CN112044835A - Power transmission line insulator cleaning robot and method - Google Patents
Power transmission line insulator cleaning robot and method Download PDFInfo
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- CN112044835A CN112044835A CN202010880254.2A CN202010880254A CN112044835A CN 112044835 A CN112044835 A CN 112044835A CN 202010880254 A CN202010880254 A CN 202010880254A CN 112044835 A CN112044835 A CN 112044835A
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- 239000012212 insulator Substances 0.000 title claims abstract description 144
- 238000004140 cleaning Methods 0.000 title claims abstract description 117
- 230000005540 biological transmission Effects 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 40
- 239000010959 steel Substances 0.000 claims abstract description 40
- 238000007789 sealing Methods 0.000 claims description 56
- 230000009194 climbing Effects 0.000 claims description 16
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 238000000354 decomposition reaction Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 239000007788 liquid Substances 0.000 abstract description 8
- 238000007664 blowing Methods 0.000 abstract description 6
- 230000009193 crawling Effects 0.000 abstract description 2
- 238000001035 drying Methods 0.000 abstract description 2
- 239000010410 layer Substances 0.000 description 72
- 239000007921 spray Substances 0.000 description 9
- 230000008569 process Effects 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 239000000428 dust Substances 0.000 description 4
- 238000011010 flushing procedure Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012459 cleaning agent Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B21/00—Arrangements or duct systems, e.g. in combination with pallet boxes, for supplying and controlling air or gases for drying solid materials or objects
- F26B21/001—Drying-air generating units, e.g. movable, independent of drying enclosure
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Insulators (AREA)
Abstract
The invention provides a robot and a method for cleaning insulators of a power transmission line, belonging to the technical field of insulator cleaning and comprising an upper layer bracket and a lower layer bracket connected with the upper layer bracket through an electric push rod; an upper clamping assembly which is arranged in a surrounding mode to clamp the insulator steel cap is arranged at the position, close to the upper layer support, of the electric push rod; a lower clamping assembly which is arranged in a surrounding mode to clamp the insulator steel cap is arranged at the position, close to the lower layer support, of the electric push rod; the upper layer support and the lower layer support are both provided with cleaning mechanisms for cleaning insulators. The invention utilizes the clamping jaw to clamp the steel cap of the insulator, has larger clamping force and stable crawling, and the whole framework is of a symmetrical structure to prevent the center of the robot from deviating; the structure is simple, the dead weight is low, the insulating rod can be easily installed, detached and carried by workers, and the insulator chain can be conveniently operated on different insulator chains in turn; the cleaning brush can be used for cleaning by using brush hair, cleaning by using liquid and drying by blowing, and can clean stubborn stains and thoroughly clean dirt on the surface of an insulator.
Description
Technical Field
The invention relates to the technical field of cleaning of insulators of power transmission lines, in particular to a robot and a method for cleaning the insulators of the power transmission lines.
Background
The transmission line insulator is in the open air for a long time, so that dust is easily attached to the surface of the transmission line insulator, and the insulating capability of the transmission line insulator is reduced. Under the condition of wet weather, the dirty insulator is easy to generate flashover discharge, namely pollution flashover, so that power failure accidents are caused, the safe power supply is threatened, and the safe operation of a power system is seriously influenced.
The cleaning of the accumulated dirt of the insulator is one of the main work of the maintenance of the transmission line. At present, insulator cleaning is carried out by manually climbing a tower and using a brush or rag during power failure maintenance of a power transmission line. The cleaning mode has dangerous and severe working environment, heavy cleaning task, short power failure time and difficult cleaning quality guarantee. For ultrahigh voltage and ultra-high voltage transmission lines, cleaning tasks are heavier due to the long insulator strings and the large number of insulator strings, and the surface of an insulator is often seriously polluted because the insulator cannot be cleaned in time due to high difficulty in coordination power failure. Although robots for cleaning high-voltage insulators are available at present, the robots can only simply clean the surfaces of the insulators generally, however, the insulators are exposed to heavy weather outdoors for a long time, stains can be adhered to the surfaces of the insulators, the insulators are only cleaned by bristles, and the insulators are not clean, so that potential safety hazards still exist.
Patent document CN110899181A discloses a cleaning robot for post insulators of transformer substations and an application method thereof, the robot body of the transformer substation post insulator cleaning robot comprises a group of electric push rods, wherein the upper ends of the electric push rods are commonly connected with an upper supporting mechanism, the lower ends of the electric push rods are commonly connected with a lower supporting mechanism, the upper supporting mechanism and the lower supporting mechanism are respectively provided with a plurality of clamping components which are arranged in a surrounding mode and used for clamping the edge of an insulator, at least one of the upper supporting mechanism and the lower supporting mechanism is provided with a cleaning component used for cleaning the outer wall of the insulator, the supporting on the insulator can be realized by the aid of the plurality of clamping components, the climbing on the insulator can be realized by the aid of the upper supporting mechanism, the lower supporting mechanism and the group of electric push rods, the cleaning operation on the surface of the insulator can be realized by.
Patent document No. CN109365406A discloses a climbing cleaning robot for a post insulator of a transformer substation, comprising a clamping mechanism, a vertical telescopic mechanism and a cleaning mechanism, wherein the clamping mechanism comprises an upper encircling arm, a lower encircling arm positioned below the upper encircling arm and a clamping member for clamping or loosening the post insulator, the clamping member comprises a first clamping member arranged on the upper encircling arm and a second clamping member arranged on the lower encircling arm, the vertical telescopic mechanism comprises an electric push rod connecting the upper encircling arm and the lower encircling arm, the position of the climbing cleaning robot is continuously raised through the expansion and contraction of the electric push rod, the cleaning mechanism comprises a brush and a blowing device, an annular guide rail is arranged at the upper end of the upper encircling arm, an electric vehicle moving around the annular guide rail is arranged on the annular guide rail, the brush is arranged on the electric vehicle, the blowing device is positioned below the electric vehicle, and after the brush cleans the post insulator, the dust that leaves after making the brush clearance can be blown off, further promotes the climbing and cleans the cleaning effect of robot.
The insulator is clamped by the two robots, so that the surface of the insulator is easily damaged, dirt adhered to the surface layer of the insulator cannot be cleaned completely, and the cleaning effect is not ideal.
Disclosure of Invention
In view of the above, the invention provides a robot and a method for cleaning insulators of a power transmission line.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a power transmission line insulator cleaning robot comprises an upper layer bracket and a lower layer bracket connected with the upper layer bracket through an electric push rod; an upper clamping assembly which is arranged in a surrounding mode to clamp the insulator steel cap is arranged at the position, close to the upper layer support, of the electric push rod; a lower clamping assembly which is arranged in a surrounding mode to clamp the insulator steel cap is arranged at the position, close to the lower layer support, of the electric push rod; and the upper layer bracket and the lower layer bracket are both provided with cleaning mechanisms for cleaning the insulators.
Furthermore, the upper support is of an annular structure with a first notch, an upper sealing piece in the same shape as the first notch is arranged at the position of the first notch, and one end, connected with the upper support, of the upper sealing piece is provided with an upper sealing motor used for driving the upper sealing piece to rotate.
Further, lower floor's support is the loop configuration who has the second breach, second breach position is equipped with the lower floor sealing member with the same shape of second breach, lower floor sealing member with the one end that lower floor's support links to each other is equipped with and is used for driving the rotatory motor that seals down of lower floor's sealing member.
Furthermore, the other end of the upper sealing part and the joint of the upper support and the joint of the other end of the lower sealing part and the lower support are both provided with self-locking assemblies.
Furthermore, the self-locking assembly comprises a self-locking bolt and a self-locking nut which are matched with each other, the self-locking nut and the self-locking bolt are in threaded fit, and the self-locking bolt is provided with a rotating motor and a top extension motor.
Further, clean the mechanism and be the half-circular arc structure, the outside all is equipped with a rack, clean the mechanism and all locate on an arc track, the arc track install respectively in on upper support and the lower floor's support, the arc track outside all be equipped with rack matched with gear, the gear is by setting up the sliding motor drive of gear below, clean the installation of mechanism and clean the motor, install the brush cylinder on the output shaft of cleaning the motor.
Further, the stringing method of the power transmission line insulator cleaning robot comprises the following decomposition steps:
s1: firstly, unlocking self-locking assemblies on an upper layer bracket and a lower layer bracket, and driving a self-locking bolt to withdraw along the thread of a self-locking nut by the reverse rotation of a rotating motor and the reverse rotation of a top-extending motor;
s2: when the self-locking bolt is completely withdrawn, the upper sealing motor rotates reversely to drive the upper sealing piece to rotate, and the lower sealing motor rotates reversely to drive the lower sealing piece to rotate, so that the upper support and the lower support are respectively provided with a notch;
s3: lifting the robot to the bottommost part of an insulator string to be operated by a worker by using an insulating rod, wherein the gaps of the upper layer bracket and the lower layer bracket respectively correspond to the positions of an insulator steel cap, and moving the robot to enable the insulator string to enter the robot;
s4: the upper layer sealing piece and the lower layer sealing piece seal the gaps of the upper layer support and the lower layer support opposite to S2, the self-locking assemblies are aligned, and the self-locking assemblies work to complete self-locking opposite to S1;
s5: the upper clamping assembly and the lower clamping assembly respectively clamp a layer of steel cap of the insulator, and workers can withdraw the insulating rod to finish stringing work of the robot.
Further, the stringing method of the electric transmission line insulator cleaning robot comprises the step that the robot body climbs along the insulator, and the climbing decomposition step comprises the following steps:
1: firstly, clamping a steel cap of an insulator by a lower clamping assembly of a lower layer bracket, then loosening the steel cap of the insulator by an upper clamping assembly of an upper layer bracket, and extending an electric push rod to enable the position of the upper layer bracket to be lifted;
2: the upper clamping assembly of the upper layer support clamps the steel cap of the insulator, then the lower clamping assembly of the lower layer support loosens the steel cap of the insulator, and the electric push rod is contracted, so that the position of the lower layer support and the overall position of the robot body are lifted.
Further, after the operation of the robot body is finished, the robot body descends to the bottom end of the insulator string, the body is disassembled and recovered by the insulating rod of a worker, and cleaning and detection results are uploaded to a control center.
The cleaning methods of the insulator mainly include two main types: firstly, cleaning in a contact way; secondly, water flushing type cleaning. The earliest contact type cleaning is manual cleaning, and the method has good cleaning effect, low technical requirement and the widest application; but the method has the advantages of large workload, high labor intensity, complex operation, low cleaning efficiency and low safety factor, and is gradually eliminated. In order to improve the safety factor and reduce the labor intensity, a long-arm insulator semi-automatic cleaning brush is designed, the cleaning brush consists of two rotatable brush heads and two insulating rods, and cleaning is realized through friction between the brush heads and the insulators; but the brush rod needs to be manually held for aiming, and the operation is more complicated. With scientific progress, a series of contact type cleaning robots are designed at home and abroad, the degree of automation is high, the cleaning effect is good, manual intervention is avoided, but the cost is too high, and large-scale popularization is difficult to realize. As disclosed in patent publication No. CN211160873U, an insulator cleaning device includes: the device comprises a fixed frame, a lifter, a boss, a semicircular track, a sliding table, a brush frame, a brush, a first motor and a second motor; the fixed frame is used for fixing the cleaning device on the insulator bracket; the lifter is fixed on the fixing clamp and used for controlling the lifting of the boss; the boss is fixedly connected with the outer side of the semi-arc track, the semi-arc track is divided into two parts, and meanwhile, the semi-arc track is vertical to the lifter; the two parts of the semicircular track are respectively provided with a sliding table which can slide along the semicircular track; a first motor is fixed in each sliding table and connected with the brush frame, and the first motor can enable the brush frame to rotate along the radial plane of the semicircular track; a second motor is fixed in each brush holder and connected with the brush; the brush is arranged along the radial plane of the semicircular arc track.
The water-flushing type cleaning is to directly impact a dirty insulator through a high-pressure water beam so as to achieve the purpose of cleaning; in addition, the cleaning effect is improved by using various cleaning agents, the applicability of the spray gun is enhanced by updating the spray gun, and the application field is wider and wider. The water-flushing type cleaning method comprises close-range cleaning, remote cleaning, water cannons and the like, wherein a high-pressure cleaning machine is widely applied, in the cleaning process, workers stand on a working platform of a rail maintenance car and hold a spray gun to aim at an insulator for cleaning, and the method is high in cleaning efficiency but still needs excessive manual intervention; remote washing is similar with closely wasing, but the jet distance of water beam is farther, and the impact force is bigger, and concentration is also better, and this method cleaning performance is good, and cleaning efficiency is high, still needs artifical handheld squirt to aim at, and the operation degree of difficulty is big, and the water waste is serious. The patent with publication number CN209205893U discloses a glass insulator belt cleaning device, including fixed box, fixed box is upper, terminal surface and a side surface all are equipped with the fixed rod cover down, fixed box side fixed surface has the guide arm, guide arm one end is fixed with the mount, mount one surface articulates there are two half ring pipes, two half ring pipe week surfaces are equipped with the nozzle, guide arm surface sliding fit has the push pedal, fixed box internal surface is fixed with the motor, motor output shaft one end is fixed with the lead screw, lead screw one end is connected with the mount rotation, lead screw week surface and push pedal screw-thread fit, the push pedal both sides all articulate there is a push rod.
The invention has the beneficial effects that:
in the last string mode of robot, the sealing of upper and lower layer support is opened, utilize the insulator spindle to lift the robot to the insulator chain bottom of waiting to clean through the staff, make the lower of robot, upper support correspond the first of bottommost respectively, the steel cap of second piece insulator, translation robot lets the steel cap pass through the opening of support, whole string insulator gets into the inside of robot, later the rotating electrical machines makes to seal the closure, accomplish sealing of robot by self-locking mechanism screws up the bolt again. And finally, after the upper and lower clamping mechanisms respectively clamp the corresponding insulator steel caps, the worker can put down the insulating rod to finish stringing operation of the robot.
In the climbing mode of the robot, the lower clamping mechanism clamps and the upper clamping mechanism loosens. Then the electric push rod extends, the upper layer bracket moves upwards, and the upper clamping mechanism clamps the steel cap of the third insulator from bottom to top. The lower clamping mechanism is loosened. And the electric push rod is contracted, the lower layer of support moves upwards and clamps the steel cap of the second insulator, and the one-time climbing movement period is completed. And when the climbing movement is finished every time, the upper cleaning mechanism and the lower cleaning mechanism clean the corresponding insulator disc.
In the cleaning mode of the robot, the cleaning mechanisms are assembled on the upper layer of support and the lower layer of support, so that the situation that the cleaning is not in place is avoided. The cleaning tool adopts the roller with longer bristles, so that small gaps between the grooves on the lower side of the insulator sheet can be effectively cleaned.
The invention has the advantages that:
1. the safety is high; the clamping jaw is used for clamping the steel cap of the insulator, so that the clamping jaw has large clamping force and is stable in crawling; the upper bracket and the lower bracket are respectively provided with a closing device and a self-locking device to form a circular structure, the stress is uniform, the deformation of the frame caused by the stress in the clamping process is avoided, and the whole frame is of a symmetrical structure to prevent the center of the robot from deviating.
2. The portability is good; the invention has simple structure and low self weight, can be easily installed, disassembled and carried by workers by using the insulating rod, and is convenient for alternate operation on different insulator strings.
3. The cleaning is thorough; the cleaning brush can be used for cleaning by using brush hair, cleaning by using liquid and drying by blowing, and can clean stubborn stains and thoroughly clean dirt on the surface of an insulator.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural view of an insulator cleaning robot according to embodiment 1 of the present invention.
Fig. 2 is a schematic structural view of a self-locking assembly according to embodiment 1 of the present invention.
Fig. 3 is a schematic structural view of a cleaning mechanism in embodiment 1 of the present invention.
Fig. 4 is a schematic structural view of a cleaning mechanism in embodiment 2 of the present invention.
The meaning of the respective reference numerals is as follows:
1: upper bracket, 2: lower layer support, 3: electric push rod, 4: upper clamping assembly, 5: lower clamping assembly, 6: cleaning mechanism, 7: upper sealing member, 8: upper sealing motor, 9: lower closure, 10: lower sealing motor, 11: self-locking assembly, 111: self-locking bolt, 112: self-locking nut, 113: rotating electrical machine, 114: jacking motor, 61: arc-shaped rail, 62: gear, 63: brush drum, 64: motor fan, 65: and (4) a spray pipe.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 4 of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
Example 1
As shown in fig. 1 to 3, the present embodiment provides a robot for cleaning insulators of a power transmission line, including an upper bracket 1 and a lower bracket 2 connected to the upper bracket 1 through an electric push rod 3; an upper clamping assembly 4 which is arranged in a surrounding mode to clamp an insulator steel cap is arranged at a position, close to the upper-layer support 1, of the electric push rod 3; the electric push rod 3 is provided with a lower clamping assembly 5 which is arranged in a surrounding way to clamp an insulator steel cap at a position close to the lower layer bracket 2; and the upper layer bracket 1 and the lower layer bracket 2 are both provided with a cleaning mechanism 6 for cleaning the insulator.
The upper layer support 1 is of an annular structure with a first gap, an upper layer sealing piece 7 with the same shape as the first gap is arranged at the position of the first gap, and an upper sealing motor 8 for driving the upper layer sealing piece 7 to rotate is arranged at one end, connected with the upper layer support 1, of the upper layer sealing piece 7; the lower-layer support 2 is of an annular structure with a second notch, a lower-layer sealing piece 9 with the same shape as the second notch is arranged at the position of the second notch, and a lower sealing motor 10 for driving the lower-layer sealing piece 9 to rotate is arranged at one end, connected with the lower-layer support 2, of the lower-layer sealing piece 9; the other end of the upper sealing piece 7 is connected with the upper support 1, and the other end of the lower sealing piece 9 is connected with the lower support 2, and a self-locking assembly 11 is arranged at the joint.
The self-locking assembly 11 comprises a self-locking bolt 111 and a self-locking nut 112 which are matched with each other, the self-locking nut 112 is in threaded fit with the self-locking bolt 111, and the self-locking bolt 111 is provided with a rotating motor 113 and a jacking motor 114.
The self-locking bolt 111 is provided with a rotating motor 113 and a top extension motor 114, and the rotating motor 113 and the top extension motor 114 rotate and push the self-locking bolt 111 to enable the self-locking bolt 111 and the self-locking nut 112 to be screwed tightly and complete self-locking. Otherwise, unlocking. The top-extension motor 114 is an EC22 brushless dc motor, and the rotating motor 113 is a dc motor.
As shown in fig. 1, the number of the electric pushers 3 is three. Upper support 1, lower floor's support 2 all are equipped with cleans mechanism 6, and two clean mechanism 6 and be the half-circular arc structure, and the outside all is equipped with a rack, cleans mechanism 6 and locates on an arc track 61, the arc track is installed respectively on upper support 1 and lower floor's support 2, and the track outside all is equipped with rack matched with gear 62, gear 62 is driven by the sliding motor of gear below, and under gear 62's drive, clean mechanism 6 and can carry out 360 cleaning to the insulator dish. The cleaning mechanism is provided with a cleaning motor, and the output shaft of the cleaning motor is provided with a brush roller 63. The cleaning motor and the sliding motor are brushless direct current motors. In this embodiment, the brush roller 63 is a long bristle brush, which can clean the small grooves below the insulator disk. Clamping jaws matched with the appearance of the steel cap of the insulator are arranged on the upper clamping assembly 4 and the lower clamping assembly 5.
Example 2
As shown in fig. 4, the present embodiment provides a power transmission line insulator cleaning robot which is an improvement on the basis of embodiment 1: the two ends of the arc-shaped track 61 are also provided with a blowing module and a spray-washing module, and the blowing module comprises motor fans 64 arranged at the two ends of the arc-shaped track 61; the spray washing module comprises nozzles arranged at two ends of the arc-shaped rail 61 and a spray pipe 65 connected with the nozzles, the spray pipe is connected with a liquid conveying unit, the liquid conveying unit comprises a movable tool car and a liquid storage barrel arranged on the movable tool car, and the liquid storage barrel is connected with the spray pipe through a centrifugal pump.
The liquid storage barrel can store cleaning liquid or water, and the using steps are firstly cleaning by using a brush roller 63, and then starting a motor fan 64 to blow away cleaned floating dust so as to keep the surface of the insulator clean. If stubborn stains cannot be cleaned, the spray head is opened to wet the stains, the brush roller 63 is cleaned again, and the motor fan 64 is started to blow the insulator dry to prevent the insulator from being stained with dust. The invention can thoroughly clean the dirt on the insulator and effectively ensure the safe operation of the power transmission line.
Example 3
The embodiment provides a stringing method of a power transmission line insulator cleaning robot in embodiment 2, which includes the following steps:
s1: firstly, the self-locking assemblies 11 on the upper layer bracket 1 and the lower layer bracket 2 are unlocked, the rotating motor 113 rotates reversely, and the jacking motor 114 rotates reversely to drive the self-locking bolt 111 to withdraw along the thread of the self-locking nut 112;
s2: when the self-locking bolt 111 is completely withdrawn, the upper sealing motor 8 rotates reversely to drive the upper sealing part 7 to rotate, and the lower sealing motor 10 rotates reversely to drive the lower sealing part 9 to rotate, so that the upper support 1 and the lower support 2 are respectively opened with a notch;
s3: the robot is lifted to the bottommost part of an insulator string to be operated by a worker through an insulating rod, gaps of an upper layer support 1 and a lower layer support 2 respectively correspond to the positions of an insulator steel cap, and the robot is moved to enable the insulator string to enter the robot;
s4: opposite to S2, the upper layer sealing piece 7 and the lower layer sealing piece 9 seal the gaps of the upper layer bracket 1 and the lower layer bracket 2, the self-locking assembly 11 is aligned, and opposite to S1, the self-locking assembly finishes self-locking;
s5: the upper clamping assembly 4 and the lower clamping assembly 5 respectively clamp a layer of steel cap of the insulator, and workers can take back the insulating rod to finish stringing work of the robot.
When the power transmission line insulator cleaning robot is used, the self-locking assemblies 11 on the upper layer bracket 1 and the lower layer bracket 2 are unlocked: the rotating motor 113 rotates reversely, and the jacking motor 114 rotates reversely to drive the self-locking bolt 111 to exit along the thread of the self-locking nut 112. After the self-locking bolt 111 completely exits, the upper sealing motor 8 rotates reversely to drive the upper sealing part 7 to rotate, and the lower sealing motor 10 rotates reversely to drive the lower sealing part 9 to rotate, so that the upper support 1 and the lower support 2 are respectively provided with a notch. The robot is lifted to the bottommost part of an insulator string to be operated by a worker through the insulating rod, the gaps of the upper layer support 1 and the lower layer support 2 correspond to the positions of the insulator steel caps respectively, and the robot is moved to enable the insulator string to enter the robot. Then the upper layer sealing piece 7 and the lower layer sealing piece 9 seal the gaps of the upper layer support 1 and the lower layer support 2, and after the self-locking assembly 11 is aligned, the self-locking assembly finishes self-locking. And finally, the upper clamping assembly 4 and the lower clamping assembly 5 respectively clamp a layer of steel cap of the insulator, and workers can withdraw the insulating rod to finish the stringing work of the robot.
Example 4
The embodiment provides a stringing method of a power transmission line insulator cleaning robot, which is an improvement on the basis of the embodiment 3: the method comprises the steps that a robot body climbs along an insulator, and the climbing decomposition step comprises:
1: firstly, clamping a steel cap of an insulator by a lower clamping component 5 of a lower layer bracket 2, then loosening the steel cap of the insulator by an upper clamping component 4 of an upper layer bracket 1, and extending an electric push rod 3 to enable the position of the upper layer bracket 1 to be lifted;
2: the upper clamping assembly 4 of the upper layer support 1 clamps the steel cap of the insulator, the lower clamping assembly 5 of the lower layer support 2 loosens the steel cap of the insulator, and the electric push rod 3 contracts, so that the position of the lower layer support 2 and the whole position of the robot body are lifted.
After the operation of the robot body is finished, the robot body descends to the bottom end of the insulator string, the body is disassembled and recovered by the insulating rod for workers, and cleaning and detection results are uploaded to a control center.
The electric transmission line insulator cleaning robot disclosed by the invention needs to climb to the top of the insulator string after the insulator cleaning robot is strung, and completes a cleaning task in a climbing process. Since climbing is a periodic movement, an upward climbing period is taken as an example here: firstly, clamping a steel cap of an insulator by a lower clamping component 5 of a lower layer bracket 2, then loosening the steel cap of the insulator by an upper clamping component 4 of an upper layer bracket 1, and extending an electric push rod 3 to enable the position of the upper layer bracket 1 to be lifted; then, an upper clamping component 4 of the upper layer support 1 clamps a steel cap of the insulator, a lower clamping component 5 of the lower layer support 2 loosens the steel cap of the insulator, and the electric push rod 3 contracts, so that the position of the lower layer support 2 and the overall position of the robot body are lifted, and a climbing cycle is completed. When the climbing movement is finished every time, the roller of the upper and lower cleaning mechanism 6 rotates inwards for a certain angle, the whole cleaning mechanism rotates left and right under the action of the gear, and meanwhile, the cleaning roller rotates at a high speed, so that the lower surface of the upper insulator and the upper surface of the lower insulator can be cleaned simultaneously.
When the power transmission line insulator cleaning robot climbs to the topmost end of the insulator string and finishes the cleaning task, the power transmission line insulator cleaning robot climbs downwards and returns to the bottom of the insulator string, the process is similar to the process of ascending, and only the cleaning process is skipped. After the robot descends to the bottom, the robot is taken down and recovered by workers by using the insulating rod, and the cleaning task is completed.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. The utility model provides a transmission line insulator cleans machine people which characterized in that: comprises an upper layer bracket (1) and a lower layer bracket (2) connected with the upper layer bracket (1) through an electric push rod (3); an upper clamping assembly (4) which is arranged in a surrounding mode to clamp an insulator steel cap is arranged at the position, close to the upper layer support (1), of the electric push rod (3); a lower clamping assembly (5) which is arranged in a surrounding mode to clamp an insulator steel cap is arranged at the position, close to the lower layer support (2), of the electric push rod (3); and the upper layer bracket (1) and the lower layer bracket (2) are both provided with cleaning mechanisms (6) for cleaning the insulators.
2. The electric transmission line insulator cleaning robot according to claim 1, characterized in that: upper strata support (1) is the loop configuration who has first breach, first breach position is equipped with upper sealing (7) with the same shape of first breach, upper sealing (7) with the one end that upper strata support (1) links to each other is equipped with and is used for driving upper sealing (7) rotatory last motor (8) that seals.
3. The electric transmission line insulator cleaning robot according to claim 2, characterized in that: lower floor's support (2) is for having the annular structure of second breach, second breach position is equipped with lower floor's sealing (9) with the same shape of second breach, lower floor sealing (9) with the one end that lower floor's support (2) link to each other is equipped with and is used for driving lower floor's sealing (9) rotatory lower motor (10) that seals.
4. The electric transmission line insulator cleaning robot according to claim 3, characterized in that: the other end of the upper sealing piece (7) is connected with the upper support (1), and the other end of the lower sealing piece (9) is connected with the lower support (2) and is provided with a self-locking assembly (11).
5. The electric transmission line insulator cleaning robot according to claim 4, characterized in that: the self-locking assembly (11) comprises a self-locking bolt (111) and a self-locking nut (112) which are matched with each other, the self-locking nut (112) is in threaded fit with the self-locking bolt (111), and the self-locking bolt (111) is provided with a rotating motor (113) and a jacking motor (114).
6. The electric transmission line insulator cleaning robot according to claim 5, characterized in that: clean mechanism (6) and be the semicircle arc structure, the outside all is equipped with a rack, clean mechanism (6) and all locate on an arc track (61), arc track (61) install respectively in on upper support (1) and lower floor's support (2), arc track (61) outside all be equipped with rack matched with gear (62), gear (62) are by setting up the sliding motor drive of gear (62) below, clean the installation of mechanism (6) and clean the motor, install brush cylinder (63) on the output shaft of cleaning the motor.
7. The stringing method of the power transmission line insulator cleaning robot according to any one of claims 1 to 6, characterized in that: the decomposition steps are as follows:
s1: firstly, the self-locking assemblies (11) on the upper layer bracket (1) and the lower layer bracket (2) are unlocked, the rotating motor (113) rotates reversely, and the jacking motor (114) rotates reversely to drive the self-locking bolt (111) to withdraw along the thread of the self-locking nut (112);
s2: when the self-locking bolt (111) is completely withdrawn, the upper sealing motor (8) rotates reversely to drive the upper sealing piece (7) to rotate, and the lower sealing motor (10) rotates reversely to drive the lower sealing piece (9) to rotate, so that the upper support (1) and the lower support (2) are respectively provided with a notch;
s3: the robot is lifted to the bottommost part of an insulator string to be operated by a worker through an insulating rod, gaps of an upper layer support (1) and a lower layer support (2) respectively correspond to the positions of an insulator steel cap, and the robot is moved to enable the insulator string to enter the robot;
s4: opposite to S2, the upper layer sealing piece (7) and the lower layer sealing piece (9) seal the gaps of the upper layer bracket (1) and the lower layer bracket (2), the self-locking assembly (11) is aligned, and opposite to S1, the self-locking assembly works to complete self-locking;
s5: the upper clamping assembly (4) and the lower clamping assembly (5) respectively clamp a layer of steel cap of the insulator, and workers can take back the insulating rod to finish stringing work of the robot.
8. The stringing method of the electric transmission line insulator cleaning robot according to claim 7, characterized in that: the method comprises the steps that a robot body climbs along an insulator, and the climbing decomposition step comprises:
1: firstly, clamping a steel cap of an insulator by a lower clamping assembly (5) of a lower-layer support (2), then loosening the steel cap of the insulator by an upper clamping assembly (4) of an upper-layer support (1), and extending an electric push rod (3) to enable the position of the upper-layer support (1) to be lifted;
2: the upper clamping assembly (4) of the upper layer support (1) is used for clamping a steel cap of an insulator, then the lower clamping assembly (5) of the lower layer support (2) is used for loosening the steel cap of the insulator, and then the electric push rod (3) is contracted, so that the position of the lower layer support (2) and the whole position of the robot body are lifted.
9. The stringing method of the electric transmission line insulator cleaning robot according to claim 8, wherein: after the operation of the robot body is finished, the robot body descends to the bottom end of the insulator string, the body is disassembled and recovered by the insulating rod for workers, and cleaning and detection results are uploaded to a control center.
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| CN202010880254.2A CN112044835A (en) | 2020-08-27 | 2020-08-27 | Power transmission line insulator cleaning robot and method |
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| CN202010880254.2A CN112044835A (en) | 2020-08-27 | 2020-08-27 | Power transmission line insulator cleaning robot and method |
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| CN112044835A true CN112044835A (en) | 2020-12-08 |
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| CN202010880254.2A Pending CN112044835A (en) | 2020-08-27 | 2020-08-27 | Power transmission line insulator cleaning robot and method |
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| CN113399350A (en) * | 2021-06-16 | 2021-09-17 | 贵州长征输配电电气有限公司 | Charged rapid cleaning process |
| CN113884564A (en) * | 2021-08-12 | 2022-01-04 | 洛阳百克特科技发展股份有限公司 | Self-driven detection device and detection method for steel wire rope |
| CN114904819A (en) * | 2022-04-02 | 2022-08-16 | 国网宁夏电力有限公司电力科学研究院 | Handheld insulator sweeper and sweeping method |
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| CN113399350A (en) * | 2021-06-16 | 2021-09-17 | 贵州长征输配电电气有限公司 | Charged rapid cleaning process |
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Application publication date: 20201208 |