CN115781721B - A long arm robot for maintaining transformer substation's insulator - Google Patents
A long arm robot for maintaining transformer substation's insulator Download PDFInfo
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- CN115781721B CN115781721B CN202310042317.0A CN202310042317A CN115781721B CN 115781721 B CN115781721 B CN 115781721B CN 202310042317 A CN202310042317 A CN 202310042317A CN 115781721 B CN115781721 B CN 115781721B
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Abstract
The application discloses a long-arm robot for maintaining a transformer substation insulator, which relates to the technical field of manipulators and comprises a shifting trolley, a supporting arm, a clamping body, a wrapping wiping component and a pumping component; the number of the clamping bodies is two, the clamping bodies are respectively fixed at two ends of the supporting frame, and each clamping body comprises a U-shaped supporting body and a clamping bag; a half gear ring is fixed on the U-shaped support body, and an arc-shaped guide groove is formed in the end face of the U-shaped support body; the package wiping component comprises a U-shaped bent plate and a covering film; the whole covering film is rectangular, and the peripheral rings are fixed on the U-shaped bent plate; at least two inserting columns are fixed on the end face of one plate body of the U-shaped bent plate; the rotating gear positioned on the rotating driving assembly is meshed with the half gear ring, and the rotating driving assembly is fixed on the U-shaped bending plate; the pumping assembly is used for controlling the expansion and contraction of the clamping bag and the covering film; the cleaning robot has the advantages that the cleaning robot can clean floating ash of the insulator and can effectively clean oily dirt on the insulator.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a long-arm robot for maintaining a transformer substation insulator.
Background
Most of high-voltage electrical equipment of a transformer substation is installed outdoors, and the surface of the equipment is polluted by running all the year round; under the influence of atmospheric environment, flashover often occurs under wet weather conditions, and power failure accidents are caused; with the aggravation of industrial pollution and the gradual worsening of climate conditions, the pollution flashover accidents of power grid equipment more show the trend of high frequency and wide area; the maintenance recovery time is long, so that huge loss is caused to national economy, and meanwhile, unrecoverable damage is caused to equipment; the cleaning of the insulator of the transmission line is an effective measure for preventing pollution flashover accidents.
The problems of high voltage level, dense equipment in the transformer substation, large equipment volume, heavy weight and the like exist in the transformer substation, the manual live working is difficult to develop, and the problems can be effectively solved by the application of the robot technology;
the prior art discloses a robot for cleaning a transformer substation insulator, but the existing insulator cleaning device mainly adopts brush dry cleaning, only cleans the surface of the insulator, is effective for floating dust on the surface of the insulator, and has poor cleaning effect for oily dirt attached to the surface of the insulator.
Therefore, a long-arm robot for maintaining the substation insulator is needed, which not only can clean the floating ash of the insulator, but also can effectively clean oily dirt on the insulator.
Disclosure of Invention
According to the long-arm robot for maintaining the transformer substation insulator, the technical problem that the transformer substation insulator cleaning robot in the prior art can only clean the floating ash of the insulator and cannot effectively clean the oily pollution on the insulator is solved, and the technical effects that the cleaning robot can not only clean the floating ash of the insulator, but also can effectively clean the oily pollution on the insulator are achieved.
The embodiment of the application provides a long-arm robot for maintaining a transformer substation insulator, which comprises a displacement trolley, a supporting arm, a clamping body, a package wiping component and a pumping component;
the number of the clamping bodies is two, the two clamping bodies are respectively fixed at two ends of the supporting frame at the top of the supporting arm, and each clamping body comprises a U-shaped supporting body and a clamping bag;
the U-shaped support body is a plate body with a U-shaped longitudinal section, a half gear ring is fixed on the plate body, and an arc-shaped guide groove is formed in the end face of the plate body;
the clamping bag is a rectangular elastic bag and is attached to and fixed on the U-shaped support body, and the inner space is a gas storage space;
the package wiping component comprises a U-shaped bent plate and a covering film;
the cover film is a rubber elastic film, the whole cover film is rectangular, the peripheral rings are fixed on the U-shaped bent plate and can completely cover the inner surface of the U-shaped bent plate, and the cover film and the U-shaped bent plate form an air storage space together;
at least two inserting columns are fixed on the end face of one plate body of the U-shaped bent plate; the rotating gear positioned on the rotating driving assembly is meshed with the half gear ring, and the rotating driving assembly is fixed on the U-shaped bending plate;
the pumping assembly is used for controlling the expansion and contraction of the clamping bag and the covering film.
Further, the supporting arm comprises a basic rotating plate, a first telescopic arm, a first hinge assembly, a second telescopic arm, a supporting disc, a second hinge assembly, a rotating disc and a supporting frame;
the basic rotating plate is a circular plate and is rotatably and fixedly connected to the displacement trolley around the axis of the basic rotating plate, and is positioned on the upper surface of the displacement trolley, and the rotation of the basic rotating plate is controlled by the control unit;
the first telescopic arm is of an electric telescopic rod structure and is vertically arranged, the bottom of the first telescopic arm is fixed on the basic rotating plate, and the axial direction of the first telescopic arm is the same as the thickness direction of the basic rotating plate; the second telescopic arm is of an electric telescopic rod structure and is controlled by the control unit, and the bottom of the second telescopic arm is fixedly connected to the top of the first telescopic arm in a rotatable manner through the first hinge assembly;
the first hinge assembly is structurally characterized in that two blocks which are hinged with each other are respectively fixed on the first telescopic arm and the second telescopic arm, a motor is fixed on one block, the operation of the motor is controlled by the control unit, the power of the relative rotation of the two blocks comes from the motor, and a robot operator can control the second telescopic arm to rotate relative to the first telescopic arm by controlling the first hinge assembly;
the supporting disc is a disc and plays a role in positioning the rotating disc;
the support disc is rotatably and fixedly connected to the top of the second telescopic arm through a second hinge assembly, the structure of the second hinge assembly is the same as that of the first hinge assembly, and a robot operator can control the support disc to rotate relative to the second telescopic arm by controlling the second hinge assembly;
the rotation axes of the first hinge assembly and the second hinge assembly are parallel;
the rotating disc is axially and rotatably connected to the supporting disc and is coaxial with the supporting disc, and the rotating disc is driven by the motor to rotate;
the whole pole shape that is of support frame, central point puts and fixes on the rolling disc, the length direction of support frame is perpendicular with the axis of rotation of rolling disc, and the support frame plays the effect of bearing the centre gripping body.
Further, the support frame comprises a base block, a fixed rod and a support block;
the base block is fixed on the rotating disc and is a strip block;
the fixed rods are rod bodies with the length of more than 20 cm, are two in number, are symmetrically arranged and are respectively positioned at two ends of the base block;
the number of the supporting blocks is two, and the two supporting blocks are respectively positioned at the end parts of the two fixing rods far away from the base block and used for fixing the clamping bodies to play a role in connection.
Further, the package wiping component is provided with a plurality of different length specifications for cleaning insulators with different lengths, and the fixing rod is positioned on the base block in a sliding manner along the length direction of the fixing rod and is used for adapting to the package wiping component with different lengths.
Further, the device also comprises a stabilizing component, wherein the stabilizing component comprises a rotating plate, a telescopic supporting arm, a pulling winch and a pulling rope;
the rotating plate is a rectangular plate body and is fixed on the edge of the basic rotating plate and coaxially rotates with the basic rotating plate;
the telescopic supporting arm is an electric telescopic rod and is longitudinally arranged, the bottom of the telescopic supporting arm is fixed on the upper surface of the rotating plate, and a fixed point in space is close to the end part of the rotating plate far away from the first telescopic arm;
the pulling winch is of a winch structure and is fixed at the top of the telescopic supporting arm;
one end of the pulling rope is fixed on the pulling winch, and the other end of the pulling rope is fixed on the supporting disc; when the telescopic support arm is used, the telescopic support arm and the pulling winch run timely under the control of the control unit, and the pulling rope is ensured to be always in a straightened state.
Preferably, the pumping assembly further comprises a blowing nozzle which is fixed on the U-shaped bent plate and is communicated with the air valve towards the opening of the U-shaped bent plate; when the cleaning device is used, floating ash is blown off by blowing before the insulator is cleaned.
Preferably, the device further comprises a separation membrane component;
the isolating membrane component comprises an isolating membrane and a membrane positioning component;
the isolation film is made of elastic cloth, the whole isolation film is rectangular, the length of the isolation film is longer than that of the covering film, the width of the isolation film is wider than that of the covering film by three to five centimeters, and two ends in the width direction are directly or indirectly fixed on the U-shaped bent plate through the film positioning assembly.
Preferably, the film positioning component is a winding roller with a built-in motor, two ends of the isolating film in the width direction are fixed and wound on the two winding rollers, and the rotation of the winding rollers is controlled by the control unit.
Preferably, the pumping assembly further comprises an air suction pipe;
the air suction pipe penetrates through the covering film, is fixed on the covering film, the air inlet is positioned between the covering film and the isolating film, the air outlet of the air suction pipe is positioned on the air pump, the control unit controls the air suction pipe to intermittently suck air to enable the isolating film to intermittently cling to the covering film, and when the covering film wraps the insulator but is in a non-expansion state, the isolating film moves to play a role in dusting ash.
Preferably, the sliding bag assembly is further included;
the sliding bag component comprises a sliding guide rail, a sliding block, a rod-shaped bag body and a spring air delivery pipe;
the sliding guide rail is a straight guide rail, the length of the sliding guide rail is similar to that of the U-shaped bent plate, and the sliding guide rail is positioned on the U-shaped bent plate in the air storage space;
the sliding block plays a role of bearing a rod-shaped bag body, is internally provided with a motor and is positioned on the sliding guide rail in a sliding way under the control of the control unit;
the whole rod-shaped bag body is in a rod shape and is an elastic bag made of rubber, the elastic bag is fixed on the sliding block, and the length of the elastic bag is similar to the width of the U-shaped bent plate; the rod-shaped bag body is communicated with the air valve through a spring air pipe, and the spring air pipe is a spring hose;
when the wiping component is wrapped to wipe the insulator, the rod-shaped bag body is intermittently expanded to locally pressurize the insulator, and the gap sliding block expanded by the rod-shaped bag body slides;
and in the process that the sliding block slides from one end of the sliding guide rail to the other end, the rod-shaped bag body gradually performs pressurized wiping on part of the insulator wrapped by the wrapping wiping component.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
the technical problem that in the prior art, the transformer substation insulator cleaning robot can only clean the insulator floating ash and cannot effectively clean the oily dirt on the insulator is effectively solved, and the technical effects that the cleaning robot can clean the insulator floating ash and can effectively clean the oily dirt on the insulator are further achieved.
Drawings
Fig. 1 is a schematic view of an appearance structure of a long-arm robot for maintaining a transformer substation insulator according to the present invention;
FIG. 2 is a schematic view of the positional relationship between a support arm of a long arm robot and a package wiping assembly for curing a substation insulator according to the present invention;
fig. 3 is a schematic diagram showing a change state of a support arm of the long-arm robot for curing a substation insulator according to the present invention;
FIG. 4 is a schematic view of the wrapping and wiping assembly of the long arm robot for curing substation insulators of the present invention;
FIG. 5 is a schematic diagram of the positional relationship of the gripping body and the wrapped wiping assembly of the long arm robot for curing substation insulators of the present invention;
FIG. 6 is a schematic illustration of a wrap-wipe assembly of a long-arm robot for curing substation insulators of the present invention;
FIG. 7 is a schematic diagram of the communication relationship of pumping assemblies of the long-arm robot for maintaining substation insulators according to the present invention;
FIG. 8 is a schematic diagram of an isolation membrane assembly of a long arm robot for curing substation insulators of the present invention;
fig. 9 is a schematic diagram of the positional relationship between an air suction pipe and an isolation membrane assembly of the long-arm robot for maintaining a transformer substation insulator according to the present invention;
fig. 10 is a schematic diagram of a positional relationship between a winding drum and an isolation film of a long arm robot for curing a substation insulator according to the present invention;
FIG. 11 is a schematic view of the positional relationship between a water spray cleaning assembly and an isolation membrane of a long arm robot for curing substation insulators according to the present invention;
FIG. 12 is a schematic view of the positional relationship between a long arm robot sliding bag assembly and a cover film for curing a substation insulator according to the present invention;
fig. 13 is a schematic structural view of a sliding bag assembly of a long-arm robot for curing a substation insulator according to the present invention.
In the figure:
a shift cart 100;
the clamping body 300, the U-shaped supporting body 310, the guide groove 311, the clamping bag 320, the half gear ring 330 and the air storage space 340;
a package wiper assembly 400, a U-shaped bent plate 410, an insertion column 411, a cover film 420, a rotary gear 430, a rotary driving assembly 440, and an air storage space 450;
the air pump assembly 500, the air pump 510, the air valve 520, the air pipe 530, the blow nozzle 540 and the air suction pipe 550;
the stabilizing assembly 600, the rotating plate 610, the telescopic support arm 620, the pulling winch 630, and the pulling rope 640;
a release film assembly 700, a release film 710, a first film 711, a second film 712, a film positioning assembly 720, a fixing block 721, and a take-up roller 722;
a water jet cleaning assembly 800;
sliding bag assembly 900, sliding guide rail 910, sliding block 920, rod-shaped bag 930, spring air delivery pipe 940, and guiding magnet 950.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings; the preferred embodiments of the present invention are illustrated in the drawings, however, the present invention may be embodied in many different forms and is not limited to the embodiments described herein; rather, these embodiments are provided so that this disclosure will be thorough and complete.
It should be noted that the terms "vertical", "horizontal", "upper", "lower", "left", "right", and the like are used herein for illustrative purposes only and do not represent the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention; the term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, an external structural diagram of a long-arm robot for maintaining a transformer substation insulator according to the present invention is shown; the long-arm robot for maintaining the transformer substation insulator comprises a shifting trolley 100, a supporting arm 200, a clamping body 300, a wrapping wiping assembly 400 and a pumping assembly 500, wherein the insulator to be cleaned is wrapped by the wrapping wiping assembly 400 with a bag body structure in cooperation with the clamping body 300, and then cleaning is performed by timely expanding and contracting and timely rotating the wrapping wiping assembly 400, and the insulator is cleaned in a wiping mode; the cleaning robot has the advantages that the cleaning robot can clean floating ash of the insulator and can effectively clean oily dirt on the insulator.
Example 1
As shown in fig. 1, the long arm robot for curing substation insulators of the present application includes a displacement cart 100, a support arm 200, a clamping body 300, a package wiping assembly 400, a pumping assembly 500, a power assembly, and a control unit.
The displacement trolley 100 is of a box structure, is internally provided with a power component and a control unit, is arranged at the bottom and is controlled by a displacement wheel of the control unit, and plays a bearing role.
The supporting arm 200 is positioned at the top of the displacement trolley 100, and is used for bearing the clamping body 300, wrapping the wiping component 400 and the pumping component 500, and delivering the components for cleaning of the robot to the vicinity of the insulator to be cleaned in time as required, and the main body is of a telescopic rod structure;
as shown in fig. 1 and 2, the support arm 200 includes a base rotating plate 210, a first telescopic arm 220, a first hinge assembly 230, a second telescopic arm 240, a support plate 250, a second hinge assembly 260, a rotating plate 270, and a support frame 280; the basic rotating plate 210 is a circular plate, is rotatably and fixedly connected to the displacement trolley 100 around the axis thereof, and is positioned on the upper surface of the displacement trolley 100, and the rotation of the basic rotating plate 210 is controlled by a control unit, preferably a motor drive; the first telescopic arm 220 is of an electric telescopic rod structure, vertically arranged, and fixed on the base rotating plate 210 at the bottom, and the axial direction of the first telescopic arm 220 is the same as the thickness direction of the base rotating plate 210; the second telescopic arm 240 is also an electric telescopic rod structure, and is controlled by a control unit, and the bottom of the second telescopic arm 240 is rotatably and fixedly connected to the top of the first telescopic arm 220 through the first hinge assembly 230; the first hinge assembly 230 is configured as two mutually hinged blocks, which are respectively fixed on the first telescopic arm 220 and the second telescopic arm 240, wherein a motor is fixed on one block, the operation of the motor is controlled by a control unit, the power of the relative rotation of the two blocks comes from the motor, and a robot operator can control the second telescopic arm 240 to rotate relative to the first telescopic arm 220 by controlling the first hinge assembly 230; the supporting disc 250 is a disc, and plays a role in positioning the rotating disc 270; the support plate 250 is rotatably and fixedly connected to the top of the second telescopic arm 240 through a second hinge assembly 260, the second hinge assembly 260 has the same structure as the first hinge assembly 230, and a robot operator can control the support plate 250 to rotate relative to the second telescopic arm 240 by controlling the second hinge assembly 260; the rotation axes of the first hinge assembly 230 and the second hinge assembly 260 are parallel; the rotating disc 270 is axially and rotatably connected to the supporting disc 250 around the rotating disc 270 and is coaxial with the supporting disc 250, and the rotating disc 270 is driven by a motor to rotate; the whole support 280 is in a rod shape, the center position of the support 280 is fixed on the rotating disc 270, the length direction of the support 280 is perpendicular to the rotating shaft of the rotating disc 270, and the support 280 plays a role of bearing the clamping body 300.
Further, as shown in fig. 3 and 4, the supporting frame 280 includes a base block 281, a fixing rod 282 and a supporting block 283; the base block 281 is fixed on the rotating disc 270 and is an elongated block; the fixed rods 282 are rod bodies with the length being more than 20 cm, and the number of the fixed rods is two, and the fixed rods are symmetrically arranged and respectively positioned at two ends of the base block 281; the number of the supporting blocks 283 is two, and the two fixing rods 282 are respectively positioned at the ends of the two fixing rods 282 far from the base block 281, and are used for fixing the clamping body 300 for connection.
The two clamping bodies 300 are symmetrically arranged and are respectively fixed at two ends of the supporting frame 280; the clamping body 300 includes a U-shaped support body 310 and a clamping bladder 320; the U-shaped support 310 is a plate with a U-shaped longitudinal section, and has an axial length greater than 5 cm and less than 10 cm, and is fixed on the support 280, and the axial direction is the same as the length direction of the support 280; the clamping bag 320 is a rectangular elastic bag, and is attached to and fixed on the U-shaped support body 310, the whole fixed clamping bag 320 is U-shaped, the internal space is a gas storage space 340, and the clamping bag 320 is communicated with the pumping assembly 500; for convenience of description, the curved surface of the U-shaped supporting body 310 near the holding bag 320 (near the insulator to be cleaned) is defined as an inner contour surface, the curved surface near the supporting frame 280 is an outer contour surface, and the opposite surfaces of the two U-shaped supporting bodies 310 are end surfaces; the end surface of the U-shaped support body 310 is provided with a circular arc (semi-circular arc) guide groove 311 for guiding the movement of the wrapping wiping component 400; a half gear ring 330 is fixed to the outer contour surface of the U-shaped support 310, and the half gear ring 330 is used to assist in wrapping the rotation of the wiper assembly 400.
The body of the wrapping and wiping component 400 is in a capsule structure, and expands after approaching to the insulator to be cleaned, wraps the insulator, and cleans the insulator in a wiping mode; the wrap wiper assembly 400 includes a U-bend plate 410, a cover film 420, a rotary gear 430, and a rotary drive assembly 440; the U-shaped bending plate 410 is a plate body bent into a U shape, and the axial length is more than 20 cm; the length of the U-shaped bending plate 410 is slightly smaller (less than 1 cm) than the distance between the two clamping bodies 300; for convenience of description, the surface of the U-shaped bent plate 410, which is close to the insulator to be cleaned, is defined as an inner surface, the surface of the U-shaped bent plate 410, which is close to the supporting frame 280, is an outer surface, and two ends of the U-shaped bent plate 410 are plate body end surfaces; the cover film 420 is an elastic film made of rubber, and has a rectangular overall shape, and the peripheral rings are fixed on the U-shaped bent plate 410 and can completely cover the inner surface of the U-shaped bent plate 410; the cover film 420 and the U-shaped bent plate 410 together form a closed space, which is defined herein as a gas storage space 450 for convenience of description; as shown in fig. 5, at least two insertion posts 411 are fixed on one end face of the U-shaped bent plate 410, the distance between the insertion posts 411 is less than 1 cm, and the insertion posts 411 can be completely inserted into the guide slots 311; after the insertion column 411 is inserted into the guide slot 311, the U-shaped bent plate 410 can slide along the guide slot 311 (i.e., the U-shaped bent plate 410 can rotate relative to the support arm 200); the rotating gear 430 is meshed with the half gear ring 330, the rotating gear 430 is positioned on the rotating driving assembly 440, the rotating driving assembly 440 is fixed on the outer surface of the U-shaped bending plate 410, and is of a motor structure and controlled by the control unit; rotation of the rotation gear 430 drives the entire U-shaped bent plate 410 to slide along the guide groove 311.
As shown in fig. 7, the pumping assembly 500 is positioned on the U-shaped bent plate 410 and controlled by a control unit for controlling the amount of gas in the gas storage space 340 and the gas storage space 450, thereby controlling the expansion and contraction of the clamping bladder 320 and the cover film 420; the air pumping assembly 500 includes an air pump 510, an air valve 520 and an air pipe 530, the air pump 510 is fixed on the outer surface of the U-shaped bending plate 410, the air valve 520 is a distributing valve (having a plurality of input and output air holes), the air valve 520 is fixed on the air pump 510, and the air valve 520 is communicated with the air storage space 340 and the air storage space 450 through the air pipe 530.
The power component is used for providing power for the operation of each part of the long-arm robot for maintaining the transformer substation insulator, and the control unit plays a role in controlling the coordinated operation of each part of the long-arm robot for maintaining the transformer substation insulator, and is in the prior art and is not repeated herein.
Preferably, the control unit is a combination of a programmable logic controller and a control key.
Preferably, the control unit comprises a remote control assembly.
When the long-arm robot for maintaining the substation insulator is actually used, the long-arm robot comprises the following components:
1. firstly, controlling the shifting trolley 100 to drive to approach an insulator to be cleaned;
2. then, the supporting arm 200 is controlled to rotate and extend, so that the clamping body 300 and the package wiping component 400 are close to the cleaning target;
3. controlling the support arm 200 to act and controlling the pumping assembly 500 to operate, so that the clamping bag 320 on the clamping body 300 expands to cover the insulator (at least one clamping body 300 is fixed on the insulator);
4. the operation of the wrapping and wiping assembly 400 is controlled, so that the insulator is wrapped by the covering film 420 (the covering film 420 can adapt to the contour of the insulator and enter the gap of the insulator to cling to the insulator), and then the U-shaped bent plate 410 is controlled to rotate to wipe the insulator;
5. the cover film 420 and the clamping bag 320 are controlled to shrink, the clamping body 300 is moved along the axial direction of the insulator and the wiping component 400 is wrapped, and then the cover film 420 and the clamping bag 320 are controlled to expand again, so that other areas of the insulator are wiped and cleaned;
6. reset the components.
Preferably, the cover film 420 has a cloth strip densely arranged on the surface thereof (to enhance wiping effect).
Preferably, the wrapping and wiping assembly 400 has a plurality of different length specifications for cleaning insulators of different lengths, and the fixing rod 282 is slidably positioned on the base block 281 along its length direction for adapting to the wrapping and wiping assembly 400 of different lengths.
Preferably, in order to improve the overall stability of the robot during operation, as shown in fig. 1 and 2, the robot further comprises a stabilizing assembly 600, wherein the stabilizing assembly 600 comprises a rotating plate 610, a telescopic supporting arm 620, a pulling winch 630 and a pulling rope 640; the rotating plate 610 is a rectangular plate body, and is fixed on the edge of the base rotating plate 210, and rotates coaxially with the base rotating plate 210; the telescopic supporting arm 620 is an electric telescopic rod, and is longitudinally arranged, the bottom of the telescopic supporting arm is fixed on the upper surface of the rotating plate 610, and a fixed point on the space is close to the end of the rotating plate 610 far from the first telescopic arm 220; the pulling winch 630 is a winch structure and is fixed on the top of the telescopic supporting arm 620; one end of the pulling rope 640 is fixed to the pulling winch 630, and the other end is fixed to the supporting plate 250; in actual use, the telescopic supporting arm 620 and the pulling winch 630 run at proper time under the control of the control unit, so as to ensure that the pulling rope 640 is always in a straightened state.
To improve the cleaning effect, the pumping assembly 500 further includes a blow nozzle 540, and the blow nozzle 540 is fixed on the U-shaped bent plate 410 and is communicated with the air valve 520 toward the opening of the U-shaped bent plate 410; when the cleaning device is used, floating ash is blown off by blowing before the insulator is cleaned.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages:
the technical problem that the transformer substation insulator cleaning robot in the prior art can only clean the insulator floating ash and cannot effectively clean the oily dirt on the insulator is solved, and the technical effects that the cleaning robot can clean the insulator floating ash and can effectively clean the oily dirt on the insulator are achieved.
Example two
Considering that in the above embodiment, in order to continuously maintain the cleaning effect, the cover film 420 needs to be replaced after a period of use (dirt), and the replacement of the cover film 420 is relatively inconvenient and thus is easy to bring inconvenience to the actual cleaning work, in view of the above problem, the embodiment of the present application adds the isolation film assembly 700 on the basis of the above embodiment, and uses the isolation film 710 to replace the cover film 420 to directly contact with the insulator, specifically:
as shown in fig. 6, the isolating membrane assembly 700 includes an isolating membrane 710 and a membrane positioning assembly 720; the isolating membrane 710 is a cloth with elastic force, and is rectangular overall, and has a length longer than the length of the covering membrane 420 and a width wider than the width of the covering membrane 420 by three to five centimeters, and two ends in the width direction are directly or indirectly fixed on the U-shaped bending plate 410 through the membrane positioning assembly 720.
Further, as shown in fig. 6, the membrane positioning assembly 720 is a fixing block 721, the fixing block 721 is elongated, two ends of the isolating membrane 710 in the width direction are fixed on the fixing block 721, and the fixing block 721 is detachably and fixedly connected to the U-shaped bending plate 410; when replacement is required, the fixing block 721 is directly removed.
Further, as shown in fig. 10, the film positioning assembly 720 is a winding roller 722 with a built-in motor, two ends of the isolating film 710 in the width direction are fixed and wound on the two winding rollers 722, the rotation of the winding roller 722 is controlled by a control unit, and an operator can control the replacement of the isolating film 710 by controlling the rotation of the winding roller 722.
Preferably, as shown in fig. 8, the isolating film 710 has a double-layer structure, and includes a first film 711 and a second film 712, where the first film 711 is closer to the cover film 420 than the second film 712, the first film 711 is a rubber film, and the second film 712 is a cloth with dense fluff and elastic force.
Preferably, as shown in fig. 11, the U-shaped bending plate 410 is further provided with a water spraying cleaning assembly 800, and the water spraying cleaning assembly 800 is a combination of a water spray head and a water pipe, and is communicated with a water tank in the displacement trolley 100, and is controlled by a control unit to flush water towards the isolating membrane 710 near the rolling drum 722, so as to clean the isolating membrane 710 after use.
Preferably, as shown in fig. 9, the pumping assembly 500 further includes a suction pipe 550; the air suction pipe 550 penetrates through the covering film 420, is fixed on the covering film 420, the air inlet is positioned between the covering film 420 and the isolating film 710, the air outlet of the air suction pipe 550 is positioned on the air pump 510, the control unit controls the intermittent air suction of the air suction pipe 550 to enable the isolating film 710 to be intermittently clung to the covering film 420, and when the covering film 420 wraps the insulator but is in a non-expansion state, the isolating film 710 can move to play a dust-removing role.
Example III
Considering that when cleaning operation is carried out, the local stubborn dirt on part of the insulators is difficult to clean because the positions of the local stubborn dirt are close to the axes of the insulators or are stubborn, the expansion of the cover film 420 is controlled uniformly, so that the dirt can be effectively cleaned by increasing the wiping force, but the energy consumption in the cleaning process is higher and the cleaning efficiency is lower; in order to further enhance the practicability of the present application and pertinently wipe dirt with great force, the embodiment of the present application adds the sliding bag assembly 900 on the basis of the above embodiment, specifically:
as shown in fig. 12 and 13, the sliding bladder assembly 900 includes a sliding guide rail 910, a sliding block 920, a rod-shaped bladder 930, and a spring air delivery tube 940; the sliding guide rail 910 is a straight guide rail, and has a length similar to that of the U-shaped bent plate 410, and is positioned on the U-shaped bent plate 410 in the air storage space 450; the sliding block 920 plays a role of bearing a rod-shaped capsule 930, and a built-in motor is slidably positioned on the sliding guide rail 910 under the control of a control unit; the rod-shaped bag 930 is integrally rod-shaped and is a rubber elastic bag, and is fixed on the sliding block 920, and the length of the rod-shaped bag is similar to the width of the U-shaped bending plate 410; the rod-shaped bag body 930 is communicated with the air valve 520 through a spring air pipe 940, and the spring air pipe 940 is a spring hose; when the wiping component 400 is wrapped to wipe the insulator, the rod-shaped capsule 930 is intermittently expanded to locally pressurize the insulator, and the gap sliding block 920 expanded by the rod-shaped capsule 930 slides; the rod-shaped bladder 930 performs a gradual pressurized wiping of the portion of the insulator wrapped around the wiping assembly 400 as the slider 920 slides from one end of the sliding rail 910 to the other.
Preferably, in order to reduce deformation of the rod-shaped capsule 930 caused by partial blockage during the movement process, guide magnetic blocks 950 are fixed at two ends of the rod-shaped capsule 930, and a strip-shaped guide magnet is fixed on the u-shaped bending plate 410; the guide magnet 950 is always closely attached to the guide magnet when the rod-shaped capsule 930 slides.
Preferably, rubber protrusions are densely distributed on the outer surface of the rod-shaped capsule 930.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A long arm robot for maintaining transformer substation insulator, includes shift trolley (100) and support arm (200), its characterized in that: the cleaning device further comprises a clamping body (300), a wrapping wiping component (400) and a pumping component (500);
the number of the clamping bodies (300) is two, the two ends of the supporting frame (280) are respectively fixed at the top of the supporting arm (200), and the clamping bodies (300) comprise U-shaped supporting bodies (310) and clamping bags (320);
the U-shaped support body (310) is a plate body with a U-shaped longitudinal section, a half gear ring (330) is fixed on the plate body, and an arc-shaped guide groove (311) is formed in the end face of the plate body;
the clamping bag (320) is a rectangular elastic bag, is attached to and fixed on the U-shaped support body (310), and the inner space is a gas storage space (340);
the wrap wiper assembly (400) includes a U-bend plate (410) and a cover film (420);
the cover film (420) is an elastic film made of rubber, the whole of the cover film is rectangular, the peripheral rings of the cover film are fixed on the U-shaped bent plate (410) and can completely cover the inner surface of the U-shaped bent plate (410), and the cover film (420) and the U-shaped bent plate (410) form an air storage space (450) together;
at least two inserting columns (411) are fixed on one plate body end face of the U-shaped bent plate (410); a rotary gear (430) positioned on the rotary driving assembly (440) is meshed with the half gear ring (330), and the rotary driving assembly (440) is fixed on the U-shaped bending plate (410);
the pumping assembly (500) is used for controlling the expansion and contraction of the clamping bag (320) and the covering film (420).
2. The long arm robot for curing a substation insulator according to claim 1, wherein: the support arm (200) comprises a basic rotating plate (210), a first telescopic arm (220), a first hinge assembly (230), a second telescopic arm (240), a support disc (250), a second hinge assembly (260), a rotating disc (270) and a support frame (280);
the basic rotating plate (210) is a circular plate and is rotatably and fixedly connected to the displacement trolley (100) around the axis of the basic rotating plate, the basic rotating plate is positioned on the upper surface of the displacement trolley (100), and the rotation of the basic rotating plate (210) is controlled by the control unit;
the first telescopic arm (220) is of an electric telescopic rod structure, is vertically arranged, the bottom of the first telescopic arm is fixed on the basic rotating plate (210), and the axial direction of the first telescopic arm (220) is the same as the thickness direction of the basic rotating plate (210); the second telescopic arm (240) is of an electric telescopic rod structure, is controlled by the control unit, and the bottom of the second telescopic arm (240) is fixedly connected to the top of the first telescopic arm (220) in a rotatable manner through the first hinge assembly (230);
the first hinge assembly (230) is in a structure of two blocks hinged with each other, the two blocks are respectively fixed on the first telescopic arm (220) and the second telescopic arm (240), a motor is fixed on one block, the operation of the motor is controlled by the control unit, the relative rotation power of the two blocks comes from the motor, and a robot operator can control the second telescopic arm (240) to rotate relative to the first telescopic arm (220) by controlling the first hinge assembly (230);
the supporting disc (250) is a disc and plays a role in positioning the rotating disc (270);
the support disc (250) is rotatably and fixedly connected to the top of the second telescopic arm (240) through a second hinge assembly (260), the structure of the second hinge assembly (260) is the same as that of the first hinge assembly (230), and a robot operator can control the support disc (250) to rotate relative to the second telescopic arm (240) by controlling the second hinge assembly (260);
the rotation axes of the first hinge assembly (230) and the second hinge assembly (260) are parallel;
the rotating disc (270) is axially and rotatably connected to the supporting disc (250) around the rotating disc (270) and is coaxial with the supporting disc (250), and the rotating disc (270) is driven by a motor to rotate;
the whole pole shape that is of support frame (280), central point puts and fixes on rotating disk (270), the length direction of support frame (280) is perpendicular with the axis of rotation of rotating disk (270), and support frame (280) play bear the effect of centre gripping body (300).
3. The long arm robot for curing a substation insulator according to claim 2, wherein: the supporting frame (280) comprises a base block (281), a fixed rod (282) and a supporting block (283);
the base block (281) is fixed on the rotating disc (270) and is a strip block;
the fixed rods (282) are rod bodies with the length being more than 20 cm, the number of the fixed rods is two, and the fixed rods are symmetrically arranged and are respectively positioned at two ends of the base block (281);
the number of the supporting blocks (283) is two, and the two supporting blocks are respectively positioned at the end parts of the two fixing rods (282) far away from the base block (281) and are used for fixing the clamping body (300) to play a role of connection.
4. A long arm robot for curing substation insulators as in claim 3, characterized by: the package wiping component (400) is provided with a plurality of different length specifications and is used for cleaning insulators with different lengths, and the fixing rod (282) is positioned on the base block (281) in a sliding mode along the length direction of the fixing rod, so that the package wiping component (400) with different lengths can be adapted.
5. The long arm robot for curing a substation insulator according to claim 4, wherein: the device also comprises a stabilizing component (600), wherein the stabilizing component (600) comprises a rotating plate (610), a telescopic supporting arm (620), a pulling winch (630) and a pulling rope (640);
the rotating plate (610) is a rectangular plate body and is fixed on the edge of the basic rotating plate (210) and coaxially rotates with the basic rotating plate (210);
the telescopic supporting arm (620) is an electric telescopic rod and is longitudinally arranged, the bottom of the telescopic supporting arm is fixed on the upper surface of the rotating plate (610), and a fixed point in space is close to the end part of the rotating plate (610) far away from the first telescopic arm (220);
the pulling winch (630) is of a winch structure and is fixed at the top of the telescopic supporting arm (620);
one end of the pulling rope (640) is fixed on the pulling winch (630), and the other end of the pulling rope is fixed on the supporting disc (250); when the telescopic support arm is used, the telescopic support arm (620) and the pulling winch (630) run timely under the control of the control unit, and the pulling rope (640) is ensured to be in a straightened state all the time.
6. The long arm robot for curing a substation insulator according to claim 1, wherein: the pumping assembly (500) further comprises a blowing nozzle (540), wherein the blowing nozzle (540) is fixed on the U-shaped bent plate (410) and is communicated with the air valve (520) towards the opening of the U-shaped bent plate (410); when the cleaning device is used, floating ash is blown off by blowing before the insulator is cleaned.
7. A long arm robot for curing substation insulators according to any of the claims 1 to 6, characterized in that: also included is a barrier film assembly (700);
the isolation diaphragm assembly (700) includes an isolation diaphragm (710) and a diaphragm positioning assembly (720);
the isolating film (710) is made of elastic cloth, is rectangular overall, has a length longer than that of the covering film (420), and has a width wider than that of the covering film (420) by three to five centimeters, and two ends in the width direction are directly or indirectly fixed on the U-shaped bent plate (410) through the film positioning assembly (720).
8. The long arm robot for curing a substation insulator according to claim 7, wherein: the membrane positioning assembly (720) is a winding roller (722) with a built-in motor, two ends of the isolating membrane (710) in the width direction are fixed and wound on the two winding rollers (722), and the rotation of the winding rollers (722) is controlled by the control unit.
9. The long arm robot for curing a substation insulator according to claim 7, wherein: the pumping assembly (500) further comprises an air suction pipe (550);
the air suction pipe (550) penetrates through the covering film (420), is fixed on the covering film (420) and is provided with an air inlet between the covering film (420) and the isolating film (710), an air outlet of the air suction pipe (550) is provided with an air pump (510), the control unit controls the intermittent air suction of the air suction pipe (550) to enable the isolating film (710) to be intermittently clung to the covering film (420), and when the covering film (420) wraps an insulator but is in a non-expansion state, the isolating film (710) moves to play a role in dust removal.
10. The long arm robot for curing a substation insulator according to claim 7, wherein: also included is a sliding bladder assembly (900);
the sliding bag assembly (900) comprises a sliding guide rail (910), a sliding block (920), a rod-shaped bag body (930) and a spring air pipe (940);
the sliding guide rail (910) is a straight guide rail, the length of the sliding guide rail is similar to that of the U-shaped bent plate (410), and the sliding guide rail is positioned on the U-shaped bent plate (410) in the air storage space (450);
the sliding block (920) plays a role of bearing a rod-shaped bag body (930), and a motor is arranged in the sliding block and is positioned on the sliding guide rail (910) in a sliding way under the control of the control unit;
the whole rod-shaped bag body (930) is in a rod shape and is an elastic bag made of rubber, the elastic bag is fixed on the sliding block (920), and the length of the elastic bag is similar to the width of the U-shaped bent plate (410); the rod-shaped bag body (930) is communicated with the air valve (520) through a spring air pipe (940), and the spring air pipe (940) is a spring hose;
when the wiping component (400) is wrapped to wipe the insulator, the rod-shaped capsule (930) is intermittently expanded to locally pressurize the insulator, and the gap sliding block (920) expanded by the rod-shaped capsule (930) slides;
the rod-shaped capsule (930) performs gradual pressurized wiping of the part of the insulator wrapped by the wiping component (400) during the sliding of the sliding block (920) from one end of the sliding guide rail (910) to the other end.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310042317.0A CN115781721B (en) | 2023-01-28 | 2023-01-28 | A long arm robot for maintaining transformer substation's insulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310042317.0A CN115781721B (en) | 2023-01-28 | 2023-01-28 | A long arm robot for maintaining transformer substation's insulator |
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| CN115781721B true CN115781721B (en) | 2023-05-09 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118417208B (en) * | 2024-07-04 | 2024-08-30 | 中铁电气化局集团有限公司 | Intelligent cleaning device for insulator |
| CN119510443B (en) * | 2025-01-21 | 2025-04-08 | 国网河南省电力公司新乡供电公司 | Power cable detection device |
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| JPH1196839A (en) * | 1997-09-22 | 1999-04-09 | Sanwa Tekki Corp | Insulator cleaning device |
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| JP2013191307A (en) * | 2012-03-12 | 2013-09-26 | Chugoku Electric Power Co Inc:The | Insulator cleaning tool |
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| CN214812981U (en) * | 2021-05-24 | 2021-11-23 | 安冬 | A kind of equipment cleaning device for substation operation and maintenance |
| CN113926748A (en) * | 2021-09-30 | 2022-01-14 | 广西电网有限责任公司电力科学研究院 | Insulator cleaning end |
| CN115488080A (en) * | 2022-09-09 | 2022-12-20 | 国网江苏省电力有限公司苏州供电分公司 | Transformer substation insulator live-line automatic cleaning device and cleaning method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA3052822A1 (en) * | 2018-08-23 | 2020-02-23 | Venkata Rama Subba Rao Chundi | Insulator cleaner |
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| JPH08290141A (en) * | 1995-04-20 | 1996-11-05 | Yonden Eng Kk | Insulating tube cleaning device |
| JPH1196839A (en) * | 1997-09-22 | 1999-04-09 | Sanwa Tekki Corp | Insulator cleaning device |
| CN1857799A (en) * | 2006-06-09 | 2006-11-08 | 徐安宁 | Live insulator cleaning apparatus |
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| CN115781721A (en) | 2023-03-14 |
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