CN110882954B - Insulator cleaning device with mechanical arm - Google Patents
Insulator cleaning device with mechanical arm Download PDFInfo
- Publication number
- CN110882954B CN110882954B CN201911160642.7A CN201911160642A CN110882954B CN 110882954 B CN110882954 B CN 110882954B CN 201911160642 A CN201911160642 A CN 201911160642A CN 110882954 B CN110882954 B CN 110882954B
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- CN
- China
- Prior art keywords
- clamping jaw
- finger
- insulator
- frame body
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000012212 insulator Substances 0.000 title claims abstract description 58
- 238000004140 cleaning Methods 0.000 title claims abstract description 27
- 230000002572 peristaltic effect Effects 0.000 claims abstract description 6
- 239000000725 suspension Substances 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 125000003003 spiro group Chemical group 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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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
Landscapes
- Insulators (AREA)
Abstract
The invention discloses an insulator cleaning device with a mechanical arm, which comprises a creeping mechanism, a lower clamping jaw, an upper clamping jaw and a first driving device for driving the lower clamping jaw and the upper clamping jaw to approach or separate from each other, wherein the lower clamping jaw and the upper clamping jaw respectively comprise a clamping jaw frame body, a guide rod arranged on the clamping jaw frame body, a first finger and a second finger which are oppositely arranged on the guide rod, and a second driving device for driving the first finger and the second finger to approach or separate from each other; the mechanical arm is arranged on the peristaltic mechanism; and the brush mechanism is arranged at the end part of the mechanical arm. The invention adopts a creeping type walking mode, and realizes clamping and walking on the insulator through the upper clamping jaw and the lower clamping jaw; the brush mechanism is flexibly and accurately positioned around the insulator through one mechanical arm, and therefore the insulator is cleaned in all directions. The invention is insensitive to the structural size of the insulator and can be suitable for cleaning horizontal and suspension insulators of various types.
Description
Technical Field
The invention relates to the technical field of transmission line operation, in particular to an insulator cleaning device with a mechanical arm.
Background
The insulator is a special insulating control and can play an important role in an overhead transmission line. Early-age insulators are mostly used for utility poles, and a plurality of disc-shaped insulators are suspended at one end of a high-voltage wire connecting tower, which is gradually developed for increasing a creepage distance, and are generally made of glass or ceramic, and are called insulators. The phenomenon that the insulation resistance of the insulator is reduced due to the occurrence of various dirt on the surface of the insulator further causes safety accidents such as insulator flashover and the like, and great hidden danger is formed for the safe operation of a circuit. The insulator cleaning device with the function of automatically cleaning the insulator is in practical need because the insulator cleaning device manually cleans the insulator, which generally needs power failure, and has the defects of large workload, dangerous working environment, low working efficiency and the like.
Disclosure of Invention
In order to overcome the defects, the invention provides the insulator cleaning device which is more flexible and convenient.
In order to achieve the purpose, the invention adopts the following technical scheme:
an insulator cleaning device with mechanical arm, comprising: the creeping mechanism comprises a lower clamping jaw, an upper clamping jaw and a first driving device for driving the lower clamping jaw and the upper clamping jaw to approach or separate from each other, wherein the lower clamping jaw and the upper clamping jaw respectively comprise a clamping jaw frame body, a guide rod arranged on the clamping jaw frame body, a first finger and a second finger which are oppositely arranged on the guide rod, and a second driving device for driving the first finger and the second finger to approach or separate from each other; a robotic arm disposed on the peristaltic mechanism; and the brush mechanism is arranged at the end part of the mechanical arm and used for cleaning the insulator.
Further, the mechanical arm comprises a plurality of rotating joints and a bent connecting rod arranged between the adjacent rotating joints, and the head end and the tail end of the bent connecting rod are perpendicular to each other.
Furthermore, the head end and the tail end of the bent connecting rod are respectively straight rods, and the head end and the tail end are connected through an L-shaped connecting rod.
Further, the number of the rotary joints is 4-8.
Further, the brush mechanism comprises a motor arranged at the end of the mechanical arm and a brush arranged on an output shaft of the motor.
Further, first drive arrangement installs the fixed block at direction framework top including the direction framework to and the cover is established the sliding block on the direction framework, go up clamping jaw fixed mounting on the fixed block, lower clamping jaw fixed mounting is on the sliding block, fixed mounting has first positive reverse motor on the sliding block, first positive reverse motor has linked firmly first lead screw, set up the internal thread with the external screw thread assorted of first lead screw on the fixed block, the fixed block spiro union is on first lead screw.
Furthermore, the guide frame body is a rod-shaped structure with a polygonal cross section, and the shape of the through hole of the sliding block is consistent with the shape of the cross section of the guide frame body.
Furthermore, the second driving device comprises a second forward and reverse rotating motor arranged on the clamping jaw frame body, a second screw rod is fixedly connected to the second forward and reverse rotating motor, an internal thread matched with the external thread of the second screw rod is formed in the first finger and the second finger, the direction of the internal thread of the first finger is opposite to that of the internal thread of the second finger, and the first finger and the second finger are in threaded connection with the second screw rod.
Compared with the prior art, the invention has the beneficial effects that: the insulator cleaning device provided by the invention adopts a creeping type walking mode, realizes clamping and walking on the insulator through the upper clamping jaw and the lower clamping jaw, and is simple, intuitive and efficient in action; the brush mechanism is flexibly and accurately positioned around the insulator through one mechanical arm, and therefore the insulator is cleaned in all directions. The invention is insensitive to the structural size of the insulator and can be suitable for cleaning horizontal and suspension insulators of various types.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the construction of the lower jaw of the present invention;
FIG. 3 is a schematic view of the curved link of the present invention;
FIG. 4 is a schematic view of the brush arrangement of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, a preferred embodiment of the present invention provides an insulator cleaning device with a robot arm, which mainly includes a peristaltic mechanism, a robot arm 4 and a brush mechanism 5.
The peristaltic mechanism comprises a lower clamping jaw 1, an upper clamping jaw 3 and a first driving device 2 used for driving the lower clamping jaw 1 and the upper clamping jaw 3 to approach or depart from each other. First drive arrangement 2 is a screw pair structure, including direction framework 12, install fixed block 11 at direction framework 12 top, and the sliding block 13 of cover on direction framework 12, go up clamping jaw 3 fixed mounting on fixed block 11, lower clamping jaw 1 fixed mounting is on sliding block 13, fixed mounting has first positive and negative motor 21 on sliding block 13, first positive and negative motor 21 has linked firmly first lead screw 22, first lead screw 22 is on a parallel with direction framework 12, set up the internal thread with first lead screw 22's external screw thread assorted on the fixed block 11, fixed block 11 spiro union is on first lead screw 22. The sliding block 13 is provided with a through hole, and the sliding block 13 is sleeved on the guide frame body 12 through the through hole. The guide frame body 12 is a rod-shaped structure with a square cross section, and the shape of the through hole of the sliding block 13 is consistent with the shape of the cross section of the guide frame body 12 and is also square. In practice, the sliding block 13 can move relative to the guiding frame 12 through the through hole (the sliding block 13 can move along the longitudinal direction of the guiding frame 12 or the guiding frame 12 can move along the longitudinal direction of the sliding block 13 in the through hole), and the guiding frame 12 is a rod-shaped structure with a square cross section, so that the sliding block 13 and the guiding frame 12 cannot rotate relatively in the relative movement. The first forward and reverse rotation motor 21 drives the first screw rod 22 to rotate when operating, and under the limiting action of the guide frame body 12, the fixed block 11 and the sliding block 13 move away from or close to each other to creep the lower clamping jaw 1 and the upper clamping jaw 3 on the fixed block, so that the creep of the whole device is realized.
The lower clamping jaw 1 and the upper clamping jaw 3 respectively comprise a clamping jaw frame body 7, a guide rod 8 arranged on the clamping jaw frame body 7, a first finger 9 and a second finger 10 which are oppositely arranged on the guide rod 8, and a second driving device 11 which is used for driving the first finger 9 and the second finger 10 to approach or separate from each other. The upper clamping jaw 3 is fixed on a fixed block 11 at the top of the guide frame body 12 through the clamping jaw frame body 7, and the lower clamping jaw 1 is fixed on a sliding block 13 through the clamping jaw frame body 7 and realizes mutual movement. The whole clamping jaw frame body 7 is T-shaped, two ends of the transverse head of the T-shaped are provided with convex blocks, the guide rod 8 is arranged between the two convex blocks, and in a preferred embodiment, the guide rod 8 is of a rod-shaped structure with a square section. The end parts of the first finger 9 and the second finger 10 are provided with square through holes, and the square through holes are sleeved on the guide rod 8 and can move on the guide rod 8. The second driving device 6 comprises a second forward and reverse rotating motor 61 arranged on the clamping jaw frame body 7, a second screw rod 62 is fixedly connected to the second forward and reverse rotating motor 61, the second screw rod 62 is parallel to the guide rod 8, internal threads matched with the external threads of the second screw rod 62 are formed in the first finger 9 and the second finger 10, the directions of the internal threads of the first finger 9 and the second finger 10 are opposite, the first finger 9 and the second finger 10 are screwed on the second screw rod 62, and the second driving device 6 and the guide rod 8 form a screw rod pair structure. When the second forward and reverse rotation motor 61 rotates, the first finger 9 and the second finger 10 move away from or close to each other under the action of the guide rod 8, so that the insulator can be loosened or held tightly.
The mechanical arm 4 is arranged on the peristaltic mechanism, is specifically arranged on the fixing block 11, and the bottom of the mechanical arm 4 is provided with a base 14 which is fixedly connected with the fixing block 11 through the base 14. The robot arm 4 includes a plurality of rotary joints 44 and a curved link 45 disposed between adjacent rotary joints 44, and a head end 41 and a tail end 42 of the curved link 45 are perpendicular to each other. In the preferred embodiment, the number of the rotary joints 44 is 7, the rotary joints 44 are a rotation driving mechanism commonly used in the robot field and can realize rotation output, the head end 41 of the bending connecting rod 45 between the adjacent rotary joints 44 is mounted on the output part of one rotary joint 44 to realize the rotation of the bending connecting rod 45, and the tail end of the bending connecting rod 45 is fixed on the shell of the other rotary joint 44 so that the rotary joints 44 can rotate together with the bending connecting rod 45. The number of the rotary joints 44 is 7, and therefore, a motion of 7 degrees of freedom can be realized. Since the head end 41 and the tail end 42 of the bent link 45 are perpendicular to each other, not only the rotation with multiple degrees of freedom but also the change in the orientation of the rotary joint 44 can be achieved. In the preferred embodiment, the curved link 45 is straight at the head end 41 and the tail end 42, respectively, and the head end 41 and the tail end 42 are connected by an L-shaped link 43.
The brush mechanism 5 is arranged on a rotary joint 44 at the end of the robot arm 4, i.e. the most end part, for cleaning the insulator. The brush mechanism 5 includes a motor 51 disposed at an end of the robot arm 4 and a brush 52 disposed on an output shaft of the motor 51, and the brush 52 can be rotated by the motor 51 to clean the insulator.
When the insulator cleaning device is implemented, the insulator cleaning device is fixed on an insulator through the lower clamping jaw 1 and the upper clamping jaw 3, the lower clamping jaw 1 and the upper clamping jaw 3 are close to or far away from each other through the first finger 9 and the second finger 10 to clamp or loosen the insulator, when the lower clamping jaw 1 clamps the insulator, the upper clamping jaw 3 is loosened, at the moment, the first driving device 2 is started to drive the lower clamping jaw 1 and the upper clamping jaw 3 to move away from each other so that the upper clamping jaw 3 is far away from the lower clamping jaw 1, when a certain position is reached, the first driving device 2 is stopped, at the moment, the upper clamping jaw 3 is close to each other through the first finger 9 and the second finger 10 to clamp the insulator so as to be fixed on the insulator, meanwhile, the lower clamping jaw 1 is far away from each other through the first finger 9 and the second finger 10 to loosen the insulator, then the first driving device 2 drives the lower clamping jaw 1 to move towards the upper clamping jaw 3 so that the lower clamping jaw 1 is close to the upper clamping jaw 3, the insulator is held tightly to lower clamping jaw 1 and insulator is loosened to upper clamping jaw 3 after accomplishing, make upper clamping jaw 3 do the motion of keeping away from lower clamping jaw 1 through first drive arrangement 2, after a certain position, first drive arrangement 2 stops, upper clamping jaw 3 holds the insulator tightly and insulator is loosened to lower clamping jaw 1, the wriggling of insulator cleaning device on the insulator can be realized to repeated foretell motion 1, also realize climbing the insulator cleaning device to suitable position in order to realize cleaning work, this kind of wriggling mode, the action is simple, directly perceived, high-efficient, insensitive to the structure size of insulator, the level of adaptable multiple model, the cleaning of suspension insulator. When the insulator cleaning device reaches a proper position, the mechanical arm 4 starts to operate, and the brush mechanism can be flexibly and accurately positioned around the insulator through the rotating action of the plurality of rotating joints 44, so that the insulator can be cleaned in all directions.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (4)
1. The utility model provides an insulator cleaning device with arm, its characterized in that, including:
the creeping mechanism comprises a lower clamping jaw (1), an upper clamping jaw (3) and a first driving device (2) used for driving the lower clamping jaw (1) and the upper clamping jaw (3) to be close to or far away from each other, wherein the lower clamping jaw (1) and the upper clamping jaw (3) respectively comprise a clamping jaw frame body (7), a guide rod (8) arranged on the clamping jaw frame body (7), a first finger (9) and a second finger (10) which are oppositely arranged on the guide rod (8), and a second driving device (6) used for driving the first finger (9) and the second finger (10) to be close to or far away from each other; the first driving device (2) comprises a guide frame body (12), a fixed block (11) mounted at the top of the guide frame body (12) and a sliding block (13) sleeved on the guide frame body (12), the upper clamping jaw (3) is fixedly mounted on the fixed block (11), the lower clamping jaw (1) is fixedly mounted on the sliding block (13), a first forward and reverse rotation motor (21) is fixedly mounted on the sliding block (13), the first forward and reverse rotation motor (21) is fixedly connected with a first screw rod (22), an internal thread matched with an external thread of the first screw rod (22) is formed in the fixed block (11), and the fixed block (11) is in threaded connection with the first screw rod (22); the guide frame body (12) is of a rod-shaped structure with a polygonal cross section, and the shape of a through hole of the sliding block (13) is consistent with that of the cross section of the guide frame body (12);
the mechanical arm (4) is arranged on the peristaltic mechanism, the mechanical arm (4) comprises a plurality of rotating joints (44) and bent connecting rods (45) arranged between the adjacent rotating joints (44), the head end (41) and the tail end (42) of each bent connecting rod (45) are perpendicular to each other, the head end (41) and the tail end (42) of each bent connecting rod (45) are straight rods respectively, and the head end (41) and the tail end (42) are connected through an L-shaped connecting rod (43);
and the brush mechanism (5) is arranged at the end part of the mechanical arm (4) and is used for cleaning the insulator.
2. The insulator cleaning apparatus with mechanical arm as claimed in claim 1, wherein the number of the rotary joints (44) is 4-8.
3. The insulator cleaning apparatus with the robot arm according to claim 1, wherein the brush mechanism (5) comprises a motor (51) provided at an end of the robot arm (4) and a brush (52) provided on an output shaft of the motor (51).
4. The insulator cleaning device with the mechanical arm according to any one of claims 1 to 3, wherein the second driving device (6) comprises a second forward and reverse rotation motor (61) installed on the clamping jaw frame body (7), the second forward and reverse rotation motor (61) is fixedly connected with a second lead screw (62), the first finger (9) and the second finger (10) are provided with internal threads matched with the external threads of the second lead screw (62), the directions of the internal threads of the first finger (9) and the second finger (10) are opposite, and the first finger (9) and the second finger (10) are in threaded connection with the second lead screw (62).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911160642.7A CN110882954B (en) | 2019-11-23 | 2019-11-23 | Insulator cleaning device with mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911160642.7A CN110882954B (en) | 2019-11-23 | 2019-11-23 | Insulator cleaning device with mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110882954A CN110882954A (en) | 2020-03-17 |
| CN110882954B true CN110882954B (en) | 2021-09-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911160642.7A Active CN110882954B (en) | 2019-11-23 | 2019-11-23 | Insulator cleaning device with mechanical arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN110882954B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111921937B (en) * | 2020-08-21 | 2022-05-10 | 广东电网有限责任公司 | Insulator chain surface cleaning device |
| CN111921936A (en) * | 2020-08-21 | 2020-11-13 | 广东电网有限责任公司 | Insulator cleaning device |
| CN113143094A (en) * | 2021-05-08 | 2021-07-23 | 河海大学 | Automatic glass cleaning mechanical arm structure |
| CN115870256B (en) * | 2022-12-02 | 2024-06-04 | 广西电网有限责任公司电力科学研究院 | Composite insulator cleans and flaw detection device |
| CN116078712B (en) * | 2023-04-04 | 2023-06-27 | 国网山东省电力公司潍坊供电公司 | Insulator cleaning device for power engineering |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0360012A1 (en) * | 1988-08-26 | 1990-03-28 | Luigi Paris | Equipment to carry out maintenance operations, particularly washing, on insulator chains of high voltage electric lines |
| CN1695908A (en) * | 2005-06-03 | 2005-11-16 | 武汉大学 | Crawl mechanism of clearing robot for suspension insulators on high voltage line |
| CN107042514A (en) * | 2017-02-07 | 2017-08-15 | 国网浙江新昌县供电公司 | A kind of electric transmission line isolator with correction of creeping cleans climbing level robot |
| CN207681059U (en) * | 2017-10-13 | 2018-08-03 | 山东领能电力工程有限公司 | A kind of robot of electrification in high voltage automatic cleaning insulator |
| CN110355756A (en) * | 2019-06-11 | 2019-10-22 | 西安电子科技大学 | A kind of control system and method for a wide range of 3 D-printing of multi-robot Cooperation |
| CN211802499U (en) * | 2019-11-23 | 2020-10-30 | 广西电网有限责任公司电力科学研究院 | Insulator cleaning device with mechanical arm |
-
2019
- 2019-11-23 CN CN201911160642.7A patent/CN110882954B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0360012A1 (en) * | 1988-08-26 | 1990-03-28 | Luigi Paris | Equipment to carry out maintenance operations, particularly washing, on insulator chains of high voltage electric lines |
| CN1695908A (en) * | 2005-06-03 | 2005-11-16 | 武汉大学 | Crawl mechanism of clearing robot for suspension insulators on high voltage line |
| CN107042514A (en) * | 2017-02-07 | 2017-08-15 | 国网浙江新昌县供电公司 | A kind of electric transmission line isolator with correction of creeping cleans climbing level robot |
| CN207681059U (en) * | 2017-10-13 | 2018-08-03 | 山东领能电力工程有限公司 | A kind of robot of electrification in high voltage automatic cleaning insulator |
| CN110355756A (en) * | 2019-06-11 | 2019-10-22 | 西安电子科技大学 | A kind of control system and method for a wide range of 3 D-printing of multi-robot Cooperation |
| CN211802499U (en) * | 2019-11-23 | 2020-10-30 | 广西电网有限责任公司电力科学研究院 | Insulator cleaning device with mechanical arm |
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