Cleaning device and control method for insulator porcelain bottles based on crawling robot arm

Abstract

This invention provides a cleaning device and control method for insulator porcelain insulators based on a crawling manipulator, belonging to the field of insulator cleaning technology. The cleaning device includes: a main connecting rod; a driven mechanism disposed at the top and bottom of the main connecting rod for slidingly fixing the main connecting rod to an insulator string; an active mechanism disposed on the main connecting rod for initiating and driving the main connecting rod to crawl on the insulator string; and a cleaning mechanism disposed on the main connecting rod for cleaning the insulator string. This cleaning device and control method based on a crawling manipulator fixes the active mechanism, driven mechanism, and cleaning mechanism on the main connecting rod, and then achieves crawling of the cleaning device on the insulator string through a method where the driven mechanism limits movement and the active mechanism drives movement, thus achieving efficient cleaning of the insulator string.

Description

Technical Field

[0001] This invention relates to the field of insulator cleaning technology, and more specifically to an insulator porcelain insulator cleaning device and control method based on a crawling manipulator. Background Technology

[0002] In the field of high-voltage power transmission, due to the difficulty in meeting the requirements of both fixed support and insulation by the material properties of grounding components, it is necessary to add insulators (insulator porcelain bottles) between grounding components.

[0003] An insulator is a special type of insulating control that prevents grounding components from being damaged by high-voltage devices. In existing technology, insulators are typically made of glass or ceramic to increase creepage distance. On some high-voltage power poles, multiple disc-shaped insulators are stacked to form insulator strings.

[0004] Since insulator strings are installed outdoors, after a long period of not being cleaned, their surface will accumulate dust and other factors, which will cause their insulation properties to decline and thus affect the insulation effect. Summary of the Invention

[0005] The purpose of this invention is to provide a cleaning device and control method for insulator porcelain bottles based on a crawling manipulator, which can improve the cleaning efficiency of insulator strings.

[0006] To achieve the above objectives, embodiments of the present invention provide an insulator ceramic insulator cleaning device based on a crawling robotic arm, comprising:

[0007] Main connecting rod;

[0008] A driven mechanism is provided at the top and bottom of the main connecting rod, and is used to slide and fix the main connecting rod to the insulator string;

[0009] An active mechanism, mounted on the main connecting rod, is used to activate the main connecting rod to drive it to crawl on the insulator string.

[0010] A cleaning mechanism, mounted on the main connecting rod, is used to clean the insulator string.

[0011] Optionally, the active mechanism includes:

[0012] The first pulley has a flexible protrusion on its periphery, which is used to abut against the insulator string;

[0013] An electric motor is connected to the first pulley and is used to drive the first pulley to rotate.

[0014] Optionally, the main connecting rod includes:

[0015] First link section;

[0016] The second link is disposed on one side of the first link, and is connected to the first link via a transmission gear, so that when the first link rotates, it rotates in the opposite direction with the first link.

[0017] The steering gear set is connected to the first connecting rod via a transmission gear;

[0018] The third link is located on the other side of the first link and is connected to the steering gear set.

[0019] Optionally, the driven mechanism includes:

[0020] At least two sets of retaining rods are provided, with at least one set of the retaining rods at the top and bottom of the main connecting rod;

[0021] A limiting pulley is provided on the inner side of the support rod and on the main connecting rod, for contacting the insulator string to clamp the insulator string.

[0022] Optionally, the edge of the limiting pulley is provided with a flexible protrusion.

[0023] Optionally, the strut is connected to the second link or the third link.

[0024] Optionally, each group of limiting pulleys consists of three parts, which are respectively connected to the first link, the second link, and the third link.

[0025] Optionally, the cleaning mechanism includes at least one pair of spray nozzles, which are staggered.

[0026] On the other hand, the present invention also provides a control method for controlling a cleaning device as described in any of the above claims, the control method comprising:

[0027] Determine the water flow rate and blower power of the current cleaning device;

[0028] Adjust the travel speed of the active mechanism according to formula (1).

[0029] (1)

[0030] in, for The speed at which the cleaning device travels at any given moment. for The water flow rate at any given time This represents the maximum value of the water flow velocity. for The real-time power of the hair dryer. This is the maximum power of the hair dryer. The reference speed of the cleaning device is determined based on the diameter of the insulating porcelain bottle. This indicates taking the larger value. This indicates taking the smaller value.

[0031] Optionally, the control method further includes:

[0032] Adjust the reference speed according to formula (2).

[0033] (2)

[0034] in, These are correction parameters related to the insulator string model. Let be the radius of the insulator string. For variables without units.

[0035] Through the above technical solution, the insulator porcelain bottle cleaning device and control method based on crawling manipulator provided by the present invention fixes the active mechanism, the driven mechanism and the cleaning mechanism through the main body connecting rod, and then realizes the crawling of the cleaning device on the insulator string by limiting the driven mechanism and driving the active mechanism, thereby achieving efficient cleaning of the insulator string.

[0036] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0037] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0038] Figure 1 This is a schematic diagram of an insulator porcelain bottle cleaning device based on a crawling manipulator according to an embodiment of the present invention.

[0039] Figure 2 This is a schematic diagram of the structure of an insulating ceramic bottle according to one embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the main connecting rod according to one embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of the structure of a steering gear set according to one embodiment of the present invention;

[0042] Figure 5 This is a schematic diagram of the driven mechanism according to an embodiment of the present invention;

[0043] Figure 6This is a schematic diagram of a cleaning mechanism according to an embodiment of the present invention.

[0044] Explanation of reference numerals in the attached figures

[0045] Detailed Implementation

[0046] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0047] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0048] like Figure 1 The diagram shown is a structural schematic of an insulator ceramic insulator cleaning device based on a crawling manipulator according to an embodiment of the present invention. Figure 1 The device may include a main connecting rod 01, a driven mechanism 02, an active mechanism 03, and a cleaning mechanism 04. The driven mechanism 02 is located at the top and bottom of the main connecting rod 01 and is used to slide and fix the main connecting rod 01 onto the insulator string. The active mechanism 03 is located on the main connecting rod 01 and is used to activate it to drive the main connecting rod 01 to crawl along the insulator string. The cleaning mechanism 04 is located on the main connecting rod 01 and is used to clean the insulator string.

[0049] In such Figure 1 When the device shown is in operation, the driven mechanism 02 slides and fixes the main connecting rod 01 onto the insulator string, while the driving mechanism 03 drives the main connecting rod 01 to crawl on the insulator string. During the crawling process, the cleaning mechanism 04 cleans different positions of the insulator string in real time, realizing a comprehensive cleaning of the insulator string.

[0050] While the specific form of the active mechanism 03 can be varied and known to those skilled in the art, considering that the insulator string is a cylinder formed by stacking multiple insulators (as shown in Figure 02), and that the cylinder has uniform protrusions on its sidewalls, in one embodiment of the present invention, the active mechanism 03 may include a first pulley 031 and a motor 032. The first pulley 031 may have flexible protrusions on its periphery, which can abut against the protrusions on the insulator string. On the one hand, the non-rigid structure of the flexible protrusions themselves can prevent damage to the insulator string; on the other hand, a large frictional force can be generated between the flexible protrusions and the insulator string, thereby enabling the main connecting rod 01 to slide relative to the insulator string as the first pulley 031 rotates with the motor.

[0051] While the specific structure of the main connecting rod 01 can take many forms known to those skilled in the art, it is necessary to simultaneously mount the active mechanism 03, the driven mechanism 02, and the cleaning mechanism 04 on the main connecting rod 01. The specific structure of the main connecting rod 01 can be as follows: Figure 3 As shown. In this Figure 3 The main connecting rod 01 may include a first connecting rod portion 011, a second connecting rod portion 012, a third connecting rod portion 013, a steering gear set 014, and a connecting rod platform 015. The first connecting rod portion 011 serves as the axis of the main connecting rod 01. The second connecting rod portion 012 and the third connecting rod portion 013 are rotatably connected to each other via the connecting rod platform 015. The first connecting rod portion 011 and the second connecting rod portion 012 are also directly engaged by gears, and the first connecting rod portion 011 and the third connecting rod portion 013 are also engaged by rotating gears 014. The engagement method between the first connecting rod portion 011, the second connecting rod portion 012, and the third connecting rod portion 013 is as follows: Figure 4 As shown. The linkage platform 015 is rotatably connected to the first linkage portion 011, the second linkage portion 012, the third linkage portion 013, and the steering gear set 014, allowing the four to rotate relative to each other while fixing their relative positions. In one example of the invention, the steering gear set 014 may be connected to the first linkage portion 011, the second linkage portion 012, the third linkage portion 013, and the steering gear set 014 via bearings. Figure 4 In the snap-fit ​​method shown, when the first link 011 rotates, the second link 012 rotates in the opposite direction with the first link 011, while the third link 012 rotates in the forward direction with the first link 013, thereby causing the clamping arms located on the second link 012 and the third link 013 to open or close simultaneously.

[0052] While the specific form of the driven mechanism 02 can be various, as known to those skilled in the art, considering that the insulator string is a cylinder formed by stacking multiple insulators (as shown in Figure 02), and that the cylinder has uniform protrusions on its sidewalls, in one embodiment of the present invention, the driven mechanism 02 can be as follows: Figure 5 As shown. In this Figure 5 In this embodiment, the driven mechanism 02 may include at least two sets of clamping rods 021 and limiting pulleys 022. At least one set of clamping rods 021 may be provided at the top and bottom of the main connecting rod 01, ensuring its stability during ascent and thus guaranteeing the stable operation of the cleaning mechanism 04. Furthermore, the limiting pulleys 022 may also have flexible protrusions. These protrusions, being non-rigid, prevent damage to the insulator string; additionally, they generate significant friction with the insulator string, ensuring a relatively stable sliding position between the main connecting rod 01 and the insulator string. In this example, to facilitate the clamping of the insulator porcelain insulator by the limiting pulleys 022, each set of limiting pulleys 022 may contain three pulleys.

[0053] Furthermore, the driven mechanism 02 includes, for example, Figure 5 The structure shown, including the main connecting rod 01, includes as follows: Figure 3 In the structure shown, one of the connecting rods 021 in each group can be connected to either the second connecting part 012 or the third connecting part 013 on the main connecting rod 01. This arrangement ensures that when the first connecting part 011 rotates, the second connecting part 012 and the third connecting part 013 rotate in opposite directions, thereby achieving either clamping or opening.

[0054] The cleaning mechanism 04 can have a structure that is known to those skilled in the art, provided it can clean the insulating porcelain insulator. In one example of the invention, the cleaning mechanism 04 can be as follows: Figure 6 As shown. In this Figure 6The cleaning mechanism 04 may include two water spray nozzles 041 and at least two air blowers 042. The two water spray nozzles 041 and the two air blowers 042 may be arranged opposite each other. In the prior art, although there are methods to directly spray insulators with water guns carried by drones, the reverse force generated during spraying makes it difficult for the drone to maintain a stable flight state, and conventional attitude control algorithms are not very effective. In the example provided by this invention, since the two water spray nozzles 041 are arranged opposite each other, the reverse force generated during spraying cancels each other out, thereby avoiding interference with the stability of the cleaning device itself during cleaning. Furthermore, considering that after spraying, to prevent residual liquid from being not dried in time and re-adheding with dust, and to dry the dust, in this example, the water spray nozzles 041 of the cleaning mechanism 04 may be positioned higher than the air blowers 042. In another example of the invention, considering that if the spray nozzle 041 is directly facing the insulator porcelain insulator, a large backlash force will be generated during spraying, even if the two backlash forces cancel each other out, it will still place a large load on the cleaning mechanism 04 itself. Therefore, the two spray nozzles 041 can be arranged relatively offset. This relatively offset arrangement reduces the backlash force and makes it easier for the sprayed water to carry away the dust on the surface of the insulator porcelain insulator. In addition, the water source for the spray nozzle 041 can be directly connected to a water pump on the ground through a flexible water pipe, thus avoiding carrying water during the ascent (the power supply principle is similar), thereby increasing the effective working time of the cleaning device.

[0055] On the other hand, the present invention also provides a control method that can be used to control the above-described... Figures 1 to 6 The cleaning device shown in any one of the following. The control method may be to first determine the current water flow rate and blowing power of the cleaning device, and then adjust the travel speed of the active mechanism 03 according to formula (1).

[0056] Adjust the travel speed of the active mechanism according to formula (1).

[0057] (1)

[0058] in, for The speed at which the cleaning device travels at any given moment. for The water flow rate at any given time This represents the maximum value of the water flow velocity. for The real-time power of the hair dryer. This is the maximum power of the hair dryer. The reference speed of the cleaning device is determined based on the diameter of the insulating porcelain bottle. This indicates taking the larger value. This indicates taking the smaller value. Through this formula (1), the cleaning device can determine the cleaning efficiency based on the current water flow rate of the nozzle and the power of the blower. When the water flow rate of the nozzle is low and the power of the blower is low, the cleaning efficiency of the cleaning device is low, so the travel speed needs to be reduced to ensure the cleaning effect; conversely, when the water flow rate of the nozzle is high and the power of the blower is high, the cleaning efficiency of the cleaning device is high, so the travel speed can be increased to speed up the cleaning efficiency. As for the formula (1)... This is a correction factor added to avoid situations where the real-time power is low due to high water flow velocity or high due to low water flow velocity.

[0059] Furthermore, this reference speed can be determined using formula (2).

[0060] (2)

[0061] in, These are correction parameters related to the insulator string model. Let be the radius of the insulator string. For variables without units.

[0062] Through the above technical solution, the insulator porcelain bottle cleaning device and control method based on crawling manipulator provided by the present invention fixes the active mechanism, the driven mechanism and the cleaning mechanism through the main body connecting rod, and then realizes the crawling of the cleaning device on the insulator string by limiting the driven mechanism and driving the active mechanism, thereby achieving efficient cleaning of the insulator string.

[0063] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0064] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for a ceramic insulator cleaning device based on a crawling robotic arm, characterized in that, The cleaning device includes: The main connecting rod includes a first connecting rod part, a second connecting rod part, a third connecting rod part, a steering gear set, and a connecting rod platform. The first connecting rod part serves as the axis of the main connecting rod. The second connecting rod part and the third connecting rod part are rotatably connected to each other through the connecting rod platform. The first connecting rod part and the second connecting rod part are also directly engaged by gears, and the first connecting rod part and the third connecting rod part are also engaged by rotating gears. The driven mechanism is located at the top and bottom of the main connecting rod and is used to slide and fix the main connecting rod to the insulator string. It includes at least two sets of clamping rods and limiting pulleys. The clamping rods are connected to the second or third connecting rod. The limiting pulleys are located on the inner side of the clamping rods and on the main connecting rod and are used to contact the insulator string to clamp the insulator string. An active mechanism, mounted on the main connecting rod, is used to activate and drive the main connecting rod to crawl on the insulator string. It includes a first pulley and a motor. The outer periphery of the first pulley is provided with flexible protrusions, which are used to abut against protrusions on the insulator string. The motor is connected to the first pulley and is used to drive the first pulley to rotate. A cleaning mechanism, mounted on the main connecting rod, is used to clean the insulator string. It includes two water spray nozzles and at least two air blowers. The two air blowers are arranged opposite each other, and the two water spray nozzles are staggered relative to each other. The water spray nozzles are positioned at a higher height than the air blowers. The control method includes: Determine the water flow rate and blower power of the current cleaning unit; Adjust the travel speed of the active mechanism according to formula (1). ，（1） in, for The speed at which the cleaning device travels at any given moment. for The water flow rate at any given time This represents the maximum value of the water flow velocity. for The real-time power of the hair dryer. This is the maximum power of the hair dryer. The reference speed of the cleaning device is determined based on the diameter of the insulating porcelain bottle. This indicates taking the larger value. This indicates taking the smaller value. This correction factor is added to avoid situations where the real-time power is low due to high water flow velocity or high due to low water flow velocity.

2. The control method according to claim 1, characterized in that, The edge of the limiting pulley is provided with flexible protrusions.

3. The control method according to claim 2, characterized in that, Each group of limiting pulleys consists of three parts, which are respectively connected to the first link section, the second link section, and the third link section.

4. The control method according to claim 1, characterized in that, The control method further includes: Adjust the reference speed according to formula (2). ，（2） in, For correction parameters related to the insulator string model, Let be the radius of the insulator string. For variables without units.

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