CN110560399B - Insulator cleaning robot and use method thereof - Google Patents
Insulator cleaning robot and use method thereof Download PDFInfo
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- CN110560399B CN110560399B CN201910726357.0A CN201910726357A CN110560399B CN 110560399 B CN110560399 B CN 110560399B CN 201910726357 A CN201910726357 A CN 201910726357A CN 110560399 B CN110560399 B CN 110560399B
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- 239000012212 insulator Substances 0.000 title claims abstract description 60
- 238000004140 cleaning Methods 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000007306 turnover Effects 0.000 claims abstract description 30
- 230000000712 assembly Effects 0.000 claims abstract description 27
- 238000000429 assembly Methods 0.000 claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000009193 crawling Effects 0.000 claims description 22
- 238000010408 sweeping Methods 0.000 claims description 7
- 239000013013 elastic material Substances 0.000 claims description 4
- 238000009413 insulation Methods 0.000 claims description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 9
- 230000006872 improvement Effects 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000003989 dielectric material Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000615 nonconductor Substances 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Manipulator (AREA)
Abstract
The invention discloses an insulator cleaning robot and a using method thereof, wherein the insulator cleaning robot comprises a turnover base frame assembly, wherein the turnover base frame assembly is provided with a grasping assembly; the overturning base frame assembly is provided with an overturning driving motor, and the overturning driving motor is in transmission connection with the grasping assembly. The working process is as follows: at first, two grasping assemblies grasp two insulators arranged next to each other simultaneously, then one grasping assembly releases the insulators, the two overturning driving motors act to enable the overturning base frame assembly and the other grasping assembly to overturn 180 degrees, after overturning is completed, the grasping assembly overturned 180 degrees can just grasp the next adjacent insulator, and therefore in the moving process, the number of the cross insulators of the robot can be smaller than three.
Description
Technical Field
The invention relates to the field of robots, in particular to an insulator cleaning robot and a using method thereof.
Background
The high-voltage electrical insulator component applied to the high-voltage cable is formed by arranging a plurality of insulators which are annular as a whole at intervals.
In the long-time use process, foreign matters may exist between adjacent insulators, so that the insulation distance is reduced, electric leakage is caused, even short circuit is caused, and the power transmission safety is seriously influenced.
Therefore, the power department needs to send people regularly to clean foreign matters between insulators, but the high-altitude operation is very dangerous. Therefore, a robot capable of cleaning foreign matter on an insulator is desired by those skilled in the art.
The existing robot has crawling moving modes on insulators, a crawling mechanism needs to span at least three insulators in a crawling process, and the crawling mechanism has the working process that one grasping component of the crawling mechanism grasps a first insulator first, then the other grasping component moves axially to grasp a third insulator, and then the grasping component on the first insulator is loosened to grasp a second insulator. Therefore, the robot is large in size and large in axial action amplitude, the insulation distance between the three adjacent insulators is zero, and the overall insulation performance of the high-voltage electric insulator assembly is greatly reduced.
Therefore, a robot is desired by those skilled in the art in which the number of gripping members that need not cross the insulator during movement can be less than three.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a robot and a method for using the same are provided, wherein the robot can realize that the number of cross insulators in a moving process can be less than three by using a turnover principle.
The solution of the invention for solving the technical problem is as follows:
an insulator cleaning robot comprises a turnover base frame assembly, wherein a cleaning assembly is arranged on the turnover base frame assembly, the front side and the rear side of the turnover base frame assembly are both connected with two grasping assemblies arranged at intervals by turnover shafts, and each grasping assembly is connected with the turnover base frame assembly by at least one rotating shaft; each grasping assembly is provided with at least one overturning shaft, the overturning shaft is fixedly connected with the grasping assembly, the overturning shaft is rotatably connected with the overturning base frame assembly, the overturning base frame assembly is provided with an overturning driving motor, the overturning driving motor is in transmission connection with the overturning shaft, and the grasping assembly is provided with a holding structure;
the movable component can move on the holding base frame, so that the triangle determined by the three holding components can be switched between the loose triangle and the tight triangle;
the clasping assembly comprises a combined wheel, the combined wheel comprises a clasping wheel vertical to a plane determined by the elastic triangle, and the clasping wheel is connected with the clasping base frame corresponding to the clasping wheel or the movable assembly corresponding to the clasping wheel;
at least one holding component is provided with a crawling driving motor, the crawling driving motor is fixedly connected with the overturning base frame component or the movable component where the crawling driving motor is located, and a rotating shaft of the crawling driving motor is connected with the holding wheel;
the sweeping assembly comprises a first rudder motor, a second rudder motor and a cleaning assembly which are sequentially connected, the first rudder motor is fixedly connected with the turnover base frame assembly, an output shaft of the first rudder motor is in transmission connection with the second rudder motor, and an output shaft of the second rudder motor is fixedly connected with the cleaning assembly;
the cleaning assembly further comprises a first movable frame, four first parallel rotating shafts which are respectively positioned on four angular points of a parallelogram are arranged on the first movable frame, two adjacent first parallel rotating shafts are connected through a first connecting rod, and an output shaft of a first rudder motor is fixedly connected with one first parallel rotating shaft or serves as one first parallel rotating shaft;
the using method comprises the following steps: two grasping assemblies grasp two insulators closely arranged at the same time, then one grasping assembly loosens the insulators, two overturning driving motors successively act, firstly, the overturning base frame assembly overturns 180 degrees, then the grasping assembly overturns 180 degrees again, after the two overturning driving motors complete overturning, the grasping assembly is overturned 360 degrees, so that the grasping assembly overturns to the other insulator from one insulator, then the crawling driving motor is started, the robot integrally rotates along the circumferential direction of the insulators, and the end faces of the insulators on two sides of the cleaning assembly are cleaned one by one or simultaneously.
As a further improvement of the scheme, the overturning shaft is fixedly connected with an overturning driven gear, the overturning driving motor is provided with an overturning driving gear, and the overturning driven gear is meshed with the overturning driving gear.
As a further improvement of the scheme, the overturning base frame component comprises two overturning base rods which are arranged at left and right intervals, and the grasping component is arranged between the two overturning base rods.
As a further improvement of the above scheme, the motion path of the movable assembly is called a holding path, and the connecting line of the two holding assemblies on the holding base frame or the movable assembly is called a fixed line; the holding path is a straight line: the included angle between the holding path and the fixed chord line is an acute angle.
As a further improvement of the above scheme, the motion path of the movable assembly is called a holding path, and the connecting line of the two holding assemblies on the holding base frame or the movable assembly is called a fixed line; the holding path is an arc line.
As a further improvement of the scheme, the radius of the holding path is larger than that of the circumscribed circle of the elastic triangle, and the distance from the fixed string line to the center of the circumscribed circle of the elastic triangle is larger than that from the fixed string line to the center of the holding path.
As a further improvement of the above scheme, the holding base frame is provided with a guide groove, the movable assembly comprises a movable strip, the guide groove is provided with the movable strip, the movable strip is provided with a plurality of holding passive teeth, the holding base frame is provided with a holding motor, the holding motor is provided with a holding gear, and the holding gear is meshed with the holding passive teeth.
As a further improvement of the scheme, the moving strip is made of elastic materials.
As a further improvement of the above solution, the sweeping assembly is arranged between two gripping assemblies.
As a further improvement of the scheme, the cleaning assembly comprises a cleaning driving motor and a sweeping sheet connected with a rotating shaft of the cleaning driving motor.
The invention has the beneficial effects that: therefore, the number of the cross insulators of the robot can be less than three in the moving process.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the described drawings are only a part of the embodiments of the invention, not all embodiments, and that a person skilled in the art will be able to derive other designs and drawings from these drawings without the exercise of inventive effort.
FIG. 1 is a schematic illustration of a clasping structure of some embodiments of the present invention;
FIG. 2 is a schematic perspective view of some embodiments of the present invention;
FIG. 3 is a schematic diagram of the clasping structure of some embodiments of the present invention;
FIG. 4 is a schematic diagram of a clasping mechanism of other embodiments of the present invention;
FIG. 5 is a schematic diagram of a hugging scheme for still further embodiments of the present invention;
FIG. 6 is a right side view of some embodiments of the invention;
FIG. 7 is a schematic perspective view of another aspect of some embodiments of the present invention;
FIG. 8 is a schematic view of the robot of FIG. 7 in operation;
fig. 9 is a schematic top view of some embodiments of the present invention.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be described clearly and completely with reference to the accompanying drawings and the embodiments, so that the objects, the features and the effects of the present invention can be fully understood. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and other embodiments obtained by those skilled in the art without any inventive work based on the embodiments of the present invention belong to the protection scope of the present invention. In addition, all the coupling/connection relationships mentioned herein do not mean that the components are directly connected, but mean that a better coupling structure can be formed by adding or reducing coupling accessories according to specific implementation conditions. All technical characteristics in the invention can be interactively combined on the premise of not conflicting with each other.
Referring to fig. 1 to 9, an insulator cleaning robot includes a turnover base frame assembly, a cleaning assembly is disposed on the turnover base frame assembly, two grasping assemblies disposed at intervals are connected to the front side and the rear side of the turnover base frame assembly by turnover shafts 201, and each grasping assembly is connected to the turnover base frame assembly by at least one rotating shaft; in the embodiment, the robot only needs to span two insulators in the moving process, as shown in fig. 1 and 2, the grasping assembly has a holding structure;
the holding structure further comprises a holding base frame 1, the holding base frame 1 is connected with the turning base frame assembly through a turning shaft 201, a movable assembly is arranged on the holding base frame 1, three holding assemblies are arranged on the holding base frame 1 and the movable assembly, in some embodiments, two holding assemblies are arranged on the holding base frame 1, and one holding assembly is arranged on the movable assembly, of course, in other embodiments, one holding assembly is arranged on the holding base frame 1, two holding assemblies are arranged on the movable assembly, the three holding assemblies are respectively positioned on three angular points of a triangle, the triangle determined by the positions of the three holding assemblies is called as an elastic triangle, the elastic triangle can be divided into an elastic triangle and a holding triangle, the circle center of the circumscribed circle of the elastic triangle is positioned on the outer side of the elastic triangle, and the circle center of the circumscribed circle of the elastic triangle is positioned inside the elastic triangle, the movable assembly can move on the holding base frame 1, so that when a triangle determined by the three holding assemblies can be switched between a loose triangle and a tight triangle, the three holding assemblies are divided into a major arc on the circumscribed circle of the loose triangle, a workpiece can be easily separated from the three holding assemblies, when the three holding assemblies are in the tight triangle, the three holding assemblies are divided into three minor arcs on the circumscribed circle of the tight triangle, so that the workpiece is difficult to separate from the holding assemblies, and the holding and releasing can be realized by switching between the two states, the structure is very simple, the movable assembly is particularly suitable for holding objects with circular cross sections, and for an insulator cleaning robot, the workpiece is an insulator, namely a ceramic wafer;
in order to facilitate grasping, the clasping component comprises a combined wheel, the combined wheel comprises a clasping wheel 151 vertical to a plane determined by the elastic triangle, and the clasping wheel 151 and the clasping base frame 1 corresponding to the clasping wheel 151 or the movable component corresponding to the clasping wheel are connected with the clasping wheel 151; this increases the holding area, and particularly, the holding wheel 151 is made of a soft material, and is more easily held.
At least one holding component is provided with a crawling driving motor 306, the crawling driving motor 306 is fixedly connected with an overturning pedestal component or a movable component where the crawling driving motor is located, a rotating shaft of the crawling driving motor 306 is connected with the holding wheel 151, and when the holding component holds a workpiece tightly, the crawling driving motor 306 drives the holding wheel 151 to rotate, so that the robot moves on the insulator in the circumferential direction, and the cleaning component cleans the end face of the whole insulator;
the cleaning assembly comprises a first rudder motor 301, a second rudder motor 302 and a cleaning assembly which are sequentially connected, the first rudder motor 301 is fixedly connected with the turnover base frame assembly, an output shaft of the first rudder motor 301 is in transmission connection with the second rudder motor 302, and an output shaft of the second rudder motor 302 is fixedly connected with the cleaning assembly;
as shown in fig. 9, the cleaning assembly further includes a first movable frame 307, four first parallel rotating shafts 308 respectively located at four corner points of the parallelogram are disposed on the first movable frame 307, two adjacent first parallel rotating shafts 308 are connected by a first connecting rod, an output shaft of the first rudder motor 301 is fixedly connected with one of the first parallel rotating shafts 308 or serves as one of the first parallel rotating shafts 308, such structure is stable and transmission is stable;
the using method comprises the following steps:
two grasping assemblies grasp two insulators closely arranged at the same time, then one grasping assembly loosens the insulators, two overturning driving motors successively act, firstly, the overturning base frame assembly overturns 180 degrees, then the grasping assembly overturns 180 degrees again, after the two overturning driving motors complete overturning, the grasping assembly is overturned 360 degrees, so that the grasping assembly overturns to the other insulator from one insulator, then the crawling driving motor is started, the robot integrally rotates along the circumferential direction of the insulators, and the end faces of the insulators on two sides of the cleaning assembly are cleaned one by one or simultaneously. Therefore, the number of the cross insulators of the robot can be less than three in the moving process.
In order to achieve stable transmission, an overturning driven gear 202 is fixedly connected to the overturning shaft 201, an overturning driving gear 204 is arranged on the overturning driving motor 203, and the overturning driven gear 202 is meshed with the overturning driving gear 204.
In order to realize the lightweight, upset bed frame subassembly includes two upset base poles 205 of controlling the interval setting, grasps the subassembly and establishes two between the upset base pole 205, in order to prevent at the upset in-process, the wire of connecting upset driving motor 203 can be twisted off, and the cover is equipped with electrically conductive sliding ring on trip shaft 201, and an end of connecting electrically of electrically conductive sliding ring is connected with upset driving motor 203 electric connection.
In some embodiments, the movement path of the movable assembly is called the hugging path 11, and the line connecting the two hugging assemblies, both on the hugging base frame 1 or the movable assembly, is called the constant-chord line 12; the hugging path 11 is a straight line: the hugging path 11 makes an acute angle with the chord line 12, as shown in particular in fig. 4.
In some embodiments, the movement path of the movable assembly is called the hugging path 11, and the line connecting the two hugging assemblies, both on the hugging base frame 1 or the movable assembly, is called the constant-chord line 12; the hugging path 11 is a straight line: the hugging path 11 is an arc, as shown in fig. 3 and 5.
In some embodiments, the radius of the fastening path 11 may be larger than the radius of the circumscribed circle of the triangle, and the distance from the fixed string 12 to the center of the circumscribed circle of the triangle may be larger than the distance from the fixed string 12 to the center of the fastening path 11, specifically, as shown in fig. 5, the radius of the circumscribed circle of the triangle in fig. 5 may gradually decrease, so that the entire driving device may be made of rigid material.
In some embodiments, hug closely and be equipped with guide way 13 on the bed frame 1, movable component includes and remove the strip 14, guide way 13 is equipped with removal strip 14, is equipped with a plurality of on the removal strip 14 and hugs closely passive tooth 141, hugs closely and is equipped with on the bed frame 1 and hugs closely motor 142, is equipped with on the motor 142 and hugs closely the gear, hug closely the gear with hug closely passive tooth 141 meshing, such driving method is favorable to simple structure, is applicable to the robot of crawling very much, some embodiments disclosed in fig. 1 and fig. 2, it is equipped with two on the bed frame 1 to hug closely, and is equipped with one on removal strip 14 and hugs closely the subassembly, and such setting is favorable to removing the flexible scope or the moving range of strip 14 longer, cantilever length is less, is favorable to improving and hugs closely the.
In some embodiments shown in fig. 3 to 5, the movable bar 14 may be made of an elastic material, and in particular, in some embodiments shown in fig. 3 and 4, the radius of the circumscribed circle of the elastic triangle is increased and then decreased, so as to facilitate grasping, the movable bar 14 is made of an elastic material, the combination wheel further includes a holding mounting bracket 152, the holding mounting bracket 152 is fixedly connected with the corresponding holding base frame 1 or the corresponding movable component, the holding wheel 151 is connected with the holding base frame 1 by a rotating shaft, such an arrangement is convenient for modularization, for different sizes of workpieces, it is often necessary to arrange the holding base frame 1 and the movable bar 14 with specific sizes, and in essence, the thicknesses of the workpieces are the same, so the combination wheel may also use the same holding mounting bracket 152 as a base member of the combination wheel, and the holding mounting bracket 152 is respectively connected with the movable bars 14 with different sizes to achieve different types, different shapes, and sizes, The production of the structure of hugging closely of size, the commonality of combination wheel has been improved greatly, the structure of hugging closely is in order to realize the location to work piece circumference, and in order to facilitate the realization to the axial location of work piece, the combination wheel still includes two spacing wheels 153, it establishes between two spacing wheels 153 to hug closely wheel 151, two spacing wheels 153 in the same combination wheel enclose into a joint space with hugging closely wheel 151, it includes two at least combination wheels that set up side by side to hug closely the subassembly, can effectively improve like this and hug closely power and hug closely the effect.
The sweeping assembly is disposed between two gripping assemblies.
The cleaning assembly comprises a cleaning driving motor 303 and a cleaning sheet 304 connected with a rotating shaft of the cleaning driving motor 303, before the overturning driving motor 203 acts, the cleaning driving motor 303 is started, the cleaning sheet 304 rotates for an angle, and therefore the cleaning sheet 304 leaves the insulator, and therefore the load of the overturning driving motor 203 can be reduced.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited to the details of the embodiments shown, but is capable of various modifications and substitutions without departing from the spirit of the invention.
Claims (10)
1. The utility model provides an insulator cleans machine people which characterized in that: the cleaning device comprises a turnover base frame assembly, wherein a cleaning assembly is arranged on the turnover base frame assembly, the front side and the rear side of the turnover base frame assembly are both connected with two grasping assemblies arranged at intervals by using turnover shafts (201), each grasping assembly is at least provided with one turnover shaft (201), the turnover shafts (201) are fixedly connected with the grasping assemblies, the turnover shafts (201) are rotatably connected with the turnover base frame assembly, a turnover driving motor (203) is arranged on the turnover base frame assembly, the turnover driving motor (203) is in transmission connection with the turnover shafts (201), and the grasping assemblies are provided with holding structures;
the triangular bracket is characterized by further comprising a holding base frame (1), wherein the holding base frame (1) is connected with a turnover base frame component through a turnover shaft (201), a movable component is arranged on the holding base frame (1), three holding components are arranged on the holding base frame (1) and the movable component, the three holding components are respectively located at three angular points of a triangle, the triangle determined by the positions of the three holding components is called an elastic triangle, the elastic triangle is divided into an elastic triangle and a tight triangle, the circle center of the circumscribed circle of the elastic triangle is located on the outer side of the elastic triangle, the circle center of the circumscribed circle of the tight triangle is located inside the tight triangle, and the movable component moves on the holding base frame (1), so that the triangle determined by the three holding components is switched between the elastic triangle and the tight triangle;
the holding assembly comprises a combined wheel, and the combined wheel comprises a holding wheel (151) vertical to a plane determined by the elastic triangle;
a crawling drive motor (306) is arranged on at least one of the enclasping components, the crawling drive motor (306) is fixedly connected with the enclasping pedestal (1) or the movable component where the crawling drive motor (306) is arranged, and a rotating shaft of the crawling drive motor (306) is connected with the enclasping wheel (151);
the sweeping assembly comprises a first rudder motor (301), a second rudder motor (302) and a cleaning assembly which are sequentially connected, the first rudder motor (301) is fixedly connected with the turnover base frame assembly, an output shaft of the first rudder motor (301) is in transmission connection with the second rudder motor (302), and an output shaft of the second rudder motor (302) is fixedly connected with the cleaning assembly;
the cleaning assembly further comprises a first movable frame (307), four first parallel rotating shafts (308) are arranged on the first movable frame (307) and located on four corner points of a parallelogram respectively, two adjacent first parallel rotating shafts (308) are connected through a first connecting rod, and an output shaft of the first rudder motor (301) is fixedly connected with one of the first parallel rotating shafts (308) or serves as one of the first parallel rotating shafts (308).
2. An insulator cleaning robot according to claim 1, characterized in that: fixedly connected with upset driven gear (202) on upset axle (201), be equipped with upset drive gear (204) on upset driving motor (203), upset driven gear (202) and upset drive gear (204) meshing.
3. An insulator cleaning robot according to claim 1, characterized in that: the overturning base frame component comprises two overturning base rods (205) which are arranged at left and right intervals, and the grasping component is arranged between the two overturning base rods (205).
4. An insulator cleaning robot according to claim 1, characterized in that: the moving path of the movable assembly is called as a holding path (11), and the connecting line of the two holding assemblies on the holding base frame (1) or the movable assembly is called as a fixed line (12); the holding path (11) is an arc line.
5. An insulator cleaning robot according to claim 4, wherein: the radius of the holding path (11) is larger than that of the circumscribed circle of the elastic triangle, and the distance from the fixed string line (12) to the center of the circumscribed circle of the elastic triangle is larger than that from the fixed string line (12) to the center of the holding path (11).
6. An insulator cleaning robot according to claim 1, characterized in that: hold and be equipped with guide way (13) on bed frame (1) tightly, the movable part is including removing strip (14), guide way (13) are equipped with removal strip (14), be equipped with a plurality of on removal strip (14) and hold passive tooth (141) tightly, hold and be equipped with on bed frame (1) tightly and hold motor (142) tightly, be equipped with on holding motor (142) tightly and hold the gear tightly, hold the gear tightly with hold the passive tooth (141) meshing tightly.
7. An insulator cleaning robot according to claim 6, wherein: the moving strip (14) is made of elastic material.
8. An insulator cleaning robot according to claim 1, characterized in that: the sweeping assembly is disposed between two gripping assemblies.
9. An insulator cleaning robot according to claim 1, characterized in that: the cleaning assembly comprises a cleaning driving motor (303) and a sweeping sheet (304) connected with a rotating shaft of the cleaning driving motor (303).
10. A use method of an insulation cleaning robot is characterized in that: an insulator cleaning robot according to any one of claims 1 to 9 is used; in operation, two are promptly the subassembly and are grabbed the insulator that two next-door neighbour set up simultaneously, then one of them is promptly the subassembly and is loosened the insulator, two upset driving motor (203) are action successively, at first let upset pedestal subassembly overturn 180, then it overturns 180 again to grasp the subassembly, two upset driving motor (203) accomplish the upset back, it has been overturned 360 to grasp the subassembly, thereby on an insulator upset to another insulator, start drive motor (306) of crawling after that, let the whole circumferential direction along the insulator of robot, thereby to one of them or clean the terminal surface of the insulator of cleaning assembly both sides simultaneously.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910726357.0A CN110560399B (en) | 2019-08-07 | 2019-08-07 | Insulator cleaning robot and use method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910726357.0A CN110560399B (en) | 2019-08-07 | 2019-08-07 | Insulator cleaning robot and use method thereof |
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| CN110560399A CN110560399A (en) | 2019-12-13 |
| CN110560399B true CN110560399B (en) | 2020-09-04 |
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| CN111842230B (en) * | 2020-07-14 | 2022-11-18 | 国网黑龙江省电力有限公司大庆供电公司 | High-voltage wire insulator string cleaning device and working method |
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| US4326316A (en) * | 1980-10-06 | 1982-04-27 | Dolenti Alfred N | Hot stick rotary brush for cleaning aerial conductors |
| DE4336410A1 (en) * | 1993-10-21 | 1995-04-27 | Ver Energiewerke Ag | Device for cleaning high-voltage insulators |
| CN105067909A (en) * | 2015-07-22 | 2015-11-18 | 国家电网公司 | Insulator live-line detection and cleaning integrated robot |
| CN206373891U (en) * | 2016-11-21 | 2017-08-04 | 山东大学 | A kind of inspection robot of conduct monitoring at all levels power circuit |
| CN107243469A (en) * | 2017-07-21 | 2017-10-13 | 国网四川省电力公司技能培训中心 | A kind of suspension insulator cleaning device |
| CN207603162U (en) * | 2017-12-15 | 2018-07-10 | 国家电网公司 | A kind of novel hinge wire clamp |
| CN107991594A (en) * | 2017-12-27 | 2018-05-04 | 江苏集萃智能制造技术研究所有限公司 | A kind of convertible zero resistance insulator live detection robot of two manipulators |
| CN109444543A (en) * | 2018-10-31 | 2019-03-08 | 华北电力大学 | A kind of insulator charged detection device of extra high voltage direct current transmission line |
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