Cleaning tool and industrial robot

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a cleaning tool and an industrial robot. The cleaning tool comprises a frame body, a driving mechanism, a camera and a cleaning disc, the frame body is made of an insulating material and comprises a base and a cleaning arm, the base is used for being connected with a lifting mechanism of the industrial robot, the cleaning arm is connected with the base, the driving mechanism is connected with the cleaning arm, and the camera is connected with the cleaning disc. The cleaning disc is rotatably assembled with the cleaning arm, the driving mechanism is in transmission connection with the cleaning disc, the driving mechanism can drive the cleaning disc to rotate, the cleaning disc is used for cleaning an insulator, the camera is connected with the base, the camera is used for photographing the insulator, and the camera is used for shooting the insulator. And determining the position of the insulator. And the cleaning effect is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a cleaning tool and an industrial robot. Background Art

[0002] Insulator flashover occurs when contaminants adhere to the surface of power grid insulators (external insulation) and, under humid conditions, their soluble materials gradually dissolve in water, forming a conductive film on the surface. This significantly reduces the insulation level of the insulator and causes a strong discharge under the action of an electric field. Typically, industrial robots are used to automatically clean contaminants from insulators.

[0003] An existing industrial robot includes a main body, an extension arm, a lifting mechanism and a high-pressure water gun. The extension arm is connected to the main body and can increase the robot's operating range. The lifting mechanism is connected to the extension arm, and the high-pressure water gun is connected to the lifting mechanism. The lifting mechanism and the high-pressure water gun are both electrically connected to the main body. The lifting mechanism is controlled by the main body to drive the high-pressure water gun to rise and fall, so that the high-pressure water gun moves to the position of the insulator to clean the insulator.

[0004] Existing industrial robots clean insulators by spraying water jets with high-pressure water guns, but the cleaning effect is poor and the cleanliness is not high. Utility Model Content

[0005] The technical problem to be solved by the present invention is: in view of the problem that the existing industrial robots clean insulators by spraying water columns with high-pressure water guns, the cleaning effect is poor and the cleanliness is not high, and a cleaning tool and an industrial robot are provided.

[0006] To solve the above technical problems, on the one hand, an embodiment of the present utility model provides a cleaning tool, comprising a frame, a driving mechanism, a camera and a cleaning disc, wherein the frame is made of an insulating material, the frame comprises a base and a cleaning arm, the base is used to be connected to a lifting mechanism of an industrial robot, the cleaning arm is connected to the base, the driving mechanism is connected to the cleaning arm, the cleaning disc is rotatably assembled with the cleaning arm, the driving mechanism is transmission-connected to the cleaning disc, the driving mechanism can drive the cleaning disc to rotate, and the cleaning disc is used to clean insulators;

[0007] The camera is connected to the base and is used to take pictures of the insulator to determine the position of the insulator.

[0008] Optionally, there are two cleaning arms, which are respectively a first side cleaning arm and a second side cleaning arm, and the first side cleaning arm and the second side cleaning arm are arranged at intervals. There are two cleaning discs, which are respectively a first side cleaning disc and a second side cleaning disc, and the first side cleaning disc is assembled and rotated with the first side cleaning arm around a first rotation axis, and the second side cleaning disc is assembled and rotated with the second side cleaning arm around a second rotation axis, and the first rotation axis is parallel to the second rotation axis, and the first side cleaning disc and the second side cleaning disc are both transmission-connected to the driving mechanism.

[0009] Optionally, the distance between the first cleaning arm and the second cleaning arm is not less than 450 mm.

[0010] Optionally, the driving mechanism includes a first motor and a second motor, the first motor is connected to the first side cleaning arm, the first motor is connected to the first side cleaning disc in a transmission connection, the first motor drives the first side cleaning disc to rotate, the second motor is connected to the second side cleaning arm, the second motor is connected to the second side cleaning disc in a transmission connection, and the second motor drives the second side cleaning disc to rotate.

[0011] Optionally, the distance between the first motor and the first cleaning disc is not less than 350 mm, and the driving mechanism also includes a first transmission shaft, wherein the end of the first transmission shaft away from the first side cleaning disc is connected to the output shaft of the first motor, and the end of the first transmission shaft close to the first side cleaning disc is transmission-connected to the first side cleaning disc.

[0012] Optionally, the distance between the second motor and the second cleaning disc is not less than 350 mm, and the driving mechanism also includes a second transmission shaft, wherein the end of the second transmission shaft away from the second side cleaning disc is connected to the output shaft of the second motor, and the end of the second transmission shaft close to the second side cleaning disc is transmission-connected to the second side cleaning disc.

[0013] Optionally, a high-pressure nozzle is further included, which is connected to the frame and is used to spray a high-pressure water column onto the insulator.

[0014] Optionally, a distance sensor is further included, which is connected to the base and is used to detect the distance between the base and the insulator.

[0015] Optionally, a camera is further included, which is connected to the base and is used to shoot the cleaning operation of the cleaning disc.

[0016] According to the cleaning tool of the embodiment of the present invention, the camera takes a picture of the insulator to determine the specific position of the insulator. The lifting mechanism of the industrial robot drives the cleaning disk of the cleaning tool to directly contact the insulator. The driving mechanism drives the cleaning disk to rotate. When the cleaning disk rotates, it directly cleans the insulator. Compared with the existing technology, the cleaning effect is improved.

[0017] On the other hand, an embodiment of the present invention provides an industrial robot, including a main body, a lifting mechanism and the above-mentioned cleaning tool, the lifting mechanism is connected to the main body, the base is connected to the lifting mechanism, the lifting mechanism is used to drive the base to move toward or away from the insulator, and the camera is electrically connected to the main body. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic structural diagram of a cleaning tool provided in one embodiment of the utility model.

[0019] The figures in the specification are as follows: 1. base; 2. first side cleaning arm; 3. first motor; 4. first coupling; 5. first transmission shaft; 6. second coupling; 7. first right-angle commutator; 8. first side cleaning disc; 9. first high-pressure nozzle; 10. second side cleaning arm; 11. second motor; 12. third coupling; 13. second transmission shaft; 14. fourth coupling; 15. second right-angle commutator; 16. second side cleaning disc; 17. second high-pressure nozzle; 18. mounting plate; 19. camera; 20. distance sensor; 21. video camera; 22. stabilizing arm. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] like Figure 1 As shown, an embodiment of the present invention provides a cleaning tool, including a frame, a driving mechanism, a camera 19 and a cleaning disc, the frame being made of insulating material, the frame including a base 1 and a cleaning arm, the base 1 being used to be connected to the lifting mechanism of the industrial robot, the cleaning arm being connected to the base 1, the driving mechanism being connected to the cleaning arm, the cleaning disc being rotatably assembled with the cleaning arm, the driving mechanism being transmission-connected to the cleaning disc, the driving mechanism being capable of driving the cleaning disc to rotate, the cleaning disc being used to clean the insulator, the camera 19 being connected to the base 1, and the camera 19 being used to take pictures of the insulator to determine the position of the insulator.

[0022] Specifically, the camera 19 takes a picture of the insulator and can correctly identify the position information and depth information of the cleaning object insulator in the direction of the cleaning disk. The lifting mechanism of the industrial robot drives the cleaning tooling to approach the insulator according to the information obtained by the camera 19, so that the cleaning disk is in direct contact with the insulator. The driving mechanism drives the cleaning disk to rotate, and the cleaning disk directly cleans the insulator when it rotates.

[0023] In one embodiment, there are two cleaning arms, which are respectively a first side cleaning arm 2 and a second side cleaning arm 10, and the first side cleaning arm 2 and the second side cleaning arm 10 are arranged at intervals. There are two cleaning discs, which are respectively a first side cleaning disc 8 and a second side cleaning disc 16. The first side cleaning disc 8 is rotatably assembled with the first side cleaning arm 2 around a first rotation axis, and the second side cleaning disc 16 is rotatably assembled with the second side cleaning arm 10 around a second rotation axis. The first rotation axis is parallel to the second rotation axis, and the first side cleaning disc 8 and the second side cleaning disc 16 are both transmission-connected to the driving mechanism.

[0024] Specifically, the base 1 is connected across the first side cleaning arm 2 and the second side cleaning arm 10. The base 1 is located in the middle of the first side cleaning arm 2. The first rotating shaft is the axis of the first side cleaning disc 8, and the second rotating axis is the axis of the second side cleaning disc 16. The first rotating axis is arranged parallel to the second rotating axis. The first side cleaning disc 8 and the second side cleaning disc 16 are arranged at intervals and can be moved to both sides of the insulator respectively to clean both sides of the insulator at the same time, thereby improving work efficiency.

[0025] Stabilizing arms 22 are provided at the ends of the first side cleaning arm 2 and the second side cleaning arm 10 . The stabilizing arms 22 are connected across the first side cleaning arm 2 and the second side cleaning arm 10 to stabilize and balance the entire cleaning tooling.

[0026] In one embodiment, the spacing between the first cleaning arm and the second cleaning arm is not less than 450 mm. Specifically, the spacing between the first cleaning arm and the second cleaning arm is not less than 450 mm, that is, the spacing between the center (first rotation axis) of the first side cleaning disk 8 and the center (second rotation axis) of the second side cleaning disk 16 is not less than 450 mm, so as to ensure that an insulator with a diameter of not less than 200 mm can be accommodated between the first cleaning disk and the second cleaning disk.

[0027] In one embodiment, the driving mechanism includes a first motor 3 and a second motor 11, the first motor 3 is connected to the first side cleaning arm 2, the first motor 3 is connected to the first side cleaning disc 8, the first motor 3 drives the first side cleaning disc 8 to rotate, the second motor 11 is connected to the second side cleaning arm 10, the second motor 11 is connected to the second side cleaning disc 16, and the second motor 11 drives the second side cleaning disc 16 to rotate.

[0028] Specifically, the first motor 3 is installed on the first side cleaning arm 2, and the output shaft of the first motor 3 is connected to the rotating shaft of the first side cleaning disc 8, and the first side cleaning disc 8 is driven by the first motor 3 to rotate. The second motor 11 is installed on the second side cleaning arm 10, and the output shaft of the second motor 11 is connected to the rotating shaft of the second side cleaning disc 16, and the second motor 11 drives the second side cleaning disc 16 to rotate. The structure is simple and easy to design. The second motor 11 and the second motor 11 are independently designed and can be controlled separately.

[0029] In one embodiment, the distance between the first motor 3 and the first cleaning disc is not less than 350 mm, and the driving mechanism also includes a first transmission shaft 5, wherein the end of the first transmission shaft 5 away from the first side cleaning disc 8 is connected to the output shaft of the first motor 3, and the end of the first transmission shaft 5 close to the first side cleaning disc 8 is connected to the first side cleaning disc 8 in a transmission manner.

[0030] Specifically, the first motor 3 is arranged on the upper side of the first side cleaning arm 2, and the first side cleaning disc 8 is arranged on the lower side of the first side cleaning arm 2. One end of the first transmission shaft 5 is connected to the output shaft of the first motor 3 through the first coupling 4, and the other end is connected to the first right-angle commutator 7 through the second coupling 6. The first right-angle commutator 7 is connected to the first side cleaning disc 8, so that the first motor 3 drives the first transmission shaft 5 to rotate, and the first transmission shaft 5 drives the first side cleaning disc 8 to rotate.

[0031] The distance between the first motor 3 and the first cleaning disc is not less than 350 mm to ensure a safe insulation distance between them and avoid arcing.

[0032] In one embodiment, the distance between the second motor 11 and the second cleaning disc is not less than 350 mm, and the driving mechanism also includes a second transmission shaft 13, wherein the end of the second transmission shaft 13 away from the second side cleaning disc 16 is connected to the output shaft of the second motor 11, and the end of the second transmission shaft 13 close to the second side cleaning disc 16 is transmission-connected to the second side cleaning disc 16.

[0033] Specifically, the second motor 11 is arranged on the upper side of the second side cleaning arm 10, and the second side cleaning disc 16 is arranged on the lower side of the second side cleaning arm 10. One end of the second transmission shaft 13 is connected to the output shaft of the second motor 11 through the third coupling 12, and the other end is connected to the second right-angle commutator 15 through the fourth coupling 14. The second right-angle commutator 15 is connected to the second side cleaning disc 16, so that the second motor 11 drives the second transmission shaft 13 to rotate, and the second transmission shaft 13 drives the second side cleaning disc 16 to rotate.

[0034] The distance between the second motor 11 and the second cleaning disc is not less than 350 mm to ensure a safe insulation distance between them and avoid arcing.

[0035] In one embodiment, the cleaning tool further includes a high-pressure nozzle, which is connected to the frame and is used to spray a high-pressure water column onto the insulator.

[0036] Specifically, there are two high-pressure nozzles, which are the first high-pressure nozzle 9 and the second high-pressure nozzle 17. The first high-pressure nozzle 9 is connected to the first side cleaning arm 2, and the first high-pressure nozzle 9 sprays a high-pressure water column between the first side cleaning disk 8 and the second side cleaning disk 16. The second high-pressure nozzle 17 is connected to the second side cleaning arm 10, and the second high-pressure nozzle 17 sprays a high-pressure water column between the first side cleaning disk 8 and the second side cleaning disk 16 to spray water columns toward the insulators, and cooperate with the cleaning disk to clean the insulators together, thereby further improving the cleaning effect.

[0037] In one embodiment, a distance sensor 20 is further included. The distance sensor 20 is connected to the base 1 and is used to detect the distance between the base 1 and the insulator.

[0038] Specifically, a mounting plate 18 is provided on the base 1, and the mounting plate 18 is arranged perpendicular to the first side cleaning arm 2. The camera 19 and the distance sensor 20 are both installed on the mounting plate 18. The required ranging distance set by the distance sensor 20 is not less than 400 mm. The distance sensor 20 is used to detect the distance between the base 1 and the insulator, and is used to prevent the base 1 from being too close to the insulator when the camera 19 fails.

[0039] In one embodiment, the cleaning tool further includes a camera 21 , which is connected to the base 1 , and is used to capture the cleaning operation of the cleaning disc.

[0040] Specifically, the camera 21 is mounted on the mounting plate 18 to photograph the cleaning disc and insulators, providing a visual backup for the auxiliary observation camera 19-guided process, while also observing the cleaning and washing effects in real time, and retaining photos for cleaning and washing effect evaluation.

[0041] The working principle of the cleaning tool of the embodiment of the utility model is as follows:

[0042] The camera 19 takes a picture of the insulator and correctly identifies the position information and depth information of the cleaning object insulator in the direction of the cleaning disk. The camera 19 guides the lifting mechanism of the industrial robot to move so that the first side cleaning disk 8 and the second side cleaning disk 16 move to both sides of the insulator. When the first side cleaning disk 8 and the second side cleaning disk 16 are in place, the first motor 3 and the second motor 11 are started to control the first side cleaning disk 8 and the second side cleaning disk 16 to clean the insulator. At the same time, the first high-pressure nozzle 9 and the second high-pressure nozzle 17 spray high-pressure water jets to the insulator, and the insulator is cleaned and flushed at the same time.

[0043] According to the cleaning tool of the embodiment of the present invention, the camera 19 takes a picture of the insulator to determine the specific position of the insulator. The lifting mechanism of the industrial robot drives the cleaning disk of the cleaning tool to directly contact the insulator. The driving mechanism drives the cleaning disk to rotate. When the cleaning disk rotates, it directly cleans the insulator. Compared with the existing technology, the cleaning effect is improved.

[0044] In other embodiments, only one high-pressure nozzle is provided.

[0045] In addition, an embodiment of the present invention provides an industrial robot, including a main body, a lifting mechanism and the above-mentioned cleaning tooling, the lifting mechanism is connected to the main body, the base 1 is connected to the lifting mechanism, the lifting mechanism is used to drive the base 1 to move toward or away from the insulator, and the camera 19 is electrically connected to the main body.

[0046] Specifically, the first motor 3, the second motor 11, the camera 19, the video camera 21, the distance sensor 20, the first high-pressure nozzle 9 and the second high-pressure nozzle 17 are controllers in the uniform body, and the controller receives information from each component and controls the action of each component.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A cleaning tool, characterized in that: The invention comprises a frame, a driving mechanism, a camera (19) and a cleaning disc, wherein the frame is made of an insulating material, the frame comprises a base (1) and a cleaning arm, the base (1) is used to be connected to a lifting mechanism of an industrial robot, the cleaning arm is connected to the base (1), the driving mechanism is connected to the cleaning arm, the cleaning disc is rotatably assembled with the cleaning arm, the driving mechanism is in transmission connection with the cleaning disc, the driving mechanism can drive the cleaning disc to rotate, and the cleaning disc is used to clean the insulator; The camera (19) is connected to the base (1), and the camera (19) is used to take a picture of the insulator to determine the position of the insulator.

2. The cleaning tool according to claim 1, characterized in that: The cleaning arms are provided with two, and the two cleaning arms are respectively a first side cleaning arm (2) and a second side cleaning arm (10), and the first side cleaning arm (2) and the second side cleaning arm (10) are arranged at intervals. The cleaning discs are provided with two, and the two cleaning discs are respectively a first side cleaning disc (8) and a second side cleaning disc (16), and the first side cleaning disc (8) and the first side cleaning arm (2) are rotatably assembled around a first rotation axis, and the second side cleaning disc (16) and the second side cleaning arm (10) are rotatably assembled around a second rotation axis, and the first rotation axis is parallel to the second rotation axis, and the first side cleaning disc (8) and the second side cleaning disc (16) are both transmission-connected to the driving mechanism.

3. The cleaning tool according to claim 2, characterized in that: The distance between the first side cleaning arm (2) and the second side cleaning arm (10) is not less than 450 mm.

4. The cleaning tool according to claim 2, characterized in that: The driving mechanism comprises a first motor (3) and a second motor (11), wherein the first motor (3) is connected to the first side cleaning arm (2), the first motor (3) is in transmission connection with the first side cleaning disc (8), and the first motor (3) drives the first side cleaning disc (8) to rotate, and the second motor (11) is connected to the second side cleaning arm (10), the second motor (11) is in transmission connection with the second side cleaning disc (16), and the second motor (11) drives the second side cleaning disc (16) to rotate.

5. The cleaning tool according to claim 4, characterized in that: The distance between the first motor (3) and the first side cleaning disc (8) is not less than 350 mm, and the driving mechanism further comprises a first transmission shaft (5), wherein one end of the first transmission shaft (5) away from the first side cleaning disc (8) is connected to the output shaft of the first motor (3), and one end of the first transmission shaft (5) close to the first side cleaning disc (8) is in transmission connection with the first side cleaning disc (8).

6. The cleaning tool according to claim 4, characterized in that: The distance between the second motor (11) and the second side cleaning disc (16) is not less than 350 mm, and the driving mechanism further comprises a second transmission shaft (13), wherein one end of the second transmission shaft (13) away from the second side cleaning disc (16) is connected to the output shaft of the second motor (11), and one end of the second transmission shaft (13) close to the second side cleaning disc (16) is in transmission connection with the second side cleaning disc (16).

7. The cleaning tool according to claim 2, characterized in that: It also includes a high-pressure nozzle, which is connected to the frame and is used to spray high-pressure water columns onto the insulator.

8. The cleaning tool according to claim 2, characterized in that: It also includes a distance sensor (20), which is connected to the base (1) and is used to detect the distance between the base (1) and the insulator.

9. The cleaning tool according to claim 2, characterized in that: It also includes a camera (21), which is connected to the base (1) and is used to shoot the cleaning operation of the cleaning disc.

10. An industrial robot, characterized in that: The cleaning tool comprises a main body, a lifting mechanism and the cleaning tool according to any one of claims 1 to 9, wherein the lifting mechanism is connected to the main body, the base (1) is connected to the lifting mechanism, the lifting mechanism is used to drive the base (1) to move toward or away from the insulator, and the camera (19) is electrically connected to the main body.

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