High-voltage cable terminal cleaning and PRTV spraying device

Abstract

The invention discloses a high-voltage cable terminal cleaning and PRTV spraying device. A cylindrical shell of a high-voltage cable terminal serves as a reference object, and the radial displacement direction of the device is defined as the Y direction, and the vertical displacement direction of the device is defined as the Z direction; the device comprises a Y-direction guide rail, a Z-direction guide rail, an XY plane encircling mechanical arm and a spray head, a Z-direction guide rail is supported on the Y-direction guide rail in a sliding mode in the Y direction, and an XY plane encircling mechanical arm is supported on the side wall of the Z-direction guide rail in a lifting sliding mode. The XY plane surrounding mechanical arm extends on the XY plane and surrounds the periphery of the high-voltage cable terminal at intervals, and a plurality of spray heads are fixedly arranged on the top face of the XY plane surrounding mechanical arm. The device is suitable for carrying out automatic spraying cleaning and PRTV spraying operation on high-voltage cable terminals with different diameters, heights and umbrella skirt structures, the risk of high falling and contact of personnel is reduced, and compared with large equipment, the device is small and exquisite in structure, free of interference of adjacent terminal lines, simple in structure and easy to implement.

Description

Technical Field

[0001] The invention relates to the technical field of power cable equipment, and in particular to a high-voltage cable terminal cleaning and PRTV spraying device. Background Art

[0002] As high-voltage cables run for a long time, dirt is easily accumulated on the shed skirt of the outdoor terminal of the high-voltage cable, which reduces the insulation level of the cable terminal and brings instability to the long-term stable operation of the cable. Therefore, cleaning of the high-voltage cable terminal is very necessary. In addition, for the porcelain sleeve terminal, PRTV needs to be sprayed regularly to ensure its anti-pollution flashover performance.

[0003] At present, there are no special tools for high-voltage cable terminal cleaning and PRTV spraying at home and abroad, and the construction work must be done manually. For 220kV cable terminals, the height is close to 3 meters, the whole body is smooth and there is no climbing point, it is extremely difficult to clean manually, and there is a risk of falling from a height, which seriously affects the construction quality and personal safety. In addition, due to the large number of cable terminals on the tower and the complex line layout, it is easy to cause space obstruction, and it is difficult to use large equipment to assist workers in climbing operations.

[0004] Therefore, how to design an automated device suitable for cable terminal cleaning and PRTV spraying to ensure the safety of high-altitude operations and construction quality has become a technical problem that needs to be urgently solved by personnel in this field. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and propose a high-voltage cable terminal cleaning and PRTV spraying device, which is suitable for automatic spray cleaning and PRTV spraying operations on high-voltage cable terminals of different diameters, heights and umbrella skirt structures, thereby reducing the risks of personnel falling and contact. Compared with large equipment, the device has a compact structure, is not interfered by adjacent terminal lines, and has a simple structure and is easy to implement.

[0006] A high-voltage cable terminal cleaning and PRTV spraying device, which uses the cylindrical shell of the high-voltage cable terminal as a reference object to define the radial displacement direction of the device as the Y direction and the vertical displacement direction as the Z direction; the device comprises a Y-direction guide rail, a Z-direction guide rail, an XY plane encircling mechanical arm and a spray head; the Y-direction sliding support of the Z-direction on the Y-direction of the Y-guide rail, and the side wall of the Z-guide rail lifts and slides to support the XY plane encircling mechanical arm; the XY plane encircling mechanical arm extends and surrounds and is spaced apart on the outer periphery of the high-voltage cable terminal on the XY plane, and a plurality of spray heads are fixed on the top surface of the XY plane encircling mechanical arm.

[0007] Preferably, the XY plane embracing robotic arm comprises a plurality of groups of extension modules which are hingedly connected end to end in sequence, and each group of extension modules comprises a rotating frame and a translational pushing arm; the rotating frame and the translational pushing arm of the upper-level extension module are hingedly connected on the XY plane by hinges, and a rotating power unit is hingedly connected between the rotating frame and the translational pushing arm of the upper-level extension module, and the translational pushing arm is slidingly inserted into the other side of the rotating frame, and a translational power unit is provided inside the rotating frame for providing telescopic power to the translational pushing arm.

[0008] Preferably, the rotary power unit includes an upper articulated seat, a lower articulated seat, a rotary motor and a rotary pushing block; the upper articulated seat is fixedly mounted on the translational pushing arm of the upper-level extension module, and the upper articulated seat is internally hingedly connected to the rotary motor by a pin on the XY plane; the lower articulated seat is fixedly mounted on the rotary frame of the lower-level extension module, and the lower articulated seat is internally hingedly connected to the rotary pushing block by a pin on the XY plane; a rotary power screw is coaxially fixedly mounted on the power output end of the rotary motor, and the rotary power screw penetrates and meshes with the rotary pushing block.

[0009] Preferably, the translational power unit includes a translational motor, a worm, a worm wheel and a translational power screw, wherein the translational motor is fixed on the side wall of the rotating frame, and the power output end of the translational motor is coaxially fixed to the worm; the worm is rotatably overlapped inside the rotating frame, and the worm is meshedly connected to the worm wheel; the worm wheel is rotatably overlapped inside the rotating frame, and one end of the worm wheel is coaxially fixed to the translational power screw.

[0010] Preferably, the rotating frame is a rectangular frame structure, and the middle part of the rotating frame is rotatably connected to the translational power screw; the translational push arm is also a rectangular frame structure, one side of the translational push arm is slidably guided into the interior of the rotating frame and meshedly sleeved on the translational power screw, the middle part of the translational push arm penetrates the rotating frame of this level, and the other end of the translational push arm is hingedly connected to the rotating frame of the next level.

[0011] The advantages and technical effects of the present invention are:

[0012] A high-voltage cable terminal cleaning and PRTV spraying device of the present invention adjusts the three-axis spatial positions of multiple nozzles relative to the radial periphery of the high-voltage cable terminal through a Y-guide rail, a Z-guide rail and an XY plane encircling robotic arm, and realizes high-voltage cable terminal cleaning and PRTV spraying through multiple nozzles that cooperate to surround the periphery of the high-voltage cable terminal. During this process, the XY plane encircling robotic arm adjusts the connection inclination angle and the connection extension length of the rotating frame and the translational pushing arm through a plurality of extension modules that are hingedly connected in sequence, thereby realizing the adjustment of the encircling radius and the encircling circumference of the encircling robotic arm.

[0013] A high-voltage cable terminal cleaning and PRTV spraying device of the present invention adopts an adaptive enveloping spraying mechanism, which can be widely applied to the operation requirements of 110kV and 220kV high-voltage cable terminals in operation. At the same time, it is designed with an angle-adjustable multi-in-one nozzle to ensure the spraying quality while avoiding the clogging of the spraying mechanism. The spraying mechanism relies on the horizontal and vertical positioning support mechanism to realize the automation of high-voltage cable terminal cleaning and PRTV spraying. The high-voltage cable terminal cleaning and PRTV spraying mechanism developed by the present invention has the advantages of wide applicability, high degree of automation, and stability, which greatly reduces the risk of falling of personnel working at heights, and improves the efficiency and quality of high-voltage cable terminal cleaning and PRTV spraying operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention (45° in the forward direction).

[0015] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention (facing back at 45°).

[0016] Figure 3 for Figure 2 A partial enlarged view of the middle A;

[0017] Figure 4 It is a top view of the present invention (a schematic diagram of the XY plane surrounding the robot arm in its unfolded posture);

[0018] Figure 5 It is a top view of the present invention (schematic diagram of the embracing posture of the XY plane embracing mechanical arm);

[0019] Figure 6 This is a real picture of the high-voltage cable terminal being sprayed with PRTV paint by the cleaning machine of the present invention.

[0020] In the figure: 1-Z guide rail; 2-XY plane embrace robot arm; 3-Y guide rail; 4-nozzle; 5-rotating power screw; 6-lower articulated seat; 7-rotating push block; 8-upper articulated seat; 9-rotating motor; 10-translational power screw; 11-translational motor; 12-worm gear; 13-translational push arm; 14-hinge; 15-rotating frame. DETAILED DESCRIPTION

[0021] The embodiments of the invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the invention, and cannot be understood as limiting the invention.

[0022] In the description of the invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0023] The present invention discloses a high-voltage cable terminal cleaning and PRTV spraying device, which takes the cylindrical shell of the high-voltage cable terminal as a reference object to define the radial displacement direction of the device as the Y direction and the vertical displacement direction as the Z direction; the device comprises a Y-guide rail 3, a Z-guide rail 1, an XY plane embracing mechanical arm 2 and a nozzle 4; the Y-guide rail slides along the Y direction to support the Z-guide rail, and the side wall of the Z-guide rail slides up and down to support the XY plane embracing mechanical arm; the XY plane embracing mechanical arm extends and surrounds and is spaced apart on the outer periphery of the high-voltage cable terminal on the XY plane, and a plurality of nozzles are fixed on the top surface of the XY plane embracing mechanical arm.

[0024] Preferably, the XY plane embracing robot arm includes multiple groups of extension modules which are hingedly connected end to end, and each group of extension modules includes a rotating frame 15 and a translation pushing arm 13; the rotating frame and the translation pushing arm of the upper-level extension module are hingedly connected on the XY plane through a hinge 14, and a rotating power unit is hingedly connected between the rotating frame and the translation pushing arm of the upper-level extension module, and the other side of the rotating frame is slidingly guided to insert the translation pushing arm, and a translation power unit is provided inside the rotating frame to provide telescopic power for the translation pushing arm.

[0025] Preferably, the rotary power unit includes an upper articulated seat 8, a lower articulated seat 6, a rotary motor 9 and a rotary pushing block 7; the upper articulated seat is fixedly mounted on the translation pushing arm of the upper-level extension module, and the upper articulated seat is internally hingedly connected to the rotary motor by a pin on the XY plane; the lower articulated seat is fixedly mounted on the rotary frame of the lower-level extension module, and the lower articulated seat is internally hingedly connected to the rotary pushing block by a pin on the XY plane; a rotary power screw 5 is coaxially fixedly mounted on the power output end of the rotary motor, and the rotary power screw penetrates and meshes with the rotary pushing block.

[0026] Preferably, the translational power unit includes a translational motor 11, a worm, a worm wheel 12 and a translational power screw 10, wherein the translational motor is fixed on the side wall of the rotating frame, and the power output end of the translational motor is coaxially fixed to the worm; the worm is rotatably overlapped inside the rotating frame, and the worm is meshedly connected to the worm wheel; the worm wheel is rotatably overlapped inside the rotating frame, and one end of the worm wheel is coaxially fixed to the translational power screw.

[0027] Preferably, the rotating frame is a rectangular frame structure, and the middle part of the rotating frame is rotatably connected to the translational power screw; the translational push arm is also a rectangular frame structure, one side of the translational push arm is slidably guided into the interior of the rotating frame and meshedly sleeved on the translational power screw, the middle part of the translational push arm penetrates the rotating frame of this level, and the other end of the translational push arm is hingedly connected to the rotating frame of the next level.

[0028] In order to more clearly describe the specific implementation mode of the present invention, an embodiment is provided below:

[0029] The present invention is a high-voltage cable terminal cleaning and PRTV spraying device, the working environment of which is as follows Figure 6 As shown, the construction workers only need to stand on the platform in the middle of the power tower and install the high-voltage cable terminal cleaning and PRTV spraying device of the present invention at the corresponding high-voltage cable terminal position to complete the cleaning and PRTV spraying construction of many high-voltage cable terminals on a single tower.

[0030] The steps are as follows:

[0031] 1. Control the Y guide rail to translate on the Z guide rail, and control the XY plane embracing mechanical arm to move up and down on the Z guide rail, so that the device of the present invention is close to the top side of the high-voltage cable terminal in an unfolded posture;

[0032] 2. Control the XY plane embracing robot arm to align the nozzle with the outer periphery of the high-voltage cable terminal in a radial posture. In this process, the telescopic length and inclination of the rotating frame and the translation push arm are adjusted to control the circumference and perimeter of the XY plane embracing robot arm;

[0033] 3. Control the XY plane embracing robot arm to move up and down the Z guide rail to perform spray cleaning or PRTV spraying construction on the high-voltage cable terminal from top to bottom.

[0034] Finally, all the unexplained parts of the invention adopt mature products and mature technical means in the existing technology.

[0035] In the description of this specification, reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in the embodiment or example of the invention.

[0036] Although embodiments of the invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A high-voltage cable terminal cleaning and PRTV spraying device, taking the cylindrical shell of the high-voltage cable terminal as a reference object to define the radial displacement direction of the device as the Y direction and the vertical displacement direction as the Z direction; characterized in that: The device comprises a Y-direction guide rail, a Z-direction guide rail, an XY-plane embracing robot arm and a nozzle; the Y-direction sliding support of the Z-direction guide rail is provided on the side wall of the Z-direction guide rail, and the XY-plane embracing robot arm is supported by a lifting and sliding movement; the XY-plane embracing robot arm is extended and surrounded on the XY plane and is arranged at intervals on the periphery of the high-voltage cable terminal, and a plurality of nozzles are fixed on the top surface of the XY-plane embracing robot arm.

2. A high voltage cable terminal cleaning and PRTV spraying device according to claim 1, characterized in that: The XY plane embracing robotic arm includes multiple groups of stretching modules which are hingedly connected end to end, and each group of stretching modules includes a rotating frame and a translational pushing arm; the rotating frame and the translational pushing arm of the upper-level stretching module are hingedly connected on the XY plane through hinges, and a rotating power unit is hingedly connected between the rotating frame and the translational pushing arm of the upper-level stretching module. The other side of the rotating frame is slidably guided and plugged into the translational pushing arm, and a translational power unit is provided inside the rotating frame to provide telescopic power for the translational pushing arm.

3. A high voltage cable terminal cleaning and PRTV spraying device according to claim 2, characterized in that: The rotary power unit includes an upper articulated seat, a lower articulated seat, a rotary motor and a rotary pushing block; the upper articulated seat is fixedly mounted on the translation pushing arm of the upper extension module, and the upper articulated seat is internally hingedly connected to the rotary motor on the XY plane; the lower articulated seat is fixedly mounted on the rotary frame of the lower extension module, and the lower articulated seat is internally hingedly connected to the rotary pushing block on the XY plane; a rotary power screw is coaxially fixedly mounted on the power output end of the rotary motor, and the rotary power screw penetrates and meshes with the rotary pushing block.

4. A high voltage cable terminal cleaning and PRTV spraying device according to claim 2, characterized in that: The translational power unit includes a translational motor, a worm, a worm wheel and a translational power screw, wherein the translational motor is fixed on the side wall of the rotating frame, and the power output end of the translational motor is coaxially fixed to the worm; the worm is rotatably overlapped inside the rotating frame, and the worm is meshed with the worm wheel; the worm wheel is rotatably overlapped inside the rotating frame, and one end of the worm wheel is coaxially fixed to the translational power screw.

5. A high voltage cable terminal cleaning and PRTV spraying device according to claim 4, characterized in that: The rotating frame is a rectangular frame structure, and the middle part of the rotating frame is rotatably connected to the translational power screw; the translational push arm is also a rectangular frame structure, one side of the translational push arm is slidably guided into the interior of the rotating frame and meshedly sleeved on the translational power screw, the middle part of the translational push arm penetrates the rotating frame of this level, and the other end of the translational push arm is hingedly connected to the rotating frame of the next level.

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