CN206947853U - A kind of live detection and detection and the clearing apparatus for cleaning integrated robot - Google Patents
A kind of live detection and detection and the clearing apparatus for cleaning integrated robot Download PDFInfo
- Publication number
- CN206947853U CN206947853U CN201720819082.1U CN201720819082U CN206947853U CN 206947853 U CN206947853 U CN 206947853U CN 201720819082 U CN201720819082 U CN 201720819082U CN 206947853 U CN206947853 U CN 206947853U
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- detection
- vertical
- cleaning
- transversely mounted
- frame
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- 238000004140 cleaning Methods 0.000 title claims abstract description 59
- 238000001514 detection method Methods 0.000 title claims abstract description 51
- 238000009434 installation Methods 0.000 claims description 9
- 239000012212 insulator Substances 0.000 abstract description 37
- 239000000428 dust Substances 0.000 abstract description 8
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 4
- 238000010408 sweeping Methods 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 3
- 230000006641 stabilisation Effects 0.000 abstract description 3
- 238000011105 stabilization Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 9
- 230000005611 electricity Effects 0.000 description 7
- 238000009413 insulation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000013043 chemical agent Substances 0.000 description 3
- 230000005684 electric field Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000007664 blowing Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000005108 dry cleaning Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000002000 scavenging effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000000825 ultraviolet detection Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- HBMJWWWQQXIZIP-UHFFFAOYSA-N silicon carbide Chemical compound [Si+]#[C-] HBMJWWWQQXIZIP-UHFFFAOYSA-N 0.000 description 1
- 229910010271 silicon carbide Inorganic materials 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Landscapes
- Cleaning In General (AREA)
Abstract
The utility model discloses a kind of live detection and clean integrated robot detection and clearing apparatus, including vertical mounting bracket, be transversely mounted frame, drive device, clean power set, cleaning brush；Being transversely mounted on frame has downward opening handgrip groove, cleaning power set, which are installed on, to be transversely mounted on frame around handgrip groove physically, frame is transversely mounted to be connected on vertical mounting bracket, drive device makes to be transversely mounted frame to be lifted along vertical mounting bracket, and cleaning brush is installed on the output block for cleaning power set.Motion by cleaning power set drives the dust of cleaning brush cleaning insulator inwall.Being transversely mounted frame simultaneously can be along the stable lifting of vertical mounting bracket, so that be transversely mounted frame avoids insulator when robot translates.With simple in construction, motion stabilization, the advantage that sweeping efficiency is high and effect is good.
Description
Technical field
It the utility model is related to a kind of UHV transmission line robot, and in particular to a kind of live detection and cleaning one
The detection of Ti Hua robots and clearing apparatus.
Background technology
UHV transmission line is in longtime running, and line insulator is not only by rings such as filth, bird pest, ice and snow, high temperature
The influence of border factor, and in the effect for electrically still suffering from highfield, lightning impulse current, power frequency arc electric current so that
Insulator resistance, which reduces, even to be deteriorated.Flashover thing easily occurs when low value in circuit or zero resistance insulator piece number exceed regulation
Therefore influence the circuit even safe and stable operation of power network.Simultaneously as the probability of ultra-high/extra-high voltage transmission line of electricity interruption maintenance is low,
Therefore insulator charged detection in extra high voltage line and cleaning tool are of great significance.
The insulator of the hanging wire form such as super/extra-high transmission line of electricity linear string, V strings easily by gravity, wind speed etc. it is extraneous because
Element influences, and causes insulator chain that sagging occurs.Domestic and international on-line checking robot is climbed during row, and movement locus is easily made
Into little deviation, as detection robot constantly advances, error will be built up.When crawling into certain distance, machine is detected
People can not accurately perform inter-related task, also cause super/extra-high transmission line of electricity to turn into one of technical barrier with detection robot.
Have a power failure and clean generally by manually being cleaned with light instruments such as rag or brushes in power failure equipments.By filthy salt
The influence of close composition, insulator are difficult to clean thoroughly, and have the shortcomings such as labor intensity is big and operating efficiency is low；Simultaneously because
As equipment power failure machine can be fewer and fewer, having a power failure, it is time-bounded strong to clean.
It is by controlling current to rinse insulator that powered water, which cleans, but in wet condition, easily causes personal injury.
Powered air-blowing is cleaned mainly by controlling air-flow to be rinsed and then to insulator, and this method is blown out when applying
Dust or sawdust can cause secondary pollution to insulator.
Powered dry cleaning is to clean brushing with insulation to sweep insulator, but it is served only for cleaning and bonds unstable floating dust.Band
The dry cleaning equipment of electricity has portable flexible axle connection electrification in high voltage cleaning bar and fork truck complete set type electrification in high voltage automatic sweeping machine etc..Before
Person needs the artificial cleaning bar that holds to operate, and labor intensity is big, and applicable voltage class is low, cleans highly low；The latter will lean on fork truck
Mobile to clean direction and distance to adjust, inconvenient for operation, automation is relatively low.
Powered Mechanical Driven chemical agent cleans, and is to rinse insulator dirt with chemical agent first, then with operating club head
Mechanical motor driving cleans insulator, however its to hold the scavenging machine of act heavier, cause operation dumb, easily produce clean it is dead
Angle, a part of suspension insulator for not being vertical hanging over the ground, the scavenging machine will be helpless.
At present, the method for insulator charged detection has spark fork detection method, electric field method, ultrasonic Detection Method, ultraviolet detection
Method, corona pulse method etc..
During the electric transmission line isolator of spark fork detection voltage levels, the sub-pieces number of detection is more, from shaft tower farther out,
Testing staff's working strength is big, and corona phenomenon on transmission line of electricity be present, and the sound of corona can influence spark discharge sound, lead
Causing testing staff, there may be erroneous judgement.
Electric field method is by detecting insulator compared with the Electric Field Distribution situation of normal insulation, to judge the insulation
Whether son is inferior insulator, and this kind of method is stronger to software dependence, and the fine or not compared result influence of software is very big.
Ultrasonic Detection Method goes out inferior insulator by carrying out processing detection to the ultrasonic wave received, can accurately examine
The insulator of cracking is measured, but uncracked insulator is not worked, this kind of method has significant limitation.
The principle of uv detection method, which is that charged particle is compound during shelf depreciation, can release ultraviolet, work as insulator surface
When forming conductivity silicon carbide passage, shelf depreciation aggravation, but testing result is easily influenceed by viewing angle, detection device
Costly.
Corona pulse method is to judge the insulation status of insulator by measuring the method for insulator corona pulse electric current, should
Method is easily influenceed by scene interference, therefore corona pulse electric current may also produce when insulator is normal, and with transmission of electricity
Its value of the fluctuation of line voltage distribution is also changing.Due to environmental factor, insulator surface forms filth, easily triggers pollution flashover thing
Therefore therefore insulator to be cleaned periodically.At present insulator cleaning technology be formally divided into power failure clean, powered water it is clear
Sweep, powered air-blowing clean, it is powered it is dry clean, powered Mechanical Driven chemical agent clean.
Utility model content
Main purpose of the present utility model is that providing one kind can be used for UHV transmission line automatic detection/sweeping machine
The detection of people/cleaning arm assembly, simple in construction, motion stabilization, it is good to clean effect.
This live detection provided by the utility model and detection and the clearing apparatus for cleaning integrated robot, including it is vertical
Formula mounting bracket, it is transversely mounted frame, drive device, cleans power set, cleaning brush；Being transversely mounted on frame has downward opening handgrip
Groove, cleaning power set, which are installed on, to be transversely mounted on frame around handgrip groove physically, is transversely mounted frame and is connected to vertical installation
On frame, drive device is installed on vertical mounting bracket, and drive device makes to be transversely mounted frame along vertical mounting bracket raising and lowering, clearly
Brush is installed on the output block for cleaning power set.
In a kind of embodiment of above-mentioned technical proposal, the vertical mounting bracket includes vertical installing plate and is vertically connected at
The cant board of its top both sides, cant board include outer connecting lever section, the interior connecting lever section of lower end of vertical section and its upper end, vertical section and
There is the chute along its short transverse in outer connecting lever section, corresponded between vertical plates on both sides on the outside of outer connecting lever section and be provided with contiguous block.
In a kind of embodiment of above-mentioned technical proposal, the frame that is transversely mounted includes vertical arm and is attached to end
Horizontal handgrip arm, vertical arm are installed between the vertical plates on both sides of the vertical mounting bracket, and the both sides of vertical arm are respectively perpendicular connection
There is short axle, bearing is connected with short axle, bearing is located in the chute on the cant board, is opened up on the downside of horizontal handgrip arm described
Handgrip groove, handgrip groove are arc-shaped slot, physically have circular orbit around arc-shaped slot.
In a kind of embodiment of above-mentioned technical proposal, the cleaning power set include worm-and-wheel gear, synchronous gear
Wheel and ring gear, synchromesh gear have two, and worm-and-wheel gear has one, worm-and-wheel gear include a worm screw and and its
Engagement two worm gears, the installation coaxial with two worm gears respectively of two synchromesh gears, two synchromesh gears respectively with ring gear
Engagement.
In a kind of embodiment of above-mentioned technical proposal, the side wall of the ring gear is fluted, and ring gear passes through recessed
Groove is installed on the circular orbit.
In a kind of embodiment of above-mentioned technical proposal, the end of the circular orbit avoids the ring gear from dropping
Spacing convex body.
In a kind of embodiment of above-mentioned technical proposal, the synchromesh gear is symmetrically arranged on the handgrip groove top portion both sides
Physically, engaged respectively with ring gear.
In a kind of embodiment of above-mentioned technical proposal, the worm-and-wheel gear is transversely mounted the perpendicular of frame perpendicular to described
Straight-arm is arranged in the top of the horizontal handgrip arm, and corresponding installation cavity is arranged at the top of horizontal handgrip arm, and worm screw is connected with driving
Motor.
In a kind of embodiment of above-mentioned technical proposal, the drive device is electric pushrod, is installed on the vertical peace
The bottom shelved, the push rod head of electric pushrod are connected as a single entity with the vertical arm lower end for being transversely mounted frame.
In a kind of embodiment of above-mentioned technical proposal, the both sides of the ring gear are respectively mounted cleaning brush.
The present apparatus is installed on vertical mounting bracket and is transversely mounted frame, and the downside for being transversely mounted frame sets downward opening handgrip
Groove, cleaning power set are installed on and are transversely mounted on frame around handgrip groove physically, cleaning brush, which is installed on, cleans power dress
On the output block put, the motion by cleaning power set drives the dust of cleaning brush cleaning insulator inwall.Laterally simultaneously
Mounting bracket can be along the stable lifting of vertical mounting bracket, so that be transversely mounted frame avoids insulator when robot translates.With knot
The advantage that structure is simple, motion stabilization, sweeping efficiency are high.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model one embodiment.
Fig. 2 is the enlarged diagram (removing cover plate) that frame is transversely mounted in Fig. 1.
Fig. 3 is Fig. 2 schematic top plan view.
Fig. 4 is the E-E schematic diagrames in Fig. 3.
Fig. 5 is Fig. 2 axle side schematic diagram.
Fig. 6 is Fig. 1 axle side schematic diagram.
Embodiment
As shown in figure 1, detection and the cleaning dress of this live detection disclosed in the present embodiment and cleaning integrated robot
Put, including vertical mounting bracket 1, the drive device 3 for being transversely mounted frame 2, being transversely mounted frame lifting, cleaning power set 4, cleaning brush
(being not drawn into figure).
It will be seen from figure 1 that vertical mounting bracket 1 includes vertical installing plate 11 and is vertically connected at the vertical installing plate 11 in bottom
The cant board 12 of top both sides.Cant board 12 includes the interior connecting lever section of vertical section and its both ends and outer connecting lever section, interior connecting lever section
In the lower end of vertical section, outer connecting lever section is located at the upper end of vertical section.There is the cunning along its short transverse in vertical section and outer connecting lever section
Groove 121.Between vertical plates on both sides 12 contiguous block 122 is provided with the outside of corresponding outer connecting lever section.
With reference to shown in Fig. 1 and Fig. 2, being transversely mounted frame 2 includes vertical arm 21 and is connected to the horizontal handgrip of vertical arm upper end
Arm 22, vertical arm 21 are installed between the vertical plates on both sides 12 of vertical mounting bracket 1, the both sides of vertical arm 21 be respectively perpendicular be connected with it is short
Axle 211, bearing 212 is connected with short axle, bearing 212 is located in the chute on cant board.
The drive device 3 of the present embodiment uses electric pushrod.The electricity of electric pushrod is can be seen that with reference to Fig. 1, Fig. 2 and Fig. 6
Machine and body are installed on vertical installing plate 11, and the upper end of push rod is connected as a single entity with being transversely mounted the lower end of vertical arm 21 of frame 2.
The horizontal bottom of handgrip arm 22 for being transversely mounted frame 2 is can be seen that with reference to Fig. 2, Fig. 4 and Fig. 6 downward opening ring
Shape handgrip groove, physically there is twice circular orbit around annular handgrip groove.Cleaning power set 4 includes worm-and-wheel gear
41st, synchromesh gear 42 and ring gear 43, synchromesh gear 42 have two, and worm gear Worm gear mechanism 41 has one.Cleaning brush is installed on
The both sides of ring gear.The side wall fluted 431 of ring gear 43, ring gear 43 is installed on circular orbit by groove,
There is the convex body (being not drawn into figure) for avoiding ring gear from dropping the end of circular orbit.Two synchromesh gears 42 are symmetrically arranged on ring
Physically, engaged respectively with ring gear 43 shape handgrip groove top portion both sides.Worm-and-wheel gear 41 is perpendicular to vertical arm plate 21
It is arranged in the installation cavity on the horizontal top of handgrip arm 22, including a worm screw 411 and two worm gears 412 with worm engaging, two
Individual worm gear connects motor 413 with 42 coaxial installation of synchromesh gear, worm screw 411 respectively.In order to be further ensured that ring gear
Kinetic stability, horizontal handgrip arm outside set cover plate 221, cover plate inner side set one of circular orbit, in ring
Outside setting and the corresponding groove of circular orbit setting of shape gear, can clearly find out, ring gear 43 and horizontal stroke from Fig. 5 and Fig. 6
Assembled between mounting bracket 2 by three circular orbits and groove.
The function of detection/cleaning arm assembly includes the dust that insulator resistance detects and cleans insulator surface, first to exhausted
The measurement that edge carries out resistance cleans dust again, and cleaning carries out one-shot measurement after terminating, contrasted before and after measurement again, checks clear
The clean situation swept.
Detection circuit is installed on detection cleaning arm., need to be with the clamping limb of robot when carrying out the detection of insulator resistance
Coordinate, when forming measure loop between clamping limb and detection/cleaning arm, by detecting the insulator on the circuit measure loop
Resistance, and so on.
When being cleaned, the rotation of worm screw drives two worm gear wheels simultaneously, and two worm gears drive synchronous gear to rotate simultaneously
It is dynamic, so that ring gear rotates.Cleaning brush cleans up the dust for cleaning insulator surface with the rotation of ring gear.
It is transversely mounted because cleaning power set are installed on frame, it is steady using the configuration of worm and gear and gear train, motion
It is fixed, it is simple in construction, cleaning brush is installed on to the side of ring gear, cleaning brush is done major diameter gyration, cleans dust
It is good to imitate efficiency high, effect.
The operation principle of the present apparatus is as follows：Electric pushrod promotes the vertical arm for being transversely mounted frame on vertical mounting bracket top
Rise in chute or decline, realization is transversely mounted the change that frame laterally grabs arm altitude, during decline, handgrip groove is caught insulation
Sub- steel cap, into detection/cleaning state, during rising, make to be transversely mounted frame and avoid insulator when robot moves.Vertical installation
The outer connecting lever of frame cant board upper design can expand the rising rotation angle range of horizontal handgrip arm, the present apparatus is applicable to not
Isolator detecting and cleaning with disk footpath.
Claims (10)
1. a kind of live detection and detection and the clearing apparatus for cleaning integrated robot, it is characterised in that：The device includes vertical
Formula mounting bracket, it is transversely mounted frame, drive device, cleans power set, cleaning brush；Being transversely mounted on frame has downward opening handgrip
Groove, cleaning power set, which are installed on, to be transversely mounted on frame around handgrip groove physically, is transversely mounted frame and is connected to vertical installation
On frame, drive device is installed on vertical mounting bracket, and drive device makes to be transversely mounted frame along vertical mounting bracket raising and lowering, clearly
Brush is installed on the output block for cleaning power set.
2. live detection as claimed in claim 1 and detection and the clearing apparatus for cleaning integrated robot, it is characterised in that：
The vertical mounting bracket includes the cant board of vertical installing plate and vertical connection portion both sides thereon, cant board include vertical section and
The outer connecting lever section of its upper end, the interior connecting lever section of lower end, there is the chute along its short transverse in vertical section and outer connecting lever section, two is edge-on
Between plate contiguous block is provided with the outside of corresponding outer connecting lever section.
3. live detection as claimed in claim 2 and detection and the clearing apparatus for cleaning integrated robot, it is characterised in that：
The frame that is transversely mounted includes vertical arm and is attached to the horizontal handgrip arm at end, and vertical arm is installed on the vertical mounting bracket
Vertical plates on both sides between, the both sides of vertical arm, which are respectively perpendicular, is connected with short axle, and bearing is connected with short axle, and bearing is located at the side
In chute on riser, the handgrip groove is opened up on the downside of horizontal handgrip arm, handgrip groove is arc-shaped slot, around arc-shaped slot
Physically there is circular orbit.
4. live detection as claimed in claim 3 and detection and the clearing apparatus for cleaning integrated robot, it is characterised in that：
The cleaning power set include worm-and-wheel gear, synchromesh gear and ring gear, and synchromesh gear has two, worm and gear machine
Structure has one, and worm-and-wheel gear includes a worm screw and two worm gears engaged, two synchromesh gears respectively with two
The coaxial installation of worm gear, two synchromesh gears engage with ring gear respectively.
5. live detection as claimed in claim 4 and detection and the clearing apparatus for cleaning integrated robot, it is characterised in that：
The side wall of the ring gear is fluted, and ring gear is installed on the circular orbit by groove.
6. live detection as claimed in claim 5 and detection and the clearing apparatus for cleaning integrated robot, it is characterised in that：
There is the spacing convex body for avoiding the ring gear from dropping the end of the circular orbit.
7. live detection as claimed in claim 6 and detection and the clearing apparatus for cleaning integrated robot, it is characterised in that：
The synchromesh gear is symmetrically arranged on the handgrip groove top portion both sides physically, is engaged respectively with ring gear.
8. live detection as claimed in claim 7 and detection and the clearing apparatus for cleaning integrated robot, it is characterised in that：
The worm-and-wheel gear is arranged in the top of the horizontal handgrip arm perpendicular to the vertical arm for being transversely mounted frame, laterally grabs
Corresponding installation cavity is arranged at the top of arm, and worm screw is connected with motor.
9. live detection as claimed in claim 3 and detection and the clearing apparatus for cleaning integrated robot, it is characterised in that：
The drive device is electric pushrod, is installed on the bottom of the vertical mounting bracket, push rod head and the horizontal stroke of electric pushrod
It is connected as a single entity to the vertical arm lower end of mounting bracket.
10. the detection of live detection as claimed in claim 4 and cleaning integrated robot and clearing apparatus, its feature exist
In：The both sides of the ring gear are respectively mounted the cleaning brush.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720819082.1U CN206947853U (en) | 2017-07-07 | 2017-07-07 | A kind of live detection and detection and the clearing apparatus for cleaning integrated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720819082.1U CN206947853U (en) | 2017-07-07 | 2017-07-07 | A kind of live detection and detection and the clearing apparatus for cleaning integrated robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206947853U true CN206947853U (en) | 2018-01-30 |
Family
ID=61368338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720819082.1U Withdrawn - After Issue CN206947853U (en) | 2017-07-07 | 2017-07-07 | A kind of live detection and detection and the clearing apparatus for cleaning integrated robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206947853U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107104389A (en) * | 2017-07-07 | 2017-08-29 | 国网湖南省电力公司带电作业中心 | A kind of live detection and detection and the clearing apparatus for cleaning integrated robot |
| CN110893594A (en) * | 2019-10-12 | 2020-03-20 | 天津大学 | Fan impeller mounting and butt joint method |
-
2017
- 2017-07-07 CN CN201720819082.1U patent/CN206947853U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107104389A (en) * | 2017-07-07 | 2017-08-29 | 国网湖南省电力公司带电作业中心 | A kind of live detection and detection and the clearing apparatus for cleaning integrated robot |
| CN107104389B (en) * | 2017-07-07 | 2018-08-07 | 国网湖南省电力公司带电作业中心 | A kind of detection and the clearing apparatus of live detection and cleaning integrated robot |
| CN110893594A (en) * | 2019-10-12 | 2020-03-20 | 天津大学 | Fan impeller mounting and butt joint method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180130 Effective date of abandoning: 20180807 |
|
| AV01 | Patent right actively abandoned |