Crescent rotary spraying type support arm structure based on RTV spraying and insulator RTV spraying robot

Abstract

The utility model discloses a crescent rotary spraying type support arm structure based on RTV spraying and an insulator RTV spraying robot, a support is provided with a crescent rotary table through a rolling shaft assembly, and the crescent rotary table is provided with an automatic spray gun through an adjusting assembly. The adjusting assembly is used for adjusting the mounting position of the automatic spray gun in the circumferential direction and the radial direction of the crescent rotary table; a transmission assembly is further arranged close to the crescent type rotary table and used for transmitting rotary power of the crescent type rotary table. And due to the design of the crescent rotary table, the automatic spray gun can carry out rotary spraying according to a preset track, and it is ensured that the RTV coating completely covers the surface of the insulator. Meanwhile, through flexible adjustment of the adjusting assembly, the installation position of the automatic spray gun on the crescent type rotary table in the circumferential direction and the radial direction can be accurately adjusted, so that the automatic spray gun is suitable for insulators of different sizes and shapes, and accurate spraying is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of maintenance of electric power facilities, and in particular to a crescent rotary spraying type support arm structure based on RTV spraying and an insulator RTV spraying robot. Background Art

[0002] As the current development trend of the power grid, smart grid has put forward more stringent requirements for all aspects of the power system. At present, due to various factors, pollution flashover accidents of substation insulators occur frequently, affecting the stability of the power system. Therefore, the anti-pollution flashover work of online substation insulators after installation is very important. In order to maintain the insulation performance of insulators online, prevent the degradation of their insulation performance due to aging, contamination and other problems, and then cause pollution flashover problems, resulting in frequent accidents such as tripping or power outages, it is necessary to perform anti-pollution flashover treatment on the surface of the shed skirt of insulators that have been in operation for a period of time.

[0003] At present, there are four main anti-pollution flashover measures: adjustment and replacement of composite insulating ceramic columns, cleaning and coating of anti-pollution flashover coatings. Among them, the insulators installed in the substations that have been put into use are difficult to adjust and replace. This measure has a huge amount of work and is extremely costly, and it is impossible to use it on a large scale; cleaning is mainly used in the operation of the power grid; covering with anti-pollution flashover coatings can extend the service life of insulators, reduce cleaning and maintenance workload, and will not change the original structure of the equipment. This is the most effective measure to prevent flashover pollution in recent years.

[0004] Since RTV (or PRTV) coating has excellent insulation performance, hydrophobicity and hydrophobic migration, at present, substations usually use RTV coating sprayed on insulators as an anti-pollution flashover maintenance measure. Currently, RTV spraying of insulators mainly adopts two methods: manual brushing or manual spraying of RTV coating. Manual spraying has the advantage of great flexibility, but this method seriously wastes water and paint. RTV silicone rubber coating needs to react to become a coating for anti-pollution flashover. This reaction requires the coating to be thin and must have enough time to fully react. Therefore, when brushing, the brush should be less attached and repeated multiple times. In addition, since the insulators cannot be disassembled online, the installation form is not fixed, such as multiple series, different inclination angles, etc. This places high demands on workers, and manual spraying has problems such as low efficiency, great influence by environmental and climatic conditions, and difficult to ensure quality.

[0005] In view of this, the invention patent application CN202211554772.0 discloses a RTV spraying robot for post insulators of substations and a control method thereof, including a walking module for driving the entire device to move its position, a lifting arm module for adjusting the height of the spraying position, a slewing support module for adjusting the angle of the lifting arm module, a spraying module for RTV spraying of insulators, a signal communication module for data communication with a remote controller to realize remote control operation of the robot, a main control module for coordinating and controlling the overall operation of the robot, and a power supply module for powering the entire robot. It is provided with a lifting arm device and a two-axis slewing arm, which can drive the clamping nozzle to automatically adjust the height and angle, has high spraying stability, and improves spraying efficiency.

[0006] However, the clamping nozzle of the above-mentioned insulator RTV spraying robot can only perform fixed-point spraying at a predetermined position, and it is difficult to cover the entire circumferential range of the insulator string. On the one hand, there will be more spraying dead angles, and the uniformity of spraying is difficult to meet the requirements. On the other hand, during the spraying process, it is necessary to cooperate with the walking module to continuously adjust the position of the clamping nozzle, which is cumbersome to operate and has low precision. Utility Model Content

[0007] The utility model aims to provide a crescent rotary spray arm structure based on RTV spraying and an insulator RTV spraying robot, which can realize online spraying of substation insulators and ensure the comprehensive coating and uniformity of the RTV coating, which is beneficial to improve the service life and stability of substation insulators, reduce the probability of flashover accidents, and solve the technical problems described in the background technology.

[0008] In order to achieve the above object, the utility model first discloses a technical solution:

[0009] A crescent rotary spray arm structure based on RTV spraying includes a support, and the key points are: a crescent turntable is arranged on the support through a roller assembly, an automatic spray gun is installed on the crescent turntable through an adjustment assembly, and the adjustment assembly is used to adjust the installation position of the automatic spray gun on the crescent turntable in the circumferential and radial directions; a transmission assembly is also arranged near the crescent turntable, and the transmission assembly is used to transmit the rotational power of the crescent turntable.

[0010] Furthermore, the roller assembly includes two groups of arc-shaped vertical rollers, the two groups of vertical rollers are respectively adapted to the inner and outer contours of the crescent-shaped turntable, and the reserved gap between the two serves as a turning channel of the crescent-shaped turntable.

[0011] Furthermore, each of the vertical rollers is provided with an upper and a lower limiting flange, and the upper and lower limiting flanges are respectively matched with the upper and lower table surfaces of the crescent-shaped turntable.

[0012] Furthermore, the adjustment assembly includes mounting holes evenly distributed on the crescent-shaped turntable, and a mounting seat that can be selectively assembled in any of the mounting holes, a radial guide rail is arranged on the mounting seat, a lockable bracket is movably connected to the guide rail, and the automatic spray gun is mounted on the bracket.

[0013] Furthermore, the transmission assembly includes a plurality of transmission members evenly distributed in the circumferential direction of the crescent-shaped turntable, and gears for engaging with the transmission members are also arranged on the support.

[0014] Furthermore, the crescent-shaped turntable is an overhead structure composed of an upper and lower crescent-shaped piece, and a circular shaft is arranged between the two crescent-shaped pieces. On the one hand, the circular shaft serves as a connecting piece of the overhead structure to connect the two crescent-shaped pieces, and on the other hand, it serves as a transmission piece capable of engaging with the circular tooth groove of the gear.

[0015] Furthermore, the mounting hole is opened on the upper surface of the crescent piece and / or the lower surface of the crescent piece.

[0016] Furthermore, the crescent rotary spray arm structure also includes a two-axis rotating arm, one of the rotating output ends of the two-axis rotating arm is connected to the support, and the other rotating output end of the two-axis rotating arm is connected to a docking seat.

[0017] An insulator RTV spraying robot comprises an electric crawler chassis, a slewing base arranged on the electric crawler chassis, a lifting arm arranged on the slewing base, a cleaning movable slide arranged on the lifting arm, and a telescopic arm arranged on the cleaning movable slide. The key point of the robot is that a crescent rotary spraying support arm structure is connected to the end of the telescopic arm.

[0018] Furthermore, the lifting arm adopts an insulating lifting arm.

[0019] Compared with the prior art, the remarkable effects of the utility model are:

[0020] (1) The utility model realizes the online spraying of substation insulators, which has the advantages of comprehensive coating and high uniformity, thereby effectively improving the service life and stability of substation insulators and significantly reducing the probability of flashover accidents;

[0021] (2) The design of the crescent-shaped turntable enables the automatic spray gun to rotate and spray according to the preset trajectory, ensuring that the RTV coating fully covers the surface of the insulator. At the same time, through the flexible adjustment of the adjustment components, the installation position of the automatic spray gun on the crescent-shaped turntable in the circumferential and radial directions can be accurately adjusted to adapt to insulators of different sizes and shapes and achieve precise spraying;

[0022] (3) The ingenious design of the transmission assembly enables the crescent-shaped turntable to rotate stably and reliably. The meshing of the gears and the transmission parts ensures the stability and accuracy of the rotation, providing a stable spraying environment for the automatic spray gun;

[0023] (4) The utility model also adopts a two-axis rotating arm structure, so that the crescent-shaped rotary spray arm structure can be flexibly adjusted in the horizontal and vertical planes, further enhancing the flexibility and adaptability of spraying. At the same time, the use of an insulated lifting arm also ensures the safety of the spraying operation;

[0024] (5) The insulator RTV spraying robot of the utility model adopts a crescent-shaped rotary spraying arm structure, which can realize all-round spraying operations and improve the spraying efficiency and quality. At the same time, it adopts automatic control and intelligent monitoring to improve the safety and reliability of operations. It has broad application prospects and promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0026] Figure 1 This is a schematic diagram of the overall structure of the crescent-shaped rotary spraying arm structure in Example 1;

[0027] Figure 2 This is a diagram showing the use status of the crescent-shaped rotary spraying arm structure in the first embodiment;

[0028] Figure 3 This is a schematic diagram of the overall structure of the insulator RTV spraying robot in Example 2;

[0029] Markings in the figure: 1-support, 2-crescent-shaped turntable, 3-automatic spray gun, 4-vertical roller, 5-rotation channel, 6-limiting flange, 7-mounting hole, 8-mounting seat, 9-radial guide rail, 10-bracket, 11-transmission part, 12-gear, 13-two-axis slewing arm, 14-docking seat, 15-electric crawler chassis, 16-rotating base, 17-lifting arm, 18-cleaning mobile slide, 19-telescopic arm, 20-insulator. DETAILED DESCRIPTION

[0030] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not used to limit the present invention.

[0031] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "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 accompanying drawings, and are only for the convenience of describing the present 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 operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, in the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0032] Figure 1 and Figure 2 An embodiment of the utility model is shown: a crescent rotary spray arm structure based on RTV spraying, including a support 1, on which a crescent turntable 2 is arranged via a roller assembly, on which an automatic spray gun 3 is installed via an adjusting assembly, and the adjusting assembly is used to adjust the installation position of the automatic spray gun 3 on the crescent turntable 2 in the circumferential and radial directions; a transmission assembly is also arranged near the crescent turntable 2, and the transmission assembly is used to transmit the rotational power of the crescent turntable 2.

[0033] In a specific implementation, the roller assembly includes two groups of arc-shaped vertical rollers 4, which are respectively adapted to the inner and outer contours of the crescent-shaped turntable 2, and the reserved gap between the two serves as a turning channel 5 of the crescent-shaped turntable 2. Preferably, in order to avoid friction between the crescent-shaped turntable 2 and the support 1, an upper and lower limiting flange 6 is provided on each of the vertical rollers 4, and the upper and lower limiting flanges 6 are respectively adapted to the upper and lower surfaces of the crescent-shaped turntable 2.

[0034] In this embodiment, the adjustment assembly includes mounting holes 7 that are evenly distributed on the crescent-shaped turntable 2, and a mounting seat 8 that can be selectively assembled in any of the mounting holes 7, a radial guide rail 9 is arranged on the mounting seat 8, a lockable bracket 10 is movably connected to the guide rail 9, and the automatic spray gun 3 is mounted on the bracket 10.

[0035] from Figure 1It can be seen that the transmission assembly includes a number of transmission members 11 evenly distributed in the circumferential direction of the crescent-shaped turntable 2, and a gear 12 for engaging the transmission member 11 is also provided on the support 1. In order to reduce the mass of the crescent-shaped turntable 2, the crescent-shaped turntable 2 is an overhead structure composed of an upper and lower crescent-shaped piece, and a circular shaft is provided between the two crescent-shaped pieces. On the one hand, the circular shaft serves as a connecting member of the overhead structure to connect the two crescent-shaped pieces, and on the other hand, it serves as a transmission member 11 that can engage with the circular tooth groove of the gear 12. As shown in the figure, the mounting hole 7 is provided on the upper surface of the crescent-shaped piece and the lower surface of the crescent-shaped piece. In some other embodiments, the mounting hole 7 can be provided on the upper surface of the crescent-shaped piece or the lower surface of the crescent-shaped piece according to the different installation positions of the automatic spray gun 3.

[0036] like Figure 1 and Figure 2 As shown, the crescent rotary spray arm structure also includes a two-axis rotating arm 13, one of the rotating output ends of the two-axis rotating arm 13 is connected to the support 1, and the other rotating output end of the two-axis rotating arm 13 is connected to the docking seat 14.

[0037] It is understandable that the crescent-shaped rotary spraying arm structure in this embodiment can be improved and optimized according to actual needs. For example, the number of automatic spray guns 3 can be increased to improve the spraying efficiency; the adjustment range of the spray gun can be increased to adapt to objects of different sizes to be sprayed; the adjustability of parameters such as the spray pressure and spray speed of the spray gun can also be increased to improve the spraying quality and uniformity.

[0038] Figure 3 The second embodiment of the utility model is shown, which is an insulator RTV spraying robot, including an electric crawler chassis 15, a rotating base 16 arranged on the electric crawler chassis 15, a lifting arm 17 arranged on the rotating base 16, a cleaning movable slide 18 arranged on the lifting arm 17, and a telescopic arm 19 arranged on the cleaning movable slide 18, and the crescent rotary spray support arm structure described above is connected to the end of the telescopic arm 19.

[0039] In order to improve the safety of the operation, the lifting arm 17 adopts an insulating lifting arm 17, and the telescopic arm 19 also adopts an insulating telescopic arm 19.

[0040] In the second embodiment, the insulator RTV spraying robot is moved by an electric crawler chassis 15, and a slewing mechanism is installed at the base of the lifting arm 17, which can achieve a rotation angle of ±60 degrees. The slewing mechanism is driven by a motor and operated wirelessly by a remote control. The lifting arm 17 adopts a telescopic five-section design, and the maximum lifting height can reach 8 meters. The internal lifting is driven by a hydraulic cylinder and a chain, and the lifting is stable and the positioning accuracy is high. The telescopic arm 19 adopts an epoxy resin profile parallel four-link mechanism, and the horizontal extension distance can reach 1.2 meters. The telescopic arm 19 is mechanically extruded and molded with glass fiber reinforced plastic epoxy resin. It has high mechanical strength and good insulation performance. The two-axis slewing arm 13, each axis has a slewing angle of 0-180 degrees. A docking seat 14 is installed at the rear end of the slewing arm, which greatly improves the flexibility of the insulator RTV spraying robot and facilitates users to expand its functions.

[0041] In order to improve the efficiency of the spraying operation, the insulator RTV spraying robot also includes an intelligent monitoring platform and a control system. The intelligent monitoring platform is used to monitor and observe the cleaning quality of the insulator 20, and the control system is used to control the actions of the electric crawler chassis 15, the rotary base 16, the lifting arm 17, the cleaning mobile slide 18, the telescopic arm 19, and the crescent rotary spraying arm structure. Through the control system, the insulator RTV spraying robot can be automatically controlled, thereby improving the efficiency and quality of the spraying operation.

[0042] In addition, in order to improve the safety of spraying operations, the insulator RTV spraying robot also includes a safety protection device, which includes a collision sensor, a tilt sensor, etc., which is used to monitor whether the robot collides or tilts during operation. Once an abnormal situation occurs, the safety protection device will trigger an alarm or automatically shut down in time to ensure operation safety.

[0043] In summary, the utility model realizes the online spraying of the substation insulator 20, and has the advantages of comprehensive coating and high uniformity, thereby effectively improving the service life and stability of the substation insulator 20, and significantly reducing the probability of flashover accidents; the design of the crescent-shaped turntable 2 enables the automatic spray gun 3 to perform rotational spraying according to the preset trajectory, ensuring the comprehensive coverage of the RTV coating on the surface of the insulator 20. At the same time, through the flexible adjustment of the adjustment component, the installation position of the automatic spray gun 3 on the crescent-shaped turntable 2 in the circumferential and radial directions can be accurately adjusted, so as to adapt to insulators 20 of different sizes and shapes, and realize precise spraying; the ingenious design of the transmission component enables the crescent-shaped turntable 2 to perform stable and reliable rotational motion. Through the meshing of the gear 12 and the transmission member 11, the stability and accuracy of the rotational motion are ensured, and a stable spraying environment is provided for the automatic spray gun 3; the utility model also adopts a two-axis rotating arm 13 structure, so that the crescent-shaped rotary spraying arm structure can be flexibly adjusted in the horizontal and vertical planes, further enhancing the flexibility and adaptability of spraying. At the same time, the use of the insulated lifting arm 17 also ensures the safety of the spraying operation; the insulator RTV spraying robot of the utility model adopts a crescent rotary spray arm structure, which can realize all-round spraying operations, improves the spraying efficiency and quality, and adopts automatic control and intelligent monitoring to improve the safety and reliability of the operation, and has broad application prospects and promotion value.

[0044] Finally, it should be noted that the technical solution disclosed above is only a preferred embodiment of the present utility model, and it certainly cannot be used to limit the scope of rights of the present utility model. Ordinary technicians in this field can understand that all or part of the processes of the above-mentioned embodiments and equivalent changes made according to the claims of the present utility model still fall within the scope covered by the utility model.

Claims

1. A crescent-shaped rotary spraying arm structure based on RTV spraying, comprising a support, characterized in that: A crescent-shaped turntable is arranged on the support via a roller assembly, an automatic spray gun is installed on the crescent-shaped turntable via an adjusting assembly, and the adjusting assembly is used to adjust the installation position of the automatic spray gun in the circumferential and radial directions of the crescent-shaped turntable; a transmission assembly is also arranged near the crescent-shaped turntable, and the transmission assembly is used to transmit the rotational power of the crescent-shaped turntable.

2. The crescent-shaped rotary spraying arm structure based on RTV spraying according to claim 1 is characterized in that: The roller assembly includes two groups of arc-shaped vertical rollers, which are respectively adapted to the inner and outer contours of the crescent-shaped turntable, and the reserved gap between the two groups serves as a turning channel of the crescent-shaped turntable.

3. The crescent-shaped rotary spraying arm structure based on RTV spraying according to claim 2 is characterized in that: An upper and a lower limiting flange are arranged on each of the vertical rollers, and the upper and the lower limiting flanges are respectively matched with the upper and the lower table surfaces of the crescent-shaped turntable.

4. The crescent-shaped rotary spraying arm structure based on RTV spraying according to any one of claims 1 to 3, characterized in that: The adjustment assembly includes mounting holes evenly distributed on the crescent-shaped turntable, and a mounting seat that can be selectively assembled in any of the mounting holes. A radial guide rail is arranged on the mounting seat, a lockable bracket is movably connected to the guide rail, and the automatic spray gun is assembled on the bracket.

5. The crescent-shaped rotary spraying arm structure based on RTV spraying according to claim 4 is characterized in that: The transmission assembly comprises a plurality of transmission members evenly distributed in the circumferential direction of the crescent-shaped turntable, and a gear for meshing with the transmission members is also arranged on the support.

6. The crescent-shaped rotary spraying arm structure based on RTV spraying according to claim 5 is characterized in that: The crescent-shaped turntable is an overhead structure consisting of an upper and lower crescent-shaped piece, with a circular shaft arranged between the two crescent-shaped pieces. The circular shaft serves as a connecting piece of the overhead structure to connect the two crescent-shaped pieces, and serves as a transmission piece to engage with the circular tooth groove of the gear on the other hand.

7. The crescent-shaped rotary spraying arm structure based on RTV spraying according to claim 6 is characterized in that: The mounting hole is formed on the upper surface of the crescent piece and / or the lower surface of the crescent piece.

8. The crescent-shaped rotary spraying arm structure based on RTV spraying according to claim 1 or 7, characterized in that: The crescent rotary spray support arm structure also includes a two-axis rotating arm, one of the rotating output ends of the two-axis rotating arm is connected to the support, and the other rotating output end of the two-axis rotating arm is connected to a docking seat.

9. An insulator RTV spraying robot, comprising an electric crawler chassis, a slewing base arranged on the electric crawler chassis, a lifting arm arranged on the slewing base, a cleaning movable slide arranged on the lifting arm, and a telescopic arm arranged on the cleaning movable slide, characterized in that: The end of the telescopic arm is connected to a crescent-shaped rotary spray support arm structure as described in any one of claims 1 to 8.

10. The insulator RTV spraying robot according to claim 9, characterized in that: The lifting arm adopts an insulating lifting arm.

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