CN104998850B - Electrification water washing robot system of transformer substation and method - Google Patents
Electrification water washing robot system of transformer substation and method Download PDFInfo
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- CN104998850B CN104998850B CN201410459455.XA CN201410459455A CN104998850B CN 104998850 B CN104998850 B CN 104998850B CN 201410459455 A CN201410459455 A CN 201410459455A CN 104998850 B CN104998850 B CN 104998850B
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- 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
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- 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
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- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses an electrification water washing robot system of a transformer substation and a method. The electrification water washing robot system comprises a main flushing robot, an auxiliary flushing robot and a pure water preparation system; the main flushing robot and the auxiliary flushing robot are connected with the pure water preparation system through high-pressure pipes; the main flushing robot comprises a vehicle body movement mechanism, a lifting mechanism and a water gun flushing mechanism; the vehicle body movement mechanism is connected with a revolving platform of the lifting mechanism through a slewing bearing, and a plurality of multistage telescopic arms are further installed on the revolving platform of the lifting mechanism; and the multiple multistage telescopic arms are connected with the water gun flushing mechanism through a leveling oil cylinder. According to the electrification water washing robot system, manual work is replaced with the robot to complete washing operation of insulators of the transformer substation, an operator is located within a safety area, the safety of the operator is guaranteed, the labor intensity is reduced, and the washing efficiency and the automation level are improved.
Description
Technical field
The present invention relates to a kind of transformer station living water washing robot system and method.
Background technology
Substation Insulator is exposed in external environment for a long time, the easy dirt deposits in surface, and these dirts are subject to vile weather
Infringement is susceptible to pollution flashover accident.Insulator charged water rinses the reliability that operation can improve power supply, reduces loss of outage, protects
Card transformer station and the safety of transmission line of electricity.Rinse operation in Substation Insulator at this stage and be primarily present following shortcoming：
1st, backwashing manner is to enter scene by the hand-held flushing device of cleaning technique personnel to carry out operation mostly, and artificial flushing is not
Only rely upon weather condition in addition it is also necessary to cleaning personnel possess compared with high-tech level and skilled operating process, insulator is carried out
Need the security protection of high standard during living water washing, with the security incident avoiding short circuit current to cause, cause casualties, this
There is potential safety hazard in class operating type.
2nd, manual work is faced with high labor intensive, and efficiency is low, the low problems of automatization level；Living water washing skill
Art requirement is higher, is affected by many factors such as environment, contamination situation, equipment creep distance, equipment arrangements, easy during artificial flushing
Generation equipment flashover.
3rd, consider that living water washing operation is subject to rinse many impacts such as angle, hydraulic pressure, manual work is sometimes not
The dunghill on equipment outer insulation surface can be washed away completely.For the insulator of Special geographical position, rinsed using single water
Robot there is also the problem that cannot ensure that Substation Insulator is carried out with comprehensive effective flushing, accordingly, it would be desirable to auxiliary is rinsed
Equipment carries out cooperating with main flushing robot, just enables the effective flushing to each position of insulator.
4th, existing water flushing unit automaticity is not high, efficiency is low, energy consumption is big, there is very big potential safety hazard.
And existing water flushing unit does not possess pure water preparation function, need supporting special pure water making machine, it is big that equipment takes up an area face,
It is impossible to enough realize flexible control under the less environment in place space；Or pure water preparation ability is poor, when leading to rinse operation
There is potential safety hazard.
Replace manually Substation Insulator is carried out with water flushing operation hence with robot safer and in hgher efficiency
It is necessary, meet research.
Content of the invention
For solving the deficiency that prior art exists, the invention discloses transformer station's living water washing robot system and side
Method, this device replaces being accomplished manually Substation Insulator flushing operation using robot, so that operator is located in safety zone,
Ensure the safety of operator, the labor intensity of reduction, improve flush efficiency and automatization level.
For achieving the above object, the concrete scheme of the present invention is as follows：
A kind of transformer station living water washing robot system, including：Main flushing robot, auxiliary rinse robot, pure water
Preparation facilitiess；Described main flushing robot and auxiliary are rinsed robot and are connected by pressure duct with pure water making machine respectively；
Described main flushing robot includes car body travel mechanism, elevating mechanism and hydraulic giant flushing machine；Described car body moves
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 and stretches
Contracting arm, described Multi-section multistage telescopic arm is connected with hydraulic giant flushing machine by leveling cyclinder；
Described auxiliary is rinsed robot and is included car body travel mechanism, vertical lifting mechanism and hydraulic giant flushing machine；Auxiliary punching
The vertical lifting mechanism washing robot is connected with car body travel mechanism, and vertical lifting mechanism is provided with multistage telescopic arm, vertical liter
Descending mechanism is connected with hydraulic giant flushing machine by multistage telescopic arm.
Described auxiliary rinses robot and main flushing machine includes electric control system per capita, and described electric control system is equal
Including onboard subsystem and remoting subsystem, remoting subsystem is matched to onboard subsystem and wirelessly completes to corresponding
The control of the car body travel mechanism, elevating mechanism and hydraulic giant flushing machine of robot.
The described main car body travel mechanism rinsing robot is crawler-type mobile chassis structure, and described car body travel mechanism leads to
Cross pivoting support to be connected with the revolving dial of elevating mechanism, the revolving dial of elevating mechanism is also equipped with three section two-stages and stretches
Arm, the forearm of three section two-stage telescopic arms is connected with the workbench of hydraulic giant flushing machine by leveling cyclinder II.
The car body travel mechanism that described auxiliary rinses robot is crawler-type mobile chassis structure, and auxiliary rinses robot
Power assembly adopts diesel engine powers, is installed on mobile chassis；Before vertical lifting mechanism is arranged on car body travel mechanism
End, vertical lifting mechanism is provided with two-stage telescopic arm, and the upper arm of two-stage telescopic arm passes through insulation column and hydraulic giant flushing machine
Working cradle head is connected, and the underarm of two-stage telescopic arm is fixed on mobile chassis.
The described main robot that rinses is identical with the car body travel mechanism of auxiliary flushing robot, all includes：Crawler body, a left side
Four hydraulic pressure of running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt, tension buffer device and both sides
Supporting leg, left running motor and right running motor are bolted on crawler body support, and driving wheel passes through drive shaft and row
Walk motor connection, driven pulley, BOGEY WHEEL are coupled with crawler body support by rotary shaft respectively with tension buffer device, crawler belt set
In the outside of driving wheel, driven pulley, BOGEY WHEEL and tension buffer device, the chassis left side is diesel fuel tanks, and the right is hydraulic oil container, liquid
Pressure supporting leg is hinged on crawler body.
The described main elevating mechanism rinsing robot includes revolving dial and levelling gear, and revolving dial passes through pivoting support
Travel mechanism is connected with car body, and revolving dial is hinged with three section two-stage telescopic arms, and revolving dial and three saves two-stage telescopic arms
Large arm is articulated and connected with amplitude oil cylinder, and the large arm of three section two-stage telescopic arms and linking arm are articulated and connected with telescopic oil cylinder, leveling machine
Structure includes leveling cyclinder I and leveling cyclinder II, and leveling cyclinder I is arranged between revolving dial and large arm, with revolving dial, large arm hinge
Connect in succession, leveling cyclinder II is arranged between workbench and forearm, be articulated and connected with workbench, forearm.
Described three section two-stage telescopic arms include large arm, linking arm and forearm, and large arm is hinged on revolving dial, linking arm
Front and back ends are provided with slide block, slide block and linking arm bolt connection, and linking arm is slidably connected with large arm, forearm by slide block, even
The head connecing arm is provided with sprocket wheel；It has been bolted luffing chain, greatly on the large arm of described three section two-stage telescopic arms, forearm
Arm front end bypasses that sprocket wheel is hinged with the front end of stretching chain, and the end of stretching chain is hinged with forearm end.
The described main hydraulic giant flushing machine rinsing robot includes pitching oil cylinder and oscillating oil cylinder, and pitching oil cylinder passes through bolt
It is connected on oscillating oil cylinder, oscillating oil cylinder is bolted on the table, pitching oil cylinder is hinged with hydraulic giant frame, hydraulic giant frame
On be connected with hydraulic giant；
On described hydraulic giant frame, tracking camera is provided with by bolt, for Real Time Observation insulator water washing operation feelings
Condition, equipped with laser range finder immediately below tracking camera, rinses the distance of operation insulator for real-time measurement hydraulic giant and water.
The vertical lifting mechanism that described auxiliary rinses robot includes：Two stage vertical telescopic arm, organ case guard shield, insulation
Post and Vehicle Controller, the lower end of described vertical telescopic arm is fixed in the fixed plate of car body walking mechanism, vertical telescopic arm
Upper end is connected with some insulation columns by top board；Described Vehicle Controller is fixed on vertical telescopic arm restraining board, described wind
Two stage vertical telescopic arm, insulation column and Vehicle Controller are surrounded wherein by qin case guard shield.
The hydraulic giant flushing machine that described auxiliary rinses robot includes：Head, electric cabinet, adjustable water gun carriage, hydraulic giant,
Video camera and laser range finder；
Described electric cabinet is arranged on the top of insulation column, and is fixed on insulation column, for providing head and shooting
Power supply needed for machine；Described head is fixed on electric cabinet；Described adjustable water gun carriage is hinged and connected to above head, adjustable
Hydraulic giant, video camera and laser range finder are connected on hydraulic giant support, described laser range finder be arranged on video camera just under
Side.
Described pure water making machine includes：Pure water making system, high-pressure injection system and electric control system；
Described pure water making system is connected with high-pressure injection system, electric-control system and pure water making system and high-pressure injection system
System connects respectively, and described electric-control system is used for controlling the unlatching of pure water making machine and when pressure or flow are higher than metered flow
Or overload protection during rated pressure.
Described high-pressure injection system includes：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 carry, and the other end of electromagnetic clutch transmits dress by power
Put and be connected with high-pressure hydraulic pump and stand-by pump respectively, described stand-by pump is arranged on the side relative with high-pressure hydraulic pump, high-pressure hydraulic pump
Outfan connects outlet pipe；In the outfan of described high-pressure hydraulic pump, pressure-detecting device is installed, in the end of described outlet pipe
Setting water resistance rate detection means；
Described stand-by pump and high-pressure pump belong to parallel relationship, under normal operating condition, open high-pressure pump；High-purity when exporting
When water pressure is less than regulation operating pressure, automatically turn on stand-by pump.
Described power transmission includes：Belt pulley I, belt pulley II and belt pulley III, described belt pulley I is arranged on electromagnetism
The output shaft of clutch, belt pulley II are arranged on the input of high-pressure hydraulic pump, belt pulley III is arranged on the input of stand-by pump；Institute
State between belt pulley I and belt pulley II, belt pulley I and belt pulley III all by belt transport power.
Described pressure-detecting device is all connected with electric-control system with water resistance rate detection means；When pure water pressure or resistance
When rate does not meet use requirement, electric control system controls high-pressure pump can quit work and report to the police.
Described high-pressure injection system is also equipped with Manual throttle controller, and described Manual throttle controller is with diesel engine throttle even
Connect, manually adjust Oil Switch size, realize the regulation of high-pressure hydraulic pump outlet pressure.
Described pure water making system includes：Activated carbon, quartz filter, cartridge filter, one-level high-pressure pump, one-level is anti-
Permeable membrane group, intermediate water tank, two grades of high-pressure pumps, two-pass reverse osmosis film group and pure water tank；
Described activated carbon, the side of quartz filter are connected with running water pipe, and opposite side is passed through pipeline and filtered with security personnel
Device connects, and described cartridge filter passes through pipeline and one-level high-pressure hydraulic pump, first-stage reverse osmosis film group, intermediate water tank, two grades of high pressure
Water pump, two-pass reverse osmosis film group and pure water tank are sequentially connected, described activated carbon, quartz filter, cartridge filter, and one-level is anti-
Permeable membrane group and two-pass reverse osmosis film group collectively constitute the level Four filter progress of pure water making system, in described every one-level filterer
Pressure gauge and effusion meter are respectively equipped with the pipeline of sequence.
Described pure water making system be arranged on mobile chassis away from headstock side, high-pressure injection system is positioned close to car
The side of head, is connected by pure water tank between pure water making system and high-pressure injection system；Described high-pressure injection system and pipe crimping
Device connects, and described tube rolling device is wound around water pipe, and high-pressure hydraulic pump water under high pressure out is delivered to external water by water pipe channel and rinses
On the pressure duct of equipment.
Described electric-control system is provided with scram button, start button, one-level high-pressure pump start-stop button and two grades of high-pressure pump start and stop
Button, and can carry out pressure gauge reading show and effusion meter reading display.
The described main robot that rinses all includes onboard subsystem and remote control with the electric control system of auxiliary flushing robot
Subsystem, onboard subsystem includes industrial computer, industrial computer pass through 485 buses gather various kinds of sensors upload data, and to from
The instruction that remote manipulator receives is handed down to wireless receiver, and wireless receiver receives after the data of remote manipulator in work
Carry out in control machine processing and then being handed down to transceiver again, by folding and the flow of the regulation control proportioning valve to magnitude of voltage
Size, realizes the control to the motion of mobile chassis left and right wheels and telescopic arm.
A kind of control method of transformer station living water washing robot system, specially：Pure water making machine is used for providing
The main pure water rinsing needed for robot and auxiliary flushing machine man-hour, main flushing robot and auxiliary are rinsed robot and are being made
During industry, designated area is moved to by the car body travel mechanism of the joystick control machinery body of remote control device, will be front
Hydraulic leg I, front hydraulic leg II, rear hydraulic leg I, rear hydraulic leg II supports and lands, and improves robot manipulating task stability；
Main rinse the revolving dial of robot and its appurtenances can 360 ° of rotations, the orientation of adjustment two-stage telescopic arm, lead to
Cross the angle of pitch of amplitude oil cylinder and adjustment large arm, linking arm is realized stretching out by telescopic oil cylinder and shunk, and forearm is in stretching chain
Drive under realize synchronously stretching out and contraction with linking arm, under the collective effect of amplitude oil cylinder, telescopic oil cylinder and stretching chain,
The pose of adjustment large arm, linking arm and forearm；
Leveling cyclinder I and leveling cyclinder II are coordinated to adjust the pose of workbench, keep workbench level, pitching oil cylinder is upper and lower
Pitching and swinging of oscillating oil cylinder realize the pose fine setting of hydraulic giant frame, the image gathering by tracking camera, determine
The pose of hydraulic giant, hydraulic giant injection high-purity water is rinsed operation；
Auxiliary rinses robot in operation, realizes the second hydraulic giant level and pitching both direction fortune by adjusting head
Dynamic, the second hydraulic giant frame is provided with the second tracking camera by bolt, for Real Time Observation insulator water washing handling situations,
Equipped with second laser diastimeter immediately below second tracking camera, for real-time measurement hydraulic giant and water rinse operation insulator away from
From, the image being gathered by tracking camera, determine the pose of hydraulic giant, hydraulic giant injection high-purity water is rinsed operation.
Beneficial effects of the present invention：
1st, the needs of operation, a kind of design novel transformer substation living water washing robot system dress is rinsed according to transformer station's water
Put, main body is made up of basic machine and remote control device, is all entered by wireless signal between basic machine and remote control unit
Row signal transmission, makes flushing operating personnel away from high voltage electric field, has ensured the safety of operating personnel.
2nd, water flushing device people's system of the present invention, replaces being accomplished manually Substation Insulator flushing operation using robot,
So that operator is located in safety zone, ensured the safety of operator, the labor intensity of reduction, improve flush efficiency and from
Dynamicization level.
3rd, operator's handheld remote control device, by the joystick on remote control device, can be with distant control machine
The car body travel mechanism of device people's basic machine, three section two-stage telescopic arm elevating mechanisms and hydraulic giant flushing machine, can be according to tracking
The operation attitude of camera acquisition Image Adjusting robot, using spraying water with high pressure, mechanism's injection high purity water is rinsed operation.
4th, devise auxiliary and rinse the main work rinsing robot of robot cooperation, main flushing robot be cannot be introduced into
Or the place not flushed, rinse robot using auxiliary and insulator arrangement is rinsed it is ensured that the comprehensive of insulator arrangement has
Effect is rinsed.
5th, the present invention is equipped with single pure water making machine for water flushing device people's system, and pure water making machine is using first
The RO reverse osmosis membrane technology entering, its pure water preparation speed is fast, water power rate is high.Movably it is connected with Fu Chong robot, Neng Gousui
When supplemented by rush robot provide pure water source, improve controlling the water circulation amount, by using the high powered water pump matching with electromotor, carrying
The high flow of system, can achieve the uninterrupted water supply to water flushing device people, meet transformer station's water rinse field operation will
Ask, ensured the safety of operating personnel.
Brief description
Fig. 1 (a) is that robot structural representation is rinsed in the powered main bath of transformer station of the present invention；
Fig. 1 (b) is that robot structural representation is rinsed in transformer station of the present invention electric auxiliary bath；
Fig. 2 is that structure top view when robot drawing supports is rinsed in the powered main bath of transformer station of the present invention；
Fig. 3 is that the structural representation that extreme position manually made by machine is rinsed in the powered main bath of transformer station of the present invention；
Fig. 4 is that robot hydraulic principle figure is rinsed in the powered main bath of transformer station of the present invention；
Fig. 5 is that robot electric control structure block diagram is rinsed in the powered main bath of transformer station of the present invention；
Fig. 6 is that robot remote manipulator panel schematic diagram is rinsed in the powered main bath of transformer station of the present invention；
Fig. 7 is pure water making machine structural representation of the present invention；
Fig. 8 is that pure water making machine structure of the present invention arranges front view；
Fig. 9 is that pure water making machine structure of the present invention arranges top view；
Figure 10 is pure water making system structural representation of the present invention；
Figure 11 is high-pressure injection system structural representation of the present invention.
In figure, 1, driven pulley, 2, BOGEY WHEEL, 3, tension buffer device, 4, driving wheel, 5, crawler belt, the 6, first crawler body,
7th, proportional control valve group B, 8, revolving dial, 9, leveling cyclinder I, 10, luffing chain, 11, large arm, 12, amplitude oil cylinder, 13, stretch
Contracting chain, 14, sprocket wheel, 15, workbench, 16, pitching oil cylinder, the 17, first hydraulic giant frame, 18, leveling cyclinder II, 19, first follows the tracks of
Video camera, 20, first laser diastimeter, the 21, first hydraulic giant, 22, electric control box, 23, rear hydraulic leg I, 24, rear hydraulic pressure props up
Lower limb II, 25, the first hydraulic oil container, 26, front hydraulic leg I, 27, front hydraulic leg II, the 28, first diesel fuel tanks, 29, linking arm,
30th, forearm, 31, oscillating oil cylinder；
2-1, the second tracking camera, 2-2, the second hydraulic giant, 2-3, electric cabinet, 2-4, organ case guard shield, 2-5, vertical liter
Descending mechanism, 2-6, Vehicle Controller, 2-7, the second crawler body, 2-8, the second car body travel mechanism, 2-9, the second hydraulic oil container,
2-10, display floater, 2-11, power assembly, 2-12, the second diesel fuel tanks, 2-13, insulation column, 2-14, water inlet pipe, 2-15, cloud
Platform, 2-16, the second hydraulic giant frame, 2-17, second laser diastimeter, 2-18, shell；
3-1. mobile chassis, 3-2. water resistance rate detects table, 3-3. pressure-detecting device, 3-4. high-pressure hydraulic pump, and 3-5. is pure
Water tank, 3-6. electromagnetic clutch, 3-7. belt pulley I, 3-8. belt pulley II, 3-9. tube rolling device, 3-10. reserve pump, 3-11. skin
Band, 3-12. electric-control system pressure gauge, 3-13. two-pass reverse osmosis film group, 3-14. activated carbon, quartz filter, 3-15. is automatically controlled
System voltmeter, 3-16. electric-control system ammeter, 3-17. intermediate water tank, 3-18. first-stage reverse osmosis film group, 3-19. high pressure spray
Penetrate flow system flow table, 3-20. electromagnetic switch, bis- grades of high-pressure hydraulic pumps of 3-21., 3-22. one-level high-pressure hydraulic pump, 3-23. security personnel filter
Device, 3-24. electric-control system flow meter, 3-25. belt pulley III.
Specific embodiment：
The present invention is described in detail below in conjunction with the accompanying drawings：
Auxiliary is rinsed shown in robot structural representation such as Fig. 1 (b), including car body travel mechanism 2-8, power assembly 2-
11st, the composition such as vertical lifting mechanism 2-5, hydraulic giant flushing machine, electric control system；Wherein, car body walking mechanism 2-8 is crawler belt
Formula mobile chassis structure, power assembly 2-11 adopts diesel engine powers, is installed on mobile chassis, vertical lifting mechanism 2-
5 are connected to car body travel mechanism front end, and vertical lifting mechanism 2-5 is provided with two-stage telescopic arm, and the upper arm of two-stage telescopic arm passes through
Insulation column 2-13 is connected with the working cradle head 2-15 of hydraulic giant flushing machine；Electric control system includes onboard subsystem and remote control
Subsystem, remoting subsystem is matched with onboard subsystem, wirelessly remotely completes to robot vertical elevating mechanism
And the control of hydraulic giant flushing machine.
The car body travel mechanism 2-8 that auxiliary rinses robot is identical with the car body travel mechanism structure of main flushing robot,
The second crawler body 2-7 left side is the second hydraulic oil container 2-9, and the right is the second diesel fuel tanks 2-12.
Power assembly 2-11 adopts self-powered source, diesel engine powers, can enter operation in intensive battery limits, solution
The power configuration problem at the scene of having determined.
Vertical lifting mechanism 2-5 includes two stage vertical telescopic arm, organ case guard shield 2-4, insulation column 2-3 and vehicle-mounted control
Device 2-6 forms, vertical telescopic arm be hinged with car body travel mechanism fixed plate on, insulation column 2-13 is installed on vertical telescopic arm
Upper end, Vehicle Controller 2-6 is fixed on vertical telescopic arm restraining board, and organ case guard shield 2-4 is by two stage vertical telescopic arm, insulation
Pillar 2-13 and Vehicle Controller 2-6 surrounds wherein.Auxiliary rinse robot the front portion of shell 2-18 be provided with display floater
2-10, the second hydraulic giant 2-2 is connected with water inlet pipe 2-14.
The hydraulic giant flushing machine that auxiliary rinses robot includes the groups such as head 2-15, electric cabinet 2-3, the second hydraulic giant frame 2-16
Become；Electric cabinet 2-3 is installed on insulation column 2-13, provides head 2-15, power supply needed for the second tracking camera 2-1；Head
15 realize the second hydraulic giant 2-2 level and the motion of pitching both direction；Hydraulic giant frame 2-16 is hinged and connected to above head 2-15, hydraulic giant frame
Second hydraulic giant 2-2, the second tracking camera 2-1, second laser diastimeter 17 are connected with 2-16.Spiral shell is passed through on hydraulic giant frame 2-16
Bolt is provided with the second tracking camera 2-1, for Real Time Observation insulator water washing handling situations, the second tracking camera 2-1
The distance of operation insulator, equipped with second laser diastimeter 2-17, is rinsed in underface for real-time measurement hydraulic giant and water.
As shown in Fig. 1 (a), robot is rinsed in a kind of powered main bath of transformer station, and main body is by basic machine and Remote
Device forms.Wherein, basic machine mainly by car body travel mechanism, three section 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, the one of crawler body
Side is diesel fuel tanks, and another side is hydraulic oil container, and the power source of robot is vehicle-mounted diesel engine；Described car body travel mechanism passes through back
Turn supporting to be connected with the revolving dial 8 of elevating mechanism, the revolving dial 8 of elevating mechanism be also equipped with three section two-stage telescopic arms,
The forearm 30 of three section two-stage telescopic arms is connected with the workbench 15 of hydraulic giant flushing machine by leveling cyclinder II 18, and described revolution is flat
The proportional control valve group of hydraulic control system is also associated with platform 8；Electric control system includes onboard subsystem and remote control subsystem
System, remoting subsystem is matched with onboard subsystem and wirelessly completes the car body to robot using hydraulic control system
The control of travel mechanism, elevating mechanism and hydraulic giant flushing machine.
The vehicle-mounted diesel engine in transformer station's living water washing robot system operation power source.Using self-powered source, diesel oil
Machine provides power, can enter operation in intensive battery limits, solves the problems, such as the power configuration at scene.
As shown in Fig. 2 the main car body travel mechanism rinsing robot adopts crawler-type mobile chassis structure, mainly by first
Crawler body 6, left and right running motor, driven pulley 1, driving wheel 4, BOGEY WHEEL 2, crawler belt 5, tension buffer device 3 and both sides
Four hydraulic leg compositions.The chassis left side is the first diesel fuel tanks 28, and the right is the first hydraulic oil container 25, rear hydraulic leg I 23, after
Hydraulic leg II 24, front hydraulic leg I 26, front hydraulic leg II 27 is hinged on crawler body 6.On first crawler body 6 also
It is provided with electric control box 22.
As shown in figure 3, the elevating mechanism of three section two-stage telescopic arm compositions mainly saves two-stage telescopic arm by revolving dial 8, three,
Levelling gear forms.Revolving dial 8 is connected with car body travel mechanism by pivoting support, is driven by rotary motor to realize turning round and puts down
Platform 8 and its 360 ° of continuous rotary motions of attached each part, proportional control valve group 7 is bolted on revolving dial 8；Two-stage
Telescopic arm is mainly made up of large arm 11, linking arm 29, forearm 30, and two-stage telescopic arm is installed on revolving dial 8, and large arm 11 is hinged
To on revolving dial 8, there is a slide block linking arm 29 front and back end, slide block and linking arm 29 bolt connection, linking arm 29 and large arm 11, little
Arm 30 is slidably connected, and the head of linking arm 29 installs sprocket wheel 14；Amplitude oil cylinder 12 is articulated and connected with large arm 11, revolving dial 8, stretches
Contracting oil cylinder is articulated and connected with large arm 11, linking arm 29；Levelling gear is mainly made up of leveling cyclinder I 9 and leveling cyclinder II 18, adjusts
Flat oil cylinder I 9 is arranged between revolving dial 8 and large arm 11, is articulated and connected with revolving dial 8, large arm 11, and leveling cyclinder II 18 is installed
Between workbench 15 and forearm 30, it is articulated and connected with workbench 15, forearm 30；Luffing chain 10 is connected to by bolt
On large arm 11, forearm 30, the front end of stretching chain 13 is hinged on large arm 11 front end, bypasses sprocket wheel 14, the hinged forearm in end 30 end
End.
Hydraulic giant flushing machine is mainly by workbench 15, pitching oil cylinder 16, oscillating oil cylinder 31, the first hydraulic giant frame 17, the first water
Rifle 21 forms.Pitching oil cylinder 16 is bolted on oscillating oil cylinder 31, and oscillating oil cylinder 31 is bolted in workbench
On 15, the first hydraulic giant frame 17 is hinged on pitching oil cylinder 16, and the first hydraulic giant 21 spiral is connected on the first hydraulic giant frame 17.
On robot the first hydraulic giant frame 17, first tracking camera 19 is installed, for Real Time Observation insulator water washing operation
Situation, transmits the picture of operation field in real time, facilitates teleworker to implement operation.First tracking camera 19 bolt is even
It is connected on hydraulic giant frame 17.Equipped with first laser diastimeter 20 immediately below first tracking camera 19, measurement hydraulic giant and Shui Chong in real time
Within washing the distance of operation insulator so as to be maintained at safety work distance.
This robot in operation, by the car body travel mechanism of the joystick control machinery body of remote control device
Move to designated area, by front hydraulic leg I 26, front hydraulic leg II 27, rear hydraulic leg I 23, rear hydraulic leg II 24
Support lands, and improves robot manipulating task stability；Revolving dial 8 and its appurtenances can 360 ° of rotations, adjustment two-stage telescopic arm
Orientation, by the angle of pitch of amplitude oil cylinder 12 and adjustment large arm 11, linking arm 29 is realized stretching out by telescopic oil cylinder and is shunk, little
Arm 30 is realized synchronously stretching out and shrink with linking arm 29 under the drive of stretching chain 13, amplitude oil cylinder 12, telescopic oil cylinder and
Under the collective effect of stretching chain 13, the pose of adjustment large arm 11, linking arm 29 and forearm 30；Leveling cyclinder I 9 and leveling oil
The pose of adjustment workbench 15 coordinated by cylinder II 18, keeps workbench 15 level, pitching oil cylinder pitching and oscillating oil cylinder about 16
The pose fine setting of hydraulic giant frame 17 is realized in 31 swing, and by the image of the first tracking camera 19 collection, determines hydraulic giant 21
Pose, hydraulic giant 21 injection high-purity water be rinsed operation.
As shown in figure 4, transformer station's living water washing robot system hydraulic system adopts bottom control valve group A, upper dress control
Valve group B combination processed controls and center-rotary joint combination controls, and has seven road proportional reversing valves and No. four hand-operated direction valves.Power transformation
It is power that living water washing of standing robot system adopts diesel engine, is connected it is considered to transformer station with duplex gear pump by shaft coupling
Livewire work special environment requires, and hydraulic system is all using wear-resistant insulation hydraulic oil.Hydraulic oil, from fuel tank, enters through oil absorption filter
Enter water flushing device people's hydraulic control oil circuit, then flow back to fuel tank through return oil filter.Wherein check valve is to control fluid backflow, peace
Its overload protection function of full valve, pressure gauge is connected with oil circuit by pressure meter switch, and shows oil circuit hydraulic fluid pressure in real time.In
Centre swivel coupling is the Hydraulic Elements of connection revolving dial and chassis oil circuit, after it ensures revolving dial any rotation, liquid
Oil can also be normally joined on force feed road.
Bottom control valve group A is connected with hydraulic pump by distributing valve, mainly controls water flushing by four groups of hand-operated direction valves
Completing stretching motion, two proportional reversing valves control two motors in left and right to four support oil cylinders of device people, carry out robot ambulation
Motion.
Upper cartridge control valve group B controls switching push button, distributing valve to be connected with hydraulic pump through center-rotary joint, upper dress, mainly
Rotary motor is controlled by a proportional reversing valve, completes to fill revolving dial rotary motion, two groups of proportional reversing valves control large arm
Pitching and forearm stretching motion, another two groups of proportional reversing valves realize the water of hydraulic giant by horizontal hunting oil cylinder and vertical oscillation oil cylinder
Flat motion and elevating movement.
As shown in figure 5, the powered main bath of transformer station is rinsed robot electric control system and is included onboard subsystem and remote control
Subsystem.Onboard subsystem includes vehicle-mounted upper computer control system and vehicle-mounted driver, and vehicle-mounted upper computer control system has and connects
Receive remoting subsystem order, and to order parsed and realized motion algorithm etc. function.Vehicle-mounted driver receives vehicle-mounted
The function that the valve group of car body is controlled is realized in the instruction of upper computer control system.Remoting subsystem have car body movement,
The start and stop of electromotor, the size of throttle, elevating mechanism simple joint control and collation control function.Onboard subsystem and handheld terminal
Subsystem wirelessly communicates.
Onboard subsystem is broadly divided into car body by function and moves control module, upper dress elevating mechanism motion-control module, sends out
Motivation and four modules such as mains power monitoring module and security monitoring module.The mobile control module of car body possess advance, retrogressing,
The functions such as speed governing, left and right turn, landing leg stretching, floor light, security monitoring；Upper dress elevating mechanism motion-control module possesses list
The functions such as joint control, simple joint position feedback, automatic leveling and security monitoring；Electromotor and mains power monitoring module possess
The functions such as the supervision of the controls such as electromotor start and stop, speed governing and engine condition and supply voltage；Security monitoring module possesses lifting
The threshold value of the states such as each joint of mechanism is spacing, supporting leg state, oil temperature oil level, cell voltage sets and security alarm.
Onboard subsystem hardware is by industrial computer, wireless receiver, A/D modular converter, ZIGBEE, various kinds of sensors, ratio
Valve, switch valve etc. form.Industrial computer passes through 485 buses and gathers the data that various kinds of sensors uploads, and connects to from remote manipulator
The instruction receiving is handed down to wireless receiver, realizes to switch valve, the control of proportioning valve.Wireless receiver receives remote control
Carry out after data processing and then being handed down to transceiver again in industrial computer, by the regulation control proportioning valve to magnitude of voltage
Folding and uninterrupted, realize mobile chassis left and right wheels are moved, forearm stretches, large arm pitching, the control of revolving dial rotation.
Various kinds of sensors include stay wire sensor, angular transducer, obliquity sensor, temperature sensor, pressure transducer,
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 respectively arranged with an angular transducer and an obliquity sensor, collection large arm and the horizontal and vertical side of platform
To angle-data and pass to industrial computer, wherein the angular transducer on platform and obliquity sensor data pass through ZIGBEE no
Line transmits, to realize the completely insulated of tip platform.Temperature and pressure sensor is arranged on hydraulic oil container, in collection fuel tank
The pressure data of hydraulic oil in oil temperature and fuel tank, the data collecting is analog quantity, is converted into digital signal through A/D and passes through
485 pass to industrial computer.Voltage x current value in voltage and current sensor Acquisition Circuit, the voltage x current in testing circuit is
No stable, the analogue signal collecting is converted to digital signal through A/D modular converter and passes to industrial computer through 485 buses.
Remote manipulator realizes remotely control to mobile chassis, lifting arm and hydraulic giant, including before and after controlling revolver,
Before and after right wheel, about large arm, large arm pitching, forearm stretch, about platform；Locking button includes instrument, selection, XYZ world seat
Mark system, the control of throttle size；Self- recoverage button includes reset, electromotor start and stop, teaching, reproduction, the control starting；Display lamp
Including power supply, radio communication, alarm lamp.
In Fig. 6, the remote manipulator that robot is rinsed in a kind of powered main bath of transformer station includes 7 simulation rocking bars, controls
Before and after revolver, before and after right wheel, large arm 11 about, large arm 11 pitching, forearm 31 stretch, workbench 15 about, hydraulic giant 17 pitching；Band
Lock button includes instrument, selection, XYZ world coordinate system, the control of throttle size；Self- recoverage button includes reset, electromotor opens
Stop, teaching, reproduction, start control；Display lamp includes power supply, radio communication, alarm lamp.
Main flushing robot is mainly used in the flushing of the sub- equipment of overhead insulation, generally more than 8 meters insulator equipment；Auxiliary
Rinse the flushing that robot is mainly used in low latitude insulator equipment, generally less than 8 meters insulator equipment.
As shown in fig. 7, comprises：Pure water making system, high-pressure injection system and electric-control system；Pure water making system and high pressure
Spraying system connects, and electric-control system is connected respectively with pure water making system and high-pressure injection system；Pure water making system is arranged on
Mobile chassis away from headstock side, high-pressure injection system is positioned close to the side of headstock, pure water making system and high pressure spray
Penetrate and connected by pure water tank between system.High-pressure injection system is connected with tube rolling device, is wound around 60 meters of water pipes thereon, mainly will be from water
Pump out the water under high pressure coming, by tube rolling device 3-9 upper hose passage, be transported to the pressure duct of external high pressure water flushing device people
On.The effect of tube rolling device 3-9 is to control the folding and unfolding of outlet pipe, to reduce field personnel's labor intensity.
As illustrated in figs. 8-11, pure water making machine is mainly by inclusion mobile chassis 3-1, activated carbon, quartz filter 3-
14, cartridge filter 3-23, one-level high-pressure hydraulic pump 3-22, first-stage reverse osmosis film group 3-18, intermediate water tank 3-17, two grades of water under high pressures
Pump 3-21, two-pass reverse osmosis film group 3-13, pure water tank 3-5 forms.Activated carbon, the side of quartz filter 3-14 and tap water
Pipe is connected.Opposite side is connected with cartridge filter 3-23 by pipeline.Cartridge filter 3-23 opposite side passes through pipeline and one-level
High-pressure hydraulic pump 3-22 is connected.The opposite side of one-level high-pressure hydraulic pump 3-22 is connected with first-stage reverse osmosis film group 3-18 by pipeline.One
The opposite side of level reverse osmosis membrane group 3-18 is connected with intermediate water tank 3-17 by pipeline.The opposite side of intermediate water tank 3-17 passes through pipe
Road is connected with two grades of high-pressure hydraulic pump 3-21.The opposite side of two grades of high-pressure pump 3-21 passes through pipeline and two-pass reverse osmosis film group 3-13 phase
Even.The opposite side of two-pass reverse osmosis film group 3-13 is connected with pure water tank 3-5, specifically as shown in Figure 4 by pipeline.Needed for this device
Water source is ordinary tap water water source, after described pure water making machine filters, can reach charged electric power apparatus water and rinses directive/guide
Required water resistance rate requires.It is equipped with pressure gauge and effusion meter, to guarantee the pressure of water on described every one filter progress
Power and flow can be in the reasonable scope.
Reverse osmosiss are to make the solvent (general Chang Zhishui) in solution (a kind of semi-transparent by reverse osmosis membrane with enough pressure
Film) and separate, direction is in opposite direction with infiltration, can be carried out separating, be purified and dense using the hyperfiltration more than osmotic pressure
Contracting solution.Dissolving salt in eliminating water, colloid can effectively be removed using reverse osmosis technology, antibacterial, virus, bacterial endotoxin and big
The impurity such as partial organic substances.The main separation of reverse osmosis membrane, can be effectively without chemicals to the ion range liking in solution
Removing impurities in water, thus obtain high purity water.The present invention passes through activated carbon, quartz filter, cartridge filter, one-level high pressure
Pump, first-stage reverse osmosis film group, intermediate water tank, two grades of high-pressure pumps, two-pass reverse osmosis film group filters step by step, obtains meeting transformer station's band
Electric water rinses the high purity water of job requirements.
High-pressure injection system is by high-pressure hydraulic pump 3-4, electromagnetic clutch 3-6, belt pulley I 3-7, belt pulley II 3-8, belt pulley
III 3-25, reserve pump 3-10, tube rolling device 3-9, pressure-detecting device 3-3, high-pressure injection system flow meter 3-19 and water power
The compositions such as resistance rate detection table 3-2.The electromagnetic clutch 3-6 that the power of described high-pressure hydraulic pump 3-4 carries from automobile chassis 1, warp
Power is exported by electromagnetic clutch 3-6, to meet the variable interval job requirement of high-pressure injection system.Described belt pulley I 3-7 installs
In the output shaft of electromagnetic clutch 3-6, belt pulley II 3-8 is arranged on the input of high-pressure hydraulic pump 3-4, belt pulley III 3-25 installs
Input in stand-by pump 3-10；Between described belt pulley I 3-7 and belt pulley II 3-8, belt pulley I 3-7 and belt pulley III 3-25
All power is transmitted by belt 3-11.
Reserve pump 3-10 is installed on the opposite side of mobile chassis 3-1, and its main uses is to prevent high-pressure hydraulic pump from event
Enough power is provided for system when barrier or insufficient pressure.Pressure-detecting device 3-3 is arranged on the outfan of high-pressure hydraulic pump 3-4, uses
In detection high-pressure pump pure water output pressure.Water resistance rate detection table 3-2 is used for detecting water resistance after high-pressure pump pressurization for the pure water
Rate.Described pressure gauge is all connected with electric-control system with water resistance rate detection table, when pure water pressure and resistivity do not meet to use and wants
When asking, high-pressure hydraulic pump 3-4 can quit work and report to the police.High-pressure injection system is also equipped with Manual throttle controller, with diesel engine oil
Door is connected, and can adjust Oil Switch size manually, thus realizing the regulation of high-pressure hydraulic pump outlet pressure.
Electric-control system be furnished with scram button, start button, one-level high-pressure pump start-stop button, two grades of high-pressure pump start-stop buttons and
The devices such as voltmeter, ammeter, to observe the ruuning situation of each device.And electric-control system voltmeter 3-15 is installed, automatically controlled
System power table 3-16, and detect the electric-control system flow meter 3-24 and electric-control system pressure gauge 3- of water after every single filter
12.
Pure water making machine has manually and automatically two kinds of control models；When manual mode runs, outward winding first manually by
Button, manual lamp is lighted, and manual mode Xia Fen tetra- tunnel controls：Booster pump, primary pump, flushing valve, two stage pump are outwarded winding after button respectively,
Equipment runs manually, cycle button again during stopping, and equipment quits work.When automatic mode runs, automatic button of outwarding winding, equipment
Controlled by automatic panel and run, cycle button during closing, equipment is automatically stopped work.
In automatic mode, equipment has raw water excessive low water level protection, one or two grades of high-pressure pump excessive low water level protections, hypertonia to protect and pure
Water water pot full water shuts down four automatic protection functions.
In automatic mode, the macromolecular substances in order to be retained in reverse osmosis membrane at work rinse out, reverse osmosiss
Film can clean according to Automatic Program.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not model is protected to the present invention
The restriction enclosed, on the basis of technical scheme, those skilled in the art do not need to pay creative work and can do
The various modifications going out or deformation are still within protection scope of the present invention.
Claims (20)
1. a kind of transformer station living water washing robot system, is characterized in that, including：Main flushing robot, auxiliary rinse machine
People, pure water making machine；Described main flushing robot and auxiliary are rinsed robot and are passed through high-voltage tube with pure water making machine respectively
Road connects；
Described main flushing robot includes car body travel mechanism, elevating mechanism and hydraulic giant flushing machine；Described car body travel mechanism
It is connected with the revolving dial of elevating mechanism by pivoting support, the revolving dial of elevating mechanism is provided with Multi-section multistage and stretches
Arm, described Multi-section multistage telescopic arm is connected with hydraulic giant flushing machine by leveling cyclinder；
Described auxiliary is rinsed robot and is included car body travel mechanism, vertical lifting mechanism and hydraulic giant flushing machine；Auxiliary washer
The vertical lifting mechanism of device people is connected with car body travel mechanism, and vertical lifting mechanism is provided with multistage telescopic arm, vertical conveyor
Structure is connected with hydraulic giant flushing machine by multistage telescopic arm.
2. a kind of transformer station living water washing robot system as claimed in claim 1, is characterized in that, described auxiliary washer
Device people and main flushing machine include electric control system per capita, and described electric control system all includes onboard subsystem and remote control
System, remoting subsystem match with onboard subsystem wirelessly complete the car body travel mechanism to corresponding machine people,
Elevating mechanism and the control of hydraulic giant flushing machine.
3. a kind of transformer station living water washing robot system as claimed in claim 1, is characterized in that, described main flushing machine
The car body travel mechanism of people is crawler-type mobile chassis structure, and described car body travel mechanism passes through pivoting support and elevating mechanism
Revolving dial is connected, and the revolving dial of elevating mechanism is also equipped with three section two-stage telescopic arms, the forearm of three section two-stage telescopic arms
It is connected with the workbench of hydraulic giant flushing machine by leveling cyclinder II.
4. a kind of transformer station living water washing robot system as claimed in claim 1, is characterized in that, described auxiliary washer
The car body travel mechanism of device people is crawler-type mobile chassis structure, and the power assembly that auxiliary rinses robot adopts diesel engine to provide
Power, is installed on mobile chassis；Vertical lifting mechanism is arranged on car body travel mechanism front end, and vertical lifting mechanism is provided with two
Level telescopic arm, the upper arm of two-stage telescopic arm is connected with the working cradle head of hydraulic giant flushing machine by insulation column, two-stage telescopic arm
Underarm be fixed on mobile chassis.
5. a kind of transformer station living water washing robot system as claimed in claim 1, is characterized in that, described main flushing machine
The car body travel mechanism that people rinses robot with auxiliary is identical, all includes：Crawler body, left running motor, right running motor, drive
Four hydraulic legs of driving wheel, driven pulley, BOGEY WHEEL, crawler belt, tension buffer device and both sides, left running motor and right lateral are walked
Motor is bolted on crawler body support, and driving wheel is coupled with running motor by drive shaft, driven pulley, BOGEY WHEEL
Coupled with crawler body support by rotary shaft respectively with tension buffer device, crawler belt be enclosed within driving wheel, driven pulley, BOGEY WHEEL with
The outside of tension buffer device, the chassis left side is diesel fuel tanks, and the right is hydraulic oil container, and hydraulic leg is hinged on crawler body.
6. transformer station as claimed in claim 1 living water washing robot system, is characterized in that, described main flushing robot
Elevating mechanism includes revolving dial and levelling gear, and revolving dial is connected with car body travel mechanism by pivoting support, and revolution is flat
Three section two-stage telescopic arms are hinged with platform, the large arm of revolving dial and three section two-stage telescopic arms is articulated and connected with amplitude oil cylinder, three
The large arm of section two-stage telescopic arm and linking arm are articulated and connected with telescopic oil cylinder, and levelling gear includes leveling cyclinder I and leveling cyclinder
II, leveling cyclinder I is arranged between revolving dial and large arm, is articulated and connected with revolving dial, large arm, and leveling cyclinder II is arranged on work
Between station and forearm, it is articulated and connected with workbench, forearm.
7. transformer station as claimed in claim 6 living water washing robot system, is characterized in that, described three section two-stage telescopic arms
Including large arm, linking arm and forearm, large arm is hinged on revolving dial, and linking arm front and back ends are provided with slide block, slide block and company
Connect arm bolt to connect, linking arm is slidably connected with large arm, forearm by slide block, and the head of linking arm is provided with sprocket wheel；Described three
It has been bolted luffing chain, large arm front end bypasses sprocket wheel and stretching chain on the large arm of section two-stage telescopic arm, forearm
Front end is hinged, and the end of stretching chain is hinged with forearm end.
8. transformer station as claimed in claim 1 living water washing robot system, is characterized in that, described main flushing robot
Hydraulic giant flushing machine includes pitching oil cylinder and oscillating oil cylinder, and pitching oil cylinder is bolted on oscillating oil cylinder, oscillating oil cylinder
It is bolted on the table, pitching oil cylinder is hinged with hydraulic giant frame, hydraulic giant frame is connected with hydraulic giant；
On described hydraulic giant frame, tracking camera is provided with by bolt, for Real Time Observation insulator water washing handling situations, with
The distance of operation insulator equipped with laser range finder immediately below track video camera, is rinsed for real-time measurement hydraulic giant and water.
9. transformer station as claimed in claim 1 living water washing robot system, is characterized in that, described auxiliary rinses robot
Vertical lifting mechanism include：Two stage vertical telescopic arm, organ case guard shield, insulation column and Vehicle Controller, described vertically stretch
The lower end of contracting arm is fixed in the fixed plate of car body walking mechanism, and top board and some insulation columns are passed through in the upper end of vertical telescopic arm
Connect；Described Vehicle Controller is fixed on vertical telescopic arm restraining board, and described organ case guard shield is by two stage vertical telescopic arm, absolutely
Edge pillar and Vehicle Controller surround wherein.
10. transformer station as claimed in claim 1 living water washing robot system, is characterized in that, described auxiliary rinses machine
The hydraulic giant flushing machine of people includes：Head, electric cabinet, adjustable water gun carriage, hydraulic giant, video camera and laser range finder；
Described electric cabinet is arranged on the top of insulation column, and is fixed on insulation column, for providing head and video camera institute
The power supply needing；Described head is fixed on electric cabinet；Described adjustable water gun carriage is hinged and connected to above head, adjustable nozzle
Hydraulic giant, video camera and laser range finder are connected on support, described laser range finder is arranged on the underface of video camera.
11. transformer station as claimed in claim 1 living water washing robot systems, is characterized in that, described pure water making machine
Including：Pure water making system, high-pressure injection system and electric control system；
Described pure water making system is connected with high-pressure injection system, and electric-control system is divided with pure water making system and high-pressure injection system
Do not connect, described electric-control system is used for controlling the unlatching of pure water making machine and when pressure or flow are higher than metered flow or volume
Overload protection during constant-pressure.
12. transformer station as claimed in claim 11 living water washing robot systems, is characterized in that, described high-pressure injection system
Including：High-pressure hydraulic pump, electromagnetic clutch, power transmission, stand-by pump and outlet pipe；Described electromagnetic clutch one end and movement
Power takeoff that chassis carries connects, the other end of electromagnetic clutch pass through power transmission respectively with high-pressure hydraulic pump and stand-by pump
Connect, described stand-by pump is arranged on the side relative with high-pressure hydraulic pump, the outfan of high-pressure hydraulic pump connects outlet pipe；In described height
The outfan of water pump is provided with pressure-detecting device, arranges water resistance rate detection means in the end of described outlet pipe；
Described stand-by pump and high-pressure pump belong to parallel relationship, under normal operating condition, open high-pressure pump；When the high-purity hydraulic pressure of output
When power is less than regulation operating pressure, automatically turn on stand-by pump.
13. transformer station as claimed in claim 12 living water washing robot systems, is characterized in that, described power transmission
Including：Belt pulley I, belt pulley II and belt pulley III, described belt pulley I is arranged on the output shaft of electromagnetic clutch, belt pulley II
It is arranged on the input of high-pressure hydraulic pump, belt pulley III is arranged on the input of stand-by pump；Described belt pulley I and belt pulley II, skin
All by belt transport power between belt wheel I and belt pulley III.
14. transformer station as claimed in claim 12 living water washing robot systems, is characterized in that, described pressure-detecting device
All it is connected with electric-control system with water resistance rate detection means；When pure water pressure or resistivity do not meet use requirement, automatically controlled
System controls high-pressure pump can quit work and report to the police.
15. transformer station as claimed in claim 12 living water washing robot systems, is characterized in that, described high-pressure injection system
It is also equipped with Manual throttle controller, described Manual throttle controller is connected with diesel engine throttle, manually adjust Oil Switch
Size, realizes the regulation of high-pressure hydraulic pump outlet pressure.
16. transformer station as claimed in claim 11 living water washing robot systems, is characterized in that, described pure water making system
Including：Activated carbon, quartz filter, cartridge filter, one-level high-pressure pump, first-stage reverse osmosis film group, intermediate water tank, two grades are high
Press pump, two-pass reverse osmosis film group and pure water tank；
Described activated carbon, the side of quartz filter are connected with running water pipe, and opposite side passes through pipeline with cartridge filter even
Connect, described cartridge filter pass through pipeline and one-level high-pressure hydraulic pump, first-stage reverse osmosis film group, intermediate water tank, two grades of high-pressure hydraulic pumps,
Two-pass reverse osmosis film group and pure water tank are sequentially connected, described activated carbon, quartz filter, cartridge filter, first-stage reverse osmosis
Film group and two-pass reverse osmosis film group collectively constitute the level Four filter progress of pure water making system, in described every one-level filter progress
Pressure gauge and effusion meter are respectively equipped with pipeline.
17. transformer station as claimed in claim 11 living water washing robot systems, is characterized in that, described pure water making system
Be arranged on mobile chassis away from headstock side, high-pressure injection system is positioned close to the side of headstock, pure water making system and
Connected by pure water tank between high-pressure injection system；Described high-pressure injection system is connected with tube rolling device, and described tube rolling device is wound around
Water pipe, high-pressure hydraulic pump water under high pressure out is delivered on the pressure duct of outside water flushing unit by water pipe channel.
18. transformer station as claimed in claim 11 living water washing robot systems, is characterized in that, described electric-control system is provided with
Scram button, start button, one-level high-pressure pump start-stop button and two grades of high-pressure pump start-stop buttons, and pressure gauge reading can be carried out
Display and effusion meter reading display.
19. transformer station as claimed in claim 1 living water washing robot systems, is characterized in that, described main flushing robot
The electric control system rinsing robot with auxiliary all includes onboard subsystem and remoting subsystem, and onboard subsystem includes industry control
Machine, industrial computer passes through 485 buses and gathers the data that various kinds of sensors uploads, and the instruction receiving from remote manipulator is issued
To wireless receiver, wireless receiver carries out after receiving the data of remote manipulator processing and then being handed down in industrial computer
Transceiver, by folding and the uninterrupted of the regulation control proportioning valve to magnitude of voltage, realizes to mobile chassis left and right wheels
Motion and the control of telescopic arm.
The control method of 20. transformer station as claimed in claim 1 living water washing robot systems, is characterized in that, specially：
Pure water making machine is used for providing the main pure water rinsing needed for robot and auxiliary flushing machine man-hour, main flushing robot
Rinse robot with auxiliary in operation, by the car body travel mechanism of the joystick control machinery body of remote control device
Move to designated area, by front hydraulic leg I, front hydraulic leg II, rear hydraulic leg I, rear hydraulic leg II supports and lands, and carries
High robot manipulating task stability；
Main rinse the revolving dial of robot and its appurtenances can 360 ° of rotations, the orientation of adjustment two-stage telescopic arm, by becoming
Width oil cylinder and the angle of pitch adjusting large arm, linking arm is realized stretching out by telescopic oil cylinder and is shunk, and forearm is in the band of stretching chain
Dynamic lower realization is synchronously stretched out and shrink with linking arm, under the collective effect of amplitude oil cylinder, telescopic oil cylinder and stretching chain, adjustment
The pose of large arm, linking arm and forearm；
Leveling cyclinder I and leveling cyclinder II are coordinated to adjust the pose of workbench, keep workbench level, the upper and lower pitching of pitching oil cylinder
And oscillating oil cylinder swing realize hydraulic giant frame pose fine setting, the image being gathered by tracking camera, determine hydraulic giant
Pose, hydraulic giant injection high-purity water be rinsed operation；
Auxiliary rinses robot in operation, realizes the second hydraulic giant level and the motion of pitching both direction by adjusting head, the
On two hydraulic giant framves, the second tracking camera is provided with by bolt, for Real Time Observation insulator water washing handling situations, second
The distance of operation insulator equipped with second laser diastimeter immediately below tracking camera, is rinsed for real-time measurement hydraulic giant and water,
The image being gathered by tracking camera, determines the pose of hydraulic giant, and hydraulic giant injection high-purity water is rinsed operation.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410459455.XA CN104998850B (en) | 2014-09-10 | 2014-09-10 | Electrification water washing robot system of transformer substation and method |
| PCT/CN2015/089120 WO2016037559A1 (en) | 2014-09-10 | 2015-09-08 | Charged water-flushing robot system and method for substation |
| PH12017500429A PH12017500429B1 (en) | 2014-09-10 | 2017-03-07 | Charged water-flushing robot system and method for substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410459455.XA CN104998850B (en) | 2014-09-10 | 2014-09-10 | Electrification water washing robot system of transformer substation and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104998850A CN104998850A (en) | 2015-10-28 |
| CN104998850B true CN104998850B (en) | 2017-02-15 |
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ID=54371857
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410459455.XA Active CN104998850B (en) | 2014-09-10 | 2014-09-10 | Electrification water washing robot system of transformer substation and method |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN104998850B (en) |
| PH (1) | PH12017500429B1 (en) |
| WO (1) | WO2016037559A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| PH12017500429A1 (en) | 2017-07-31 |
| PH12017500429B1 (en) | 2017-07-31 |
| CN104998850A (en) | 2015-10-28 |
| WO2016037559A1 (en) | 2016-03-17 |
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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: 250101 Shandong city of Ji'nan province high tech Zone (Lixia District) Xinluo Avenue No. 2008 silver bearing building B block 626 Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |