CN114011644A - Robot for automatically coating insulating material on surface of high-voltage transmission line - Google Patents
Robot for automatically coating insulating material on surface of high-voltage transmission line Download PDFInfo
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- CN114011644A CN114011644A CN202111453978.XA CN202111453978A CN114011644A CN 114011644 A CN114011644 A CN 114011644A CN 202111453978 A CN202111453978 A CN 202111453978A CN 114011644 A CN114011644 A CN 114011644A
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- transmission line
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- 239000011248 coating agent Substances 0.000 title claims abstract description 69
- 238000000576 coating method Methods 0.000 title claims abstract description 69
- 230000005540 biological transmission Effects 0.000 title claims abstract description 54
- 239000011810 insulating material Substances 0.000 title claims abstract description 40
- 230000000694 effects Effects 0.000 claims abstract description 12
- 238000004140 cleaning Methods 0.000 claims description 64
- 230000001681 protective effect Effects 0.000 claims description 16
- 239000000428 dust Substances 0.000 claims description 10
- 239000007787 solid Substances 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000009413 insulation Methods 0.000 abstract description 7
- 230000000903 blocking effect Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 230000003749 cleanliness Effects 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 3
- 239000012535 impurity Substances 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C1/00—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating
- B05C1/04—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to work of indefinite length
- B05C1/06—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to work of indefinite length by rubbing contact, e.g. by brushes, by pads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
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- 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
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- 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
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
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- Electric Cable Installation (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention provides a robot for automatically coating an insulating material on the surface of a high-voltage transmission line, and relates to the technical field of insulation of an overhead bare wire. The invention has the advantages that the sundries can be cleaned before the insulating material is coated, thereby improving the coating effect and the like.
Description
Technical Field
The invention relates to the technical field of insulation of overhead bare wires, in particular to a robot for automatically coating an insulating material on the surface of a high-voltage transmission line.
Background
At present, a part of overhead high-voltage transmission lines adopt bare wires, but wire cores of the bare wires are exposed in the atmospheric environment and are easy to corrode, so that potential safety hazards are formed. Meanwhile, the insulation layer of the high-voltage wire with the insulation layer is exposed in the outdoor environment for a long time and is influenced by environmental factors such as sunlight, rain and the like, so that the aging phenomenon occurs, the insulation layer loses the original function, and insulation treatment needs to be carried out on part of bare wires or part of aged wires of the insulation layer. When the insulated conductor is replaced, power failure operation is needed, so that the problems of long power failure time of the line, high danger of personnel climbing the pole, influence on the reliability index of the overhead line and the like exist. At present, coating robots are used for coating, but most of the coating robots are used for directly coating, impurities are deposited on the surfaces of high-voltage transmission lines exposed in outdoor environment for a long time due to the fact that the high-voltage transmission lines are blown by wind and rain, and the effects of coating insulating materials at the later stage are obviously affected if the impurities are not cleaned and removed.
Disclosure of Invention
The invention aims to provide a robot capable of automatically coating an insulating material on the surface of a high-voltage transmission line, which can clean impurities before coating the insulating material so as to improve the coating effect.
In order to solve the technical problems, the invention provides a robot for automatically coating an insulating material on the surface of a high-voltage transmission line, which comprises a coating robot body, wherein a line body cleaning device is arranged outside the coating robot body and comprises a directional cleaning device and a rotary cleaning device, the directional cleaning device comprises a support, the support is movably connected with the coating robot body, an upper half cover body and a lower half cover body are arranged on the support, the upper half cover body and the lower half cover body are both of arc-shaped structures, arc-shaped openings of the upper half cover body and the lower half cover body are opposite, the rotary cleaning device comprises an outer shell, the outer shell is arranged on the side wall of the coating robot body, a motor protective sleeve is hinged on the outer shell through a rotating shaft with a torsion spring, a servo motor is fixedly arranged in the motor protective sleeve, a driving gear is arranged on an output shaft of the servo motor, and a driving box is fixedly arranged at the top of the motor protective sleeve, the driving box top surface is provided with a left retaining ring and a right retaining ring at parallel intervals, the left retaining ring and the right retaining ring rotate to be provided with a cleaning ring, the left retaining ring and the right retaining ring share the same axis, an arc-shaped toothed plate is arranged on the peripheral wall of the cleaning ring, and the driving gear is meshed with the arc-shaped toothed plate.
Preferably, be provided with cleaning device on the lateral wall that coating robot body was kept away from to the shell body and hold the chamber, cleaning device holds the intracavity and fixes and be provided with telescopic cylinder, and it has the motor protective sheath to articulate through the pivot of taking the torsional spring on telescopic cylinder's the telescopic link, and when not using, the intracavity is held to cleaning device to accessible telescopic cylinder with the motor protective sheath to the telescopic cylinder.
Preferably, a side wall of the bracket is rotatably connected with an upper half cover body and a lower half cover body through a rotating rod with a torsional spring, a side wall of the upper half cover body is provided with an arc-shaped adjusting rod groove, an adjusting ring is movably arranged in the arc-shaped adjusting rod groove, an adjusting rod is fixedly arranged at the middle position of the adjusting ring in a penetrating way, one end of the adjusting rod movably penetrates through the arc-shaped adjusting rod groove into the upper half cover body, the other end of the adjusting rod is movably sleeved with a touch sleeve, a return spring is further sleeved outside one end of the adjusting rod, both ends of the adjusting ring are fixedly provided with clamping feet, a fixing ring is arranged on one side wall of the lower half cover body, the fixing ring is of an arc-shaped structure, two open ends of the fixing ring are respectively provided with clamping foot grooves which are in one-to-one correspondence with the clamping feet, and the clamping feet are respectively and movably clamped in the clamping foot grooves at corresponding positions, so that when the rotary cleaning device is not installed, when the surface of the high-voltage transmission line is coated with an insulating material, when the touching cover of adjusting the pole other end touches external object, extrude in the half lid that makes progress through adjusting the pole for the card foot breaks away from corresponding card foot inslot, can take the effect of torsional spring down this moment, make first lid and second lid all use the dwang of taking the torsional spring as the axle and rotate, just overturn to opposite direction separately (be close to the direction of coating robot body promptly, can make the coating robot body continue to advance this moment and coat insulating material).
Preferably, a left side keeps off ring and right fender ring and is the ring annular structure, and keeps off and be provided with left annular guide slot and right annular guide slot on the relative inner wall of ring and right fender ring respectively on a left side, the opposition both sides of clearance ring are provided with respectively with left annular guide slot and the left guide ring and the right guide ring of right annular guide slot looks adaptation, left side guide ring and right guide ring are the arc shape structure, and left side guide ring and right guide ring slide respectively and set up in left annular guide slot and right annular guide slot for the clearance ring can keep off and carry out reciprocating rotation between the ring at a left side and the right fender ring.
Preferably, the clearance ring includes first semicircular ring body and lower semicircular ring body, all is provided with the fixture block on the both ends opening of first semicircular ring body, all be provided with the draw-in groove with the fixture block one-to-one on the both ends opening of lower semicircular ring body, the fixture block activity card respectively is established in corresponding draw-in groove, left side guide ring and right guide ring set up respectively in the opposite both sides of first semicircular ring body, the arc pinion rack sets up on the periphery wall of second semicircular ring body, be convenient for with fixture block activity card respectively establish in corresponding draw-in groove, make first semicircular ring body and lower semicircular ring body merge into a torus, and then the first semicircular ring body of accessible and lower semicircular ring body clear up high voltage transmission line surface.
Preferably, fixed connection between the one end of card foot and the adjustable ring is provided with the elastic ball body on the other end top surface of card foot, be provided with the hemisphere groove with elastic ball body looks adaptation on the top inner wall in card foot groove, and establish back at the card foot inslot when the card foot card, the elastic ball body card is gone into to the hemisphere inslot, is favorable to making behind the first semicircle ring body and the lower semicircle ring body merge into a ring body more firm, is difficult to part.
Preferably, the support is connected to the side wall of the coating robot body through a plurality of connecting bolts, so that the support is convenient to disassemble when the directional cleaning device is not used.
Preferably, still be connected with the dust collecting tower through a plurality of buffer spring on the solid fixed ring keeps away from the lateral wall of support, the dust collecting tower includes a plurality of coaxial lines, and the diameter is degressive half arc board in proper order and is constituteed, fixed connection between two adjacent half arc boards, and the arc opening direction of half arc board is the same with solid fixed ring's arc opening direction, is convenient for clear up debris or ponding to high voltage transmission line below the surface through the dust collecting tower, is favorable to improving the coated effect of insulating material.
The invention has the beneficial effects that:
(1) by the arrangement of the directional cleaning device and the rotary cleaning device, the directional cleaning device or the rotary cleaning device can be selected to be used independently or simultaneously according to use requirements, and the surface cleaning work is carried out on the high-voltage transmission line before the insulating material is coated, so that the effect of coating the insulating material at the later stage is improved;
(2) a servo motor in the rotary cleaning device drives the arc toothed plate through a driving gear, so that the arc toothed plate rotates in a positive and negative alternative mode, the cleaning ring can rotate back and forth between the left retaining ring and the right retaining ring, dirt on the surface of the high-voltage transmission line can be scraped through the arc inner wall of the upper half annular body, and the cleanliness of the surface of the high-voltage transmission line is improved;
(3) the touching cover that sets up among the directional cleaning device, be convenient for touch external object when touching the cover, can extrude adjusting the pole in the first cover body, make the card foot break away from corresponding card foot inslot, can take the effect of the dwang of torsional spring this moment, make first cover body and second cover body all use the dwang of taking the torsional spring as the axle and rotate, and overturn to opposite direction separately, and then can make coating robot body continue to advance on nearly high-voltage transmission line and carry out coating insulating material, make can not influence coated distance because of setting up of first cover body and second cover body.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a robot for automatically coating an insulating material on the surface of a high-voltage transmission line according to the invention;
FIG. 2 is a schematic structural view of a directional cleaning device of a robot for automatically coating an insulating material on the surface of a high-voltage transmission line according to the present invention;
fig. 3 is a schematic diagram of the position of an arc-shaped adjusting rod groove of the robot for automatically coating the surface of the high-voltage transmission line with the insulating material;
fig. 4 is a schematic diagram of the position of an elastic sphere of a robot for automatically coating the surface of a high-voltage transmission line with an insulating material according to the present invention;
fig. 5 is a schematic structural view of a fixing ring of a robot for automatically coating an insulating material on the surface of a high-voltage transmission line according to the present invention;
FIG. 6 is an enlarged view of the structure at A in FIG. 5;
fig. 7 is an exploded view of a cleaning ring structure of a robot for automatically coating the surface of a high-voltage transmission line with an insulating material according to the present invention;
fig. 8 is a schematic structural view of a dust collecting tower of a robot for automatically coating an insulating material on the surface of a high-voltage transmission line according to the present invention;
fig. 9 is a schematic diagram of the position of the left annular guide groove of the robot for automatically coating the surface of the high-voltage transmission line with the insulating material according to the invention;
fig. 10 is a schematic diagram of the position of the right annular guide groove of the robot for automatically coating the surface of the high-voltage transmission line with the insulating material according to the invention;
the reference signs are: 1. coating the robot body; 2. a wire body cleaning device; 3. a directional cleaning device; 31. a support; 32. a rotating lever with a torsion spring; 33. an upper half cover body; 34. a lower half cover body; 341. a fixing ring; 342. a clamping foot groove; 35. an arc-shaped adjusting rod groove; 36. an adjusting ring; 361. clamping a pin; 362. a hemispherical groove; 363. an elastic sphere; 37. adjusting a rod; 38. touching the sleeve; 39. a return spring; 4. rotating the cleaning device; 41. an outer housing; 42. a cleaning device receiving cavity; 43. a telescopic cylinder; 44. a rotating shaft with a torsion spring; 45. a motor protective sleeve; 451. a drive cartridge; 452. a left retainer ring; 4521. a left annular guide slot; 453. a right baffle ring; 4531. a right annular channel guide; 454. cleaning a ring; 4541. a left guide ring; 4542. a right guide ring; 4543. an upper semi-torus; 4544. a lower semi-torus; 4545. a clamping block; 4546. a card slot; 455. an arc toothed plate; 46. a servo motor; 47. a drive gear; 5. a connecting bolt; 6. a dust collection tower; 61. a buffer spring; 62. a semi-arc plate.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1-10, a robot for automatically coating an insulating material on a surface of a high voltage transmission line according to this embodiment includes a coating robot body 1, a line cleaning device 2 is disposed outside the coating robot body 1, the line cleaning device 2 includes a directional cleaning device 3 and a rotary cleaning device 4, the directional cleaning device 3 includes a support 31, the support 31 is movably connected to the coating robot body 1, an upper half cover 33 and a lower half cover 34 are disposed on the support 31, the upper half cover 33 and the lower half cover 34 are both arc-shaped, the arc-shaped openings of the upper half cover 33 and the lower half cover 34 are opposite, the rotary cleaning device 4 includes an outer housing 41, the outer housing 41 is disposed on a side wall of the coating robot body 1, a motor protection cover 45 is hinged to the outer housing 41 through a rotation shaft 44 with a torsion spring, a servo motor 46 is fixedly disposed in the motor protection cover 45, be provided with drive gear 47 on servo motor 46's the output shaft, the fixed drive box 451 that is provided with in top of motor protective sheath 45, parallel interval is provided with left fender ring 452 and right fender ring 453 on the drive box 451 top surface, it is provided with clearance ring 454 to rotate between left fender ring 452 and the right fender ring 453, clearance ring 454, left fender ring 452 and right fender ring 453 three coaxial line, be equipped with arc pinion rack 455 on the periphery wall of clearance ring 454, and drive gear 47 meshes with arc pinion rack 455 mutually.
A cleaning device accommodating cavity 42 is arranged on the side wall of the outer shell 41 far away from the coating robot body 1, a telescopic cylinder 43 is fixedly arranged in the cleaning device accommodating cavity 42, a telescopic rod of the telescopic cylinder 43 is hinged with a motor protective sleeve 45 through a rotating shaft 44 with a torsion spring, so that when the cleaning robot is not used, the motor protective sleeve 45 can be accommodated in the cleaning device accommodating cavity 42 through the telescopic cylinder 43, one side wall of the bracket 31 is rotatably connected with an upper half cover body 33 and a lower half cover body 34 through a rotating rod 32 with the torsion spring, one side wall of the upper half cover body 33 is provided with an arc-shaped adjusting rod groove 35, an adjusting ring 36 is movably arranged in the arc-shaped adjusting rod groove 35, an adjusting rod 37 is fixedly arranged at the middle position of the adjusting ring 36 in a penetrating manner, one end of the adjusting rod 37 movably penetrates through the arc-shaped adjusting rod groove 35 to the upper half cover body 33, and the other end of the adjusting rod 37 is movably sleeved with a touch sleeve 38, a return spring 39 is sleeved outside one end of the adjusting rod 37, two ends of the adjusting ring 36 are fixedly provided with clamping feet 361, a side wall of the lower half cover body 34 is provided with a fixing ring 341, the fixing ring 341 is an arc-shaped structure, two open ends of the fixing ring 341 are respectively provided with clamping foot grooves 342 corresponding to the clamping feet 361 one to one, and the clamping feet 361 are respectively and movably clamped in the clamping foot grooves 342 at corresponding positions, so that when the rotary cleaning device 4 is not installed, when the surface of the high-voltage transmission line is coated with an insulating material, and the touch sleeve 38 at the other end of the adjusting rod 37 touches an external object, the adjusting rod 37 is extruded into the upper half cover body 33, so that the clamping feet 361 are separated from the corresponding clamping foot grooves 342, at this time, under the action of the rotating rod 32 with a torsion spring, the upper half cover body 33 and the lower half cover body 34 both rotate around the rotating rod 32 with the torsion spring as an axis and respectively overturn in opposite directions (i.e. directions close to the coating robot body 1, at this time, the coating robot body 1 can be made to continue to advance to coat the insulating material), the left retaining ring 452 and the right retaining ring 453 are both of a circular ring structure, the inner walls of the left retaining ring 452 and the right retaining ring 453, which are opposite to each other, are respectively provided with a left annular guide groove 4521 and a right annular guide groove 4531, the two opposite sides of the cleaning ring 454 are respectively provided with a left guide ring 4541 and a right guide ring 4542 which are matched with the left annular guide groove 4521 and the right annular guide groove 4531, the left guide ring 4541 and the right guide ring 4542 are both of a circular arc shape structure, the left guide ring 4541 and the right guide ring 4542 are respectively slidably arranged in the left annular guide groove 4521 and the right annular guide groove 4531, so that the cleaning ring 454 can rotate back and forth between the left retaining ring 452 and the right retaining ring 453, the cleaning ring 454 comprises an upper half ring 4543 and a lower half ring 4544, openings at both ends of the upper half ring 4543 are respectively provided with fixture blocks 4545, openings at both ends of the lower half ring 4544 are provided with one-to-one corresponding fixture blocks 4546, the clamping blocks 4545 are movably clamped in the corresponding clamping grooves 4546 respectively, the left guide ring 4541 and the right guide ring 4542 are arranged on two opposite sides of the upper semi-circular ring 4543 respectively, the arc-shaped toothed plate 455 is arranged on the outer peripheral wall of the lower semi-circular ring 4544, so that the clamping blocks 4545 are movably clamped in the corresponding clamping grooves 4546 respectively, the upper semi-circular ring 4543 and the lower semi-circular ring 4544 are combined into a circular ring, the surface of the high-voltage transmission line can be cleaned through the upper semi-circular ring 4543 and the lower semi-circular ring 4544, one end of the clamping foot 361 is fixedly connected with the adjusting ring 36, the top surface of the other end of the clamping foot 361 is provided with an elastic ball 363, the inner wall of the top of the clamping foot groove 342 is provided with a hemispherical groove 362 matched with the elastic ball 363, and when the clamping foot 361 is clamped in the clamping foot groove 342, the elastic ball 363 is clamped in the hemispherical groove 362, so that the upper semi-circular ring 4543 and the lower semi-circular ring 4544 are combined into a circular ring body which is firmer, it is difficult to part, support 31 is connected on the lateral wall of coating robot body 1 through a plurality of connecting bolt 5, be convenient for conveniently dismantle when not using directional cleaning device 3, gu fixed ring 341 keeps away from still to be connected with dust collection tower 6 through a plurality of buffer spring 61 on support 31's the lateral wall, dust collection tower 6 includes a plurality of coaxial lines, and the diameter is degressive half arc plate 62 in proper order and is constituteed, fixed connection between two adjacent half arc plate 62, and half arc plate 62's arc opening direction is the same with solid fixed ring 341's arc opening direction, be convenient for clear up debris or ponding to high tension transmission line below surface through dust collection tower 6, be favorable to improving the effect of insulating material coating.
The working principle of the invention is as follows: when the surface of the high-voltage transmission line is required to be coated with an insulating material, whether the directional cleaning device 3 and the rotary cleaning device 4 are used or not can be selected according to requirements, the directional cleaning device 3 or the rotary cleaning device 4 can be independently used respectively, and the directional cleaning device 3 and the rotary cleaning device 4 can also be used simultaneously; when the directional cleaning device 3 is used alone, the outer shell 41 can be detachably connected with the side wall of the coating robot body 1 (i.e. the rotary cleaning device 4 can be integrally detached), the bracket 31 is connected with the side wall of the coating robot body 1 through a plurality of connecting bolts 5, when the coating robot body 1 is installed on a high-voltage transmission line, because the upper half cover body 33 and the lower half cover body 34 are both arc-shaped structures and the arc-shaped openings of the upper half cover body 33 and the lower half cover body 34 are opposite, the high-voltage transmission line can be positioned between the upper half cover body 33 and the lower half cover body 34, the clamping feet 361 at the two ends of the opening of the adjusting ring 36 are movably clamped in the clamping foot grooves 342 at the corresponding positions at the two ends of the opening of the fixing ring 341 respectively, at the moment, the elastic ball 363 is clamped in the hemispherical groove 362, so that the upper half ring 4543 and the lower half ring 4544 are combined into a ring body and then are firmer, the high-voltage transmission line can be positioned between the circular ring bodies formed by the upper half cover body 33 and the lower half cover body 34, and along with the advance of the coating robot body 1, the arc-shaped inner walls of the upper half circular ring body 4543 and the lower half circular ring body 4544 can firstly contact with the surface of the high-voltage transmission line, so that the dirt on the surface of the high-voltage transmission line can be scraped, and the cleanliness of the surface of the high-voltage transmission line is improved, namely the high-voltage transmission line which is firstly passed by the upper half circular ring body 4543 and the lower half circular ring body 4544 is coated with an insulating material by the coating robot body 1; when the coating robot body 1 travels to the end close to the high-voltage transmission line, the touch sleeve 38 at the other end of the adjusting rod 37 touches an external object, so that the adjusting rod 37 can be extruded into the upper half cover body 33, the clamping pin 361 is separated from the corresponding clamping pin groove 342, and at this time, under the action of the rotating rod 32 with the torsion spring, the upper half cover body 33 and the lower half cover body 34 both rotate around the rotating rod 32 with the torsion spring as an axis and turn over in opposite directions (i.e. the direction close to the coating robot body 1, at this time, the coating robot body 1 can continue to advance on the high-voltage transmission line for coating an insulating material);
when the rotary cleaning device 4 is used independently, the bracket 31 can be detached from the side wall of the coating robot body 1, the rotating shaft 44 with the torsion spring and the motor protective sleeve 45 are pushed to the outside of the cleaning device accommodating cavity 42 through the telescopic cylinder 43, at this time, the motor protective sleeve 45 is turned over under the action of the rotating shaft 44 with the torsion spring (as shown in the state of figure 1), the clamping blocks 4545 with openings at two ends of the upper half ring 4543 are respectively clamped in the corresponding clamping grooves 4546 on the openings at two ends of the lower half ring 4544, so that the upper half ring 4543 and the lower half ring 4544 are combined into a ring, the high-voltage transmission line is positioned between the rings formed by the upper half ring 4543 and the lower half ring 4544, the servo motor 46 in the motor protective sleeve 45 is started to realize positive and negative alternate rotation, because the output shaft of the servo motor 46 is provided with the driving gear 47, and the driving gear 47 is meshed with the arc-shaped toothed plate 455, therefore, the forward and reverse alternate rotation of the arc-shaped toothed plate 455 can be realized; meanwhile, as the opposite inner walls of the left retaining ring 452 and the right retaining ring 453 are respectively provided with a left annular guide groove 4521 and a right annular guide groove 4531, and a left guide ring 4541 and a right guide ring 4542 which are both arc-shaped structures, and the left guide ring 4541 and the right guide ring 4542 are respectively arranged in the left annular guide groove 4521 and the right annular guide groove 4531 in a sliding manner to play a role in guiding, the cleaning ring 454 can rotate back and forth between the left retaining ring 452 and the right retaining ring 453, so that dirt on the surface of the high-voltage transmission line can be scraped through the arc-shaped inner wall of the upper half ring body 4543, and the surface cleanliness of the high-voltage transmission line is improved;
the left retaining ring 452 and the right retaining ring 453 can also be respectively arranged into two semi-circular ring bodies, and the left retaining ring 452 and the right retaining ring 453 form a closed circular ring body in a splicing mode, so that the high-voltage transmission line can penetrate through the inner circles of the left retaining ring 452 and the right retaining ring 453 before the insulating material is coated; or, notches (the notches are omitted in the drawing) which can allow high-voltage power transmission lines to pass through are formed in the left blocking ring 452 and the right blocking ring 453, so that the high-voltage power transmission lines can enter the inner circles of the left blocking ring 452 and the right blocking ring 453 through the notches, the left blocking ring 452 and the right blocking ring 453 can be conveniently installed, and the notches can be formed in the positions, which are not the left annular guide groove 4521 and the right annular guide groove 4531, of the left blocking ring 452 and the right blocking ring 453, so that the cleaning ring 454 can rotate back and forth between the left blocking ring 452 and the right blocking ring 453 without interfering with the left guide ring 4541 and the right guide ring 4542;
according to different requirements, the arc-shaped inner walls of the upper half cover body 33 and the lower half cover body 34 and the arc-shaped inner wall of the upper half ring body 4543 are provided with the brush body or the foam sponge, so that the cleaning effect on the surface of the high-voltage transmission line is improved.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. 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 (8)
1. The utility model provides a robot of automatic coating insulating material in high tension transmission line surface which characterized in that: comprises a coating robot body (1), a line body cleaning device (2) is arranged outside the coating robot body (1), the line body cleaning device (2) comprises a directional cleaning device (3) and a rotary cleaning device (4), the directional cleaning device (3) comprises a support (31), the support (31) is movably connected with the coating robot body (1), an upper half cover body (33) and a lower half cover body (34) are arranged on the support (31), the upper half cover body (33) and the lower half cover body (34) are both arc-shaped structures, arc-shaped openings of the upper half cover body (33) and the lower half cover body (34) are opposite, the rotary cleaning device (4) comprises an outer shell (41), the outer shell (41) is arranged on the side wall of the coating robot body (1), a motor protective sleeve (45) is hinged on the outer shell (41) through a rotating shaft (44) with a torsion spring, and a servo motor (46) is fixedly arranged in the motor protective sleeve (45), be provided with drive gear (47) on servo motor's (46) output shaft, the fixed drive box (451) that is provided with in top of motor protective sheath (45), parallel interval is provided with left fender ring (452) and right fender ring (453) on drive box (451) top surface, it is provided with clearance ring (454) to rotate between left fender ring (452) and the right fender ring (453), clearance ring (454), the coaxial line of left fender ring (452) and right fender ring (453) three, be equipped with arc pinion rack (455) on the periphery wall of clearance ring (454), and drive gear (47) meshes with arc pinion rack (455) mutually.
2. The robot for automatically coating the surface of the high-voltage transmission line with the insulating material according to claim 1, wherein: a cleaning device containing cavity (42) is formed in the side wall, away from the coating robot body (1), of the outer shell (41), a telescopic cylinder (43) is fixedly arranged in the cleaning device containing cavity (42), and a telescopic rod of the telescopic cylinder (43) is hinged to a motor protective sleeve (45) through a rotating shaft (44) with a torsion spring.
3. The robot for automatically coating the surface of the high-voltage transmission line with the insulating material according to claim 1, wherein: one side wall of the bracket (31) is rotatably connected with an upper half cover body (33) and a lower half cover body (34) through a rotating rod (32) with a torsional spring, one side wall of the upper half cover body (33) is provided with an arc-shaped adjusting rod groove (35), an adjusting ring (36) is movably arranged in the arc-shaped adjusting rod groove (35), the middle position of the adjusting ring (36) is fixedly provided with an adjusting rod (37) in a penetrating way, one end of the adjusting rod (37) movably penetrates through the arc-shaped adjusting rod groove (35) to the upper half cover body (33), the other end of the adjusting rod (37) is movably sleeved with a touch sleeve (38), the outside of one end of the adjusting rod (37) is further sleeved with a return spring (39), two ends of the adjusting ring (36) are also fixedly provided with clamping feet (361), one side wall of the lower half cover body (34) is provided with a fixed ring (341), the fixed ring (341) is of an arc-shaped structure, two ends of an opening of the fixed ring (341) are respectively provided with clamping foot grooves (342) corresponding to the clamping feet (361), and the clamping pins (361) are movably clamped in the clamping pin grooves (342) at corresponding positions respectively.
4. The robot for automatically coating the surface of the high-voltage transmission line with the insulating material according to claim 3, wherein: the left retaining ring (452) and the right retaining ring (453) are both of annular structures, a left annular guide groove (4521) and a right annular guide groove (4531) are respectively formed in the opposite inner walls of the left retaining ring (452) and the right retaining ring (453), a left guide ring (4541) and a right guide ring (4542) which are matched with the left annular guide groove (4521) and the right annular guide groove (4531) are respectively arranged on the two opposite sides of the cleaning ring (454), the left guide ring (4541) and the right guide ring (4542) are both of arc-shaped structures, and the left guide ring (4541) and the right guide ring (4542) are respectively arranged in the left annular guide groove (4521) and the right annular guide groove (4531) in a sliding mode.
5. The robot for automatically coating the surface of the high-voltage transmission line with the insulating material according to claim 4, wherein: clearance ring (454) include first half tourus (4543) and second half tourus (4544), all be provided with fixture block (4545) on the both ends opening of first half tourus (4543), all be provided with on the both ends opening of second half tourus (4544) with fixture block (4545) one-to-one draw-in groove (4546), fixture block (4545) activity card respectively is established in corresponding draw-in groove (4546), left side lead ring (4541) and right side lead ring (4542) and set up respectively in the opposite both sides of first half tourus (4543), arc pinion rack (455) sets up on the periphery wall of second half tourus (4544).
6. The robot for automatically coating the surface of the high-voltage transmission line with the insulating material according to claim 3, wherein: one end of the clamping pin (361) is fixedly connected with the adjusting ring (36), an elastic ball body (363) is arranged on the top surface of the other end of the clamping pin (361), a hemispherical groove (362) matched with the elastic ball body (363) is arranged on the inner wall of the top of the clamping pin groove (342), and after the clamping pin (361) is clamped in the clamping pin groove (342), the elastic ball body (363) is clamped into the hemispherical groove (362).
7. The robot for automatically coating the surface of the high-voltage transmission line with the insulating material according to claim 2, wherein: the bracket (31) is connected to the side wall of the coating robot body (1) through a plurality of connecting bolts (5).
8. The robot for automatically coating the surface of the high-voltage transmission line with the insulating material according to claim 3, wherein: still be connected with dust collection tower (6) through a plurality of buffer spring (61) on the lateral wall of support (31) is kept away from to solid fixed ring (341), and dust collection tower (6) include a plurality of coaxial lines, and diameter degressive half arc board (62) is constituteed in proper order, fixed connection between two adjacent half arc boards (62), and the arc opening direction of half arc board (62) is the same with the arc opening direction of solid fixed ring (341).
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| CN202111453978.XA CN114011644B (en) | 2021-12-01 | 2021-12-01 | Robot for automatically coating insulating material on surface of high-voltage transmission line |
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| CN202111453978.XA CN114011644B (en) | 2021-12-01 | 2021-12-01 | Robot for automatically coating insulating material on surface of high-voltage transmission line |
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| CN115621932A (en) * | 2022-09-30 | 2023-01-17 | 诸暨市中俄联合材料实验室 | Continuous repairing device for hydrophobic coating on surface of overhead line |
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|---|---|
| CN114011644B (en) | 2024-01-23 |
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