CN100413605C - Two-stage lifting superhigh voltage hot-line cleaning robot - Google Patents
Two-stage lifting superhigh voltage hot-line cleaning robot Download PDFInfo
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- CN100413605C CN100413605C CNB2005101106682A CN200510110668A CN100413605C CN 100413605 C CN100413605 C CN 100413605C CN B2005101106682 A CNB2005101106682 A CN B2005101106682A CN 200510110668 A CN200510110668 A CN 200510110668A CN 100413605 C CN100413605 C CN 100413605C
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Abstract
The present invention relates to a double-stage lifting superhigh voltage electrification cleaning robot in a robot field, wherein a cleaning hand claw is connected to a cleaning arm through a movable joint of the hand claw, the cleaning arm and an insulating platform are directly fixed on a fork frame of an upper stage, and the fork frame of the upper stage and a fork frame of a lower stage are fixed together through a connecting platform of the fork frame and realize vertical lifting movement respectively through the expansion of an insulating lift cylinder of the upper stage and a lift cylinder of the lower stage. The fork frame of the lower stage is fixed on a mobile plafform of the fork frame, a horizontally mobile orbit of a lifting mechanism is fixed on a slewing plaftorm fixed on a mobile vehicle provided with a hydraulic automatic leveling system, and a cloud platform is fixed on the mobile plafform of the fork frame. A central control system conducts data interchange through a radio and remote control operation terminal so as to complete the robot's remote control work. The present invention has the advantages of high automation, simple structure, light weight and high precision, can accurately complete the localization of the cleaning hand claw, and the mistake touch of an insulating porcelain bottle is avoided.
Description
Technical field
The present invention relates to the Robotics field, specifically, is a kind of two-stage lifting superhigh voltage hot-line cleaning robot.
Background technology
China's power department requires the external insulation of transmission line of electricity and transformer station in atmospheric over-voltage, the equal down energy reliability service of internal overvoltage and long-time running voltage, but be deposited on the lip-deep solid of porcelain insulator, the filthy particulate of liquids and gases is at mist, reveal, drizzle, ice-melt, effect down in the time of bad weather conditions such as snow melt, to the electrical strength of porcelain insulator be reduced greatly, thereby make the external insulation of transmission line of electricity and transformer station not only under superpotential effect, flashover take place, more frequent is under long-time running voltage pollution flashover to take place, and when the equipment pollution flashover, the reclosing success rate is very low, often causes large-area power-cuts.The powerful electric arc of being followed in the pollution flashover also often causes electrical equipment to damage, and power off time is prolonged.The fast development that flies along with China's industrial and agricultural production, air environmental pollution is on the rise, the pollution level of porcelain insulator increasingly sharpens, the transmission voltage grade is improving constantly again simultaneously, the distribution of electrical network is also more and more wide, the grid equipment external insulation pollution flashover fault that causes is thus uprushed thereupon, and catastrophic electric grid large area pollution flashover accident the safe operation of serious threat power system again and again takes place in the whole nation in a big way.
Through the literature search of prior art is found, Chinese patent application number is: 01126817.4, and denomination of invention is: " type super high voltage live cleaning robot ".This robot automation's degree height has solved the maloperation problem that manually-operated efficient is hanged down and may be occurred; Multivariant robot system has working space flexibly, can clean the porcelain insulator of various attitudes, locomotive has solved the transportation problem of field work as the carrier of robot, hydraulic pressure automatic horizontal regulating system has been eliminated the position error that uneven ground causes.But, in the middle of the application of reality, this robot shows the some shortcomings part: 1. scissor-type lifting mechanism adopts the single-stage up-down mode, and overall structure weight is big, make that like this operating pressure of insulation elevating ram is very big, increased design of insulation oil cylinder and manufacture difficulty.On the other hand, the relation of adjustable height and complete machine insulation can't be adjusted.2. the horizontal stretching motion mechanism of cleaning arm is placed on the robot top insulated platform, so the most parts in this mechanism will have good insulating properties, and this has increased design and manufacture difficulty and cost greatly.
Summary of the invention
The present invention is directed to problems of the prior art, a kind of two-stage lifting superhigh voltage hot-line cleaning robot is provided, make its automaticity height, simple in structure, in light weight, reduced cost, also improved the integral insulation performance of robot and the control accuracy of horizontal movement simultaneously.
The present invention is achieved by the following technical solutions, the present invention includes: locomotive, revolving dial, elevating mechanism move horizontally track, subordinate's crotch, subordinate's elevating ram, crotch connection platform, higher level's crotch, go up class B insulation elevating ram, insulated platform, cleaning arm, paw turning joint, clean-up paw, hydraulic pressure automatic horizontal control system, The Cloud Terrace, central control system and distant operating terminal.Connected mode is: clean-up paw is connected on the cleaning arm by paw turning joint, cleaning arm and insulated platform directly are fixed on higher level's crotch, higher level's crotch is connected platform with the subordinate crotch by crotch and is fixed together, higher level and subordinate's crotch are realized vertical displacement movement respectively by elevating ram separately, subordinate's crotch can move horizontally on the track at elevating mechanism and move, elevating mechanism moves horizontally track and is fixed on the revolving dial, can make two-stage elevating mechanism and cleaning arm realize ± 180 ° horizontal rotation, revolving dial is fixed on the travelling car, travelling car is provided with the hydraulic pressure automatic horizontal control system, travelling car is carried out automatic horizontal regulates according to being installed in signal that the X-Y dipmeter on the revolving dial passes back by central control system.Central control system is carried out exchanges data by wireless telecommunications and distant operating terminal, to finish the remote operation of robot.
The present invention has the carriage mechanism of two-stage up and down that can distinguish independent control lifting, and the physical dimension of higher level's crotch is less than subordinate's crotch, alleviated overall weight, improved the reliability of last class B insulation elevating ram, simultaneously, can control two-stage adjustable height up and down respectively, help the adjustment of total adjustable height and complete machine insulation relation; Adopt the regular length cleaning arm above the robot, and horizontal stretching motion mechanism design is passed through below the height in electric substation's safety, horizontal like this stretching motion mechanism does not just need insulating requirements, simplified cleaning arm structure, lowered weight and cost, also improved the integral insulation performance of robot and the control accuracy of horizontal movement simultaneously.
Automaticity height of the present invention, simple in structure, in light weight, integral insulation performance when the stage type elevating mechanism can make full use of its higher level's all insulation section when operation elevating movement has improved robot manipulating task, horizontal stretching motion mechanism structure and control are simple, the precision height, the location that can accurately finish clean-up paw has avoided the mistake of porcelain insulator to bump
Description of drawings
Fig. 1 structural representation of the present invention
The specific embodiment
As shown in Figure 1, the present invention includes: hydraulic pressure automatic horizontal control system 1, locomotive 2, revolving dial 3, elevating mechanism move horizontally track 4, crotch mobile platform 5, subordinate's crotch 6, subordinate's elevating ram 7, crotch connection platform 8, higher level's crotch 9, go up class B insulation elevating ram 10, insulated platform 11, cleaning arm 12, paw turning joint 13, clean-up paw 14, The Cloud Terrace 15, central control system 16, distant operating terminal 17.Annexation is: clean-up paw 14 is connected on the cleaning arm 12 by paw turning joint 13, cleaning arm 12 and insulated platform 11 directly are fixed on higher level's crotch 9, higher level's crotch 9 is connected platform 8 with subordinate crotch 6 by crotch and is fixed together, the superior and the subordinate's crotch 9,6 respectively by last class B insulation elevating ram 10, the flexible realization vertical displacement movement of subordinate's elevating ram 7, subordinate's crotch 6 is fixed on the crotch mobile platform 5, elevating mechanism moves horizontally track 4 and is fixed on the revolving dial 3, revolving dial 3 is fixed on the locomotive 2, locomotive 2 is provided with hydraulic pressure automatic horizontal control system 1, The Cloud Terrace 15 is fixed on the crotch mobile platform 5, central control system 16 is carried out exchanges data by wireless telecommunications and distant operating terminal 17, to finish the remote operation of robot.
Higher level's crotch 9 reaches upward, and class B insulation elevating ram 10 all adopts insulating materials to process.
The superior and the subordinate's crotch 9,6 and cleaning arm 12 can move horizontally on the track 4 at elevating mechanism and make horizontal rectilinear motion.The physical dimension of higher level's crotch 9 is less than subordinate's crotch 6.
Elevating mechanism moves horizontally track 4, revolving dial 3 can be realized ± 180 ° horizontal rotation.
The Cloud Terrace 15, crotch mobile platform 5 are realized ± 180 ° horizontal rotation together along with revolving dial 3.
During work, make locomotive 2 be accommodated to setting earlier, then by hydraulic pressure automatic horizontal control system 1 level machine people; After finishing, leveling can realize that by revolving dial 3 horizontal rotation of the superior and the subordinate's elevating mechanism 9,6 and cleaning arm 11 is to finish the centering of porcelain insulator; After centering is finished, rise higher level's crotch 9 earlier by last class B insulation elevating ram 10, the all insulation section height that makes full use of higher level's crotch 9 rises subordinate's crotch 6 by subordinate's elevating ram 7 again and remedies to improve the integral insulation performance of robot when the cleaning work when the cleaning insufficient height; After being raised to operation height, can realize moving horizontally of the superior and the subordinate's elevating mechanism 9,6 and cleaning arm 11 in the horizontal movement that elevating mechanism moves horizontally on the track 4 with cleaning different distance porcelain insulator at a distance by crotch mobile platform 5.Distant operating terminal carries out exchanges data by wireless telecommunications and central control system, realizes the automatic/hand cleaning operation of robot.
Claims (7)
1. two-stage lifting superhigh voltage hot-line cleaning robot, comprise: hydraulic pressure automatic horizontal control system (1), locomotive (2), revolving dial (3), elevating mechanism moves horizontally track (4), crotch mobile platform (5), subordinate's crotch (6), subordinate's elevating ram (7), crotch connects platform (8), higher level's crotch (9), last class B insulation elevating ram (10), insulated platform (11), cleaning arm (12), paw turning joint (13), clean-up paw (14), The Cloud Terrace (15), central control system (16) and distant operating terminal (17), it is characterized in that, clean-up paw (14) is connected on the cleaning arm (12) by paw turning joint (13), clean-up paw (14) can be rotated at the center that encircles around clean-up paw (14) in horizontal plane, cleaning arm (12) and insulated platform (11) directly are fixed on higher level's crotch (9), higher level's crotch (9) is connected platform (8) with subordinate's crotch (6) by crotch and is fixed together, the superior and the subordinate's crotch (9,6) respectively by last class B insulation elevating ram (10), the flexible realization vertical displacement movement of subordinate's elevating ram (7), subordinate's crotch (6) is fixed on the crotch mobile platform (5), crotch mobile platform (5) can go up move to realize moving horizontally of whole double-deck crotch and clean-up paw (14) moving horizontally track (4), elevating mechanism moves horizontally track (4) and is fixed on the revolving dial (3), revolving dial (3) is fixed on the locomotive (2), locomotive (2) is provided with hydraulic pressure automatic horizontal control system (1), The Cloud Terrace (15) is fixed on the crotch mobile platform (5), central control system (16) is carried out exchanges data by wireless telecommunications and distant operating terminal (17), to finish the remote operation of robot.
2. two-stage lifting superhigh voltage hot-line cleaning robot according to claim 1 is characterized in that, higher level's crotch (9) and last class B insulation elevating ram (10) all adopt insulating materials to process.
3. two-stage lifting superhigh voltage hot-line cleaning robot according to claim 1 is characterized in that, the superior and the subordinate's crotch (9,6) and cleaning arm (12) can move horizontally on the track (4) at elevating mechanism and make horizontal rectilinear motion.
4. according to claim 1 or 3 described two-stage lifting superhigh voltage hot-line cleaning robots, it is characterized in that the physical dimension of higher level's crotch (9) is less than subordinate's crotch (6).
5. two-stage lifting superhigh voltage hot-line cleaning robot according to claim 1 is characterized in that, elevating mechanism moves horizontally track (4) and revolving dial (3) can be realized ± 180 ° horizontal rotation.
6. two-stage lifting superhigh voltage hot-line cleaning robot according to claim 1 is characterized in that, central control system (16) is carried out automatic horizontal to locomotive and regulated according to being arranged on signal that the X-Y dipmeter on the revolving dial (3) passes back.
7. two-stage lifting superhigh voltage hot-line cleaning robot according to claim 1 is characterized in that, The Cloud Terrace (15) and crotch mobile platform (5) are realized ± 180 ° horizontal rotation together along with revolving dial (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101106682A CN100413605C (en) | 2005-11-24 | 2005-11-24 | Two-stage lifting superhigh voltage hot-line cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101106682A CN100413605C (en) | 2005-11-24 | 2005-11-24 | Two-stage lifting superhigh voltage hot-line cleaning robot |
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| CN1775381A CN1775381A (en) | 2006-05-24 |
| CN100413605C true CN100413605C (en) | 2008-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2005101106682A Expired - Fee Related CN100413605C (en) | 2005-11-24 | 2005-11-24 | Two-stage lifting superhigh voltage hot-line cleaning robot |
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