Insulator cleaning AGV and cleaning control method

Abstract

The invention discloses an insulator cleaning AGV and a cleaning control method. The insulator cleaning AGV comprises a vehicle body, a spraying unit, a dirt detection sensor, a dry ice feeder, an ice crusher, a dry ice brick groove, a control unit and a compressed air unit. The dry ice feeder, the ice crusher, the dry ice brick groove, the control unit and the compressed air unit are arranged on the vehicle body; the dry ice brick groove is communicated with the ice crusher, the ice crusher is connected with the dry ice feeder, and an output port of the dry ice feeder is communicated with an air output port of the compressed air unit and an inlet of the spraying unit through pipelines; the control unit is connected with the dry ice feeder, the ice crusher, the compressed air unit and a driving controller of the vehicle body; and the dirt detection sensor is connected with the control unit. By means of the device, online dry ice cleaning operation on the insulator is achieved, the safety risk of manual cleaning is reduced, and the maintenance quality of the insulator is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of insulator cleaning equipment, and in particular to an insulator cleaning AGV and a cleaning control method. Background Art

[0002] High-voltage insulators are very important electrical equipment. Dirt attached to the surface of insulators may cause flashover accidents in electrical equipment, seriously affecting industrial and agricultural production and social life, and causing huge losses to the social economy. At present, the power production department prevents flashover accidents by regular cleaning. However, the traditional manual cleaning method has the disadvantages of high labor intensity, high risk, and low cleaning efficiency.

[0003] Insulation cleaning robots have the characteristics of high cleaning efficiency, good cleaning effect and high safety. Dry ice cleaning technology is widely recognized as superior to water flushing. Dry ice cleaning is efficient, environmentally friendly and easy to operate, and will not cause electrical safety problems to adjacent electrical equipment during cleaning. Therefore, it has been promoted and applied in the field of electrical equipment cleaning. However, high-voltage insulators are installed at relatively high locations, and it is difficult to manually climb up and clean them with a handheld dry ice spray gun; it is very troublesome to move the handheld spray gun up and down and left and right when operating at high altitudes, and the safety risks are relatively high. Summary of the invention

[0004] To solve the above problems, the present invention provides an insulator cleaning AGV and a cleaning control method. The AGV adopts optimized system components and dry ice control programs. The cleaning robot can complete dry ice cleaning operations on insulators online, thereby improving work efficiency and cleaning quality, reducing the safety risks of manual cleaning, ensuring the maintenance quality of insulators, and ensuring the safe and reliable operation of the power system.

[0005] The present invention provides an insulator cleaning AGV, and the specific technical solution is as follows:

[0006] It includes a vehicle body, a spray unit, a dirt detection sensor, a dry ice feeder, an ice crusher, a dry ice brick tank, a control unit, and a compressed air unit;

[0007] The dry ice feeder, ice crusher, dry ice brick tank, control unit and compressed air unit are arranged on the vehicle body; the dry ice brick tank is connected to the ice crusher, the ice crusher is connected to the dry ice feeder, and the output port of the dry ice feeder is connected to the air output port of the compressed air unit and the inlet of the injection unit through a pipeline;

[0008] The control unit is connected to the dry ice feeder, the ice crusher, the compressed air unit and the driving control of the vehicle body; the contamination detection sensor is connected to the control unit.

[0009] Furthermore, the spray unit includes a dry ice spray head, an annular tube and a delivery hose. The dry ice spray head is provided with a plurality of spray heads, which are evenly distributed on the annular tube. The dry ice spray head is connected to the annular tube, and the annular tube is connected to one end of the delivery hose. The annular tube is arranged on a frame of an annular structure.

[0010] The contamination detection sensor is arranged on the frame.

[0011] Furthermore, the output port of the dry ice feeder, the air output port of the compressed air unit and the inlet of the spray unit are connected through a T-shaped pipe, and the other end of the delivery hose is connected to the inlet of the spray unit by docking with the T-shaped pipe.

[0012] Furthermore, the T-tube is provided with an outlet dynamic valve, which is arranged on the tube body between the inlet of the injection unit and the output port of the dry ice feeder, and the outlet dynamic valve is drivingly connected to the control unit.

[0013] Furthermore, an air dryer is provided on the T-tube, and the air dryer is arranged on the tube body between the air outlet of the compressed air unit and the outlet of the dry ice feeder, and the air dryer is connected to the control unit.

[0014] Furthermore, the control unit is also connected to an operation touch screen, and the operation touch screen is arranged on the vehicle body.

[0015] Furthermore, the compressed air unit is also connected to a pressure detection device, and the pressure detection device is connected to the control unit.

[0016] Furthermore, the dry ice brick groove is also provided with a dry ice detection device, and the dry ice detection device is connected to the control unit.

[0017] The present invention also provides a cleaning control method based on insulator cleaning AGV, the specific process is as follows:

[0018] S1: Power-on initialization self-test;

[0019] S2: Check whether the air pressure of the compressed air unit is normal. If it is abnormal, an alarm signal is issued and the air pressure is reduced. If it is normal, S3 is executed.

[0020] S3: Detect whether there is dry ice in the dry ice brick slot. If there is dry ice, execute S4. If not, send an alarm signal and add ice;

[0021] S4: Determine whether a cleaning instruction is received. If a cleaning instruction is received, execute S5. If not, place the system in a waiting state.

[0022] S5: Start the contamination detection sensor, obtain contamination data, start the ice crusher and dry ice feeder, and drive the outlet valve to open;

[0023] S6: According to the pollution data, the dry ice flow rate and dry ice particle size are adjusted, the dry ice is chopped into particles of a set size, and output to the T-tube;

[0024] S7: Open the jet valve and the swing servo of the jet head to perform dry ice blasting cleaning, and enter a state of waiting for the cleaning completion instruction. After receiving the cleaning completion instruction, turn off all equipment and return to step S4 to wait for the cleaning instruction.

[0025] Furthermore, in step S6, the dry ice is chopped into particles in the range of 1-3 mm.

[0026] The beneficial effects of the present invention are as follows:

[0027] The present invention utilizes dry ice to clean insulators. A staff member can send a cleaning control command through a control terminal, utilize an ice crusher to chop the dry ice into dry ice particles of a preset size, and spray the dry ice through a compressed air unit and a spray unit to impact the surface of a porcelain bottle that needs to be cleaned, thereby crushing and removing the dirt layer, making up for the problems and shortcomings of manual water and gas cleaning of insulators of electrical equipment, avoiding the difficulty of cleaning by staff members holding a dry ice spray gun at high altitude, reducing safety risks, improving work efficiency and cleaning quality, reducing the safety risks of manual cleaning, and ensuring the maintenance quality of insulators. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the AGV structure of the present invention.

[0029] Figure 2 It is a schematic flow chart of the method of the present invention.

[0030] Explanation of the reference numerals: 1-dry ice spray head, 2-annular tube, 3-contamination detection sensor, 4-delivery hose, 5-outlet movable valve, 6-T-tube, 7-dry ice feeder, 8-ice crusher, 9-dry ice brick tank, 10-servo motor, 11-air dryer, 12-control unit, 13-operation touch screen, 14-compressed air unit, 15-pressure detection control sensor, 16-vehicle body, 17-frame. DETAILED DESCRIPTION

[0031] The following description clearly and completely describes the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In the description of the embodiments of the present invention, it should be noted that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the invention product is usually placed when in use, or the orientation or positional relationship commonly understood by those skilled in the art, or the orientation or positional relationship in which the invention product is usually placed when in use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0033] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] Example 1

[0035] Embodiment 1 of the present invention discloses an insulator cleaning AGV, such as Figure 1 As shown, the details are as follows:

[0036] The AGV includes a vehicle body 16, a spray unit, a dirt detection sensor 3, a dry ice feeder 7, an ice crusher 8, a dry ice brick tank 9, a control unit 12, and a compressed air unit 14;

[0037] The dry ice feeder 7, ice crusher 8, dry ice brick tank 9, control unit 12 and compressed air unit 14 are arranged on the vehicle body 16; the dry ice brick tank 9 is connected to the ice crusher 8, the ice crusher 8 is connected to the dry ice feeder 7, and the output port of the dry ice feeder 7 is connected to the air output port of the compressed air unit 14 and the inlet of the injection unit through a pipeline; the dry ice feeder 7 is driven by a servo motor 10, and the servo motor 10 is connected to the control unit 12, and the drive is controlled by the control unit 12;

[0038] The control unit 12 is connected to the driving control of the dry ice feeder 7 , the ice crusher 8 , the compressed air unit 14 and the vehicle body 16 ; the contamination detection sensor 3 is connected to the control unit 12 .

[0039] The control unit 12 acquires data from the sensor devices and controls the operation and stop of each device through electrical signals.

[0040] As a preferred embodiment, Figure 1As shown, the spray unit includes a dry ice spray head 1, an annular tube 2 and a delivery hose 4, the dry ice spray head is provided with a plurality of spray heads, which are evenly distributed on the annular tube 2, the dry ice spray head is connected to the annular tube 2, and the annular tube 2 is connected to one end of the delivery hose 4;

[0041] The annular tube 2 is arranged on a frame 17, and the frame 17 is an annular frame 17. The dry ice blasting heads are evenly distributed on the annular tube 2. When the swing steering gear of the blasting heads is in a normal state, the blasting directions of the dry ice blasting heads converge in the same direction.

[0042] The contamination detection sensor 3 is arranged on the frame 17 .

[0043] As a preferred embodiment, the output port of the dry ice feeder 7, the air output port of the compressed air unit 14 and the inlet of the injection unit are connected through a T-tube 6, and the other end of the delivery hose 4 is connected to the inlet of the injection unit by docking with the T-tube 6.

[0044] After the dry ice is shredded into specified particle sizes by the ice crusher 8 according to different dirt levels and cleaning strategies, it is transported to the horizontal tube body in the T-tube 6, accelerated by the air pressure of the compressed air unit 14, and sprayed out by the swinging and sweeping of the dry ice jet head, impacting the surface of the porcelain bottle that needs to be cleaned; when the dry ice particles impact, the solid carbon dioxide instantly sublimates and vaporizes, and its momentum undergoes heat exchange at the moment of impact; since the temperature of the dry ice particles is extremely low (-78°C), a large amount of heat is absorbed from the surface of the porcelain bottle when it vaporizes, and the temperature difference and thermal shock phenomenon formed between the surfaces reduce the temperature of the dirt layer and break it, thereby quickly impacting and breaking the dirt layer on the surface of the porcelain bottle and removing it.

[0045] As a preferred embodiment, the T-tube 6 is provided with an outlet dynamic valve 5, and the outlet dynamic valve 5 is arranged on the tube body between the inlet of the injection unit and the output port of the dry ice feeder 7, and the outlet dynamic valve 5 is drivingly connected to the control unit 12.

[0046] The injection channel of the T-tube 6 is controlled by the outlet movable valve 5 to avoid damage to the injection unit by air pressure and dry ice during non-cleaning operations, while ensuring good sealing of the injection unit.

[0047] As a preferred embodiment, an air dryer 11 is provided on the T-tube 6 , and the air dryer 11 is arranged on the tube body between the air outlet of the compressed air unit 14 and the outlet of the dry ice feeder 7 , and the air dryer is connected to the control unit 12 .

[0048] The air dryer 11 is used to prevent the moisture in the compressed air from cooling the dry ice particles and causing them to agglomerate, thereby affecting cleaning.

[0049] As a preferred embodiment, the control unit 12 is further connected to an operation touch screen 13 , and the operation touch screen 13 is arranged on the vehicle body 16 .

[0050] The AGV and the staff can interact with each other and monitor data by operating the touch screen 13;

[0051] The operation touch screen 13 and the control unit 12 are integrated into a control terminal, and two modes of manual control and automatic control can be realized through the control terminal.

[0052] As a preferred embodiment, the compressed air unit 14 is also connected to a pressure detection device, and the pressure detection device is connected to the control unit 12 .

[0053] The pressure of the compressed air unit 14 is obtained through the pressure detection device, so that the control unit 12 can coordinate the working parameters of the ice crusher 8 and the dry ice feeder 7.

[0054] As a preferred embodiment, the dry ice brick groove 9 is further provided with a dry ice detection device, and the dry ice detection device is connected to the control unit 12 .

[0055] The dry ice detection device is used to detect whether there is dry ice in the dry ice brick groove 9. The dry ice detection device can adopt a pressure detection sensor, an infrared detection sensor, etc.

[0056] Example 2

[0057] Embodiment 2 of the present invention discloses a cleaning control method, based on the insulator cleaning AGV described in embodiment 1 above, such as Figure 2 As shown, the specific steps are as follows:

[0058] S1: Power-on initialization self-test, safety check of each part of the equipment;

[0059] S2: Check whether the air pressure of the compressed air unit 14 is normal. If it is abnormal, an alarm signal is issued to pressurize the compressed air. If it is normal, S3 is executed.

[0060] S3: Detect whether there is dry ice in the dry ice brick slot 9, if there is dry ice, execute S4, if not, send an alarm signal and add ice;

[0061] S4: Determine whether a cleaning instruction is received. If a cleaning instruction is received, execute S5. If not, place the system in a waiting state.

[0062] S5: Start the contamination detection sensor 3, obtain contamination data, start the ice crusher 8 and the dry ice feeder 7, and drive the outlet valve 5 to open;

[0063] S6: According to the pollution data, the dry ice flow rate and dry ice particle size are adjusted, the dry ice is chopped into particles of a set size, and output to the T-tube 6;

[0064] Specifically, the particle size of dry ice shreds ranges from 1 to 3 mm.

[0065] S7: Open the jet valve and the swing servo of the jet head to perform dry ice blasting cleaning, and enter a state of waiting for the cleaning completion instruction. After receiving the cleaning completion instruction, turn off all equipment and return to step S4 to wait for the cleaning instruction.

[0066] The present invention is not limited to the above-mentioned specific embodiments, but extends to any new features or any new combination disclosed in this specification, as well as any new method or process steps or any new combination disclosed.

Claims

1. An insulator cleaning AGV, characterized in that: It includes a vehicle body, a spray unit, a dirt detection sensor, a dry ice feeder, an ice crusher, a dry ice brick tank, a control unit, and a compressed air unit; The dry ice feeder, ice crusher, dry ice brick tank, control unit and compressed air unit are arranged on the vehicle body; the dry ice brick tank is connected to the ice crusher, the ice crusher is connected to the dry ice feeder, and the output port of the dry ice feeder is connected to the air output port of the compressed air unit and the inlet of the injection unit through a pipeline; The control unit is connected to the dry ice feeder, the ice crusher, the compressed air unit and the driving control of the vehicle body; the contamination detection sensor is connected to the control unit.

2. The insulator cleaning AGV according to claim 1, characterized in that: The spray unit comprises a dry ice spray head, an annular tube and a conveying hose. The dry ice spray head is provided with a plurality of spray heads, which are evenly distributed on the annular tube. The dry ice spray head is connected to the annular tube, and the annular tube is connected to one end of the conveying hose. The annular tube is arranged on a frame of an annular structure. The contamination detection sensor is arranged on the frame.

3. The insulator cleaning AGV according to claim 2, characterized in that: The output port of the dry ice feeder, the air output port of the compressed air unit and the inlet of the spray unit are connected through a T-shaped pipe, and the other end of the delivery hose is connected to the inlet of the spray unit by docking with the T-shaped pipe.

4. The insulator cleaning AGV according to claim 3, characterized in that: The T-tube is provided with an outlet dynamic valve, which is arranged on the tube body between the inlet of the injection unit and the output port of the dry ice feeder, and the outlet dynamic valve is drivingly connected to the control unit.

5. The insulator cleaning AGV according to claim 3, characterized in that: An air dryer is provided on the T-tube. The air dryer is provided on the tube body between the air outlet of the compressed air unit and the outlet of the dry ice feeder. The air dryer is connected to the control unit.

6. The insulator cleaning AGV according to claim 1, characterized in that: The control unit is also connected to an operation touch screen, and the operation touch screen is arranged on the vehicle body.

7. The insulator cleaning AGV according to claim 1, characterized in that: The compressed air unit is also connected to a pressure detection device, and the pressure detection device is connected to the control unit.

8. The insulator cleaning AGV according to claim 1, characterized in that: The dry ice brick tank is also provided with a dry ice detection device, and the dry ice detection device is connected to the control unit.

9. A cleaning control method, characterized in that: The insulator cleaning AGV according to any one of claims 1 to 8 comprises: S1: Power-on initialization self-test; S2: Check whether the air pressure of the compressed air unit is normal. If it is abnormal, an alarm signal is issued and the air pressure is reduced. If it is normal, S3 is executed. S3: Detect whether there is dry ice in the dry ice brick slot. If there is dry ice, execute S4. If not, send an alarm signal and add ice; S4: Determine whether a cleaning instruction is received. If a cleaning instruction is received, execute S5. If not, place the system in a waiting state. S5: Start the contamination detection sensor, obtain contamination data, start the ice crusher and dry ice feeder, and drive the outlet valve to open; S6: According to the pollution data, the dry ice flow rate and dry ice particle size are adjusted, the dry ice is chopped into particles of a set size, and output to the T-tube; S7: Open the jet valve and the swing servo of the jet head to perform dry ice blasting cleaning, and enter a state of waiting for the cleaning completion instruction. After receiving the cleaning completion instruction, turn off all equipment and return to step S4 to wait for the cleaning instruction.

10. The cleaning control method according to claim 9, characterized in that: In step S6, the dry ice is chopped into particles with a size range of 1-3 mm.

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