End effector for wiping overhead line system insulator

Abstract

The utility model relates to the technical field of railway catenary maintenance equipment, in particular to an end effector for wiping a catenary insulator. Comprising a fixing frame, an opening and closing motor is arranged on the fixing frame, a transmission assembly is connected to the opening and closing motor, an upper swing arm assembly and a lower swing arm assembly are connected to the transmission assembly, and wiping assemblies are arranged on the upper swing arm assembly and the lower swing arm assembly. The wiping assembly is in transmission connection with a driving assembly arranged on the upper swing arm assembly and the lower swing arm assembly. Compared with a traditional water cannon vehicle washing mode, accumulated dust and dirt on the surface of the insulator can be more effectively removed through rotary wiping of the brush wheel, and a higher cleaning effect is achieved; meanwhile, waste of a large amount of water resources is avoided, and the requirements of environmental protection and sustainable development are met; manual wiping operation is replaced, and the safety risk of operators in high-altitude and electrified environments is eliminated; an aerial work platform or climbing equipment is not needed, so that the labor intensity is obviously reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to railway contact network maintenance equipment technical field, specifically a kind of end effector of wiping contact network insulator. BACKGROUND

[0002] With the continuous expansion of electrified railway and power grid scale in our country, the reliability of contact network insulator becomes the key factor of power supply system stability;Insulator, as the core component of contact network system, is mainly responsible for supporting and isolating electrical conductor, ensuring that current is transmitted along the predetermined path and preventing current leakage;However, insulator is exposed to natural environment for a long time, is easily polluted by dirt, bird droppings and other sundries, resulting in the decline of insulation performance, and even may cause pollution flashover phenomenon, and then threatens the safe operation of power supply system;Therefore, the cleaning and maintenance of insulator is crucial to guarantee the reliability of railway contact network system.

[0003] At present, contact network insulator cleaning operation mainly includes flushing and manual wiping two ways;Insulator flushing can be carried out according to the actual insulator pollution condition control valve, but must use water cannon car to complete insulator flushing, and flushing effect is generally poor, and a large amount of water resources is wasted;Manual wiping can achieve more satisfactory cleaning effect, and cleaning is more clean, but manual wiping work needs to be operated under the condition that train is stopped and power is off, and needs to use high-altitude operation platform or climbing equipment to wipe insulator;This method not only has great working strength and low efficiency, but also has great safety hazard.

[0004] Therefore, at present, an end effector for wiping contact network insulator is needed to replace manual insulator cleaning work, which can not only reduce labor intensity and safety risk, but also significantly improve work efficiency and maintenance quality, has significant social benefits and broad application prospect. UTILITY MODEL CONTENT

[0005] The utility model aims at solving the above problems, and provides an end effector for wiping contact network insulator, which not only improves cleaning efficiency and safety, but also enhances adaptability and improves control precision.

[0006] The utility model solves the problem by using the technical scheme of

[0007] The utility model provides an end effector of wiping contact net insulator, including fixed frame, is provided with open and close motor on fixed frame, is connected with transmission assembly on open and close motor, is connected with upper swing arm subassembly and lower swing arm subassembly on transmission assembly, is equipped with wiping subassembly on upper swing arm subassembly and lower swing arm subassembly, is drivenly connected with the drive subassembly of setting on upper swing arm subassembly and lower swing arm subassembly on wiping subassembly, transmission assembly includes screw rod with open and close motor transmission connection, is connected with the screw nut of reciprocating motion along screw rod axle direction on screw rod, is fixedly connected with sliding block on screw nut, is equipped with connecting rod with upper swing arm subassembly and lower swing arm subassembly on sliding block, drive subassembly includes the gear cover of setting on upper swing arm subassembly and lower swing arm subassembly, is equipped with brush motor on the outside of gear cover, is connected with the motor gear of being placed in gear cover on the output of brush motor, is meshedly connected with the sun gear of being connected with wiping subassembly on motor gear, is meshedly connected with two chain gears on sun gear, is connected with chain assembly with wiping subassembly transmission connection on two chain gears.

[0008] As preferred, the utility model further provides the technical scheme:

[0009] Preferably, the wiping subassembly comprises a first brush wheel rotatably installed between the upper swing arm subassembly and the lower swing arm subassembly, a second brush wheel rotatably installed on the upper swing arm subassembly, and a third brush wheel rotatably installed on the lower swing arm subassembly, and the first brush wheel is connected with the sun gear.

[0010] Preferably, the chain assembly comprises a transmission gear, the transmission gear is arranged on the second brush wheel or the third brush wheel, the transmission gear and the chain gear are adapted to each other and are jointly connected with a transmission chain.

[0011] Preferably, the chain assembly further comprises two intermediate gears, the two intermediate gears are rotatably installed on the upper swing arm subassembly or the lower swing arm subassembly, the two intermediate gears are located between the transmission gear and the chain gear, the two intermediate gears are arranged in an up-down staggered manner and are connected with the transmission chain.

[0012] Preferably, an anti-sand aluminum shell is arranged on the outside of the chain assembly and is installed on the upper swing arm subassembly or the lower swing arm subassembly, and a camera support is arranged on the anti-sand aluminum shell of the upper swing arm subassembly.

[0013] Preferably, a limit switch is arranged on the outside of the gear cover, the limit switch is connected with the open and close motor, and a headless shaft position screw is arranged on the sliding block and is in contact with the limit switch.

[0014] Preferably, the upper swing arm subassembly and the lower swing arm subassembly are arranged in an up-down symmetrical manner and have the same structure, and each comprises a left swing arm and a right swing arm, and the left swing arm and the right swing arm are jointly connected with a hollow connecting frame.

[0015] Preferably, a flange plate is bolted on the other side of the fixed frame away from the opening and closing motor.

[0016] Preferably, a main controller is commonly connected on the opening and closing motor and the brush motor.

[0017] Compared with the prior art, the utility model has the outstanding characteristics that:

[0018] Compared with the conventional water cannon vehicle flushing mode, the utility model can more effectively remove dust and dirt on the surface of the insulator through the rotation wiping of the brush wheel, achieves higher cleaning effect, avoids waste of a large amount of water resources, meets the requirements of environmental protection and sustainable development, replaces manual wiping operation, eliminates the safety risk of the operation personnel in the high altitude and live environment, does not need to use the high altitude operation platform or climbing equipment, significantly reduces the labor intensity, improves the operation safety, and additionally enhances the adaptability, easily adapts to insulators of different shapes, sizes and installation angles, and improves the identification and positioning precision of the insulator in the complex environment. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is the schematic diagram of the main view structure of the utility model embodiment Figure One ;

[0020] Figure 2 is the schematic diagram of the main view structure of the utility model embodiment Figure Two ;

[0021] Figure 3 is the schematic diagram of the main view structure of the utility model embodiment Figure Three ;

[0022] In the drawing: 1, second brush wheel; 2, upper swing arm assembly; 3, connecting frame; 4, camera support; 5, sandproof aluminum shell; 6, brush motor; 7, opening and closing motor; 8, fixed frame; 9, flange plate; 10, transmission chain; 11, intermediate gear; 12, gear cover; 13, connecting rod; 14, lower swing arm assembly; 15, screw rod; 16, sliding block; 17, screw rod nut; 18, limit switch; 19, motor gear; 20, center gear; 21, chain gear; 22, transmission gear; 23, first brush wheel; 24, third brush wheel. DETAILED DESCRIPTION

[0023] The utility model will be more helpful for the public to understand through the following description of the embodiments, but the specific embodiments given by the applicant should not be regarded as the limitation of the technical scheme of the utility model, and any change of the definition of components or technical features and / or formal but not substantial change of the overall structure should be regarded as the protection scope defined by the technical scheme of the utility model.

[0024] Referring toFigures 1 to 3 The utility model discloses technical scheme as follows:

[0025] A wiping end effector of catenary insulator, including fixed frame 8, fixed frame 8 play the role of fixed whole end effector and do the hollow processing to reduce the overall weight of fixed frame 8, and the installation site is reserved on one side of fixed frame 8, and the opening and closing motor 7 is installed on the installation site, and the through hole is also reserved on the installation site, and the output end of opening and closing motor 7 passes through the through hole and is connected with transmission assembly, and the upper swing arm assembly 2 and lower swing arm assembly 14 are connected on transmission assembly, so that opening and closing motor 7 operation drives transmission assembly to work, and the upper swing arm assembly 2 and lower swing arm assembly 14 realize opening and closing movement, and the wiping assembly is configured on the upper swing arm assembly 2 and lower swing arm assembly 14, and the drive assembly arranged on the upper swing arm assembly 2 and lower swing arm assembly 14 is drivenly connected on the wiping assembly, so that the drive assembly works and drives wiping assembly to realize the wiping of insulator;

[0026] Transmission assembly includes screw rod 15, and screw rod 15 is connected with the output end of opening and closing motor 7, and the screw rod nut 17 reciprocating along the axial direction of screw rod 15 is connected on screw rod 15, and the sliding block 16 is fixedly connected on screw rod nut 17, and two connecting rods 13 are connected on sliding block 16, and one connecting rod 13 is connected with upper swing arm assembly 2, and another connecting rod 13 is connected with lower swing arm assembly 14;Opening and closing motor 7 rotates, drives screw rod 15 to rotate, and screw rod nut 17 reciprocating along the axial direction of screw rod 15, so that sliding block 16 also reciprocating along the axial direction of screw rod 15, and then make two connecting rods 13 drive upper swing arm assembly 2 and lower swing arm assembly 14 to realize opening and closing movement;

[0027] Wiping assembly includes first brush wheel 23, second brush wheel 1 and third brush wheel 24, and first brush wheel 23 is rotatably installed between upper swing arm assembly 2 and lower swing arm assembly 14, and second brush wheel 1 is rotatably installed on upper swing arm assembly 2, and third brush wheel 24 is rotatably installed on lower swing arm assembly 14, so that the wiping of insulator is realized through first brush wheel 23, second brush wheel 1 and third brush wheel 24;

[0028] The driving assembly comprises a gear cover 12, the gear cover 12 is arranged between the upper swing arm assembly 2 and the lower swing arm assembly 14, a brush motor 6 is arranged on the outer side of the gear cover 12, a motor gear 19 is arranged in the gear cover 12 and connected to the output end of the brush motor 6, a central gear 20 is engaged and connected to the motor gear 19, the central gear 20 is arranged on a first brush wheel 23, two chain gears 21 are engaged and connected to the central gear 20, one of the chain gears 21 is arranged above the central gear 20, and the other chain gear 21 is arranged below the central gear 20, a chain assembly is connected to the two chain gears 21 and in driving connection with the wiping assembly; the chain assembly comprises a transmission gear 22, the transmission gear 22 is arranged on the second brush wheel 1 and the third brush wheel 24, one transmission gear 22 and one chain gear 21 are matched and jointly connected with a transmission chain 10, two intermediate gears 11 are rotatably arranged on the upper swing arm assembly 2 and the lower swing arm assembly 14, the two intermediate gears 11 are arranged between the matched transmission gear 22 and the chain gear 21, and the two intermediate gears 11 are arranged in a staggered manner and connected with the transmission chain 10; the motor gear 19, the central gear 20 and the two chain gears 21 are protected by the gear cover 12, and dustproof effect is also achieved, in addition, the brush motor 6 drives the motor gear 19, the central gear 20 and the two chain gears 21 to rotate, so that the central gear 20 and the two chain assemblies jointly drive the first brush wheel 23, the second brush wheel 1 and the third brush wheel 24 to rotate to wipe the insulator; the sandproof aluminum shell 5 is arranged on the outer side of the chain assembly and arranged on the upper swing arm assembly 2 or the lower swing arm assembly 14, so that the chain assembly and the two transmission gears 22 are protected by the sandproof aluminum shell 5, the camera bracket 4 is arranged on the sandproof aluminum shell 5 arranged on the upper swing arm assembly 2, so that the camera is conveniently installed, and the whole wiping process is controlled; the limit switch 18 is arranged on the outer side of the gear cover 12 and connected with the opening and closing motor 7, the headless shaft position screw is arranged on the sliding block 16 and in contact with the limit switch 18, after the limit switch 18 collides with the headless shaft position screw, the limit switch 18 sends a signal to the controller on the opening and closing motor 7, and the opening and closing motor 7 stops moving, so as to limit the opening and closing stroke.

[0029] The upper swing arm assembly 2 and the lower swing arm assembly 14 are arranged in a symmetrical manner and have the same structure, and each comprises a left swing arm and a right swing arm, and the left swing arm and the right swing arm are jointly connected with the hollow connecting frame 3.

[0030] The flange plate 9 is bolted to the other side of the fixed frame 8 away from the opening and closing motor 7; the fixed frame 8 is connected with the mechanical arm through the flange plate 9.

[0031] The main controller is commonly connected on the opening and closing motor 7 and the brush motor 6, the main controller adopts an stm32 single-chip microcomputer, respectively controls the movement of the opening and closing motor 7 and the brush motor 6, the main controller carries a fuzzy control algorithm, can make the end effector can adaptively wipe the insulator, will not damage the insulator due to too much pressure;Insulator wiping end effector fuzzy PID control method: S1: collect the real-time current value of the brush motor 6, calculate the current deviation E and the current deviation change rate EC of the brush motor 6;S2: after the current deviation E and the current deviation change rate EC of the brush motor 6 are quantitatively processed, fuzzy reasoning is carried out;S3: based on the fuzzy control table and the membership function, Kp, Ki, Kd are obtained;S4: Kp, Ki, Kd are input to the PID controller, and the actual control amount U of the opening and closing motor 7 is obtained.

[0032] Compared with the traditional water cannon car flushing mode, the accumulated dust and dirt on the surface of the insulator can be more effectively removed through the rotation wiping of the brush wheel, and higher cleaning effect is achieved;At the same time, the waste of a large amount of water resources is avoided, which meets the requirements of environmental protection and sustainable development;Replace manual wiping operation, eliminate the safety risk of operating personnel in high altitude and live environment;Without the help of high-altitude operation platform or climbing equipment, the labor intensity is significantly reduced, and the safety of operation is improved;In addition, the adaptability is enhanced, which is easy to adapt to insulators of different shapes, sizes and installation angles, and the recognition and positioning accuracy of insulators in complex environments are improved.

[0033] The above only describes the preferred and feasible embodiments of the utility model, and does not limit the scope of the utility model, and equivalent changes made by applying the contents of the utility model specification and its drawings are included in the scope of the utility model.

Claims

1. An end effector for wiping contact wire insulators, characterized in that: The device includes a fixed frame, on which an opening and closing motor is mounted. A transmission assembly is connected to the opening and closing motor. An upper swing arm assembly and a lower swing arm assembly are connected to the transmission assembly. Wiping components are mounted on the upper and lower swing arm assemblies. A drive assembly mounted on the upper and lower swing arm assemblies is driven to the wiping components. The transmission assembly includes a lead screw driven to the opening and closing motor. A lead screw nut that reciprocates along the lead screw axis is connected to the lead screw. A slider is fixedly connected to the lead screw nut. A connecting rod connected to the upper and lower swing arm assemblies is mounted on the slider. The drive assembly includes a gear cover mounted on the upper and lower swing arm assemblies. A brush motor is mounted on the outer surface of the gear cover. A motor gear located inside the gear cover is connected to the output end of the brush motor. A central gear connected to the wiping components is meshed on the motor gear. Two chain gears are meshed on the central gear. Chain assemblies driven to the wiping components are connected to both chain gears.

2. The end effector for wiping contact wire insulators according to claim 1, characterized in that: The wiping assembly includes a first brush wheel rotatably mounted between the upper and lower swing arm assemblies, a second brush wheel rotatably mounted on the upper swing arm assemblies, and a third brush wheel rotatably mounted on the lower swing arm assemblies. The first brush wheel is connected to a central gear.

3. The end effector for wiping contact wire insulators according to claim 2, characterized in that: The chain assembly includes a drive gear, which is mounted on a second or third brush wheel. The drive gear and the chain gear are adapted to each other and are connected together by a drive chain.

4. The end effector for wiping contact wire insulators according to claim 3, characterized in that: The chain assembly also includes two intermediate gears, both of which are rotatably mounted on the upper or lower swing arm assembly. The two intermediate gears are located between the drive gear and the chain gear, and are staggered vertically and connected to the drive chain.

5. The end effector for wiping contact wire insulators according to claim 4, characterized in that: A sandproof aluminum shell is installed on the outer surface of the chain assembly and mounted on the upper or lower swing arm assembly. A camera bracket is installed on the sandproof aluminum shell on the upper swing arm assembly.

6. The end effector for wiping contact wire insulators according to claim 1, characterized in that: A limit switch is provided on the outer surface of the gear cover. The limit switch is connected to the opening and closing motor. A headless shaft screw is provided on the slider to contact the limit switch.

7. The end effector for wiping contact wire insulators according to claim 1, characterized in that: The upper and lower swing arm assemblies are symmetrically arranged and have the same structure, both including a left swing arm and a right swing arm, which are connected by a hollow connecting frame.

8. The end effector for wiping contact wire insulators according to claim 1, characterized in that: A flange is bolted to the other side of the mounting bracket away from the motor.

9. The end effector for wiping contact wire insulators according to claim 1, characterized in that: The main controller is connected to both the opening / closing motor and the brush motor.

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