CN207344573U - A kind of full-automatic powered cleaning Substation Insulator string robot - Google Patents
A kind of full-automatic powered cleaning Substation Insulator string robot Download PDFInfo
- Publication number
- CN207344573U CN207344573U CN201721457643.4U CN201721457643U CN207344573U CN 207344573 U CN207344573 U CN 207344573U CN 201721457643 U CN201721457643 U CN 201721457643U CN 207344573 U CN207344573 U CN 207344573U
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- CN
- China
- Prior art keywords
- gripper
- cleaning
- full
- cylinder
- insulator string
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of full-automatic powered cleaning Substation Insulator string robot, include motion parts, support section and cleaning part successively from the bottom to top；Motion parts include cylinder, and cylinder lower end is provided with multiple universal wheels, and some line walking sensors are additionally provided with cylinder；Support section includes the electric elevating rack and electric pushrod for being arranged at the cylinder top face；Cleaning part point includes gripper and dry-ice blast device with rotating brushes, gripper includes two double-layer arc grippers, sub-pieces can be coated after closure, crawler tracks are provided between double-deck gripper, rotating brushes is fixed on the crawler tracks in order to be moved with crawler tracks in gripper；Dry-ice blast device connection playpipe one end, the playpipe other end are extended between two grippers.The full-automatic powered cleaning Substation Insulator string robot of the utility model, can comprehensive cleaning insulator, and the security risk for avoiding water from cleaning.
Description
Technical field
It the utility model is related to a kind of full-automatic powered cleaning Substation Insulator string robot.
Background technology
High-voltage transmission line insulator is chronically exposed in natural environment, especially in industrial, coastal and salt-soda soil region,
It is subject to industrial waste gas, seawater or the saline and alkaline, dust of nature etc. to act on, filthy accumulation can be formed in insulator surface.Although power transformation
Station, which takes, to be strengthened insulation configuration, installs auxiliary full skirt, insulator surface coating silicon oil and silicone grease additional, applies antifouling work organic coating etc.
Many measures, but corona even pollution flashover trip phenomenon often occurs.Cause very big economic loss and security risk.
Found by investigation, could not realize that research and development are a in many substations always and specially insulator chain is cleaned
Robot, and for cleaning the dirt on insulator chain, substation still uses more original cleaning program at present, for example：
(1), power cuts to limit consumption, manually upper shaft tower scouring；
(2), several workers shoulder high-pressure spray gun hydro-peening；
(3), using multiple nozzles and a variety of detergent of carrying；
(4), the cleaning that large volume cleaning equipment carries out insulator chain and place is operated；
The problems such as the above method is low there is work efficiency, and cleaning quality is poor, and safety in production hidden danger is more.If use
Large-scale cleaning equipment is limited be subject to substation's Code in Hazardous Special Locations again.
The patent application of Application No. 201621219222.3 discloses a kind of Substation Insulator string cleaning robot, bag
Electric caterpillar band car is included, electric caterpillar band car upper end is installed with platform, electric elevating rack is provided with platform, electric elevating rack
Bottom is fixed on platform, one end of the top connection motor machine arm of electric elevating rack, the other end of motor machine arm
Motor machinery claw is connected, rotating brushes is installed in motor machinery claw, has water tank and electric pushrod on platform, electric pushrod is used for
Drive the lifting action of the electric elevating rack；Camera is installed on motor machine arm；Electric caterpillar band car, electric elevating rack,
Motor machine arm, motor machinery claw, electric pushrod, rotating brushes and water pump connect controller respectively.
Above-mentioned Substation Insulator string cleaning robot needs power-off to clean when in use, and uses high-pressure washing,
There are security risk, and hairbrush is installed in gripper end, and clean range is limited, and efficiency is low.
Utility model content
In order to solve the above-mentioned technical problem, it is exhausted to be to provide a kind of full-automatic powered cleaning substation for the purpose of this utility model
Edge substring robot.
In order to solve the above technical problems, the utility model adopts the following technical solution：
A kind of full-automatic powered cleaning Substation Insulator string robot, including motion parts support section and cleaning part
Point；
The motion parts include cylinder, and the cylinder lower end is provided with multiple universal wheels, is additionally provided with the cylinder
Some line walking sensors；
The support section includes the electric elevating rack and electric pushrod for being arranged at the cylinder top face；
The cleaning part point includes gripper and dry-ice blast device with rotating brushes, and the gripper includes two pairs
Layer circular arc gripper, can coat sub-pieces after closure, crawler tracks, the rotation are provided between double-deck gripper
The lower end of hairbrush between the crawler tracks in order to being moved with the roller on crawler tracks in gripper；It is described dry
Ice injection apparatus connection playpipe one end, the playpipe other end are extended between two grippers；
On the pedestal, the pedestal lower end is fixedly installed in by motor-driven ball-screw for the cleaning part,
The ball-screw and motor are fixedly installed on base, and the floor installation is in the support section top.
Further, the inner barrel is provided with robot control chip STM32 and Bluetooth chip, the Bluetooth chip
The input terminal of control chip STM32 is connected, the inner barrel is placed with driving motor, and leaves the position of placing battery, described
USB jack and battery charging port are equipped with barrel lateral plate.
Further, the line walking sensor includes 8 passage gray-scale sensors, infrared distance sensor, angular transducer,
Line walking sensor is installed on the bottom of the cylinder, the input terminal of each sensor output connection control chip STM32.
Further, the motion parts are powered by built-in rechargeable battery, and the cleaning part is powered by high voltage power supply.
Further, the cylinder and electric elevating rack use glass fiber compound material.
Further, the crawler tracks are driven by the motor of gripper end.
Compared with prior art, the advantageous effects of the utility model：The robot can be in the case of without having a power failure
Carry out the cleaning of insulator chain, it is ensured that the personal safety of power worker, while improve work efficiency and will not produce
Secondary pollution；Gripper includes two double-layer arc grippers, can coat sub-pieces after closure, be set between double-deck gripper
Be equipped with crawler tracks, rotating brushes lower end between the crawler tracks in order to be moved with crawler tracks in gripper,
It can meet to clean insulator in the range of 360 °, improve cleaning efficiency and quality.Rotating brushes cleaning is coordinated using dry ice blasting,
The thin layer of dry ice particles, effectively insulation can be formed in insulator surface.
Brief description of the drawings
The utility model is described in further detail for explanation below in conjunction with the accompanying drawings.
Fig. 1 is the full-automatic powered cleaning Substation Insulator string robot front view of the utility model；
Fig. 2 is the full-automatic powered cleaning Substation Insulator string robot side view of the utility model；
Fig. 3 is the full-automatic powered cleaning Substation Insulator string robot top view of the utility model；
Fig. 4 is the structure diagram of gripper；
Description of reference numerals：1- cylinders；2- universal wheels；3- electric elevating racks；4- electric pushrods；5- ball-screws；6- electricity
Machine；7- dry-ice blast devices；8- grippers；9- playpipes；10- rotating brushes；11- line walking sensors；12- pedestals；13- bottoms
Seat；14- crawler tracks；15- rollers；16- motors.
Embodiment
As shown in Figures 1 to 4, a kind of full-automatic powered cleaning Substation Insulator string robot, including motion parts support
Part and cleaning part；
The motion parts include cylinder 1, and 1 lower end of cylinder is provided with multiple universal wheels 2, is also set on the cylinder 1
It is equipped with some line walking sensors 11；
The support section includes the electric elevating rack 3 and electric pushrod 4 for being arranged at the cylinder top face；
The cleaning part point includes gripper 8 and dry-ice blast device 7 with rotating brushes 10, and the gripper 8 includes
Two double-layer arc grippers, can coat sub-pieces after closure, crawler tracks 14 are provided between double-deck gripper, described
Crawler tracks 14 are driven by the rotating motor 16 of gripper end, 10 lower end of rotating brushes between crawler tracks 14 so as to
Moved under the drive in the roller 15 of crawler tracks in gripper 8, brush section extends to the top of gripper 8, gripper
Upper end is reserved with the arcuate socket of convenient reciprocating motion；The dry-ice blast device 7 connects 9 one end of playpipe, and the playpipe 9 is another
One end is extended between two grippers 9；
On pedestal 12,12 lower end of pedestal is fixedly installed in the ball wire driven by motor 6 for the cleaning part
On thick stick 5, the ball-screw 5 and motor 6 are fixedly installed on base 13, and the base 13 is installed on the support section top
End.
Wherein, the cylinder 1 is internally provided with robot control chip STM32 and Bluetooth chip, and the Bluetooth chip connects
The input terminal of control chip STM32 is connect, the inner barrel is placed with driving motor, and leaves the position of placing battery, the cylinder
USB jack and battery charging port are equipped with the plate of side.The line walking sensor 11 includes 8 passage gray-scale sensors, infrared distance measurement
Sensor, angular transducer, line walking sensor are installed on the bottom of the cylinder, each sensor output connection control core
The input terminal of piece STM32.The motion parts are powered by built-in rechargeable battery, and the cleaning part is powered by high voltage power supply.
As needed, the cylinder and electric elevating rack use glass fiber compound material.
The action process of the utility model is as follows：
Electric elevating rack is folded into minimum constructive height, is now in no clean state, robot is in this state status by line walking
The lower stabilization of sensor guiding is moved to purpose insulator chain；
Purpose insulator chain to be reached, robot halt, crane angle change, are at this time propradation；Machinery
Pawl is sent to purpose height, manipulator expansion larger angle in this case, and is promoted by driving stepper motor ball-screw
Advance, the top sub-pieces of gripper latch closure, dry-ice blast device injection dry ice, rotating brushes is with crawler tracks working in reciprocating mode
Start to clean；
Clean this layer of sub-pieces to finish, gripper expansion maximum angle, electric elevating rack declines corresponding sub-pieces
Away from a piece of insulator under gripper latch closure, opens cleaning；
Cleaning finishes, and closes dry-ice blast device, closes rotating brushes；Gripper opens maximum angle, passes through stepping electricity
Machine driving ball-screw promotes, and returns to gripper in situ, and electric elevating rack, which declines, is folded to minimum angles, recovers walking shape
State, so as to fulfil assignment.
Rotating brushes can be driven by the crawler tracks in gripper and be moved back and forth so as to complete 360 ° clear in cleaning process
Wash work.
Embodiment described above is only that the preferred embodiment of the utility model is described, not to the utility model
Scope is defined, and on the premise of the spirit of the design of the utility model is not departed from, those of ordinary skill in the art are new to this practicality
The various modifications and improvement that the technical solution of type is made, should all fall into the protection domain that the utility model claims book determines
It is interior.
Claims (6)
- A kind of 1. full-automatic powered cleaning Substation Insulator string robot, it is characterised in that：Including motion parts support section With cleaning part；The motion parts include cylinder, and the cylinder lower end is provided with multiple universal wheels, is additionally provided with the cylinder some Line walking sensor；The support section includes the electric elevating rack and electric pushrod for being arranged at the cylinder top face；The cleaning part point includes gripper and dry-ice blast device with rotating brushes, and the gripper includes two double-layer circulars Arc gripper, can coat sub-pieces after closure, crawler tracks, the rotating brushes are provided between double-deck gripper Lower end between the crawler tracks in order to being moved with the roller on crawler tracks in gripper；The dry ice spray Injection device connection playpipe one end, the playpipe other end are extended between two grippers；On the pedestal, the pedestal lower end is fixedly installed in by motor-driven ball-screw, described for the cleaning part Ball-screw and motor are fixedly installed on base, and the floor installation is in the support section top.
- 2. full-automatic powered cleaning Substation Insulator string robot according to claim 1, it is characterised in that：The cylinder Body is internally provided with robot control chip STM32 and Bluetooth chip, the input of the Bluetooth chip connection control chip STM32 End, the inner barrel is placed with driving motor, and leaves the position of placing battery, be equipped with the barrel lateral plate USB jack with Battery charging port.
- 3. full-automatic powered cleaning Substation Insulator string robot according to claim 2, it is characterised in that：It is described to patrol Line sensor includes 8 passage gray-scale sensors, infrared distance sensor, angular transducer, and line walking sensor is installed on the cylinder The bottom of body, the input terminal of each sensor output connection control chip STM32.
- 4. full-automatic powered cleaning Substation Insulator string robot according to claim 2, it is characterised in that：The fortune Dynamic part is powered by built-in rechargeable battery, and the cleaning part is powered by high voltage power supply.
- 5. full-automatic powered cleaning Substation Insulator string robot according to claim 1, it is characterised in that：The cylinder Body and electric elevating rack use glass fiber compound material.
- 6. full-automatic powered cleaning Substation Insulator string robot according to claim 1, it is characterised in that：The shoe Belt track is driven by the motor of gripper end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721457643.4U CN207344573U (en) | 2017-11-06 | 2017-11-06 | A kind of full-automatic powered cleaning Substation Insulator string robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721457643.4U CN207344573U (en) | 2017-11-06 | 2017-11-06 | A kind of full-automatic powered cleaning Substation Insulator string robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207344573U true CN207344573U (en) | 2018-05-11 |
Family
ID=62354444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721457643.4U Expired - Fee Related CN207344573U (en) | 2017-11-06 | 2017-11-06 | A kind of full-automatic powered cleaning Substation Insulator string robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207344573U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108714583A (en) * | 2018-06-08 | 2018-10-30 | 山东鲁能智能技术有限公司 | Substation's support insulator live cleaning system |
| CN112122257A (en) * | 2020-09-08 | 2020-12-25 | 长沙理工大学 | Post insulator dry ice cleaning robot with electrostatic protection function |
| CN112295976A (en) * | 2020-09-29 | 2021-02-02 | 重庆南电科技有限公司 | Porcelain insulator zero-value-measuring cleaning robot and control system |
| CN113414172A (en) * | 2021-07-26 | 2021-09-21 | 广东电网有限责任公司 | Clamping device and automatic cooling and cleaning device |
| CN113681576A (en) * | 2021-09-16 | 2021-11-23 | 广东电网有限责任公司 | Cleaning robot's end module of washing soon |
| CN114535175A (en) * | 2022-01-21 | 2022-05-27 | 北京国电富通科技发展有限责任公司 | Insulator cleaning equipment with cleaning agent circulating and filtering system and using method thereof |
| CN115156122A (en) * | 2022-08-19 | 2022-10-11 | 国网上海市电力公司 | Cleaning claw for converter station insulator decontamination robot |
-
2017
- 2017-11-06 CN CN201721457643.4U patent/CN207344573U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108714583A (en) * | 2018-06-08 | 2018-10-30 | 山东鲁能智能技术有限公司 | Substation's support insulator live cleaning system |
| CN112122257A (en) * | 2020-09-08 | 2020-12-25 | 长沙理工大学 | Post insulator dry ice cleaning robot with electrostatic protection function |
| CN112295976A (en) * | 2020-09-29 | 2021-02-02 | 重庆南电科技有限公司 | Porcelain insulator zero-value-measuring cleaning robot and control system |
| CN113414172A (en) * | 2021-07-26 | 2021-09-21 | 广东电网有限责任公司 | Clamping device and automatic cooling and cleaning device |
| CN113681576A (en) * | 2021-09-16 | 2021-11-23 | 广东电网有限责任公司 | Cleaning robot's end module of washing soon |
| CN114535175A (en) * | 2022-01-21 | 2022-05-27 | 北京国电富通科技发展有限责任公司 | Insulator cleaning equipment with cleaning agent circulating and filtering system and using method thereof |
| CN115156122A (en) * | 2022-08-19 | 2022-10-11 | 国网上海市电力公司 | Cleaning claw for converter station insulator decontamination robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180511 Termination date: 20181106 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |