CN103128072B - Machinery-washing operating arm with electrified water for electric power engineering - Google Patents
Machinery-washing operating arm with electrified water for electric power engineering Download PDFInfo
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- CN103128072B CN103128072B CN201310073441.XA CN201310073441A CN103128072B CN 103128072 B CN103128072 B CN 103128072B CN 201310073441 A CN201310073441 A CN 201310073441A CN 103128072 B CN103128072 B CN 103128072B
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Abstract
The invention relates to a machinery-washing operating arm with electrified water for electric power engineering. The operating arm comprises an operation panel, a control computer, a mechanical arm and a water gun. The water gun can be connected with an outlet of a water pump. The mechanical arm comprises a movable joint assembly, the joint assembly is connected with the operation panel through the computer, and the water gun is mounted on the joint assembly. Operators give action orders to the control computer through the operation panel when in use, the control computer receives the action orders and decodes the action orders into corresponding motion signals, and the joint assembly performs the motion signals to move to the to-be-washed position. Since the water gun is mounted on the joint assembly, the water gun can synchronically be moved with the joint assembly to the to-be-washed position. Electrified water ejected from the water gun can be used for washing the to-be-washed position, so that insulators can be washed. Therefore, operators can perform washing operation without holding the water gun, and operation is simple and rapid.
Description
Technical field
The present invention relates to living water washing equipment technical field, particularly relate to a kind of electric power living water washing mechanical work arm.
Background technology
The dunghills such as pollution flashover accident, refers to the area in transmission line of electricity process, the dust because industry is filthy, in the salt fog of sea wind, air are gradually accumulated and are attached to insulator surface, form pollution layer; These dunghills contain the composition of soda acid and salt, the poorly conductive when drying, after chance water makes moist, have higher electrical conductivity; When raining, snow melting, to mist etc. adverse weather time, the dielectric strength of contaminated insulator reduces, and causes insulator flashover under normal long journey voltage, causes the accident of large-area power-cuts.For this reason, workman regularly need clean filth, and operates under the prerequisite that will have a power failure in transformer station, brings inconvenience to operation of power networks.
At present, normally running for not affecting transformer station, charged water can be adopted to carry out flushing operation to insulator, however normally artificial flushing operation, and in flushing process, need many people compounding practice, complicated operation, cause artificial flushing efficiency low.
Summary of the invention
Based on this, be necessary for the inefficient problem of artificial flushing, a kind of electric power living water washing mechanical work arm is provided.
A kind of electric power living water washing mechanical work arm, comprising:
Guidance panel, described guidance panel can send action command; And
Computer for controlling, is connected with described guidance panel, and described computer for controlling receives action command that described guidance panel sends and is decomposed into corresponding motor message; And
Mechanical arm, comprises mobilizable joint assembly, and described joint assembly is connected with described computer for controlling, and described joint assembly performs the motor message that described computer for controlling decomposes; And
Hydraulic giant, is installed on described joint assembly, and described hydraulic giant can be connected with exit of pump.
Wherein in an embodiment, described joint assembly comprises the rotating shaft that can rotate in the horizontal direction, the lifting axle that can rotate at vertical direction, the pitch axis that can rotate at vertical direction, the first arm, the second arm and the 3rd arm, and described first arm is arranged between described rotating shaft and described lifting axle; Described second arm is arranged between described lifting axle and described pitch axis; Described 3rd arm one end is connected with described pitch axis, and described hydraulic giant is installed on the other end of described 3rd arm.
Wherein in an embodiment, the rotating free degree of described rotating shaft is 0 degree ~ 330 degree, and the rotating free degree of described lifting axle is 0 degree ~ 150 degree, and the rotating free degree of described pitch axis is 0 degree ~ 170 degree.
Wherein in an embodiment, described 3rd arm is provided with away from one end of described pitch axis and clamps pedestal, clamps pedestal described in described pistol is arranged in.
Wherein in an embodiment, comprise video monitoring devices, described video monitoring devices is installed on described mechanical arm near described hydraulic giant delivery port one end, and described video monitoring devices is connected with described computer for controlling.
Wherein in an embodiment, described video monitoring devices envelope laser range sensor and video camera, described laser range sensor and described video camera are all contained in described 3rd arm near described hydraulic giant delivery port one end, and described laser range sensor is all connected with described computer for controlling with described video camera.
Wherein in an embodiment, described guidance panel comprises display, touch-screen and four-way control lever, and described display, touch-screen are all connected with described computer for controlling with four-way control lever.
Wherein in an embodiment, described guidance panel comprises control lever switch, and described control lever switch is connected with described four-way control lever.
Wherein in an embodiment, described guidance panel also comprises scram button, and described guidance panel controls the work of described mechanical arm emergent stopping by described scram button.
Above-mentioned electric power living water washing mechanical work arm, hydraulic giant is installed on the joint assembly of mechanical arm, the water inlet of hydraulic giant is connected with exit of pump, and the joint assembly of mechanical arm is connected with guidance panel by computer for controlling.According to actual flush position, operating personnel send action command to computer for controlling by guidance panel, the instruction of computer for controlling receiving action is also decomposed into corresponding motor message, joint assembly performs this motor message to reach flush position, because hydraulic giant is installed on joint assembly, therefore hydraulic giant can follow joint assembly synchronizing moving to flush position, the charged water of hydraulic giant injection can rinse flush position, to realize the object of rinsing insulator.So, operating personnel rinse without the need to hand-held hydraulic giant separately, simple to operate, fast.
Accompanying drawing explanation
Fig. 1 is the structural representation of electric power living water washing mechanical work arm;
Fig. 2 is the structural representation of video monitoring devices;
Fig. 3 is the structural representation of guidance panel.
Detailed description of the invention
As shown in Figure 1, a kind of electric power living water washing mechanical work arm, comprise guidance panel 110, described guidance panel 110 can send action command; Computer for controlling 120, is connected with described guidance panel 110, and described computer for controlling 120 receives action command that described guidance panel 110 sends and is decomposed into corresponding motor message; Mechanical arm 130, comprises mobilizable joint assembly 132, and described joint assembly 132 is connected with described computer for controlling 120, and described joint assembly 132 performs the motor message that described computer for controlling 120 decomposes; Hydraulic giant 140, is installed on described joint assembly 132, and described hydraulic giant 140 can be connected with exit of pump.
Above-mentioned electric power living water washing mechanical work arm, hydraulic giant 140 is installed on the joint assembly 132 of mechanical arm 130, the water inlet of hydraulic giant 140 is connected with exit of pump, the joint assembly 132 of mechanical arm 130 is connected with computer for controlling 120 by holding wire, guidance panel 110 is connected with computer for controlling 120 by holding wire, and this holding wire is the good shielded cable of shielding properties.In use, according to actual flush position, operating personnel send action command to computer for controlling 120 by guidance panel 110, the action command that computer for controlling 120 receives also is decomposed into corresponding motor message, joint assembly 132 performs corresponding action to reach flush position according to the motor message that computer for controlling 120 decomposes, because hydraulic giant 140 is installed on joint assembly 132, therefore hydraulic giant 140 can follow joint assembly 132 synchronizing moving to flush position, the charged water that hydraulic giant 140 penetrates can rinse flush position, to realize the object of rinsing insulator.So, operating personnel rinse without the need to hand-held hydraulic giant 140 separately, simple to operate, fast.
Wherein, when rinsing 500KV converting equipment, because converting equipment framework is high, diameter is large, adopts electric power living water washing mechanical work arm to replace rinsing manually, operates safer.
Refer to Fig. 1, wherein in an embodiment, described joint assembly 132 comprises the rotating shaft 1320 that can rotate in the horizontal direction, the lifting axle 1322 that can rotate at vertical direction, pitch axis 1324, first arm 1321, second arm 1323 that can rotate at vertical direction and the 3rd arm 1325, and described first arm 1321 is arranged between described rotating shaft 1320 and described lifting axle 1322; Described second arm 1323 is arranged at described lifting axle 1322 with in the twinkling of an eye described; Described 3rd arm 1325 one end is connected with described pitch axis 1324, and described hydraulic giant 140 is installed on the other end of described 3rd arm 1325.
Wherein, according to the relevant action instruction that guidance panel 110 sends, the lifting axle 1322 that computer for controlling 120 can control joint assembly 132 rotates at vertical direction, is elevated to make joint assembly 132.Particularly, before rinsing, joint assembly 132 is when stretching, and lifting axle 1322 rotates clockwise, and is positioned at the second arm 1323 above lifting axle 1322, pitch axis 1324, the 3rd arm 1325 can constantly be increased to the state vertical with road surface with hydraulic giant 140.After the flushing has been terminated, when mechanical arm 130 is retracted, lifting axle 1322 rotates counterclockwise, be positioned at the second arm 1323 above lifting axle 1322, pitch axis 1324, the 3rd arm 1325 can constantly be reduced to the state parallel with road surface with hydraulic giant 140, so, be elevated to realize joint assembly 132, the object of joint assembly 132 synchronization lifting followed by hydraulic giant 140.
Wherein, according to the relevant action instruction that guidance panel 110 sends, the rotating shaft 1320 that computer for controlling 120 can control joint assembly 132 rotates in the horizontal direction, thus the first arm 1321, lifting axle 1322, second arm 1323, pitch axis 1324 and the 3rd arm 1325 synchronous rotary that are positioned at above rotating shaft 1320, and the hydraulic giant 140 being installed on the 3rd arm 1325 also can follow synchronous rotary, to realize the object to the adjustment of hydraulic giant 140 horizontal direction.
Wherein, according to the relevant action instruction that guidance panel 110 sends, the pitch axis 1324 that computer for controlling 120 can control joint assembly 132 rotates at vertical direction, thus the 3rd arm 1325 synchronous axial system be positioned at above pitch axis 1324, to make the synchronous pitching of hydraulic giant 140 being installed on the 3rd arm 1325, to realize the object to the adjustment of hydraulic giant 140 vertical direction.
So, rotating shaft 1320, lifting axle 1322 and pitch axis 1324 are set, mechanical arm 130 is made to be elevated and to rotate by this three axle, thus hydraulic giant 140 follows mechanical arm 130 synchronization lifting and rotation, to realize the object that multi-angle is rinsed, scope of rinsing is wide, and flush position is accurate, rinse thoroughly, developing result is good, flush efficiency is high.
In order to guarantee comprehensive flushing, the rotating free degree of described rotating shaft 1320 is rationally set to 0 degree ~ 330 degree, the rotating free degree of described lifting axle 1322 is rationally set to 0 degree ~ 150 degree, and the rotating free degree of described pitch axis 1324 is rationally set to 0 degree ~ 170 degree.
Wherein, being turned an angle by rotating shaft 1320 makes mechanical arm 130 direction locate, after lifting axle 1322 turns an angle and makes mechanical arm 130 altitude location, it is 0 degree with horizontal plane, pitch axis 1324 is knee-action between-45 degree to+80 degree, just can ensure to rinse flushing device, therefore the rotating free degree of pitch axis 1324 can rationally be set to 0 degree ~ 125 degree further comprehensively, while guarantee developing result, cost-saving.
In order to ensure the accuracy rinsed further, the repetitive positioning accuracy of rotating shaft 1320, lifting axle 1322 and pitch axis 1324 all rationally can be set to ± 0.05mm.Emergency is run in flushing, rotating shaft 1320, lifting axle 1322 and pitch axis 1324 need with the fastest rotating speed homing time, in order to ensure security, the fastest axle rotating speed of rotating shaft 1320, lifting axle 1322 and pitch axis 1324 can rationally be set to be no less than 150 degree/second.
Refer to Fig. 1 and Fig. 2, wherein in an embodiment, described 3rd arm 1325 is provided with away from one end of described pitch axis 1324 and clamps pedestal 134, clamps pedestal 134 described in described pistol is arranged in.Clamp the setting of pedestal 134, rapid card installation and dismantling can unload hydraulic giant 140, it is convenient to install and change.Different with contamination degree according to the region of flush position, the hydraulic giant 140 of different-diameter can be selected to rinse, Appropriate application high resistivity water resource, the diameter of hydraulic giant 140 rationally can be set to 20mm ~ 60mm.
Refer to Fig. 2, wherein in an embodiment, be also provided with video monitoring devices 150, video monitoring devices 150 is installed on mechanical arm 130 near described hydraulic giant 140 delivery port one end, and video monitoring devices 150 is connected with computer for controlling 120.In use, video monitoring devices 150 can rinse field condition by real time monitoring, and by computer for controlling 120, flushing scene is passed to guidance panel 110 in real time, the flushing scene that video monitoring devices 150 can monitor by guidance panel 110 shows in real time, handled easily personnel control the scene of flushing in time, improve the convenience of use, operating personnel can provide corresponding instruction in time according to shown flushing scene.Because video monitoring devices 150 is installed on mechanical arm 130 near described hydraulic giant 140 delivery port one end, therefore the visual angle that the visual angle that monitors of video monitoring devices 150 and hydraulic giant 140 carry out rinsing is basically identical, ensure that video monitoring devices 150 passes to the reliability of the information of guidance panel 110, make flushing operation more accurate.Even if it is pointed out that and do not arrange video monitoring devices 150, the object of converting equipment being carried out to living water washing also can be realized.
Particularly, described video monitoring devices 150 envelope laser range sensor 152 and video camera 154, described guidance panel 110 comprises display 112 and touch-screen 114, described laser range sensor 152 and described video camera 154 are all contained in described 3rd arm 1325 near described hydraulic giant 140 delivery port one end, and described laser range sensor 152 is all connected with described computer for controlling 120 with described video camera 154.Described laser range sensor 152 is connected with the touch-screen 114 of guidance panel 110 by computer for controlling 120, and video camera 154 is connected with the display 112 of guidance panel 110 by computer for controlling 120.In specific embodiment as shown in Figure 2, laser range sensor 152 and video camera 154 are positioned at below hydraulic giant 140 delivery port.In use, laser range sensor 152 can measure hydraulic giant 140 front end extremely by the distance of rushing between equipment, and measured information is passed to touch-screen 114 by computer for controlling 120, and touch-screen 114 by measured information displaying out.Video camera 154 can gather and rinse on-the-spot image information, and gathered image information is passed to display screen by computer for controlling 120, and gathered image shows by display screen.So, can monitor flushing scene in time, locate and the operation such as range finding, to ensure the accuracy of the flush position that operating personnel aim at adjustment hydraulic giant 140, improve flush efficiency.
Wherein, the measurement category of laser range sensor 152 rationally can be set to 0.1m ~ 30m, and certainty of measurement rationally can be set to ± 2mm, to ensure the accuracy of measurement and good Electro Magnetic Compatibility.Video camera 154 is optional, and with having, automatic focusing function, horizontal definition are high, the video camera 154 of clear picture, low noise, good reliability.Laser range sensor 152 and video camera 154 all have power-fail memory function restore funcitons, data message measured before power-off and image information are recovered after energising in next time, without the need to retesting, improve the convenience used.
Refer to Fig. 1 and Fig. 3, wherein in an embodiment, described guidance panel 110 comprises display 112, touch-screen 114 and four-way control lever 116, and described display 112, touch-screen 114 and four-way control lever 116 are all connected with described computer for controlling 120.In use, display 112 can show the picture at the flushing scene that video camera 154 gathers, operating personnel by arranging corresponding parameter or pressing corresponding button in touch-screen 114, realize the rotation of any axle in lifting axle 1322, rotating shaft 1320 and pitch axis 1324, touch-screen 114 accurately can arrange the parameter such as axle rotating speed and axle rotational angle, to ensure the accuracy rinsed.
Wherein, operating personnel also control the rotation of rotating shaft 1320 and pitch axis 1324 by manual operation four-way control lever 116.In specific embodiment as shown in Figure 3, four-way control lever 116 comprises four direction up and down, four-way control lever 116 is when left and right directions swings, can controller mechanical arm 130 rotating shaft 1320 left-right rotation in the drawings, four-way control lever 116 is when above-below direction swings, can rotate up and down in the drawings by controller mechanical arm 130 pitch axis 1324, so with the object of the rotation and pitching that realize mechanical arm 130, improve the flexibility of rinsing operation.
Wherein, described guidance panel 110 comprises control lever switch 113, and described control lever switch 113 is connected with described four-way control lever 116.The start and stop of four-way control lever 116 are controlled by the switch folding condition of control lever switch 113, the Closed control lever switch 113 when needs use four-way control lever 116 to manipulate mechanical arm 130, do not need can disconnect control lever switch 113 when using four-way control lever 116, improve the convenience and security that use.
Refer to Fig. 3, wherein in an embodiment, described guidance panel 110 also comprises scram button 115, and described guidance panel 110 controls the work of described mechanical arm 130 emergent stopping by described scram button 115.By using scram button 115, the object of emergent stopping during mechanical arm 130 action can be realized.So, only need press scram button 115 just can make the action of mechanical arm 130 emergent stopping when flushing is in an emergency, rinse operation and stop, processing speed is fast, improves the security of use, has saved water resource.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (8)
1. an electric power living water washing mechanical work arm, is characterized in that, comprising:
Guidance panel, described guidance panel can send action command; And
Computer for controlling, is connected with described guidance panel, and described computer for controlling receives action command that described guidance panel sends and is decomposed into corresponding motor message; And
Mechanical arm, comprises mobilizable joint assembly, and described joint assembly is connected with described computer for controlling, and described joint assembly performs the motor message that described computer for controlling decomposes; Described joint assembly comprises the rotating shaft that can rotate in the horizontal direction, the lifting axle that can rotate at vertical direction, the pitch axis that can rotate at vertical direction, the first arm, the second arm and the 3rd arm, and described first arm is arranged between described rotating shaft and described lifting axle; Described second arm is arranged between described lifting axle and described pitch axis; Described 3rd arm one end is connected with described pitch axis; And
Hydraulic giant, be installed on the other end of described 3rd arm of described joint assembly, described hydraulic giant can be connected with exit of pump.
2. electric power living water washing mechanical work arm according to claim 1, it is characterized in that, the rotating free degree of described rotating shaft is 0 degree ~ 330 degree, and the rotating free degree of described lifting axle is 0 degree ~ 150 degree, and the rotating free degree of described pitch axis is 0 degree ~ 170 degree.
3. electric power living water washing mechanical work arm according to claim 1, is characterized in that, described 3rd arm is provided with away from one end of described pitch axis and clamps pedestal, clamps pedestal described in described hydraulic giant is arranged in.
4. electric power living water washing mechanical work arm according to claim 1, it is characterized in that, comprise video monitoring devices, described video monitoring devices is installed on described mechanical arm near described hydraulic giant delivery port one end, and described video monitoring devices is connected with described computer for controlling.
5. electric power living water washing mechanical work arm according to claim 4, it is characterized in that, described video monitoring devices envelope laser range sensor and video camera, described laser range sensor and described video camera are all contained in described 3rd arm near described hydraulic giant delivery port one end, and described laser range sensor is all connected with described computer for controlling with described video camera.
6. electric power living water washing mechanical work arm according to claim 1, it is characterized in that, described guidance panel comprises display, touch-screen and four-way control lever, and described display, touch-screen are all connected with described computer for controlling with four-way control lever.
7. electric power living water washing mechanical work arm according to claim 6, it is characterized in that, described guidance panel comprises control lever switch, and described control lever switch is connected with described four-way control lever.
8. electric power living water washing mechanical work arm according to claim 6, it is characterized in that, described guidance panel also comprises scram button, and described guidance panel controls the work of described mechanical arm emergent stopping by described scram button.
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| CN201310073441.XA CN103128072B (en) | 2013-03-07 | 2013-03-07 | Machinery-washing operating arm with electrified water for electric power engineering |
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| CN201310073441.XA CN103128072B (en) | 2013-03-07 | 2013-03-07 | Machinery-washing operating arm with electrified water for electric power engineering |
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| CN103128072B true CN103128072B (en) | 2015-04-22 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103831259A (en) * | 2014-03-05 | 2014-06-04 | 国家电网公司 | Electric insulator cleaning arm |
| CN104998847B (en) * | 2014-09-10 | 2017-08-25 | 国家电网公司 | A kind of system that sprays water with high pressure for living water washing robot of transformer station |
| CN104858168B (en) * | 2015-04-28 | 2017-06-20 | 国家电网公司 | Water flushing device people sighting system and method based on laser ranging and image recognition |
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| EP2046508B1 (en) * | 2006-07-29 | 2011-11-02 | Gerd Hettinger | Cleaning apparatus for photovoltaic solar installations and/or roof areas |
| CN201419178Y (en) * | 2009-04-03 | 2010-03-10 | 薛春玉 | Telescopic insulation lifting mechanism |
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Address after: 528000 No. 1 South Fenjiang Road, Chancheng District, Guangdong, Foshan Co-patentee after: WuHan University Patentee after: FOSHAN POWER SUPPLY BUREAU OF GUANGDONG POWER GRID CORPORATION Co-patentee after: Guangdong Weiheng Electric Power Technology Development Co., Ltd. Address before: 528000 No. 1 South Fenjiang Road, Chancheng District, Guangdong, Foshan Co-patentee before: WuHan University Patentee before: Foshan Power Supply Bureau, Guangdong Power Grid Corporation Co-patentee before: Guangdong Weiheng Electric Power Technology Development Co., Ltd. |
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Effective date of registration: 20191101 Address after: 528000 No. 1 South Fenjiang Road, Chancheng District, Guangdong, Foshan Co-patentee after: WuHan University Patentee after: FOSHAN POWER SUPPLY BUREAU OF GUANGDONG POWER GRID CORPORATION Co-patentee after: Guangdong Weiheng Power Transmission and Distribution Co., Ltd. Address before: 528000 No. 1 South Fenjiang Road, Chancheng District, Guangdong, Foshan Co-patentee before: WuHan University Patentee before: FOSHAN POWER SUPPLY BUREAU OF GUANGDONG POWER GRID CORPORATION Co-patentee before: Guangdong Weiheng Electric Power Technology Development Co., Ltd. |