CN104998847A - High-pressure water spray system for electrification water washing robot of transformer substation - Google Patents
High-pressure water spray system for electrification water washing robot of transformer substation Download PDFInfo
- Publication number
- CN104998847A CN104998847A CN201410459118.0A CN201410459118A CN104998847A CN 104998847 A CN104998847 A CN 104998847A CN 201410459118 A CN201410459118 A CN 201410459118A CN 104998847 A CN104998847 A CN 104998847A
- Authority
- CN
- China
- Prior art keywords
- pressure
- water washing
- water
- washing robot
- pump
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Abstract
The invention provides a high-pressure water spray system for an electrification water washing robot of a transformer substation. The high-pressure water spray system is connected with the electrification water washing robot through a high-pressure pipe; the high-pressure water spray system is characterized in that an electromagnetic clutch is connected with a power takeoff arranged on an automotive chassis, and is connected with a high-pressure water pump through a power transmission device; and a pressure detection device is installed at the output end of the high-pressure water pump, and a water resistor is installed at the tail end of a water outlet pipe. The high-pressure water spray system has the beneficial effects that the output end of the high-pressure water spray system is connected with the electrification water washing robot, and the electrification water washing robot can be connected with an own pure water preparing device through the high-pressure water spray system; and under the condition that a pure water source exists, the electrification water washing robot can be directly connected with the pure water source through the high-pressure water spray system, the system maneuverability is high, and the cost is saved to a certain degree.
Description
Technical field
The present invention relates to transformer station living water washing robot field, particularly relate to a kind of system that sprays water with high pressure for living water washing robot of transformer station.
Background technology
Substation Insulator is exposed in external environment for a long time, and surface is dirt deposits easily, and these dirts easily pollution flashover accident occur by bad weather infringement.Insulator charged water rinses the reliability that operation can improve power supply, reduces loss of outage, ensures the safety of transformer station and transmission line of electricity.
In water flushing process, the purity of water and pressure are two crucial indexs.Particularly pure electrical conductivity of water is the most important factor affecting living water washing, if electrical conductivity is not up to standard will cause great bodily injury to equipment and personal safety.
The Substation Insulator of present stage is rinsed operation and mainly be there is following shortcoming:
1, backwashing manner is enter scene by the hand-held flushing device of cleaning technique personnel to carry out operation mostly, artificial flushing not only depends on weather condition, cleaning personnel are also needed to possess compared with high-tech level and skilled operating process, the security protection of high standard is needed when living water washing is carried out to insulator, the security incident caused to avoid short circuit current, causing casualties, there is potential safety hazard in this kind of operating type;
2, living water washing technical requirement is higher, by various factors such as environment, contamination situation, equipment creep distance, apparatus arrangement modes, easily there is equipment flashover during artificial flushing, be faced with labour intensity large simultaneously, the problems such as efficiency is low, and automatization level is low; Consider that living water washing operation is subject to rinsing many-sided impact such as angle, hydraulic pressure, manual work can not wash away the dunghill on equipment outer insulation surface sometimes completely.
3, existing water flushing unit automaticity is not high, efficiency is low, energy consumption is large, there is very large potential safety hazard.And existing water flushing unit is when carrying out water and rinsing operation, need supporting special pure water making machine to be connected with it, under there is in place the condition of pure water source like this, the flexible replacement of water-supply method cannot be realized, easily cause the waste of resource, freely can not fetch water according to on-site actual situations.
Therefore need to utilize safer and that efficiency is higher robot to replace manually carrying out water to Substation Insulator and rinse operation.
Summary of the invention
Object of the present invention is exactly to solve the problem, and provide a kind of by wireless remote control operation, flush efficiency is high, the mobile automatic water-supplying transformer station living water washing robot system of high safety.
To achieve these goals, the present invention adopts following technical scheme:
For the system that sprays water with high pressure of living water washing robot of transformer station, comprising: high-pressure hydraulic pump, electromagnetic clutch, power transmission, stand-by pump and outlet pipe; Described electromagnetic clutch one end is connected with the power takeoff that mobile chassis carries, and the other end of electromagnetic clutch is connected with high-pressure hydraulic pump and stand-by pump respectively by power transmission, and water under high pressure delivery side of pump connects outlet pipe; At described water under high pressure delivery side of pump, pressure-detecting device is installed, water resistance rate checkout gear is set at the end of described outlet pipe;
The described system that sprays water with high pressure is connected with living water washing robot of transformer station by pressure duct, and electric-control system is used for control realization to the control of living water washing robot of transformer station with the system that sprays water with high pressure.
Described power transmission comprises: belt pulley I, belt pulley II and belt pulley III, and the input that described belt pulley I is arranged on the output shaft of electromagnetic clutch, belt pulley II is arranged on high-pressure hydraulic pump, belt pulley III are arranged on the input of stand-by pump; Described belt pulley I and belt pulley II, between belt pulley I and belt pulley III all by belt transport power;
Stand-by pump and high-pressure pump belong to parallel relationship, under normal operative condition, only open high-pressure pump; When high purity water pressure is less than regulation operating pressure, automatically start stand-by pump.
Described pressure-detecting device is all connected with electric control system with water resistance rate checkout gear; When pure water pressure or resistivity do not meet instructions for use, electric control system controls high-pressure pump and quits work and report to the police.
Living water washing robot of described transformer station comprises car body travel mechanism, elevating mechanism and hydraulic giant flushing machine; Described car body travel mechanism is connected with the revolving dial of elevating mechanism by pivoting support, the revolving dial of elevating mechanism is provided with Multi-section multistage telescopic arm, and described Multi-section multistage telescopic arm is connected with hydraulic giant flushing machine by leveling cyclinder.
Described car body travel mechanism comprises: crawler body, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt, the hydraulic leg composition of tension buffer device and both sides, left running motor and right running motor are connected on crawler body support, driving wheel is connected with running motor by driving shaft, driven pulley, BOGEY WHEEL is connected with crawler body support respectively by rotating shaft with tension buffer device, crawler belt is enclosed within driving wheel, driven pulley, the outside of BOGEY WHEEL and tension buffer device, the both sides of the described crawler-type mobile extreme end of chassis are respectively equipped with hydraulic oil container and diesel fuel tanks, hydraulic leg is hinged on crawler body.
Described elevating mechanism comprises revolving dial and levelling gear, revolving dial is connected with car body travel mechanism by pivoting support, revolving dial is hinged with three joint two-stage telescopic arms, large arm and the amplitude oil cylinder of revolving dial and three joint two-stage telescopic arms are articulated and connected, the large arm of three joint two-stage telescopic arms and linking arm and telescopic oil cylinder are articulated and connected, levelling gear comprises leveling cyclinder I and leveling cyclinder II, leveling cyclinder I is arranged between revolving dial and large arm, with revolving dial, large arm is articulated and connected, leveling cyclinder II is arranged between workbench and forearm, with workbench, forearm is articulated and connected.
Described three joint two-stage telescopic arms comprise large arm, linking arm and forearm, large arm is hinged on revolving dial, and linking arm front and back ends is provided with slide block, and slide block is connected with linking arm bolt, linking arm is slidably connected by slide block and large arm, forearm, and the head of linking arm is provided with sprocket wheel; The large arm of described three joint two-stage telescopic arms, forearm have been bolted luffing chain, and the front end that sprocket wheel and stretching chain are walked around in large arm front end is hinged, and end and the forearm end of stretching chain are hinged.
Described hydraulic giant flushing machine comprises pitching oil cylinder and oscillating oil cylinder, and pitching oil cylinder is bolted on oscillating oil cylinder, and oscillating oil cylinder is bolted on the table, pitching oil cylinder is hinged with hydraulic giant frame, and hydraulic giant frame is connected with hydraulic giant;
Described hydraulic giant frame being provided with tracking camera by bolt, for Real Time Observation insulator water washing handling situations, immediately below tracking camera, laser range finder being housed, rinsing the distance of operation insulator for measuring hydraulic giant and water in real time.
Described electric control system comprises onboard subsystem and remoting subsystem, and remoting subsystem matches with onboard subsystem the control utilizing hydraulic control system to realize car body travel mechanism to robot, elevating mechanism, the system that sprays water with high pressure and hydraulic giant flushing machine.
Described onboard subsystem comprises industrial computer, the data that industrial computer is uploaded by 485 buses collection various kinds of sensors, and wireless receiver is handed down to the instruction received from remote manipulator, carry out after wireless receiver receives the data of remote manipulator processing and then being handed down to transceiver in industrial computer, by folding and the uninterrupted of the regulable control proportioning valve to magnitude of voltage, realize the motion of mobile chassis left and right wheels, forearm stretches, control that large arm pitching and revolving dial rotate.
Beneficial effect of the present invention:
1, the needs of operation are rinsed according to transformer station's water, design a kind of system that sprays water with high pressure for living water washing robot of transformer station, main body is made up of the system of spraying water with high pressure and living water washing robot, living water washing robot carries out long-range wireless remote control by remote control, all signal transmission is carried out by wireless signal between living water washing robot body and remote control, make flushing operating personnel away from high voltage electric field, ensure the safety of operating personnel.
The output of the system that 2, sprays water with high pressure is connected with living water washing robot, living water washing robot can by the system of spraying water with high pressure with carry pure water making machine and be connected; Under the condition having pure water source, can be directly connected with pure water source by the system of spraying water with high pressure, system operability is strong, has saved cost to a certain extent.
3, utilize robot to replace manually completing Substation Insulator and rinse operation, make operating personnel be positioned at safety zone, ensure the safety of operating personnel, the labour intensity of reduction, improve flush efficiency and automatization level, operating type is rinsed to transformer station of China water and produces positive change effect.
Accompanying drawing explanation
Fig. 1 is transformer station living water washing robot architecture schematic diagram of the present invention;
Structure top view when Fig. 2 is the drawing support of living water washing robot of transformer station of the present invention;
Fig. 3 is the structural representation of transformer station's living water washing robot working limit position of the present invention;
Fig. 4 is living water washing robot of transformer station of the present invention hydraulic principle figure;
Fig. 5 is living water washing robot of transformer station of the present invention electric control structure block diagram;
Fig. 6 is transformer station of the present invention living water washing robot remote telecontrol panel schematic diagram;
Fig. 7 is that the present invention sprays water with high pressure system architecture schematic diagram.
Wherein, 1, driven pulley, 2, BOGEY WHEEL, 3, tension buffer device, 4, driving wheel, 5, crawler belt, 6, crawler body, 7, proportional control valve group B, 8, revolving dial, 9, leveling cyclinder I, 10, luffing chain, 11, large arm, 12, amplitude oil cylinder, 13, stretching chain, 14, sprocket wheel, 15, workbench, 16, pitching oil cylinder, 17, hydraulic giant frame, 18, leveling cyclinder II, 19, tracking camera, 20, laser range finder, 21, hydraulic giant, 22, electric control box, 23, rear hydraulic leg I, 24, rear hydraulic leg II, 25, hydraulic oil container, 26, front hydraulic leg I, 27, front hydraulic leg II, 28, diesel fuel tanks, 29, linking arm, 30, forearm, 31, oscillating oil cylinder,
2-1. tube rolling device, 2-2. electromagnetic clutch, 2-3. belt pulley I, 2-4. belt pulley II, 2-5. pressure-detecting device, 2-6. high-pressure hydraulic pump, 2-7. flowmeter, 2-8. stand-by pump, 2-9. water resistance rate detect table, 2-10. belt pulley III.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
For the system that sprays water with high pressure of living water washing robot of transformer station, comprising: the system that sprays water with high pressure and living water washing robot, described in the system that sprays water with high pressure be connected by pressure duct with living water washing robot;
As shown in Figure 7, high-pressure injection system is made up of high-pressure hydraulic pump 2-6, electromagnetic clutch 2-2, belt pulley I 2-3, belt pulley II 2-4, belt pulley III 2-10, stand-by pump 2-8, tube rolling device 2-1, pressure-detecting device 2-5, flowmeter 2-7 and water resistance rate detection table 2-9 etc.The electromagnetic clutch 2-2 that the power source of described high-pressure hydraulic pump 2-6 carries from automobile chassis 1, via electromagnetic clutch 2-2 outputting power, to meet the not timing job requirement of high-pressure injection system.The input that described belt pulley I 2-3 is arranged on the output shaft of electromagnetic clutch 2-2, belt pulley II 2-4 is arranged on high-pressure hydraulic pump 2-6, belt pulley III 2-10 are arranged on the input of stand-by pump 10; Described belt pulley I 2-3 and between belt pulley II 2-4, belt pulley I 2-3 and belt pulley III 2-10 all by belt transport power.
Reserve pump 2-8 is installed on the opposite side of mobile chassis 1, its main application for prevent high-pressure hydraulic pump from breaking down or insufficient pressure time provide enough power for system.Under normal operative condition, only open high-pressure hydraulic pump 2-6; When being less than regulation operating pressure from the high purity water pressure of high-pressure hydraulic pump 2-6 water under high pressure end point detection out, automatically start stand-by pump 2-8; Described tube rolling device 2-1 is installed on high-pressure hydraulic pump 2-6 side, winding 60 meters of water pipes on it, mainly by from water pump water under high pressure out, by tube rolling device 2-1 upper hose passage, is transported on the pressure duct of water flushing device people; Pressure-detecting device 2-5 is arranged on the output of high-pressure hydraulic pump 2-6, for detecting high-pressure pump pure water output pressure.Water resistance rate detection table 2-9 is for detecting the water resistance rate of pure water after high-pressure pump pressurization.Described Pressure gauge and water resistance rate detect table and are all connected with electric-control system, and when pure water pressure and resistivity do not meet instructions for use, high-pressure hydraulic pump 2-6 can quit work and report to the police.High-pressure injection system is also equipped with Manual throttle controller, is connected with diesel engine throttle, can manual adjustments Oil Switch size, thus realizes the adjustment of high-pressure hydraulic pump outlet pressure.
As Figure 1-3, main body is made up of basic machine and remote control device living water washing robot architecture schematic diagram.Wherein, basic machine is primarily of car body travel mechanism, three joint two-stage telescopic arm elevating mechanisms, hydraulic giant flushing machine, hydraulic control system and electric control system composition.Car body travel mechanism is crawler-type mobile chassis structure, crawler body be diesel fuel tanks, another side is hydraulic oil container, and the power source of robot is vehicle-mounted diesel engine; Described car body travel mechanism is connected with the revolving dial 8 of elevating mechanism by pivoting support, the revolving dial 8 of elevating mechanism is also provided with three joint two-stage telescopic arms, the forearm 30 of three joint two-stage telescopic arms is connected with the workbench 15 of hydraulic giant flushing machine by leveling cyclinder II 18, described revolving dial 8 is also connected with the proportional control valve group of hydraulic control system; Electric control system comprises onboard subsystem and remoting subsystem, and remoting subsystem matches with onboard subsystem the control utilizing hydraulic control system wirelessly to complete car body travel mechanism to robot, elevating mechanism and hydraulic giant flushing machine.
Living water washing robot of transformer station operation power is originated vehicle-mounted diesel engine.Adopt self-powered source, diesel engine powers, operation in intensive battery limits can be entered, solve on-the-spot power configuration problem.
Car body travel mechanism adopts crawler-type mobile chassis structure, primarily of four hydraulic legs compositions of crawler body 6, left and right running motor, driving wheel 4, BOGEY WHEEL 2, crawler belt 5, tension buffer device 3 and both sides.The left side, chassis is diesel fuel tanks 28, and the right is hydraulic oil container 25, rear hydraulic leg I 23, rear hydraulic leg II 24, front hydraulic leg I 26, and front hydraulic leg II 27 is hinged on crawler body 6.
The elevating mechanism of three joint two-stage telescopic arm compositions saves two-stage telescopic arm primarily of revolving dial 8, three, and levelling gear forms.Revolving dial 8 is connected with car body travel mechanism by pivoting support, and driven by rotary motor and realize revolving dial 8 and the 360 ° of continuous rotaries motions of attached each parts thereof, proportional control valve group 7 is bolted on revolving dial 8; Two-stage telescopic arm forms primarily of large arm 11, linking arm 29, forearm 30, two-stage telescopic arm is installed on revolving dial 8, large arm 11 is hinged on revolving dial 8, there is slide block linking arm 29 front and back end, slide block is connected with linking arm 29 bolt, linking arm 29 and large arm 11, forearm 30 are slidably connected, and the head of linking arm 29 installs sprocket wheel 14; Amplitude oil cylinder 12 and large arm 11, revolving dial 8 are articulated and connected, and telescopic oil cylinder and large arm 11, linking arm 29 are articulated and connected; Levelling gear forms primarily of leveling cyclinder I 9 and leveling cyclinder II 18, leveling cyclinder I 9 is arranged between revolving dial 8 and large arm 11, be articulated and connected with revolving dial 8, large arm 11, leveling cyclinder II 18 is arranged between workbench 15 and forearm 30, is articulated and connected with workbench 15, forearm 30; Luffing chain 10 is connected on large arm 11, forearm 30 by bolt, and the front end of stretching chain 13 is hinged on large arm 11 front end, walks around sprocket wheel 14, end hinged forearm 30 end.
Hydraulic giant flushing machine forms primarily of workbench 15, pitching oil cylinder 16, oscillating oil cylinder 31, hydraulic giant frame 17, hydraulic giant 21.Pitching oil cylinder 16 is bolted on oscillating oil cylinder 31, and oscillating oil cylinder 31 is bolted on workbench 15, and hydraulic giant frame 17 is hinged on pitching oil cylinder 16, and hydraulic giant 21 spiral is connected on hydraulic giant frame 17.
Robot water gun rack 17 is installed tracking camera 19, for Real Time Observation insulator water washing handling situations, the picture of real-time transmission operation field, facilitates teleworker to implement operation.Tracking camera 19 bolt is connected on hydraulic giant frame 17.Laser range finder 20 is housed immediately below tracking camera 19, and measurement hydraulic giant and water rinse the distance of operation insulator in real time, within making it remain on safety work distance.
This robot is when operation, and the car body travel mechanism being controlled basic machine by the joystick of remote control device moves to appointed area, by front hydraulic leg I 26, front hydraulic leg II 27, rear hydraulic leg I 23, rear hydraulic leg II 24 supports and lands, and improves robot manipulating task stability; Revolving dial 8 and appurtenances thereof can 360 ° of rotations, the orientation of adjustment two-stage telescopic arm, by the angle of pitch of amplitude oil cylinder 12 with adjustment large arm 11, linking arm 29 realizes stretching out and contraction by telescopic oil cylinder; forearm 30 realizes synchronously stretching out and contraction with linking arm 29 under the drive of stretching chain 13; under the acting in conjunction of amplitude oil cylinder 12, telescopic oil cylinder and stretching chain 13, adjust the pose of large arm 11, linking arm 29 and forearm 30; The pose of adjustment workbench 15 coordinated by leveling cyclinder I 9 and leveling cyclinder II 18, holding table 15 level, the pose fine setting realizing hydraulic giant frame 17 that swings of pitching oil cylinder about 16 pitching and oscillating oil cylinder 31, by the image that tracking camera 19 gathers, determine the pose of hydraulic giant 21, hydraulic giant 21 sprays high-purity water and carries out flushing operation.
As shown in Figure 4, living water washing robot of transformer station hydraulic system adopts bottom control valve group A, upper cartridge control valve group B combination to control and center-rotary joint combination controls, and has seven road proportional reversing valves and No. four hand-operated direction valves.Living water washing robot of transformer station adopts diesel engine to be power, is connected with duplex gear pump by shaft coupling, and consider transformer station's livewire work particular surroundings requirement, hydraulic system all adopts wear-resistant dielectric force feed.Hydraulic oil, from fuel tank, enters water flushing device people hydraulic control oil circuit through oil absorption filter, then flows back to fuel tank through return oil filter.Wherein check valve is for controlling fluid backflow, its overload protection function of safety valve, and Pressure gauge is connected with oil circuit by pressure meter switch, and shows oil circuit hydraulic fluid pressure in real time.Center-rotary joint is the Hydraulic Elements connecting revolving dial and chassis oil circuit, and after it ensures revolving dial any rotation, hydraulic circuit normally can also join oil.
Bottom control valve group A is connected with hydraulic pump by distributing valve, controls water flushing device people four support oil cylinders complete stretching motion primarily of four groups of hand-operated direction valves, and two proportional reversing valves control two motors in left and right, carry out robot ambulation motion.
Upper cartridge control valve group B controls switching push button, distributing valve through center-rotary joint, upper dress, is connected with hydraulic pump, rotary motor is controlled primarily of a proportional reversing valve, complete the rotary motion of dress revolving dial, two groups of proportional reversing valves control large arm pitching and forearm stretching motion, and another two groups of proportional reversing valves realize horizontal movement and the elevating movement of hydraulic giant by horizontal hunting oil cylinder and vertical oscillation oil cylinder.
As shown in Figure 5, transformer station's living water washing robot electric control system comprises onboard subsystem and remoting subsystem.Onboard subsystem comprises vehicle-mounted upper computer control system and vehicle-mounted driver, and vehicle-mounted upper computer control system has and receives the order of remoting subsystem, and to order resolve and realize motion algorithm etc. function.The instruction that vehicle-mounted driver receives vehicle-mounted upper computer control system realizes the function controlled the valve group of car body.Remoting subsystem has the movement of car body, the start and stop of engine, the size of throttle, elevating mechanism simple joint control and collation control function.Onboard subsystem wirelessly communicates with handheld terminal subsystem.
Onboard subsystem is mainly divided into car body to move control module, upper dress elevating mechanism motion-control module, engine and four modules such as mains power monitoring module and security monitoring module by function.Car body moves control module and possesses the functions such as advance, retrogressing, speed governing, left and right turn, landing leg stretching, floor light, security monitoring; Upper dress elevating mechanism motion-control module possesses the functions such as simple joint control, simple joint position feedback, automatic leveling and security monitoring; Engine and mains power monitoring module possess the functions such as the supervision of the controls such as engine start and stop, speed governing and engine condition and supply voltage; Security monitoring module possesses threshold value setting and the security alarm of the states such as each joint of elevating mechanism is spacing, supporting leg state, oil temperature oil level, cell voltage.
Onboard subsystem hardware is made up of industrial computer, wireless receiver, A/D modular converter, ZIGBEE, various kinds of sensors, proportioning valve, switch valve etc.The data that industrial computer is uploaded by 485 buses collection various kinds of sensors, and wireless receiver is handed down to the instruction received from remote manipulator, realize switch valve, the control of proportioning valve.Carry out after wireless receiver receives the data of remote controller processing and then being handed down to transceiver in industrial computer, by folding and the uninterrupted of the regulable control proportioning valve to magnitude of voltage, realize the motion of mobile chassis left and right wheels, forearm stretches, large arm pitching, the control that revolving dial rotates.
Various kinds of sensors comprises stay wire sensor, angular transducer, obliquity sensor, temperature sensor, pressure sensor, voltage sensor and current sensor, stay wire sensor is arranged between large arm and forearm, for measuring the collapsing length of forearm, large arm and tip platform are all equipped with an angular transducer and an obliquity sensor, gather the angle-data in large arm and platform horizontal and vertical direction and pass to industrial computer, angular transducer wherein on platform and obliquity sensor data pass through ZIGBEE Wireless transceiver, to realize the insulation completely of tip platform.Temperature and pressure sensor is arranged on hydraulic oil container, and gather the pressure data of hydraulic oil in oil temperature in fuel tank and fuel tank, the data collected are analog quantity, convert data signal to pass to industrial computer through 485 through A/D.Voltage x current value in voltage and current sensor Acquisition Circuit, whether the voltage x current in testing circuit is stablized, and the analog signal collected is converted to data signal through A/D modular converter and passes to industrial computer through 485 buses.
Remote manipulator realizes Long-distance Control to mobile chassis, lifting arm and hydraulic giant, comprising before and after control revolver, right take turns before and after, about large arm, about flexible, the platform of large arm pitching, forearm; Locking button comprises the control of instrument, selection, XYZ world coordinate system, throttle size; Self-recoverage button comprises the control of reset, engine start and stop, teaching, reproduction, startup; Indicator lamp comprises power supply, radio communication, alarm lamp.
In Fig. 6, the remote manipulator of living water washing robot of a kind of transformer station comprises 7 simulation rocking bars, to control before and after revolver, rightly take turns front and back, large arm about 11, large arm 11 pitching, forearm 31 stretch, workbench about 15, hydraulic giant 17 pitching; Locking button comprises the control of instrument, selection, XYZ world coordinate system, throttle size; Self-recoverage button comprises the control of reset, engine start and stop, teaching, reproduction, startup; Indicator lamp comprises power supply, radio communication, alarm lamp.
By reference to the accompanying drawings the specific embodiment of the present 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 (10)
1. for the system that sprays water with high pressure of living water washing robot of transformer station, it is characterized in that, comprising: high-pressure hydraulic pump, electromagnetic clutch, power transmission, stand-by pump and outlet pipe; Described electromagnetic clutch one end is connected with the power takeoff that mobile chassis carries, and the other end of electromagnetic clutch is connected with high-pressure hydraulic pump and stand-by pump respectively by power transmission, and water under high pressure delivery side of pump connects outlet pipe; At described water under high pressure delivery side of pump, pressure-detecting device is installed, water resistance rate checkout gear is set at the end of described outlet pipe;
The described system that sprays water with high pressure is connected with living water washing robot of transformer station by pressure duct, and electric-control system is used for control realization to the control of living water washing robot of transformer station with the system that sprays water with high pressure.
2. a kind of system that sprays water with high pressure for living water washing robot of transformer station as claimed in claim 1, it is characterized in that, described power transmission comprises: belt pulley I, belt pulley II and belt pulley III, and the input that described belt pulley I is arranged on the output shaft of electromagnetic clutch, belt pulley II is arranged on high-pressure hydraulic pump, belt pulley III are arranged on the input of stand-by pump; Described belt pulley I and belt pulley II, between belt pulley I and belt pulley III all by belt transport power;
Stand-by pump and high-pressure pump belong to parallel relationship, under normal operative condition, only open high-pressure pump; When high purity water pressure is less than regulation operating pressure, automatically start stand-by pump.
3. a kind of system that sprays water with high pressure for living water washing robot of transformer station as claimed in claim 1, it is characterized in that, described pressure-detecting device is all connected with electric control system with water resistance rate checkout gear; When pure water pressure or resistivity do not meet instructions for use, electric control system controls high-pressure pump and quits work and report to the police.
4. a kind of system that sprays water with high pressure for living water washing robot of transformer station as claimed in claim 1, it is characterized in that, living water washing robot of described transformer station comprises car body travel mechanism, elevating mechanism and hydraulic giant flushing machine; Described car body travel mechanism is connected with the revolving dial of elevating mechanism by pivoting support, the revolving dial of elevating mechanism is provided with Multi-section multistage telescopic arm, and described Multi-section multistage telescopic arm is connected with hydraulic giant flushing machine by leveling cyclinder.
5. a kind of system that sprays water with high pressure for living water washing robot of transformer station as claimed in claim 4, it is characterized in that, described car body travel mechanism comprises: crawler body, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt, the hydraulic leg composition of tension buffer device and both sides, left running motor and right running motor are connected on crawler body support, driving wheel is connected with running motor by driving shaft, driven pulley, BOGEY WHEEL is connected with crawler body support respectively by rotating shaft with tension buffer device, crawler belt is enclosed within driving wheel, driven pulley, the outside of BOGEY WHEEL and tension buffer device, the both sides of the described crawler-type mobile extreme end of chassis are respectively equipped with hydraulic oil container and diesel fuel tanks, hydraulic leg is hinged on crawler body.
6. a kind of system that sprays water with high pressure for living water washing robot of transformer station as claimed in claim 4, it is characterized in that, described elevating mechanism comprises revolving dial and levelling gear, revolving dial is connected with car body travel mechanism by pivoting support, revolving dial is hinged with three joint two-stage telescopic arms, large arm and the amplitude oil cylinder of revolving dial and three joint two-stage telescopic arms are articulated and connected, the large arm of three joint two-stage telescopic arms and linking arm and telescopic oil cylinder are articulated and connected, levelling gear comprises leveling cyclinder I and leveling cyclinder II, leveling cyclinder I is arranged between revolving dial and large arm, with revolving dial, large arm is articulated and connected, leveling cyclinder II is arranged between workbench and forearm, with workbench, forearm is articulated and connected.
7. a kind of system that sprays water with high pressure for living water washing robot of transformer station as claimed in claim 6, it is characterized in that, described three joint two-stage telescopic arms comprise large arm, linking arm and forearm, large arm is hinged on revolving dial, linking arm front and back ends is provided with slide block, slide block is connected with linking arm bolt, and linking arm is slidably connected by slide block and large arm, forearm, and the head of linking arm is provided with sprocket wheel; The large arm of described three joint two-stage telescopic arms, forearm have been bolted luffing chain, and the front end that sprocket wheel and stretching chain are walked around in large arm front end is hinged, and end and the forearm end of stretching chain are hinged.
8. a kind of system that sprays water with high pressure for living water washing robot of transformer station as claimed in claim 4, it is characterized in that, described hydraulic giant flushing machine comprises pitching oil cylinder and oscillating oil cylinder, pitching oil cylinder is bolted on oscillating oil cylinder, oscillating oil cylinder is bolted on the table, pitching oil cylinder is hinged with hydraulic giant frame, hydraulic giant frame is connected with hydraulic giant;
Described hydraulic giant frame being provided with tracking camera by bolt, for Real Time Observation insulator water washing handling situations, immediately below tracking camera, laser range finder being housed, rinsing the distance of operation insulator for measuring hydraulic giant and water in real time.
9. a kind of system that sprays water with high pressure for living water washing robot of transformer station as claimed in claim 1, it is characterized in that, described electric control system comprises onboard subsystem and remoting subsystem, and remoting subsystem matches with onboard subsystem the control utilizing hydraulic control system to realize car body travel mechanism to robot, elevating mechanism, the system that sprays water with high pressure and hydraulic giant flushing machine.
10. a kind of system that sprays water with high pressure for living water washing robot of transformer station as claimed in claim 9, it is characterized in that, described onboard subsystem comprises industrial computer, the data that industrial computer is uploaded by 485 buses collection various kinds of sensors, and wireless receiver is handed down to the instruction received from remote manipulator, carry out after wireless receiver receives the data of remote manipulator processing and then being handed down to transceiver in industrial computer, by folding and the uninterrupted of the regulable control proportioning valve to magnitude of voltage, realize moving to mobile chassis left and right wheels, forearm stretches, the control that large arm pitching and revolving dial rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410459118.0A CN104998847B (en) | 2014-09-10 | 2014-09-10 | A kind of system that sprays water with high pressure for living water washing robot of transformer station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410459118.0A CN104998847B (en) | 2014-09-10 | 2014-09-10 | A kind of system that sprays water with high pressure for living water washing robot of transformer station |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104998847A true CN104998847A (en) | 2015-10-28 |
| CN104998847B CN104998847B (en) | 2017-08-25 |
Family
ID=54371854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410459118.0A Active CN104998847B (en) | 2014-09-10 | 2014-09-10 | A kind of system that sprays water with high pressure for living water washing robot of transformer station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104998847B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105214989A (en) * | 2015-11-02 | 2016-01-06 | 山东建筑大学 | Transformer station livewire work water flushing device people and hydraulic system control method thereof |
| CN105268688A (en) * | 2015-11-25 | 2016-01-27 | 蔡长伟 | Water pulse cleaning device for high-voltage electrically-charged equipment |
| CN108591148A (en) * | 2018-05-28 | 2018-09-28 | 河南工学院 | The accuracy control method of oilhydraulic engineering equipment |
| CN112056191A (en) * | 2020-09-30 | 2020-12-11 | 福建江海苑园林工程有限公司 | Sprinkling irrigation device for garden maintenance and control method |
| CN112425314A (en) * | 2020-11-18 | 2021-03-02 | 华东师范大学 | Planting robot for ecological restoration |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201284210Y (en) * | 2008-10-15 | 2009-08-05 | 徐州重型机械有限公司 | Leveling mechanism of telescopic arm frame type high operation work platform |
| CN101562318A (en) * | 2009-05-08 | 2009-10-21 | 广东电网公司佛山供电局 | Mobile type live washing device for transmission line |
| CN201419178Y (en) * | 2009-04-03 | 2010-03-10 | 薛春玉 | Telescopic insulation lifting mechanism |
| US20100108781A1 (en) * | 2008-10-31 | 2010-05-06 | Giacomo Terrizzi | High pressure washing apparatus on mobile steerable platform |
| CN201930940U (en) * | 2010-12-31 | 2011-08-17 | 徐州海伦哲专用车辆股份有限公司 | Special comprehensive water flushing vehicle for electric power high-altitude operation |
| CN201941656U (en) * | 2010-12-21 | 2011-08-24 | 徐州海伦哲专用车辆股份有限公司 | Distance measurement device for electrified water washing vehicle |
| CN102302834A (en) * | 2011-08-23 | 2012-01-04 | 天津泰瑞救援装备有限公司 | Automatic control clutch type water mist fire extinguishing device |
| CN103056866A (en) * | 2013-01-29 | 2013-04-24 | 山东电力集团公司电力科学研究院 | Live-working robot of transformer substation |
| CN103128072A (en) * | 2013-03-07 | 2013-06-05 | 广东电网公司佛山供电局 | Machinery-washing operating arm with electrified water for electric power engineering |
| CN103623965A (en) * | 2013-11-29 | 2014-03-12 | 国家电网公司 | Flushing device for live electrical equipment |
| CN204194339U (en) * | 2014-09-10 | 2015-03-11 | 国家电网公司 | A kind of system that sprays water with high pressure for living water washing robot of transformer station |
-
2014
- 2014-09-10 CN CN201410459118.0A patent/CN104998847B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201284210Y (en) * | 2008-10-15 | 2009-08-05 | 徐州重型机械有限公司 | Leveling mechanism of telescopic arm frame type high operation work platform |
| US20100108781A1 (en) * | 2008-10-31 | 2010-05-06 | Giacomo Terrizzi | High pressure washing apparatus on mobile steerable platform |
| CN201419178Y (en) * | 2009-04-03 | 2010-03-10 | 薛春玉 | Telescopic insulation lifting mechanism |
| CN101562318A (en) * | 2009-05-08 | 2009-10-21 | 广东电网公司佛山供电局 | Mobile type live washing device for transmission line |
| CN201941656U (en) * | 2010-12-21 | 2011-08-24 | 徐州海伦哲专用车辆股份有限公司 | Distance measurement device for electrified water washing vehicle |
| CN201930940U (en) * | 2010-12-31 | 2011-08-17 | 徐州海伦哲专用车辆股份有限公司 | Special comprehensive water flushing vehicle for electric power high-altitude operation |
| CN102302834A (en) * | 2011-08-23 | 2012-01-04 | 天津泰瑞救援装备有限公司 | Automatic control clutch type water mist fire extinguishing device |
| CN103056866A (en) * | 2013-01-29 | 2013-04-24 | 山东电力集团公司电力科学研究院 | Live-working robot of transformer substation |
| CN103128072A (en) * | 2013-03-07 | 2013-06-05 | 广东电网公司佛山供电局 | Machinery-washing operating arm with electrified water for electric power engineering |
| CN103623965A (en) * | 2013-11-29 | 2014-03-12 | 国家电网公司 | Flushing device for live electrical equipment |
| CN204194339U (en) * | 2014-09-10 | 2015-03-11 | 国家电网公司 | A kind of system that sprays water with high pressure for living water washing robot of transformer station |
Non-Patent Citations (1)
| Title |
|---|
| 王佩: "轮式带电水冲洗车总体方案的研究", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105214989A (en) * | 2015-11-02 | 2016-01-06 | 山东建筑大学 | Transformer station livewire work water flushing device people and hydraulic system control method thereof |
| CN105268688A (en) * | 2015-11-25 | 2016-01-27 | 蔡长伟 | Water pulse cleaning device for high-voltage electrically-charged equipment |
| CN108591148A (en) * | 2018-05-28 | 2018-09-28 | 河南工学院 | The accuracy control method of oilhydraulic engineering equipment |
| CN112056191A (en) * | 2020-09-30 | 2020-12-11 | 福建江海苑园林工程有限公司 | Sprinkling irrigation device for garden maintenance and control method |
| CN112425314A (en) * | 2020-11-18 | 2021-03-02 | 华东师范大学 | Planting robot for ecological restoration |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104998847B (en) | 2017-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104998850B (en) | Electrification water washing robot system of transformer substation and method | |
| CN204170997U (en) | Transformer station's living water washing robot system | |
| CN105014674B (en) | Current conversion station living water washing robot system and method | |
| CN104998848B (en) | Living water washing robot of rail mounted transformer station | |
| CN105033984B (en) | Mobile automatic water-supplying transformer station living water washing robot system | |
| CN204170998U (en) | A kind of living water washing robot of transformer station that can accurately rinse | |
| CN105032805B (en) | A kind of living water washing robot of transformer station that accurately can be rinsed | |
| CN105014651B (en) | Living water washing robot of transformer station and method | |
| CN104999449B (en) | Electrified water washing robot of wheel type substation | |
| CN104998847A (en) | High-pressure water spray system for electrification water washing robot of transformer substation | |
| CN204277997U (en) | Mobile automatic water-supplying transformer station living water washing robot system | |
| CN204194339U (en) | A kind of system that sprays water with high pressure for living water washing robot of transformer station | |
| CN108673467A (en) | Substation's live-line maintenance operation robot system and method | |
| CN103056866A (en) | Live-working robot of transformer substation | |
| CN204248894U (en) | Transformer station's living water washing is auxiliary rushes robot control system | |
| CN204278028U (en) | Current conversion station living water washing robot system | |
| CN108748073A (en) | Substation equipment live-line maintenance operation robot | |
| CN204912140U (en) | Safety protection system for robot is washed in electrified water -washed of transformer substation | |
| CN104999450B (en) | Electrification water washing auxiliary flushing robot system for mobile self-water-supply type transformer substation and method | |
| CN204035106U (en) | Living water washing Fu Chong robot of transformer station | |
| CN204194340U (en) | Living water washing robot of rail mounted transformer station | |
| CN104777768A (en) | Emergency control system and method for substation charged water flushing robot | |
| CN204036449U (en) | A kind of living water washing Fu Chong robot of transformer station that can accurately rinse | |
| CN204195767U (en) | Current conversion station living water washing robot | |
| CN204172024U (en) | Living water washing robot of wheeled transformer station |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee after: State Grid Corporation of China Co-patentee after: National Network Intelligent Technology Co., Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee before: State Grid Corporation of China Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201104 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: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. |