CN203791106U - Robot for automatically spraying overhead transmission line insulating paint - Google Patents

Abstract

The utility model discloses an insulating paint automatic spraying robot for overhead transmission lines, which is composed of a plurality of module structures, the module structure including a mobile vehicle body, a power supply module, an airborne control system, a stirring module, a spraying module and a pressing device, and the mobile vehicle body Suspended on the overhead transmission line and able to move along the overhead transmission line, the power module, on-board control system and pressing device are installed on the upper connecting plate of the mobile car body, and the mixing module and spraying module are installed on the lower connecting plate of the mobile car body ; The airborne control system communicates with the ground station through the wireless communication unit, receives the control command sent by the ground station, and sends the detection data back to the ground station. The utility model adopts a modular structure design form, the structure is simple, reliable, easy to replace, and the manufacturing cost is low; the mobile car body adopts a segmented form, and the lower connecting plate and the mixing module can still be kept relatively horizontal on the inclined line; The spraying head passes through the mechanical center to achieve uniform speed and uniform thickness of insulating paint spraying when the moving car body is in motion.

Description

Automatic spraying robot for insulating varnish on overhead transmission lines

technical field

The utility model relates to an automatic spraying robot for insulating varnish of an overhead transmission line.

Background technique

The overhead transmission lines laid in the early stage, especially the Southern Power Grid, generally adopt the form of bare wires to save construction costs. But there are also greater security risks. Kites and other sundries that are accidentally suspended on overhead transmission lines, and dust accumulated on insulators, clamps, and anti-vibration hammers can easily form mud flows and cause short circuits on the lines, thereby causing accidents such as tripping.

At present, the power grid system generally adopts the form of manual spraying of insulating varnish to improve the insulation and safety performance of exposed overhead transmission lines. But there are disadvantages of low efficiency, slow speed and poor consistency of insulation effect.

Searches of patent documents and prior art have found that there are no similar documents and news reports except inspection robots and transmission line anti-icing remote control automatic spraying robots.

Chinese patent application CN102228876A discloses a transmission line anti-icing remote control automatic spraying robot, including a car body, the upper part of the car body is provided with driving rollers and driven rollers, and also includes a control system, a power module, a brush system and a spraying system. The brush system is set at the front of the car body, the spraying system is set at the rear of the car body, and the control system is equipped with a remote control receiving module. It can walk on the power transmission line, and can control the dual electric spray guns of the robot body on the line through the offline wireless remote control device, and automatically spray anti-icing paint on the surface of the ground wire.

But there are following problems: 1) adopt contact type mechanical rotating hairbrush as cleaning device, also do not adopt chemical reagent, can only clean the accumulated dust on the surface, can't clean the residual oil stain on the wire, the accumulated dust between the thread crevice and Stains such as bird droppings, 2) There is no protective device such as a pressing device, which is prone to accidents such as accidental dropping.

Chinese patent application CN203140222U discloses a live coating robot for anti-icing paint for transmission lines. The robot mainly includes the robot body, control system, power supply system and painting system. The robot body is the skeleton of the robot, which constitutes the installation carrier of each module. The two sides of the body are robot arms. The walking mechanism of the robot and the painting brush assembly in the painting system are installed on the arms. The lower part of the robot body is divided into three areas, where the control system and power supply, storage tank, gasoline engine and liquid pump are respectively installed. But this patent has the following problems: 1) The active roller does not take compression measures such as a compression device, so it cannot walk on a wire with a large inclination angle, and it is also prone to accidental slippage during the anti-icing spraying operation, which affects the quality of spraying anti-icing ;2) The system needs to carry air source and hydraulic pressure source, the system is bulky and heavy, and it is easy to cause leakage due to sealing problems.

Utility model content

The purpose of this utility model is to overcome the above-mentioned deficiencies in the prior art and provide an automatic spraying robot for overhead transmission line insulation paint. The robot adopts a modular structure and design method in order to reduce design costs and improve versatility. Provide efficient, safe and high-quality automatic spraying.

In order to achieve the above object, the utility model adopts the following technical solutions:

An automatic insulating varnish spraying robot for overhead transmission lines, which consists of a number of modular structures, including a mobile car body, a power supply module, an on-board control system, a stirring module, a spraying module and a pressing device. The mobile car body is suspended on On the overhead transmission line, and can move back and forth along the overhead transmission line, the power module, on-board control system and pressing device are installed on the upper connecting plate of the mobile car body, and the mixing module and spraying module are installed on the lower connecting plate of the mobile car body Above; the airborne control system communicates with the ground station through the wireless communication unit, receives the control command sent by the ground station, and sends the detection data back to the ground station;

The mobile car body includes a walking motor, a main support plate, an auxiliary support plate, rollers, an upper connecting plate, an intermediate connecting rod and a lower connecting plate, and a pair of main supporting plates arranged in parallel are connected by two front and rear rollers. The auxiliary support plates arranged in parallel are connected by two front and rear rollers. The walking support is composed of four rollers, the main support plate and the auxiliary support plate. The walking support is suspended on the overhead transmission line through the rollers and can drive the mobile car body to walk. , the lower end of the walking bracket is fixed on the upper connecting plate; the traveling motor is fixed on the main supporting plate, and the output shaft of the traveling motor drives one of the rollers, and the middle position of the lower part of the upper connecting plate is connected with the lower connecting plate through the intermediate connecting rod, transmission shaft and bearing , the mobile car body adopts a segmented form, that is, the upper walking bracket, the middle upper connecting plate and the lower lower connecting plate, and the relative level of the lower connecting plate and the mixing module can still be maintained on the inclined line;

Described stirring module comprises: the motor that plays up and down operation, stirring motor, leading screw, linear slide bar, stirring head, paint bucket support, upper fixed plate, lower movable plate and paint bucket, the motor that moves up and down passes through upper fixed plate Fixed on the lower connecting plate, the output shaft of the motor running up and down is connected with the upper end of the screw, the lower end of the screw is screwed into the threaded hole in the lower movable plate, the upper end of the linear slide rod is fixed on the upper fixed plate, and the lower end passes through the lower movable plate When the motor rotates, it drives the lead screw to rotate, and the lead screw drives the lower movable plate to move up and down along the linear slide bar;

A stirring motor is fixed on the lower movable plate, and a stirring head located in the paint bucket is installed on the end of the output shaft of the stirring motor. There are three proximity switches on one side of the lower connecting plate that can determine the three positions of the lower movable plate, the middle and the lower. The three proximity switches respectively realize the start and stop control of the motor running up and down and the start of the stirring motor. , Stop control.

The spraying module includes: a spraying motor, a plunger pump and a spraying head, the spraying motor and the plunger pump are fixed on the lower connecting plate, and the lower inlet of the plunger pump is located in the paint bucket; The spraying head is two 180° bisected hinged structures, and the middle part is provided with a horizontally through central hole, which is installed on the main support plate and the auxiliary support plate through a mechanical device, and the overhead power line passes through the central hole of the spraying head. It is opposite to the liquid ejection port of the spraying head; the liquid inlet of the spraying head is connected to the plunger pump through the delivery pipeline composed of quick-change joints and pipelines; the spraying motor drives the plunger pump to move through the eccentric wheel, and the stirred insulating paint It is transported to the spraying head through the conveying pipeline, and the insulating paint can be sprayed at a uniform speed and thickness when the moving car body is in motion.

The compression module includes a crank slider mechanism and a compression roller, the crank slider mechanism has a dead point, the compression roller is installed at the end of the slider of the crank slider mechanism, the compression roller and the roller on the transmission shaft driven by the travel motor Press together on the overhead power line to prevent the robot from accidentally falling and sliding on the overhead power line.

The airborne control system includes: a power management chip, a main control MCU, a signal conversion circuit, a DC motor servo driver, a wireless communication module, a sucker antenna and a proximity switch, wherein: a power management chip, a main control MCU, a signal conversion circuit and The wireless communication module is fixed on the PCB circuit board, and the PCB circuit board is fixed on the upper connection board through mechanical connection; the wireless communication module is connected to the main control MCU through the signal line; the DC motor servo driver is fixed on the back of the lower connection board to keep the car body left and right Balanced, connected to the signal conversion circuit and power module on the PCB circuit board through the cable; the suction cup antenna is adsorbed on the main support board by the suction cup, and connected to the wireless communication module through the SMA interface to form a communication loop with the ground station; the proximity switch is fixed on the bottom The connecting board is connected with the signal conversion circuit on the PCB circuit board through the signal line, and provides the location information of the stirring module.

The airborne control system communicates with the ground station through the wireless communication unit, receives the control commands sent by the ground station such as speed, forward, backward, stop motion, stirring, spraying, stop spraying, etc. Detection data is sent back to the ground station.

The power supply module is a lithium-ion power battery installed on the upper connecting plate of the mobile vehicle body, and provides required power for the onboard control system, stirring module and spraying module.

The software in the control system of the utility model is the existing software, for example: the control system in the patent application CN102228876A in the background technology. The improvement of the control system of the present invention lies in the improvement of the hardware, the software is not modified, and the existing software can be directly used, and the software part will not be described in detail here.

Compared with others and the prior art, the beneficial effects of the utility model are: the modular structure design is adopted, the structure is simple, reliable, easy to replace, and the manufacturing cost is low; The upper connecting plate in the middle and the lower connecting plate at the lower part), the relative level of the lower connecting plate and the stirring module can still be maintained on the inclined line; the stirring module has two drive motors, which can realize efficient, fast and Stir evenly; the overhead transmission line passes through the mechanical center of the spraying head, and sprays the insulating paint at a uniform speed and thickness when the moving car body is moving; the evenly stirred insulating paint is pressurized by the plunger pump and transported to the spraying head through the delivery pipeline. The outlet of the spray head can automatically eliminate the tiny air bubbles accidentally stirred in, so as to avoid the air bubbles in the insulating paint and reduce the insulation performance; the robot control function is decomposed into stirring, starting spraying, stopping spraying, forward, backward, speed adjustment, feedback enabling, feedback Prohibition, etc., can flexibly adjust the robot's walking speed, traveling direction and spraying thickness, and can realize the spraying and thickness control of any transmission line section through the combined control of starting spraying, stopping spraying, and forward and backward functions; The accidental drop of the mobile car body has a certain ability to resist side wind; the control system has a feedback control function, which can grasp the current voltage of the power battery, the current walking speed and the inclination angle of the transmission line in real time; the transmission pipeline is composed of quick-change joints and pipes. Circuit composition, easy to achieve safe sealing and quick replacement.

Description of drawings

Fig. 1 is the whole schematic diagram of an embodiment of the utility model;

Fig. 2 is a schematic diagram of an embodiment mobile car body;

Fig. 3 is a block diagram of an embodiment airborne control system;

Fig. 4 is a schematic diagram of an embodiment stirring module;

Fig. 5 is a schematic diagram of an embodiment spraying module;

Fig. 6 is a schematic diagram of a pressing module of an embodiment.

Among them: 1. Walking motor, 2. Main support plate, 3. Auxiliary support plate, 4. Roller, 5. Upper connecting plate, 6. Intermediate connecting rod, 7. Lower connecting plate, 8. Power management chip, 9. Main control MCU, 10. Signal conversion circuit, 11. DC motor servo driver, 12. Wireless communication module, 13. Sucker antenna, 14. Proximity switch, 15. Up and down running motor, 16. Stirring motor, 17. Lead screw, 18. Linear Slider, 19. Mixing head, 20. Paint bucket support, 21. Upper fixed plate, 22. Lower movable plate, 23. Paint bucket, 24. Spraying motor, 25. Piston pump, 26. Spraying head, 27. Conveying Pipeline, 28. four-bar mechanism (slider crank mechanism), 29. pressing roller.

Detailed ways

Below in conjunction with accompanying drawing, the embodiment of the present utility model is described in detail: present embodiment is implemented under the premise of technical solution of the present utility model, has provided detailed implementation and concrete operation process, but protection scope of the present utility model It is not limited to the following examples.

As shown in Figure 1, the present embodiment comprises: mobile car body, power supply module, airborne control system, mixing module, spraying module, pressing device, wherein: mobile car body is suspended on the overhead transmission line, and along the overhead transmission line Movement forward and backward, the power supply module, airborne control system and pressing device are installed on the upper connecting plate, and the mixing module and spraying module are installed on the lower connecting plate. The airborne control system communicates with the ground station through the wireless communication unit, receives control commands such as speed, forward, backward, stop motion, stirring, spraying, and stop spraying sent by the ground station, and transmits the operating speed, current voltage of the power module, distribution network wire The detection data such as inclination angle are sent back to the ground station.

As shown in Figure 2, described mobile car body comprises: traveling motor 1, main support plate 2, auxiliary support plate 3, roller 4, upper connecting plate 5, middle connecting rod 6, lower connecting plate 7 etc. Wherein: the traveling motor 1 is fixed on the main support plate 2, and the four rollers are respectively fixed on two sets of walking supports composed of the main support plate 2 and the auxiliary support plate 3, and the walking supports are suspended on the overhead transmission line to drive the mobile car body walk. The upper connecting plate 5 is connected with the lower connecting plate 7 through the intermediate connecting rod 6, transmission shaft and bearing, etc., forming a mobile vehicle body in which the lower connecting plate 7 can relatively maintain a level.

As shown in Figure 3, described airborne control system comprises: power management chip 8, main control MCU9, signal conversion circuit 10, DC motor servo driver 11, wireless communication module 12, sucker antenna 13, proximity switch 14, wherein: The power management chip 8, the main control MCU 9, the signal conversion circuit 10 and the wireless communication module 12 are fixed on the PCB circuit board, and then fixed on the upper connecting plate 5 through mechanical connection. The wireless communication module 12 is connected with the main control MCU 9 through a signal line. The DC motor servo driver 11 is fixed on the back side of the lower connecting plate 7 to keep the left and right balance of the car body, and is connected with the signal conversion circuit 10 and the power module on the PCB circuit board by cables. The suction cup antenna 13 is adsorbed on the main support plate 2 by the suction cup, and connected with the wireless communication module 12 through the SMA interface, forming a communication loop with the ground station. The proximity switch 14 is fixed on the lower connecting plate 7, and is connected to the signal conversion circuit 10 on the PCB circuit board through a signal line to realize a position detection function.

As shown in Figure 4, described mixing module comprises: running motor 15 up and down, stirring motor 16, leading screw 17, linear slide bar 18, stirring head 19, paint bucket support 20, upper fixed plate 21, lower movable plate 22 and Paint bucket 23 etc., wherein: motor running up and down passes 15 through upper fixed plate 21 and is fixed on the lower connecting plate 7, drives leading screw 17 to rotate when rotating, and leading screw 17 drives lower movable plate 22 to move along linear slide bar 18 again. The stirring motor 16 on the lower movable plate 22 rotates, drives the stirring head 19 to rotate, and realizes the stirring of the insulating paint. The upper, middle and lower positions of the lower movable plate 22 are determined by the proximity switch 14, which respectively realize the start and stop control of the up and down running motor 15 and the start and stop control of the stirring motor 16. The paint bucket 23 is fixed on the lower connecting plate 7 by the paint bucket bracket 20, and the stirring head 19 is positioned in the paint bucket 23.

As shown in Figure 5, described spraying module comprises: spraying motor 24, plunger pump 25, spraying head 26, wherein: spraying motor 24 and plunger pump 25 are fixed on the lower connecting plate 7, and plunger pump 25 lower inlets are positioned at Inside the paint bucket 23. The spraying head 26 is two 180° bisected hinge structures, and the middle part is provided with a mechanical center hole that runs through it horizontally. The spraying head 26 is connected with the main support plate 2 and the auxiliary support plate 3 through a mechanical device, and the distribution network wire passes through the mechanical center hole. Pass. The spraying head 26 is connected to the plunger pump 25 through a delivery pipeline 27 composed of quick-change joints and pipelines. The spraying motor 24 drives the plunger pump 25 to move through the eccentric wheel, and transports the stirred insulating paint to the spraying head 26 through the delivery pipeline 27, and realizes uniform speed and uniform thickness insulating paint spraying when the moving car body is in motion.

As shown in Figure 6, described compression module comprises: four-bar mechanism (slider crank mechanism) 28 and compression roller 29, wherein: four-bar structure 28 has dead point, and compression roller 29 is installed at the end of four-bar mechanism , and the rollers on the transmission shaft driven by the walking motor 1 are pressed together on the overhead transmission line to prevent the robot from accidentally falling and sliding on the overhead transmission line.

Although the specific implementation of the utility model has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the utility model. Those skilled in the art should understand that on the basis of the technical solution of the utility model, those skilled in the art do not need to Various modifications or deformations that can be made with creative efforts are still within the protection scope of the present utility model.

Claims (5)

1. An overhead transmission line insulating paint automatic spraying robot is characterized in that it is made up of several module structures, and the module structure includes a mobile car body, a power supply module, an airborne control system, a stirring module, a spraying module and a pressing device , the mobile car body is suspended on the overhead power transmission line, and can move back and forth along the overhead power transmission line. The lower connecting plate of the car body; the airborne control system communicates with the ground station through the wireless communication unit, receives the control command sent by the ground station, and sends the detection data back to the ground station; The mobile car body includes a walking motor, a main support plate, an auxiliary support plate, rollers, an upper connecting plate, an intermediate connecting rod and a lower connecting plate, and a pair of main supporting plates arranged in parallel are connected by two front and rear rollers. The auxiliary support plates set in parallel are connected by two front and rear rollers. The walking support is composed of the rollers, the main support plate and the auxiliary support plate. The walking support is suspended on the overhead transmission line through the rollers and can drive the mobile car body to walk. The lower end of the bracket is fixed on the upper connecting plate; the traveling motor is fixed on the main supporting plate, and the output shaft of the traveling motor drives one of the rollers. The car body adopts a segmented form, that is, the upper walking bracket, the middle upper connecting plate and the lower lower connecting plate, so that the relative level of the lower connecting plate and the mixing module can still be maintained on the inclined line; The spraying module includes: a spraying motor, a plunger pump and a spraying head, the spraying motor and the plunger pump are fixed on the lower connecting plate, and the lower inlet of the plunger pump is located in the paint bucket; the spraying head is two 180 ° split hinged structures, There is a central hole through the middle part, the spraying head is installed on the main support plate and the auxiliary support plate through a mechanical device, and the overhead power line passes through the central hole of the spraying head, and the central hole is opposite to the liquid ejection port of the spraying head; The liquid inlet of the head is connected to the plunger pump through the quick-change joint and the pipeline; the spraying motor drives the plunger pump to move through the eccentric wheel, and the stirred insulating paint is transported to the spray head through the quick-change joint and the pipeline, and the moving car body Realize uniform speed and uniform thickness of insulating paint spraying during movement. 2. overhead power transmission line insulation varnish automatic spraying robot as claimed in claim 1, is characterized in that, described stirring module comprises: the motor that plays up and down operation effect, stirring motor, leading screw, linear slide bar, stirring head, paint bucket Bracket, upper fixed plate, lower movable plate and paint bucket, the motor running up and down is fixed on the lower connecting plate through the upper fixed plate, the output shaft of the motor running up and down is connected with the upper end of the lead screw, and the lower end of the lead screw is screwed into the thread In the hole, the upper end of the linear slider is fixed on the upper fixed plate, and the lower end passes through the guide hole of the lower movable plate. When the motor rotates, it drives the screw to rotate, and the screw drives the lower movable plate to move up and down along the linear slider; A stirring motor is fixed on the lower movable plate, and a stirring head located in the paint bucket is installed on the end of the output shaft of the stirring motor. There are three proximity switches on one side of the lower connecting plate that can determine the three positions of the lower movable plate, the middle and the lower. The three proximity switches respectively realize the start and stop control of the motor running up and down and the start of the stirring motor. , Stop control. 3. The automatic spraying robot for insulating varnish on overhead transmission lines as claimed in claim 1, wherein the pressing module comprises a crank slider mechanism and a pressing roller, and the crank slider mechanism has a dead point, and the pressing roller is installed At the end of the slider of the slider crank mechanism, the pressing roller and the roller on the transmission shaft driven by the traveling motor are pressed together on the overhead transmission line to prevent the robot from accidentally falling and sliding on the overhead transmission line. 4. overhead transmission line insulating varnish automatic spraying robot as claimed in claim 1, it is characterized in that, described airborne control system comprises: power management chip, main control MCU, signal conversion circuit, dc motor servo driver, wireless communication Module, sucker antenna and proximity switch, wherein: power management chip, main control MCU, signal conversion circuit and wireless communication module are fixed on the PCB circuit board, and the PCB circuit board is fixed on the upper connection board through mechanical connection; the wireless communication module passes The signal line is connected to the main control MCU; the DC motor servo driver is fixed on the back of the lower connecting plate to maintain the left and right balance of the car body, and is connected to the signal conversion circuit and power module on the PCB circuit board through a cable; the suction cup antenna is adsorbed on the main support board by the suction cup , connected to the wireless communication module through the SMA interface to form a communication loop with the ground station; the proximity switch is fixed on the lower connecting plate, and connected to the signal conversion circuit on the PCB circuit board through the signal line to provide the position information of the stirring module. 5. the automatic spraying robot of overhead transmission line insulating varnish as claimed in claim 1, is characterized in that, described power supply module is the lithium-ion power battery installed on the upper connecting plate of mobile car body, is airborne control system, Stirring module and spraying module provide the required power.