CN106623272B - A kind of sub- dry ice cleaner device of charged insulating - Google Patents

Abstract

The invention discloses a live insulator dry ice blasting machine device, which comprises a cleaning module, and an upper plate, a middle plate and a bottom plate which are sequentially connected by a sliding mechanism, the middle plate can slide along the Y-axis direction relative to the bottom plate, and the upper plate can slide relative to the middle plate The plate slides along the X-axis direction, and the cleaning module is hinged with the front end of the upper plate through a pin shaft. The cleaning module includes a gear ring and an annular base plate. The annular base plate is provided with an annular track groove, and the bottom of the gear ring is provided with an arc that matches the annular track groove. The side of the gear ring is provided with a ring rack, and the ring base is provided with a Z-axis rotation gear and a Z-axis rotation servo motor that engage with the ring rack. The gear ring and the ring base form an annular space capable of accommodating insulators. The ring is equipped with multiple dry ice nozzles facing the insulators. The invention solves the problem of difficulty in cleaning the insulator when it is charged in the prior art, and the device has good safety, high cleaning efficiency and stable performance.

Description

A live insulator dry ice cleaning machine device

technical field

The invention relates to an insulator cleaning device, in particular to a live insulator dry ice cleaning machine device.

Background technique

With the rapid development of industry and agriculture, in the field of electric energy, users have higher and higher requirements for power supply reliability. At the same time, industrial pollution and environmental problems are becoming more and more serious. Under natural conditions, the insulators of power equipment are affected by atmospheric environments such as SO ₂ , nitrogen oxides, and granular dust, and a layer of dirt is gradually deposited on the surface. When encountering humid weather such as fog, dew, drizzle, melting ice and snow, the dirt on the surface of the insulator absorbs water, which dissolves and ionizes the electrolyte in the dirty layer, resulting in an increase in the conductivity of the dirty layer. Under the action of the equipment operating voltage, The surface leakage current of the insulator will increase, resulting in partial discharge, which will continue to occur and develop, and when it reaches or exceeds the critical state, it will develop into an arc flashover, that is, a pollution flashover accident. The occurrence of pollution flashover is often caused by multiple lines and multiple substations appearing one after another, resulting in system oscillation, resulting in large-scale power outages in the power grid. According to statistics, the power loss caused by pollution flashover accidents in my country is about 9.3 times that of lightning accidents, and it is as high as 8 times even in developed countries. Power outages caused by general pollution flashover accidents can lose hundreds of thousands to several million KWh of electricity, and long-term and large-scale power outages can cause losses of up to tens of millions of KWh, while sudden long-term power outages caused by pollution flashover accidents The indirect losses caused to the national economy are even more inestimable.

For insulators in operation, strengthening online inspection, regular maintenance and cleaning are the basic and effective means to prevent pollution flashover. Cleaning can improve the service life of power facilities, prolong the operating time of equipment, reduce maintenance costs and operating costs, reduce accidents, and improve economic and social benefits of enterprises. In the initial stage of anti-pollution flashover work, the method of manually cleaning insulators during power outages was widely used at home and abroad. However, with the rapid development of the power system, the number of transmission lines has increased greatly, the voltage level has become higher and higher, and the pollution has become increasingly serious. The limitations of manual cleaning Sex is also becoming more apparent. Manual cleaning during a power outage is a heavy, dangerous and inefficient job for substation operation and maintenance personnel. Not only is the cleaning workload too heavy, the personal working conditions are also extremely difficult, the reliability is not high, and the health of the cleaning workers is affected by the high-pressure environment. Impact. On the other hand, power outage cleaning will also affect the normal production and life of the society, and also affect the economic benefits of the power supply enterprise itself.

Therefore, in the field of electric energy, the development of relevant equipment for substation live insulator cleaning operations has become a problem that engineers pay close attention to. At present, live insulators are washed with water and cleaning robots use brushes to clean them. The former uses specially treated pure water to flush the insulators, while the latter uses a robot carrying a brush to remove the dirt on the live insulator by friction between the brush and the surface of the insulator. For the first method, the prepared water is required to be absolutely pure and non-conductive, so the cost is high and the environment is polluted. The latter is often prone to damage the surface of the insulator due to the friction between the robot brush and the insulator. Limited to these factors, it is difficult to popularize and use the insulator decontamination method of live insulator water washing and cleaning robot.

Contents of the invention

Aiming at the status quo of insulator cleaning engineering in the field of electric energy, after careful and in-depth research, this invention proposes a safe and feasible dry ice cleaning robot for live insulators in substations. The robot can clean insulators when the insulators are charged with high voltage. . The robot can solve the problems of manual cleaning requiring power outages, low efficiency, high cost of washing live insulators with water, polluting the environment, and easy damage to insulators by cleaning robots. The dry ice cleaning robot for live insulators in substations uses dry ice particles as the medium, accelerates in the high-pressure airflow, and then sprays them onto the surface of the insulator through two dry ice nozzles. The dirt layer on the surface of the insulator is peeled off, and the expanded _CO2 gas produced by sublimation makes the peeled dirt off the insulator, thereby achieving the purpose of cleaning the insulator. The developed live insulator dry ice cleaning robot can well realize the live cleaning of substation insulators in the field of electric energy, avoid the occurrence of pollution flashover in substations, and improve the reliability of the power supply system.

In order to solve the above technical problems, the technical solutions adopted in this law are:

A live insulator dry ice blasting machine device is characterized in that: it includes a cleaning module, and an upper plate, a middle plate and a bottom plate that are sequentially connected by a sliding mechanism; the middle plate can slide along the Y-axis direction relative to the bottom plate, and the The upper plate can slide along the X-axis direction relative to the middle plate, the cleaning module is hinged to the front end of the upper plate through pin shafts, and the cleaning module can rotate around the Y-axis relative to the plane of the upper plate;

The cleaning module includes a gear ring and an annular base plate. Both the gear ring and the annular base plate are circular rings with a gap on one side. The annular base plate is provided with an annular track groove, and the bottom of the gear ring is provided with a The arc-shaped slider, the side of the gear ring is provided with a ring rack, the ring base plate is provided with a Z-axis rotating gear that engages with the ring rack and a Z-axis rotating servo motor that drives the Z-axis rotating gear to rotate, and the gear ring is in the Z The shaft rotating gear and the ring rack can rotate around the Z axis relative to the ring base plate under engagement. The gear ring and the ring base plate form an annular space capable of accommodating insulators. The gear ring is provided with a plurality of dry ice spray heads facing the insulators.

As a preference, the annular base plate of the cleaning module is hinged to the front end of the upper plate through a pin shaft, the pin shaft is provided with a fixedly connected driven synchronous pulley, and the upper plate is provided with a driving synchronous pulley and a driving driving synchronous pulley The Y-axis rotates the servo motor, and the driven synchronous pulley and the driving synchronous pulley are connected by a synchronous belt.

Preferably, the sliding mechanism between the upper board and the middle board includes an X-axis traveling guide rail and an X-axis traveling slider that cooperate with each other, and the X-axis traveling guide rail is arranged on the upper surface of the middle board along the X-axis direction, and the X The axis travel slider is arranged at the bottom of the upper plate, and the X-axis travel rack along the X-axis direction is fixed on one side of the middle plate, and the X-axis travel gear and the drive X-axis travel The gear rotates the X-axis travel servo motor.

Preferably, the sliding mechanism between the middle board and the bottom board includes a Y-axis running guide rail and a Y-axis running slider that cooperate with each other, and the Y-axis running guide rail is arranged on the upper surface of the bottom board along the Y-axis direction, and the Y The axis travel slider is arranged at the bottom of the middle plate, and the end of the bottom plate is fixed with a Y-axis travel rack along the Y-axis direction, and the middle plate is provided with a Y-axis travel gear and a driving Y-axis travel gear that engage with the Y-axis travel rack. Rotating Y-axis travel servo motor.

Preferably, a plurality of evenly distributed position-limiting guide posts are provided on the ring-shaped base plate along both sides of the gear ring, and the position-limiting guide posts are all connected to the ring base plate through rotating shafts. During the sliding process of the gear ring in the ring-shaped track groove, The position-limiting guide column can rotate by itself while limiting the position.

Preferably, both the annular base plate and the gear ring are 120-270 radian rings, and the number of dry ice spray nozzles on the gear ring is evenly distributed and there are 2-4.

The beneficial effects of the present invention are:

The robot moves flexibly in space and is easy to adjust. In view of engineering practice, where insulators have various forms and complex working conditions, the robot can control the position and attitude of the dry ice nozzle in space by adjusting the movement of each servo motor when the robot is working. , the dry ice particles are sprayed on the insulator at high speed, and the dry ice particles sublimate rapidly after contacting the insulator, resulting in a large local temperature difference. The action of thermal expansion and contraction makes the dirt layer on the surface of the insulator peel off, and the expanded CO ₂ gas produced by sublimation makes the peeling off The dirt from the insulator is separated from the insulator, so as to achieve the purpose of cleaning the insulator, and during the cleaning process, the dry ice nozzle can rotate around the insulator, which is beneficial to cleaning all dead corners of the insulator.

Description of drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Figure 2 is a schematic diagram of the structure of the upper plate.

Figure 3 is a schematic diagram of the structure of the middle plate.

Figure 4 is a schematic diagram of the structure of the bottom plate.

In the figure, 1-upper plate, 2-middle plate, 3-bottom plate, 4-annular base plate, 5-gear ring, 6-dry ice nozzle, 7-Z-axis rotating gear, 8-Z-axis rotating servo motor, 9- Limit guide column, 10-driven synchronous pulley, 11-synchronous belt, 12-active synchronous pulley, 13-Y-axis rotary servo motor, 14-X-axis travel servo motor, 15-X-axis travel gear, 16- Ring track groove, 17-X-axis travel slider, 18-Y-axis travel gear, 19-Y-axis travel servo motor, 20-ring rack, 21-X-axis travel rack, 22-X-axis travel guide rail, 23- Y-axis travel slider, 24-arc slider, 25-Y-axis travel guide rail, 26-Y-axis travel rack.

Detailed ways

The present invention is illustrated below in conjunction with the accompanying drawings.

A live insulator dry ice cleaning machine device of the present invention used for substation insulators is flexible in movement, and has movement in the directions of the X axis and the Y axis, and rotation in the directions of the Z axis and the Y axis. In Fig. 1, X, Y, Z, and arrows are respectively Represents the X-axis, Y-axis and Z-axis directions.

As shown in Fig. 1, it is a structural schematic diagram of a live insulator dry ice blasting machine device according to the present invention.

The live insulator dry ice blasting machine device can be divided into three layers as shown in the upper plate 1, the middle plate 2 and the bottom plate 3.

As shown in Figure 2, it is a schematic structural diagram of the upper plate 1 of the live insulator dry ice cleaning machine device. The front end of the upper plate 1 is provided with an annular base plate 4 hinged and connected by a pin shaft. The annular base plate 4 is provided with an annular track groove 16. The shape and radian are the same as that of the annular base plate 4. The gear ring 5 is an arc ring with a ring rack 20 on the outside. The bottom of the gear ring 5 is provided with an arc-shaped slider 24 that matches the annular track groove 16. 4 is provided with the Z-axis rotation gear 7 engaged with the ring rack 20 and the Z-axis rotation servo motor 8 that drives the Z-axis rotation gear 7 to rotate, and the gear ring 5 can be relatively The annular base plate 4 rotates around the Z axis, the gear ring 5 and the annular base plate 4 form an annular space capable of accommodating insulators, and the gear ring 5 is provided with two dry ice spray heads 6 facing the insulators. In this implementation, the gear ring 5 and the The annular substrates 4 are all 270-degree arc rings.

The pin shaft connecting the upper plate 1 and the annular base plate 4 is provided with a fixedly connected driven synchronous pulley 10, and the upper plate 1 is provided with a driving synchronous pulley 12 and a Y-axis rotating servo motor 13 for driving the driving synchronous pulley 12 to rotate. , the driven synchronous pulley 10 and the active synchronous pulley 12 are connected through the synchronous belt 11, the Y-axis rotation servo motor 13 is driven by a pair of bevel gears and the active synchronous pulley 12, and the active synchronization is driven by the Y-axis rotation servo motor 13 The pulley 12 rotates, and the driving synchronous pulley 12 drives the driven synchronous pulley 10 to rotate, thereby driving the annular base plate 4 installed with the dry ice nozzle 6 to rotate relative to the middle plate 2 along the Y-axis direction.

As shown in Figures 2 and 3, the upper surface of the middle plate 2 is provided with an X-axis travel guide rail 22 along the X-axis direction, and an X-axis travel slider that cooperates with the X-axis travel guide rail 22 is provided along the bottom of the upper deck 1 17. The X-axis travel rack 21 along the X-axis direction is fixedly installed on one side of the middle plate 2, and the X-axis travel gear 15 that engages with the X-axis travel rack 21 is installed on the upper board 1 and drives the X-axis travel gear 15 to rotate. The X-axis travel servo motor 14, the X-axis travel gear 15 is fixedly connected to the output end of the X-axis travel servo motor 14, and the X-axis travel gear 15 is driven by the X-axis travel servo motor 14 to rotate, thereby driving the upper plate 1 to move along the middle plate 2 Move in the X-axis direction.

As shown in Figure 1, Figure 2 and Figure 3, the upper surface of the bottom plate 3 is provided with a Y-axis running guide rail 25 along the Y-axis direction, and the bottom of the middle plate 2 is provided with a Y-axis running guide rail 25 matched with the Y-axis Walking slider 23, the bottom plate 3 tail end is provided with the Y-axis traveling rack 26 along the Y-axis direction, and the middle plate 2 is provided with the Y-axis traveling gear 18 and the driving Y-axis traveling gear engaged with the Y-axis traveling rack 26 18 rotates the Y-axis travel servo motor 19, the Y-axis travel gear 18 is fixedly connected to the output end of the Y-axis travel servo motor 19, the Y-axis travel servo motor 19 drives the Y-axis travel gear 18 to rotate, thereby driving the middle plate 2 to the bottom plate 3 Move along the Y-axis direction.

Along the annular base plate 4 on both sides of the gear ring 5, a plurality of evenly distributed position-limiting guide columns 9 are respectively provided. During the middle sliding process, the position-limiting guide post 9 can rotate itself while position-limiting.

During the cleaning process, the dry ice blasting machine device is pushed to a high place by an external lifting platform, and the dry ice blasting machine device adjusts the ring-shaped base plate 4 with the dry ice spray head 6 in the X position by controlling the X-axis travel servo motor 14 and the Y-axis travel servo motor 19 . Axis and Y-axis directions, thereby adjusting the position of the dry ice spray head 6, so that the dry ice spray head 6 is aligned with the insulator to be cleaned, and then sprays dry ice particles to the insulator. During the cleaning process, the gear ring 5 is driven by the Y-axis rotation servo motor 13. 4. Rotate along the Z-axis direction, and the dry ice spray head 6 is driven by the gear ring 5 to rotate around the insulator, so that all positions of the insulator can be effectively cleaned.

During the working process, by controlling the movement of each degree of freedom of the charged insulator dry ice cleaning device of the present invention, the cleaning module of the charged insulator dry ice cleaning device reaches a suitable position, and the granular dry ice is sprayed on the surface of the insulator at high speed through the dry ice nozzle, The dry ice particles hit the dirt surface, and during the impact process, they act as a low-temperature (about -78.5°C) medium and produce a thermal effect on the dirt surface to be cleaned, destroying the integrity of the dirt on the surface. The solid dry ice is sublimated into carbon dioxide gas, and the volume of carbon dioxide expands 800 times instantaneously, which makes the dirt fall off the surface to be cleaned. Compared with other materials, the hardness of dry ice particles is lower, and the dependence is strong during the cleaning process. The sublimation of dry ice will take away the dirt and achieve the purpose of cleaning.

Claims (5)

1. a kind of sub- dry ice cleaner device of charged insulating, it is characterised in that: including cleaning module, and pass sequentially through skate machine Structure connected top plate, middle plate and bottom plate；The middle plate can slide along the y axis relative to bottom plate, it is described on Laminate can be slided relative to middle plate along X-direction, and the cleaning module is hinged and connected with upper layer front edge of board by pin shaft, Cleaning module can be rotated relative to top plate plane around Y-axis；

The cleaning module includes gear ring and annular base plate, and the gear ring and annular base plate are to open circle jaggy on one side Ring, the annular base plate are equipped with circular orbit slot, and gear ring bottom is equipped with the arc shaped slider matched with circular orbit slot, tooth Torus side is equipped with a circle annular rack, and the annular base plate is equipped with the Z axis rotation gear and driving Z axis being engaged with annular rack The Z axis rotating servo motor of gear rotation is rotated, gear ring can be relative to ring in the case where Z axis rotates gear and annular rack occlusion Shape substrate rotates about the z axis, and gear ring and annular base plate form the annular space for capableing of housing insulation, on the gear ring Dry ice spray head equipped with multiple opposite insulators；

The annular base plate of the cleaning module and upper layer front edge of board are hinged by pin shaft, the pin shaft be equipped be fixedly linked from Dynamic synchronous pulley, top plate are equipped with active synchronization belt wheel and drive the Y-axis rotating servo motor of active synchronization belt wheel, it is described from Dynamic synchronous pulley is connected with active synchronization belt wheel by synchronous belt.

2. the sub- dry ice cleaner device of a kind of charged insulating according to claim 1, it is characterised in that: the top plate is in Sliding equipment between laminate includes mutually matched X-axis walking guide rail and X-axis walking sliding block, and the X-axis walking guide rail is along X-axis Direction is set to middle plate upper surface, and the X-axis walking sliding block is set to top plate bottom, and middle plate side is fixed with along X-axis side To X-axis walking rack, top plate is equipped with the X-axis walking gear that be engaged with X-axis walking rack and X-axis walking gear driven to revolve The X-axis walking servo motor turned.

3. the sub- dry ice cleaner device of a kind of charged insulating according to claim 2, it is characterised in that: the middle plate and bottom Sliding equipment between laminate includes mutually matched Y-axis walking guide rail and Y-axis walking sliding block, and the Y-axis walking guide rail is along Y-axis Direction is set to bottom plate upper surface, and the Y-axis walking sliding block is set to middle plate bottom, and bottom plate tail end is fixed with along Y-axis side To Y-axis walking rack, middle plate is equipped with the Y-axis walking gear that be engaged with Y-axis walking rack and Y-axis walking gear driven to revolve The Y-axis walking servo motor turned.

4. according to claim 1 to a kind of sub- dry ice cleaner device of charged insulating described in 3 any one, it is characterised in that: edge The annular base plates of gear ring two sides be equipped with multiple equally distributed limition orientation columns, the limition orientation column passes through shaft It is connected with annular base plate, in circular orbit slot in sliding process, limition orientation column itself can revolve gear ring simultaneously in limit Turn.

5. the sub- dry ice cleaner device of a kind of charged insulating according to claim 4, it is characterised in that: the annular base plate and Gear ring is 120-270 radian ring, and the dry ice spray head on the gear ring is uniformly distributed and quantity has 2-4.