CN111438088A - Live cleaning method of insulator based on live on-off line robot - Google Patents
Live cleaning method of insulator based on live on-off line robot Download PDFInfo
- Publication number
- CN111438088A CN111438088A CN202010235589.9A CN202010235589A CN111438088A CN 111438088 A CN111438088 A CN 111438088A CN 202010235589 A CN202010235589 A CN 202010235589A CN 111438088 A CN111438088 A CN 111438088A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- rope
- cleaning robot
- robot
- insulator
- 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.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 73
- 239000012212 insulator Substances 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 7
- 239000012459 cleaning agent Substances 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 7
- 239000000956 alloy Substances 0.000 claims description 3
- 229910045601 alloy Inorganic materials 0.000 claims description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims 1
- 239000010865 sewage Substances 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000005406 washing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000861 blow drying Methods 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000005202 decontamination Methods 0.000 description 1
- 230000003588 decontaminative effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 239000004071 soot Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Images
Classifications
-
- B08B1/12—
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/08—Cleaning involving contact with liquid the liquid having chemical or dissolving effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- 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
Abstract
The invention discloses an electrified cleaning method of an insulator based on an electrified upper and lower line robot, which comprises the steps of firstly preparing an insulating rope, wherein one end of the insulating rope is divided into two strands which are respectively tied on upper line rope fixing columns on two sides of a main machine, the other end of the insulating rope is thrown through a lead by a rope throwing device, and an upper line rope is continuously pulled; the cleaning robot is enabled to be continuously close to the conducting wire and the ground wire, the cleaning robot stops after the conducting wire supporting wheel set of the cleaning robot contacts the conducting wire and the ground wire, force is continuously applied to the upper rope to keep the cleaning robot not to slide down, the upper cover of the remote control cleaning robot rotates to be closed until the upper cover of the cleaning robot holds the conducting wire and the ground wire, the upper rope post of the remote control cleaning robot rotates to the upward direction, the cleaning robot freely walks on the cable through the self-clamping walking mechanism, the cleaning device is enabled to well move and be close to the insulator, and water and cleaning agents in the cleaning device are sprayed on the insulator to be cleaned according to needs. The invention renovates the conventional sewage disposal method, can independently complete the processes of walking, sewage disposal and the like, greatly liberates manpower and improves the working efficiency.
Description
Technical Field
The invention belongs to the technical field of high-voltage power transmission, and particularly relates to an electrified cleaning method for an insulator based on an electrified on-off line robot.
Background
The power transmission line has many coastal lines, pollution flashover accidents caused by salt pollution of related insulators are common, and therefore the insulators need to be cleaned regularly. The current insulator cleaning method mainly comprises the following steps: power cut cleaning, live cleaning and live water washing. The charged cleaning and the charged water washing are greatly limited by factors such as equipment safety distance, technical conditions and the like, and the power failure cleaning is the most basic effective method. However, the existing method has the problems of high difficulty, unclean cleaning, low safety coefficient, low working efficiency and the like, and can not meet the use requirement.
Disclosure of Invention
The invention aims to provide an electrified cleaning method of an insulator based on an electrified on-off line robot, so as to solve the technical problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: the live cleaning method of the insulator based on the live on-line and off-line robot comprises the following steps:
s1: firstly, preparing an insulating rope, wherein one end of the insulating rope is divided into two strands which are respectively tied on upper rope fixing columns on two sides of a main machine, and the other end of the insulating rope is used for throwing the rope through a wire by adopting a rope throwing device to continuously pull an upper rope;
s2: the cleaning robot is enabled to continuously approach the guide wire and the ground wire, when the cleaning robot is stopped after the guide wire and the ground wire are contacted by the guide wire supporting wheel set, the upper rope is continuously applied with force to keep the cleaning robot not to slide downwards, the upper cover of the remote control cleaning robot is rotated to be closed until the upper cover of the cleaning robot holds the guide wire and the ground wire, the upper rope post of the remote control cleaning robot is rotated to be upward, and at the moment, the upper rope of the cleaning robot is slightly pulled, so that the cleaning robot can be separated;
s3: the cleaning mechanism can move 360 degrees and is close to the insulator, and water and a cleaning agent in the cleaning mechanism are sprayed onto the insulator as required, so that the purpose of cleaning foreign matters on the insulator is achieved.
As a preferable technical solution of the present invention, the cleaning mechanism in step S3 includes a power motor, a cleaning brush, and a transmission shaft.
As a preferable aspect of the present invention, in step S3, the traveling mechanism includes a driving wheel driven by a synchronous deceleration motor and an elastic idler with pressure sensing.
As a preferable technical solution of the present invention, the driving wheel is made of rubber and high-strength alloy aluminum.
As a preferable technical scheme, a rubber inner core is arranged in the driving wheel and is arranged in an arc-shaped groove.
Compared with the prior art, the invention has the following beneficial effects:
1. the method is not only suitable for ultra-high voltage and extra-high voltage direct current transmission, but also can meet the ash removal work requirement of the extra-high voltage alternating current transmission insulator, and has extremely high universality on various insulators.
2. The application of the robot shortens the maintenance period, reduces the maintenance cost, improves the maintenance efficiency, quality and power supply reliability, and makes outstanding contribution to economic and social development.
3. The scientization, standardization and standardization of the insulator cleaning and decontamination work provide a new way.
4. The conventional sewage disposal method is improved, the flange can be automatically spanned, the processes of walking, soot blowing, water spraying, sewage disposal, blow drying and the like can be independently completed, the manpower and material resources are greatly liberated, the working efficiency is improved, and the overhaul cost is reduced.
Drawings
Fig. 1 is a schematic diagram of the operation of the present invention.
In the figure: 1-cleaning robot; 2-threading the rope; 3-a wire; 4-a traveling mechanism; 5-a steering mechanism; 6-a cleaning mechanism; 7-an insulator.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
With reference to fig. 1, the present invention provides the following examples: the live cleaning method of the insulator based on the live on-line and off-line robot comprises the following steps:
s1: firstly, preparing an insulating rope, wherein one end of the insulating rope is divided into two parts which are respectively tied on upper rope fixing columns on two sides of a main machine, the other end of the insulating rope is thrown through a wire 3 by a rope throwing device, and an upper rope 2 is continuously pulled;
s2: enabling the cleaning robot 1 to be continuously close to the lead and the ground wires, stopping when a lead supporting wheel set of the cleaning robot 1 contacts the lead and the ground wires, continuously applying force to the upper rope to keep the cleaning robot 1 not to slide downwards, rotating an upper cover of the remote control cleaning robot 1 to be closed until the upper cover of the cleaning robot 1 holds the lead and the ground wires, then rotating a rope column of the upper wire of the remote control cleaning robot 1 to be in an upward direction, and slightly pulling a rope 2 on the cleaning robot 1 at the moment to enable the cleaning robot 1 to be separated;
s3: the cleaning robot is operated and used in a non-power-off environment of a line, the self-clamping travelling mechanism 4 freely travels on a cable, the cleaning mechanism 6 and the cleaning robot 1 are connected through the steering mechanism 5, the steering device can move 360 degrees, the cleaning mechanism 6 can well move and approach the insulator 7, water and a cleaning agent in the cleaning mechanism 6 are sprayed onto the insulator 7 according to needs, and the purpose of cleaning foreign matters on the insulator 7 is achieved.
It should be further noted that, in the step S3, the cleaning mechanism 6 includes a power motor, a cleaning brush and a transmission shaft; in addition, in step S3, the traveling mechanism 4 includes a drive pulley driven by a synchronous reduction motor and an elastic idler with pressure sensing. The driving wheel is made of rubber and high-strength alloy aluminum, and a rubber inner core is arranged in the driving wheel and is arranged in an arc-shaped groove.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. The live cleaning method of the insulator based on the live on-line and off-line robot is characterized in that: the method comprises the following steps:
s1: firstly, preparing an insulating rope, wherein one end of the insulating rope is divided into two strands which are respectively tied on upper rope fixing columns on two sides of a main machine, and the other end of the insulating rope is used for throwing the rope through a wire by adopting a rope throwing device to continuously pull an upper rope;
s2: the cleaning robot is enabled to continuously approach the guide wire and the ground wire, when the cleaning robot is stopped after the guide wire and the ground wire are contacted by the guide wire supporting wheel set, the upper rope is continuously applied with force to keep the cleaning robot not to slide downwards, the upper cover of the remote control cleaning robot is rotated to be closed until the upper cover of the cleaning robot holds the guide wire and the ground wire, the upper rope post of the remote control cleaning robot is rotated to be upward, and at the moment, the upper rope of the cleaning robot is slightly pulled, so that the cleaning robot can be separated;
s3: the cleaning mechanism can move 360 degrees and is close to the insulator, and water and a cleaning agent in the cleaning mechanism are sprayed onto the insulator as required, so that the purpose of cleaning foreign matters on the insulator is achieved.
2. The charged cleaning method for the insulator based on the charged upper and lower line robot according to claim 1, characterized in that: and the cleaning mechanism in the step S3 comprises a power motor, a dirt cleaning brush and a transmission shaft.
3. The charged cleaning method for the insulator based on the charged upper and lower line robot according to claim 1, characterized in that: and in the step S3, the traveling mechanism comprises a driving wheel driven by a synchronous speed reduction motor and an elastic riding wheel with pressure induction.
4. The charged cleaning method for the insulator based on the charged upper and lower line robot according to claim 3, characterized in that: the driving wheel is made of rubber and high-strength alloy aluminum.
5. The charged cleaning method for the insulator based on the charged upper and lower line robots according to the claim 4 is characterized in that: a rubber inner core is arranged in the driving wheel and is arranged in an arc-shaped groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010235589.9A CN111438088A (en) | 2020-03-29 | 2020-03-29 | Live cleaning method of insulator based on live on-off line robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010235589.9A CN111438088A (en) | 2020-03-29 | 2020-03-29 | Live cleaning method of insulator based on live on-off line robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111438088A true CN111438088A (en) | 2020-07-24 |
Family
ID=71651370
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010235589.9A Pending CN111438088A (en) | 2020-03-29 | 2020-03-29 | Live cleaning method of insulator based on live on-off line robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111438088A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112221803A (en) * | 2020-09-16 | 2021-01-15 | 国网安徽省电力有限公司检修分公司 | Suspension type insulator string cleaning and spraying device, system and control method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201174566Y (en) * | 2008-03-17 | 2008-12-31 | 章敏华 | Device for expelling ice and snow on electricity transmission line |
| CN104538885A (en) * | 2014-11-28 | 2015-04-22 | 广东电网有限责任公司清远供电局 | Feeding device for transmission line foreign body charged-removing manipulators |
| CN204912152U (en) * | 2015-08-12 | 2015-12-30 | 国家电网公司 | Superelevation line tower insulator cleaning system |
| WO2016207784A1 (en) * | 2015-06-23 | 2016-12-29 | Electrical Grid Monitoring Ltd. | A method and system for cleaning electric grid |
| CN106926256A (en) * | 2017-05-09 | 2017-07-07 | 国网湖南省电力公司带电作业中心 | A kind of transmission system living water washing, deicing implement and its application process |
| CN106992469A (en) * | 2017-05-31 | 2017-07-28 | 长沙理工大学 | A kind of hot line maintenance robot and its upper and lower line control method |
| CN208555186U (en) * | 2018-07-16 | 2019-03-01 | 武汉富道通科技有限公司 | A kind of cleaning machine of railway contact line insulator |
| CN110000131A (en) * | 2019-03-28 | 2019-07-12 | 唐山百川智能机器股份有限公司 | EMU insulator swab |
| CN209550083U (en) * | 2019-01-09 | 2019-10-29 | 国网河南省电力公司三门峡市陕州供电公司 | A kind of insulator surface cleaning equipment |
-
2020
- 2020-03-29 CN CN202010235589.9A patent/CN111438088A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201174566Y (en) * | 2008-03-17 | 2008-12-31 | 章敏华 | Device for expelling ice and snow on electricity transmission line |
| CN104538885A (en) * | 2014-11-28 | 2015-04-22 | 广东电网有限责任公司清远供电局 | Feeding device for transmission line foreign body charged-removing manipulators |
| WO2016207784A1 (en) * | 2015-06-23 | 2016-12-29 | Electrical Grid Monitoring Ltd. | A method and system for cleaning electric grid |
| CN204912152U (en) * | 2015-08-12 | 2015-12-30 | 国家电网公司 | Superelevation line tower insulator cleaning system |
| CN106926256A (en) * | 2017-05-09 | 2017-07-07 | 国网湖南省电力公司带电作业中心 | A kind of transmission system living water washing, deicing implement and its application process |
| CN106992469A (en) * | 2017-05-31 | 2017-07-28 | 长沙理工大学 | A kind of hot line maintenance robot and its upper and lower line control method |
| CN208555186U (en) * | 2018-07-16 | 2019-03-01 | 武汉富道通科技有限公司 | A kind of cleaning machine of railway contact line insulator |
| CN209550083U (en) * | 2019-01-09 | 2019-10-29 | 国网河南省电力公司三门峡市陕州供电公司 | A kind of insulator surface cleaning equipment |
| CN110000131A (en) * | 2019-03-28 | 2019-07-12 | 唐山百川智能机器股份有限公司 | EMU insulator swab |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112221803A (en) * | 2020-09-16 | 2021-01-15 | 国网安徽省电力有限公司检修分公司 | Suspension type insulator string cleaning and spraying device, system and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104917130B (en) | A kind of line walking deicing robot and its obstacle-detouring method | |
| CN101574983B (en) | Lead obstacle-crossing robot walking device | |
| CN103001151A (en) | Line robot drive arm with obstacle crossing function | |
| CN105244832B (en) | A kind of overhead power line ice removal | |
| CN211160873U (en) | Insulator cleaning device | |
| CN206894141U (en) | A kind of step-by-step movement line walking obstacle removing robot | |
| CN110802064A (en) | Insulator cleaning system | |
| CN106040638A (en) | Sweep and dirt removal device for insulators | |
| CN107248710A (en) | A kind of step-by-step movement line walking obstacle removing robot and its method | |
| CN205887499U (en) | Insulator cleans scrubbing device | |
| CN108110713A (en) | A kind of deicing of high voltage wire robot crane device | |
| CN111438088A (en) | Live cleaning method of insulator based on live on-off line robot | |
| CN105268671B (en) | Adhesion type insulator body cleaning device | |
| CN210279998U (en) | Portable insulator cleaning device | |
| CN101752807A (en) | Clamping climbing mechanism of automatic polling robot for transmission lines | |
| CN203700963U (en) | Bridge cable PVF strap intelligent winding and covering equipment | |
| CN111347401A (en) | Snakelike line climbing robot and line patrol method | |
| CN208508873U (en) | A kind of photovoltaic module Intelligent sweeping machine device people | |
| CN103956678A (en) | Overhead line cleaning device | |
| CN211945762U (en) | Engineering cable is with electric power spiral equipment that has scrubbing effect | |
| CN205882553U (en) | Electric power is with frame cable work car | |
| CN103144568A (en) | Electrified water washing vehicle | |
| CN106927335A (en) | For the trolley auto cleaning system and construction method of circular flow construction elevator | |
| CN206886473U (en) | Trolley auto cleaning system for circular flow construction elevator | |
| CN111244823A (en) | Foreign matter cleaning robot based on power transmission line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200724 |