阅读说明：本技术 一种绝缘子清扫机器人及其使用方法 (Insulator cleaning robot and use method thereof ) 是由 张万青 魏远航 梁翠连 黄绍桐 卿云 黄静 于 2019-08-07 设计创作，主要内容包括：本发明公开了一种绝缘子清扫机器人及其使用方法,包括翻转基架组件,翻转基架组件设有抓紧组件；翻转基架组件上设有翻转驱动电机,翻转驱动电机与抓紧组件传动连接。工作过程是这样的：最开始时,两个抓紧组件同时抓住两个紧邻设置的绝缘子,然后其中一个抓紧组件松开绝缘子,两个翻转驱动电机动作,让翻转基架组件和另一个抓紧组件均翻转180°,完成翻转后,翻转180°的抓紧组件刚好能抓住相邻的下一个绝缘子,这样就实现了移动过程中,机器人跨绝缘子的数量可小于三个。(The invention discloses an insulator cleaning robot and a using method thereof, wherein the insulator cleaning robot comprises a turnover base frame assembly, wherein the turnover base frame assembly is provided with a grasping assembly; the overturning base frame assembly is provided with an overturning driving motor, and the overturning driving motor is in transmission connection with the grasping assembly. The working process is as follows: at first, two grasping assemblies grasp two insulators arranged next to each other simultaneously, then one grasping assembly releases the insulators, the two overturning driving motors act to enable the overturning base frame assembly and the other grasping assembly to overturn 180 degrees, after overturning is completed, the grasping assembly overturned 180 degrees can just grasp the next adjacent insulator, and therefore in the moving process, the number of the cross insulators of the robot can be smaller than three.)

1. an insulator cleaning robot and a using method thereof are characterized in that: the cleaning device comprises a turnover base frame assembly, wherein a cleaning assembly is arranged on the turnover base frame assembly, the front side and the rear side of the turnover base frame assembly are both connected with two grasping assemblies arranged at intervals by using turnover shafts (201), and each grasping assembly is connected with the turnover base frame assembly by using at least one rotating shaft; at least one rotating shaft connected with the grasping assembly is called as a turning shaft (201), each grasping assembly is at least provided with a turning shaft (201), the turning shaft (201) is fixedly connected with the grasping assembly, the turning shaft (201) is rotatably connected with the turning base frame assembly, the turning base frame assembly is provided with a turning driving motor (203), the turning driving motor (203) is in transmission connection with the turning shaft (201), and the grasping assembly is provided with a holding structure; also comprises a tightly holding base frame (1), the tightly holding base frame (1) is connected with the overturning base frame component through a turnover shaft (201), a movable component is arranged on the tightly holding base frame (1), three tightly holding components are arranged on the tightly holding base frame (1) and the movable component, at least one tightly holding component is arranged on each of the tightly holding base frame (1) and the movable component, the three holding components are respectively positioned on three angular points of the triangle, the triangle determined by the positions of the three holding components is called as an elastic triangle, the elastic triangle can be divided into an elastic triangle and a tight triangle, the circle center of the circumscribed circle of the elastic triangle is positioned at the outer side of the elastic triangle, the circle center of the circumscribed circle of the tight triangle is positioned inside the tight triangle, the movable component can move on the tightly-holding base frame (1), so that the triangle determined by the three holding components can be switched between a loose triangle and a tight triangle;

the clasping component comprises a combined wheel, the combined wheel comprises a clasping wheel (151) vertical to a plane determined by the elastic triangle, and the clasping wheel (151) is connected with the clasping base frame (1) corresponding to the clasping wheel or a movable component corresponding to the clasping wheel (151);

At least one holding component is provided with a crawling drive motor (306), the crawling drive motor (306) is fixedly connected with the overturning pedestal component or the movable component where the crawling drive motor (306) is located, and a rotating shaft of the crawling drive motor (306) is connected with the holding wheel (151);

The cleaning assembly comprises a first rudder motor (301), a second rudder motor (302) and a cleaning assembly which are sequentially connected, the first rudder motor (301) is fixedly connected with the turnover base frame assembly and the first rudder motor (301), an output shaft of the first rudder motor (301) is in transmission connection with the second rudder motor (302), and an output shaft of the second rudder motor (302) is fixedly connected with the cleaning assembly;

The cleaning assembly further comprises a first movable frame (307), four first parallel rotating shafts (308) which are respectively positioned at four corner points of a parallelogram are arranged on the first movable frame (307), two adjacent first parallel rotating shafts (308) are connected through a first connecting rod, and an output shaft of a first rudder motor (301) is fixedly connected with one of the first parallel rotating shafts (308) or serves as one of the first parallel rotating shafts (308);

the using method comprises the following steps: two grasp assemblies grasp two insulators closely arranged at the same time, then one grasp assembly loosens the insulators, two overturning driving motors (203) act to enable the overturning base frame assembly and the other grasp assembly to overturn 180 degrees, after overturning is completed, the grasping assembly overturns 180 degrees to grasp the next insulator, then the crawling driving motor (306) is started to enable the robot to integrally rotate along the circumferential direction of the insulators, and therefore the end faces of the insulators on two sides of the cleaning assembly are cleaned at one time or at the same time.

2. The insulator cleaning robot and the use method thereof according to claim 1, wherein: fixedly connected with upset driven gear (202) on upset axle (201), be equipped with upset drive gear (204) on upset driving motor (203), upset driven gear (202) and upset drive gear (204) meshing.

3. the insulator cleaning robot and the use method thereof according to claim 1, wherein: the overturning base frame component comprises two overturning base rods (205) which are arranged at left and right intervals, and the grasping component is arranged between the two overturning base rods (205).

4. The insulator cleaning robot and the use method thereof according to claim 1, wherein: the moving path of the movable assembly is called as a holding path (11), and the connecting line of the two holding assemblies on the holding base frame (1) or the movable assembly is called as a fixed line (12); the holding path (11) is a straight line: the included angle between the holding path (11) and the fixed chord line (12) is an acute angle.

5. The insulator cleaning robot and the use method thereof according to claim 1, wherein: the moving path of the movable assembly is called as a holding path (11), and the connecting line of the two holding assemblies on the holding base frame (1) or the movable assembly is called as a fixed line (12); the holding path (11) is a straight line: the holding path (11) is an arc line.

6. An insulator cleaning robot and a use method thereof according to claim 5, characterized in that: the radius of the holding path (11) is larger than that of the circumscribed circle of the elastic triangle, and the distance from the fixed string line (12) to the center of the circumscribed circle of the elastic triangle is larger than that from the fixed string line (12) to the center of the holding path (11).

7. The insulator cleaning robot and the use method thereof according to claim 1, wherein: hold and be equipped with guide way (13) on bed frame (1) tightly, the movable part is including removing strip (14), guide way (13) are equipped with removal strip (14), be equipped with a plurality of on removal strip (14) and hold passive tooth (141) tightly, hold and be equipped with on bed frame (1) tightly and hold motor (142) tightly, be equipped with on holding motor (142) tightly and hold the gear tightly, hold the gear tightly with hold the passive tooth (141) meshing tightly.

8. an insulator cleaning robot and a use method thereof according to claim 7, characterized in that: the moving strip (14) is made of elastic material.

9. the insulator cleaning robot and the use method thereof according to claim 1, wherein: the sweeping assembly is disposed between two gripping assemblies.

10. The insulator cleaning robot and the use method thereof according to claim 1, wherein: the cleaning assembly comprises a cleaning driving motor (303) and a sweeping sheet (304) connected with a rotating shaft of the cleaning driving motor (303).

Technical Field

The invention relates to the field of robots, in particular to an insulator cleaning robot and a using method thereof.

Background

The high-voltage electrical insulator component applied to the high-voltage cable is formed by arranging a plurality of insulators which are annular as a whole at intervals.

in the long-time use process, foreign matters may exist between adjacent insulators, so that the insulation distance is reduced, electric leakage is caused, even short circuit is caused, and the power transmission safety is seriously influenced.

Therefore, the power department needs to send people regularly to clean foreign matters between insulators, but the high-altitude operation is very dangerous. Therefore, a robot capable of cleaning foreign matter on an insulator is desired by those skilled in the art.

The existing robot has crawling moving modes on insulators, a crawling mechanism needs to span at least three insulators in a crawling process, and the crawling mechanism has the working process that one grasping component of the crawling mechanism grasps a first insulator first, then the other grasping component moves axially to grasp a third insulator, and then the grasping component on the first insulator is loosened to grasp a second insulator. Therefore, the robot is large in size and large in axial action amplitude, the insulation distance between the three adjacent insulators is zero, and the overall insulation performance of the high-voltage electric insulator assembly is greatly reduced.

Therefore, a robot is desired by those skilled in the art in which the number of gripping members that need not cross the insulator during movement can be less than three.

disclosure of Invention

The technical problem to be solved by the invention is as follows: a robot and a method for using the same are provided, wherein the robot can realize that the number of cross insulators in a moving process can be less than three by using a turnover principle.

the solution of the invention for solving the technical problem is as follows:

An insulator cleaning robot and a using method thereof comprise a turnover base frame assembly, wherein a cleaning assembly is arranged on the turnover base frame assembly, the front side and the rear side of the turnover base frame assembly are both connected with two grasping assemblies arranged at intervals by turnover shafts, and each grasping assembly is connected with the turnover base frame assembly by at least one rotating shaft; at least one rotating shaft connected with the grasping assembly is called as a turning shaft, each grasping assembly is provided with at least one turning shaft, the turning shafts are fixedly connected with the grasping assembly and are rotationally connected with the turning base frame assembly, the turning base frame assembly is provided with a turning driving motor, the turning driving motor is in transmission connection with the turning shafts, and the grasping assembly is provided with a holding structure;

The movable component can move on the holding base frame, so that the triangle determined by the three holding components can be switched between the loose triangle and the tight triangle;

The clasping assembly comprises a combined wheel, the combined wheel comprises a clasping wheel vertical to a plane determined by the elastic triangle, and the clasping wheel is connected with the clasping base frame corresponding to the clasping wheel or the movable assembly corresponding to the clasping wheel;

At least one holding component is provided with a crawling driving motor, the crawling driving motor is fixedly connected with the overturning base frame component or the movable component where the crawling driving motor is located, and a rotating shaft of the crawling driving motor is connected with the holding wheel;

The cleaning assembly comprises a first rudder motor, a second rudder motor and a cleaning assembly which are sequentially connected, the first rudder motor and the overturning base frame assembly are fixedly connected with the first rudder motor, an output shaft of the first rudder motor is in transmission connection with the second rudder motor, and an output shaft of the second rudder motor is fixedly connected with the cleaning assembly;

The cleaning assembly further comprises a first movable frame, four first parallel rotating shafts which are respectively positioned on four angular points of a parallelogram are arranged on the first movable frame, two adjacent first parallel rotating shafts are connected through a first connecting rod, and an output shaft of a first rudder motor is fixedly connected with one first parallel rotating shaft or serves as one first parallel rotating shaft;

the using method comprises the following steps: two are grasped the subassembly and are grabbed the insulator that two next-door neighbour set up simultaneously, then one of them is grasped the subassembly and is loosened the insulator, two upset driving motor actions, let upset bed frame subassembly and another grasp the subassembly and all overturn 180, accomplish the upset back, the subassembly of grasping of upset 180 grabs next insulator, start the driving motor of crawling after that, let the whole circumferential direction along the insulator of robot, thereby to one of them or clean the terminal surface of the insulator of cleaning the subassembly both sides simultaneously.

as a further improvement of the scheme, the overturning shaft is fixedly connected with an overturning driven gear, the overturning driving motor is provided with an overturning driving gear, and the overturning driven gear is meshed with the overturning driving gear.

As a further improvement of the scheme, the overturning base frame component comprises two overturning base rods which are arranged at left and right intervals, and the grasping component is arranged between the two overturning base rods.

As a further improvement of the above scheme, the motion path of the movable assembly is called a holding path, and the connecting line of the two holding assemblies on the holding base frame or the movable assembly is called a fixed line; the holding path is a straight line: the included angle between the holding path and the fixed chord line is an acute angle.

As a further improvement of the above scheme, the motion path of the movable assembly is called a holding path, and the connecting line of the two holding assemblies on the holding base frame or the movable assembly is called a fixed line; the holding path is a straight line: the holding path is an arc line.

as a further improvement of the scheme, the radius of the holding path is larger than that of the circumscribed circle of the elastic triangle, and the distance from the fixed string line to the center of the circumscribed circle of the elastic triangle is larger than that from the fixed string line to the center of the holding path.

As a further improvement of the above scheme, the holding base frame is provided with a guide groove, the movable assembly comprises a movable strip, the guide groove is provided with the movable strip, the movable strip is provided with a plurality of holding passive teeth, the holding base frame is provided with a holding motor, the holding motor is provided with a holding gear, and the holding gear is meshed with the holding passive teeth.

As a further improvement of the scheme, the moving strip is made of elastic materials.

As a further improvement of the above solution, the sweeping assembly is arranged between two gripping assemblies.

as a further improvement of the scheme, the cleaning assembly comprises a cleaning driving motor and a sweeping sheet connected with a rotating shaft of the cleaning driving motor.

The invention has the beneficial effects that: therefore, the number of the cross insulators of the robot can be less than three in the moving process.

Drawings

in order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the described drawings are only a part of the embodiments of the invention, not all embodiments, and that a person skilled in the art will be able to derive other designs and drawings from these drawings without the exercise of inventive effort.

FIG. 1 is a schematic illustration of a clasping structure of some embodiments of the present invention;

FIG. 2 is a schematic perspective view of some embodiments of the present invention;

FIG. 3 is a schematic diagram of the clasping structure of some embodiments of the present invention;

FIG. 4 is a schematic diagram of a clasping mechanism of other embodiments of the present invention;

FIG. 5 is a schematic diagram of a hugging scheme for still further embodiments of the present invention;

FIG. 6 is a right side view of some embodiments of the invention;

FIG. 7 is a schematic perspective view of another aspect of some embodiments of the present invention;

FIG. 8 is a schematic view of the robot of FIG. 7 in operation;

fig. 9 is a schematic top view of some embodiments of the present invention.

Detailed Description

The conception, the specific structure and the technical effects of the present invention will be described clearly and completely with reference to the accompanying drawings and the embodiments, so that the objects, the features and the effects of the present invention can be fully understood. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and other embodiments obtained by those skilled in the art without any inventive work based on the embodiments of the present invention belong to the protection scope of the present invention. In addition, all the coupling/connection relationships mentioned herein do not mean that the components are directly connected, but mean that a better coupling structure can be formed by adding or reducing coupling accessories according to specific implementation conditions. All technical characteristics in the invention can be interactively combined on the premise of not conflicting with each other.

Referring to fig. 1 to 9, an insulator cleaning robot and a method for using the same include a turnover base frame assembly, wherein a cleaning assembly is arranged on the turnover base frame assembly, the front side and the rear side of the turnover base frame assembly are both connected with two grasping assemblies arranged at intervals by a turnover shaft 201, and each grasping assembly is connected with the turnover base frame assembly by at least one rotating shaft; at least one rotating shaft connected with the grasping assembly is called as a turning shaft 201, each grasping assembly is provided with at least one turning shaft 201, the turning shaft 201 is fixedly connected with the grasping assembly, the turning shaft 201 is rotatably connected with the turning base frame assembly, the turning base frame assembly is provided with a turning driving motor 203, and the turning driving motor 203 is in transmission connection with the turning shaft 201. in the embodiment, the robot only needs to span two insulators in the moving process, and as shown in fig. 1 and 2, the grasping assembly has a holding structure;

The holding structure further comprises a holding base frame 1, the holding base frame 1 is connected with the overturning base frame assembly through a turnover shaft 201, a movable assembly is arranged on the holding base frame 1, three holding assemblies are arranged on the holding base frame 1 and the movable assembly, at least one holding assembly is arranged on each of the holding base frame 1 and the movable assembly, in some embodiments, two holding assemblies are arranged on the holding base frame 1, and one holding assembly is arranged on the movable assembly, of course, in other embodiments, one holding assembly is arranged on the holding base frame 1, two holding assemblies are arranged on the movable assembly, the three holding assemblies are respectively located on three angular points of a triangle, the triangle determined by the position of the three holding assemblies is called as an elastic triangle, the elastic triangle can be divided into an elastic triangle and a tight triangle, and the circle center of a circumscribed circle of the elastic triangle is located on the outer side of the elastic triangle, the circle center of the circumscribed circle of the tight triangle is positioned inside the tight triangle, the movable assembly can move on the tightly-holding base frame 1, so that the triangle defined by the three holding components can be switched between the loose triangle and the tight triangle when the three holding components are in the loose triangle, two holding components are arranged to divide an arc on the circumcircle of the elastic triangle, so that the workpiece can be easily separated from the three holding components, when the three holding components are positioned in the tight triangle, the three holding components divide three minor arcs on the circumscribed circle of the tight triangle, therefore, the workpiece is difficult to separate from the holding component, and can be held and released by switching the two states, the insulator cleaning robot is very simple in structure, is particularly suitable for tightly holding objects with circular sections, and for the insulator cleaning robot, the workpiece is an insulator, namely a ceramic wafer;

in order to facilitate grasping, the clasping component comprises a combined wheel, the combined wheel comprises a clasping wheel 151 vertical to a plane determined by the elastic triangle, and the clasping wheel 151 and the clasping base frame 1 corresponding to the clasping wheel 151 or the movable component corresponding to the clasping wheel are connected with the clasping wheel 151; this increases the holding area, and particularly, the holding wheel 151 is made of a soft material, and is more easily held.

at least one holding component is provided with a crawling driving motor 306, the crawling driving motor 306 is fixedly connected with an overturning pedestal component or a movable component where the crawling driving motor is located, a rotating shaft of the crawling driving motor 306 is connected with the holding wheel 151, and when the holding component holds a workpiece tightly, the crawling driving motor 306 drives the holding wheel 151 to rotate, so that the robot moves on the insulator in the circumferential direction, and the cleaning component cleans the end face of the whole insulator;

The cleaning assembly comprises a first rudder motor 301, a second rudder motor 302 and a cleaning assembly which are sequentially connected, the first rudder motor 301 and the turnover base frame assembly are fixedly connected with the first rudder motor 301, an output shaft of the first rudder motor 301 is in transmission connection with the second rudder motor 302, and an output shaft of the second rudder motor 302 is fixedly connected with the cleaning assembly;

As shown in fig. 9, the cleaning assembly further includes a first movable frame 307, four first parallel rotating shafts 308 respectively located at four corner points of the parallelogram are disposed on the first movable frame 307, two adjacent first parallel rotating shafts 308 are connected by a first connecting rod, an output shaft of the first rudder motor 301 is fixedly connected with one of the first parallel rotating shafts 308 or serves as one of the first parallel rotating shafts 308, such structure is stable and transmission is stable;

the using method comprises the following steps: two grasping assemblies grasp two insulators closely arranged at the same time, then one grasping assembly loosens the insulators, two overturning driving motors 203 act to enable the overturning pedestal assembly and the other grasping assembly to overturn 180 degrees, after overturning is completed, the other grasping assembly overturns 180 degrees to grasp the next insulator, then the crawling driving motor 306 is started to enable the robot to integrally rotate along the circumferential direction of the insulators, and therefore the end faces of the insulators on two sides of the cleaning assembly are cleaned at one time or at the same time, and therefore the moving process is achieved, and the number of the cross-insulators of the robot can be smaller than three.

in order to achieve stable transmission, an overturning driven gear 202 is fixedly connected to the overturning shaft 201, an overturning driving gear 204 is arranged on the overturning driving motor 203, and the overturning driven gear 202 is meshed with the overturning driving gear 204.

In order to realize the lightweight, the upset bed frame subassembly includes two upset base rods 205 of controlling the interval setting, grasps the subassembly and establishes two in order to prevent in the upset in-process between the upset base rod 205, the wire of connecting upset driving motor 203 can be twisted off, and the cover is equipped with electrically conductive sliding ring 206 on trip shaft 201, and an electrical connection end and the upset driving motor 203 electric connection of electrically conductive sliding ring 206.

in some embodiments, the movement path of the movable assembly is called the hugging path 11, and the line connecting the two hugging assemblies, both on the hugging base frame 1 or the movable assembly, is called the constant-chord line 12; the hugging path 11 is a straight line: the hugging path 11 makes an acute angle with the chord line 12, as shown in particular in fig. 4.

In some embodiments, the movement path of the movable assembly is called the hugging path 11, and the line connecting the two hugging assemblies, both on the hugging base frame 1 or the movable assembly, is called the constant-chord line 12; the hugging path 11 is a straight line: the hugging path 11 is an arc, as shown in fig. 3 and 5.

In some embodiments, the radius of the fastening path 11 may be larger than the radius of the circumscribed circle of the triangle, and the distance from the fixed string 12 to the center of the circumscribed circle of the triangle may be larger than the distance from the fixed string 12 to the center of the fastening path 11, specifically, as shown in fig. 5, the radius of the circumscribed circle of the triangle in fig. 5 may gradually decrease, so that the entire driving device may be made of rigid material.

In some embodiments, hug closely and be equipped with guide way 13 on the bed frame 1, movable component includes and remove the strip 14, guide way 13 is equipped with removal strip 14, is equipped with a plurality of on the removal strip 14 and hugs closely passive tooth 141, hugs closely and is equipped with on the bed frame 1 and hugs closely motor 142, is equipped with on the motor 142 and hugs closely the gear, hug closely the gear with hug closely passive tooth 141 meshing, such driving method is favorable to simple structure, is applicable to the robot of crawling very much, some embodiments disclosed in fig. 1 and fig. 2, it is equipped with two on the bed frame 1 to hug closely, and is equipped with one on removal strip 14 and hugs closely the subassembly, and such setting is favorable to removing the flexible scope or the moving range of strip 14 longer, cantilever length is less, is favorable to improving and hugs closely the.

in some embodiments shown in fig. 3 to 5, the movable bar 14 may be made of an elastic material, and in particular, in some embodiments shown in fig. 3 and 4, the radius of the circumscribed circle of the elastic triangle is increased and then decreased, so as to facilitate grasping, the movable bar 14 is made of an elastic material, the combination wheel further includes a holding mounting bracket 152, the holding mounting bracket 152 is fixedly connected with the corresponding holding base frame 1 or the corresponding movable component, the holding wheel 151 is connected with the holding base frame 1 by a rotating shaft, such an arrangement is convenient for modularization, for different sizes of workpieces, it is often necessary to arrange the holding base frame 1 and the movable bar 14 with specific sizes, and in essence, the thicknesses of the workpieces are the same, so the combination wheel may also use the same holding mounting bracket 152 as a base member of the combination wheel, and the holding mounting bracket 152 is respectively connected with the movable bars 14 with different sizes to achieve different types, different shapes, and sizes, The production of the structure of hugging closely of size, the commonality of combination wheel has been improved greatly, the structure of hugging closely is in order to realize the location to work piece circumference, and in order to facilitate the realization to the axial location of work piece, the combination wheel still includes two spacing wheels 153, it establishes between two spacing wheels 153 to hug closely wheel 151, two spacing wheels 153 in the same combination wheel enclose into a joint space with hugging closely wheel 151, it includes two at least combination wheels that set up side by side to hug closely the subassembly, can effectively improve like this and hug closely power and hug closely the effect.

The sweeping assembly is disposed between two gripping assemblies.

the cleaning assembly comprises a cleaning driving motor 303 and a cleaning sheet 304 connected with a rotating shaft of the cleaning driving motor 303, before the overturning driving motor 203 acts, the cleaning driving motor 303 is started, the cleaning sheet 304 rotates for an angle, and therefore the cleaning sheet 304 leaves the insulator, and therefore the load of the overturning driving motor 203 can be reduced.

While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited to the details of the embodiments shown, but is capable of various modifications and substitutions without departing from the spirit of the invention.