CN211100401U - Cleaning robot's insulation detecting system - Google Patents

Abstract

The utility model provides an insulating detecting system of cleaning machines people, including controlling means, cleaning machines people includes shell subassembly, lift system, washing liquid circulation system, electrical system, washing liquid circulation system includes booster pump and water tank, the delivery port of water pump sets up first detector, and lift system includes the shower nozzle, and the shower nozzle passes through the hose connection with booster pump, shower nozzle department sets up the second detector, first detector and second detector and electrical system's circuit board connection by wire, controlling means's display screen is used for showing the data of cleaning machines people's conveying, data include the numerical value that the detector was listened. The utility model has the advantages that: when live working is detected through a plurality of resistance probes, the cleaning liquid has a conductive phenomenon, and the human body is prevented from being injured by high-voltage electric arcs when approaching through observation data early warning.

Description

Cleaning robot's insulation detecting system

Technical Field

The utility model relates to a power equipment field, in particular to power equipment's cleaning robot's insulation detecting system.

Background

In the long-term continuous operation process of the power equipment, various dusts, moisture, oil smoke, acid gas, salt, metal dust, static electricity and various charged particles are deposited on the surface of the equipment through physical adsorption, the gravity action of the particles is deposited on the surface of the equipment, the heat dissipation capability of the equipment is reduced, the operation quality and the operation reliability of the equipment are influenced, the pollutants form an additional microcircuit effect on circuits in the equipment to cause a corrosion-retarding effect, and faults of poor contact, impedance reduction, electric leakage, short circuit, error codes, bad plates and the like of the equipment are caused to different degrees, and the outdoor high-voltage electric equipment working for a long time is also influenced by exposure to the sun, wind blowing and rain in addition to the factors.

The existing cleaning method comprises power-off manual cleaning and live-line work cleaning, and although the cost of the power-off manual cleaning is low, the economic loss caused by power failure is very large and is slowly eliminated at present. The existing hot-line work cleaning is carried out through manpower, and the cleaning mode is to spray cleaning liquid to the power distribution equipment through a handheld spraying device to remove dirt on the surface of the equipment. The operation of this mode is vulnerable to high voltage arcing. Another important cause of high-voltage arcing, in addition to improper operation, is component failure or electrical leakage.

SUMMERY OF THE UTILITY MODEL

One of the purposes of the utility model is to reduce the personnel injury that high-voltage arc caused, through set up a plurality of sensors in equipment inside to show sensor value in real time, make the technical staff discover unusually early, be through following technical scheme realization.

The utility model provides an insulating detecting system of cleaning machines people, includes controlling means, cleaning machines people includes plate shell subassembly, liter system, washing liquid circulation system, electrical system, washing liquid circulation system includes booster pump and water tank, the delivery port of water pump sets up first detector, and liter system includes the shower nozzle, and the shower nozzle passes through the hose connection with booster pump, shower nozzle department sets up the second detector, first detector and second detector and electrical system's circuit board connection by wire, controlling means's display screen is used for showing the data that cleaning machines people conveyed, data includes the numerical value that the detector was listened.

Further, the first detector and the second detector are probes of an oscilloscope.

Furthermore, the probe of the first detector is arranged on the inner side of the pipeline of the water outlet of the water pump and penetrates through the pipeline wiring to be connected with the circuit board.

Furthermore, the probe of the second detector is arranged on the inner side of the spray head and penetrates through the spray head wiring to be connected with the circuit board.

Furthermore, the display screen respectively displays the values detected by the first detector and the second detector, and whether a fault exists is judged through value comparison.

The utility model has the advantages that: when live working is detected through a plurality of resistance probes, the cleaning liquid has a conductive phenomenon, and the human body is prevented from being injured by high-voltage electric arcs when approaching through observation data early warning.

Drawings

Fig. 1 is a schematic structural view of the cleaning robot of the present invention.

Fig. 2 is a schematic structural diagram of the detector of the present invention disposed on the spray head.

Fig. 3 is a schematic structural diagram of the detector of the present invention disposed on the water tank pipeline.

Fig. 4 is a schematic diagram of a frame line structure of the control device of the present invention.

Detailed Description

The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.

In an embodiment of the present invention, as shown in fig. 1 to 3, an insulation detecting system of a cleaning robot for an electric power device includes: cleaning machines people and controlling means, controlling means and cleaning machines people communication, cleaning machines people is mobilizable robot, cleaning machines people, still includes board shell subassembly 8, lifting system 6, washing liquid circulation system 5, electrical system 3, wherein:

the plate shell assembly 8 comprises an insulating shell and is arranged on a robot chassis, a cleaning liquid circulating system and an electric control system are arranged in the plate shell assembly, and a lifting system is arranged at the upper end of the plate shell assembly; the shell component comprises a shell and an inner support, the shell is fixedly connected with the robot chassis, the inner support is used for fixing the cleaning liquid circulating system and the electric control system, and the shell component is made of an insulating material and has the characteristic of arc resistance. In the existing electrified cleaning process, even if enough safety protection is provided, the existing electrified cleaning process cannot completely protect the equipment, such as sputtering damage caused by explosion of the power equipment and high-voltage arc damage caused by electric leakage of the power equipment, wherein the damage can be fatal and even slight injury can be caused to personnel. One of the purposes of the utility model is to replace people with robots to carry out live working so as to reduce casualties of people.

The lifting system comprises a telescopic device, a camera and a spray head which are positioned on the telescopic device, the directions of the camera and the spray head are fixed, the camera and the spray head are connected with the telescopic device through a universal joint, and the camera and the spray head rotate up and down and left and right to adjust the angle; one end of the telescopic device is fixed in the plate shell assembly, the other end of the telescopic device is connected with the camera and the sprayer through universal joints, the camera and the sprayer are fixed on the adjusting platform, the adjusting platform is connected with the telescopic device through the universal joints, and the adjusting platform is further provided with a motor for controlling the left and right rotation and the up and down rotation of the platform. The lifting and rotating device of the lifting and rotating system comprises a motor, a plurality of sections of telescopic parts are driven by the motor to perform telescopic motion, and the telescopic parts are formed by combining a plurality of hollow frame-shaped structures which are the same in shape and different in size.

The cleaning solution circulating system comprises a container for storing cleaning solution, a high-pressure pump, a pipeline and a nozzle, wherein the nozzle is communicated with the container through the pipeline; the cleaning solution circulating system is characterized in that a container of the cleaning solution circulating system is arranged in the plate shell assembly, an inlet of the container is arranged on the plate shell assembly, the bottom of the container is connected with a spray head through a pipeline, and the pipeline further comprises a high-pressure pump which is used for discharging liquid in the container from the spray head after being pressurized to clean the power equipment.

The electric control system 3 comprises a control device and a communication unit, wherein the communication unit is used for communicating with the control device, the control device is used for controlling the power assembly of the high-pressure pump, the lifting system and the robot chassis, the control device is a single chip microcomputer and the communication unit are positioned on the same circuit board 7 and are connected through a circuit, and the communication unit is a wireless communication unit; the electric control system control device is arranged in the plate shell assembly and is connected with a power assembly of the robot chassis, a booster water pump, a motor of the telescopic device and a motor on the adjusting platform in a line control mode, and control signals are transmitted through lines. The communication unit is in wireless communication connection with the control device, and the communication unit and the control device are connected on the same circuit board through a circuit.

The utility model discloses a cleaning robot, including booster water pump, shower nozzle, control device, data include the numerical value that the detector was listened, booster water pump's delivery port sets up first detector, and the shower nozzle passes through the hose connection with booster water pump, shower nozzle department sets up the second detector, first detector and second detector and electrical system's circuit board connection of electric lines, control device's display screen is used for showing the image and the data of cleaning robot conveying, data include the numerical value that the detector.

The first and second detectors are probes of an oscilloscope. The probe of the first detector is arranged on the inner side of the pipeline of the water outlet of the water pump and penetrates through the pipeline wiring to be connected with the circuit board. And the probe of the second detector is arranged on the inner side of the spray head and penetrates through the spray head wiring to be connected with the circuit board.

In other embodiments of the present invention, a third detector may be further disposed on the housing, but the present invention uses 2 detectors as an example.

As shown in fig. 4, the display screen respectively displays the values detected by the first detector and the second detector, and the values are compared to determine whether a fault exists. The controller being in wireless communication with the robot itself, the detector station

As shown in fig. 1-3, fig. 2 is a schematic view of a partial structure of a nozzle, a probe of a detector is installed in an immersion manner, the probe of a first detector 10 is installed on a nozzle 13, after a hole is drilled in the nozzle, the probe is installed in a pipe of the nozzle, a main body part of the detector is arranged outside the nozzle, the detector is installed through a screw and is subjected to waterproof treatment, and the probe is made of stainless steel and has the characteristics of rust prevention and corrosion prevention. The connecting cable 14 of the detector is tied together with the water pipe 11 connecting the spray head and the water pump, passes through the chain belt 12 protecting the water pipe, passes through the body of the robot, the water pipe is communicated with the water tank, and the connecting cable enters the body of the robot along with the water pipe and is connected with the circuit board 7.

As shown in fig. 3, a water outlet of the water tank 5 is connected with a booster water pump 16, the working voltage of the booster water pump 16 is 24V, a hose of the booster pump is provided with a probe of a second detector in an immersion manner, the type of the second detector is consistent with that of the first detector, the using method is consistent, and a cable of the detector is directly connected with a circuit board on the robot body.

The principle of the utility model is that: because the robot is remote control operation, need carry out live working, and live working is the high-voltage arc most dangerous, and high-voltage arc can cause the harm to human body and equipment through airborne transmission, the invention purpose of the robot be in order to prevent to cause the injury to the people. The invention aims to detect whether the high-voltage arc damages the robot through air, when the cleaning robot works, the cleaning liquid is sprayed to the high-voltage equipment, if the cleaning liquid is improperly prepared, the cleaning liquid can be used as a conductor of the high-voltage arc, and when the first detector on the sprayer detects the abnormal number of the resistivity, the cleaning liquid can be judged to have flaws and the cleaning robot should stop working if the numbers detected by the second detector are also abnormal. If the resistivity detected by the first detector is abnormal and the data detected by the second detector is normal, the cleaning liquid is insulated and can continue to work.

In the embodiment of the utility model, the detector adopts US GF instrument + GF + Signet conductivity 2820 resistivity 2821 probe 2850 sensor 2819, and the resistivity is between 5KOhm ~ 10 million Ohm, and under normal conditions, a plurality of numerical values differ a little. However, if there is an abnormality, such as comparison of a plurality of values, and one or more of the values are different from other values or recorded normal values, the robot needs to be controlled to suspend cleaning and then to process the fault.

As shown in fig. 4, fig. 4 is a block diagram of the control device, and the values of the resistivity detected by the first and second detectors in real time are transmitted to the control device by the robot through wireless communication, processed by the processor of the control device, and displayed on the display screen. The TMS320F2812 DSP is adopted by the processor to support robot data acquisition, and the acquired data well lid processor is converted into numbers to be displayed on a display screen.

Controlling means and cleaning machines people wireless communication, including the shell, be provided with the circuit board in the shell, set up the display screen on the shell, the circuit board passes through the soft arranging wire with the display screen and is connected, the display screen is used for showing image and the data of robot conveying, set up a plurality of buttons on the shell, through button circuit board and circuit board connection of electric lines, the button includes: the direction rocker for controlling the walking of the cleaning robot, the control rocker for controlling the directions of the camera and the spray head, the telescopic key for controlling the telescopic device of the robot and the spray key for controlling the spray cleaning.

And the control device is communicated with the electric control system and the camera and is used for displaying the data of the camera in real time and sending a control command to the electric control system. The control device is used for inputting control instructions, comprises a rocker for controlling the action of the robot, a rocker for controlling the adjusting platform, a key for controlling the telescopic device and a key for controlling the injection, and inputs the control instructions to the control device through wireless communication connection.

The display screen is used for displaying image files transmitted by the cleaning robot and data collected by the sensors arranged on the robot, and the display screen displays a lens shot by the camera in real time.

Install a plurality of sensors at cleaning robot, sensor and cleaning robot's mainboard connection of electric lines, the data transfer of collection is to the mainboard, converts digital signal to controlling means through wireless transmission after the mainboard is handled, and controlling means shows on the display screen after handling this digital signal.

The control device also comprises an external battery, the battery is arranged on the back of the control device, and the battery supplies power to the control device.

The action direction of the cleaning robot is controlled by a direction rocker, the rocker moves forward, a forward production command is sent to the cleaning robot through the control device, and the cleaning robot moves forward after receiving the command and also rotates left, right and backwards.

The keys for controlling the telescopic device and the sending instruction are processed by the processor and then transmitted to the cleaning robot, and the cleaning robot starts the motor after receiving the signal and lifts the adjusting platform to the designated position.

The control rocker of platform is adjusted in control, when adjusting the platform and rising to a take the altitude, adjusts the angle of adjusting camera and shower nozzle on the platform through the control rocker, but horizontal rotation and rotation from top to bottom, the relative position of camera and shower nozzle is fixed, and the user adjusts shower nozzle and camera direction according to the image that the camera shooting visual angle was seen. After the angle of the spray head is adjusted, cleaning liquid is sprayed from the spray head by controlling a spraying key, the cleaning liquid is stored in a container, the cleaning liquid in the container forms water jet from the spray head through a pipeline by a high-pressure pump, and the surface of the high-voltage electrical equipment is cleaned.

The application has the following effects: whether the cleaning solution is conductive or not can be mastered in the cleaning process, and whether the cleaning solution is conductive or not can not be known when live working is carried out through manpower or machines in the prior art, and the cleaning solution is conductive and easily causes high-voltage electric arc to injure a human body. The purpose of the application is to predict in advance whether to conduct electricity or not and avoid being damaged by high-voltage arcs.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. The utility model provides an insulating detecting system of cleaning machines people, includes controlling means, cleaning machines people includes the plate shell subassembly, rises the system of changeing, washing liquid circulation system, electrical system, washing liquid circulation system includes booster pump and water tank, a serial communication port, the delivery port of water pump sets up first detector, and the system of changeing includes the shower nozzle, and the shower nozzle passes through the hose connection with booster pump, shower nozzle department sets up the second detector, first detector and second detector and electrical system's circuit board connection by wire, controlling means's display screen is used for showing the data that cleaning machines people conveyed, data include the numerical value that the detector was listened.

2. The insulation detection system of claim 1, wherein the first probe and the second probe are probes of an oscilloscope.

3. The insulation detection system of claim 2, wherein the probe of the first probe is disposed inside a pipe of the water outlet of the water pump and connected to the circuit board through a pipe connection.

4. The insulation detection system of claim 2, wherein the probe of the second probe is disposed inside the showerhead and connected to the circuit board through the showerhead connection.

5. The insulation detection system of claim 1, wherein the circuit board further comprises an AD conversion module for converting a waveform value detected by a probe of the oscilloscope into a digital signal, and sending the digital signal to a display screen of the control device for display through the wireless communication connection.

6. The insulation detection system according to claim 5, wherein the display screen displays the values detected by the first detector and the second detector respectively, and the presence or absence of the fault is determined by comparing the values.

7. The insulation detection system of claim 1 further comprising a third probe disposed within the housing.

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