CN1136061C - Automatic centring unit for robot-type ultrahigh-voltage cleaning brush - Google Patents
Automatic centring unit for robot-type ultrahigh-voltage cleaning brush Download PDFInfo
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- CN1136061C CN1136061C CNB011269200A CN01126920A CN1136061C CN 1136061 C CN1136061 C CN 1136061C CN B011269200 A CNB011269200 A CN B011269200A CN 01126920 A CN01126920 A CN 01126920A CN 1136061 C CN1136061 C CN 1136061C
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Abstract
The present invention relates to an automatic centering device for a superhigh voltage charged robot type cleaning brush, which mainly comprises an ultrasonic distant measurer, a gear 1, a gear 2, a connecting rod, hair brush disks, ultrasonic sensors, conveying belts and an optical fiber, wherein the ultrasonic distant measurer is arranged on the back part of the gear 1, and data is transmitted to a data acquisition system of an insulating platform through the optical fiber; each of the ultrasonic sensors is connected to the ultrasonic distant measurer through a conducting wire, the ultrasonic sensors are arranged between two layers of the hair brush disks, and the gear 1 drives the right hair brush disk through the conveying belt; the gear 2 is driven by the gear 1 and drives the left hair brush disk through the conveying belt, and the left hair brush disk and the right hair brush disk rotate in opposite directions.
Description
Technical field: what the present invention relates to is a kind of automatic centering device, and particularly a kind of overpressured zones electric machine people cleans the automatic centering device of brush, belongs to mechanical engineering field.
Background technology: the filth of porcelain insulator is the one of the main reasons that causes the line insulation flashover fault.All anti-sudden strain of a muscles in countermeasures, the filth of removing operating porcelain insulator surface is the most effective means of fundamental sum.The charged mode of removing contamination of porcelain insulator commonly used mainly contains three kinds: hand sweeping, high pressure water washing, charged dried cleaning.In the cleaning process of porcelain insulator, what guarantee cleaning brush and porcelain insulator is the precondition of cleaning to the heart.Find by literature search: China Patent No. is: 93215707.6, name is called: the circulating type insulator electrified sweeper, the technical characterictic of this patent is described as: a kind of circulating type insulator electrified sweeper, it is characterized in that forming by the identical round brush plate of opening, rack circle, circular chute and active, transmission, driven gear, brush plate links to each other with tooth bar, and tooth bar meshes with active, travelling gear and moves in a circle along chute.This patent is thought: sweeper is simple in structure, being convenient to up and down, shaft tower carries, flexible operation easy to use is reliable, brush sweeper moves in a circle with tooth bar, makes operating personnel not need the shift position, has guaranteed operating personnel's safety, sweeper can clean the upper and lower surface of insulator, clean respond wellly, and processing and fabricating is easy, and is easy to maintenance.But still there are some technical problems in the suspended prong that this sweeper adopts machinery centering device, as: 1, the radius of suspended prong is fixed, and can only adapt to a kind of porcelain insulator of size.2, the case hardness of suspended prong is big, damages the enamel or the coating on porcelain insulator surface easily.
Summary of the invention: the present invention is directed to deficiency and problem that prior art exists, the overpressured zones electric machine people who has designed a kind of porcelain insulator based on contactless range measurement cleans the automatic centering device of brush, this device solves following problem: the porcelain insulator that 1, can adapt to various sizes.2, adopt contactless range measurement, can not damage the surperficial enamel or the coating of porcelain insulator.The present invention mainly comprises: ultrasonic range finder, gear I, gear II, connecting rod, brush plate, ultrasonic sensor, conveyer belt and optical fiber, ultrasonic range finder is arranged on the rear portion of gear I, by optical fiber transfer of data is arrived the insulated platform data collecting system, every ultrasonic sensor is wired to ultrasonic range finder, ultrasonic sensor is arranged on the centre of two-layer brush plate, and gear I drives the right side brush plate by conveyer belt; Gear II is driven by gear I, by conveyer belt left side brush plate, makes the brush plate switched in opposite of left and right side.
When cleaning brush near porcelain insulator, ultrasonic range finder is regularly measured the distance of hairbrush to porcelain insulator, sends data to the insulated platform data collecting system by optical fiber.Insulated platform data collecting system range data, calculate the deviation at cleaning brush subcenter and porcelain insulator center, deviation data is sent to central control system, central control system is according to deviation data, the motion of control revolving dial and cleaning arm realizes automatic centering.The cleaning brush is connected by turning joint on the telescopic arm of cleaning arm, and the standing part of cleaning arm and insulated platform directly are fixed on the insulated elevating mechanism, realizes vertical displacement movement; Insulated elevating mechanism is fixed on the revolving dial, the realization cleaning arm ± 180 ° of horizontal rotations, revolving dial is fixed on the locomotive, and the hydraulically extensible leg is housed on the locomotive, the X-Y dipmeter is housed on the revolving dial, carries out automatic horizontal by central control system according to the signal of dipmeter and regulate.The Cloud Terrace and insulated platform data collecting system are housed on the insulated platform.The insulated platform data collecting system is transmitted by wireless data, sends the posture information of porcelain insulator the motion of central control system control cleaning arm and revolving dial to, make the cleaning brush steadily, exactly near porcelain insulator.Distant operating terminal carries out exchanges data by radio communication and central control system, can realize robot ground automatic/hand cleaning operation.
The present invention has substantive distinguishing features and marked improvement, and the present invention has realized the automatic centering of robot ground cleaning brush to porcelain insulator.It is strong to have applicability, touches the porcelain insulator that protection admirably is cleaned, and by guaranteeing safety significantly, improves effect in this field.
Description of drawings: Fig. 1 structural representation of the present invention
Fig. 2 working state schematic representation of the present invention
The specific embodiment: as shown in Figure 1, the present invention mainly comprises: ultrasonic range finder 1, gear 2, gear 3, connecting rod 4, brush plate 5, ultrasonic sensor 6, conveyer belt 7 and optical fiber 8, ultrasonic range finder 1 is arranged on the rear portion of gear 2, by optical fiber transfer of data is arrived the insulated platform data collecting system, every ultrasonic sensor 6 is wired to ultrasonic range finder 1, brush plate 5 is double-deck, ultrasonic sensor 6 is arranged on the centre of two-layer brush plate 5, and gear 2 drives right side brush plate 5 by conveyer belt 7; Gear 3 is driven by gear 2, by 3 brush plates 5 in conveyer belt 7 left sides, makes the brush plate switched in opposite of left and right side.
As shown in Figure 2, when cleaning brush near porcelain insulator, ultrasonic range finder 1 is regularly measured the distance of hairbrush to porcelain insulator, send data to insulated platform data collecting system 9 by optical fiber 8, insulated platform data collecting system 9 is according to range data, calculate the deviation at cleaning brush subcenter and porcelain insulator center, deviation data is sent to central control system 10; Central control system 10 is according to deviation data, and the motion of control revolving dial 11 and cleaning arm 12 realizes automatic centering.
Claims (2)
1, a kind of overpressured zones electric machine people cleans the automatic centering device of brush, mainly comprise: gear (2), gear (3), brush plate (5), it is characterized in that also comprising: ultrasonic range finder (1), connecting rod (4), ultrasonic sensor (6), conveyer belt (7) and optical fiber (8), ultrasonic range finder (1) is arranged on the rear portion of gear (2), by optical fiber (8) transfer of data is arrived the insulated platform data collecting system, every ultrasonic sensor (6) is wired to ultrasonic range finder (1), brush plate (5) is double-deck, ultrasonic sensor (6) is arranged on the centre of two-layer brush plate (5), gear (2) drives right side brush plate (5) by conveyer belt (7), gear (3) is driven by gear (2), by conveyer belt (7) left side brush plate (5), make a left side, the brush plate switched in opposite on right side.
2, this overpressured zones electric machine people according to claim 1 cleans the automatic centering device of brush, it is characterized in that ultrasonic range finder (1) regularly measures the distance of hairbrush to porcelain insulator, send data to insulated platform data collecting system (9) by optical fiber (8), insulated platform data collecting system (9) is according to range data, calculate the deviation at cleaning brush subcenter and porcelain insulator center, deviation data is sent to central control system (10), central control system (10) is according to deviation data, the motion of control revolving dial (11) and cleaning arm (12) realizes automatic centering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011269200A CN1136061C (en) | 2001-09-29 | 2001-09-29 | Automatic centring unit for robot-type ultrahigh-voltage cleaning brush |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011269200A CN1136061C (en) | 2001-09-29 | 2001-09-29 | Automatic centring unit for robot-type ultrahigh-voltage cleaning brush |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1338340A CN1338340A (en) | 2002-03-06 |
| CN1136061C true CN1136061C (en) | 2004-01-28 |
Family
ID=4666923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB011269200A Expired - Fee Related CN1136061C (en) | 2001-09-29 | 2001-09-29 | Automatic centring unit for robot-type ultrahigh-voltage cleaning brush |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1136061C (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100377798C (en) * | 2005-09-01 | 2008-04-02 | 上海交通大学 | Radius variable cleaning paw |
| CN100446876C (en) * | 2006-06-21 | 2008-12-31 | 武汉大学 | Machine for cleaning rotary body |
| CN102495632B (en) * | 2011-12-15 | 2013-04-03 | 北京理工大学 | Movement platform based on omnidirectional driving of ball wheels |
| CN107309189B (en) * | 2017-06-23 | 2023-06-23 | 贵州电网有限责任公司 | Surrounding type cleaning tool for electrified equipment |
| CN107617591A (en) * | 2017-09-13 | 2018-01-23 | 长沙展朔轩兴信息科技有限公司 | Overpressured zones electric machine people cleans the automatic centering device of brush |
| CN108555876A (en) * | 2018-05-23 | 2018-09-21 | 桂林电子科技大学 | Transformer porcelain bottle cleaning robot |
| CN112387652B (en) * | 2020-10-20 | 2022-07-29 | 广东电网有限责任公司 | Insulator cleaning device |
| CN114589135A (en) * | 2020-12-04 | 2022-06-07 | 国网山东省电力公司济南供电公司 | Live-line radial feeding cleaning device, robot and method for transformer substation insulator |
-
2001
- 2001-09-29 CN CNB011269200A patent/CN1136061C/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN1338340A (en) | 2002-03-06 |
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| CF01 | Termination of patent right due to non-payment of annual fee |