CN102357487B - Insulator cleaning mechanical arm - Google Patents
Insulator cleaning mechanical arm Download PDFInfo
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- CN102357487B CN102357487B CN 201110248230 CN201110248230A CN102357487B CN 102357487 B CN102357487 B CN 102357487B CN 201110248230 CN201110248230 CN 201110248230 CN 201110248230 A CN201110248230 A CN 201110248230A CN 102357487 B CN102357487 B CN 102357487B
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Abstract
The invention discloses an insulator cleaning mechanical arm. An oscillating cylinder is horizontally articulated above the arm through a support rod. A first telescoping cylinder is arranged at the rear end of the oscillating cylinder. One end of the first telescoping cylinder is articulated with the rear end of the oscillating cylinder. The other end of the first telescoping cylinder is articulated with the arm. A second telescoping cylinder is horizontally installed on the front end of the oscillating cylinder. A first rotary cylinder is fixed on the front extension end of the second telescoping cylinder. The first rotary cylinder is vertically arranged. A screw is connected to the upper end of the first rotary cylinder. A knuckle quick assembly joint is sleeved on the screw. A cleaning mechanism is fixed on the front end of the knuckle quick assembly joint. When the insulator cleaning mechanical arm disclosed by the invention operates, the twelve spatial freedoms can be realized; therefore, insulators under different states can be cleaned; and the insulator cleaning mechanical arm has the characteristics of being high in automation degree, high in cleaning efficiency, thorough for cleaning, low in labour intensity, low in cost, simple in structure, good in reliability and the like.
Description
Technical field
The present invention relates to a kind of cleaning equipment technical field, particularly relate to a kind of insulator cleaning manipulator.
Background technology
Insulator is a kind of special insulation control, can play an important role in overhead transmission line.Insulator is used for electric pole more early, slowly develops into an end of high type high-tension bus-bar connection tower and has hung the insulator of a lot of plate-likes, and it is made by glass or pottery usually in order to increase creep age distance, just is insulator.Insulator plays two basic roles in overhead transmission line, it is support wire and prevent that electric current from going back to ground, these two effects must be guaranteed, insulator should be owing to environment and the electric load condition various dynamo-electric stress that causes that changes lost efficacy, otherwise insulator just can not produce great function, will damage use and the service life of whole piece circuit.
China's air environmental pollution is serious, and along with national economy and industrialized development, the town and country atmosphere quality is also incited somebody to action deterioration day by day in a long term, and therefore, anti-pollution flashover work is a long-term and important task.Current, the China environmental protection technology is scarcely out of swaddling-clothes, and adds that the electric power facility configuration relatively lags behind, and causes the power equipment external insulation that the bigger pollution flashover accident in spread area takes place in running.According to investigations, 1971～1994 years, pollution flashover takes place 3542 times in whole nation 35Kv～500Kv transmission line of electricity altogether, pollution flashover accident took place 1768 times in national 35kv～500kv transformer station altogether in 1971～1992 years, cause long-time, large tracts of land outage, especially at the Liaoning electric power grid in morning on the 22nd February calendar year 2001 the most serious 1 large tracts of land pollution flashover power outage since the establishment of the nation, accident involves most of area, northeast.220kv line tripping 151 times, 44 in tripping operation circuit, and cause 12 220kv electric substation full cut-ofves; The whole province of 66kv system tripping operation 171 times, 120 66kv electric substation full cut-ofves.This shows, the large tracts of land pollution flashover accident of high pressure external insulation constitutes a serious threat to safe operation of power system, because the dirty insulation technology level of anti-soil had become the bottleneck of development super-pressure, extra-high voltage technology already, therefore, generation, the reduction pollution flashover trip-out rate of adopting an effective measure and preventing electric grid large area contamination sudden strain of a muscle accident, be to improve one of mains supply reliability important content, regularly removing filth is the effective means of the actual stain resistance of maintenance equipment.Be to guarantee DC converter station safe and reliable operation, prevent the generation of pollution flashover accident, support insulators numerous in the current conversion station regularly cleaned just seem particularly important.Meanwhile, outdoor power distribution unit is updated, soft bus changes the pipe bus into, for saving floor occupying area, increase the setting height(from bottom) of equipment, cause the interior support insulator of power distribution equipment to stand in great numbers, with regard to 220 KV distribution devices, high support insulator will be installed on 9 meters, electrical equipment form in an outlet at interval is that vertical support insulator reaches twenties, make cleaning increase difficulty, as manual cleaning once, not only need to have a power failure for a long time, also need to drop into a large amount of manpowers, and at the scene really because of various reasons, seldom clean, also usually perform a task perfunctorily even clean.Existing support insulator adopts usually to clean by hand with machinery and cleans two kinds, cleans by hand owing to insulator installation site height, also needs simultaneously to have a power failure etc., thereby causes the cleaning difficulty big, and the cost height can not thoroughly clean totally simultaneously; It is more to adopt machinery to clean to the cleaning of insulator, various cleaning equipments are also more, China Patent No. is: 201020506666.1, the utility model patent that name is called " equipment that insulator is cleaned in the insulation of gas-liquid mixed electrification in high voltage " discloses the equipment that insulator is cleaned in a kind of gas-liquid mixed electrification in high voltage insulation, it is not thorough effectively to solve cleaning, the uneasy congruent problem of constructing, the technical scheme of its solution is, comprise air compressor machine and pneumatic diaphragm pump, air compressor machine through three-way pipe respectively with the mouth of pipe of hybrid spray gun bottom, first air inlet of pneumatic diaphragm pump is connected, second air inlet and the cleaning agent storage tank of pneumatic diaphragm pump are connected, and the supply opening on the gas outlet of pneumatic diaphragm pump and hybrid spray gun top is connected.China Patent No. is: 200920270782.5, the utility model patent that name is called " support insulator cleaning device " discloses a kind of support insulator cleaning device, its structure is mainly by the hand propelled vehicle using motor, water tank, water pump, water pipe, lowering or hoisting gear, annular nozzle and retractor device are formed, described retractor device level is installed in the lowering or hoisting gear upper end, annular nozzle is installed in the front end of retractor device, pump intake is connected with water tank through water pipe, pump outlet is connected with annular nozzle through water pipe, have simple and reasonable, safe and convenient to use, advantages such as cleaning speed is fast are fit to be provided with the transformer stations at different levels outfit use of outdoor power distribution unit.China Patent No. is: 201010128290.X, the application for a patent for invention that name is called " a kind of electric cleaning device of dirty belt of post insulator of DC converter station " discloses a kind of electric cleaning device of dirty belt of post insulator of DC converter station, this device is by the chassis, insulation vehicle frame and pneumatic arm etc. are partly formed, whole system comprises circuit, the three kinds of control loops in gas circuit and cleaning fluid loop, device is by the 220V ac power supply, can walk automatically, but need the manual adjustments direction of travel, the insulation vehicle frame is divided into three grades, wherein the second level and third level insulation vehicle frame can be controlled automatic lifting by the insulation rope, thereby the pneumatic arm of drive cleaning work moves on carrying out, move down action.Device is provided with push rod, and the chassis of push rod bottom compresses ground, makes that the wheel rise on the device chassis does not contact with ground, prevents clearing apparatus chassis scroll forward and backward in operation process.For the ensuring equipment cleaning agency can be finished various cleanings action stably, between the first order top of insulation vehicle frame and chassis, four braces have been installed.It is good that device has security performance, the high and cleaning good effectiveness of automaticity.
Above insulator cleaning equipment all has following deficiency: the firstth, and automaticity is low, and many steps all need manually to operate in the cleaning process, so sweeping efficiency is low, and labour intensity is big; The secondth, can not the insulator that be under the various states be cleaned, only be suitable for the insulator cleaning of certain state, thereby the scope of application is little; The 3rd be clean not thorough, cleaning be since equipment can only clean to an other side from a side insulator, so the cleaning be to stay the dead angle, so cause cleaning not thoroughly, unclean.
Manipulator is the vitals of insulator cleaning equipment, if realize the automation of insulator cleaning, therefore designs a cleaning machine hand and necessitates.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of automaticity height, the effective a kind of insulator cleaning manipulator of cleaning.
Technical scheme of the present invention is as follows: a kind of insulator cleaning manipulator, its main points are: comprise arm, above this arm, be hinged with oscillating cylinder through support bar, be provided with first telescoping cylinder in this oscillating cylinder rear end, this first telescoping cylinder, one end is hinged on described oscillating cylinder rear end, one end is hinged on the described arm, be horizontally installed with second telescoping cylinder at described oscillating cylinder front end, the cylinder body rear portion of this second telescoping cylinder is stretched into and is the arbor of described oscillating cylinder in the described oscillating cylinder, external part fixedly has first rotating cylinder before this second telescoping cylinder, this first rotating cylinder vertically arranges, be connected with screw mandrel in this first rotating cylinder upper end, be set with the joint ready-packaged joint at this screw mandrel, the ready-packaged joint front end fixedly has wiper mechanism in described joint, described wiper mechanism comprises manipulator joint, second rotating cylinder is fixedly arranged in this manipulator joint, all be installed with straight spur gear at second rotating cylinder, two external parts, at described manipulator joint the joint rotating shaft is arranged fixedly, this joint rotating shaft is positioned at the place ahead of described second rotating cylinder, in this joint rotating shaft upper support the manipulator skeleton is arranged, be provided with the fan-shaped straight-tooth gear corresponding with described straight spur gear at described manipulator skeleton outer wall, described fan-shaped straight-tooth gear and the engagement of described straight spur gear are equipped with cleaning brush and shower nozzle in described manipulator skeleton.
Adopt above structure, when first telescoping cylinder turns round, this first telescoping cylinder can the push-and-pull oscillating cylinder is that fulcrum swings up and down with the upper end of support bar, thereby realized the one degree of freedom of space of the present invention running, start oscillating cylinder, because stretching into, the cylinder body rear portion of this second telescoping cylinder is the arbor of described oscillating cylinder in the described oscillating cylinder, namely the rear portion of the cylinder body of second telescoping cylinder is the arbor of described oscillating cylinder, when therefore described oscillating cylinder turns round, realized the one degree of freedom of the present invention in the space running, during the work of second telescoping cylinder, this second telescoping cylinder drives first rotating cylinder and moves forward and backward, realize that invention is in the one degree of freedom of space running, and when first rotating cylinder is worked, this first rotating cylinder drives screw mandrel fixed thereon and rotates, because the joint ready-packaged joint is sleeved on the described screw mandrel, thereby realized the one degree of freedom that the present invention moves up and down, when second rotating cylinder is worked, can realize that the present invention is in the one degree of freedom of space running, therefore, as seen from the above, the present invention can the implementation space five frees degree of running, so can the insulator that be under the different conditions be cleaned, thereby insulator thoroughly can be cleaned totally, simultaneously the automaticity height; When needing to clean insulator, described manipulator skeleton stretches to insulator, at this moment, insulator is positioned at this manipulator skeleton, open shower nozzle and cleaning brush and can carry out cleaning to insulator surface, start second rotating cylinder simultaneously, the straight spur gear that the second rotating cylinder work drives two external part rotates, this straight spur gear drives fan-shaped straight-tooth gear and rotates, making fan-shaped straight-tooth gear drive described manipulator skeleton rotates, start first rotating cylinder and second rotating cylinder simultaneously, make the wiper mechanism that is installed on the screw mandrel can do namely to move axially up and down, manipulator skeleton in this wiper mechanism is done radially to rotate simultaneously, and the reciprocal pivot angle of described manipulator skeleton is 80 degree, make the intraskeletal shower nozzle of manipulator and cleaning brush carry out the overlapping cleaning of track to insulator, thereby can be to insulator axially and the radially cleaning of two overlapping tracks, so dead angle that can occur cleaning not, said structure does not need manual just the adjusting insulator can be cleaned totally, automaticity height, efficient height simultaneously; Two straight spur gears are set in the above structure and two fan-shaped straight-tooth gears mesh respectively, have so increased the reliability and stability of manipulator skeleton swing.
Be arranged with the card ear in the described manipulator joint left and right sides, symmetry is hinged with check lock lever at ready-packaged joint rear portion, described joint, this check lock lever rear end is hinged on described joint ready-packaged joint, the front portion is provided with tight lock part, end at this tight lock part rotating shaft is provided with handle, pulls described handle described tight lock part is stuck on the described card ear.Adopt above structure, when being installed to wiper mechanism on the leading screw, because the existence of the retaining mechanism of being formed by check lock lever, lock cam and handle, can realizing installation, the dismounting to wiper mechanism rapidly and change the cleaning manipulator of other specification.
Through screw the screw mandrel holder is arranged fixedly in described first rotating cylinder upper end, this screw mandrel holder is formed by connecting through screw by two semicircle ring seats, described screw mandrel lower end is stretched in the installing hole of this screw mandrel holder combination back formation, and this screw mandrel lower end is threaded in the piston rod of described first rotating cylinder.Adopt above structure, can realize the fixing of screw mandrel reliably, also be convenient to the dismounting of leading screw simultaneously.
At described screw mandrel holder two guide posts parallel with described screw mandrel are arranged fixedly, be installed with guide post cover and feed screw nut's cover respectively on described guide post and screw mandrel, the joint ready-packaged joint is sleeved on described guide post cover and the feed screw nut puts.Adopt above structure, can be good at guaranteeing moving up and down of joint ready-packaged joint, owing to the existence of guide post, can not rock when the joint ready-packaged joint moves simultaneously.
Described manipulator joint is the shaped as frame structure of front openings, described second rotating cylinder is fixed on the back side panel of this manipulator joint, the two ends up and down of described joint rotating shaft are separately fixed on the biside plate up and down of described manipulator joint, described manipulator skeleton front openings is down " U " font structure, be provided with arcuate socket at this manipulator skeleton rear portion, described joint rotating shaft passes this arcuate socket described manipulator skeleton is supported on the described manipulator joint, described manipulator skeleton inboard is provided with " U " font inner chamber that adapts with this manipulator skeleton structure, at this inner chamber air motor is housed, described cleaning brush is installed on this air motor, and the bristle of this cleaning brush stretches out described inner chamber, inwall upper edge at described inner chamber circumferentially is equipped with jet pipe, at this jet pipe one group of described shower nozzle is housed.Adopt above structure, because manipulator skeleton front openings is down " U " font structure, when the cleaning insulator, insulator enters in the manipulator skeleton from manipulator skeleton front side, open air motor, the air motor running, thereby the running of the cleaning brush on the drive air motor, bristle on this cleaning brush cleans insulator surface, simultaneously, cleaning fluid is entered in the jet pipe, cleaning fluid is sprayed onto on the insulator in nozzle, thereby clean totallyer, when having cleaned a side of insulator, open rotating cylinder simultaneously, the straight spur gear that rotating cylinder work drives two external part rotates, this straight spur gear drives fan-shaped straight-tooth gear and rotates, and rotates thereby make fan-shaped straight-tooth gear drive described manipulator skeleton, thereby can carry out cleaning to the various piece on the insulator circumference.
The number of described air motor is six, wherein fix two described air motors at described joint rotating shaft, two described air motors are evenly fixed in upper inside wall and bottom at the described inner chamber of these rotating shaft both sides, joint, are positioned at the described air motor of the upper inside wall of inner chamber and bottom over against setting.Adopt above structure, can the various piece of insulator be cleaned, thereby make that cleaning is more thorough.
Interior cavity wall upper edge at described manipulator skeleton circumferentially evenly is equipped with three described jet pipes, is evenly distributed with four described shower nozzles at every jet pipe, and described shower nozzle all points to the center of described manipulator skeleton.Adopt above structure, install on three jet pipes and every jet pipe and be evenly distributed with four shower nozzles, like this can spray cleaning solution to each part of insulator, make cleaning be more prone to.
The insulator gag lever post is fixedly arranged in that described manipulator skeleton is inboard, this insulator gag lever post is two, vertically be arranged in the manipulator skeleton, and two insulator gag lever posts is symmetrically distributed in the both sides of described joint rotating shaft.Adopt above structure, the effect that gag lever post is set is: when the present invention moves to insulator, the existence of gag lever post can be good at avoiding insulator and the collision of manipulator skeleton, while can make the axis of insulator be positioned at the oscillation center of the fan-shaped straight-tooth gear of manipulator skeleton, is convenient to accurate cleaning.
Be set with bearing block in both ends up and down at described joint rotating shaft, described manipulator skeleton is supported on the described bearing block.
Described bearing block is " T " font structure, and the cross section of this bearing block is kidney shape structure, described manipulator skeleton is sleeved on this bearing block, and this manipulator skeleton end is against on this bearing block lateral part, between described manipulator skeleton end and described bearing block lateral part, first ball and ball location-plate are installed, on this bearing block, have three described axial holes vertically, be distributed with in the vertical part both sides of this bearing block three with three ball installing holes that described axial hole is corresponding, corresponding described ball installing hole communicates with described axial hole, the ball alignment pin is installed in described axial hole, in described ball installing hole, straight pin recessed outside the convex is installed, this straight pin the inner is against on the described ball alignment pin, in this straight pin outer end second ball is housed, this second ball is against on the described manipulator skeleton.Adopt above structure, the existence of first ball and second ball is arranged, can realize the flexible swing of manipulator skeleton reliably.
Beneficial effect: five frees degree that can the implementation space when the present invention is turned round, so can the insulator that be under the general position state be cleaned, the automaticity height, the sweeping efficiency height, cleaning thoroughly, labour intensity is low; Have characteristics such as cost is low, simple in structure, good reliability.
Description of drawings
Fig. 1 is structure intention of the present invention;
Fig. 2 is A-A cutaway view among Fig. 1;
Fig. 3 is the B-B cutaway view among Fig. 2;
Fig. 4 is the structure for amplifying schematic diagram of cleaning agency among Fig. 1;
Fig. 5 is the C part enlarged diagram among Fig. 4;
Fig. 6 is the H-H cutaway view among Fig. 5;
Fig. 7 is the D-D cutaway view among Fig. 1;
Fig. 8 is the E-E cutaway view among Fig. 1;
Fig. 9 is the F-F cutaway view among Fig. 1;
Figure 10 is the G-G cutaway view among Fig. 1.
The specific embodiment
The present invention is further illustrated below in conjunction with accompanying drawing.
See also Fig. 1～Figure 10: a kind of insulator cleaning manipulator, comprise arm 1, above this arm 1, be hinged with oscillating cylinder 3 through support bar 2, and these support bar 2 upper ends are hinged on the middle part of described oscillating cylinder 3, these oscillating cylinder 3 horizontal positioned, be provided with first telescoping cylinder 4 in these oscillating cylinder 3 rear ends, these first telescoping cylinder, 4 one ends are hinged on described oscillating cylinder 3 rear ends, one end is hinged on the described arm 1, and above-mentioned first telescoping cylinder 4 is hinged on the rear portion of described arm 1 upper end, and described support bar 2 lower ends are hinged on the front portion of described arm 1 upper end, be horizontally installed with second telescoping cylinder 5 at described oscillating cylinder 3 front ends, the cylinder body rear portion of this second telescoping cylinder 5 is stretched in the described oscillating cylinder 3 and is the arbor of described oscillating cylinder 3, namely the rear portion of the cylinder body of second telescoping cylinder 5 is the arbor of described oscillating cylinder 3, when described oscillating cylinder 3 is worked, this oscillating cylinder 3 directly drives described second telescoping cylinder 5 and rotates, and described oscillating cylinder 3 is to come work like this: the cylinder wall upper edge hoop of described oscillating cylinder 3 has four interfaces, be two interfaces 31 on top and two interfaces 32 of bottom, when from the interface 32 of the interface 31 of upper left quarter and right lower quadrant, entering hydraulic medium, when this hydraulic medium flows out from the interface 32 of the interface 31 of upper right quarter and lower left quarter simultaneously, first rotating cylinder 6 turn clockwise 60 the degree, when from the interface 32 of the interface 31 of upper right quarter and lower left quarter, entering hydraulic medium, when this hydraulic medium flowed out from the interface 32 of the interface 31 of upper left quarter and right lower quadrant simultaneously, first rotating cylinder 6 was rotated counterclockwise 60 degree (as shown in Figure 7); External part fixedly has first rotating cylinder 6 before described second telescoping cylinder 5, this first rotating cylinder 6 vertically arranges, it is the lower end that the piston rod external part of described second telescoping cylinder 5 is fixed on described first rotating cylinder 6, be connected with screw mandrel 16 in these first rotating cylinder, 6 upper ends, namely through screw screw mandrel holder 12 is arranged fixedly in described first rotating cylinder 6 upper ends, this screw mandrel holder 12 is formed by connecting through screw by two semicircle ring seats, described screw mandrel 16 lower ends are stretched in the installing hole of these screw mandrel holder 12 combination back formation, and these screw mandrel 16 lower ends are threaded in the piston rod of described first rotating cylinder 6, at described screw mandrel holder 12 two guide posts 13 parallel with described screw mandrel 16 are arranged fixedly, on described guide post 13 and screw mandrel 16, be installed with guide post cover 14 and feed screw nut respectively and overlap 15, be set with joint ready-packaged joint 7 at described screw mandrel 16, this joint ready-packaged joint 7 is sleeved on described guide post cover 14 and the feed screw nut overlaps on 15, ready-packaged joint 7 front ends fixedly have wiper mechanism 8 in described joint, described wiper mechanism 8 comprises manipulator joint 81, described joint ready-packaged joint 7 with should be connected by dovetail groove at manipulator joint 81, in this manipulator joint 81 second rotating cylinder 82 is arranged fixedly, all be installed with straight spur gear 83 at 82 liang of external parts of second rotating cylinder, at described manipulator joint 81 joint rotating shaft 84 is arranged fixedly, this joint rotating shaft 84 is positioned at the place ahead of described second rotating cylinder 82, in these joint rotating shaft 84 upper supports manipulator skeleton 85 is arranged, be provided with the fan-shaped straight-tooth gear 86 corresponding with described straight spur gear 83 at described manipulator skeleton 85 outer walls, described fan-shaped straight-tooth gear 86 and described straight spur gear 83 engagements are equipped with cleaning brush 87 and shower nozzle 88 in described manipulator skeleton 85.
See also Fig. 1 and Fig. 2: be arranged with card ear 81a in described manipulator joint 81 left and right sides, be hinged with check lock lever 9 in described joint ready-packaged joint 7 rear portion symmetries, these check lock lever 9 rear ends are hinged on described joint ready-packaged joint 7, the front portion is provided with tight lock part 10, end at these tight lock part 10 rotating shafts is provided with handle 11, pulls described handle 11 described tight lock part 10 is stuck on the described card ear 81a.
See also Fig. 2 and Fig. 4: described manipulator joint 81 is the shaped as frame structure of front openings, described second rotating cylinder 82 is fixed on the back side panel of this manipulator joint 81, the two ends up and down of described joint rotating shaft 84 are separately fixed on the biside plate up and down of described manipulator joint 81, described manipulator skeleton 85 front openings are down " U " font structure, be provided with arcuate socket 85a at these manipulator skeleton 85 rear portions, described joint rotating shaft 84 passes this arcuate socket 85a described manipulator skeleton 85 is supported on the described manipulator joint 81, described manipulator skeleton 85 inboards are provided with " U " font inner chamber 85b that adapts with these manipulator skeleton 85 structures, 85b is equipped with air motor 89 at this inner chamber, described cleaning brush 87 is installed on this air motor 89, and the bristle of this cleaning brush 87 stretches out described inner chamber 85b, inwall upper edge at described inner chamber 85b circumferentially is equipped with jet pipe 810, at this jet pipe 810 one group of described shower nozzle 88 is housed.
It can also be seen that in conjunction with Fig. 2 and Fig. 4: the number of described air motor 89 is six, wherein fix two described air motors 89 at described joint rotating shaft 84, two described air motors 89 are evenly fixed in upper inside wall and bottom at the described inner chamber 85b of these joint rotating shaft 84 both sides, are positioned at the described air motor 89 of the upper inside wall of inner chamber 85b and bottom over against setting; In the inner chamber 85b of described manipulator skeleton 85 inwall upper edge three described jet pipes 810 are installed evenly circumferentially, are evenly distributed with four described shower nozzles 88 at every jet pipe 810, described shower nozzle 88 all points to the center of described manipulator skeleton 85.
In Fig. 2 and Fig. 4, it can also be seen that: in described manipulator skeleton 85 inboards insulator gag lever post 811 is arranged fixedly, this insulator gag lever post 811 is two, vertically be arranged in the manipulator skeleton 85, and two insulator gag lever posts 811 are symmetrically distributed in the both sides of described joint rotating shaft 84.
In conjunction with Fig. 2, Fig. 4 and Fig. 5 be as can be seen: both ends be set with bearing block 812 at described joint rotating shaft about in the of 84, described manipulator skeleton 85 is supported on the described bearing block 812, described bearing block 812 is " T " font structure, and the cross section of this bearing block 812 is kidney shape structure, described manipulator skeleton 85 is sleeved on this bearing block 812, and these manipulator skeleton 85 ends are against on these bearing block 812 lateral parts, between described manipulator skeleton 85 ends and described bearing block 812 lateral parts, first ball 813 and ball location-plate 814 are installed, on this bearing block 812, have three described axial hole 812a vertically, be distributed with in the vertical part both sides of this bearing block 812 three with three ball installing hole 812b that described axial hole 812a is corresponding, corresponding described ball installing hole 812b communicates with described axial hole 812a, in described axial hole 812a, ball alignment pin 815 is installed, in described ball installing hole 812b, straight pin recessed outside the convex 816 is installed, these straight pin 816 the inners are against on the described ball alignment pin 815, in these straight pin 816 outer ends second ball 817 is housed, this second ball 817 is against on the described manipulator skeleton 85, between described ball installing hole 812b inwall and described straight pin 816, ball positioning sleeve 818 is installed, these ball positioning sleeve 818 outer being enclosed within outside described straight pin 816 and second ball 817.
When high pressure energising operation, above-mentioned arm 1, support bar 2, oscillating cylinder 3, first telescoping cylinder 4, second telescoping cylinder 5, first rotating cylinder 6, joint ready-packaged joint 7, wiper mechanism 8, check lock lever 9, tight lock part 10, handle 11, screw mandrel holder 12, guide post 13, guide post cover 14, the feed screw nut overlaps 15, screw mandrel 16, manipulator joint 81, second rotating cylinder 82, straight spur gear 83, joint rotating shaft 84, manipulator skeleton 85, fan-shaped straight-tooth gear 86, cleaning brush 87, shower nozzle 88, air motor 89, jet pipe 810, insulator gag lever post 811, bearing block 812, first ball 813, ball location-plate 814, ball alignment pin 815, straight pin 816, second ball, 817 parts such as grade all select for use insulating materials to make, wherein the material except screw mandrel 16 and guide post 13 is composite, the material of guide post cover 14 is outside the polytetrafluoroethylene (PTFE), the material of remaining part all selects for use macromolecule insulation engineering material to make, so at when energising operational security height, large tracts of land outage when avoiding to clean insulator, certainly, above-mentioned parts also can not selected to make with insulating materials, just need have a power failure when insulator is cleaned and clean.What first telescoping cylinder 4 described in the above-mentioned parts, second telescoping cylinder 5, first rotating cylinder 6 and second rotating cylinder 82 all adopted is existing structure, do not give unnecessary details at this, by Fig. 9 and Figure 10 as can be seen first rotating cylinder 6 the internal structure schematic diagram with and operation principle, when entering in the inlet opening of hydraulic medium on top and from the fluid hole of top, flowing out, first rotating cylinder 6 rotates towards a direction, when entering in the inlet opening of hydraulic medium in the bottom and flowing out from the fluid hole of bottom, first rotating cylinder 6 rotates to another way.Need to prove that also above-mentioned oscillating cylinder 3, first telescoping cylinder 4, second telescoping cylinder 5, first rotating cylinder 6, second rotating cylinder 82 etc. adopt cleaning agent as hydraulic medium, therefore, overcome in the hydraulic drive accidental release because of seal point and caused shortcoming to the insulator secondary pollution; For air pressure (be working media with the air) transmission, working media cleaning, medium obtain easily, media processes is convenient, actuation is rapid, reaction is fast, working environment adaptability is good, be fit to remote power transmission, because gas is compressible, therefore less, the seal point of air-driven less stable, transmission torque easily leaks, because what Pneumatic Transmission was adopted is cleaning medium, so the accidental release of seal point can not cause secondary pollution to insulator yet.
The above only is preferred embodiment of the present invention, is not restriction with the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. insulator cleaning manipulator, it is characterized in that: comprise arm (1), be hinged with oscillating cylinder (3) in this arm (1) top through support bar (2), be provided with first telescoping cylinder (4) in this oscillating cylinder (3) rear end, these first telescoping cylinder (4) one ends are hinged on described oscillating cylinder (3) rear end, one end is hinged on the described arm (1), be horizontally installed with second telescoping cylinder (5) at described oscillating cylinder (3) front end, the cylinder body rear portion of this second telescoping cylinder (5) is stretched into and is the arbor of described oscillating cylinder (3) in the described oscillating cylinder (3), the preceding external part of this second telescoping cylinder (5) fixedly has first rotating cylinder (6), this first rotating cylinder (6) vertically arranges, be connected with screw mandrel (16) in this first rotating cylinder (6) upper end, be set with joint ready-packaged joint (7) at this screw mandrel (16), at described joint ready-packaged joint (7) front end wiper mechanism (8) is arranged fixedly, described wiper mechanism (8) comprises manipulator joint (81), second rotating cylinder (82) is fixedly arranged in this manipulator joint (81), all be installed with straight spur gear (83) at second rotating cylinder (82) two external parts, at described manipulator joint (81) joint rotating shaft (84) is arranged fixedly, this joint rotating shaft (84) is positioned at the place ahead of described second rotating cylinder (82), in this joint rotating shaft (84) upper support manipulator skeleton (85) is arranged, be provided with the fan-shaped straight-tooth gear (86) corresponding with described straight spur gear (83) at described manipulator skeleton (85) outer wall, described fan-shaped straight-tooth gear (86) and described straight spur gear (83) engagement are equipped with cleaning brush (87) and shower nozzle (88) in described manipulator skeleton (85).
2. a kind of insulator cleaning manipulator according to claim 1, it is characterized in that: be arranged with card ear (81a) in described manipulator joint (81) left and right sides, symmetry is hinged with check lock lever (9) at described joint ready-packaged joint (7) rear portion, this check lock lever (9) rear end is hinged on described joint ready-packaged joint (7), the front portion is provided with tight lock part (10), end at this tight lock part (10) rotating shaft is provided with handle (11), pulls described handle (11) described tight lock part (10) is stuck on the described card ear (81a).
3. a kind of insulator cleaning manipulator according to claim 1, it is characterized in that: through screw screw mandrel holder (12) is arranged fixedly in described first rotating cylinder (6) upper end, this screw mandrel holder (12) is formed by connecting through screw by two semicircle ring seats, described screw mandrel (16) lower end is stretched in the installing hole of this screw mandrel holder (12) combination back formation, and this screw mandrel (16) lower end is threaded in the piston rod of described first rotating cylinder (6).
4. a kind of insulator cleaning manipulator according to claim 3, it is characterized in that: at described screw mandrel holder (12) two guide posts (13) parallel with described screw mandrel (16) are arranged fixedly, be installed with guide post cover (14) and feed screw nut cover (15) on described guide post (13) and screw mandrel (16) respectively, joint ready-packaged joint (7) is sleeved on described guide post cover (14) and the feed screw nut's cover (15).
5. a kind of insulator cleaning manipulator according to claim 1, it is characterized in that: described manipulator joint (81) is the shaped as frame structure of front openings, described second rotating cylinder (82) is fixed on the back side panel of this manipulator joint (81), the two ends up and down of described joint rotating shaft (84) are separately fixed on the biside plate up and down of described manipulator joint (81), described manipulator skeleton (85) front openings is down " U " font structure, be provided with mounting hole (85a) at this manipulator skeleton (85) rear portion, described joint rotating shaft (84) passes this mounting hole (85a) described manipulator skeleton (85) is supported on the described manipulator joint (81), described manipulator skeleton (85) inboard is provided with " U " font inner chamber (85b) that adapts with this manipulator skeleton (85) structure, at this inner chamber (85b) air motor (89) is housed, described cleaning brush (87) is installed on this air motor (89), and the bristle of this cleaning brush (87) stretches out described inner chamber (85b), in the inwall upper edge of described inner chamber (85b) jet pipe (810) is installed circumferentially, at this jet pipe (810) one group of described shower nozzle (88) is housed.
6. a kind of insulator cleaning manipulator according to claim 5, it is characterized in that: the number of described air motor (89) is six, wherein fix two described air motors (89) at described joint rotating shaft (84), two described air motors (89) are evenly fixed in upper inside wall and bottom at the described inner chamber (85b) of these joint rotating shaft (84) both sides, are positioned at the described air motor (89) of the upper inside wall of inner chamber (85b) and bottom over against setting.
7. a kind of insulator cleaning manipulator according to claim 5, it is characterized in that: inner chamber (85b) the inwall upper edge at described manipulator skeleton (85) circumferentially evenly is equipped with three described jet pipes (810), be evenly distributed with four described shower nozzles (88) at every jet pipe (810), described shower nozzle (88) all points to the center of described manipulator skeleton (85).
8. a kind of insulator cleaning manipulator according to claim 2, it is characterized in that: in described manipulator skeleton (85) inboard insulator gag lever post (811) is arranged fixedly, this insulator gag lever post (811) is two, vertically be arranged in the manipulator skeleton (85), and two insulator gag lever posts (811) are symmetrically distributed in the both sides of described joint rotating shaft (84).
9. a kind of insulator cleaning manipulator according to claim 2, it is characterized in that: be set with bearing block (812) in both ends up and down at described joint rotating shaft (84), described manipulator skeleton (85) is supported on the described bearing block (812).
10. a kind of insulator cleaning manipulator according to claim 9, it is characterized in that: described bearing block (812) is " T " font structure, and the cross section of this bearing block (812) is kidney shape structure, described manipulator skeleton (85) is sleeved on this bearing block (812), and this manipulator skeleton (85) end is against on this bearing block (812) lateral part, between described manipulator skeleton (85) end and described bearing block (812) lateral part, first ball (813) and ball location-plate (814) are installed, on this bearing block (812), have three axial holes (812a) vertically, be distributed with three ball installing holes (812b) corresponding with three described axial holes (812a) in the vertical part both sides of this bearing block (812), corresponding described ball installing hole (812b) communicates with described axial hole (812a), ball alignment pin (815) is installed in described axial hole (812a), straight pin recessed outside the convex (816) is installed in described ball installing hole (812b), this straight pin (816) the inner is against on the described ball alignment pin (815), in this straight pin (816) outer end second ball (817) is housed, this second ball (817) is against on the described manipulator skeleton (85).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110248230 CN102357487B (en) | 2011-08-26 | 2011-08-26 | Insulator cleaning mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110248230 CN102357487B (en) | 2011-08-26 | 2011-08-26 | Insulator cleaning mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102357487A CN102357487A (en) | 2012-02-22 |
| CN102357487B true CN102357487B (en) | 2013-07-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110248230 Expired - Fee Related CN102357487B (en) | 2011-08-26 | 2011-08-26 | Insulator cleaning mechanical arm |
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| CN (1) | CN102357487B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103331272B (en) * | 2013-07-05 | 2015-06-24 | 国家电网公司 | Washing machine for post insulator |
| CN104998869B (en) * | 2015-07-24 | 2018-01-19 | 国网陕西省电力公司安康供电公司 | A kind of device and its application method of electric cleaning porcelain vase |
| CN105903708B (en) * | 2016-04-29 | 2018-02-09 | 施阿丹 | Electric power pylon stake insulator flusher and its construction method |
| CN105866186A (en) * | 2016-05-31 | 2016-08-17 | 中国南方电网有限责任公司电网技术研究中心 | Insulator salt density detection device and method |
| CN106002971B (en) * | 2016-06-17 | 2018-10-09 | 江苏大学 | A kind of electric transmission line isolator automatic rinser tool arm |
| CN106424000A (en) * | 2016-09-28 | 2017-02-22 | 张家港市港威超声电子有限公司 | Swing mechanism assisting in cleaning |
| CN106914438A (en) * | 2017-05-09 | 2017-07-04 | 国网湖南省电力公司带电作业中心 | A kind of cleaning device that can automatically clean insulator |
| CN108480257A (en) * | 2018-04-07 | 2018-09-04 | 深圳供电局有限公司 | Substation's support insulator clearing apparatus |
| CN113020076B (en) * | 2021-03-24 | 2024-04-19 | 西南交通大学 | Third rail insulator flushing device |
| CN113113970B (en) * | 2021-04-13 | 2023-03-31 | 国网新疆电力有限公司乌鲁木齐供电公司 | Adopt portable electric power monitoring device of a plurality of 5G power line carrier gateways |
| CN113478497A (en) * | 2021-06-22 | 2021-10-08 | 天津理工大学 | Robot is maintained to stand |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT1241617B (en) * | 1990-10-04 | 1994-01-25 | Donato Jans | EQUIPMENT FOR CLEANING THE INSULATORS OF ELECTRIC LINES UNDER VOLTAGE BY HELICOPTERS |
| JPH11176266A (en) * | 1997-12-12 | 1999-07-02 | Mitsuyoshi Katsuki | Insulator cleaner |
| CN1309534C (en) * | 2004-09-23 | 2007-04-11 | 上海交通大学 | Joint-telescopic type super high voltage live cleaning robot |
| CN1958176A (en) * | 2006-10-12 | 2007-05-09 | 上海交通大学 | Sweeping apparatus workable at condition of electrification in high voltage |
| US7797781B2 (en) * | 2007-06-11 | 2010-09-21 | Korea Electric Power Corporation | Robot mechanism for cleaning and inspection of live-line insulators |
| CN101464942B (en) * | 2007-12-20 | 2011-07-20 | 大叶大学 | Device for collecting wireless radio frequency identification data |
| CN201558835U (en) * | 2009-11-06 | 2010-08-25 | 华中电网有限公司 | External insulating dry ice cleaning vehicle for electrical device |
| CN202316365U (en) * | 2011-08-26 | 2012-07-11 | 重庆电力高等专科学校 | Manipulator for cleaning insulator |
-
2011
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