CN112122257A - Post insulator dry ice cleaning robot with electrostatic protection function - Google Patents
Post insulator dry ice cleaning robot with electrostatic protection function Download PDFInfo
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- CN112122257A CN112122257A CN202010936132.0A CN202010936132A CN112122257A CN 112122257 A CN112122257 A CN 112122257A CN 202010936132 A CN202010936132 A CN 202010936132A CN 112122257 A CN112122257 A CN 112122257A
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- dry ice
- platform
- ice cleaning
- electrostatic protection
- control module
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
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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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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05F—STATIC ELECTRICITY; NATURALLY-OCCURRING ELECTRICITY
- H05F3/00—Carrying-off electrostatic charges
- H05F3/02—Carrying-off electrostatic charges by means of earthing connections
Abstract
The invention discloses a post insulator dry ice cleaning robot with an electrostatic protection function, which comprises a dry ice and air source supply assembly, a control module and a mobile platform with a lifting mechanism, wherein the top of the lifting mechanism is provided with an operation platform, the operation platform is provided with a dry ice cleaning operation assembly, the dry ice cleaning operation assembly is connected with the dry ice and air source supply assembly, the mobile platform is also fixedly provided with an electrostatic protection assembly used for grounding the operation platform when the operation platform descends, and the mobile platform and the dry ice cleaning operation assembly are both connected with the control module. The invention aims at safely, quickly and efficiently realizing the inspection and cleaning of the insulator, improves the convenience and efficiency of dry ice cleaning, avoids manual inspection and cleaning, reduces the labor intensity, improves the operation safety, can realize the electrostatic protection of the dry ice cleaning robot for the post insulator, and prevents high-voltage static electricity from damaging people and equipment.
Description
Technical Field
The invention relates to a dry ice cleaning robot for a post insulator, in particular to a dry ice cleaning robot for a post insulator with an electrostatic protection function.
Background
The surface of the post insulator often accumulates dust to generate dirt, the accumulation of the dirt can reduce the insulating capability of the surface of the insulator, and the phenomenon of generating pollution flashover of a circuit is increased. With the development of industry and agriculture, environmental pollution in parts of regions is becoming more serious, and pollution insulators are easy to flashover under adverse meteorological conditions such as haze, condensation, rain and wool, so that huge economic losses are brought to national economic development. At present, the research work of pollution flashover prevention of the power grid in China is greatly progressed: a series of anti-pollution flashover management regulations and technical policies are made, and the occurrence of the pollution flashover phenomenon is reduced by adjusting the creepage distance of power transmission equipment, developing and applying RTV anti-pollution paint and the like, but the pollution flashover accident still occurs at times. The pollution flashover accident can cause tripping and power failure of lines and substations, and lead wire landing, power grid disconnection and large-area large-range disastrous power failure in serious cases. Therefore, the method has important significance for removing pollutants on the surface of the insulator, preventing the insulator from generating pollution flashover accidents and ensuring the stable and safe operation of a power system.
At present, the insulator cleaning methods mainly include the following methods: water washing, gas purging, chemical cleaning, mechanical cleaning, etc., but these methods have some disadvantages in terms of cleaning efficiency, environmental pollution, application cost, etc. Dry ice cleaning is one of air blast cleaning methods, and dry ice cleaning (also called cold blast) is a method in which compressed air is used as power and a carrier, dry ice particles are used as accelerated particles, the particles are sprayed onto the surface of an object to be cleaned by a special spray cleaning machine, and dirt, oil stain, residual impurities and the like on the surface of the object to be cleaned are rapidly frozen by utilizing energy conversion such as momentum change, sublimation, melting and the like of the solid dry ice particles moving at a high speed, so that the dirt, the oil stain, the residual impurities and the like are condensed, embrittled and peeled off, and are simultaneously removed along with air flow. The surface of the cleaned object, especially the metal surface, cannot be damaged at all, and the finish of the metal surface cannot be influenced.
However, through research, the dry ice cleaning often generates extremely high static electricity while solving the above problems, and the existing insulator dry ice cleaning robot is large in size, does not consider electrostatic protection, and has great potential safety hazard. Therefore, how to realize the electrostatic protection of the insulator dry ice cleaning robot becomes a key technical problem to be solved urgently.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the problems in the prior art, the invention provides a post insulator dry ice cleaning robot with an electrostatic protection function, aiming at safely, quickly and efficiently checking and cleaning insulators, and being capable of realizing electrostatic protection of the post insulator dry ice cleaning robot and preventing high-voltage static from damaging people and equipment.
In order to solve the technical problems, the invention adopts the technical scheme that:
the utility model provides a post insulator dry ice cleaning robot with electrostatic protection function, includes that dry ice and air supply subassembly, control module and have elevating system's moving platform, elevating system's top is equipped with operation platform, the last dry ice that is equipped with of operation platform washs the operation subassembly, dry ice washs the operation subassembly and links to each other with dry ice and air supply subassembly, still fixed arrangement has the electrostatic protection subassembly that is used for with operation platform ground connection when operation platform descends on the moving platform, dry ice wash the operation subassembly and all link to each other with control module.
The electrostatic protection assembly comprises a conductive rod fixed on the operation platform, the conductive rod is arranged on the lower side of the mobile platform, a spring is arranged at the top of the conductive rod, a ground wire used for leading static out and grounding is arranged at the lower part of the conductive rod, the spring, the conductive rod and the ground wire are electrically connected and conducted, an electric contact part arranged opposite to the spring is arranged at the bottom of the operation platform, and the dry ice cleaning operation assembly is electrically connected and conducted with the electric contact part through a conductor.
And the shells of the parts of the dry ice cleaning operation assembly are connected through the electric lead to form equipotential protection, and the metal shell or the electric lead of at least one part is electrically connected and communicated with the electric contact part through a conductor.
The lifting mechanism is a scissor type lifting mechanism, the scissor type lifting mechanism comprises a pushing mechanism and a plurality of groups of scissor supports hinged to the middle, the end portions of the scissor supports of adjacent groups are hinged to each other, the topmost group of scissor supports are hinged to the bottom of the operation platform, one end of the bottommost group of scissor supports is hinged to the top of the moving platform, the other end of the bottommost group of scissor supports is connected to the pushing mechanism, at least one group of scissor supports at the bottom of the scissor type lifting mechanism is made of metal, and at least one group of scissor supports at the top of the scissor type lifting mechanism is made of insulating materials.
The mobile platform is provided with a crawler-type travelling mechanism, the crawler-type travelling mechanism comprises a mobile vehicle body and walking crawler wheels symmetrically arranged on the left side and the right side of the mobile vehicle body, and a driving motor used for driving the walking crawler wheels to walk is arranged in the mobile vehicle body.
The dry ice cleaning device is characterized in that a telescopic mechanism is arranged on the operation platform, a semicircular guide rail is mounted at the movable end of the telescopic mechanism, a rotating slide block is arranged on the semicircular guide rail, a dry ice cleaning operation assembly is mounted and fixed on the rotating slide block, a driving motor used for driving the rotating slide block to move relative to the semicircular guide rail is arranged on the rotating slide block, and the driving motor is connected with the control module.
The dry ice and air source supply assembly comprises a movable sliding block, a compressed air tank and a dry ice storage tank, the movable sliding block is arranged on the movable platform in a sliding mode through a sliding rail, the compressed air tank is fixedly installed on the movable sliding block, the dry ice storage tank is fixedly installed on the operation platform, the compressed air tank and the dry ice storage tank are connected through an insulating hard tube, and the two ends of the insulating hard tube are connected with the compressed air tank and the dry ice storage tank through universal tube joints.
The dry ice cleaning operation assembly comprises a spray gun and a camera, the spray gun is connected with the dry ice storage tank, and the control end of the control valve is connected with the control module.
The dry ice cleaning operation assembly further comprises a spray gun horizontal moving guide rail and a spray gun swinging mechanism, the spray gun horizontal moving guide rail is fixedly installed on the rotating sliding block, a vertical support which is arranged in a sliding mode is arranged on the spray gun horizontal moving guide rail, and a sliding driving motor which is used for driving the vertical support to slide along the spray gun horizontal moving guide rail is arranged on the spray gun horizontal moving guide rail, the spray gun swinging mechanism comprises a horizontal support, a driving wheel, a driven wheel and a rotating driving motor, the horizontal support and the rotating driving motor are respectively installed on the vertical support, the driving wheel is installed on an output shaft of the rotating driving motor, a camera is fixedly connected with a rotating shaft of the driven wheel, the driving wheel is connected with the driven wheel through a transmission structure, and the transmission structure is one of.
The camera is a wireless network camera, the control module comprises an upper control module and a lower control module which adopt independent power supply, the upper control module is installed on the operation platform, the dry ice cleaning operation assembly is connected with the upper control module, the lower control module is installed on the mobile platform, and the control end of the mobile platform is connected with the lower control module.
Compared with the prior art, the invention has the following advantages:
1. the insulator inspection and cleaning device comprises a dry ice and air source supply assembly, a control module and a mobile platform with a lifting mechanism, wherein the top of the lifting mechanism is provided with an operation platform, the operation platform is provided with a dry ice cleaning operation assembly, the dry ice cleaning operation assembly is connected with the dry ice and air source supply assembly, and the mobile platform and the dry ice cleaning operation assembly are both connected with the control module, so that the purpose of safely, quickly and efficiently inspecting and cleaning insulators is achieved.
2. The static protection component used for grounding the operation platform when the operation platform descends is fixedly arranged on the mobile platform, so that the static protection of the dry ice cleaning robot for the post insulator can be realized, the damage of high-voltage static electricity to people and equipment is prevented, and the safety of insulator maintenance is improved.
Drawings
FIG. 1 is a schematic diagram illustrating an operation status according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention.
Fig. 3 is a partially enlarged schematic structural view of a spray gun swing mechanism part in an embodiment of the invention.
Illustration of the drawings: 1. a lifting mechanism; 11. a scissor bracket; 12. a pushing mechanism; 2. a mobile platform; 21. moving the vehicle body; 22. a walking crawler wheel; 3. a dry ice and gas source supply assembly; 31. a movable slider; 32. a compressed air tank; 33. a dry ice storage tank; 34. insulating the hard tube; 4. an operation platform; 401. an electrical contact site; 41. a telescoping mechanism; 42. a semicircular guide rail; 43. rotating the slide block; 5. a dry ice cleaning operation component; 501. a conductive wire; 51. a spray gun; 52. a camera; 53. the spray gun horizontally moves the guide rail; 54. a spray gun swing mechanism; 541. a horizontal support; 542. a driving wheel; 543. a driven wheel; 55. a vertical support; 56. positioning the bracket; 561. a positioning sleeve; 6. an electrostatic protection component; 61. a conductive rod; 62. a spring; 63. and a ground line.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the drawings in the specification.
As shown in fig. 1, the post insulator dry ice cleaning robot with the electrostatic protection function in this embodiment includes a dry ice and air source supply assembly 3, a control module and a mobile platform 2 with a lifting mechanism 1, a working platform 4 is arranged on the top of the lifting mechanism 1, a dry ice cleaning working assembly 5 is arranged on the working platform 4, the dry ice cleaning working assembly 5 is connected with the dry ice and air source supply assembly 3, an electrostatic protection assembly 6 for grounding the working platform 4 when the working platform 4 descends is further fixedly arranged on the mobile platform 2, and both the mobile platform 2 and the dry ice cleaning working assembly 5 are connected with the control module. The pillar insulator dry ice cleaning robot with the electrostatic protection function has the advantages that the purpose of safely, quickly and efficiently checking and cleaning insulators is achieved, the structural reliability is high, the operation platform can be quickly, conveniently and efficiently moved, the pillar insulators are detected and cleaned, manual checking and cleaning are avoided, the labor intensity of manual maintenance is reduced, and the convenience and the efficiency of dry ice cleaning are improved; moreover, the static protection assembly 6 used for grounding the operation platform when the operation platform descends is fixedly arranged on the mobile platform 2, so that the static protection of the dry ice cleaning robot for the post insulator can be realized, the damage of high-voltage static electricity to people and equipment is prevented, and the safety of insulator maintenance is improved.
As shown in fig. 2, in the present embodiment, the electrostatic protection component 6 includes a conductive rod 61 fixed on the work platform 4, the conductive rod 61 is disposed at the lower side of the mobile platform 2, a spring 62 is disposed at the top of the conductive rod 61, a ground wire 63 for conducting static electricity to the ground is disposed at the lower part of the conductive rod 61, the spring 62, the conductive rod 61, and the ground wire 63 are electrically connected, an electrical contact portion 401 disposed opposite to the spring 62 is disposed at the bottom of the work platform 4, and the dry ice cleaning work component 5 and the electrical contact portion 401 are electrically connected through a conductor. When the lifting mechanism 1 is lowered after the operation is finished, the bottom of the operation platform 4 is provided with an electric contact part 401 which is arranged opposite to the spring 62 and is contacted with the conductive rod 61, so that static electricity accumulated on the operation platform 4 is led out and is released through the ground wire 63, the damage of high-voltage static electricity to people and equipment can be effectively prevented, and the safety of insulator maintenance is improved.
As shown in fig. 2, in this embodiment, an electrically conductive wire 501 is connected between metal shells of each component of the dry ice cleaning operation assembly 5, the shells of each component of the dry ice cleaning operation assembly 5 are connected by the electrically conductive wire 501 to form an equipotential protection, and the metal shell or the electrically conductive wire 501 of at least one component is electrically connected and conducted with the electrical contact portion 401 through a conductor, so that the overall electrostatic protection of each component of the dry ice cleaning operation assembly 5 can be realized through the above manner.
In order to freely lift the operation platform 4 in an operation field, the mobile platform 2 comprises a lifting mechanism 1 arranged above the crawler-type travelling mechanism, and the lifting mechanism 1 is used for controlling the lifting of the dry ice cleaning operation assembly 5 so as to realize the operation on operation targets with different heights. As shown in fig. 2, in this embodiment, the lifting mechanism 1 is a scissor lifting mechanism, the scissor lifting mechanism includes a pushing mechanism 12 and a plurality of sets of scissor brackets 11 hinged to each other at the middle portion, the ends of the scissor brackets 11 of adjacent sets are hinged to each other, the top set of scissor bracket 11 is hinged to the bottom of the operation platform 4, one end of the bottom set of scissor bracket 11 is hinged to the top of the mobile platform 2, the other end of the bottom set of scissor bracket 11 is connected to the pushing mechanism 12, at least one set of scissor bracket 11 at the bottom of the scissor lifting mechanism is made of metal, and at least one set of scissor bracket 11 at the top is made of insulating material. Referring to fig. 2, as an alternative embodiment, there are 4 sets of scissor brackets 11 in the present embodiment, and the 2 sets of scissor brackets 11 at the bottom of the scissor lift mechanism are made of metal, and the 2 sets of scissor brackets 11 at the top are made of insulating material. The pushing mechanism 12 of the scissor type lifting mechanism is used for pushing one end of the bottommost scissor bracket 11 to move inwards or outwards, so that the scissor type lifting mechanism moves in an extending or contracting mode to push the working platform 4 to ascend or descend. In this embodiment, the pushing mechanism 12 is a linear motor, and in addition, a steering engine, a hydraulic cylinder, or the like may be used as needed.
In order to realize the free movement of the robot, as shown in fig. 2, in the embodiment, the moving platform 2 is provided with a crawler-type traveling mechanism, the crawler-type traveling mechanism includes a moving vehicle body 21 and traveling crawler wheels 22 symmetrically located on the left and right sides of the moving vehicle body 21, and a driving motor for driving the traveling crawler wheels 22 to travel is provided in the moving vehicle body 21, so that the robot has the advantage of strong trafficability.
In order to facilitate the movement and improve the efficiency, as shown in fig. 2, in the present embodiment, the dry ice and air supply assembly 3 includes a movable slider 31, a compressed air tank 32 and a dry ice storage tank 33, the movable slider 31 is slidably disposed on the moving platform 2 through a sliding rail, the compressed air tank 32 is fixedly mounted on the movable slider 31, the dry ice storage tank 33 is fixedly mounted on the working platform 4, the compressed air tank 32 and the dry ice storage tank 33 are connected through an insulating hard tube 34, and both ends of the insulating hard tube 34 are connected to the compressed air tank 32 and the dry ice storage tank 33 through universal pipe joints. The compressed air tank 32 is used for supplying high-pressure air, and the dry ice storage tank 33 is used for forming dry ice particles by using liquid carbon dioxide as a raw material under the action of the high-pressure air and mixing and spraying the dry ice particles. Because the compressed air tank 32 and the dry ice storage tank 33 are separately arranged, in order to ensure the stability of the dry ice spraying pressure, in this embodiment, through the sliding of the movable slider 31 and the traction function of the insulating hard tube 34, when the lifting mechanism 1 drives the dry ice storage tank 33 on the operation platform 4 to lift, the dry ice storage tank 33 can drive the compressed air tank 32 to horizontally move through the insulating hard tube 34 to form a follow-up system, so that the distance between the compressed air tank 32 and the dry ice storage tank 33 is fixed and unchanged, thereby ensuring the stability of the dry ice spraying pressure; moreover, the insulated hard tube 34 also plays a role in electrostatic insulation protection while ensuring the stable pressure of the dry ice spraying.
As shown in fig. 2, in this embodiment, a telescopic mechanism 41 is disposed on the work platform 4, a semicircular guide rail 42 is disposed on a movable end of the telescopic mechanism 41, a rotating slider 43 is disposed on the semicircular guide rail 42, the dry ice cleaning operation assembly 5 is fixedly mounted on the rotating slider 43, a driving motor for driving the rotating slider 43 to move relative to the semicircular guide rail 42 is disposed on the rotating slider 43, and the driving motor is connected to the control module. The telescopic freedom degree of the dry ice cleaning operation assembly 5 in the telescopic direction can be achieved through the telescopic mechanism 41, the rotational freedom degree of the dry ice cleaning operation assembly 5 in the range of 180 degrees can be achieved through the semicircular guide rail 42, accordingly, the surrounding operation of the post insulator can be achieved, the stop position can be adjusted by controlling the driving motor, and the operation position is accurate and reliable. Referring to fig. 2, in the present embodiment, a groove is provided on the rotating slider 43, the semicircular guide rail 42 is embedded in the groove of the rotating slider 43, and the driving motor is used to drive the rotating slider 43 to move (rotate) relative to the semicircular guide rail 42.
As shown in fig. 2, the dry ice cleaning operation module 5 in the present embodiment includes a spray gun 51 and a camera 52, the spray gun 51 is connected to the dry ice storage tank 33 through a hose, and a control end of the control valve is connected to the control module. The operating state of the post insulator of the spray gun 51 can be easily observed by the camera 52. As an optional implementation manner, in order to improve the image processing effect, the camera 52 is a wireless network camera in this embodiment, the camera 52 is connected with the upper computer through its own wireless communication module, and the camera 52 adopts a high definition camera to ensure the image clarity, so as to facilitate the improvement of the image processing accuracy and effect of the upper computer system. The camera 52 may also be connected to the control module of the robot.
In order to facilitate control and achieve effective cleaning, as shown in fig. 2 and fig. 3, in this embodiment, the dry ice cleaning operation assembly 5 further includes two operation auxiliary movement mechanisms, namely, a spray gun horizontal movement guide rail 53 and a spray gun swinging mechanism 54, the spray gun horizontal movement guide rail 53 is fixedly installed on the rotating slider 43, the spray gun horizontal movement guide rail 53 is provided with a vertical support 55 arranged in a sliding manner and a sliding driving motor for driving the vertical support 55 to slide along the spray gun horizontal movement guide rail 53, the spray gun swinging mechanism 54 includes a horizontal support 541, a driving wheel 542, a driven wheel 543 and a rotating driving motor, the horizontal support 541 and the rotating driving motor are respectively installed on the vertical support 55, the driving wheel 542 is installed on an output shaft of the rotating driving motor, the camera 52 is fixedly connected with a rotating shaft of the driven wheel 543, the driving wheel 542 and the driven wheel 543, One of a toothed chain, a belt, and a friction wheel, for example, as an alternative embodiment, the transmission structure in this embodiment is a toothed chain, as shown in fig. 2 and 3. In this embodiment, the spray gun 51 can be freely moved in the horizontal direction as required by the spray gun horizontal movement guide rail 53, the spray gun 51 can be freely swung in the vertical direction as required by the spray gun swing mechanism 54, and the spray gun 51 can be cleaned without a dead angle up, down, left, and right by the combination of these, thereby ensuring the cleaning effect. Referring to fig. 3, in order to ensure the stability of the toothed chain, a positioning sleeve 561 is sleeved on the toothed chain in the embodiment, and the positioning sleeve 561 is fixedly installed on the vertical bracket 55 through the positioning bracket 56.
In the embodiment, the control module comprises an upper control module and a lower control module which adopt independent power supply, the upper control module is installed on the operation platform 4, and the dry ice cleaning operation assembly 5 is connected with the upper control module and used for controlling the dry ice cleaning operation of the insulator; the lower control module is installed on the mobile platform 2, and the control end of the mobile platform 2 is connected with the lower control module and used for controlling the movement and lifting of the robot. The upper control module and the lower control module adopt independent power supplies, and specifically, an independent power supply is respectively used for supplying power, so that the control module can be effectively prevented from being subjected to electrostatic interference.
When the post insulator dry ice cleaning robot with the electrostatic protection function (referred to as a robot for short) works, the robot is started at first, the camera 52 starts to work, a field real-time image is collected, the collected image information is sent to an upper computer through a wireless communication module, a controller moves through the upper computer remote control robot, at the moment, the walking motor rotates to drive the walking track wheel to rotate, and the carrying robot moves to the edge of a target post insulator through the moving vehicle body 21. When the robot moves to the side of the post insulator, a controller sends a stop instruction, the motor stops rotating, the walking mechanism is closed, then the controller sends a lifting instruction, the lifting mechanism 1 is started and starts to extend, the extension of the lifting mechanism 1 pushes the working platform 4 to move upwards, meanwhile, a dry ice storage tank 33 on the working platform 4 drives a compressed air tank 32 on the moving platform 21 to move through an insulating hard tube 44, at the moment, a camera 52 collects a real-time image and transmits the real-time image to an upper computer, the upper computer control system processes received insulator image information and judges whether the insulator has abnormal states of dirt, cracks, damage, corrosion and the like, if the insulator is found to have the dirt, the working platform 4 is judged to have reached a working position, the lifting mechanism stops moving, the controller sends a control instruction through the upper computer and controls the extension mechanism 41 to extend, the operation platform 4 is pushed to move to reach a proper operation point, after the proper operation point is reached, a controller controls the horizontal moving guide rail 53 of the spray gun and the spray gun swinging mechanism 54 to be finely adjusted through an upper computer, so that the spray gun 51 is aligned with the insulator to be cleaned, after the cleaning is finished, the lifting mechanism 1 and the telescopic mechanism 41 recover the original positions, the operation platform 4 is separated from the operation state and descends, the extrusion spring 62 is in contact with the conductive rod 61, and therefore static electricity accumulated on the operation platform 4 is led out and released through the ground wire 63. The operating robot moves out of the working range of the post insulator. Moving platform 2 has realized the removal of operation platform 4 through elevating system 1 is convenient goes up and down, the effectual remaining a large amount of static of operation platform 4 of having derived of electrostatic protection system 6, the operation security has been improved, control module has guaranteed control system's reliability, electrostatic interference has been avoided, realization that can be convenient through high definition digtal camera 52 is to the making a video recording of insulator, give the image information transmission again and carry out image processing for the upper computer of robot, the gesture adjustment to operation platform 4 is realized to the host computer of rethread, control spray gun 51 realizes wasing the insulator, various artifical moving platform and ordinary manual machine have been stopped and have been cleaned, the potential safety hazard that exists when washing with gas and washing water, the convenience and the maintenance efficiency that pillar insulator maintained have been promoted, intensity of labour has been reduced. To sum up, the pillar insulator dry ice cleaning robot with the electrostatic protection function of the embodiment can conveniently carry a work platform to reach a designated work position, can conveniently take a picture of an insulator through the camera 52, and then transmits the picture to the upper computer for analysis, and controls the work auxiliary motion mechanisms (the spray gun horizontal moving guide rail 53 and the spray gun swinging mechanism 54) in the moving platform 2, the dry ice and air source supply assembly 3 and the dry ice cleaning work assembly 5 through the robot control system, so as to accurately position and move the platform 2, control the swinging angle of the spray gun 51 and clean the insulator, each part on the work platform 4 is in equipotential connection through the conductive copper wire 501, the conductive rod is arranged below the lifting mechanism 1, when the work platform descends, the conductive rod is contacted through the spring, so as to release a large amount of static electricity through the ground wire, the safety problem of the existing insulator cleaning means is avoided, the convenience and the maintenance efficiency of the power transmission line maintenance are improved, and the labor intensity is reduced.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (10)
1. The utility model provides a post insulator dry ice cleaning robot with electrostatic protection function, its characterized in that, includes dry ice and air supply assembly (3), control module and has moving platform (2) of elevating system (1), the top of elevating system (1) is equipped with operation platform (4), be equipped with dry ice cleaning operation subassembly (5) on operation platform (4), dry ice cleaning operation subassembly (5) links to each other with dry ice and air supply assembly (3), still fixed arrangement has on moving platform (2) and is used for moving electrostatic protection subassembly (6) with operation platform (4) ground connection when operation platform (4) descend, moving platform (2), dry ice cleaning operation subassembly (5) all link to each other with control module.
2. The post insulator dry ice cleaning robot with the electrostatic protection function according to claim 1, wherein the electrostatic protection assembly (6) comprises a conductive rod (61) fixed on the working platform (4), the conductive rod (61) is arranged on the lower side of the mobile platform (2), a spring (62) is arranged at the top of the conductive rod (61), a ground wire (63) for leading static electricity out to the ground is arranged at the lower part of the conductive rod, the spring (62), the conductive rod (61) and the ground wire (63) are electrically connected and conducted, an electric contact part (401) arranged opposite to the spring (62) is arranged at the bottom of the working platform (4), and the dry ice cleaning working assembly (5) is electrically connected and conducted with the electric contact part (401) through a conductor.
3. The post insulator dry ice cleaning robot with the electrostatic protection function according to claim 2, wherein an electric lead (501) is connected between metal shells of each component of the dry ice cleaning operation assembly (5), the shells of each component of the dry ice cleaning operation assembly (5) are connected through the electric lead (501) to form equipotential protection, and the metal shell or the electric lead (501) of at least one component is electrically connected and conducted with the electric contact part (401) through a conductor.
4. The dry ice cleaning robot for the post insulator with the electrostatic protection function according to claim 1, wherein the lifting mechanism (1) is a scissor type lifting mechanism, the scissor type lifting mechanism comprises a pushing mechanism (12) and a plurality of sets of scissor brackets (11) hinged to the middle, the ends of the scissor brackets (11) of adjacent sets are hinged to each other, the top set of scissor brackets (11) is hinged to the bottom of the work platform (4), one end of the bottom set of scissor brackets (11) is hinged to the top of the moving platform (2), the other end of the bottom set of scissor brackets is connected to the pushing mechanism (12), at least one set of scissor brackets (11) at the bottom of the scissor type lifting mechanism is made of metal, and at least one set of scissor brackets (11) at the top is made of insulating materials.
5. The post insulator dry ice cleaning robot with the electrostatic protection function according to claim 1, wherein the moving platform (2) is provided with a crawler type travelling mechanism, the crawler type travelling mechanism comprises a moving vehicle body (21) and walking crawler wheels (22) symmetrically arranged on the left side and the right side of the moving vehicle body (21), and a driving motor for driving the walking crawler wheels (22) to walk is arranged in the moving vehicle body (21).
6. The dry ice cleaning robot for post insulators with the electrostatic protection function according to claim 1, wherein a telescopic mechanism (41) is arranged on the working platform (4), a semicircular guide rail (42) is arranged at the movable end of the telescopic mechanism (41), a rotating slide block (43) is arranged on the semicircular guide rail (42), the dry ice cleaning operation assembly (5) is fixedly arranged on the rotating slide block (43), a driving motor for driving the rotating slide block (43) to move relative to the semicircular guide rail (42) is arranged on the rotating slide block (43), and the driving motor is connected with the control module.
7. The post insulator dry ice cleaning robot with the electrostatic protection function according to claim 6, wherein the dry ice and air source supply assembly (3) comprises a movable slider (31), a compressed air tank (32) and a dry ice storage tank (33), the movable slider (31) is slidably arranged on the movable platform (2) through a sliding rail, the compressed air tank (32) is fixedly installed on the movable slider (31), the dry ice storage tank (33) is fixedly installed on the working platform (4), the compressed air tank (32) and the dry ice storage tank (33) are connected through an insulating hard tube (34), and two ends of the insulating hard tube (34) are connected with the compressed air tank (32) and the dry ice storage tank (33) through universal pipe joints.
8. The post insulator dry ice cleaning robot with electrostatic protection function according to claim 7, characterized in that the dry ice cleaning operation assembly (5) comprises a spray gun (51) and a camera (52), the spray gun (51) is connected with a dry ice storage tank (33), and a control end of the control valve is connected with a control module.
9. The post insulator dry ice cleaning robot with the electrostatic protection function according to claim 8, wherein the dry ice cleaning operation assembly (5) further comprises a spray gun horizontal moving guide rail (53) and a spray gun swinging mechanism (54), the spray gun horizontal moving guide rail (53) is fixedly installed on the rotating slide block (43), a vertical bracket (55) which is arranged in a sliding mode and a sliding driving motor which is used for driving the vertical bracket (55) to slide along the spray gun horizontal moving guide rail (53) are arranged on the spray gun horizontal moving guide rail (53), the spray gun swinging mechanism (54) comprises a horizontal bracket (541), a driving wheel (542), a driven wheel (543) and a rotating driving motor, the horizontal bracket (541) and the rotating driving motor are respectively installed on the vertical bracket (55), and the driving wheel (542) is installed on an output shaft of the rotating driving motor, camera (52) and the pivot fixed connection from driving wheel (543), drive wheel (542), link to each other through transmission structure from driving wheel (543), transmission structure is one of gear, toothed chain, belt, friction pulley.
10. The post insulator dry ice cleaning robot with the electrostatic protection function according to claim 9, wherein the camera (52) is a wireless network camera, the control module comprises an upper control module and a lower control module which are independently powered, the upper control module is installed on the working platform (4), the dry ice cleaning working assembly (5) is connected with the upper control module, the lower control module is installed on the mobile platform (2), and the control end of the mobile platform (2) is connected with the lower control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010936132.0A CN112122257A (en) | 2020-09-08 | 2020-09-08 | Post insulator dry ice cleaning robot with electrostatic protection function |
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| CN114074087A (en) * | 2021-11-19 | 2022-02-22 | 中国南方电网有限责任公司超高压输电公司大理局 | Insulator cleaning machine and insulator cleaning method |
| CN114910760A (en) * | 2022-06-14 | 2022-08-16 | 国网山东省电力公司高唐县供电公司 | Automatic zero detection adjusting device for insulator of power transmission line |
| CN117583307A (en) * | 2023-12-20 | 2024-02-23 | 国网甘肃省电力公司电力科学研究院 | Intelligent belt cleaning device of telescopic pillar insulator |
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| CN114074087A (en) * | 2021-11-19 | 2022-02-22 | 中国南方电网有限责任公司超高压输电公司大理局 | Insulator cleaning machine and insulator cleaning method |
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| CN117583307A (en) * | 2023-12-20 | 2024-02-23 | 国网甘肃省电力公司电力科学研究院 | Intelligent belt cleaning device of telescopic pillar insulator |
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