Intelligent dry ice injection system for porcelain insulator cleaning robot

Abstract

The utility model discloses an intelligent dry ice injection system for a porcelain insulator cleaning robot, which relates to the technical field of insulating bottle cleaning and is capable of preparing dry ice particles on site through a dry ice particle machine, fusing the dry ice particles with dry compressed air, and conveying the dry ice particles to a dry ice injection head through a dry ice conveying pipe for cleaning. In the cleaning process, the control unit opens the control valve to control the dry ice spraying flow and drives the spraying head to swing the steering engine according to the cleaning strategy corresponding to the dirt grade, detected and recognized by the visual sensor, of the surface of the porcelain bottle, the dry ice cleaning operation task on the porcelain bottle is completed, and therefore manual cleaning of the porcelain bottle is replaced.

Description

Technical Field

[0001] The utility model relates to the technical field of insulating bottle cleaning, in particular to a dry ice intelligent spraying system for an insulating porcelain bottle cleaning robot. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0003] The insulating porcelain bottles of high-voltage electrical equipment will form stubborn dirt on their surfaces during long-term use due to environmental pollution. When the surface dirt is serious to a certain extent, it will reduce the insulation effect of the porcelain bottles and may cause major safety hazards such as flashover. Therefore, regular cleaning of the dirt on the surface of the insulating porcelain bottles has become a necessary maintenance work.

[0004] At present, most insulating porcelain bottles are cleaned manually or mechanically. With the worsening of the insulation pollution problem, conventional cleaning methods cannot meet the standard requirements well. The efficiency and work intensity of manual cleaning are also in urgent need of improvement and improvement. Under this circumstance, dry ice cleaning technology is used in the cleaning operation of insulating porcelain bottles as a green and efficient way to clean pollution, which greatly improves the cleaning efficiency and cleaning quality. Since most insulating porcelain bottles are located at a relatively high position, operators need to climb up and hold dry ice spray guns for cleaning. This method is time-consuming and labor-intensive, inefficient and has relatively large safety hazards. Due to the main factors of the cleaning operator, the cleaning quality is also difficult to guarantee. It has become an inevitable choice to use porcelain bottle cleaning robots to replace manual work to complete porcelain bottle cleaning operations. However, the robot is climbing on the porcelain bottle, and its volume and weight are inevitably limited, so the dry ice blasting cleaning device and control method used for the robot are lightweight and intelligent. Utility Model Content

[0005] The purpose of the utility model is to provide a dry ice intelligent spraying system for an insulating porcelain bottle cleaning robot in response to the problems existing in the prior art, which can produce dry ice particles on site through a dry ice particle machine, and the dry ice particles are fused with dry compressed air and transported to a dry ice spray head through a dry ice delivery pipe for cleaning; during the cleaning process, the control unit detects and identifies the cleaning strategy corresponding to the dirt level on the surface of the porcelain bottle according to the visual sensor, opens the control valve to control the dry ice spray flow rate, and drives the spray head to swing the servo to complete the dry ice cleaning task of the porcelain bottle, thereby replacing manual cleaning of the insulating porcelain bottle; that is, the device is mounted on the insulating porcelain bottle cleaning robot, and the dry ice particles are sprayed by the dry ice spray head to complete the cleaning of the dirt on the surface of the insulating porcelain bottle without causing damage to the surface of the insulating porcelain bottle; the setting of multiple dry ice spray heads can clean multiple positions of the porcelain bottle at the same time, thereby improving the cleaning efficiency and cleaning quality; thereby solving the difficult problem of the robot equipped with a dry ice spray device for cleaning in the prior art, and the device is highly intelligent, light and safe, has high cleaning efficiency and stable performance.

[0006] The technical solution of the utility model is as follows:

[0007] A dry ice intelligent spraying system for an insulating porcelain bottle cleaning robot, comprising:

[0008] A movable unit, a dry ice blasting head, a dry ice delivery unit, a control unit, and a vision sensor;

[0009] The insulating porcelain bottle cleaning robot is installed on a movable device; the dry ice blasting head, the control unit and the visual sensor are arranged on the main body bracket of the insulating porcelain bottle cleaning robot; the dry ice delivery device is arranged on the movable device; the output end of the dry ice delivery device is connected to the dry ice blasting head through a dry ice delivery pipe; the visual sensor is connected to the input end of the control unit, and the dry ice delivery device is connected to the output end of the control unit.

[0010] Furthermore, the movable device is an AGV vehicle.

[0011] Furthermore, the dry ice delivery device includes: a dry ice particle supply device, a compressed air unit, and a control valve; the compressed air unit is connected to the dry ice particle supply device through a T-tube, and the T-tube is connected to the dry ice delivery pipe; the control valve is arranged on the dry ice delivery pipe and connected to the output end of the control unit.

[0012] Furthermore, the dry ice particle supply device includes: a dry ice crusher and a dry ice feeding unit, the input end of the dry ice feeding unit is connected to the output end of the dry ice crusher, and the output end of the dry ice feeding unit is connected to the output end of the compressed air unit through a T-tube.

[0013] Furthermore, it also includes: a spray head swing servo, which is connected to the dry ice spray head and used to drive the swing amplitude and swing angle of the dry ice spray head; the spray head swing servo is connected to the output end of the control unit.

[0014] Furthermore, an annular pipeline is also provided on the main body bracket of the insulating porcelain bottle cleaning robot, and a plurality of dry ice spray heads are provided on the annular pipeline; one end of the dry ice delivery pipe is connected to the annular pipeline, and the other end is connected to the T-tube.

[0015] Furthermore, there is at least one group of visual sensors.

[0016] Furthermore, the spray head swing servo is a digital servo motor, which is matched with the dry ice spray head as a group and can drive the dry ice spray head to swing at a certain amplitude and speed as required.

[0017] Furthermore, the spray head swing servo has two modes: manual mode and automatic mode, and can also be fixed at a certain angle for spraying and cleaning.

[0018] Furthermore, the visual sensor has the functions of video acquisition, pollution detection and recognition algorithm, and remote monitoring video stream push.

[0019] Compared with the existing technology, the beneficial effects of the utility model are:

[0020] The utility model uses a dry ice intelligent spraying system device for an insulating porcelain bottle cleaning robot, so that the insulating porcelain bottle cleaning robot can be conveniently equipped with the dry ice intelligent spraying system equipment, climb on the porcelain bottle and effectively complete the dry ice cleaning operation, manage the cleaning strategy through a visual dirt detection algorithm, flexibly and efficiently adjust parameters such as the dry ice particle size, dry ice spraying flow rate, and nozzle swing speed, spray an appropriate amount of dry ice particles at high speed on the insulating porcelain bottle to produce rapid sublimation, and the expanded gas generated by the local large temperature difference and thermal expansion and contraction can quickly peel off the dirt, thereby achieving the purpose of cleaning the insulating porcelain bottle; during the robot's cleaning operation, the dry ice spraying head moves left and right and up and down on the surface of the insulating porcelain bottle, and the various dead corners on the surface of the insulating porcelain bottle achieve the cleaning effect; in view of the various insulation forms, complex working conditions, and different types of dirt in actual engineering, the cleaning robot can be adjusted and controlled through the dry ice intelligent spraying system during operation, thereby improving the cleaning efficiency and cleaning quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of a system diagram of a dry ice intelligent spraying system for an insulating porcelain bottle cleaning robot according to the utility model;

[0022] Figure 2 The utility model is a schematic diagram of a system annular spraying device of a dry ice intelligent spraying system for an insulating porcelain bottle cleaning robot.

[0023] Figure numerals: 1-dry ice spray head, 2-spray head swing servo, 3-control valve, 4-dry ice delivery pipe, 5-dry ice feeding unit, 6-dry ice crusher, 7-compressed air unit, 8-control unit, 9-visual sensor, 10-AGV trolley, 11-annular pipeline, 12-main body frame. DETAILED DESCRIPTION

[0024] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0025] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0026] Embodiment 1

[0027] See also Figure 1-2 , a dry ice intelligent spraying system for an insulating porcelain bottle cleaning robot, specifically comprising the following structure:

[0028] A movable device, a dry ice blasting head 1, a dry ice delivery device, a control unit 8 and a visual sensor 9;

[0029] The insulating porcelain bottle cleaning robot is installed on a movable device; the dry ice blasting head 1, the control unit 8 and the visual sensor 9 are arranged on the main body bracket of the insulating porcelain bottle cleaning robot; the dry ice delivery device is arranged on the movable device; the output end of the dry ice delivery device is connected to the dry ice blasting head 1 through the dry ice delivery pipe 4; the visual sensor 9 is connected to the input end of the control unit 8, and the dry ice delivery device is connected to the output end of the control unit 8;

[0030] Therefore, in the working process of the insulating porcelain bottle cleaning robot, the visual sensor 9 collects video signals, determines the degree of contamination of the porcelain bottle through the detection and recognition algorithm, and completes the remote monitoring video stream push function; it is the basis for monitoring the operation process of the dry ice cleaning robot and the output cleaning mode of the dry ice intelligent spraying device.

[0031] In this embodiment, specifically, the movable device is an AGV trolley 10; it should be noted that the AGV trolley is an upgradeable robot-carrying chassis. In addition to being used to carry the dry ice crusher 6 and the dry ice delivery device, it is also an auxiliary device for the porcelain bottle cleaning robot, and can be used to transport the cleaning robot to the predetermined working position on site. It can cooperate with the robot lifting device to autonomously navigate under the insulating porcelain bottle for the predetermined cleaning work, automatically send the cleaning robot to the position of the porcelain bottle that needs to be cleaned, and start the cleaning operation. After the cleaning operation is completed, the cleaning robot is brought back to the ground and transported to the next work point to start a new operation.

[0032] In this embodiment, specifically, the dry ice delivery device includes: a dry ice particle supply device, a compressed air unit 7, and a control valve 3; the compressed air unit 7 is connected to the dry ice particle supply device through a T-tube, and the T-tube is connected to the dry ice delivery pipe 4; the control valve 3 is arranged on the dry ice delivery pipe 4 and is connected to the output end of the control unit 8.

[0033] In this embodiment, specifically, the dry ice particle supply device includes: a dry ice crusher 6 and a dry ice feeding unit 5, the input end of the dry ice feeding unit 5 is connected to the output end of the dry ice crusher 6, and the output end of the dry ice feeding unit 5 is connected to the output end of the compressed air unit 7 through a T-tube; that is, when in use, the dry ice jet head 1 points to the geometric center axis area of ​​the porcelain bottle, and the dry ice jet head 1 sprays dry ice particles to complete the cleaning of the dirt on the surface of the insulating porcelain bottle without causing damage to the surface of the insulating porcelain bottle; at the same time, it can clean multiple positions of the porcelain bottle, and cooperate with the porcelain bottle cleaning robot to move up and down the porcelain bottle to complete the cleaning operation;

[0034] It should be noted that the dry ice crusher 6 is a device that shreds dry ice bricks into dry ice particles on site. The size of the cut dry ice particles can be adjusted according to different porcelain bottle types, cleaning heights and environmental conditions to improve the cleaning efficiency and adaptability of the equipment. If finished dry ice particles are used, firstly, the dry ice particles are of a fixed size and have poor adaptability to different porcelain bottle forms, types of dirt and cleaning conditions; secondly, the finished dry ice particles are easily damp and agglomerated, which may cause blockage of the nozzle or delivery pipe during the cleaning operation. Thirdly, dry ice bricks are easy to transport and store, which reduces the cleaning cost;

[0035] That is, the dry ice particles produced by the dry ice crusher 6 are fused with dry compressed air and transported to the dry ice blasting head 1 through the dry ice delivery pipe 4 in a uniform and controllable manner at a flow rate required for cleaning, thereby completing the dry ice blasting cleaning work.

[0036] In this embodiment, specifically, it also includes: a spray head swing servo 2, which is connected to the dry ice spray head 1 to drive the swing amplitude and swing angle of the dry ice spray head 1; the spray head swing servo 2 is connected to the output end of the control unit 8.

[0037] In the present embodiment, specifically, a ring pipeline 11 is further provided on the main body bracket of the insulating porcelain bottle cleaning robot, and a plurality of dry ice blasting heads 1 are provided on the ring pipeline 11; one end of the dry ice delivery pipe 4 is connected to the ring pipeline 11, and the other end is connected to the T-tube; in the present embodiment, there are 4 groups of dry ice blasting heads 1, and it can also be 3 groups or 2 groups; the blasting head swing servo 2 controls the swing amplitude and swing speed of the dry ice blasting head 1, and cooperates with the porcelain bottle cleaning robot to move up and down on the porcelain bottle to complete the cleaning operation.

[0038] In this embodiment, specifically, the visual sensor 9 comprises at least one group, and may comprise multiple groups as required; the visual sensor 9 has the functions of video acquisition, pollution detection and recognition algorithm, and remote monitoring video stream push, and is the basis for monitoring the operation process of the dry ice cleaning robot and outputting the cleaning mode of the dry ice intelligent spraying device; that is, the control unit 8 can control the swing amplitude and swing angle of the spray head swing servo 2 according to the cleaning strategy formulated according to the pollution degree detected and recognized by the visual sensor 9, operate the control valve 3 to control the spray amount of dry ice particles, and improve the cleaning efficiency and cleaning quality.

[0039] In this embodiment, specifically, the jet head swing servo 2 is a digital servo motor, which is matched with the dry ice blasting head 1 as a group, and can drive the dry ice blasting head 1 to swing at a certain amplitude and speed as required; the jet head swing servo 2 has two modes, manual mode and automatic mode, and can also be fixed at a certain angle for spraying and cleaning.

[0040] This embodiment implements the proposed dry ice intelligent spraying system for an insulating porcelain bottle cleaning robot. During the cleaning process, dry ice bricks are first added into the dry ice crusher 6, and the visual sensor 9 detects and identifies the contamination level of the porcelain bottle to determine the cleaning strategy. The control unit 8 issues a control instruction to start the dry ice crusher 6 to start crushing ice to produce the required dry ice particles according to the contamination type and other parameter requirements. If no dry ice bricks are detected, the system will alarm; the control unit 8 simultaneously starts the dry ice feeding unit 5 and the compressed air unit 7 to deliver a certain flow of dry ice particles to the dry ice delivery pipe 4; the control unit 8 opens the control valve 3, and operates the spray head swing servo 2 to start swinging and spraying dry ice, and starts the cleaning operation. At the same time, the main body bracket of the insulating porcelain bottle cleaning robot moves up and down to cooperate with the cleaning operation.

[0041] During the operation of the insulating porcelain bottle cleaning robot, the utility model controls the dry ice intelligent spraying system device to spray granular dry ice at high speed on the dirt surface of the insulating porcelain bottle. During the collision process, the low-temperature (about -78.5°C) dry ice particles and the surface of the dirt to be cleaned produce a thermal effect, destroying the integrity of the surface dirt. The dry ice particles sublimate from solid dry ice to carbon dioxide gas at the moment of contact between the dirt and the surface. The volume of carbon dioxide expands 800 times instantly, and the dirt on the surface of the porcelain bottle is cleaned and falls off. Since the hardness of the dry ice particles is relatively low, the dry ice sublimation takes away the dirt, achieving the cleaning goal, and no other pollution is generated.

[0042] The above-mentioned embodiments only express the specific implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the protection scope of the present application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the technical solution concept of the present application, and these all belong to the protection scope of the present application.

[0043] This background technology section is provided to generally present the context of the present invention, and the work of the currently named inventors, the work to the extent described in this background technology section, and aspects of this section that did not constitute prior art at the time of application are neither explicitly nor implicitly admitted to be prior art of the present invention.

Claims

1. A dry ice intelligent spraying system for an insulating porcelain bottle cleaning robot, characterized in that: include: A movable device, a dry ice blasting head (1), a dry ice delivery device, a control unit (8) and a visual sensor (9); The insulating porcelain bottle cleaning robot is installed on a movable device; the dry ice blasting head (1), the control unit (8) and the visual sensor (9) are arranged on a main body bracket of the insulating porcelain bottle cleaning robot; the dry ice delivery device is arranged on the movable device; the output end of the dry ice delivery device is connected to the dry ice blasting head (1) via a dry ice delivery pipe (4); the visual sensor (9) is connected to the input end of the control unit (8), and the dry ice delivery device is connected to the output end of the control unit (8).

2. The dry ice intelligent spraying system for an insulating porcelain bottle cleaning robot according to claim 1 is characterized in that: The movable device is an AGV trolley (10).

3. The dry ice intelligent spraying system for an insulating porcelain bottle cleaning robot according to claim 2 is characterized in that: The dry ice delivery device comprises: a dry ice particle supply device, a compressed air unit (7), and a control valve (3); the compressed air unit (7) is connected to the dry ice particle supply device via a T-shaped pipe, and the T-shaped pipe is connected to a dry ice delivery pipe (4); the control valve (3) is arranged on the dry ice delivery pipe (4) and is connected to the output end of a control unit (8).

4. The dry ice intelligent spraying system for an insulating porcelain bottle cleaning robot according to claim 3 is characterized in that: The dry ice particle supply device comprises: a dry ice crusher (6) and a dry ice feeding unit (5), wherein the input end of the dry ice feeding unit (5) is connected to the output end of the dry ice crusher (6), and the output end of the dry ice feeding unit (5) is connected to the output end of a compressed air unit (7) via a T-shaped pipe.

5. The dry ice intelligent spraying system for an insulating porcelain bottle cleaning robot according to claim 4, characterized in that: Also includes: The spray head swing steering engine (2) is connected to the dry ice spray head (1) and is used to drive the swing amplitude and swing angle of the dry ice spray head (1); the spray head swing steering engine (2) is connected to the output end of the control unit (8).

6. The dry ice intelligent spraying system for an insulating porcelain bottle cleaning robot according to claim 5, characterized in that: The main body bracket of the insulating porcelain bottle cleaning robot is also provided with an annular pipeline (11), and a plurality of dry ice spray heads (1) are provided on the annular pipeline (11); one end of the dry ice delivery pipe (4) is connected to the annular pipeline (11), and the other end is connected to the T-shaped pipe.

7. The dry ice intelligent blasting system for an insulating porcelain bottle cleaning robot according to claim 6, characterized in that: The visual sensor (9) includes at least one group.

8. The dry ice intelligent spraying system for an insulating porcelain bottle cleaning robot according to claim 7, characterized in that: The spray head swing steering gear (2) is a digital servo motor, which is matched with the dry ice spray head (1) as a set and can drive the dry ice spray head (1) to swing at a certain amplitude and speed as required.

9. The dry ice intelligent spraying system for an insulating porcelain bottle cleaning robot according to claim 8, characterized in that: The spray head swing steering gear (2) has two modes, manual mode and automatic mode, and can also be fixed at a certain angle for spray cleaning.

10. The dry ice intelligent spraying system for an insulating porcelain bottle cleaning robot according to claim 9, characterized in that: The visual sensor (9) has the functions of video acquisition, pollution detection and recognition algorithm, and remote monitoring video stream push.

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