Insulator surface laser cleaning device

Abstract

An insulator surface laser cleaning device comprises a laser cleaning head, a cleaning main machine, a control box, a cleaning robot and a cleaning rotary table, an insulator is vertically connected to the upper side of the cleaning rotary table, the output end of the laser cleaning head is arranged relative to the surface of the insulator, and the output end of the cleaning robot is connected to the laser cleaning head. The control box is connected to the cleaning robot, the cleaning main machine is connected to the laser cleaning head, the cleaning rotary table is used for driving an insulator to rotate along the axis of the cleaning rotary table, the cleaning main machine is used for controlling a switch of the laser cleaning head, and the control box is used for controlling the cleaning robot to drive the laser cleaning head to move. According to the design, the cleaning rotary table drives the insulator to rotate along the axis of the insulator, in the rotating process, the laser cleaning head is aligned with the surface of the insulator through the cleaning robot and the cleaning main machine for laser cleaning, the cleaning efficiency is high, and sweeping is relatively uniform.

Description

Technical Field

[0001] The utility model relates to the technical field of insulator cleaning, in particular to an insulator surface laser cleaning device. Background Art

[0002] Insulators are one of the important components of power transmission and transformation equipment. They are often installed between conductors of different potentials or between conductors and ground potential components. After long-term use, the performance of the RTV coating on the surface of the insulator will change, which will affect the dirt accumulation characteristics of the insulator. Therefore, it is necessary to regularly clean the RTV coating on the surface of the insulator and re-apply it. At present, the main method for cleaning insulators is laser cleaning, which focuses the laser on the surface of the insulator to remove dirt. However, the traditional laser cleaning method is only suitable for cleaning objects with regular and flat surfaces. For insulators, since the surface of the insulator is uneven and the radius of the shed will change, it is necessary to constantly adjust the focus to keep the focus on the surface of the insulator, which can easily lead to low cleaning efficiency and uneven cleaning. Summary of the invention

[0003] The utility model aims to overcome the defects and problems of low cleaning efficiency and uneven cleaning of insulators in the prior art, and to provide an insulator surface laser cleaning device with high cleaning efficiency and uniform cleaning.

[0004] To achieve the above objectives, the technical solution of the utility model is: an insulator surface laser cleaning device, comprising a laser cleaning head, a cleaning host, a control box, a cleaning robot and a cleaning turntable, the insulator is vertically connected to the upper side of the cleaning turntable, the output end of the laser cleaning head is arranged relative to the surface of the insulator, the output end of the cleaning robot is connected to the laser cleaning head, the control box is connected to the cleaning robot, the cleaning host is connected to the laser cleaning head, the cleaning turntable is used to drive the insulator to rotate along its axis, the cleaning host is used to control the switch of the laser cleaning head, and the control box is used to control the cleaning robot to drive the laser cleaning head to move.

[0005] The cleaning turntable includes a fixed table, a turntable, a chuck, and a driving motor. The driving motor is connected to the upper side of the fixed table. The turntable is rotatably connected to the upper side of the fixed table. The output shaft of the driving motor is connected to the turntable to drive the turntable to rotate along its own axis. The lower side of the chuck is connected to the upper side of the turntable, and the upper side of the chuck is connected to the lower end of the insulator.

[0006] The turntable includes an upper shell, a lower shell, a worm wheel, a worm, and a bearing. The worm wheel and the worm are both installed in the upper shell. The output shaft of the drive motor passes through the upper shell and is connected to one end of the worm. The worm wheel is meshingly connected to the worm. The inner ring of the bearing is connected to the upper shell. The outer ring of the bearing is sleeved on the inner wall of the worm wheel. The lower shell is located below the upper shell and is connected to the lower end surface of the worm wheel. The lower shell is rotatably connected to the upper side of the fixed platform. The chuck is rotatably connected to the upper shell. The lower end of the insulator passes through the chuck, the upper shell, and the bearing and is connected to the lower shell.

[0007] The upper shell and the upper end surface of the inner ring of the bearing are connected to each other through bolts.

[0008] The robot includes a cleaning seat, a base, and a multi-joint robotic arm. The base is connected to the upper side of the cleaning seat, the head end of the multi-joint robotic arm is rotatably connected to the upper side of the base, the end of the multi-joint robotic arm is connected to one side of the laser cleaning head through a connecting piece, and the control box is connected to the multi-joint robotic arm.

[0009] The multi-joint robotic arm includes a first crank, a first robotic arm, a second crank, a second robotic arm, a third crank, and a rotating shaft, wherein one end of the first crank is rotatably connected to the upper side of the base, one end of the first robotic arm is rotatably connected to the other end of the first crank, one end of the second crank is rotatably connected to the other end of the first robotic arm, one end of the second robotic arm is rotatably connected to the other end of the second crank, one end of the third crank is rotatably connected to the other end of the second robotic arm, one end of the rotating shaft is rotatably connected to the other end of the third crank, and the other end of the rotating shaft is connected to the connecting member.

[0010] The connecting member comprises a mounting plate and a connecting block, wherein the connecting block is coaxially connected to the rotating shaft, one side of the mounting plate is connected to the connecting block, and the other side of the mounting plate is connected to the laser cleaning head.

[0011] The cross section of the connecting block is I-shaped, the mounting plate is U-shaped, a mounting hole for connecting with the laser cleaning head is provided on the mounting plate, and a connecting hole for connecting with the mounting plate is provided on the end surface of the connecting block.

[0012] A wiring groove is provided on the upper side of the base, and a mounting groove is provided on the outer peripheral surface of the base. The mounting groove is communicated with the wiring groove, and a first aviation plug connected to the control box is installed in the mounting groove.

[0013] A distance measuring device is connected to one side of the laser cleaning head, and the distance measuring device includes a shell, a baffle, a baffle plate, a second aviation plug, and a distance measuring component. A cavity for accommodating the distance measuring component is provided in the shell, the second aviation plug is connected to one side of the shell and communicates with the cavity, the baffle plate is connected to one side of the shell, and the baffle plate is connected to one side of the baffle plate. A transmitting port and a receiving port are provided on one side of the shell, the transmitting end of the distance measuring component is arranged relative to the transmitting port, and the receiving end of the distance measuring component is arranged relative to the receiving port.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] 1. In the insulator surface laser cleaning device of the utility model, the insulator is driven to rotate along its own axis by the cleaning turntable. During the rotation process, the laser cleaning head is aimed at the surface of the insulator, thereby realizing automatic cleaning, which can effectively improve the cleaning efficiency. After completing the surface cleaning task of the insulator in a circumferential direction, the cleaning robot is used to adjust the posture so that the laser cleaning head is aimed at the next part to be cleaned. At the same time, the cleaning host adjusts the focus of the laser cleaning head to keep the focus at the optimal distance, which can effectively avoid the uneven cleaning of the insulator. Therefore, the utility model has high cleaning efficiency and uniform cleaning.

[0016] 2. In the insulator surface laser cleaning device of the utility model, the cleaning turntable is driven by a motor, and the horizontal rotation of the motor is changed into the vertical rotation of the chuck and the insulator by the worm gear transmission; the insulator rotation process is made more stable by setting the bearing, and the upper shell and the bearing are connected by bolts, which is convenient for assembly and disassembly. Therefore, the utility model has a simple structure, a stable working process, and is easy to install and disassemble.

[0017] 3. In the insulator surface laser cleaning device of the utility model, the cleaning robot adopts the structure of a multi-joint mechanical arm, which can effectively improve the moving range of the laser cleaning head. At the same time, the multi-joint mechanical arm is composed of multiple crank arms and mechanical arm joints, thereby improving the operating range and operating angle of the multi-joint mechanical arm, so that the laser cleaning head can be better aligned with the insulator surface; by installing a distance measuring device on one side of the laser cleaning head, the distance measuring device can measure the distance from the laser cleaning head to the insulator surface, thereby facilitating the laser cleaning head to adjust the focus, and the cleaning effect is better. Therefore, the utility model is easy to use and has a good cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the utility model.

[0019] Figure 2 It is a structural schematic diagram of the cleaning turntable in the utility model.

[0020] Figure 3 It is a transverse sectional schematic diagram of the turntable and the driving motor in the utility model.

[0021] Figure 4 It is a longitudinal sectional schematic diagram of the turntable and the driving motor in the utility model.

[0022] Figure 5 It is a structural schematic diagram of the cleaning robot in the utility model.

[0023] Figure 6 It is a partial cross-sectional schematic diagram of the cleaning seat and the base in the utility model.

[0024] Figure 7 It is a structural schematic diagram of a multi-joint mechanical arm and a connecting piece in the utility model.

[0025] Figure 8 It is a structural schematic diagram of a laser cleaning head and a distance measuring device in the utility model.

[0026] Fig. 9 It is a structural schematic diagram of the distance measuring device in the utility model.

[0027] Fig.10 It is a schematic diagram of the expansion of the housing, the baffle and the baffle in the utility model.

[0028] In the figure: cleaning turntable 1, turntable 11, upper shell 111, lower shell 112, worm gear 113, worm 114, bearing 115, bolt 116, chuck 12, drive motor 13, fixed platform 14, cleaning robot 2, cleaning seat 21, base 22, multi-joint mechanical arm 23, first crank arm 231, first mechanical arm 232, second crank arm 233, second mechanical arm 234, third crank arm 235, rotating shaft 236, connecting piece 24, connecting block 241, mounting plate 242, mounting hole 243, connecting hole 244, wiring slot 25, mounting slot 26, first aviation plug 27, laser cleaning head 3, distance measuring device 4, shell 41, baffle 42, baffle 43, second aviation plug 44, distance measuring component 45, transmitting port 46, receiving port 47, cavity 48, cleaning host 5, control box 6, insulator 7. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0030] Embodiment 1:

[0031] See also Figures 1 to 10, an insulator surface laser cleaning device, comprising a laser cleaning head 3, a cleaning host 5, a control box 6, a cleaning robot 2 and a cleaning turntable 1, an insulator 7 is vertically connected to the upper side of the cleaning turntable 1, the output end of the laser cleaning head 3 is arranged relative to the surface of the insulator 7, the output end of the cleaning robot 2 is connected to the laser cleaning head 3, the control box 6 is connected to the cleaning robot 2, the cleaning host 5 is connected to the laser cleaning head 3, the cleaning turntable 1 is used to drive the insulator 7 to rotate along its axis, the cleaning host 5 is used to control the switch of the laser cleaning head 3, the control box 6 is used to control the cleaning robot 2 to drive the laser cleaning head 3 to move, the laser A distance measuring device 4 is connected to one side of the cleaning head 3, and the distance measuring device 4 includes a shell 41, a baffle 42, a baffle 43, a second aviation plug 44, and a distance measuring component 45. A cavity for accommodating the distance measuring component 45 is opened in the shell 41, and the second aviation plug 44 is connected to one side of the shell 41 and communicates with the cavity. The baffle 42 is connected to one side of the shell 41, and the baffle 43 is connected to one side of the baffle 42. A transmitting port 46 and a receiving port 47 are opened on one side of the shell 41, the baffle 42, and the baffle 43. The transmitting end of the distance measuring component 45 is arranged relative to the transmitting port 46, and the receiving end of the distance measuring component 45 is arranged relative to the receiving port 47.

[0032] In this embodiment, the structure and principle of the laser cleaning head 3 can refer to the structure and principle of a focal length adaptive cleaning gun for laser cleaning of insulators disclosed in Chinese patent CN113798277A. The distance measuring component 45 can adopt the principle of the laser rangefinder in Chinese patent CN100468079C. The cleaning host 5 contains a control system for controlling the switching light and parameter settings of the laser cleaning head 3. When the focal length deviation calculated by the measurement value of the distance measuring device 4 exceeds the allowable range, the control box 5 controls the cleaning robot 2 to move a set compensation equivalent in the Z direction of the robot TCP coordinate, and then continues to measure to determine whether the compensated distance value meets the deviation allowance. If so, the focal length has been corrected. If not, compensation continues.

[0033] Embodiment 2:

[0034] The basic content is the same as that of Example 1, except that:

[0035] See also Figures 2 to 4The cleaning turntable 1 includes a fixed table 14, a turntable 11, a chuck 12, and a driving motor 13. The driving motor 13 is connected to the upper side of the fixed table 14. The turntable 11 is rotatably connected to the upper side of the fixed table 14. The output shaft of the driving motor 13 is connected to the turntable 11 to drive the turntable 11 to rotate along its own axis. The lower side of the chuck 12 is connected to the upper side of the turntable 11, and the upper side of the chuck 12 is connected to the lower end of the insulator 7. The turntable 11 includes an upper shell 111, a lower shell 112, a worm wheel 113, a worm 114, and a bearing 115. The worm wheel 113 and the worm 114 are both installed in the upper shell 111. The output shaft of the drive motor 13 passes through the upper shell 111 and is connected to one end of the worm 114. The worm wheel 113 is meshedly connected to the worm 114. The inner ring of the bearing 115 is connected to the upper shell 111, and the outer ring of the bearing 115 is sleeved on the inner wall of the worm wheel 113. The lower shell 112 is located below the upper shell 111 and is connected to the lower end surface of the worm wheel 113. The lower shell 112 is rotatably connected to the upper side of the fixed platform 14. The chuck 12 is rotatably connected to the upper shell 111. The lower end of the insulator 7 passes through the chuck 12, the upper shell 111, and the bearing 115 and is connected to the lower shell 112. The upper housing 111 and the upper end surface of the inner ring of the bearing 115 are connected to each other via bolts 116 .

[0036] In this embodiment, the chuck 12 can use a three-jaw chuck to fix the insulator 7. When working, the driving motor 13 drives the worm 114 to rotate, so that the worm wheel 113 rotates circumferentially, thereby driving the lower shell 112 and the insulator 7 to rotate circumferentially along the axis.

[0037] Embodiment 3:

[0038] The basic content is the same as that of Example 1, except that:

[0039] See also Figures 5 to 7The cleaning robot 2 includes a cleaning seat 21, a base 22, and a multi-joint robotic arm 23. The base 22 is connected to the upper side of the cleaning seat 21. The head end of the multi-joint robotic arm 23 is rotatably connected to the upper side of the base 22. The end of the multi-joint robotic arm 23 is connected to one side of the laser cleaning head 3 through a connecting piece 24. The control box 6 is connected to the multi-joint robotic arm 23. The multi-joint robotic arm 23 includes a first crank 231, a first robotic arm 232, a second crank 233, a second robotic arm 234, a third crank 235, and a rotating shaft 236, wherein one end of the first crank 231 is rotatably connected to the upper side of the base 22, one end of the first robotic arm 232 is rotatably connected to the other end of the first crank 231, one end of the second crank 233 is rotatably connected to the other end of the first robotic arm 232, one end of the second robotic arm 234 is rotatably connected to the other end of the second crank 233, one end of the third crank 235 is rotatably connected to the other end of the second robotic arm 234, one end of the rotating shaft 236 is rotatably connected to the other end of the third crank 235, and the other end of the rotating shaft 236 is connected to the connecting member 24. The connecting member 24 includes a mounting plate 242 and a connecting block 241. The connecting block 241 is coaxially connected to the rotating shaft 236. One side of the mounting plate 242 is connected to the connecting block 241, and the other side of the mounting plate 242 is connected to the laser cleaning head 3. The cross section of the connecting block 241 is I-shaped, and the mounting plate 242 is U-shaped. The mounting plate 242 is provided with a mounting hole 243 that is connected to the laser cleaning head 3, and the end surface of the connecting block 241 is provided with a connecting hole 244 that is connected to the mounting plate 242. A wiring groove 25 is provided on the upper side of the base 22, and a mounting groove 26 is provided on the outer peripheral surface of the base 22. The mounting groove 26 is connected to the wiring groove 25, and a first aviation plug 27 connected to the control box 6 is installed in the mounting groove 26.

[0040] In this embodiment, the structure and control of the multi-joint robotic arm 23 can refer to a multi-joint robotic arm and robotic arm disclosed in Chinese patent CN113910272A. When in use, the control box 6 controls the movement of each joint of the multi-joint robotic arm 23 to drive the laser cleaning head 3 to move and aim at the insulator 7. After cleaning a circle of the insulator 7, the control box 6 controls the multi-joint robotic arm 23 to drive the laser cleaning head 3 to move to the next circle of the insulator 7 for cleaning until the surface of the insulator 7 is cleaned.

Claims

1. An insulator surface laser cleaning device, characterized in that: The invention comprises a laser cleaning head (3), a cleaning host (5), a control box (6), a cleaning robot (2) and a cleaning turntable (1); an insulator (7) is vertically connected to the upper side of the cleaning turntable (1); an output end of the laser cleaning head (3) is arranged relative to the surface of the insulator (7); an output end of the cleaning robot (2) is connected to the laser cleaning head (3); the control box (6) is connected to the cleaning robot (2); the cleaning host (5) is connected to the laser cleaning head (3); the cleaning turntable (1) is used to drive the insulator (7) to rotate along its axis; the cleaning host (5) is used to control the switch of the laser cleaning head (3); and the control box (6) is used to control the cleaning robot (2) to drive the laser cleaning head (3) to move.

2. The insulator surface laser cleaning device according to claim 1, characterized in that: The cleaning turntable (1) comprises a fixed table (14), a turntable (11), a chuck (12), and a driving motor (13); the driving motor (13) is connected to the upper side of the fixed table (14); the turntable (11) is rotatably connected to the upper side of the fixed table (14); the output shaft of the driving motor (13) is connected to the turntable (11) for driving the turntable (11) to rotate along its own axis; the lower side of the chuck (12) is connected to the upper side of the turntable (11); and the upper side of the chuck (12) is connected to the lower end of the insulator (7).

3. The insulator surface laser cleaning device according to claim 2, characterized in that: The turntable (11) comprises an upper housing (111), a lower housing (112), a worm wheel (113), a worm (114), and a bearing (115); the worm wheel (113) and the worm (114) are both installed in the upper housing (111); the output shaft of the drive motor (13) passes through the upper housing (111) and is connected to one end of the worm (114); the worm wheel (113) is meshedly connected to the worm (114); the inner ring of the bearing (115) is connected to the upper housing (111); ), the outer ring of the bearing (115) is sleeved on the inner wall of the worm gear (113), the lower shell (112) is located below the upper shell (111) and connected to the lower end surface of the worm gear (113), the lower shell (112) is rotatably connected to the upper side of the fixed platform (14), the chuck (12) is rotatably connected to the upper shell (111), and the lower end of the insulator (7) passes through the chuck (12), the upper shell (111) and the bearing (115) and is connected to the lower shell (112).

4. The insulator surface laser cleaning device according to claim 3, characterized in that: The upper housing (111) and the upper end surface of the inner ring of the bearing (115) are connected to each other via bolts (116).

5. The insulator surface laser cleaning device according to claim 1, characterized in that: The cleaning robot (2) comprises a cleaning seat (21), a base (22), and a multi-joint mechanical arm (23); the base (22) is connected to the upper side of the cleaning seat (21); the head end of the multi-joint mechanical arm (23) is rotatably connected to the upper side of the base (22); the end of the multi-joint mechanical arm (23) is connected to one side of the laser cleaning head (3) via a connecting piece (24); and the control box (6) is connected to the multi-joint mechanical arm (23).

6. The insulator surface laser cleaning device according to claim 5, characterized in that: The multi-joint mechanical arm (23) comprises a first crank arm (231), a first mechanical arm (232), a second crank arm (233), a second mechanical arm (234), a third crank arm (235), and a rotating shaft (236), wherein one end of the first crank arm (231) is rotatably connected to the upper side of the base (22), one end of the first mechanical arm (232) is rotatably connected to the other end of the first crank arm (231), one end of the second crank arm (233) is rotatably connected to the other end of the first mechanical arm (232), one end of the second mechanical arm (234) is rotatably connected to the other end of the second crank arm (233), one end of the third crank arm (235) is rotatably connected to the other end of the second mechanical arm (234), one end of the rotating shaft (236) is rotatably connected to the other end of the third crank arm (235), and the other end of the rotating shaft (236) is connected to the connecting member (24).

7. The insulator surface laser cleaning device according to claim 6, characterized in that: The connecting member (24) comprises a mounting plate (242) and a connecting block (241), wherein the connecting block (241) is coaxially connected to the rotating shaft (236), one side of the mounting plate (242) is connected to the connecting block (241), and the other side of the mounting plate (242) is connected to the laser cleaning head (3).

8. The insulator surface laser cleaning device according to claim 7, characterized in that: The cross section of the connecting block (241) is I-shaped, the mounting plate (242) is U-shaped, a mounting hole (243) for connecting with the laser cleaning head (3) is provided on the mounting plate (242), and a connecting hole (244) for connecting with the mounting plate (242) is provided on the end surface of the connecting block (241).

9. The insulator surface laser cleaning device according to claim 5, characterized in that: A wiring groove (25) is provided on the upper side of the base (22), and a mounting groove (26) is provided on the outer peripheral surface of the base (22). The mounting groove (26) is connected to the wiring groove (25), and a first aviation plug (27) connected to the control box (6) is installed in the mounting groove (26).

10. The insulator surface laser cleaning device according to claim 1, characterized in that: A distance measuring device (4) is connected to one side of the laser cleaning head (3). The distance measuring device (4) comprises a housing (41), a baffle (42), a baffle plate (43), a second aviation plug (44), and a distance measuring component (45). A cavity (48) for accommodating the distance measuring component (45) is provided in the housing (41). The second aviation plug (44) is connected to one side of the housing (41) and communicates with the cavity (48). The baffle plate (42) is connected to one side of the housing (41). The baffle plate (43) is connected to one side of the baffle plate (42). A transmitting port (46) and a receiving port (47) are provided on one side of the housing (41), the baffle plate (42), and the baffle plate (43). The transmitting end of the distance measuring component (45) is arranged relative to the transmitting port (46), and the receiving end of the distance measuring component (45) is arranged relative to the receiving port (47).

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