CN110918514A - Reciprocating type cleaning head of cable cleaning robot and cable cleaning robot - Google Patents
Reciprocating type cleaning head of cable cleaning robot and cable cleaning robot Download PDFInfo
- Publication number
- CN110918514A CN110918514A CN201911039540.XA CN201911039540A CN110918514A CN 110918514 A CN110918514 A CN 110918514A CN 201911039540 A CN201911039540 A CN 201911039540A CN 110918514 A CN110918514 A CN 110918514A
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- cable
- cleaning
- cleaning head
- plane
- transmission mechanism
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- 238000004140 cleaning Methods 0.000 title claims abstract description 161
- 230000005540 biological transmission Effects 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 50
- 238000010408 sweeping Methods 0.000 claims description 16
- 238000005498 polishing Methods 0.000 claims description 10
- 239000000428 dust Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000004065 semiconductor Substances 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
- B08B1/20—Cleaning of moving articles, e.g. of moving webs or of objects on a conveyor
-
- 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
-
- 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
- Cleaning In General (AREA)
Abstract
The invention discloses a reciprocating type cleaning head of a cable cleaning robot, which belongs to the field of high-altitude cable cleaning equipment and comprises a base and a guide wheel, wherein the guide wheel is used for being hung on a high-altitude cable, a cleaning unit for cleaning the cable is arranged on the base, a driving device is arranged on the base, a transmission mechanism is connected between the driving device and the cleaning unit, and the transmission mechanism drives the cleaning unit to axially reciprocate along the cable under the driving of the driving device. The invention also discloses a cable cleaning robot adopting the reciprocating type cleaning head. The invention has the advantages that the cleaning efficiency can be improved, and the cleaning degree is higher.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to a reciprocating type cleaning head of a cable cleaning robot, and belongs to the field of high-altitude cable cleaning equipment.
[ background of the invention ]
The maintenance of high-altitude cables is always troublesome. In order to improve the transmission safety of the bare overhead transmission line, an insulating paint mode is sprayed on the outer side of the cable by a spraying robot to improve the insulating property of the cable. However, prior to the spraying operation, the bare overhead cable needs to be cleaned to remove dust or dirt, etc. accumulated on the cable.
In the prior art, a robot device for cleaning cables has also appeared, for example, the applicant of the earlier patent CN109318104A discloses a cable cleaning robot, which is driven by a traveling device to clean cables by a cleaning head. However, when cleaning, such cleaning robots basically rely on a walking device to realize mobile cleaning, and the cleaning efficiency is not high.
[ summary of the invention ]
The invention aims to overcome the defects of the prior art and provide a reciprocating cleaning head of a cable cleaning robot and the cable cleaning robot, which can improve the cleaning efficiency and have higher cleaning degree.
The technical scheme adopted by the invention is as follows:
the utility model provides a cable cleaning machines people's reciprocating type cleaning head, includes the base, is used for the leading wheel of hanging dress to the high altitude cable, be provided with the unit that cleans of cleaning the cable on the base, install drive arrangement on the base, drive arrangement and clean and be connected with drive mechanism between the unit, drive mechanism drives under drive arrangement's drive clean the unit and follow cable axial reciprocating motion.
The invention has the following beneficial effects:
compared with the original cleaning head, the cleaning head provided by the invention is additionally provided with a reciprocating motion mechanism, the original cleaning head realizes moving cleaning by depending on the traveling device of the cleaning robot, so that the cleaning efficiency and the cleaning cleanliness of the cleaning head are greatly dependent on the moving speed of the traveling device, the cleaning head provided by the invention carries out reciprocating motion, even if the cleaning robot stops traveling, the cleaning unit can realize cleaning of cables by means of the driving device and the transmission mechanism, and when the cleaning robot travels, the cleaning head can realize reciprocating cleaning while traveling along with the traveling device. So design, can obviously improve cleaning head's the efficiency of cleaning, clean efficient also make the cable cleaned cleaner thereupon.
In addition, the cleaning unit of the invention does reciprocating motion, so that if dust or dirt is remained on the cable after the traditional cleaning head cleans the cable once, the cable is difficult to clean again.
Preferably, the transmission mechanism is a crank-link mechanism or a screw nut transmission mechanism.
Preferably, the base comprises two cleaning units, namely a first cleaning unit and a second cleaning unit, which are spaced at a certain distance along the axial direction of the cable.
Preferably, the first cleaning unit is connected with a first transmission mechanism, the second cleaning unit is connected with a second transmission mechanism, the first transmission mechanism is connected with a first driving device, the second transmission mechanism is connected with a second driving device, the first driving device and the second driving device are the same, and a linkage is connected between the first transmission mechanism and the second transmission mechanism.
Preferably, the first transmission mechanism and the second transmission mechanism are both crank link mechanisms, and the first transmission mechanism and the second transmission mechanism are synchronously driven through an intermediate link.
Preferably, the base is provided with a linear guide rail, and the cleaning unit is mounted on the linear guide rail in a matching manner.
Preferably, each cleaning unit comprises two symmetrically arranged grinding wheels, the cable is clamped between the two grinding wheels, a grinding plane is formed between the two grinding wheels, and the grinding plane of the first cleaning unit and the grinding plane of the second cleaning unit intersect at an angle.
Preferably, the polishing plane of the first cleaning unit is a horizontal plane, and the polishing plane of the second cleaning unit is a vertical plane.
Preferably, the sweeping unit comprises two symmetrically arranged grinding wheels, the cable is clamped between the two grinding wheels, a grinding plane is formed between the two grinding wheels, the grinding plane is a horizontal plane, and a floating assembly for adjusting the vertical height of the grinding plane is connected to the sweeping unit.
The invention also discloses a cable cleaning robot, which comprises a walking device and a cleaning head, wherein the walking device drives the cleaning head to walk on the cable, and the cleaning head adopts the cleaning head in any one of the schemes.
These features and advantages of the present invention will be disclosed in more detail in the following detailed description and the accompanying drawings.
[ description of the drawings ]
The invention is further described below with reference to the accompanying drawings:
fig. 1 is a first schematic structural diagram according to a first embodiment of the present invention;
FIG. 2 is a second schematic structural diagram according to a first embodiment of the present invention;
FIG. 3 is a schematic side view of a first embodiment of the present invention;
FIG. 4 is a schematic top view of a first embodiment of the present invention;
fig. 5 is a schematic view of two polishing planes in the first embodiment of the present invention.
[ detailed description ] embodiments
The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
In the following description, the terms such as "inner", "outer", "upper", "lower", "left", "right", etc., which indicate orientations or positional relationships, are used for convenience in describing embodiments and simplifying descriptions, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
The first embodiment is as follows:
as shown in fig. 1 to 5, the embodiment discloses a reciprocating cleaning head of a cable cleaning robot, and the embodiment includes a base 1 and a guide wheel 11 for hanging on a high-altitude cable 10, a cleaning unit for cleaning the cable 10 is disposed on the base 1, a driving device 2 is mounted on the base 1, a transmission mechanism 3 is connected between the driving device 2 and the cleaning unit, and the transmission mechanism 3 drives the cleaning unit to reciprocate along the axial direction of the cable 10 under the driving of the driving device 2.
Compared with the original cleaning head, the cleaning head of the embodiment is additionally provided with a reciprocating motion mechanism, the original cleaning head depends on the traveling device of the cleaning robot to realize moving cleaning, so the cleaning efficiency and the cleaning degree of the cleaning depend on the moving speed of the traveling device to a great extent, the cleaning head in the embodiment carries out reciprocating motion, even if the cleaning robot stops traveling, the cleaning unit can realize cleaning of the cable 10 by means of the driving device 2 and the transmission mechanism 3, and when the cleaning robot travels, the cleaning robot can realize reciprocating cleaning while traveling along with the traveling device. By adopting the design, the cleaning efficiency of the cleaning head can be obviously improved, and the cleaning efficiency is high, so that the cable 10 is cleaned more cleanly.
In addition, the cleaning unit of the present embodiment is reciprocated, so that after the conventional cleaning head cleans the cable 10 once, if dust or dirt remains on the cable, the cleaning head is difficult to clean again, and the present embodiment can solve the above problems, so that the surface of the cable 10 is cleaner after being cleaned.
The driving device 2 in this embodiment preferably comprises a driving motor, and the transmission mechanism 3 may have various structures and types, such as a crank-link mechanism, which is shown in this embodiment, or a lead screw nut transmission mechanism, and a transmission belt 21 is connected between the crank-link mechanism and the driving motor.
As shown in fig. 1, the transmission mechanism 3 includes a first link 31 and a second link 32, the first link 31 and the second link 32 are hinged to each other, one end of the first link 31 is rotatably connected to the driving device 2, and the other end of the second link 32 is rotatably connected to the cleaning unit, so that when the first link 31 rotates under the driving of the driving device 2, the second link 32 is driven to move, and meanwhile, a linear guide 4 is disposed on the base 1, and the cleaning unit is fittingly mounted on the linear guide 4, and when the cleaning unit is driven by the second link 32, the cleaning unit reciprocates along the linear guide 4.
In order to further improve the cleaning efficiency, in this embodiment, two cleaning units, namely a first cleaning unit 51 and a second cleaning unit 52, are disposed on the base 1, the first cleaning unit 51 and the second cleaning unit 52 are spaced at a distance along the axial direction of the cable 10, and meanwhile, each cleaning unit is respectively matched with a transmission mechanism and a driving device, that is, the first cleaning unit 51 corresponds to the first transmission mechanism and the first driving device, and the second cleaning unit 52 corresponds to the second transmission mechanism and the second driving device. Thus, two cleaning units can be arranged on one base 1 for cleaning.
In order to make the structure more compact and have fewer parts, in this embodiment, the first driving device and the second driving device are the same, that is, the first transmission mechanism and the second transmission mechanism share one driving device 2, which is equivalent to that only one driving motor is arranged on the base 1, and the driving motor is used to drive the two transmission mechanisms 3 to work simultaneously. In addition, a linkage piece is connected between the first transmission mechanism and the second transmission mechanism. Since both the first transmission and the second transmission are crank-link mechanisms in this embodiment, the linkage is preferably an intermediate link 33, as can be seen in fig. 1.
In order to enable the first cleaning unit 51 and the second cleaning unit 52 to clean the cable 10 more completely, the first cleaning unit 51 and the second cleaning unit 52 are also improved in orientation in the present embodiment. Specifically, in the cleaning units of the present embodiment, each cleaning unit includes two symmetrically arranged grinding wheels 501, the cable 10 is sandwiched between the two grinding wheels 501, and a grinding plane is formed between the two grinding wheels 501, which can be seen from a broken line a in fig. 3, which represents the grinding plane of the first cleaning unit 51, and a broken line B in fig. 4, which represents the grinding plane of the second cleaning unit 52. In this embodiment, the grinding plane of the first cleaning unit 51 and the grinding plane of the second cleaning unit 52 intersect at an angle.
The two grinding planes referred to herein intersect at an angle, which is directed to the cross section of the cable 10, and can be referred to fig. 5, which is a cross-sectional view of the cable 10, wherein the horizontal dotted line a is the grinding plane of the first cleaning unit 51, and the vertical dotted line B is the grinding plane of the second cleaning unit 52, and the intersection angle of the two grinding planes is preferably 90 degrees in this embodiment, that is, the grinding plane of the first cleaning unit 51 is a horizontal plane, which is a horizontal cleaning unit, and the grinding plane of the second cleaning unit 52 is a vertical plane, which is a vertical cleaning unit. The design is at first two level of polishing stagger the degree the highest like this, and the comprehensive coverage that cleans is better, secondly sets the level to the polishing plane and also conveniently cleans the installation of unit vertically. Of course, in other embodiments, the intersection angle is not limited to 90 degrees.
Since the polishing plane of the first cleaning unit 51 in this embodiment is a horizontal plane, and under the actual working environment, the polishing plane may not coincide well with the axial plane of the cable 10 due to the thickness of the cable 10 or the straightness of the cable 10, and in order to reduce this as much as possible, the cleaning unit in this embodiment is connected with the floating assembly 6 for adjusting the vertical height of the polishing plane.
The floating assembly 6 is preferably a self-adjusting floating assembly 6, as shown in fig. 1 and 2, the horizontal sweeping unit in this embodiment specifically includes a mounting bracket 502 and a mounting base plate 503, two grinding wheels 501 are mounted on the mounting bracket 502, the mounting base plate 503 is fittingly mounted on the linear guide 4, and the floating assembly 6 is disposed between the mounting base plate 503 and the mounting bracket 502. In the embodiment, the floating assembly 6 preferably comprises an outer sleeve 61 and an inner telescopic pin 62, the outer sleeve 61 is fixed on the mounting base plate 503, the inner telescopic pin 62 is fixedly connected with the mounting bracket 502, and an adjusting spring (not shown) is arranged inside the outer sleeve 61, so that the height between the inner telescopic pin 62 and the mounting base plate 503 can be adjusted by utilizing the self-adjusting capability of the adjusting spring, which is equivalent to that the sanding plane can be adjusted adaptively.
Example two:
the difference between this embodiment and the first embodiment is that the transmission mechanism in this embodiment is a screw nut transmission mechanism, specifically, the transmission mechanism in this embodiment includes a rotating screw rod, an axial direction of the rotating screw rod is parallel to an axial direction of the cable, the rotating screw rod is connected with a transmission nut in a matching manner, the transmission nut is fixedly connected with the cleaning unit, the rotating screw rod is connected with the driving motor, when the driving motor drives the rotating screw rod to rotate, the transmission nut and the rotating screw rod generate axial relative displacement, and when the driving motor switches forward and reverse rotation, the cleaning unit reciprocates along the axial direction of the cable.
When a plurality of cleaning units are arranged on the base, the rotary screw rod and the driving motor can share one cleaning unit.
Example three:
the embodiment is a cable cleaning robot, which comprises a main vehicle body, wherein the main vehicle body is hung on a cable, a walking device is arranged on the main vehicle body, the walking device and the like are disclosed in detail in the prior art, so that the embodiment is not illustrated in more detail, and a cleaning head which is the same as or equal to the first embodiment is arranged at the front end of the main vehicle body.
While the invention has been described with reference to specific embodiments thereof, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in many different forms without departing from the spirit and scope of the invention as set forth in the following claims. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (10)
1. The reciprocating type cleaning head of the cable cleaning robot comprises a base and a guide wheel used for hanging the cable to a high altitude, wherein a cleaning unit for cleaning the cable is arranged on the base.
2. A reciprocating cleaning head for a cable cleaning robot according to claim 1, wherein the transmission is a crank linkage or a lead screw nut transmission.
3. A reciprocating cleaning head for a cable cleaning robot according to claim 1, wherein said base includes two of said sweeping units, a first sweeping unit and a second sweeping unit, respectively, spaced apart a distance in an axial direction of the cable.
4. A reciprocating cleaning head for a cable cleaning robot according to claim 3, wherein a first transmission mechanism is connected to the first sweeping unit, a second transmission mechanism is connected to the second sweeping unit, a first driving device is connected to the first transmission mechanism, a second driving device is connected to the second transmission mechanism, the first driving device and the second driving device are the same, and a linkage is connected between the first transmission mechanism and the second transmission mechanism.
5. The reciprocating cleaning head of a cable cleaning robot according to claim 4, wherein the first and second transmission mechanisms are crank link mechanisms, and the first and second transmission mechanisms are synchronously driven by an intermediate link.
6. A reciprocating cleaning head for a cable cleaning robot according to claim 5, wherein a linear guide is provided on the base, and the sweeping unit is fittingly mounted on the linear guide.
7. The reciprocating cleaning head of a cable cleaning robot according to claim 3, wherein each sweeping unit comprises two symmetrically arranged grinding wheels, the cable is sandwiched between the two grinding wheels, a grinding plane is formed between the two grinding wheels, and the grinding plane of the first sweeping unit and the grinding plane of the second sweeping unit intersect at an angle.
8. The reciprocating cleaning head of a cable cleaning robot according to claim 7, wherein the polishing plane of the first sweeping unit is a horizontal plane, and the polishing plane of the second sweeping unit is a vertical plane.
9. The reciprocating cleaning head of a cable cleaning robot according to claim 1, wherein the sweeping unit comprises two symmetrically disposed grinding wheels, the cable is sandwiched between the two grinding wheels, a grinding plane is formed between the two grinding wheels, the grinding plane is a horizontal plane, and a floating assembly for adjusting a vertical height of the grinding plane is connected to the sweeping unit.
10. A cable cleaning robot comprising a traveling unit for traveling a cleaning head on a cable and a cleaning head, wherein the cleaning head employs a reciprocating type cleaning head as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911039540.XA CN110918514A (en) | 2019-10-29 | 2019-10-29 | Reciprocating type cleaning head of cable cleaning robot and cable cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911039540.XA CN110918514A (en) | 2019-10-29 | 2019-10-29 | Reciprocating type cleaning head of cable cleaning robot and cable cleaning robot |
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| CN110918514A true CN110918514A (en) | 2020-03-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911039540.XA Pending CN110918514A (en) | 2019-10-29 | 2019-10-29 | Reciprocating type cleaning head of cable cleaning robot and cable cleaning robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111570134A (en) * | 2020-04-28 | 2020-08-25 | 湖北工业大学 | Anti-icing cable intelligent spraying robot convenient to hoist and mount counterpoint |
| CN111730620A (en) * | 2020-07-20 | 2020-10-02 | 广东电网有限责任公司东莞供电局 | Master-slave mechanical arm device of electric power field inspection robot |
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| CN202659104U (en) * | 2012-07-02 | 2013-01-09 | 无锡市华通环保设备有限公司 | Drive link for large shutter-structured air doors |
| CN107658780A (en) * | 2017-10-12 | 2018-02-02 | 国家电网公司 | Independent suspension type cable clearing apparatus |
| CN107887873A (en) * | 2017-11-15 | 2018-04-06 | 国家电网公司 | A kind of self-propelled power circuit barrier clearing device |
| CN108249217A (en) * | 2018-01-29 | 2018-07-06 | 山东博发智能科技有限公司 | A kind of electric wire collecting dust-removing device |
| CN109340078A (en) * | 2018-11-19 | 2019-02-15 | 西安交通大学 | A kind of double opposed pistons compressor arrangements |
| CN208495065U (en) * | 2018-05-24 | 2019-02-15 | 徐刚 | A kind of power circuit clearing apparatus |
| CN211865908U (en) * | 2019-10-29 | 2020-11-06 | 浙江国自机器人技术有限公司 | Reciprocating type cleaning head of cable cleaning robot and cable cleaning robot |
-
2019
- 2019-10-29 CN CN201911039540.XA patent/CN110918514A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202659104U (en) * | 2012-07-02 | 2013-01-09 | 无锡市华通环保设备有限公司 | Drive link for large shutter-structured air doors |
| CN107658780A (en) * | 2017-10-12 | 2018-02-02 | 国家电网公司 | Independent suspension type cable clearing apparatus |
| CN107887873A (en) * | 2017-11-15 | 2018-04-06 | 国家电网公司 | A kind of self-propelled power circuit barrier clearing device |
| CN108249217A (en) * | 2018-01-29 | 2018-07-06 | 山东博发智能科技有限公司 | A kind of electric wire collecting dust-removing device |
| CN208495065U (en) * | 2018-05-24 | 2019-02-15 | 徐刚 | A kind of power circuit clearing apparatus |
| CN109340078A (en) * | 2018-11-19 | 2019-02-15 | 西安交通大学 | A kind of double opposed pistons compressor arrangements |
| CN211865908U (en) * | 2019-10-29 | 2020-11-06 | 浙江国自机器人技术有限公司 | Reciprocating type cleaning head of cable cleaning robot and cable cleaning robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111570134A (en) * | 2020-04-28 | 2020-08-25 | 湖北工业大学 | Anti-icing cable intelligent spraying robot convenient to hoist and mount counterpoint |
| CN111570134B (en) * | 2020-04-28 | 2021-10-22 | 湖北工业大学 | Anti-icing cable intelligent spraying robot convenient to hoist and mount counterpoint |
| CN111730620A (en) * | 2020-07-20 | 2020-10-02 | 广东电网有限责任公司东莞供电局 | Master-slave mechanical arm device of electric power field inspection robot |
| CN111730620B (en) * | 2020-07-20 | 2020-11-17 | 广东电网有限责任公司东莞供电局 | Master-slave mechanical arm device of electric power field inspection robot |
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