear 71, and teeth are formed on the side wall of the guide driven gear 72, which is in a shape of a semicircle.
The guide rail driving gear 71 is connected with a driving motor 74 through a driving shaft, and a controlled end of the driving motor 74 is connected with the PLC. A speed reducer 73 can be further connected between the driving shaft and the driving motor 74, one end of the speed reducer 73 is connected with the driving shaft, and the other end of the speed reducer 73 is connected with the driving motor 74 through a coupler. The driving shaft is arranged on the chassis 6 through a bearing, and the driving shaft and the chassis 6 can rotate. The guide driven gear 72 is provided on the chassis 6 via a driven shaft, the driven shaft is provided on the chassis 6 via a bearing, and the driven shaft is rotatable with respect to the chassis 6. The fixed end of the driving motor 74 is arranged on the chassis 6, and the driving motor 74 can drive the guide rail driving gear 71 to rotate so as to drive the guide rail driven gear 72 meshed with the guide rail driving gear to reversely rotate, so that the left semicircular guide rail 51 and the right semicircular guide rail 52 are opened and closed.
The top end surfaces of the guide rail driving gear 71 and the guide rail driven gear 72 are provided with a sampling device position detection device 10, and the sampling device position detection device 10 is used for detecting the movement position of the sampling device 8 on the opening and closing clamp ring 5. The sampling device position detection device 10 includes a photoelectric sensor 101 provided on the top end surfaces of the rail driving gear 71 and the rail driven gear 72, respectively, and a signal output terminal of the photoelectric sensor 101 is connected to an input terminal of the PLC controller.
The photosensor comprises a transmitter, a receiver and a detection circuit, the transmitter being directed to the sampling device 8 to emit a light beam, the emitted light beam generally originating from a semiconductor light source, a Light Emitting Diode (LED), a laser diode and an infrared emitting diode. The beam is emitted without interruption or the pulse width is changed. The receiver is composed of a photodiode, a phototriode and a photocell. In front of the receiver, optical elements such as lenses and diaphragms are mounted. Behind this is a detection circuit which can filter out the useful signal and apply it, which can feed back detection information to the PLC controller.
The invention adopts a PBT plastic shell infrared diffuse reflection photoelectric sensor.
The sampling device 8 is arranged on the top end surface of the opening and closing clamp ring 5, sampling cloth is wrapped on the sampling device 8 and moves along the circumferential direction of the opening and closing clamp ring 5, and the sampling device is used for wiping filth between the interlayer of the insulator. The sampling device 8 comprises a circumferential movement trolley 81, a driving mechanism, a bidirectional cylinder 83 and an inflating device 2, wherein the controlled ends of the circumferential movement trolley 81, the driving mechanism and the inflating device 2 are respectively connected with the output end of the PLC;
the circumferential movement carriage 81 is caught in the circular guide rail and moves in the circumferential direction of the circular guide rail. A bidirectional cylinder 83 is provided on the circumferentially moving trolley 81 by a driving mechanism for extending in an inflated state so as to extend between the insulator interlayers. The piston rod end of the bidirectional cylinder 83 is connected with a sampling joint and a rubber air bag wrapped on the sampling joint, a sampling cloth connector is arranged on the sampling joint, sampling cloth is wrapped on the rubber air bag, an air hole 88 is formed in the rubber air bag, and the rubber air bag is inflated through the air hole 88 so as to be expanded, so that the sampling cloth is guaranteed to be fully contacted with an insulator. Due to the existence of the rubber air bag, the contact pressure of each position of the sampling cloth and the insulator is the same, and sampling errors cannot be caused.
The bidirectional cylinder 83 in the invention is a double-head telescopic cylinder, namely, the bottom end of the bidirectional cylinder 83 is a fixed end, and the two heads are telescopic ends, and the two ends can be respectively inflated under the action of the inflator 2 so as to respectively control the telescopic of the two heads of the bidirectional cylinder 83. The bidirectional cylinder 83 in the invention is of the DXWM10X10 type, and can be of other types. The sampling joint at one end is a sampling joint A84, the rubber air bag wrapped on the sampling joint A84 is a rubber air bag a86, the sampling joint at the other end is a sampling joint B85, the rubber air bag wrapped on the sampling joint B85 is a rubber air bag B87, and an air hole is respectively formed in the rubber air bag a86 and the rubber air bag B87.
The circumferentially moving trolley 81 includes four rollers, a trolley driving mechanism and a connecting slider 810. The four rollers are arranged at the bottom of the circumferential movement trolley 81 and are contacted with the top end surface of the opening and closing clamp ring 5, namely, the rollers move on the top end surface of the opening and closing clamp ring 5, and the rollers comprise two driving wheels and two driven wheels.
The trolley driving mechanism is used for driving the rollers to act and comprises a trolley driving shaft and a trolley driving motor, and the trolley driving shaft is arranged between the two rollers. The trolley driving motor is connected with a trolley driving shaft and is used for driving the circumferential movement trolley 81 to move on the opening and closing clamp ring 5.
The connecting slide block 810 is arranged at the bottom of the circumferential movement trolley 81 and is matched with the arc-shaped guide rail 53, so as to play a role in guiding the movement of the circumferential movement trolley 81. The cross section of the arc-shaped guide rail 53 is in an inverted T-shaped groove shape, the connecting slide block 810 is in a T-shaped slide block, and the connecting slide block 810 is clamped and arranged in the arc-shaped guide rail 53, so that the circumferential movement trolley 81 can move along the circumferential direction of the opening and closing clamp ring 5 when moving.
The inflator 2 is used to inflate the bi-directional cylinder 83. The inflator 2 comprises a compressed air tank 21 communicated with the bidirectional air cylinder 83 through the air pipeline 22 and an electromagnetic valve arranged on the compressed air tank 21, wherein a controlled end of the electromagnetic valve is connected to an output end of the PLC, and the extension of a piston rod of the bidirectional air cylinder 83 can be controlled by controlling the inflation amount of the compressed air tank 21 into the bidirectional air cylinder 83.
The driving mechanism includes a sampling turntable driving motor 89 and a sampling turntable 82, and the sampling turntable driving motor 89 is disposed inside the circumferential movement trolley 81. Specifically, the sampling turntable driving motor 89 adopts a stepping motor, and can rotate 90 ° each time, and the controlled end of the sampling turntable driving motor 89 is connected to the output end of the PLC controller. The sampling turntable 82 is disposed on the top of the circumferential movement trolley 81 and is fixedly connected with the sampling turntable driving motor 89, so that the sampling turntable driving motor 89 can drive the bidirectional cylinder 83 to rotate.
The chassis 6 is provided with a centering detection device 9, and the centering detection device 9 is used for realizing coaxial positioning detection of the insulator and the opening and closing clamp ring 5. The centering detection device 9 comprises an ultrasonic sensor 91, the signal output end of the ultrasonic sensor 91 is connected to the input end of the PLC, the ultrasonic sensor 91 is provided with a plurality of ultrasonic sensors, at least three ultrasonic sensors are arranged on the bottom end surface of the chassis 6 respectively and used for detecting the distance between the insulator of the chassis 6 and the opening and closing clamp ring 5, all ultrasonic sensors 91 are located on the same circumference, and the circle centers of the circumference are coincident with the circle centers of the opening and closing clamp ring 5 after the closing, so that the centering requirement can be ensured.
The ultrasonic sensor 91 includes a transmitting sensor (or called a wave transmitter), a receiving sensor (or called a wave receiver), a control part and a power part, wherein the ultrasonic sensor is used for detecting the distance between each ultrasonic sensor and an insulator, and an ultrasonic signal transmitted by the transmitting sensor is reflected by the insulator and then received by the receiving sensor, so that the distance between the ultrasonic sensor and the insulator is detected. The ultrasonic sensor 91 of the present invention is a QR18-D100N-GM proximity type ultrasonic sensor.
The chassis 6 is also provided with a height detection device 11, and the height detection device 11 is used for detecting the height position of the opening and closing clamp ring 5 relative to the insulators, namely, the bidirectional cylinder 83 is positioned between two insulators through the control mechanical arm 3, so that the telescopic rod is prevented from colliding with the umbrella skirt. The height detection device 11 comprises a vertical rod 111 and a camera 112, wherein the camera 112 is arranged on the top end surface of the chassis 6 through the vertical rod 111, is a visual identification camera and is used for shooting and observing the position between the insulator and the opening and closing clamp ring 5. The signal output part of the camera 112 is connected to the input part of the PLC, so that the information shot by the camera 112 can be fed back to the PLC, and the PLC is convenient to control the mechanical arm 3 to adjust the height.
The invention actually performs the sampling process of the insulator filth as follows.
Step one, preparation of sampling. The sampling work responsible person enters the sampling work site under the guidance of the operator, firstly checks whether the safety measures of the site meet the requirements of the sampling work, and transacts the related permission procedures. The working person takes care of checking the working place, the disconnecting switch (open state) and the grounding switch (closed state) under the guidance of the operator. And then sampling preparation is carried out, and firstly, the tool and the material are conveyed, and a safe distance is kept between the tool and the electrified equipment in the conveying process. Then installing a fence at the sampling site, and allowing workers to pay attention to the site environment and strictly forbid people to cross the safety fence. And then checking whether the grounding wire required by connection sampling is reliably grounded, and finally, copying parameters of sampling equipment and recording the ambient temperature and humidity of the site.
And step two, mounting a rubber air bag a86 on a sampling joint A84 of the bidirectional air cylinder, mounting a rubber air bag B87 on a sampling joint B85 of the bidirectional air cylinder, respectively sleeving two pieces of sampling cloth on the rubber air bag a86 and the rubber air bag B87, and clamping at the sampling cloth interface of the sampling joint.
And thirdly, checking the height position of the opening and closing clamp ring 5. And the height of the mechanical arm is adjusted, the camera 112 shoots the height information of the opening and closing clamp ring 5 and feeds the height information back to the PLC, a worker observes through a display screen on the PLC, and the mechanical arm 3 of the sampling machine is lifted to a certain position value of an insulator, such as the position of a fourth insulator, under the control of the PLC.
And step four, the insulator enters the opening and closing clamp ring 5.
1) Opening the snap ring 5. The PLC controls the driving motor 74 to be electrified, the driving motor 74 rotates positively to drive the driving shaft to rotate clockwise, and the driving shaft drives the guide rail driving gear 71 and the right semicircular guide rail 52 fixed with the guide rail driving gear 71 to rotate clockwise; meanwhile, the guide rail driving gear 71 drives the guide rail driven gear 72 meshed with the guide rail driving gear and the left semicircular guide rail 51 fixed with the guide rail driven gear 72 to rotate anticlockwise, so that the left semicircular guide rail 51 and the right semicircular guide rail 52 are opened.
2) After the opening and closing clamp ring 5 is opened, the PLC controls the mechanical arm 3 to horizontally move, so that the insulator enters the opening and closing clamp ring 5.
And fifthly, centering detection of the opening and closing clamp ring 5 and the insulator. Three ultrasonic sensors 91 arranged on the bottom end surface of the chassis 6 measure the distance between the insulator and each ultrasonic sensor, and feed back measurement information to a PLC controller, and the PLC controller adjusts the horizontal position of the mechanical arm 3, so as to adjust the horizontal position of the opening and closing clamp ring 5, realize the coaxiality of the insulator and the opening and closing clamp ring 5, namely, centering.
And step six, closing the opening and closing snap ring 5, so that the opening and closing snap ring 5 is sleeved on the periphery of the insulator. The driving motor 74 drives the driving shaft to rotate anticlockwise, and the driving shaft drives the guide rail driving gear 71 and the right semicircular guide rail 52 fixed with the guide rail driving gear 71 to rotate anticlockwise; meanwhile, the guide driving gear 71 drives the guide driven gear 72 meshed with the guide driving gear and the left semicircular guide 51 fixed with the guide driven gear 72 to rotate clockwise, so that the left semicircular guide 51 and the right semicircular guide 52 are closed.
And seventhly, the sampling turntable driving motor 89 is powered on, the sampling turntable driving motor 89 drives the sampling turntable 82 and the bidirectional air cylinder 83 fixed with the sampling turntable 82 to rotate 90 degrees clockwise, so that the sampling connector A84 is radial to an insulator, the PLC controller controls the air charging device 2 to realize the extension of a piston rod of the bidirectional air cylinder 83 at the end, the telescopic rod is controlled to extend out of a certain value, and the air hole is used for charging air into the rubber air bag a, so that the rubber air bag a is expanded, and further the sampling cloth is fully contacted with the insulator.
And step eight, the trolley driving motor is electrified to realize clockwise circumferential movement of the circumferential movement trolley 81 around the opening and closing clamp ring 5, the photoelectric sensor 101 detects the position of the circumferential movement trolley 81 in the operation process, the photoelectric sensor 101 feeds back a position signal of the circumferential movement trolley 81 to the PLC, after one circle of movement, the PLC controls the trolley driving motor to lose electricity, the circumferential movement trolley 81 stops moving, the PLC controls the sampling turntable driving motor 89 to reversely rotate, the sampling turntable driving motor 89 controls the bidirectional cylinder 83 to reversely rotate by 90 degrees, then the PLC controls the circumferential movement trolley 81 to return to the original point along the anticlockwise direction, sampling is completed, and the rubber air bag a is deflated.
And step nine, the PLC controller controls the mechanical arm to lift again, observes through shooting information by the camera, adjusts the height of the opening and closing clamp ring 5, and samples a second position by using a second sampling cloth (wrapped on the rubber air bag).
Step ten, the sampling carousel driving motor 89 gets the electricity, sampling carousel driving motor 89 drives sampling carousel 82 and with the fixed two-way cylinder 83 anticlockwise rotation 90 of sampling carousel 82 for sampling joint B85 is radial to the insulator, and the piston rod of the two-way cylinder 83 of this end is realized to PLC controller control aerating device 2, and the control telescopic link stretches out a definite value, inflates in to rubber gasbag B through the gas pocket, makes rubber gasbag B expand, and then makes sampling cloth and insulator fully contact.
Step eleven, the trolley driving motor is powered on, the circumferential movement trolley 81 moves clockwise around the opening and closing clamp ring 5, the photoelectric sensor 101 detects the position of the circumferential movement trolley 81 in the operation process, the photoelectric sensor 101 feeds back the position signal of the circumferential movement trolley 81 to the PLC controller, after one circle of movement, the PLC controller controls the trolley driving motor to lose power, the circumferential movement trolley 81 stops moving, the PLC controller further controls the sampling turntable driving motor 89 to reversely rotate, the sampling turntable driving motor 89 controls the bidirectional cylinder 83 to reversely rotate by 90 degrees, then the PLC controller controls the circumferential movement trolley 81 to return to the original point in the anticlockwise direction, sampling is completed, and the rubber air bag b is deflated.
Step twelve, the PLC controls the opening and closing clamp ring 5 to be opened, controls the mechanical arm 3 to move, leaves the insulator and replaces the sampling cloth.
Claims (8)
1. The arm-mounted insulator filth sampler is characterized in that: the device comprises an opening and closing clamping ring (5) which is horizontally arranged above a movable platform (1) through a mechanical arm (3) and is used for being sleeved between the insulator interlayers, the opening and closing clamping ring (5) is connected with an opening and closing control device (7) which is used for automatically controlling the opening and closing of the opening and closing clamping ring (5), and a sampling device (8) which is wrapped with sampling cloth and moves along the circumferential direction of the opening and closing clamping ring (5) and is used for wiping filth between the insulator interlayers is arranged on the top end surface of the opening and closing clamping ring (5); the movable platform (1) is provided with a PLC controller for controlling the whole operation of the device, and the controlled ends of the mechanical arm (3), the opening and closing control device (7) and the sampling device (8) are respectively connected with the PLC controller;
the bottom of the opening and closing clamp ring (5) is provided with a chassis (6) and a mechanical arm connecting plate (4) which is respectively fixed with the chassis (6) and the mechanical arm (3), and the chassis (6) and the mechanical arm connecting plate (4) are horizontally arranged; the opening and closing clamp ring (5) comprises a left semicircular guide rail (51) and a right semicircular guide rail (52) which is arranged in a split mode with the left semicircular guide rail (51) and is matched with the left semicircular guide rail (51) to form a closed circular ring; the top end surfaces of the left semicircular guide rail (51) and the right semicircular guide rail (52) are respectively provided with an arc guide rail (53), and the two arc guide rails are closed end to form a circular guide rail;
the chassis (6) is also provided with a height detection device (11) for detecting the height position of the opening and closing clamp ring (5) relative to the insulator;
the opening and closing control device (7) comprises a guide rail driving gear (71) which is fixed with a right semicircular guide rail (52) and a guide rail driven gear (72) which is fixed with a left semicircular guide rail (51) and meshed with the guide rail driving gear (71), the guide rail driving gear (71) is connected with a driving motor (74) arranged on the chassis (6) through a driving shaft which is arranged on the chassis (6), a controlled end of the driving motor (74) is connected with a PLC, and the guide rail driven gear (72) is arranged on the chassis (6) through a driven shaft which is arranged on the chassis (6) in a rotating mode.
2. The arm-carried insulator filth sampler of claim 1, wherein: the automatic sampling device is characterized in that sampling device position detection devices (10) for detecting the movement positions of the sampling devices (8) on the opening and closing clamping rings (5) are arranged on the top end faces of the guide rail driving gear (71) and the guide rail driven gear (72), the sampling device position detection devices (10) comprise photoelectric sensors (101) which are respectively arranged on the top end faces of the guide rail driving gear (71) and the guide rail driven gear (72), and signal output ends of the photoelectric sensors (101) are connected to the input ends of the PLC.
3. The arm-carried insulator filth sampler of claim 2, wherein: the sampling device (8) comprises a circumferential movement trolley (81) which is clamped in the circular guide rail and moves along the circumferential direction of the circular guide rail, a bidirectional cylinder (83) which is arranged on the circumferential movement trolley (81) through a driving mechanism and is used for extending to extend into the space between the insulating sub-interlayers in an inflated state, and an inflation device (2) which is used for inflating the bidirectional cylinder (83), wherein the controlled ends of the circumferential movement trolley (81), the driving mechanism and the inflation device (2) are respectively connected with the output end of the PLC; the piston rod end of the bidirectional cylinder (83) is connected with a sampling joint with a sampling cloth interface and a rubber air bag which is wrapped on the sampling joint and provided with an air hole (88), and the sampling cloth is wrapped on the rubber air bag.
4. The arm-carried insulator soil sampler of claim 3, wherein: the circumferential movement trolley (81) comprises four rollers arranged at the bottom of the circumferential movement trolley (81) and contacted with the top end surface of the opening and closing clamp ring (5), a trolley driving mechanism for driving the rollers to act, and a connecting sliding block (810) which is arranged at the bottom of the circumferential movement trolley (81) and matched with the arc-shaped guide rail (53) and used for guiding the movement of the circumferential movement trolley (81); the trolley driving mechanism comprises a trolley driving shaft arranged between two rollers and a trolley driving motor connected with the trolley driving shaft and used for driving the trolley (81) to move on the opening and closing clamping ring (5), and the controlled end of the trolley driving motor is connected with the output end of the PLC.
5. The arm-carried insulator soil sampler of claim 3, wherein: the air charging device (2) comprises a compressed air tank (21) communicated with the bidirectional air cylinder (83) through an air pipeline (22) and an electromagnetic valve arranged on the compressed air tank (21), and the controlled end of the electromagnetic valve is connected with the output end of the PLC.
6. The arm-carried insulator soil sampler of claim 3, wherein: the driving mechanism comprises a sampling rotary table driving motor (89) arranged in the circumferential movement trolley (81) and a sampling rotary table (82) which is arranged at the top of the circumferential movement trolley (81) and fixedly connected with the sampling rotary table driving motor (89), and a controlled end of the sampling rotary table driving motor (89) is connected with an output end of the PLC.
7. The arm-carried insulator filth sampler of claim 1, wherein: a centering detection device (9) for realizing coaxial positioning detection of the insulator and the opening and closing clamp ring (5) is arranged on the chassis (6); the centering detection device (9) comprises a plurality of ultrasonic sensors (91) which are respectively arranged on the bottom end face of the chassis (6) and used for detecting the distance between the chassis (6) insulator and the opening and closing clamp ring (5), the ultrasonic sensors (91) are at least three, all the ultrasonic sensors (91) are positioned on the same circumference, and the signal output end of each ultrasonic sensor (91) is connected with the input end of the PLC.
8. The arm-carried insulator filth sampler of claim 1, wherein: the height detection device (11) comprises a camera (112) which is arranged on the top end surface of the chassis (6) through a vertical rod (111) and used for shooting and observing the height position between the insulator and the opening and closing clamp ring (5), and the signal output end of the camera (112) is connected with the input end of the PLC.
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| 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 |
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