CN103056866B - Transformer station's hot line robot - Google Patents
Transformer station's hot line robot Download PDFInfo
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- CN103056866B CN103056866B CN201310033165.4A CN201310033165A CN103056866B CN 103056866 B CN103056866 B CN 103056866B CN 201310033165 A CN201310033165 A CN 201310033165A CN 103056866 B CN103056866 B CN 103056866B
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- 210000000245 forearm Anatomy 0.000 claims description 30
- 230000033001 locomotion Effects 0.000 claims description 25
- 210000000707 wrist Anatomy 0.000 claims description 15
- 230000003028 elevating effect Effects 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 6
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- 229910000838 Al alloy Inorganic materials 0.000 claims description 4
- 229910000737 Duralumin Inorganic materials 0.000 claims description 4
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- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
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Abstract
The present invention relates to a kind of transformer station hot line robot, control system all carries out signal transmission by wireless, thus improves the handling safety performance of operating personnel.It comprises working machine and Remote command car, working machine is primarily of dynamical system, executing agency, hydraulic control system and control system composition, executing agency is formed primarily of walking mechanism, revolving dial, the hoistable platform of more piece insulation arm composition, six-freedom hydraulic mechanical arm, revolving dial is arranged in walking mechanism, hoistable platform is connected with revolving dial, and six-freedom hydraulic mechanical arm is connected with hoistable platform; Hydraulic control system comprises hydraulic pump, it is connected with dynamical system, hydraulic pump is also connected with the fuel tank in walking mechanism, hydraulic pump by distributing valve respectively with bottom solenoid directional control valve A group, central crossover sub, upper dress solenoid directional control valve B group, mechanical arm hydraulic efficiency servo-valve C group and respectively save insulation arm and drive oil cylinder and rotation motor to be connected.
Description
Technical field
The present invention relates to a kind of robot for high-voltage hot-line work, particularly relate to transformer station's hot line robot that 220kV operating environment needs.
Background technology
Livewire work is the important means of power equipment test, maintenance, transformation, and it, for improving power supply reliability, reduces loss of outage, ensures that power grid security has made tremendous contribution.Livewire work requires very strict to the technical merit of operating personnel and qualification, weather conditions, safety protective tools etc.Owing to worrying potential safety hazard, lack suitable personal safe protection's apparatus and livewire work technical training inadequate etc., some areas limit transformer station's livewire work content, cause transformer station's power failure operation frequent, defeated, distribution reliability index can not complete, thus bring very large economic loss to electric power enterprise, bring very large inconvenience to people's lives and production.
The cleaning of current large-scale substation charging equipment sleeve pipe and cleaning, the spraying of equipment RTV antifouling work material, the sub-zero value detection of charged insulating, isolating switch eliminate rust and the equal operating personnel of field operation task such as to protect and use original tool manually to complete, and there is following defect:
1, substation equipment is owing to staying open air, and fill the air the filthy and natural filth of industry in air and be easily deposited on equipment surface and form pollution layer, these dunghills are subject to the infringement such as mist, light rain, very easily cause pollution flashover accident.
2, the work such as spraying of the manual charged finishing equipment sleeve pipe cleaning of operating personnel and cleaning, equipment RTV antifouling work material, labour intensity is very big, and efficiency is low, and automatization level is low.
3, artificial live-working safety protects, covers requirement very strictly, does not slightly note just there will be short circuit current, causes great security incident, cause human casualty accident.
Artificial livewire work has its difficulty and limitation, therefore utilizes to have stronger security and adaptive robot and replace manually carrying out high-risk environment livewire work being very necessary, meets research.
The patent of applicant's application: ZL200510022502.5 once disclosed a kind of robot for disassembling work, is characterized in that the rotary support on power-actuated hydraulic crawler excavator chassis being installed the equipment become except head group with hydraulic detachment by three arm four hydraulic jacks.When high-risk, high dangerous site environment operation, operating personnel are positioned at safety zone, and straighforward operation makes hydraulic detachment remove head to complete dismounting and to get rid of the danger work.Owing to adopting driven by power, must be connected with operation field power supply by power cable, when robot for disassembling work walking or work, power cable will drag after working machine, as easy as rolling off a log cause power cable to be stuck in below robot for disassembling work walking mechanism or with neighbouring object tangle up.In addition, adopt direct power taking type of drive, whether working site has power supply supply also directly limits this robot for disassembling work and applies under complex environment in the wild.Robot for disassembling work complete machine metal material, does not adopt any insulating protection, and operator can not carry out livewire work by its jacking system, and therefore this robot for disassembling work cannot be applied to the livewire work of substation equipment.
Summary of the invention
Object of the present invention is exactly not enough for solving above-mentioned prior art, solve that existing transformer station artificial livewire work labour intensity is large, operating efficiency and automatization level low, there is potential safety hazard, easily cause the problems such as human casualty accident, a kind of Novel transformer substation hot line robot is provided, replace manually completing the cleaning of substation live-line equipment sleeve pipe to eliminate rust protect charged job task with cleaning, the spraying of equipment RTV antifouling work material, the sub-zero value detection of charged insulating, isolating switch, improve the handling safety performance of operating personnel.
To achieve these goals, the present invention adopts following technical scheme:
A kind of transformer station hot line robot, it comprises working machine and Remote command car, working machine is primarily of dynamical system, executing agency, hydraulic control system and control system composition, wherein executing agency is formed primarily of walking mechanism, revolving dial, the hoistable platform of more piece insulation arm composition, six-freedom hydraulic mechanical arm, revolving dial is arranged in walking mechanism, the hoistable platform of more piece insulation arm composition is connected with revolving dial, and the hoistable platform that six-freedom hydraulic mechanical arm forms with more piece insulation arm is connected; Hydraulic control system comprises hydraulic pump, it is connected with dynamical system, hydraulic pump is also connected with the fuel tank in walking mechanism, hydraulic pump respectively with bottom solenoid directional control valve A group, central crossover sub, upper dress solenoid directional control valve B group, mechanical arm hydraulic efficiency servo-valve C group and respectively save insulation arm and drive oil cylinder and rotation motor to be connected, thus drives the action of whole executing agency by distributing valve; Control system adopts master-slave control type, operator is positioned at Remote command car driver's cabin, motions such as being advanced by car joystick control command car of commanding behind the scenes as master control side, retreat, turn to, again by working machine joystick wireless remote control carry out working machine move and elevating mechanism, video monitoring, live line tool etc. from the control of prosecutor, and by mechanical arm operation attitude on image display panel Real Time Observation working machine, manipulate main hand Remote mechanical arm clamping special equipment or instrument completes transformer station's livewire work task.
Described walking mechanism adopts crawler-type mobile chassis structure, primarily of chassis, track frame, left and right running motor, driving wheel, BOGEY WHEEL, crawler belt, four hydraulic leg compositions of tension buffer device and both sides, left, right running motor, left side landing leg hydraulic cylinder I, left side landing leg hydraulic cylinder II, right side landing leg hydraulic cylinder I, right side landing leg hydraulic cylinder II is all connected with hydraulic pump by bottom solenoid directional control valve A group, joystick drives left by bottom solenoid directional control valve A group, right running motor, when two crawler belt speeds of service are identical, robot realizes advancing or setback, when two crawler track speeds are different, robot realizes divertical motion, chassis is provided with dynamical system, revolving dial and fuel tank, revolving dial is also provided with state display, the state instructions such as, oil level, oil pressure, power supply spacing for servo valve, joint.
Described revolving dial is connected with chassis by pivoting support, and under rotary motor drives, implementation platform and the 360 ° of continuous rotary motions of attached each parts thereof, rotary motor is connected with hydraulic pump by upper dress solenoid directional control valve B group.
Described hoistable platform comprises three joint insulation arms and robot manipulating task platform, three joint insulation arms are installed on revolving dial, be divided into large arm, linking arm, forearm, wherein large arm is hinged on revolving dial, linking arm is articulated with in large arm, forearm is articulated with on linking arm, and robot manipulating task platform is hinged on forearm; Big arm cylinder, linking arm oil cylinder, forearm oil cylinder, balancing cylinder are articulated with on large arm, linking arm, forearm and robot manipulating task platform respectively, and be connected with hydraulic pump by upper dress solenoid directional control valve B group, respectively save arm action by working machine joystick remote wireless control hoistable platform in car of commanding behind the scenes.
Described six-freedom hydraulic mechanical arm refers to the hydraulic press mechanical arm that kraft Telerobotics company of the U.S. produces, and described mechanical arm is connected with Hydraulic servo drive control cabinet, and both are installed on above robot manipulating task platform underframe by support insulator; Six-freedom hydraulic mechanical arm is provided with waist angling cylinder, large arm pitching oil cylinder, forearm pitching oil cylinder, wrist pitching oil cylinder, wrist oscillating oil cylinder, paw folding oil cylinder, wrist rotation motor, they are all connected with the mechanical arm hydraulic efficiency servo-valve C group in Hydraulic servo drive control cabinet, and mechanical arm hydraulic efficiency servo-valve C group is connected with hydraulic pump; Manipulate main hand and six-freedom hydraulic mechanical arm isomorphism.
Tracking camera is installed in described robot manipulating task platform front end, for Real Time Observation six-freedom hydraulic mechanical arm handling situations; Six-freedom hydraulic mechanical arm adopts duralumin, hard alumin ium alloy manufacture and is provided with paw and completes livewire work task, and stereo camera is installed in paw rear end.
Described dynamical system is Diesel engine, is connected with hydraulic pump by shaft coupling.
Described car of commanding behind the scenes adopts battery-driven wheeled locomotion mechanism, and wheeled locomotion mechanism is provided with insulation crust.
Described transformer station hot line robot electric control system comprises four parts: hydraulic press mechanical arm, working machine move and elevating mechanism, high-altitude video camera, live line tool.This robot control system all carries out signal transmission by wireless, ensure that operating personnel and high voltage electric field completely isolated.Wherein hydraulic press mechanical arm is controlled by hydraulic servo controller, and working machine moves and elevating mechanism, high-altitude video camera, live line tool are controlled by bus control device.Operator is sitting in Remote command car driver's cabin, motions such as being advanced by car joystick control command car of commanding behind the scenes, retreat, turn to, again by working machine joystick carry out working machine move and elevating mechanism, video monitoring, live line tool control, and by mechanical arm operation attitude on image display panel Real Time Observation working machine, manipulate main hand Remote mechanical arm clamping special equipment or instrument completes transformer station's livewire work task.
Described hydraulic pump is connected with fuel tank by oil-suction oil filter; Hydraulic pump is connected with safety valve, pressure meter switch, check valve respectively by pipeline, and safety valve is connected with return line; Check valve is connected with distributing valve, and distributing valve controls switch with central crossover sub, upper dress respectively and is connected, and central crossover sub is connected with bottom solenoid directional control valve A group, and bottom solenoid directional control valve A group is connected with oil return pipe; Upper dress controls switch and is connected with upper dress solenoid directional control valve B group, mechanical arm hydraulic efficiency servo-valve C group, and upper dress solenoid directional control valve B group is also connected with oil return pipe; Mechanical arm hydraulic efficiency servo-valve C group is then connected with fuel tank by return oil filter; Pressure meter switch is connected with Pressure gauge.Its middle and lower part solenoid directional control valve A group, upper dress solenoid directional control valve B group, distributing valve, central crossover sub, upper dress control switch and hydraulic pump controls by bus control device.
Beneficial effect of the present invention:
1, according to 220kV livewire work technique and operating environment needs, design a kind of Novel transformer substation hot line robot device, main body is made up of working machine and Remote command car, between working machine and Remote command car, all control system carries out signal transmission by wireless, ensure that operating personnel and high voltage electric field completely isolated.
2, operator is positioned at Remote command car driver's cabin, control command car as master control side by car joystick of commanding behind the scenes to advance, retreat, the motion such as to turn to, carry out working machine by working machine joystick long-range wireless remote control again to move and elevating mechanism, video monitoring, live line tools etc. are from the control of prosecutor, and by mechanical arm operation attitude on image display panel Real Time Observation working machine, manipulate main hand long-range wireless remote control mechanical arm clamping special equipment or instrument complete substation live-line equipment sleeve pipe cleaning with cleaning, the spraying of equipment RTV antifouling work material, the sub-zero value detection of charged insulating, isolating switch rust cleaning protection waits livewire work task.
3, this device is considered from operating personnel's job safety angle, thus utilize robot to replace manually completing transformer station's livewire work task, operating personnel are positioned at safety zone, avoid directly contacting high-tension apparatus, greatly improve operating personnel's live-working safety performance, and positive change effect is produced to transformer station of China operating type.
Accompanying drawing explanation
Fig. 1 is transformer station of the present invention hot line robot structural representation.
Fig. 2 is telecar structural representation of the present invention.
Fig. 3 is transformer station hot line robot electric control theory figure of the present invention.
Fig. 4 is transformer station hot line robot hydraulic principle figure of the present invention.
In Fig. 1,1, crawler belt; 2, driving wheel; 3, BOGEY WHEEL; 4, tension buffer device; 5, hydraulic leg; 6, Diesel engine; 7, state display; 8, revolving dial; 9, big arm cylinder; 10, large arm; 11, linking arm oil cylinder; 12, linking arm; 13, forearm oil cylinder; 14, forearm; 15, balancing cylinder; 16, six-freedom hydraulic mechanical arm; 17, stereo camera; 18, Hydraulic servo drive control cabinet; 19, support insulator; 20, tracking camera; 21, robot manipulating task platform; 22, wheeled locomotion mechanism; 23, battery; 24, insulation crust, 25, driver's cabin; 26, operator; 27, main hand is manipulated; 28, working machine joystick; 29, to command behind the scenes car joystick; 30, image display panel; 31, safety valve; 32, pressure meter switch; 33, fuel tank; 34, hydraulic pump; 35, oil-suction oil filter; 36, shaft coupling; 37, engine; 38, return oil filter; 39, check valve; 40, mechanical arm hydraulic efficiency servo-valve C group; 41, waist angling cylinder; 42, large arm pitching oil cylinder; 43, forearm pitching oil cylinder; 44, wrist pitching oil cylinder; 45, wrist oscillating oil cylinder; 46, paw folding oil cylinder; 47, wrist rotation motor; 48, distributing valve; 49, large arm telescopic oil cylinder; 50, linking arm telescopic oil cylinder; 51, forearm telescopic oil cylinder; 52, leveling cyclinder; 53, rotary motor; 54, upper dress solenoid directional control valve B group; 55, upper dress controls switch; 56, central crossover sub; 57, bottom solenoid directional control valve A group; 58, left hydraulic motor travel motor; 59, right hydraulic motor travel motor; 60, left side landing leg hydraulic cylinder I; 61, left side landing leg hydraulic cylinder II; 62, right side landing leg hydraulic cylinder I; 63, right side landing leg hydraulic cylinder II; 64, Pressure gauge.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
In Fig. 1, Fig. 2, a kind of transformer station hot line robot, main body is made up of working machine and Remote command car.Wherein, working machine is primarily of dynamical system, executing agency, control system and control system composition.Dynamical system is the power resources of robot work, and executing agency is formed primarily of walking mechanism, revolving dial, hoistable platform, six-freedom hydraulic mechanical arm.Working machine control system drives oil cylinder and rotation motor to form primarily of hydraulic pump 34, bottom solenoid directional control valve A group 57, central crossover sub 56, upper dress solenoid directional control valve B group 54, mechanical arm hydraulic efficiency servo-valve C group 40 and each arm.Robot control system adopts master-slave control type, and operator is positioned at Remote command car, and by observing image display panel 30 and the main hand 27 of manipulation, long-range wireless remote control six-freedom hydraulic mechanical arm 16 completes livewire work task.
Dynamical system is that the power resources of robot work adopt Diesel engine 37.Transformer station's livewire work intelligent robot is self-powered, adopts Diesel engine 37 to be power, solves the problem that working site lacks power supply supply.Adopt variable piston hydraulic pump 34, be connected by shaft coupling 36 with Diesel engine 37, its flow exported can be controlled by the size controlling accelerator open degree, guarantees the power output of engine and the bearing power optimum Match of hydraulic pump 34.
Respectively have two pairs of hydraulic legs 5 about the chassis of transformer station's hot line robot, often pair of hydraulic leg 5 is all equipped with hydraulic cylinder, the action of supporting leg is by Driven by Hydraulic Cylinder.Left side landing leg hydraulic cylinder I60, left side landing leg hydraulic cylinder II61 and right side landing leg hydraulic cylinder I62, right side landing leg hydraulic cylinder II63 control it by bottom solenoid directional control valve A group 57 respectively and stretch out or retract.Reversal valve all adopts M type Median Function, and oil circuit adopts series system, guarantee that the reliability that every bar supporting leg stretches out is most important, therefore each hydraulic cylinder is equipped with bidirectional locking loop, to ensure that supporting leg is reliably pinned, prevent from, when operation, supporting leg landing voluntarily in " soft leg " phenomenon or driving conditions occurs.
Walking mechanism adopts crawler-type mobile chassis structure, forms primarily of track frame, running motor, driving wheel 2, BOGEY WHEEL 3, crawler belt 1, tension buffer device 4; Walking mechanism walks fluid motor-driven 59 by left hydraulic motor travel motor 58 and right lateral, and when two crawler belt speeds of service are identical, robot realizes advancing or setback; When two crawler belt 1 speed are different, robot realizes divertical motion.
Revolving dial 8 is connected with chassis by pivoting support, under rotary motor 53 drives, can realize revolving dial 8 and the 360 ° of continuous rotary motions of attached each parts thereof, revolving dial 8 is also provided with state display 7.
Hoistable platform comprises three joint insulation arms and robot manipulating task platform 21 forms.Three joint insulation arms are installed on revolving dial 8, comprise large arm 10, linking arm 12, forearm 14; Be connected before and after each joint insulation arm chain connection, and large arm 10 is hinged on revolving dial 8 support, and linking arm 12 is articulated with in large arm 10, and forearm 14 is articulated with on linking arm 12, and robot manipulating task platform 21 is hinged on forearm 14; Big arm cylinder 9, linking arm oil cylinder 11, forearm oil cylinder 13, balancing cylinder 15 are articulated with on large arm 10, linking arm 12, forearm 14 and robot manipulating task platform 21 respectively.Each insulation arm superficies should scribble waterproof, anti-ultraviolet coating, and each insulation arm inner surface should have hydrophobic measure, prevents the globule at superficial residence.
Tracking camera 20 is installed in robot manipulating task platform 21 front end, for Real Time Observation six-freedom hydraulic mechanical arm 16 clamping device handling situations.
Six-freedom hydraulic mechanical arm 16 is made up of duralumin, hard alumin ium alloy material, is installed on above robot manipulating task platform 21 underframe together with Hydraulic servo drive control cabinet 18 by support insulator 19; Six-freedom hydraulic mechanical arm 16 adopts duralumin, hard alumin ium alloy manufacture, waist revolution is provided, large arm pitching, the motion of forearm pitching, wrist pitching, wrist waves, wrist rotate with parallel paw etc. multiple free degree motion.Stereo camera 17 is installed in six-freedom hydraulic mechanical arm 16 rear end, and six-freedom hydraulic mechanical arm 16 completes transformer station's livewire work task.
Remote command car, adopt battery 23 driving wheel-type travel mechanism 22, operator 26 is sitting in driver's cabin 25, manipulation command car joystick 29 controls command car and advances, retreats, the motion such as to turn to, by image display panel 30 Real Time Observation six-freedom hydraulic mechanical arm 16 operation attitude, manipulate main hand 27 Remote six-freedom hydraulic mechanical arm 16 and complete various livewire work, wheeled locomotion mechanism 22 is provided with insulation crust 24.
In Fig. 3, transformer station's hot line robot electric control system comprises four parts: six-freedom hydraulic mechanical arm 16, working machine move and elevating mechanism, high-altitude video camera, live line tool.This robot control system all carries out signal transmission by wireless, ensure that operating personnel and high voltage electric field completely isolated.Wherein six-freedom hydraulic mechanical arm 16 is controlled by Hydraulic servo drive control cabinet 18, and working machine moves and elevating mechanism, high-altitude video camera, live line tool are controlled by bus control device.Operator 26 is positioned at Remote command car driver's cabin, control command car as master control side by car joystick 29 of commanding behind the scenes to advance, retreat, the motion such as to turn to, again by working machine joystick 28 long-range wireless remote control carry out working machine move and elevating mechanism, video monitoring, live line tool etc. from the control of prosecutor, and by the six-freedom hydraulic mechanical arm 16 operation attitude on image display panel 30 Real Time Observation working machine, manipulate main hand 27 long-range wireless remote control mechanical arm clamping special equipment or instrument completes transformer station's livewire work task.
In Fig. 4, transformer station's hot line robot adopts Diesel engine 6 to be power, is connected with hydraulic pump 34 by shaft coupling 36, considers transformer station's livewire work particular surroundings requirement, all adopts dielectric force feed.Hydraulic oil, from fuel tank 33, by oil-suction oil filter 35 ingress engine mechanical arm hydraulic control oil circuit, then flows back to fuel tank 33 through return oil filter 38.Wherein check valve 39 is for controlling fluid backflow, and safety valve 31 has overload protection function, and Pressure gauge 64 is connected with oil circuit by pressure meter switch 32, and shows oil circuit hydraulic fluid pressure in real time.
The front and rear sides landing leg stretching motion of bottom solenoid directional control valve A group 57 major control robot and working machine mobile platform walking movement, be connected with hydraulic pump 34 by central crossover sub 56, distributing valve 48;
Upper dress solenoid directional control valve B group 54 major control large arm 10, linking arm 12, forearm 14 pitching and robot manipulating task platform 21 leveling and revolving dial 8 move, and are connected with hydraulic pump 34 through upper dress control switch 55, distributing valve 48;
The motions such as the waist angling cylinder 41 of mechanical arm hydraulic efficiency servo-valve C group 40 major control six-freedom hydraulic mechanical arm 16, large arm pitching oil cylinder 42, forearm pitching oil cylinder 43, wrist pitching oil cylinder 44, wrist oscillating oil cylinder 45, paw folding oil cylinder 46 and wrist rotation motor 47, large arm telescopic oil cylinder 49, linking arm telescopic oil cylinder 50, forearm telescopic oil cylinder 51, leveling cyclinder 52, rotary motor 53, control switch 55 by upper dress, distributing valve 48 are connected with hydraulic pump 34.
Central authorities' crossover sub 56 is the Hydraulic Elements connecting revolving dial 8 and chassis oil circuit, and after its ensures revolving dial 8 any rotation, running motor normally can also join oil.
By manipulating, main hand 27, six-freedom hydraulic mechanical arm 16, Hydraulic servo drive control cabinet 18, microcontroller, terminal control box and power supply are integrated etc. to be formed robotic arm manipulation system, six-freedom hydraulic mechanical arm 16 is isomorphisms with the main hand 27 of manipulation, Remote parking stall manipulates main hand 27 and provides hydraulic power, manipulating main hand 27 is main side, six-freedom hydraulic mechanical arm 16 is from side, therefore controls the action of six-freedom hydraulic mechanical arm 16 by manipulating main hand 27.Manipulating main hand 27 is arranged in Remote command car, operates six-freedom hydraulic mechanical arm 16 move according to sensor Information Monitoring.Manipulating main hand 27 is isomorphisms with six-freedom hydraulic mechanical arm 16, adopts Hydraulic servo drive, and six-freedom hydraulic mechanical arm 16 can be followed the main hand 27 of manipulation completely and be moved.Operator is sitting in Remote command car driver's cabin 25, to manipulate between main hand 27 and six-freedom hydraulic mechanical arm 16 by means of only wireless telecommunications, guarantee personnel completely and high voltage electric field isolate, greatly improve operating personnel's hot line job security.Hydraulic servo drive control cabinet 18 is installed on support insulator 19 support, and being positioned at six-freedom hydraulic mechanical arm 16 waist revolution outside, is the external interface of mechanical arm, for mechanical arm provides necessary power supply, instruction and observing and controlling information.Microcontroller is placed in Remote command car, provides the system of main hand 27 control of manipulation and telecommunications functions; Power supply is integrated to be made up of lithium battery, inverter etc., provides reliable source of power for manipulating the operation of main hand 27.
By reference to the accompanying drawings the detailed description of the invention of invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (5)
1. transformer station's hot line robot, it is characterized in that, it comprises working machine and Remote command car, working machine is primarily of dynamical system, executing agency, hydraulic control system and control system composition, wherein executing agency is formed primarily of walking mechanism, revolving dial, the hoistable platform of more piece insulation arm composition, six-freedom hydraulic mechanical arm, revolving dial is arranged in walking mechanism, the hoistable platform of more piece insulation arm composition is connected with revolving dial, and the hoistable platform that six-freedom hydraulic mechanical arm forms with more piece insulation arm is connected; Hydraulic control system comprises hydraulic pump, it is connected with dynamical system, hydraulic pump is also connected with the fuel tank in walking mechanism, hydraulic pump respectively with bottom solenoid directional control valve A group, central crossover sub, upper dress solenoid directional control valve B group, mechanical arm hydraulic efficiency servo-valve C group and respectively save insulation arm and drive oil cylinder and rotation motor to be connected, thus drives the action of whole executing agency by distributing valve; Operator is positioned at Remote command car driver's cabin, motions such as being advanced by car joystick control command car of commanding behind the scenes as master control side, retreat, turn to, again by working machine joystick long-range wireless remote control carry out working machine move and elevating mechanism, video monitoring, live line tool etc. from the control of prosecutor, and by mechanical arm operation attitude on image display panel Real Time Observation working machine, manipulate main hand long-range wireless remote control mechanical arm clamping special equipment or instrument completes transformer station's livewire work task;
Described walking mechanism adopts crawler-type mobile chassis structure, primarily of chassis, track frame, left and right running motor, driving wheel, BOGEY WHEEL, crawler belt, four hydraulic leg compositions of tension buffer device and both sides, left, right running motor, left side landing leg hydraulic cylinder I, left side landing leg hydraulic cylinder II, right side landing leg hydraulic cylinder I, right side landing leg hydraulic cylinder II is all connected with hydraulic pump by bottom solenoid directional control valve A group, joystick drives left by bottom solenoid directional control valve A group, right running motor, when two crawler belt speeds of service are identical, robot realizes advancing or setback, when two crawler track speeds are different, robot realizes divertical motion, chassis is provided with dynamical system, revolving dial and fuel tank, revolving dial is also provided with state display,
Described six-freedom hydraulic mechanical arm is connected with Hydraulic servo drive control cabinet, and both are installed on above robot manipulating task platform underframe by support insulator; Six-freedom hydraulic mechanical arm is provided with waist angling cylinder, large arm pitching oil cylinder, forearm pitching oil cylinder, wrist pitching oil cylinder, wrist oscillating oil cylinder, paw folding oil cylinder, wrist rotation motor, they are all connected with the mechanical arm hydraulic efficiency servo-valve C group in Hydraulic servo drive control cabinet, and mechanical arm hydraulic efficiency servo-valve C group is connected with hydraulic pump; Manipulate main hand and six-freedom hydraulic mechanical arm isomorphism;
Described control system comprises the potentiometer being arranged on each joint of six-freedom hydraulic mechanical arm and the potentiometer manipulating each joint of main hand, and when manipulation master manually does, each joint shaft is rotated the microcontroller of the instruction morphing one-tenth voltage signal of angle and position to car of commanding behind the scenes by the potentiometer in each joint; Position command is passed through wireless module transmission of information to hydraulic pressure servo drive control case by microcontroller, Hydraulic servo drive control cabinet is provided with control box and signal is converted into voltage signal controller mechanical arm hydraulic efficiency servo-valve C group, drives each joint motions of six-freedom hydraulic mechanical arm;
Each joint potentiometer output voltage signal of six-freedom hydraulic mechanical arm feeds back in microcontroller by control box, forming position feed back, until six-freedom hydraulic manipulator motion to manipulate main hand relevant position;
Described dynamical system is Diesel engine, is connected with hydraulic pump by shaft coupling;
Hoistable platform comprises three joint insulation arms and robot manipulating task platform; Three joint insulation arms are installed on revolving dial, comprise large arm, linking arm, forearm; Be connected before and after each joint insulation arm chain connection, and large arm is hinged on revolving dial support, and linking arm is articulated with in large arm, and forearm is articulated with on linking arm, and robot manipulating task platform is hinged on forearm; Big arm cylinder, linking arm oil cylinder, forearm oil cylinder, balancing cylinder are articulated with on large arm, linking arm, forearm and robot manipulating task platform respectively; Each insulation arm superficies should scribble waterproof, anti-ultraviolet coating, and each insulation arm inner surface should have hydrophobic measure, prevents the globule at superficial residence;
Described hydraulic pump is connected with fuel tank by oil-suction oil filter; Hydraulic pump is connected with safety valve, pressure meter switch, check valve respectively by pipeline, and safety valve is connected with return line; Check valve is connected with distributing valve, and distributing valve controls switch with central crossover sub, upper dress respectively and is connected, and central crossover sub is connected with bottom solenoid directional control valve A group, and bottom solenoid directional control valve A group is connected with oil return pipe; Upper dress controls switch and is connected with upper dress solenoid directional control valve B group, mechanical arm hydraulic efficiency servo-valve C group, and upper dress solenoid directional control valve B group is also connected with oil return pipe; Mechanical arm hydraulic efficiency servo-valve C group is then connected with fuel tank by return oil filter; Pressure meter switch is connected with Pressure gauge;
Its middle and lower part solenoid directional control valve A group, upper dress solenoid directional control valve B group, distributing valve, central crossover sub, upper dress control switch and hydraulic pump controls by bus control device.
2. transformer station as claimed in claim 1 hot line robot, it is characterized in that, described revolving dial is connected with chassis by pivoting support, under rotary motor drives, implementation platform and the 360 ° of continuous rotary motions of attached each parts thereof, rotary motor is connected with hydraulic pump by upper dress solenoid directional control valve B group.
3. transformer station as claimed in claim 1 hot line robot, it is characterized in that, described hoistable platform comprises three joint insulation arms and robot manipulating task platform, three joint insulation arms are installed on revolving dial, be divided into large arm, linking arm, forearm, wherein large arm is hinged on revolving dial, and linking arm is articulated with in large arm, forearm is articulated with on linking arm, and robot manipulating task platform is hinged on forearm; Big arm cylinder, linking arm oil cylinder, forearm oil cylinder, balancing cylinder to be articulated with respectively on large arm, linking arm, forearm and robot manipulating task platform and to be connected with hydraulic pump by upper dress solenoid directional control valve B group.
4. transformer station as claimed in claim 1 hot line robot, is characterized in that, tracking camera is installed in described robot manipulating task platform front end, for Real Time Observation six-freedom hydraulic mechanical arm handling situations; Six-freedom hydraulic mechanical arm adopts duralumin, hard alumin ium alloy manufacture and is provided with paw and completes livewire work task, and stereo camera is installed in paw rear end.
5. transformer station as claimed in claim 1 hot line robot, is characterized in that, described in car of commanding behind the scenes adopt battery-driven wheeled locomotion mechanism, wheeled locomotion mechanism is provided with insulation crust.
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Address after: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Co-patentee after: State Grid Corporation of China Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Address before: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Co-patentee before: State Grid Corporation of China Patentee before: Electric Power Research Institute of Shandong Electric Power Corporation |
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Application publication date: 20130424 Assignee: National Network Intelligent Technology Co., Ltd. Assignor: Electric Power Research Institute of State Grid Shandong Electric Power Company Contract record no.: X2019370000006 Denomination of invention: Live-working robot of transformer substation Granted publication date: 20150812 License type: Exclusive License Record date: 20191014 |
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Effective date of registration: 20201027 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: STATE GRID CORPORATION OF CHINA |
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