CN110961289A - Transformer substation insulator anti-pollution flashover coating spraying tool and spraying method - Google Patents

Transformer substation insulator anti-pollution flashover coating spraying tool and spraying method Download PDF

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Publication number
CN110961289A
CN110961289A CN201911252459.XA CN201911252459A CN110961289A CN 110961289 A CN110961289 A CN 110961289A CN 201911252459 A CN201911252459 A CN 201911252459A CN 110961289 A CN110961289 A CN 110961289A
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China
Prior art keywords
spraying
insulator
encircling
annular
tool
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CN201911252459.XA
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Chinese (zh)
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CN110961289B (en
Inventor
陈强
李健
王振利
李建祥
许玮
慕世友
周大洲
刘继志
许荣浩
董旭
刘丕玉
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State Grid Intelligent Technology Co Ltd
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State Grid Intelligent Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/084—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/70—Arrangements for moving spray heads automatically to or from the working position

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)

Abstract

The invention discloses a transformer substation insulator anti-pollution flashover coating spraying tool and a method, wherein the system comprises the following components: the device comprises an encircling mechanism, at least one spraying mechanism and a controller; the encircling mechanism is in a fan-shaped or annular shape with a central angle not less than 180 degrees, at least one spraying mechanism is arranged on the encircling mechanism, and the spraying mechanism can perform circumferential reciprocating motion along the encircling mechanism; the encircling mechanism is provided with a camera connected with the controller and used for assisting the encircling mechanism in positioning the periphery of the insulator. The invention can realize the spraying around the circumference of the insulator and ensure the uniform spraying of the insulator by means of visual positioning.

Description

Transformer substation insulator anti-pollution flashover coating spraying tool and spraying method
Technical Field
The invention belongs to the technical field of live-line overhaul operation of transformer substations, and particularly relates to a spraying tool and a spraying method for an anti-pollution flashover coating of a transformer substation insulator.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
High-voltage electrical equipment of a transformer substation is mostly installed outdoors, and the surface of equipment operating throughout the year is polluted. Under the influence of atmospheric environment, flashover often occurs under the humid meteorological condition, causing power failure accidents. The method is an effective means for keeping the original insulation level of the equipment, preventing pollution flashover accidents and ensuring the reliable operation of the power grid. RTV spraying of the post insulator of the transformer substation is a method for improving the surface hydrophobicity of the insulator by spraying RTV coating on the surface of the post insulator of the transformer substation, is an effective and necessary anti-pollution flashover means, and has obvious economic and social benefits. At present, the RTV spraying of the post insulator is mainly realized by manual spraying of workers. However, the manual spraying has the problems of coating waste, dependence on experience, poor spraying quality and the like.
Although the related art of insulator RTV automatic spraying has appeared at present, the inventor has solved at least the following problems:
the current automatic spraying mechanism is designed to be circumferential spraying based on the consideration of the specific shape of the insulator, but whether the insulator is positioned at the center of the circumference is difficult to ensure, and the spraying uniformity can be ensured only by manual multiple adjustment;
the position of the spraying mechanism relative to the insulator is fixed, which means that the spraying of the paint is concentrated and uneven conditions are easy to occur, and the insulator longitudinally comprises a plurality of sunken areas, so that dead corners which are difficult to spray are easy to occur, and the uniformity of the spraying is difficult to ensure.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a spraying tool and a spraying method for an anti-pollution flashover coating of a transformer substation insulator.
In order to achieve the above object, one or more embodiments of the present invention provide the following technical solutions:
the utility model provides an antifouling sudden strain of a muscle coating spraying instrument of transformer substation's insulator, includes: the device comprises an encircling mechanism, at least one spraying mechanism and a controller; the encircling mechanism is in a fan-shaped or annular shape with a central angle not less than 180 degrees, at least one spraying mechanism is arranged on the encircling mechanism, and the spraying mechanism can perform circumferential reciprocating motion along the encircling mechanism; the encircling mechanism is provided with a camera connected with the controller and used for assisting the encircling mechanism in positioning the periphery of the insulator.
Furthermore, the number of the cameras is two, the resolution ratios of the cameras are the same, the cameras face towards the surrounding range, and the cameras are arranged on the same diameter of a circle where the surrounding mechanism is located.
Further, the device also comprises a supporting mechanism; the encircling mechanism is connected with the supporting mechanism and can vertically lift relative to the supporting mechanism.
Further, the spraying mechanism comprises a spray gun frame used for installing a spray gun, and the spray gun frame can radially reciprocate along the diameter direction of the encircling mechanism.
Furthermore, the embracing mechanism is semi-annular and comprises an annular inner cavity and an annular piece capable of moving along the annular inner cavity, and an annular opening is arranged below the annular inner cavity; at least one spraying mechanism is arranged below the encircling mechanism, is connected with the annular piece and can reciprocate along the annular opening along with the annular piece.
Further, the spray gun frame is connected with the annular piece through a connecting mechanism; the connecting mechanism comprises a connecting rod and a horizontal sliding table, and the direction of the horizontal sliding table is consistent with the diameter direction of the encircling mechanism; wherein, connecting rod one end is connected with the loop forming element, and the other end connects the horizontal slip table, the spray gun frame can follow the radial reciprocating motion of horizontal slip table.
Furthermore, the supporting mechanism is connected with the surrounding mechanism through a connecting bracket; a vertical rack is arranged on one side of the supporting mechanism far away from the surrounding mechanism; the connecting bracket is sleeved outside the supporting mechanism, and a first gear meshed with the rack is arranged on one side far away from the encircling mechanism; the connecting bracket is also provided with a first stepping motor connected with the gear;
one side of the supporting mechanism connected with the encircling mechanism is also provided with a vertical guide groove, and the connecting bracket is provided with a sliding block matched with the guide groove.
Furthermore, one side of the annular inner cavity of the encircling mechanism, which is opposite to the connecting support, is provided with an opening, and the annular part is a ring gear; a second gear meshed with the ring gear is arranged at the position, corresponding to the opening, of the connecting bracket; the connecting bracket is also provided with a second stepping motor connected with the gear;
the upper surface of the annular inner cavity is provided with an annular guide groove, and a sliding block matched with the annular guide groove is arranged on a gear ring of the annular gear.
One or more embodiments provide a spraying method based on the substation insulator RTV uniform spraying system, which includes:
controlling an encircling mechanism in the spraying system to be close to the insulator to be sprayed, so that the insulator to be sprayed is positioned in a range encircled by the encircling mechanism;
adjusting the orientation of an RTV spraying tool based on the images of the insulator to be sprayed, which are acquired by two cameras on the encircling mechanism, so that the insulator to be sprayed is positioned in the center of the circumferential range where the encircling mechanism is positioned;
receiving a control instruction and executing a spraying task; and the control command comprises the surrounding spraying times and speed of the current spraying task.
Further, based on the insulator image of treating spraying that encircles two camera collections on the mechanism, the adjustment RTV spraying instrument position includes:
receiving two paths of videos collected by the camera 1 and the camera 2;
analyzing the two paths of videos, and detecting whether insulators exist in the video streams or not;
if the insulator exists, performing threshold segmentation on the two paths of video streams, and extracting an insulator connected domain;
calculating the coordinate (x) of the central point of the connected domain of the two video stream images1,y1)、(x2,y2) And the number Num of pixels occupied by the connected domain1、Num2And determining the ratio c of the connected domain to the video stream image in the two video stream images according to the number of the pixels in the connected domain and the size of the image1、c2And the coordinates (m, n) of the center points of the two images;
by comparison of c1And c2A size of (a), (b), and (x)1,y1)、(x2,y2) The relative position to (m, n) determines the direction and distance the spray tool needs to move.
Further, determining the direction and distance that the spray tool needs to move includes:
if c is1>c2Adjusting the position of the spraying tool to move the insulator to one side of the camera 21-c2；
If c is2>c1Adjusting the position of the spraying tool to move the insulator to one side of the camera 12-c1；
If x1-m|>error and x1-m>0, adjusting the position of the spraying tool to stopThe rim moves x to the outside of the encircling device1-m；
If x1-m|>error and m-x1>0, the insulator is closer to the outer side of the surrounding device, and the device needs to be adjusted to enable the insulator to move by m-x towards the inner side of the surrounding device1；
If x1-x2|>error or y1-y2|>The two cameras are misaligned, and the positions of the two cameras are readjusted to ensure that the centers of the visual fields of the two cameras are not on the same horizontal line; where error is a preset maximum error allowed.
The above one or more technical solutions have the following beneficial effects:
the invention provides an omnibearing three-dimensional spraying operation method for a post insulator of a transformer substation, and develops an anti-pollution flashover coating spraying tool for the post insulator of the transformer substation, wherein the spraying tool can move up and down based on a supporting mechanism, and realizes 360-degree omnibearing spraying of the insulator based on a spraying tool which moves circumferentially by an encircling mechanism; meanwhile, the spraying mechanism can move radially, and the insulators to be sprayed are close to and far away from each other for multiple times in the spraying process, so that the manual spraying process is simulated, the insulators can be effectively sprayed at all positions, the problems of dead spraying corners, uneven spraying thickness and the like existing in the spraying process of the insulators of the transformer substation are solved, the intelligent spraying of the anti-pollution flashover coating of the insulators of the transformer substation is realized, and the operation efficiency is improved;
according to the method, a multi-scale insulator sample library is established, an insulator identification model under an open type power transformation environment based on a Cartesian space threshold segmentation algorithm is established, a multi-video target accurate identification tracking technology, an image semantic segmentation position extraction algorithm and a multi-camera same-diameter semicircle center alignment method are designed, the identification, real-time tracking, positioning and alignment of support insulators with different sizes can be realized, and the problem that the insulators with different models are difficult to position and align is solved; the spraying tool can accurately reach the position of the insulator to be sprayed, the insulator is positioned in the center of the range surrounded by the surrounding mechanism, and the spraying uniformity is guaranteed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a perspective view of a spray tool in accordance with one or more embodiments of the invention;
FIG. 2 is a schematic diagram of the connection between the spray tool embracing mechanism and the spray mechanism in accordance with one or more embodiments of the present invention;
FIG. 3 is an enlarged view of a portion of the injection mechanism in accordance with one or more embodiments of the present disclosure;
FIG. 4 is a schematic view of a spray tool module connection in accordance with one or more embodiments of the invention;
FIG. 5 is a schematic diagram of a remote control according to one or more embodiments of the present invention;
FIG. 6 is a schematic view of the positions of two cameras on the embracing mechanism in accordance with one or more embodiments of the present disclosure;
FIG. 7 is a flow diagram of spray tool position adjustment based on two camera captured videos in one or more embodiments of the invention;
FIG. 8 is a flow chart for controlling a spray tool to perform spray based on a wireless remote control in one or more embodiments of the present invention;
the device comprises a support mechanism 1, a surrounding mechanism 2, a spraying mechanism 3, an installation base 4, a connecting support 5, a first stepping motor 6, a ring gear 7, a rotating gear 8, a second stepping motor 9, a spray gun frame 10, a spray gun 11, a spray gun 12, a connecting rod 13, a horizontal sliding table 14, an electric cylinder 14, a proximity switch 15, a distance measuring sensor 16, a vertical connecting rod 17 and a spray gun position 18.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments of the invention may be combined with each other without conflict.
Example one
This embodiment provides an antifouling sudden strain of a muscle coating spraying instrument of transformer substation's insulator, includes: the device comprises an encircling mechanism, at least one spraying mechanism and a controller; the encircling mechanism is in a fan-shaped or annular shape with a central angle not less than 180 degrees, at least one spraying mechanism is arranged on the encircling mechanism, and the spraying mechanism can perform circumferential reciprocating motion along the encircling mechanism; the encircling mechanism is provided with a camera connected with the controller and used for assisting the encircling mechanism in positioning the periphery of the insulator.
As an example, the present embodiment further provides an RTV spraying tool applying the intelligent spraying system, as shown in fig. 1, the RTV spraying tool includes a supporting mechanism, an encircling mechanism, and at least one spraying mechanism, wherein the encircling mechanism is disposed on the supporting mechanism and can move up and down relative to the supporting mechanism; the spraying mechanism is arranged on the surrounding mechanism and can be driven to horizontally rotate around the axis of the post insulator of the transformer substation; the spraying mechanism is used for carrying out RTV spraying on the transformer substation support insulator.
The RTV spraying tool further comprises an installation base used for installing the RTV spraying tool on a robot operation terminal. Specifically, the supporting mechanism is fixedly connected to a mounting base, the mounting base is used for bearing the weight of the RTV spraying tool, and the supporting mechanism can be fixed on a lifting platform operation terminal of the robot during spraying operation, so that the lifting platform can convey the spraying device to a high position to contact the post insulator. Therefore, the mounting base is provided with a connecting structure such as a connecting hole for connecting with the lifting platform.
The supporting mechanism 1 is connected with the surrounding mechanism 2 through a connecting bracket 5. Specifically, a sliding rod is vertically arranged on the supporting mechanism 1, one end of the connecting support 5 is a sliding block sleeved on the sliding rod, and the other end of the connecting support is connected with the encircling mechanism 2. The upper and lower sliding of the sliding block of the connecting bracket 5 on the supporting mechanism 1 drives the embracing mechanism 2 to move up and down relative to the supporting mechanism 1. Can move up and down along the supporting mechanism 1 under the driving of the first stepping motor 6, thereby driving the connecting bracket 5 and the embracing mechanism 2 to move up and down. It will be understood by those skilled in the art that the connection between the connection mechanism and the support mechanism 1 is not limited to the manner of a slide bar and a slide block, and any other manner capable of moving the connection mechanism up and down relative to the support mechanism 1 may be adopted.
The encircling mechanism comprises an encircling frame, a ring gear, a second stepping motor and a rotating gear. Wherein, the surrounding frame is in a semi-ring shape and is provided with a semi-ring inner cavity, and two end parts of the surrounding frame are in an opening shape. The ring gear is disposed in the inner cavity of the surrounding frame, and one side of the gear is exposed through an opening disposed on a side surface of the surrounding frame (in this embodiment, the ring gear is an outer ring gear, so the side surface is an outer side surface, but not limited thereto), and the ring gear is also semi-annular and can horizontally move in the inner cavity of the surrounding frame to penetrate through the end portion of the surrounding frame. And a rotating gear and a second stepping motor for driving the gear are also arranged in the connecting bracket. The rotating gear is meshed with the annular gear exposed through the opening on the outer side surface of the encircling support to form a second transmission pair, and the second transmission pair can drive the annular gear to horizontally rotate around the axis of the encircling support (namely the axis of the ring where the encircling support is located) in the inner cavity of the encircling support under the driving of a second stepping motor.
In this embodiment, the surrounding frame, the ring gear and the rotating gear are all made of insulating materials to play an insulating protection role. The mechanism frame is formed by welding hard aluminum alloy.
The bottom surface of the encircling frame is provided with an annular sliding groove, and two ends of the encircling frame are not blocked. The two spraying mechanisms are respectively arranged below the encircling mechanism and are respectively connected with two ends of a ring gear in an inner cavity of the encircling frame, and when the ring gear is driven to rotate, the two spraying mechanisms can be driven to horizontally rotate around the axis of the encircling support along the annular sliding groove. Because the surrounding frame and the two ends of the annular chute are not blocked, the annular gear drives the two spraying mechanisms to rotate, so that the 360-degree spraying of the insulation of the supporting column can be realized.
In order to limit the running position of the ring gear in the encircling frame and prevent the ring gear from moving in the encircling support and deviating from the running position so as not to be tightly matched with the encircling support, a T-shaped guide groove is arranged at the top of an inner cavity of the encircling support, and a T-shaped sliding block matched with the T-shaped guide groove is arranged on a gear ring of the ring gear; the positioning and sliding of the gear ring are realized through the T-shaped guide groove, so that the positioning of the gear ring can be realized, the friction resistance in the motion process can be reduced, and the head warping phenomenon of the encircling mechanism in the motion process is avoided.
Referring to fig. 2-3, the spray mechanism includes a connection mechanism, a gun rest, and a spray gun. The connecting mechanism comprises a connecting rod and a horizontal sliding table, the direction of the horizontal sliding table is consistent with the diameter direction of the encircling mechanism, the connecting rod is connected with the ring gear, and a horizontal sliding rod is arranged below the horizontal sliding table; the spray gun frame is connected with the connecting mechanism through a sliding block sleeved on the horizontal sliding rod. The spray gun frame comprises two spray gun positions which are distributed up and down. The two spray gun positions are used for installing spray guns and are both connected with the spray guns in a rotating mode. In practical application, the two spray guns form an acute angle along the axis of the gun head direction. And one end of the horizontal smoothing table, which is positioned outside the surrounding mechanism, is provided with an electric cylinder for driving the sliding block to drive the spray gun to reciprocate radially and to be close to and away from the insulator, so that the manual spraying process is simulated, and the RTV paint with the same thickness can be sprayed on the edge and the center of the insulator. The insulator is located to the mechanism cover of embracing, and through the rotation of embracing the mechanism and the spraying of RTV spray gun, can realize the insulating 360 degrees spraying of pillar. Particularly, the spray gun frame comprises a vertical connecting rod connected with the sliding block, two spray gun positions are connected below the connecting rod and are respectively located on two sides of the sliding rod in the direction, and the two spray gun positions are distributed up and down. It will be appreciated by those skilled in the art that the connection between the horizontal connecting member and the lance holder is not limited to the manner of the slide bar and the slide block, and any other manner capable of moving the connecting mechanism up and down relative to the support mechanism may be used.
The radial movement of the spraying mechanism and the adjustable angle of the spray guns enable the spraying system to be more flexible and applicable to insulators with different diameters, and the spraying quality is guaranteed by adjusting the distance between the spraying mechanism and the insulator and the angle between the two spray guns. In the embodiment, two spray guns are arranged and distributed up and down, and the two spray guns form an acute angle along the axis of the gun head direction. The arrangement of the two spray guns can realize the double-sided dead-angle-free spraying of the insulator. The spray gun can realize circumferential reciprocating motion, and the RTV paint with the same thickness can be sprayed on the edge and the center of the insulator. The insulator is located to the mechanism cover of embracing, and through the rotation of embracing the mechanism and the spraying of RTV spray gun, can realize the insulating 360 degrees spraying of pillar.
When the ring gear rotates 90 degrees from the initial position (namely the ring gear is completely positioned in the encircling support, and the two spraying mechanisms are respectively positioned at the two end parts of the encircling support), the proximity switch senses the metal electric cylinder of the spraying mechanism close to the central position of the encircling support, and the proximity switch immediately sends an electric signal to the motor controller to commutate the second stepping motor, so that the rotating gear turns to drive the ring gear to reversely rotate. When the ring gear rotates 180 degrees in the reverse direction, the proximity switch senses the other electric cylinder, sends an electric signal to the motor controller, and enables the second stepping motor to be reversed again, and the reciprocating circulation is carried out in such a way that the spray gun continuously rotates around the insulator in an axial reciprocating manner. Thereby realized the reciprocal of spraying mechanism circumference, guaranteed the abundant spraying of insulator.
In the encircling mechanism, two cameras are arranged on the encircling frame, and the two cameras are positioned on the same diameter of a circle where the encircling mechanism is located, namely, positioned at two end parts of the semicircular encircling frame respectively. The two cameras have the same resolution (resolution is M × N), and the lens directions are opposite, and the two cameras can acquire images in the surrounding range, as shown in fig. 6. The image is used for realizing the positioning of the insulator, assisting the posture change of the robot lifting mechanism and the movement of the surrounding mechanism, so that the insulator is positioned in the center of the spraying range of the spraying mechanism during spraying, and the uniformity of the spraying is ensured.
In order to guarantee the safety of the spraying tool and facilitate accurate control, the spraying tool is further provided with a distance measuring sensor, a limiting sensor and a thickness measuring sensor.
The distance measuring sensor is arranged on the mounting base and used for measuring the distance of the embracing mechanism in real time, on one hand, the quality of the RTV spraying process in uniform motion for realizing the RTV spraying is guaranteed, on the other hand, the maximum movable distance of the embracing mechanism is limited to ensure that the embracing mechanism cannot exceed the limit position, and therefore the spraying tool is protected.
The number of the limiting sensors is 2, the limiting sensors are respectively arranged at the top end and the bottom end of the supporting mechanism and used for limiting the limiting position of the encircling mechanism in up-and-down motion.
Laser range finder and spacing sensor provide duplicate protection for the spraying instrument, if laser sensor damages or when breaking down, spacing sensor can protect environmental protection mechanism can not surpass extreme position.
The thickness measuring sensor is arranged on the spraying mechanism and used for monitoring the thickness of spraying in real time. When the encircling mechanism rotates, the thickness measuring sensor can monitor the distance between the sensor and the surface of the insulator in real time, data are transmitted to the control system, the thickness of the coating can be calculated in real time, and the thickness of the coating at each angle position can be recorded according to the rotating angle.
Referring to fig. 4, the RTV spraying tool is further provided with an ARM controller, and the ARM controller is connected to the thickness measuring sensor, the distance measuring sensor, the limit sensor, the stepping motor driver, the stepping motor encoder, the spraying control module, and the two cameras.
Still be equipped with wireless receiver on the RTV spraying instrument, in this embodiment, wireless receiver adopts DC24V power supply, and communication interface is RS485, Modbus RTU. The wireless receiver is connected with the ARM controller through RS 485.
The wireless receiver is also connected with a wireless remote controller through wireless radio frequency. Referring to fig. 5, the wireless remote controller of the RTV spraying mechanism mainly includes a universal three-axis analog measuring rod for controlling the upper and lower surrounding movements of the RTV spraying tool; an analog potentiometer mainly used for controlling the movement speed of each movement joint; four switching value buttons, namely a power switch, manual/automatic mode selection, left radial movement and right radial movement; a power indicator light, a signal indicator light; a scram switch. The power indicator light is used for indicating the opening and closing of the power switch, and the signal indicator light represents the data transmission between the wireless remote controller and the wireless receiver. The wireless remote controller is powered by a lithium battery.
The robot also comprises a central controller which is connected with an ARM processor on the RTV spraying tool. The central controller is used for controlling the rotation of a moving platform and a rotating mechanism of the robot and the lifting of a lifting mechanism, so that the insulator to be sprayed can be located in the range surrounded by the surrounding mechanism, receiving a pose adjusting instruction sent by an ARM processor on the RTV spraying tool, and adjusting the moving platform, the rotating mechanism or the lifting mechanism, so that the insulator to be sprayed is located in the central position of the circumference range where the surrounding mechanism is located.
Fixing a spraying tool on a working terminal of an operating robot, wherein the spraying process based on the spraying tool is as follows:
step 1: the position of the robot and the posture of the lifting platform are adjusted, and the insulator to be sprayed is located in the range surrounded by the surrounding mechanism through video auxiliary adjustment acquired by the two cameras on the surrounding mechanism.
Step 2: based on videos of the insulators to be sprayed, which are acquired by two cameras on the surrounding mechanism, image segmentation is carried out on the images based on a Cartesian space threshold segmentation algorithm, and the positions of the insulators are determined according to a multi-scale insulator sample library; and adjusting the position of the RTV spraying tool according to the positions of the insulators on the two images, so that the insulator to be sprayed is positioned in the central position of the circumferential range where the encircling mechanism is positioned. As shown in fig. 7, the method specifically includes:
(1) acquiring two paths of videos collected by a camera 1 and a camera 2;
(2) analyzing the two paths, detecting whether an insulator exists in the video stream through a convolutional neural network algorithm, and entering step 3 if the insulator exists; if the insulator detection device does not exist, adjusting the posture of the robot lifting platform, and repeating the step 1-2 until the insulator can be detected;
(3) extracting an insulator connected domain by respectively using a threshold segmentation method for insulator regions detected in the two video streams, and solving a central point (x) of the connected domain1,y1)、(x2,y2) And the total number Num of pixel points occupied by the connected component1、Num2And through Num1、Num2Determining the proportion of the connected domain in the video stream image:
Figure BDA0002309400610000111
the size of the images collected by the camera 1 and the camera 2 is MxN, and the pixel positions of the visual field centers of the images are all
Figure BDA0002309400610000112
(4) By comparison of c1、c2Size of (a) and (x)1,y1) And
Figure BDA0002309400610000113
(x2,y2) And
Figure BDA0002309400610000114
the position relation of the insulator in the semicircular surrounding device can obtain the position of the insulator in the semicircular surrounding device, and the relative position of the adjusting device and the insulator is adjusted according to the comparison result until the insulator is positioned in the middle of the device;
the comparison result and the adjustment mode are as follows, where error is the maximum error allowed by the pixel position, and is generally less than or equal to 5:
if c is1>c2The insulator is closer to the camera 1, and an adjusting device is needed to ensure that the insulator is absolutely not closedThe rim moves towards one side of the camera 2;
if c is2>c1The insulator is closer to the camera 2, and the device needs to be adjusted to enable the insulator to move towards one side of the camera 1;
if c is1＝c2The insulator is positioned on the left and right and already positioned in the center;
if it is
Figure BDA0002309400610000115
Or
Figure BDA0002309400610000116
The insulator is already positioned at the center on the front and rear positions;
if it is
Figure BDA0002309400610000117
And is
Figure BDA0002309400610000118
The insulator is closer to the inner side of the surrounding device, and the device needs to be adjusted to enable the insulator to move towards the outer side of the surrounding device;
if it is
Figure BDA0002309400610000121
And is
Figure BDA0002309400610000122
The insulator is closer to the outer side of the surrounding device, and the device needs to be adjusted to enable the insulator to move towards the inner side of the surrounding device;
if x1-x2|>error or y1-y2|>And the two cameras are not aligned in position, the centers of the visual fields of the two cameras are not on the same horizontal line, and the positions of the two cameras need to be readjusted.
And step 3: starting the wireless remote controller, and establishing connection between the wireless remote controller and the RTV spraying tool; and the RTV spraying tool receives a control command sent by the wireless remote controller, and finishes spraying according to the procedures of spraying the organic solvent, washing with clear water, drying with high-pressure air and spraying the coating. Referring to fig. 8, the specific process is as follows:
firstly, selecting a working mode: manual/automatic;
when the spraying mode is in the automatic spraying mode, the RTV spraying tool carries out surrounding spraying from top to bottom, and gradually moves downwards to carry out horizontal spraying after 360-degree spraying is finished; those skilled in the art will appreciate that the thickness of each layer of insulator can be determined by presetting the number and speed of the surrounding spray.
When the spraying mechanism is in a manual spraying mode, the RTV spraying mechanism is controlled to move up and down or move around through the wireless remote control system, and the radial reciprocating motion can be opened or closed. The vertical movement speed is determined by the universal three-axis analog quantity rod, and the spraying thickness of each layer of insulator is mastered by controlling the surrounding spraying times and speed.
On the basis of spraying thickness based on spraying number of times and speed control, in order to further improve the uniformity, in the spraying instrument from top to bottom and rotatory spraying process, spraying instrument controller still judges whether there is inhomogeneous part, treats this spraying and accomplishes after, controls the spraying instrument and moves the assigned position and mends and scribble, specifically includes:
the coating thickness of the current spraying position is obtained in real time based on the thickness measuring sensor;
meanwhile, the height of the current spraying position is obtained based on a distance measuring sensor; calculating the rotation angle of the current spraying position based on the speed of the circumferential reciprocating motion by taking the initial position of the circumferential reciprocating motion as a reference;
after the spraying task is completed, obtaining the thicknesses of the coatings of all positions of the insulator to be sprayed, judging whether the positions with the thicknesses of the coatings smaller than a set threshold exist, if so, obtaining the corresponding height and angle of the positions, and if not, obtaining the heights and angles of the positions; wherein, the set threshold value can be set as the average value of all the spraying thicknesses;
and controlling the spraying mechanism to return to each position to be subjected to coating supplement in sequence, monitoring the thickness in real time based on the thickness measuring sensor in the coating supplement process of each position to be subjected to coating supplement, and finishing the coating supplement of the position when the set threshold is reached.
The insulator is ensured to be positioned in the center of the surrounding mechanism through visual positioning, the thickness of the coating is monitored in real time through the thickness measuring sensor, and the uniformity of spraying of the insulator is ensured.
The limit sensor adopts a Keynes PZ-G strong light type photoelectric sensor, the detection distance is 300mm, the reaction time is 500us, and the input and output circuit is PNP output. The range sensor adopts a SICK mid-range distance sensor Dx35, the measuring range is 50-12000 mm adjustable, the resolution is 0.1mm, and the output can be 4-20mA or 0-10V. The thickness measuring sensor adopts a Ginzhi IL-600CMOS laser displacement sensor, the measuring range from a sensor probe is 200mm-1000mm, and the measuring distance is 800 mm. The measurement accuracy is 50um for measure the distance between sensor and the insulator before and after RTV spraying, thereby calculate the thickness of RTV spraying.
The output signals of the thickness measuring sensor and the distance measuring sensor are 0-10V voltage, are converted into 0-3.3V voltage through a circuit, and enter an AD input interface of the ARM controller to realize the measurement of the thickness and the distance. The limiting sensor is a switching value signal, is connected with an IO port of the ARM controller after signal processing, and is used for judging whether the RTV spraying tool runs to a limiting position.
The stepping motor driver is connected with the stepping motor, the stepping motor is connected with the stepping motor encoder, and the encoded data is fed back to the ARM controller, so that double-loop closed-loop control of a speed loop and a position loop of the stepping motor is realized. And the step motor driver receives the instruction sent by the ARM controller, accurately controls the step motor and finishes the accurate motion control of the RTV spraying tool.
The stepping motors are selected from 42 series stepping motors and 86 series stepping motors, the 42 series stepping motors are adopted for circumferential reciprocating motion, the lead is 5mm, and the stroke is 150 mm; the vertical movement adopts an 86-series stepping motor, the lead is 5mm, and the stroke is 750 mm. The step motor driver adopts 32 subdivision step motor drivers, and the step motor encoder adopts a 600-wire encoder. The encoder collects the motion data of the stepping motor and feeds the motion data back to the ARM controller, and PID closed-loop control is formed.
The ARM controller adopts an STM32F407IGT6 chip, has serial ports, CAN and 485 communication interfaces, and functional interfaces such as a stepping motor, an encoder and an AD/DA (analog-digital) interface, and completes a logic control algorithm of the RTV spraying system and a signal acquisition function of a plurality of sensors. The circuit is provided with an isolated output and input circuit, a common mode suppression circuit, a plug-in wiring terminal and a stepping motor interpolation algorithm for motion control of each shaft of the stepping motor.
The wireless receiver mainly comprises a receiving antenna, a wireless receiving controller and a wireless receiving data power line, wherein the wireless receiving data power line mainly comprises DC24V +, DC24V-, RS-485A +, RS-485B-and GND.
One or more of the above embodiments have the following technical effects:
according to the invention, the double cameras are introduced, whether the spraying tool reaches the position of the insulator to be sprayed is intelligently identified based on the acquired video stream, and the position of the spraying tool is adjusted based on the positions of the insulators in the images acquired by the two cameras, so that the insulator is positioned in the center of the range surrounded by the surrounding mechanism, and the uniformity of spraying is ensured.
The spraying tool provided by the invention can move up and down based on the supporting mechanism, and realizes 360-degree all-dimensional spraying of the insulator based on the spraying tool which moves circumferentially around the surrounding mechanism; meanwhile, the spraying mechanism can move radially, and the insulators to be sprayed are close to and far away from the spraying mechanism for many times in the spraying process, so that the manual spraying process is simulated, and the insulators can be effectively sprayed at all positions.
The invention also monitors the current spraying thickness in real time based on the thickness measuring sensor in the spraying process, and records the corresponding position of each thickness based on the laser sensor, so that whether the spraying is uneven or not can be checked after the spraying is finished, the coating is supplemented to the corresponding position, and the spraying uniformity is further ensured.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented using general purpose computing apparatus, or alternatively, they may be implemented using program code executable by computing apparatus, whereby the modules or steps may be stored in a memory device and executed by computing apparatus, or separately fabricated into individual integrated circuit modules, or multiple modules or steps thereof may be fabricated into a single integrated circuit module. The present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims (10)

1. The utility model provides an antifouling sudden strain of a muscle coating spraying instrument of transformer substation's insulator which characterized in that includes: the device comprises an encircling mechanism, at least one spraying mechanism and a controller; the encircling mechanism is in a fan-shaped or annular shape with a central angle not less than 180 degrees, at least one spraying mechanism is arranged on the encircling mechanism, and the spraying mechanism can perform circumferential reciprocating motion along the encircling mechanism; the encircling mechanism is provided with a camera connected with the controller and used for assisting the encircling mechanism in positioning the periphery of the insulator.
2. The tool for spraying anti-pollution flashover coating on the insulator of the transformer substation according to claim 1, wherein the number of the cameras is two, the resolution ratios of the cameras are the same, the cameras are all oriented in the surrounding range, and the cameras are arranged on the same diameter of a circle where the surrounding mechanism is located.
3. The substation insulator anti-pollution flashover coating spraying tool according to claim 1, further comprising a supporting mechanism; the encircling mechanism is connected with the supporting mechanism and can vertically lift relative to the supporting mechanism.
4. The substation insulator anti-pollution flashover coating spraying tool according to claim 1, wherein the spraying mechanism comprises a gun carriage for mounting a spray gun, and the gun carriage can reciprocate radially in a diameter direction around the embracing mechanism.
5. The substation insulator anti-pollution flashover coating spraying tool according to claim 1, wherein the surrounding mechanism is semi-annular and comprises an annular inner cavity and an annular piece capable of moving along the annular inner cavity, and an annular opening is formed below the annular inner cavity; at least one spraying mechanism is arranged below the encircling mechanism, is connected with the annular piece and can reciprocate along the annular opening along with the annular piece.
6. The substation insulator anti-pollution flashover coating spraying tool according to claim 4, wherein the spray gun rack is connected with the ring-shaped member through a connecting mechanism; the connecting mechanism comprises a connecting rod and a horizontal sliding table, and the direction of the horizontal sliding table is consistent with the diameter direction of the encircling mechanism; wherein, connecting rod one end is connected with the loop forming element, and horizontal slip table is connected to the other end, the spray gun frame can follow horizontal slip table radial reciprocating motion.
7. The transformer substation insulator anti-pollution flashover coating spraying tool according to claim 3, wherein the supporting mechanism is connected with the surrounding mechanism through a connecting bracket; a sliding rod is vertically arranged on the supporting mechanism, one end of the connecting bracket is a sliding block sleeved on the sliding rod, and the other end of the connecting bracket is connected with the encircling mechanism; the sliding block is connected with a first stepping motor; or
One side of the annular inner cavity of the encircling mechanism, which is opposite to the connecting support, is provided with an opening, and the annular piece is an annular gear; a second gear meshed with the ring gear is arranged at the position, corresponding to the opening, of the connecting bracket; the connecting bracket is also provided with a second stepping motor connected with the gear;
the upper surface of the annular inner cavity is provided with an annular guide groove, and a sliding block matched with the annular guide groove is arranged on a gear ring of the annular gear.
8. A method for spraying the anti-pollution flashover coating spraying tool for the substation insulator according to any one of claims 1 to 6, which comprises the following steps:
controlling an encircling mechanism in the spraying system to be close to the insulator to be sprayed, so that the insulator to be sprayed is positioned in a range encircled by the encircling mechanism;
adjusting the orientation of an RTV spraying tool based on the images of the insulator to be sprayed, which are acquired by two cameras on the encircling mechanism, so that the insulator to be sprayed is positioned in the center of the circumferential range where the encircling mechanism is positioned;
receiving a control instruction and executing a spraying task; and the control instruction comprises the surrounding spraying times and speed of the current spraying task.
9. The method of claim 8, wherein adjusting the orientation of the RTV coating tool based on the images of the insulator to be coated acquired by the two cameras of the embracing mechanism comprises:
receiving two paths of videos collected by the camera 1 and the camera 2;
analyzing the two paths of videos, and detecting whether insulators exist in the video streams or not;
if the insulator exists, performing threshold segmentation on the two paths of video streams, and extracting an insulator connected domain;
calculating the coordinate (x) of the central point of the connected domain of the two video stream images1,y1)、(x2,y2) And the number Num of pixel points occupied by connected domain1、Num2And determining the ratio c of the connected domain to the video stream images in the two video stream images according to the number of the pixels occupied by the connected domain and the size of the images1、c2And the coordinates (m, n) of the center points of the two images;
by comparison of c1And c2A size of (a), (b), and (x)1,y1)、(x2,y2) Relative to (m, n)The position determines the direction and distance the spray tool needs to move.
10. The method of claim 9, wherein determining the direction and distance the spray tool is to move comprises:
if c is1>c2Adjusting the position of the spraying tool to move the insulator to one side of the camera 21-c2；
If c is2>c1Adjusting the position of the spraying tool to move the insulator to one side of the camera 12-c1；
If x1-m|>error and x1-m>0, adjusting the position of the spraying tool to enable the insulator to move x towards the outer side of the encircling device1-m；
If x1-m|>error and m-x1>0, the insulator is closer to the outer side of the surrounding device, and the device needs to be adjusted to enable the insulator to move m-x towards the inner side of the surrounding device1；
If x1-x2|>error or y1-y2|>The two cameras are misaligned, and the positions of the two cameras are readjusted to ensure that the centers of the visual fields of the two cameras are not on the same horizontal line; where error is a preset maximum error allowed.
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