CN206153205U - Insulator washs frame, cleaning robot and system - Google Patents

Abstract

The utility model discloses an insulator washs the frame, has cleaning robot and system that the insulator washd the frame, and insulator washing frame includes first framework, second framework, open and shut mechanism and a plurality of nozzle, and the one end of first framework and second framework is connected through the mechanism that opens and shuts, and first framework and second framework can be opened relatively through the mechanism that opens and shuts or be closed, and a plurality of nozzles set up in the inside wall of first framework and second framework. Wherein, before the washing, first framework and second framework are opened relatively and are removed to arranging the insulator in wherein back, and first framework and second framework are closed relatively, form the enclosed construction that encircles the insulator, and nozzle switch -on water under high pressure sprays the high -pressure spray in order to wash the insulator. The utility model discloses an expert that has a structure that can open and shut washs the frame with the insulator of water under high pressure and washs the insulator, and has controlling mechanism's cooperation and can accomplishing remote washing of accurate positioning function, and is safe, energy -conserving, convenient, and washing effect is good.

Description

Insulator cleaning frame, cleaning robot and system

Technical field

This utility model is related to insulator cleaning technique field, more particularly to a kind of insulator cleaning frame, exhausted with this The insulator cleaning robot and system of edge cleaning frame.

Background technology

The insulator of electrical power transmission system in natural environment, by air such as SO2, nitrogen oxides and graininess dust The impact of environment, on its surface one layer of dunghill is gradually deposited.In the case of dry weather, these insulators can keep Higher dielectric level, is close to when its discharge voltage and cleaning, drying regime；When meeting the wet weathers such as mist, dew, rain, with And when ice-melt, snow melt, insulator causes the electrolyte dissolution in pollution layer because of surface filth thing absorption moisture, causes insulator exhausted Edge level is reduced, leakage current increase, and flashover fault occurs when serious.Into 21 century since, with increasing environmental pollution, lead Pollution flashover accident is caused to take place frequently.At present, the insulation flashover accident for being caused due to filth, in the total accident of power system, is only second to thunder Evil occupies second, but the loss caused by pollution flashover accident is but 10 times of lightening hazard.The each bulk power grid in the whole nation nearly all occurs Large area pollution flashover is crossed, huge economic loss is caused.

With the increase of landing pit altitude value, the pressure of air can be gradually lowered, and low latitude air tightness makes air during low pressure Dielectric constant, air cooling effect and arc gap air dielectric intensity are all reduced, thus cause the resistance to pressure drop of power equipment air insulation It is low, so the dielectric strength of air is weaker.In addition with the rising of height above sea level, atmospheric density is reduced, and radiating condition is deteriorated, and can make In operation temperature rise increases High-Voltage Electrical Appliances, but air themperature is gradually lowered with the increase of height above sea level, causes empty in low pressure Arc extinguishing is relatively difficult in gas.In addition intensity of solar radiation is larger causes the temperature rise of power equipment to increase, and exists in oxygen and water Under the conditions of, make the accelerated ageings such as organic insulation and coatings, reduction of service life.

Due to matching somebody with somebody, transformation facility be key equipment that electrical network conveys electric energy, insulator be match somebody with somebody, it is most basic in transformation facility Part, insulator occur filth be occur flashover fault root, insulator it is whether clean be directly connected to it is defeated, power can By property.Therefore periodically the insulator to matching somebody with somebody, on transformation facility carries out work of removing contamination, and is the requisite basic work of electrical power transmission system Make, insulator is thoroughly removed contamination be to ensure that the important means of the normal operation of electrical power transmission system in time.

Current cleaning way is entirely almost that manually-operated mode is cleaned, and has hand-held hydraulic giant cleaning at a distance, closely The hand-held hydraulic giant cleaning of distance, in-plant hand-held hairbrush cleaning etc..

Due to range farther out, the impulsive force of water under high pressure greatly weakens remote high pressure water washing, causes the waste of energy, Simultaneously because manual cleaning is all the close insulator of one direction, it is difficult to accomplish cleaning without dead angle, simultaneously because water under high pressure is huge Recoil active force, operator is not easy to operate and high labor intensive.Although the in-plant effect for rinsing cleaning can be improved, operate Person must be in the nearby operation of insulator, and particularly those nearby unsupported insulators also have potential safety hazard.And when operating, Giant back will a long supply channel in tow, also can make troubles to operation.

Utility model content

The purpose of this utility model is to solve existing insulator cleaning device cleaning not exclusively, the problem of poor operability, Insulator cleaning frame, cleaning robot and the system of a kind of cleaning insulator of electrical power transmission system are provided, can be opened using having The insulator cleaning frame for passing to water under high pressure for closing structure is cleaned to insulator, safety, energy-conservation, convenience, and cleaning performance is good.

To achieve these goals, insulator cleaning frame of the present utility model includes the first framework, second framework, opening-closing machine One end of structure and multiple nozzles, first framework and second framework is connected by the open-and-close mechanism, first framework Relative can open or close by the open-and-close mechanism with second framework, multiple nozzles are arranged at first framework and second The medial wall of framework.

Wherein, before cleaning, first framework and the second framework are opened and are moved to and insulator is placed in into it relatively In after, first framework and the second framework it is relatively closed, form the enclosed construction around insulator, the nozzle is connected Water under high pressure and spray high-pressure jets to insulator cleaning.

It is described when first framework and relatively closed second framework in one embodiment of above-mentioned insulator cleaning frame Cleaning frame is in integrally annular.

In one embodiment of above-mentioned insulator cleaning frame, water under high pressure by first framework and second framework with it is described Nozzle is connected.

In one embodiment of above-mentioned insulator cleaning frame, the planar tilt one that the relatively described cleaning frame of the nozzle is located Angle is arranged.

In one embodiment of above-mentioned insulator cleaning frame, the angle is mutually fitted with the angle of inclination of the canopy of insulator Should.

In one embodiment of above-mentioned insulator cleaning frame, each nozzle is uniformly arranged on first framework and the The medial wall of two frameworks.

Insulator cleaning robot of the present utility model includes robot swing arm, above-mentioned insulator cleaning frame and lifting Mechanism, the cleaning frame is connected to the front end of the robot swing arm, and the elevating mechanism drives the robot swing arm upper and lower Elevating movement.

In one embodiment of above-mentioned insulator cleaning robot, the elevating mechanism includes lifting column, column and lifting Chain, the robot swing arm is connected on the lifting column, and the lifting column is connected to described vertical by the elevating chain On post.

Insulator purging system of the present utility model includes what above-mentioned insulator cleaning robot was connected with the nozzle Jet supply equipment and carrier loader, the insulator cleaning robot and jet supply equipment are arranged at the delivery On dolly.

Beneficial functional of the present utility model is that this utility model has compared with prior art following clear superiority：

1st, the high-pressure spray of nozzle injection can be cleaned to the surrounding of insulator simultaneously, and its cleaning efficiency is greatly carried It is high.

2nd, much smaller than distance during manual cleaning, jet is to cleaning surface for the distance on the cleaning surface of nozzle and insulator Impulsive force has greatly raising, improves cleaning quality.

3rd, high-pressure spray can more be deep into each surfaces such as the canopy inside of insulator, and cleaning performance is good.

4th, the energy of high-pressure spray can be utilized more fully, the effect with energy-conservation.

5th, state of the counter-force of high-pressure spray in Equilibrium, therefore can reduce what counter-force was produced in operation device Torque, is the configuration provides convenience of operation device.

6th, washing motion is decomposed positioning and runs two states, enormously simplify the requirement moved to constructing, operation is more Plus it is reliable.

7 compare with hairbrush cleaning, and the fault-tolerant ability of the system is good, more can effectively guarantee the effect cleaned.

This utility model is described in detail below in conjunction with the drawings and specific embodiments, but not as to this utility model Restriction.

Description of the drawings

Fig. 1 is insulator of the present utility model cleaning frame cleaning state diagram；

Fig. 2 a to Fig. 2 g are that insulator of the present utility model cleans frame process chart；

Fig. 3 is the structural representation of an embodiment of insulator cleaning robot of the present utility model；

Fig. 4 is the structural representation of an embodiment of insulator purging system of the present utility model；

Fig. 5 is the running status figure for applying to a transformer station of insulator purging system of the present utility model；

The step of Fig. 6 is the method for cleaning insulator of the present utility model is schemed.

Wherein, reference

100 insulators clean frame

110 first frameworks

120 second frameworks

130 open-and-close mechanisms

140 nozzles

200 insulator cleaning robots

210 robot swing arms

220 elevating mechanisms

221 lifting columns

222 columns

223 elevating chains

300 jet supply equipments

400 insulator purging systems

410 carrier loaders

10 porcelain vases

Specific embodiment

Below in conjunction with the accompanying drawings technical solutions of the utility model are described in detail with specific embodiment, with further Understand the purpose of this utility model, scheme and effect, but be not intended as the limit of this utility model scope of the appended claims System.

This utility model forms the cleaning means of high-pressure spray using water under high pressure, can preferably realize the cleaning of insulator Require, in cleaning process, it is allowed to which the positioning precision of cleaning equipment has certain deviation, with certain fault-tolerant ability, realize Intellectuality, the difficulty of automation mechanized operation is relatively low, and supporting device can well adapt to the adverse circumstances of cleaning operation.

As shown in Fig. 1 and Fig. 2 a to Fig. 2 g, insulator of the present utility model cleaning frame 100 include the first framework 110, the Two frameworks 120, open-and-close mechanism 130 and multiple nozzles 140.One end of first framework 110 and second framework 120 passes through open-and-close mechanism 130 connections so that the first framework 110 and second framework 120 relative can be opened or closed by open-and-close mechanism 130.Multiple sprays Mouth 140 is arranged on the medial wall of the first framework 110 and second framework 120.During cleaning, can be in the first framework 110 and the second frame Pass to water under high pressure in body 120, by being connected to the first framework 110 and second framework 120 on multiple nozzles 140 eject directive The high-pressure spray of insulator.

In the present embodiment, when the first framework 110 and relatively closed second framework 120, insulator cleaning frame 100 is overall in circle Annular, when being cleaned around insulator, each nozzle 140 is relative with the distance of insulator average, and cleaning performance is more preferable.Separately, Now the counter-force of high-pressure spray is in the state of Equilibrium, therefore can reduce the torque that counter-force is produced in operation device, For the configuration provides convenience of operation device.

It is that this can in advance prepare the annular cleaning of several different-diameters because the diameter of insulator has larger difference Frame, is carried out with choosing according to the diameter of the insulator of required cleaning.Due to the efficient working range of water high-pressure spray it is larger, Therefore, the diameter configuration of annular cleaning frame is limited.

Generally, nozzle 140 can be uniformly arranged on the same of the medial wall of the first framework 110 and second framework 120 At one height, that is, arrange in a row.In order to formed injection insulator without dead angle high-pressure spray, nozzle 140 is also divided into multiple rows of Arrange, it is each to rank at the differing heights of the first framework 110 and second framework 120, it is ensured that the height that each nozzle 140 is sprayed Jet flow can form all standing to insulator, improve the cleannes of cleaning.

In order to ensure high-pressure spray can as far as possible inject each surface of insulator, the opposing insulation of each nozzle 140 is clear The angle of plane tiltable one for washing the place of frame 100 is arranged, and for example, axis opposing insulation cleaning frame 100 place of nozzle 140 is flat The angle of inclination in face is adapted with the angle of inclination of the canopy of insulator, so that high-pressure spray is injected in the canopy of porcelain bottle insulators Portion.

Open-and-close mechanism 130 can adopt frame for movement in Jing frequently with the various mechanisms that can reach folding effect, for example Pinion rotation folding, hydraulic drive folding etc., this utility model is not limited, and those skilled in the art are according to common knowledge Obtain.In the present embodiment, open-and-close mechanism 130 can adopt simple structure, hinge structure with low cost, under power drive, i.e., Can realize opening and closing.

Because insulator, cable and roofing define the space of a closing, obstruction is formed to entering for nozzle, be this Utility model propose can folding cleaning frame, the now cleaning using porcelain vase illustrate that insulator of the present utility model is cleaned as representative The course of work of frame 100.

As shown in Figure 2 a, before cleaning, first framework 110 and the relative opening of second framework 120 of insulator cleaning frame 100, And move to porcelain vase 10, until (as shown in Figure 2 b), the first framework 110 and the phase of second framework 120 after porcelain vase 10 is placed in one To closure, the enclosed construction (as shown in Figure 2 c) around porcelain vase 10 is formed, each nozzle 140 is centered around around porcelain vase 10.

After in place, as shown in Figure 2 d, nozzle 140 connects water under high pressure and spray high-pressure jets to porcelain vase 10 to clean, In cleaning process, insulator cleaning frame 100 does along axis side's line of porcelain vase 10 and moves up and down, so as to accomplish entirely to cleaning surface Cover.

As shown in Figure 2 e, after the completion of the porcelain vase 10 to the position is cleaned, the insulator cleaning stop motion of frame 100, and it is high Pressure water retention is only supplied.As shown in figure 2f, the first framework 110 and second framework 120 are opened by open-and-close mechanism 130, and insulator is clear Wash frame 100 and leave the cleaned porcelain vase 10 for completing, and to clean ready (as shown in Figure 2 g) next time.

Larger, the bad environments in view of cleaning operation labor intensity, therefore reduction manpower as far as possible is in cleaning process Intervention, every work that can be completed by machine is undertaken by machine, and using operator's remote monitoring, machine is automatically performed The operational mode of cleaning operation.

As shown in figure 3, insulator cleaning robot 200 of the present utility model includes robot swing arm 210, elevating mechanism 220 and insulator cleaning frame 100, by robot swing arm 210 and elevating mechanism 220 adjustment drive insulator clean frame 100 Motion, completes cleaning operation.Specifically, insulator cleaning frame 100 is connected to the front end of robot swing arm 210, elevating mechanism 220 Be connected with robot swing arm 210, elevating mechanism 220 with the oscilaltion campaign of mobile robot swing arm 210, to realize above-mentioned Fig. 2 d In insulator cleaning frame 100 do along axis side's line of porcelain vase 10 and move up and down.This utility model passes through elevating mechanism 220 Realize that insulator cleans the up and down motion of frame 100, it is easy to control.

In the present embodiment, elevating mechanism 220 includes lifting column 221, column 222 and elevating chain 223, robot swing arm 210 are connected on lifting column 221, and lifting column 221 is connected on column 222 by elevating chain 223, and lifting column 221 is by rising Descending chain bar 223 can be lifted with respect to column 222.Elevating mechanism also can be achieved by other frame for movements, for example, slide Rail mechanism, this utility model is not limited.

Because cleaning is completed in outdoor, therefore video probe is equipped with robot swing arm 210, to judge in swing arm Moving range in whether have the interruption of service.

This utility model can be not only used for livewire work, it can also be used to uncharged operation.

When for livewire work, because the composition to water for cleaning has certain restriction, therefore the composition of cleanout fluid is pressed The kind that specification is limited, to ensure that cleaning process is not in unexpected injury.Due to the cleanout fluid of the system be it is irretrievable, Therefore the consumption of cleanout fluid should be as far as possible reduced, is that this can properly increase the pressure of high-pressure spray, be greater than 10Mpa.

When adopting manual cleaning before this, pressure is too high, and the retroaction Dipeptiven of jet is big, and operator hold to get up to have tired It is difficult, it is impossible to improve the pressure of jet, this restriction has just been broken using machine operation.Jet pressure is high, and the range of jet is reduced, Greatly improve cleaning performance.This utility model adopts the jet supply equipment 300 (see Fig. 4) of water under high pressure, jet to supply water and set Standby 300 is the offer water under high pressure of nozzle 140 that insulator cleans frame 100.

Insulator cleaning robot 200, jet supply equipment 300 and carrier loader are combined may make up one it is complete Whole system for washing intelligently, as shown in figure 4, insulator purging system 400 of the present utility model includes insulator cleaning robot 200th, jet supply equipment 300 and carrier loader 410, insulator cleaning robot 200 and jet supply equipment 300 are all provided with Put on carrier loader 410.

Can by being arranged on including the insulator cleaning robot 200 and jet supply equipment 300 of robot operating system On mobile carrier loader 410, when carrier loader 410 is parked in a certain pre-determined operating position, the He of robot swing arm 210 What the relative position between insulator to be cleaned was just to determine.By the coordinate of pre-determined insulator to be cleaned, machine People's swing arm 210 can just drive insulator cleaning frame 100 to reach the coordinate of cleaning insulator to be cleaned, insulator cleaning frame 100 Cleaning procedure according to being previously set completes cleaning operation.Afterwards robot swing arm 210 drives insulator to clean frame 100 to this behaviour Make the coordinate of the next insulator to be cleaned of cleaning of position, until the insulator to be cleaned of this operating position is all cleaned completing Afterwards, carrier loader 410 will enter next operating position with insulator cleaning robot 200 and jet supply equipment 300, Proceed cleaning, until completing the cleaning of all insulators to be cleaned.

This utility model by using carrier loader 410, insulator cleaning robot 200 and jet supply equipment 300 are placed on a mobile platform, eliminate the towing of pressure duct, reduce the quantity and adjacent control unit of control system Coordination, can effectively improve the reliability of system operation.For this purpose, requiring that carrier loader 410 is reliable, it is determined as precision Height, navigation performance is good, and adjustment deviation is easy, to set up basis for follow-up operation.

Carrier loader has been at present matured product, when selecting, to be configured for handling characteristicss of the present utility model, Air navigation aid will adapt to ring feature, note overcoming high light, the impact of strong magnetic.The axletree of carrier loader 410 is all rigid support, because Once snag occurs in this road surface, should not be forced through, need to wait for manually being operated, to avoid the unexpected thing being likely to occur Therefore.

Insulator purging system of the present utility model for transformer station when running status as shown in figure 5, cleaning when, it is whole By the route for setting, under the control of navigation system, the automatic running on designated lane has individual insulator purging system 400 Tri- operating positions of P1, P2, P3.First, carrier loader 410 drives insulator cleaning robot 200 and jet supply equipment 300 rest on P1 operating positions, and now by robot swing arm 210, each of insulator cleaning 100 pairs of operating positions of frame is treated Cleaning insulator is cleaned, and afterwards carrier loader 410 stops successively P2 operating positions, P3 operating positions, and repeats above-mentioned clear Washed journey.

If finding snag in operation, controllers that can distally send alarm signal, and out of service, directly To obstacle cleaning, after scene and total activation system are linked up, operation is again started up.In this utility model, insulator cleaning system The running status of system 400 total activation room can real-time video monitoring, real-time monitoring and automatic running combine, can be effective Eliminate system deviation, it is ensured that the reliability service of cleaning process.

Insulator purging system 400 is parked in the operating position being previously set, according to the coverage of robot swing arm 210, It is determined that the cleaning target on each operating position, under the control of preset program, cleans one by one to insulator to be cleaned.

The robot swing arm 210 of the system only completes positioning action, and jet is to all standing of cleaning surface by elevating mechanism 220 Completing, the decomposition of motion morphology can simplify the requirement moved to constructing for combination with the motion of carrier loader 410.

The insulator purging system of carrier loader noted above is higher one of this utility model full-automation degree The form of application is planted, the running track for laying carrier loader in advance is needed, to arrange the position location of carrier loader.At some Occasion, such as high ferro circuit are along the line, city roadside circuit, do not possess the condition for laying running track for carrier loader, now may be used Using other vehicle are passed through, such as train, transporting cars, deliver insulator cleaning robot 200 and jet supplies water and sets Standby 300, to a certain operating position, the mode for positioning by visual observation, are carried out one by one to the insulator each to be cleaned on the operating position Cleaning.

To sum up, as shown in fig. 6, the method for cleaning insulator of the present utility model comprises the steps：

S100, the first framework and second framework are relative to be opened, and after being moved to insulator to be cleaned being placed in one, first Framework and second framework is relatively closed so that each nozzle is looped around around insulator to be cleaned；

S200, each nozzle connects water under high pressure, and spray high-pressure jets to insulator to be cleaned cleaning；

Water under high pressure is closed in S300, cleaning after finishing, the first framework and second framework are opened and left and clean insulation relatively Son；

S400, cleaning frame is moved to next insulator to be cleaned, and repeats above step S100, S200, S300.

Also comprise the steps in step S400：By a robot swing arm drive cleaning frame to it is next it is to be cleaned absolutely Edge.

Also comprise the steps in step S200：Cleaning frame is driven along insulator to be cleaned by an elevating mechanism Axis mobile cleaning insulator to be cleaned up and down.

Separately, this method is by carrier loader delivery cleaning frame, cleaning robot, elevating mechanism and gives nozzle supply height The jet supply equipment of pressure water to assigned operation position, robot swing arm drive cleaning frame to the operating position it is each to be cleaned absolutely Edge.

Cleaning frame when this method arranges the first framework and relatively closed second framework is in integrally annular.

This method arranges the planar tilt that the relative cleaning frame of nozzle is located, so that high-pressure spray sprays table each to insulator Face.

Certainly, this utility model can also have other various embodiments, spiritual and its essence without departing substantially from this utility model In the case of, those of ordinary skill in the art work as can make various corresponding changes and deformation, but these according to this utility model Corresponding change and deformation should all belong to the scope of the claims appended by this utility model.

Claims (10)

1. a kind of insulator cleans frame, it is characterised in that include：

One end of first framework, second framework and open-and-close mechanism, first framework and second framework passes through the open-and-close mechanism Connection, first framework and second framework relative can be opened or closed by the open-and-close mechanism；And

Multiple nozzles, are arranged at the medial wall of first framework and second framework；

Wherein, before cleaning, first framework and the second framework be relative open and be moved to insulator is placed in one after, First framework and the second framework are relatively closed, form the enclosed construction around insulator, and the nozzle connects high pressure Water and spray high-pressure jets to insulator cleaning.

2. insulator according to claim 1 cleans frame, it is characterised in that first framework and second framework are closed relatively During conjunction, the cleaning frame is in integrally annular.

3. insulator according to claim 2 cleans frame, it is characterised in that water under high pressure is by first framework and second Framework is connected with the nozzle.

4. insulator according to claim 1 cleans frame, it is characterised in that the relatively described cleaning frame of the nozzle is located The angle of planar tilt one is arranged.

5. insulator according to claim 4 cleans frame, it is characterised in that the inclination of the canopy of the angle and insulator Angle is adapted.

6. the insulator according to any one of claim 1 to 5 cleans frame, it is characterised in that the nozzle is divided into multiple rows of setting It is placed in the medial wall of first framework and second framework.

7. the insulator according to any one of claim 1 to 5 cleans frame, it is characterised in that each nozzle is uniformly arranged In first framework and the medial wall of second framework.

8. a kind of insulator cleaning robot, it is characterised in that include：

Robot swing arm；

Insulator cleaning frame described in any one of claim 1 to 7, the cleaning frame is connected to before the robot swing arm End；And

Elevating mechanism, is connected on the robot swing arm, and the elevating mechanism drives the robot swing arm oscilaltion fortune It is dynamic.

9. insulator cleaning robot according to claim 8, it is characterised in that the elevating mechanism include lifting column, Column and elevating chain, the robot swing arm is connected on the lifting column, and the lifting column is connected by the elevating chain It is connected on the column.

10. a kind of insulator purging system, it is characterised in that include：

Insulator cleaning robot described in claim 8 or 9；

Jet supply equipment, is connected with the nozzle；And

Carrier loader, the insulator cleaning robot and jet supply equipment are arranged on the carrier loader.