CN109365406A - A kind of climbing sweeping robot for substation's support insulator - Google Patents
A kind of climbing sweeping robot for substation's support insulator Download PDFInfo
- Publication number
- CN109365406A CN109365406A CN201811384631.2A CN201811384631A CN109365406A CN 109365406 A CN109365406 A CN 109365406A CN 201811384631 A CN201811384631 A CN 201811384631A CN 109365406 A CN109365406 A CN 109365406A
- Authority
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- China
- Prior art keywords
- arm
- sweeping robot
- telescopic rod
- clamping element
- electric
- Prior art date
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- 239000012212 insulator Substances 0.000 title claims abstract description 69
- 230000009194 climbing Effects 0.000 title claims abstract description 44
- 238000010408 sweeping Methods 0.000 title claims abstract description 41
- 238000004140 cleaning Methods 0.000 claims abstract description 24
- 238000007664 blowing Methods 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 230000008859 change Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 239000000428 dust Substances 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000006641 stabilisation Effects 0.000 description 4
- 238000011105 stabilization Methods 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 238000003916 acid precipitation Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005202 decontamination Methods 0.000 description 1
- 230000003588 decontaminative effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002000 scavenging effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Landscapes
- Cleaning In General (AREA)
Abstract
The present invention provides a kind of climbing sweeping robot for substation's support insulator, including clamp system, vertical telescopic mechanism and cleaning agency, clamp system includes above encircling arm, arm and the clamping element for clamp or release support insulator are encircled under above encircling below arm, clamping element includes set on the first clamping element above encircled on arm and being set to down the second clamping element encircled on arm, vertical telescopic mechanism includes the electric pushrod encircled arm in connection and encircle arm under, flexible by electric pushrod rises the position for climbing sweeping robot constantly, cleaning agency includes hairbrush and blowing device, on encircle arm upper end be equipped with ring-shaped guide rail, ring-shaped guide rail is equipped with the electric vehicle moved around ring-shaped guide rail, hairbrush is set on electric vehicle, blowing device is located at the lower section of electric vehicle, after hairbrush cleaning, blowing device is to post insulator Son is blowed, and the dust left after hairbrush is cleared up is blown off, further promotes the cleaning effect of climbing sweeping robot.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of climbing scavenging machines for substation's support insulator
Device people.
Background technique
With the continuous development of China's electric system, the safety and stablization of power grid are increasingly taken seriously.Substation's pillar
Insulator is a kind of special insulation control, is played an important role in overhead transmission lines, it might even be possible to say post insulator
The safe operation of son directly determines the level of security of whole transformer station.
Support insulator easily causes flashover by adverse circumstances such as haze, acid rain, fugitive dusts, even results in substation's stoppage in transit,
Heavy losses are caused, therefore, the cleaning decontamination work of support insulator becomes among in the weight of substation's interruption maintenance, and tradition is clear
The mode of sweeping relies primarily on a large amount of human and material resources investment, insulator is climbed by operating personnel or take high altitude vehicle using rag into
Energy is needed and there is many drawbacks, the production scenes such as cleaning is not clean, and operating safety factor is low, working efficiency is low in row hand sweeping
Enough realize the automation equipment that insulator efficiently cleans.
Summary of the invention
The purpose of the present invention is to provide a kind of climbing sweeping robots for substation's support insulator, instead of artificial
It cleans, efficiently and safely completes the cleaning of support insulator.
In order to achieve the above object, the present invention adopts the following technical scheme: a kind of climbing for substation's support insulator
Sweeping robot, including clamp system, vertical telescopic mechanism and cleaning agency are climbed, clamp system includes above encircling arm, positioned at upper
Arm and the clamping element for clamp or release support insulator are encircled under encircling below arm, clamping element includes being set to above to encircle arm
On the first clamping element and be set to down the second clamping element encircled on arm, vertical telescopic mechanism include connection on encircle arm and lower ring
The electric pushrod of folded arm, cleaning agency include hairbrush and blowing device, and the upper end for above encircling arm is equipped with ring-shaped guide rail, ring-shaped guide rail
It is equipped with the electric vehicle moved around ring-shaped guide rail, hairbrush is set on electric vehicle, and blowing device is located at the lower section of electric vehicle.
Further, the bottom of the electric vehicle is equipped with idler wheel and connecting rod, and ring-shaped guide rail, which is equipped with, to be cooperated with idler wheel
It is oriented to annular groove and the limited ring groove with connecting rod cooperation, is equipped with limited block in limited ring groove, limited block detachably connects with connecting rod
It connects, electric vehicle is mobile to drive limited block to move in limiting slot.
Further, first clamping element includes the first electric telescopic rod and set on the of the first electric expansion boom end
One Elastic clamping plate, the first electric telescopic rod be equipped with multiple and multiple first electric telescopic rods along the circumferential direction for above encircling arm it is uniformly distributed between
Every setting.
Further, first electric telescopic rod includes first motor and the first telescopic rod, first motor work belt
Dynamic first telescopic rod is flexible to realize the first Elastic clamping plate clamp or release support insulator.
Further, second clamping element includes the second electric telescopic rod and set on the of the second electric expansion boom end
Two Elastic clamping plates, the second electric telescopic rod be equipped with multiple and multiple second electric telescopic rods encircled under arm circumferential direction it is uniformly distributed between
Every setting.
Further, second electric telescopic rod includes the second motor and the second telescopic rod, the second motor work belt
Dynamic second telescopic rod is flexible to realize the second Elastic clamping plate clamp or release support insulator.
Further, the electric pushrod includes that push rod shell and the third motor in push rod shell are stood with lifting
Column, third motor, which works to drive lifting column stretching, extension or shrink, encircles the change that arm encircles arm vertical distance under in realization.
Further, the blowing device is set to the side of push rod shell inwardly, and blowing device includes shaft, is set to shaft
On air blade and the 4th motor in push rod shell, the 4th motor work belt turn axis rotation realize air blade turn
It is dynamic.
Further, the hairbrush is connected on electric vehicle by rotary shaft, and rotary shaft is rotatably connected with electric vehicle.
Further, encircled on described arm and under encircle arm and be made of two semi-circular arms.
After adopting the above technical scheme, the present invention has the advantage that
1, by the first clamping element of setting, the second clamping element and electric pushrod, the second clamping element clamps support insulator, the
One clamping element unclamps support insulator, and electric pushrod stretching, extension, which is realized, encircles the rising of arm position, electric pushrod be stretched over it is maximum away from
From rear, the first clamping element clamping support insulator, the second clamping element unclamps support insulator, and electric pushrod is shunk to be encircled under realization
Arm position rises, and after electric pushrod is retracted to minimum range, repeats the second clamping element and clamps, the first clamping element unclamps, so that climbing
The position for climbing sweeping robot constantly rises, and realizes climbing function；By by hairbrush be arranged on electric vehicle, electric vehicle around
Ring-shaped guide rail movement, hairbrush is cleaned around support insulator so that clean more thoroughly, without dead angle, pass through
Blowing device is arranged in the lower section of electric vehicle, after hairbrush cleaning, support insulator is blowed in blowing device, so that hair
The dust left after brush cleaning can be blown off, and the cleaning effect of climbing sweeping robot is further promoted.
2, by setting guiding annular groove electric vehicle is moved along guiding annular groove, by the way that limited ring groove, stop collar is arranged
Limited block is equipped in slot, limited block is detachably connected with connecting rod, by the way that connecting rod is connected on limited block, electric vehicle along
Limited block is driven to move in limited ring groove by connecting rod when guiding annular groove is mobile, so that electric vehicle and ring-shaped guide rail are vertical
Position is kept fixed on direction, and electric vehicle is not fallen out when climbing sweeping robot climbing, so that climbing sweeping robot
Using relatively reliable.
3, it is evenly distributed with spaced first electric telescopic rod along the circumferential direction for above encircling arm by the way that setting is multiple, realizes first
Clamping element makes the stress of support insulator more balanced the clamp or release of support insulator, passes through setting first
Elastic clamping plate avoids damaging the surface of support insulator in clamping process, while because of the full skirt shape of support insulator,
Elastic clamping plate can guarantee that well contacting between support insulator and stabilization hold out against.
4, by setting first motor and the first telescopic rod, first motor work can drive the first telescopic rod to stretch
Clamping and release of first clamping element to support insulator are realized in contracting, so that climbing sweeping robot can be adapted for difference directly
The cleaning of the support insulator of diameter.
5, it is evenly distributed with spaced second electric telescopic rod by the way that multiple circumferential directions for encircling arm under are arranged, realizes second
Clamping element makes the stress of support insulator more balanced the clamp or release of support insulator, passes through setting second
Elastic clamping plate avoids damaging the surface of support insulator in clamping process, while because of the full skirt shape of support insulator,
Elastic clamping plate can guarantee that well contacting between support insulator and stabilization hold out against.
6, by the second motor of setting and the second telescopic rod, the work of the second motor can drive the second telescopic rod to stretch
Clamping and release of second clamping element to support insulator are realized in contracting, so that climbing sweeping robot can be adapted for difference directly
The cleaning of the support insulator of diameter.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Fig. 1 is the structural schematic diagram of climbing sweeping robot of the present invention.
Fig. 2 is the side view of climbing sweeping robot of the present invention.
Fig. 3 is the top view of climbing sweeping robot of the present invention.
Marked the names of the parts are as follows in figure:
1, arm is encircled on；2, arm is encircled under；3, the first clamping element；31, the first electric telescopic rod；32, the first Elastic clamping plate；
4, the second clamping element；41, the second electric telescopic rod；42, the second Elastic clamping plate；5, electric pushrod；51, push rod shell；52, it goes up and down
Column；6, electric vehicle；61, hairbrush；62, rotary shaft；7, blowing device；71, shaft；72, air blade；8, ring-shaped guide rail；81, it leads
To annular groove；82, limited ring groove.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.It is to be appreciated that following "upper",
Indicating positions or the position such as "lower", "left", "right", " longitudinal direction ", " transverse direction ", "inner", "outside", "vertical", "horizontal", "top", "bottom"
The word for setting relationship is based only upon orientation or positional relationship shown in the drawings, only for the purposes of the description present invention and simplifies description, and
It is not that device/element of indication or suggestion meaning must have a particular orientation or be constructed and operated in a specific orientation, therefore
It is not considered as limiting the invention.
As shown in Figure 1 to Figure 3, the present invention provides a kind of climbing sweeping robot for substation's support insulator, packet
Include clamp system, vertical telescopic mechanism and cleaning agency, clamp system include on encircle arm 1, positioned above encircling under 1 lower section of arm
Arm 2 and the clamping element for clamp or release support insulator are encircled, clamping element includes clamping set on first above encircled on arm 1
Part 3 and be set to down the second clamping element 4 encircled on arm 2, vertical telescopic mechanism include encircled in connection arm 1 and under encircle arm 2
Electric pushrod 5, by the first clamping element 3 of setting, the second clamping element 4 and electric pushrod 5, the second clamping element 4 clamps post insulator
Son, the first clamping element 3 unclamp support insulator, and the stretching, extension of electric pushrod 5, which is realized, encircles the rising of 1 position of arm, and electric pushrod 5 stretches
To after maximum distance, the first clamping element 3 clamps support insulator, and the second clamping element 4 unclamps support insulator, and electric pushrod 5 is received
The rising of 2 position of arm is encircled in contracting under realizing, after electric pushrod 5 is retracted to minimum range, is repeated the second clamping element 4 and clamped, the first folder
Tight part 3 unclamps, so that the position of climbing sweeping robot constantly rises, realizes climbing function；Cleaning agency includes hairbrush 61
With blowing device 7, the upper end for above encircling arm 1 is equipped with ring-shaped guide rail 8, and ring-shaped guide rail 8 is equipped with the electricity moved around ring-shaped guide rail 8
Motor-car 6, hairbrush 61 are set on electric vehicle 6, and hairbrush 61 is cleaned around support insulator, so that cleaning more thorough
Bottom, without dead angle, blowing device 7 is located at the lower section of electric vehicle 6, hairbrush 61 cleaning after, blowing device 7 to support insulator carry out
Blowing, the dust left after hairbrush 61 is cleared up are blown off, and the cleaning effect of climbing sweeping robot is further promoted,
By climbing the climbing function and cleaning function of sweeping robot, it can replace hand sweeping, efficiently and safely complete substation
The cleaning of support insulator.
First clamping element 3 includes the first electric telescopic rod 31 and the first elastic clip set on 31 end of the first electric telescopic rod
Plate 32, the first electric telescopic rod 31 be equipped with multiple and multiple first electric telescopic rods 31 along the circumferential direction for above encircling arm 1 it is uniformly distributed between
Every setting, realize that the first clamping element 3 to the clamp or release of support insulator, while making the stress of support insulator more equal
Weighing apparatus；By the way that the first Elastic clamping plate 32 is arranged, avoid damaging the surface of support insulator in clamping process, while because of pillar
The full skirt shape of insulator, Elastic clamping plate can guarantee that well contacting between support insulator and stabilization hold out against.This implementation
In example, the first electric telescopic rod 31 and the first Elastic clamping plate 32 are provided with 3, and 3 the first electric telescopic rods 31 are along upper ring
The uniformly distributed interval setting of the circumferential direction of folded arm 1 and synchronous extension or contraction, so that the clamping of support insulator is more stable, while will not
Setting excessively leads to that structure is complicated.
Second clamping element 4 includes the second electric telescopic rod 41 and the second elastic clip set on 41 end of the second electric telescopic rod
Plate 42, the second electric telescopic rod 41 be equipped with multiple and multiple second electric telescopic rods 41 encircled under arm 2 circumferential direction it is uniformly distributed between
Every setting, realize that the second clamping element 4 to the clamp or release of support insulator, while making the stress of support insulator more equal
Weighing apparatus；By the way that the second Elastic clamping plate 42 is arranged, avoid damaging the surface of support insulator in clamping process, while because of pillar
The full skirt shape of insulator, Elastic clamping plate can guarantee that well contacting between support insulator and stabilization hold out against.This implementation
In example, the second electric telescopic rod 41 and the second Elastic clamping plate 42 are provided with 3, and 3 the second electric telescopic rods 41 are along lower ring
The uniformly distributed interval setting of the circumferential direction of folded arm 2 and synchronous extension or contraction, so that the clamping of support insulator is more stable, while will not
Setting excessively leads to that structure is complicated.
Specifically, the first electric telescopic rod 31 includes first motor and the first telescopic rod, first motor work can band
Dynamic first telescopic rod is flexible, realizes clamping and release of first clamping element 3 to support insulator, so that climbing sweeping robot
It can be adapted for the cleaning of the support insulator of different-diameter.
Second electric telescopic rod 41 includes the second motor and the second telescopic rod, and the work of the second motor can drive second can
Telescopic rod is flexible, realizes clamping and release of second clamping element 4 to support insulator, and climbing sweeping robot is applicable in
In the cleaning of the support insulator of different-diameter.
Electric pushrod 5 includes push rod shell 51 and third motor and lifting column 52 in push rod shell 51, third
Motor, which works to drive the stretching, extension of lifting column 52 or shrink, encircles the change that arm 1 encircles 2 vertical distance of arm under in realization.It is electronic to push away
Bar 5 is provided with multiple, and multiple electric pushrods 5 encircle the uniformly distributed interval setting of circumferential direction of arm 2 under so that on encircle arm 1 and under
The movement encircled between arm 2 is more stable.In the present embodiment, electric pushrod 5 is provided with 3, is provided with one at interval of 120,
So that the climbing function of climbing sweeping robot is more stable, reliable.
Blowing device 7 is set to the side of push rod shell 51 inwardly, i.e. push rod shell 51 is blown close to the side of support insulator
Wind apparatus 7 includes shaft 71, the air blade 72 in shaft 71 and the 4th motor in push rod shell 51, the 4th motor
The rotation of air blade 72 is realized in the rotation of work belt turn axis 71.In the present embodiment, blowing device 7 is provided with 3 and is respectively set
On 3 electric pushrods 5.
The bottom of electric vehicle 6 is equipped with idler wheel and connecting rod, ring-shaped guide rail 8 be equipped with the guiding annular groove 81 that cooperates with idler wheel and
With the limited ring groove 82 of connecting rod cooperation, limited ring groove 82 is interior to be equipped with limited block, and limited block is detachable by screw thread with connecting rod
Connection, by the way that connecting rod to be connected on limited block, electric vehicle 6 is driven by connecting rod when moving along guiding annular groove 81 and is limited
Block moves in limited ring groove 82, so that electric vehicle 6 is with ring-shaped guide rail 8, position is kept fixed in the vertical direction, and electric vehicle 6 exists
Climbing sweeping robot climbing when do not fall out so that climbing sweeping robot using relatively reliable.It is electronic in the present embodiment
Vehicle 6 is provided with 3, and the travel speed of 3 electric vehicles 6 is identical, and 120 ° of starting position interval, promotes climbing sweeping robot
Sweeping efficiency.
Hairbrush 61 is connected on electric vehicle 6 by rotary shaft 62, and rotary shaft 62 is rotatably connected with electric vehicle 6.
On encircle arm 1 and under encircle arm 2 and be made of two semi-circular arms, facilitate and climb sweeping robot and be mounted on pillar
On insulator.
It should be understood that the first electric telescopic rod also can be set 2,4,5,6 etc..
It should be understood that the second electric telescopic rod also can be set 2,4,5,6 etc..
It should be understood that electric pushrod also can be set 1,2,4 etc..
It should be understood that electric vehicle also can be set 1,2,4 etc..
In addition to above preferred embodiment, there are other embodiments of the invention, and those skilled in the art can be according to this
Invention makes various changes and modifications, and as long as it does not depart from the spirit of the invention, should belong to appended claims of the present invention and determines
The range of justice.
Claims (10)
1. a kind of climbing sweeping robot for substation's support insulator, including clamp system, vertical telescopic mechanism and clear
Sweep mechanism, which is characterized in that the clamp system include on encircle arm, encircle under above encircling below arm arm and for pressing from both sides
Clamping element that is tight or unclamping support insulator, clamping element include being set to the first clamping element above encircled on arm and being set to down to encircle arm
On the second clamping element, vertical telescopic mechanism include encircled in connection arm and under encircle the electric pushrod of arm, cleaning agency includes
Hairbrush and blowing device, the upper end for above encircling arm are equipped with ring-shaped guide rail, and ring-shaped guide rail is equipped with the electricity moved around ring-shaped guide rail
Motor-car, hairbrush are set on electric vehicle, and blowing device is located at the lower section of electric vehicle.
2. climbing sweeping robot according to claim 1, which is characterized in that the bottom of the electric vehicle be equipped with idler wheel and
Connecting rod, ring-shaped guide rail is equipped with guiding annular groove cooperate with idler wheel and the limited ring groove cooperated with connecting rod, in limited ring groove
Equipped with limited block, limited block is detachably connected with connecting rod, and electric vehicle is mobile to drive limited block to move in limiting slot.
3. climbing sweeping robot according to claim 1, which is characterized in that first clamping element includes first electronic
Telescopic rod and the first Elastic clamping plate set on the first electric expansion boom end, the first electric telescopic rod are equipped with multiple and multiple first
Electric telescopic rod is along the uniformly distributed interval setting of the circumferential direction for above encircling arm.
4. climbing sweeping robot according to claim 3, which is characterized in that first electric telescopic rod includes first
Motor and the first telescopic rod, first motor work drive the first telescopic rod is flexible to realize the first Elastic clamping plate clamp or release
Support insulator.
5. climbing sweeping robot according to claim 1, which is characterized in that second clamping element includes second electronic
Telescopic rod and the second Elastic clamping plate set on the second electric expansion boom end, the second electric telescopic rod are equipped with multiple and multiple second
Electric telescopic rod encircles the uniformly distributed interval setting of circumferential direction of arm under.
6. climbing sweeping robot according to claim 5, which is characterized in that second electric telescopic rod includes second
Motor and the second telescopic rod, the work of the second motor drive the second telescopic rod is flexible to realize the second Elastic clamping plate clamp or release
Support insulator.
7. climbing sweeping robot according to claim 1, which is characterized in that the electric pushrod include push rod shell and
Third motor and lifting column in push rod shell, the work of third motor, which drives lifting column stretching, extension or shrinks, realizes upper ring
Folded arm encircles the change of arm vertical distance under.
8. climbing sweeping robot according to claim 1, which is characterized in that the blowing device is set to push rod shell court
Interior side, blowing device include shaft, the air blade in shaft and the 4th motor in push rod shell, the 4th electricity
The rotation of air blade is realized in the rotation of machine work belt turn axis.
9. according to claim 1 to climbing sweeping robot described in 8 any one, which is characterized in that the hairbrush passes through rotation
Shaft is connected on electric vehicle, and rotary shaft is rotatably connected with electric vehicle.
10. according to claim 1 to climbing sweeping robot described in 8 any one, which is characterized in that encircled on described arm and
Under encircle arm and be made of two semi-circular arms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811384631.2A CN109365406A (en) | 2018-11-20 | 2018-11-20 | A kind of climbing sweeping robot for substation's support insulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811384631.2A CN109365406A (en) | 2018-11-20 | 2018-11-20 | A kind of climbing sweeping robot for substation's support insulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109365406A true CN109365406A (en) | 2019-02-22 |
Family
ID=65376953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811384631.2A Pending CN109365406A (en) | 2018-11-20 | 2018-11-20 | A kind of climbing sweeping robot for substation's support insulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109365406A (en) |
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| CN111921936A (en) * | 2020-08-21 | 2020-11-13 | 广东电网有限责任公司 | Insulator cleaning device |
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Application publication date: 20190222 |