CN210174822U - Insulator cleaning system - Google Patents
Insulator cleaning system Download PDFInfo
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- CN210174822U CN210174822U CN201920399962.7U CN201920399962U CN210174822U CN 210174822 U CN210174822 U CN 210174822U CN 201920399962 U CN201920399962 U CN 201920399962U CN 210174822 U CN210174822 U CN 210174822U
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Abstract
The embodiment of the application discloses insulator cleaning system, insulator cleaning system includes: a cleaning vehicle and a ground console; the cleaning vehicle comprises a cleaning module, a walking module, a vehicle-mounted control module and a vehicle-mounted communication module; the cleaning module is used for cleaning the insulator, and the walking module is used for moving the cleaning module to the position of the insulator to be cleaned; the ground control console comprises a ground control module and a ground communication module; the ground control module is operated by a worker and sends a control signal to the vehicle-mounted communication module through the ground communication module, the vehicle-mounted communication module transmits the control signal to the vehicle-mounted control module, and the vehicle-mounted control module is used for controlling the walking module and the cleaning module and feeding the working state back to the ground control module. The embodiment of the utility model provides an use the machine to wash motor car roof insulator, the staff only needs to operate ground control module, has saved the manpower, and the cleaning efficiency is higher.
Description
Technical Field
The embodiment of the utility model provides a relate to the cleaning equipment field, especially relate to an insulator cleaning system.
Background
With the continuous development of the high-speed railway technology in China, the running speed of the motor train unit is continuously improved, the safety requirement on the motor train unit is also continuously improved, and a motor train unit roof insulator is a key part for ensuring the safe running of a high-voltage electrical appliance on the top of the motor train unit. During the rapid running of the motor train unit, rain, snow, dust and oil stains are firmly adhered to a roof insulator under the action of wind speed, the insulation value of the insulator is reduced after the insulator is dirty, the insulator pollution flashover causes the accident that the high-voltage discharge on the top of the motor train unit burns a contact net, and the power supply safety of the motor train unit and the contact net is seriously influenced.
The regular cleaning of the insulator on the top of the motor train unit is an important means for preventing pollution flashover of the insulator. In general, cleaning methods can be broadly classified into two main categories, physical cleaning and chemical cleaning, according to their principles. The chemical cleaning relies on chemical reaction cleaning; the physical cleaning mainly utilizes external force to clean. With the increasing importance on environmental protection, the use of chemical cleaning is greatly limited, and physical cleaning has become a main cleaning mode, wherein the application and development of water cleaning are the most extensive, and the water cleaning has become the mainstream cleaning technology. At present, most motor train units adopt a manual mode to clean working roof insulators, and the mode is high in labor intensity and low in cleaning efficiency.
SUMMERY OF THE UTILITY MODEL
The application provides an insulator cleaning system to realize saving the labour, improve abluent efficiency, improve the operation security.
The embodiment of the application provides an insulator cleaning system, includes: a cleaning vehicle and a ground console;
the cleaning vehicle comprises a walking module, a cleaning module, a vehicle-mounted control module and a vehicle-mounted communication module;
the cleaning module is fixedly connected to the walking module, the cleaning module is used for cleaning the insulator, the walking module is used for driving the cleaning module to move to the position of the insulator to be cleaned, and the vehicle-mounted control module is connected with the walking module, the cleaning module and the vehicle-mounted communication module;
the ground control console comprises a ground control module and a ground communication module;
the vehicle-mounted communication module and the ground communication module can transmit signals, the ground control module is used for acquiring an operation instruction input by a worker and sending a control signal to the vehicle-mounted communication module through the ground communication module according to the operation instruction, the vehicle-mounted communication module transmits the control signal to the vehicle-mounted control module, and the vehicle-mounted control module is used for sending the control instruction to the walking module and the cleaning module according to the received control signal and feeding back the working state of the cleaning vehicle to the ground control module.
Optionally, the walking module comprises a machine body, a walking mechanism and a driving motor, the cleaning module is fixed on the machine body, and the driving motor is used for driving the walking mechanism to move.
Optionally, the cleaning module includes industrial robot, hydrojet subassembly and washing brush, and industrial robot end is equipped with fixture, and fixture is used for the centre gripping to wash the brush, and the washing brush is used for scrubbing the insulator, and the hydrojet subassembly is used for spraying the washing liquid.
Optionally, the cleaning vehicle further comprises a rotary lifting module, the rotary lifting module is fixed on the machine body, the industrial robot is fixed on the rotary lifting module, and the rotary lifting module is used for driving the industrial robot to rotate to an appointed angle and move up and down to an appointed position.
Optionally, the safety device further comprises a safety device, the safety device comprises a disconnecting switch control module and a wireless switching value communication module, the disconnecting switch control module is used for controlling and detecting the working state of the disconnecting switch, when the disconnecting switch is disconnected with the contact network and is powered off, the disconnecting switch control module sends a contact network power-off signal to the vehicle-mounted control module through the wireless switching value communication module, the vehicle-mounted control module controls the cleaning vehicle to start after receiving the contact network power-off signal, when the cleaning vehicle is finished, the vehicle-mounted control module sends a disconnecting switch switching-on signal to the disconnecting switch control module through the wireless switching value communication module, and the disconnecting switch control module receives the switching-on signal of the disconnecting switch and then serves as one of the interlocking conditions for controlling the disconnecting switch to.
Optionally, still set up the warning module on the washing car, be used for reminding the operating condition that the staff washed the car.
Optionally, the cleaning device further comprises a charging device and an electric power storage device, the electric power storage device is arranged on the cleaning vehicle and used for supplying power to the cleaning vehicle, and the charging device is located on the ground and used for being automatically connected with the cleaning vehicle to be charged when the cleaning vehicle is in a non-working state.
Optionally, the cleaning vehicle is further provided with a camera and a network transmission module, the camera is used for recording the operation condition of the cleaning vehicle, the network transmission module is used for transmitting the operation condition recorded by the camera to the ground control module and/or the cloud server, and the network transmission module is further used for receiving a program applied to the vehicle-mounted control module.
This application is through wasing the automatic locomotive insulator of accomplishing of car and wasing, solves artifical washing locomotive insulator, and labour has been saved to the problem that intensity of labour is big, inefficiency to machine cleaning's efficiency is higher, and the very high machine cleaning of contact net voltage is safer.
Drawings
Fig. 1 is a schematic structural diagram of an insulator cleaning system according to a first embodiment of the present application;
fig. 2 is a schematic structural diagram of a cleaning cart in an insulator cleaning system according to a second embodiment of the present application;
fig. 3 is a schematic structural diagram of an insulator cleaning system in the third embodiment of the present application;
fig. 4 is a schematic diagram of a control network of an insulator cleaning system according to a third embodiment of the present application;
fig. 5 is a flowchart of an insulator cleaning method using an insulator cleaning system according to a fourth embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic diagram of an intelligent insulator cleaning system according to an embodiment of the present invention, which is applicable to cleaning of insulators on roofs of motor cars in a garage under inspection of the motor cars or cleaning of insulators on roofs of electric locomotives in a service section yard. The insulator cleaning system provided by the embodiment comprises a cleaning vehicle 1 and a ground console 2;
the cleaning vehicle 1 is a cleaning operation executing device, and the ground control console 2 is used for acquiring an operating instruction of a worker so as to control the cleaning vehicle 1 to work;
the cleaning vehicle 1 comprises a walking module 101, a cleaning module 102, a vehicle-mounted control module 103 and a vehicle-mounted communication module 104;
the cleaning module 102 is fixedly connected to the walking module 101, the cleaning module 102 is used for cleaning insulators, the walking module 101 is used for driving the cleaning module 102 to move to the position of the insulator to be cleaned, and the vehicle-mounted control module 103 is connected with the walking module 101, the cleaning module 102 and the vehicle-mounted communication module 104;
the ground console 2 comprises a ground control module 202 and a ground communication module 201;
the vehicle-mounted communication module 104 and the ground communication module 201 can perform signal transmission, the ground control module 202 is configured to obtain an operation instruction input by a worker, and send a control signal to the vehicle-mounted communication module 104 through the ground communication module 201 according to the operation instruction, the vehicle-mounted communication module 104 transmits the control signal to the vehicle-mounted control module 103, and the vehicle-mounted control module 103 is configured to send a control instruction to the walking module 101 and the cleaning module 102 according to the received control signal, and feed back a working state of the cleaning vehicle 1 to the ground control module 202.
The operation environment of the cleaning vehicle 1 is a three-layer operation platform 6 of a motor train station or an electric power locomotive depot, and because the distance of the insulator on the top of the motor train or the locomotive is relatively long, the cleaning vehicle 1 needs to move and clean on the three-layer operation platform 6, and the walking module 101 is used for driving the cleaning vehicle 1 to move back and forth on the three-layer operation platform 6. The cleaning module 102 is used for cleaning the insulator after the cleaning vehicle 1 reaches a designated position, and the cleaning module 102 and the walking module 101 work under the control of the vehicle-mounted control module 103.
When the system works, the ground control module 202 is used for obtaining an operation instruction of a worker, the specific implementation mode can be realized through elements such as a computer, the operation instruction specifically comprises information such as a cleaning start command, a vehicle type to be cleaned, a vehicle number to be cleaned and the like, the ground communication module 201 and the vehicle-mounted communication module 104 are used for transmitting a control signal which is converted according to the operation instruction and can be accepted by the vehicle-mounted control module 103 to the vehicle-mounted control module 103, and the vehicle-mounted control module 103 further controls the walking module 101 and the cleaning module 102 to work according to the control signal.
The insulator cleaning system of the first embodiment automatically cleans the insulators of the motor car or the locomotive through the cleaning vehicle, solves the problems of high labor intensity and inconvenient manual operation of manually cleaning the insulators of the locomotive, saves labor force, and has higher efficiency of cleaning a machine, very high voltage of a contact network and safer cleaning of the machine.
Example two
The second embodiment further refines the partial structure on the basis of the first embodiment, and specifically includes the following steps:
as shown in fig. 2, the walking module 101 includes a body 1011, a walking mechanism 1012, and a driving motor, the cleaning module 102 is fixed on the body 1011, the driving motor is used for driving the walking mechanism 1012 to move, and the driving motor is not shown in fig. 2.
The traveling mechanism 1012 is connected with the machine body 1011, is generally located below the machine body 1011 and is driven by a driving motor, the traveling mechanism 1012 can be a wheel type or a crawler type or a walking type, preferably a wheel type, and it should be noted that the cleaning vehicle 1 is applied to a three-layer operation platform 6 of a motor car, grid traveling plates are adopted on the three-layer operation platform 6 of the existing motor car, and the traveling mechanism 1012 is solved by laying new plates on the grid traveling plates in consideration of the situation that the cleaning vehicle cannot be stuck in grids.
The cleaning module 102 comprises an industrial robot 1021, a liquid spraying component 1022 and a cleaning brush 1023, wherein a clamping mechanism is arranged at the tail end of the industrial robot 1021, the clamping mechanism is used for clamping the cleaning brush 1023, the cleaning brush 1023 is used for brushing the insulator, and the liquid spraying component 1022 is used for spraying cleaning liquid.
The cleaning vehicle 1 further comprises a rotary lifting module 105, the rotary lifting module 105 is fixed on the machine body, and the industrial robot 1021 is fixed on the rotary lifting module 105.
The organism sets up on running gear, and industrial robot 1021 is fixed in on the rotatory lifting module 105, and rotatory lifting module 105 includes carousel device 1051 and elevating system 1052, and the carousel device is controlled rotatoryly by on-vehicle control module 103, and elevating system is controlled by on-vehicle control module 103 and is gone up and down, and rotatory lifting module 105 can drive industrial robot 1021 rotate to appointed angle and rise, descend to appointed position.
The industrial robot 1021 is preferably a six-axis robot which can simulate the hand well and perform more complicated mechanical operations, and the arrangement of the cleaning brush 1023 and the liquid spray assembly 1022 on the six-axis robot can realize cleaning at different angles by means of the six-axis robot: the cleaning brush 1023 and the liquid spray assembly 1022 are fixed by different fixing assemblies, the cleaning brush 1023 is preferably a rotating brush, a brush clamping mechanism for fixing the cleaning brush 1023 is driven by a servo motor, and the servo motor can be provided with a constant torque control mode to ensure that the brush contacts the surface of the insulator with set pressure; the spray assembly 1022 includes a spray clamping mechanism, a spray head, a water pump and a cleaning solution tank, the water pump is connected with the cleaning solution tank, and the spray head is fixed by the spray clamping mechanism.
Optionally, the ground communication module 201 and the vehicle-mounted communication module 104 are RS485 communication modules, RS232 communication modules or other serial communication modules, and signal transmission can be performed between the two modules, in this embodiment, an RS485 wireless communication module is adopted, wherein the ground communication module 201 is connected with the ground control module 202, and is used for sending a control signal to the vehicle-mounted communication module 104 according to an operation instruction of a ground worker, and the vehicle-mounted communication module 104 is connected with the vehicle-mounted control module 103 and is used for transmitting the received control signal to the vehicle-mounted control module 103.
The vehicle-mounted control module 103 includes a vehicle-mounted PLC (Programmable Logic Controller) having a control program stored in advance, where the control program is specifically a traveling mechanism driver, a rotary lifting mechanism driver, an industrial robot 1021 driver, and the like, which are respectively written according to different models of vehicles to be operated and different operation compartments. The vehicle-mounted PLC is respectively connected with the walking module 101, the cleaning module 102, the rotary lifting module 105 and the RS485 wireless communication module. The vehicle-mounted PLC acquires the relevant information such as the type of a motor car or a locomotive to which the insulator to be cleaned belongs through the RS485 wireless communication module, then calls and executes a corresponding driving program according to the relevant information, and the walking module 101, the cleaning module 102 and the rotary lifting module 105 execute corresponding actions according to program setting under the control of the vehicle-mounted PLC: running gear 1012 drives cleaning cart 1 and removes to the assigned position, and carousel device 1051 drives six robots and rotates to predetermined angle, and elevating system 1052 drives six robots and goes up and down to predetermined height, and six robots arrive the path point according to set path planning point in proper order, and hydrojet subassembly 1022 sprays the washing liquid, and rotatory scrubbing of brush 1023 contact insulator. After the cleaning is finished, under the control of the vehicle-mounted PLC, the spraying of the cleaning liquid is stopped, the rotation of the brush is stopped, the six-axis robot returns to the initial position, the lifting mechanism 1052 returns to the original point, the turntable device 1051 rotates, and the travelling mechanism 1012 moves the cleaning vehicle 1 to the standby position. The vehicle-mounted PLC can feed back the working state to the ground control module 202 through the RS485 wireless communication module in real time during working, and a worker can check the working state of the cleaning vehicle 1 on a computer.
Preferably, the vehicle-mounted control module further comprises a vehicle-mounted touch screen, and the working personnel can input an operation instruction through the vehicle-mounted touch screen to control the cleaning vehicle through the vehicle-mounted PLC.
This embodiment has further refined system architecture on above-mentioned technical scheme's basis, and wheeled running gear more is fit for moving at three-layer operation platform 6, and six robots can accomplish the washing of more angles and reach better cleaning performance, and rotatory brush combines the washing liquid to improve abluent efficiency, and the PLC control program of depositing in advance has improved the work efficiency of system.
EXAMPLE III
The third insulator cleaning system that provides of this application embodiment on the basis of above-mentioned technical scheme, further optimizes the system, has increased some modules specifically as follows:
the insulator cleaning system that this embodiment provided still includes safety device 5, safety device 5 includes isolator control module 501 and wireless switching value communication module 502, isolator control module 501 is used for controlling and detects isolator's operating condition, and when isolator separating brake contact net outage, isolator control module 501 passes through wireless switching value communication module 502 to on-vehicle control module 103 sends isolator separating brake contact net outage signal, on-vehicle control module 103 receives and controls behind isolator separating brake contact net outage signal wash car 1 starts, works as when wash car 1 work is over, on-vehicle control module 103 passes through wireless switching value communication module 502 to isolator control module 501 sends isolator can close signal, isolator control module 501 receives as controlling the interlocking condition of isolator closing power transmission behind the isolator contact net can close signal One, the first step.
Bullet train or locomotive roof contact net voltage is very high, in order to prevent the incident, washs roof insulator and need go on under the contact net outage condition, and isolator control module 501 sets up the operating condition that is used for control and detection isolator in isolator control box department: when a motor car or a locomotive enters a cleaning working area, the isolating switch control module 501 detects whether the contact net is in a power-off state, and sends a signal indicating that the isolating switch is in a power-off state to the wireless switching value communication module 502. The wireless switching value communication module 502 is respectively connected with the vehicle-mounted PLC and the isolating switch control module 501. When the on-board PLC does not receive the power-off signal of the overhead line system, the cleaning cart 1 cannot be started even if the on-board PLC receives the operation command of the ground control module 202. After the cleaning vehicle 1 finishes cleaning and returns to the standby position, the vehicle-mounted PLC closes the operation of the cleaning vehicle 1, and sends a closing signal of an isolating switch contact network to the isolating switch control module 501 through the wireless switching value communication module 502, and the isolating switch control module can take the closing signal as one of the interlocking conditions for controlling the closing and power transmission of the isolating switch according to the isolating switch contact network.
Insulator cleaning system still includes charging device 3 and power storage device 4, power storage device 4 set up in on the washing car 1 for supply power to washing car 1, charging device 3 is located ground, is used for charging with washing car 1 automatic connection when washing car 1 is in non-operating condition.
In actual work, the cleaning vehicle 1 is inconvenient to work by connecting wires, so the power storage device 4 is generally adopted to supply power to the cleaning vehicle, and a lithium iron phosphate battery is generally adopted as a main body of the power storage device 4. Charging device 3 sets up in ground, its interface that charges generally sets up in the both ends of three-layer operation platform 6, when wasing car 1 and being in non-operating condition, can send the operating instruction that charges by ground controlling means, send for on-vehicle PLC through RS485 wireless communication module, on-vehicle PLC control washs car 1 and removes 3 positions of charging device and interface docks, the last photoelectric sensor that is provided with of charging device 3, when photoelectric sensor detects that washs car 1 and charging device 3 docks, charging device 3 begins work and charges power storage device 4.
Still set up warning module 106 on the washing car 1 for remind the staff the operating condition of washing car 1.
In order to remind ground staff of the working state of the cleaning vehicle 1, the cleaning vehicle 1 is provided with a warning module 106, and the warning module 106 can give out different sound and light prompts according to different working conditions of the cleaning vehicle 1.
In order to ensure that the moving track of the cleaning vehicle 1 is correct, the insulator cleaning system provided by the third embodiment of the present application further includes a color navigation device, the color navigation device includes a navigation identification line 601 disposed on the three-layer operation platform 6 and a vision sensing module 110 disposed on the cleaning vehicle 1, and the vision sensing module 110 can identify the navigation identification line 601 so as to determine whether the cleaning vehicle 1 moves according to a predetermined route to realize longitudinal automatic navigation of the cleaning vehicle 1.
In order to prevent accidents caused by the influence of obstacles on the working environment of the cleaning vehicle 1 during working, a laser avoiding module 109 is further arranged on the cleaning vehicle 1, and specifically comprises a laser emitter and a laser detector, wherein the laser emitter is used for emitting laser signals to detect whether the obstacles are arranged in front of the cleaning vehicle 1, the laser receiver is used for receiving the laser signals reflected by the obstacles, and the warning module 106 can send out warning prompts after the laser receiver receives the reflected laser signals.
The cleaning vehicle 1 is further provided with a camera 107 and a network transmission module 108, the camera 107 is used for recording the operation condition of the cleaning vehicle 1, the network transmission module 108 is used for transmitting the operation condition recorded by the camera 107 to the ground control module 202 and/or the cloud server 7, and the network transmission module 108 is further used for receiving a program applied to the vehicle-mounted control module 103.
Because the vehicle-mounted PLC can only feed back the working condition of the cleaning vehicle 1 and cannot observe the cleaning condition, in order to facilitate the ground control personnel to observe the working condition of the cleaning vehicle 1, the cleaning vehicle 1 is further provided with a camera 107 and a network transmission module 108, the camera 107 is used for shooting the cleaning condition of the cleaning vehicle 1, and the network transmission module 108 is generally a 4G wireless gateway.
Fig. 4 is a schematic control network diagram of an insulator cleaning system according to a third embodiment of the present application.
As shown in fig. 4, the system comprises an on-board control module 103 for control, a wireless switching value communication module 502 for transmission, a 4G gateway and an on-board communication module 104, which are arranged on the cleaning vehicle 1, a ground control console is provided with a ground control module 202 for control and a ground communication module 201 for transmission, and a locomotive catenary position is provided with a disconnecting switch control module 501 for control and a wireless switching value communication module 502 for transmission.
In the third embodiment, on the basis of the technical scheme, the function of the insulator cleaning system is further improved, the voltage of a contact network on the top of the locomotive is very high, and in order to prevent safety accidents, the isolating switch control module 501 is used for ensuring that the cleaning vehicle 1 can be started only under the condition of a contact network breakpoint; the vehicle-mounted PLC can only feed back the working condition of the cleaning vehicle 1 and cannot observe the cleaning condition, and the camera 107 on the cleaning vehicle 1 is convenient for ground control personnel to observe the working condition of the cleaning vehicle 1; other workers may operate on the three-layer operation platform 6, and the laser avoiding module 109 and the warning module 106 are used for preventing accidents such as collision of the cleaning vehicle 1.
Example four
As shown in fig. 5, a fourth embodiment of the present application provides an insulator cleaning method using an insulator cleaning system, including:
s401, acquiring an operation instruction of a worker through the ground control module 202;
s402, transmitting the corresponding instruction to the vehicle-mounted control module 103 through the communication module;
s403, the walking module 101 drives the cleaning module 102 to move to the position of the insulator to be cleaned under the control of the vehicle-mounted control module 103;
s404, cleaning the insulator to be cleaned through the cleaning module 102;
s405, feeding back working conditions to the ground control module 202 through the vehicle-mounted control module 103 through a communication module in the cleaning process;
s406, after cleaning is finished, the vehicle-mounted control module 103 controls the walking module 101 to move to the position of the next insulator to be cleaned;
s407, after all insulators are cleaned, the vehicle-mounted control module 103 controls the walking module 101 to move to a preset place.
Based on the insulator cleaning system that embodiment three provided, when the system uses, after waiting to wash the locomotive and removing to 6 positions of three-layer operation platform, isolator control module 501 detects the isolated network outage after, washs car 1 and opens, the staff inputs the detailed information such as motor car or locomotive model, the car number of waiting to wash the locomotive and confirms the washing instruction through setting up in ground control platform 2's operation computer, the operation instruction sends on-vehicle PLC through RS485 wireless communication module, on-vehicle PLC receives and calls out and carry out corresponding procedure after the instruction: the vehicle-mounted PLC controls the walking module 101 to move according to a set program to move the cleaning vehicle 1 to the position of an insulator to be cleaned, after the vehicle-mounted PLC reaches a preset position, the vehicle-mounted PLC controls the rotary lifting module 105 to move according to the set program to move the six-axis robot to a set height and rotate to a set angle, the vehicle-mounted PLC controls the six-axis robot to move to a path point in sequence according to the set program, after the rotary lifting module 105 and the six-axis robot move, the rotary brush is in contact with the insulator to be cleaned, the liquid spray nozzle faces the insulator to be cleaned, the vehicle-mounted PLC controls the water pump to start spraying cleaning liquid and controls the rotary brush to start rotary cleaning, after the cleaning is finished, the vehicle-mounted PLC controls the rotary brush to leave the cleaned insulator and then controls the walking module 101 to work, so that the cleaning vehicle 1 is moved to the position of the next insulator to be cleaned to execute the next cleaning procedure until all the insulators are cleaned completely. After the cleaning is finished, the traveling module 101 moves the cleaning vehicle 1 to the position of the charging device 3, and after the cleaning vehicle 1 reaches the position of the charging device 3, the charging device 3 starts to operate for charging. The on-vehicle PLC constantly feeds back operating condition to ground control module 202 through RS485 wireless communication module in 1 working process of washing car, and ground staff can observe the image that the program execution condition can also acquire the camera record on the washing car 1 through the operation computer and observe the washing condition of washing car 1.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (8)
1. An insulator cleaning system, comprising: a cleaning vehicle and a ground console;
the cleaning vehicle comprises a walking module, a cleaning module, a vehicle-mounted control module and a vehicle-mounted communication module;
the cleaning module is fixedly connected to the walking module, the cleaning module is used for cleaning the insulator, the walking module is used for driving the cleaning module to move to the position of the insulator to be cleaned, and the vehicle-mounted control module is connected with the walking module, the cleaning module and the vehicle-mounted communication module;
the ground control console comprises a ground control module and a ground communication module;
the ground control module is used for acquiring an operation instruction input by a worker and sending a control signal to the vehicle-mounted communication module through the ground communication module according to the operation instruction, the vehicle-mounted communication module is used for sending the control signal to the vehicle-mounted control module, and the vehicle-mounted control module is used for sending the control instruction to the walking module and the cleaning module according to the received control signal and feeding back the working state of the cleaning vehicle to the ground control module.
2. The insulator cleaning system according to claim 1, wherein the traveling module comprises a machine body, a traveling mechanism and a driving motor, the cleaning module is fixed on the machine body, and the driving motor is used for driving the traveling mechanism to move.
3. The insulator cleaning system according to claim 2, wherein the cleaning module comprises an industrial robot, a liquid spray assembly and a cleaning brush, the industrial robot is provided with a clamping mechanism at the end, the clamping mechanism is used for clamping the cleaning brush, the cleaning brush is used for brushing the insulator, and the liquid spray assembly is used for spraying cleaning liquid.
4. The insulator cleaning system according to claim 3, wherein the cleaning vehicle further comprises a rotary lifting module, the rotary lifting module is fixed on the machine body, the industrial robot is fixed on the rotary lifting module, and the rotary lifting module is used for driving the industrial robot to rotate to a specified angle and move up and down to a specified position.
5. The insulator cleaning system according to claim 1, further comprising a safety device, the safety device comprises an isolating switch control module and a wireless switching value communication module, wherein the isolating switch control module is used for controlling and detecting the working state of the isolating switch, when the disconnecting switch opening contact net is powered off, the disconnecting switch control module sends a contact net power-off signal to the vehicle-mounted control module through the wireless switching value communication module, the vehicle-mounted control module controls the cleaning vehicle to start after receiving the contact net power-off signal, when the work of the cleaning vehicle is finished, the vehicle-mounted control module sends a closing signal of an isolating switch contact net to the isolating switch control module through the wireless switching value communication module, and the isolating switch control module receives a closing signal which can be sent by an isolating switch contact network and then is used as one of interlocking conditions for controlling the closing and power transmission of the isolating switch.
6. The insulator cleaning system according to claim 1, wherein a warning module is further arranged on the cleaning vehicle and used for reminding workers of the working state of the cleaning vehicle.
7. The insulator cleaning system according to claim 1, further comprising a charging device and an electric power storage device, wherein the electric power storage device is arranged on the cleaning vehicle and used for supplying power to the cleaning vehicle, and the charging device is located on the ground and used for being automatically connected with the cleaning vehicle to charge when the cleaning vehicle is in a non-working state.
8. The insulator cleaning system according to claim 1, wherein a camera and a network transmission module are further arranged on the cleaning vehicle, the camera is used for recording the operation condition of the cleaning vehicle, the network transmission module is used for transmitting the operation condition recorded by the camera to the ground control module and/or the cloud server, and the network transmission module is further used for receiving a program applied to the vehicle-mounted control module.
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| CN201920399962.7U CN210174822U (en) | 2019-03-27 | 2019-03-27 | Insulator cleaning system |
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| CN201920399962.7U CN210174822U (en) | 2019-03-27 | 2019-03-27 | Insulator cleaning system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774666A (en) * | 2019-03-27 | 2019-05-21 | 北京铁道工程机电技术研究所股份有限公司 | A kind of insulator cleaning system and insulator cleaning method |
| CN112122257A (en) * | 2020-09-08 | 2020-12-25 | 长沙理工大学 | Post insulator dry ice cleaning robot with electrostatic protection function |
-
2019
- 2019-03-27 CN CN201920399962.7U patent/CN210174822U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774666A (en) * | 2019-03-27 | 2019-05-21 | 北京铁道工程机电技术研究所股份有限公司 | A kind of insulator cleaning system and insulator cleaning method |
| CN109774666B (en) * | 2019-03-27 | 2024-06-07 | 北京铁道工程机电技术研究所股份有限公司 | Insulator cleaning system and insulator cleaning method |
| CN112122257A (en) * | 2020-09-08 | 2020-12-25 | 长沙理工大学 | Post insulator dry ice cleaning robot with electrostatic protection function |
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