CN104999449B - Electrified water washing robot of wheel type substation - Google Patents
Electrified water washing robot of wheel type substation Download PDFInfo
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- CN104999449B CN104999449B CN201410459189.0A CN201410459189A CN104999449B CN 104999449 B CN104999449 B CN 104999449B CN 201410459189 A CN201410459189 A CN 201410459189A CN 104999449 B CN104999449 B CN 104999449B
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Abstract
The invention discloses an electrified water washing robot of a wheel type substation. The robot comprises a car body moving mechanism, wherein the car body moving mechanism is a wheel type moving chassis structure, and is connected with a revolving platform of a lifting mechanism through a revolving support; a three-section two-grade telescopic arm is additionally mounted on the revolving platform of the lifting mechanism; a small arm of the three-section two-grade telescopic arm is connected with a working table of a water gun washing mechanism through a leveling oil cylinder; an electric control system comprises a vehicle-mounted subsystem and a remote control subsystem; and the remote control subsystem and the vehicle-mounted subsystem fit to use a hydraulic control system to finish the control of the car body moving mechanism, the lifting mechanism and the water gun washing mechanism of the robot in a wireless mode. The device uses the robot for replacing manual operation to finish the insulator washing operation of the substation, so that operators are located in a safe area, the safety of the operators 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 wheeled transformer station's living water washing robot.
Background technology
Substation Insulator long-time is exposed in external environment, and the easy dirt deposits in surface, these dirts receive vile weather
Infringement is susceptible to pollution flashover accident.Insulator charged water rinses operation and can improve the reliability of power supply, reduces loss of outage, protects
Card transformer station and the safety of transmission line of electricity.Operation is rinsed in Substation Insulator at this stage be primarily present following shortcoming：
1st, existing purging method cannot realize Based Intelligent Control, and artificial operating process is more complicated, need during flushing a large amount of
Pure water, and clean not enough thoroughly, speed is not slower for cleaning, less efficient, it is impossible to meets the Substation Insulator high accuracy at scene
Flushing；
2nd, existing Substation Insulator backwashing manner is mostly to enter scene by the hand-held flushing device of cleaning technique personnel
Operation is carried out, artificial flushing depends not only upon weather condition, in addition it is also necessary to which cleaning personnel possess compared with high-tech level and skilled behaviour
Make flow process, the security protection of high standard is needed when carrying out living water washing to insulator, with the safety for avoiding short circuit current from causing
Accident, causes casualties, this kind of operating type to there is potential safety hazard；
3rd, 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；
4th, it is subject to rinse many impacts such as angle, hydraulic pressure in view of living water washing operation, manual work is sometimes not
The dunghill on equipment outer insulation surface is washed away can completely.
Replace manually entering Substation Insulator water-filling flushing operation hence with safer and in hgher efficiency robot
It is necessary, meets research.
The content of the invention
To solve the deficiency that prior art is present, the invention discloses wheeled transformer station's living water washing robot, the dress
To put replace using robot and be accomplished manually Substation Insulator flushing operation, operator is located in safety zone, ensure
The safety of operator, the labor intensity of reduction improves flush efficiency and automatization level.
For achieving the above object, concrete scheme of the invention is as follows：
Wheeled transformer station's living water washing robot, including car body travel mechanism, car body travel mechanism is wheel type mobile bottom
Dish structure, the car body travel mechanism is connected by pivoting support with the revolving dial of elevating mechanism, and the revolution of elevating mechanism is put down
Telescopic arm is also equipped with platform, telescopic arm is connected by leveling cyclinder with the workbench of hydraulic giant flushing machine；Electric control system
Car body travel mechanism is controlled by remote control device and moves to designated area, by the pitching oil cylinder for controlling hydraulic giant flushing machine
Up and down pitching and swinging for oscillating oil cylinder realize the pose fine setting of hydraulic giant frame, the image gathered by tracking camera,
Determine the pose of hydraulic giant, hydraulic giant injection high-purity water is rinsed operation.
The car body travel mechanism mainly by wheel undercarriage, left running motor, right running motor, driving wheel, driven pulley with
And four hydraulic legs of both sides are constituted, left running motor and right running motor are bolted on wheel undercarriage support,
Driving wheel is coupled by drive shaft with running motor, and driven pulley is coupled by rotary shaft with wheel undercarriage support, and wheel undercarriage is left
While being diesel fuel tanks, the right is hydraulic oil container, and hydraulic leg is hinged on wheel undercarriage.
The telescopic arm is three section two-stage telescopic arms, including large arm, linking arm and forearm, and large arm is hinged to revolving dial
On, linking arm front and back ends are provided with slide block, slide block and linking arm bolt connection, and linking arm is slided by slide block with large arm, forearm
Dynamic connection, the head of linking arm is provided with sprocket wheel, by Chain conveyer the synchronization telescope of linking arm and forearm is realized.
The elevating mechanism includes revolving dial and levelling gear, and revolving dial is by pivoting support and car body travel mechanism
Connection, is hinged with telescopic arm on revolving dial, revolving dial and large arm are hinged with amplitude oil cylinder, large arm and linking arm and flexible oil
Cylinder is articulated and connected, and levelling gear includes leveling cyclinder I and leveling cyclinder II, and leveling cyclinder I is arranged between revolving dial and large arm,
It is articulated and connected with revolving dial, large arm, leveling cyclinder II is arranged between workbench and forearm, is hinged with workbench, forearm.
Luffing chain is bolted on the three sections large arm of two-stage telescopic arm, forearm, large arm front end bypasses chain
Wheel is hinged with the front end of stretching chain, and end and the forearm end of stretching chain are hinged.
The hydraulic giant flushing machine includes pitching oil cylinder and oscillating oil cylinder, and pitching oil cylinder is bolted in oscillating oil cylinder
On, oscillating oil cylinder is bolted on the table, and hydraulic giant frame is hinged with pitching oil cylinder, and on hydraulic giant frame hydraulic giant is connected with.
Tracking camera is provided with by bolt on the hydraulic giant frame, for Real Time Observation insulator water washing operation feelings
Laser range finder is housed, for the distance that measurement hydraulic giant in real time and water rinse operation insulator immediately below condition, tracking camera.
The proportional control valve group of hydraulic control system is also associated with the revolving dial；Proportional control valve group herein is
Upper cartridge control valve group B.
The hydraulic system includes bottom control valve group A, upper cartridge control valve group B and center-rotary joint, has seven ratios
Example reversal valve and four hand-operated direction valves.
Bottom control valve group A is connected by distributing valve with hydraulic pump, and by four hand-operated direction valves water flushing is controlled
Completing stretching motion, two proportional reversing valves control left and right, two motors carry out robot ambulation to four support oil cylinders of device people
Motion；
Successively Jing center-rotary joints, upper dress control switching push button, distributing valve and hydraulic pump to upper cartridge control valve group B
Connection, by a proportional reversing valve rotary motor is controlled, and completes to fill revolving dial rotary motion, two proportional reversing valve controls
Large arm pitching and forearm stretching motion, another two proportional reversing valve realizes the level fortune of hydraulic giant by oscillating oil cylinder and pitching oil cylinder
Dynamic and elevating movement.
The center-rotary joint is the Hydraulic Elements for connecting revolving dial and chassis oil circuit, for rotating revolving dial
After arbitrarily angled, hydraulic circuit can also normally with oil.
The remoting subsystem of the electric control system of water flushing device people is engaged with onboard subsystem and utilizes hydraulic control
System wirelessly completes the control of car body travel mechanism, elevating mechanism and hydraulic giant flushing machine to robot.
The electric control system includes onboard subsystem and remoting subsystem, and onboard subsystem includes industrial computer, industry control
Machine gathers the data that multiple sensors are uploaded by 485 buses, and the instruction to receiving from remote manipulator is handed down to wirelessly
Receiver, wireless receiver is received carries out processing and then is handed down to again wireless receipts in industrial computer after the data of remote manipulator
Send out machine, by magnitude of voltage regulation control proportioning valve folding and uninterrupted, realize to mobile chassis left and right wheels motion, it is little
Arm is flexible, the control that large arm pitching and revolving dial rotate.
The plurality of sensor includes that stay wire sensor, angular transducer, obliquity sensor, temperature sensor, pressure are passed
Sensor, stay wire sensor are arranged between large arm and forearm, large arm and workbench is respectively arranged with an angular transducer and is inclined
Angle transducer, temperature sensor and pressure transducer are arranged on hydraulic oil container.
Voltage sensor and current sensor stay wire sensor are used to measuring the collapsing length of forearm, angular transducer and incline
Angle transducer collection large arm and workbench angle-data both horizontally and vertically simultaneously passes to industrial computer, the angle on workbench
Sensor passes through ZIGBEE Wireless transceivers with obliquity sensor data, to realize the completely insulated of tip platform, temperature sensor
The pressure data of hydraulic oil in the oil temperature and hydraulic oil container in hydraulic oil container is gathered with pressure transducer, the data for collecting are
Analog quantity, is converted into digital signal and passes to industrial computer, voltage sensor and current sensor, collection electricity through 485 through A/D
Magnitude of voltage and current value in road, detects whether voltage and electric current in circuit are stable.
The control method of wheeled transformer station's living water washing robot, specially：The robot in operation, by long-range
The car body travel mechanism of the joystick control machinery body of remote control unit moves to designated area, by front hydraulic leg I, front liquid
Pressure supporting leg II, rear hydraulic leg I, rear hydraulic leg II is supported and landed, and improves robot manipulating task stability；
Revolving dial and its appurtenances can 360 ° of rotations, adjust the orientation of two-stage telescopic arm, by amplitude oil cylinder with adjust
The angle of pitch of whole large arm, linking arm by telescopic oil cylinder realize stretch out and contraction, forearm realizes under the drive of stretching chain and
Linking arm synchronously stretches out and contraction, under the collective effect of amplitude oil cylinder, telescopic oil cylinder and stretching chain, adjustment large arm, connection
The pose of arm and forearm；
Leveling cyclinder I and leveling cyclinder II coordinate the pose of adjustment workbench, keep workbench level, and pitching oil cylinder is upper and lower
Pitching and swinging for oscillating oil cylinder realize the pose fine setting of hydraulic giant frame, the image gathered by tracking camera, it is determined that
The pose of hydraulic giant, hydraulic giant injection high-purity water is rinsed operation.
Onboard subsystem is divided by control includes vehicle-mounted upper computer control system and vehicle-mounted driver, vehicle-mounted PC control
System have receive remoting subsystem order, and to order parsed and realized motion algorithm etc. function.Vehicle-mounted driving
Device receives the function that the instruction of vehicle-mounted upper computer control system is realized being controlled the valve group of car body.Remoting subsystem has car
The movement of body, the start and stop of electromotor, the size of throttle, the control of elevating mechanism simple joint and collation control function.Onboard subsystem
Wirelessly communicate with handheld terminal subsystem.
Onboard subsystem is broadly divided into car body movement control module, upper dress elevating mechanism motion-control module, is sent out by function
Four modules of motivation and mains power monitoring module and security monitoring module etc..Car body movement control module 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 function such as the controls such as electromotor start and stop, speed governing and the monitoring of engine condition and supply voltage；Security monitoring module possesses lifting
The threshold value setting of the states such as each joint of mechanism is spacing, supporting leg state, oil temperature oil level, cell voltage and security alarm.
Beneficial effects of the present invention：
1st, the needs of operation are rinsed according to transformer station's water, a kind of living water washing robot of novel wheel-type transformer station dress is designed
Put, main body is made up of basic machine and remote control device, 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, 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.
3rd, the device replaces being accomplished manually Substation Insulator flushing operation using robot, makes operator be located at safety
In region, the safety of operator is ensured, the labor intensity of reduction improves flush efficiency and automatization level, China is become
Power station water rinses operating type and produces positive change effect.
Description of the drawings
Fig. 1 is wheeled transformer station's living water washing robot architecture's schematic diagram of the invention；
Structure top view when Fig. 2 is supported for wheeled transformer station's living water washing robot drawing of the invention；
Fig. 3 is the structural representation of wheeled transformer station's living water washing robot working limit position of the invention；
Fig. 4 is wheeled transformer station's living water washing robot hydraulic principle figure of the invention；
Fig. 5 is wheeled transformer station's living water washing robot electric control structure block diagram of the invention；
Fig. 6 is wheeled transformer station's living water washing robot remote telecontrol panel schematic diagram of the invention；
In figure, 1, driving wheel, 2, wheel undercarriage, 3, proportional control valve group B, 4, revolving dial, 5, leveling cyclinder I, 6, become
Width chain, 7, large arm, 8, amplitude oil cylinder, 9, stretching chain, 10, sprocket wheel, 11, workbench, 12, pitching oil cylinder, 13, hydraulic giant frame,
14th, leveling cyclinder II, 15, tracking camera, 16, laser range finder, 17, hydraulic giant, 18, electric control box, 19, driven pulley, 20,
Hydraulic leg I afterwards, 21, rear hydraulic leg II, 22, hydraulic oil container, 23, front hydraulic leg I, 24, stay wire sensor, 25, front liquid
Pressure supporting leg II, 26, diesel fuel tanks, 27, linking arm, 28, forearm, 29, oscillating oil cylinder.
Specific embodiment：
Below in conjunction with the accompanying drawings the present invention is described in detail：
As Figure 1-3, a kind of wheeled transformer station's living water washing robot, main body is filled by basic machine and Remote
Put composition.Wherein, basic machine mainly by car body travel mechanism, three section two-stage telescopic arms, elevating mechanism, hydraulic giant flushing machine,
Hydraulic control system and electric control system are constituted.Car body travel mechanism be wheel type mobile chassis structure, one side of wheel undercarriage 2
For diesel fuel tanks 26, another side is hydraulic oil container 22, and the power source of robot is vehicle-mounted diesel engine；The car body travel mechanism passes through
Pivoting support is connected with the revolving dial 4 of elevating mechanism, three section two-stages is also equipped with the revolving dial 4 of elevating mechanism and is stretched
Arm, the forearm 28 of three section two-stage telescopic arms is connected by leveling cyclinder II 14 with the workbench 11 of hydraulic giant flushing machine, described time
Turn proportional control valve group B3 that hydraulic control system is also associated with platform 4；Electric control system includes onboard subsystem and distant
Control subsystem, remoting subsystem is engaged with onboard subsystem and is wirelessly completed to robot using hydraulic control system
Car body travel mechanism, elevating mechanism and hydraulic giant flushing machine control.Basic machine front end is additionally provided with electric control box 18.
Wheeled transformer station's living water washing robot operation power is originated vehicle-mounted diesel engine.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.
Car body travel mechanism adopts wheel type mobile chassis structure, is mainly galloped along on horseback by wheel undercarriage 2, left running motor, right lateral
Up to, four hydraulic legs composition of driving wheel 1, driven pulley 19 and both sides.The left side of wheel undercarriage 2 is diesel fuel tanks 26, and the right is
Hydraulic oil container 22, rear hydraulic leg I 20, rear hydraulic leg II 21, front hydraulic leg I 23, front hydraulic leg II 25 is hinged on wheel
On formula chassis 2.
The elevating mechanism of three section two-stage telescopic arm compositions mainly saves two-stage telescopic arm, levelling gear group by revolving dial 4, three
Into.Revolving dial 4 is connected by pivoting support with car body travel mechanism, is driven by rotary motor and is realized revolving dial 4 and its attached
Belong to the 360 ° of continuous rotary motions of each part, proportional control valve group B3 is bolted on revolving dial 4；Two-stage telescopic arm master
To be made up of large arm 7, linking arm 27, forearm 28, two-stage telescopic arm is installed on revolving dial 4, and large arm 7 is hinged to revolving dial
On 4, there are slide block, slide block and the bolt connection of linking arm 27 in the front and back end of linking arm 27, and linking arm 27 slides with large arm 7, forearm 28 and connects
Connect, the head of linking arm 27 installs sprocket wheel 10；Amplitude oil cylinder 8 is articulated and connected with large arm 7, revolving dial 4, telescopic oil cylinder and large arm
7th, linking arm 27 is articulated and connected；Levelling gear is mainly made up of leveling cyclinder I 5 and leveling cyclinder II 14, and leveling cyclinder I 5 is installed
Between revolving dial 4 and large arm 7, be articulated and connected with revolving dial 4, large arm 7, leveling cyclinder II 14 be arranged on workbench 11 with it is little
Between arm 28, it is articulated and connected with workbench 11, forearm 28；Luffing chain 6 is connected on large arm 7, forearm 28 by bolt,
The front end of stretching chain 9 is hinged on the front end of large arm 7, bypasses sprocket wheel 10, and end is hinged the end of forearm 28.
Hydraulic giant flushing machine is mainly made up of workbench 11, pitching oil cylinder 12, oscillating oil cylinder 29, hydraulic giant frame 13, hydraulic giant 17.
Pitching oil cylinder 12 is bolted on oscillating oil cylinder 29, and oscillating oil cylinder 29 is bolted on workbench 11, hydraulic giant
Frame 13 is hinged on pitching oil cylinder 12, and the spiral of hydraulic giant 17 is connected on hydraulic giant frame 13.
Tracking camera 15 is installed on robot water gun rack 13, it is real for Real Time Observation insulator water washing handling situations
When transmission operation field picture, facilitate teleworker implement operation.Tracking camera 15 is bolted to hydraulic giant frame
On 13.Laser range finder 16 is housed immediately below tracking camera 15, in real time measurement hydraulic giant 17 and water rinse operation insulator away from
From so as within being maintained at safety work distance.
The robot in operation, by the car body travel mechanism of the joystick control machinery body of remote control device
Designated area is moved to, by front hydraulic leg I 23, front hydraulic leg II 25, rear hydraulic leg I 20, rear hydraulic leg II 21
Support lands, and improves robot manipulating task stability；Revolving dial 4 and its appurtenances can 360 ° of rotations, adjust two-stage telescopic arm
Orientation, by amplitude oil cylinder 8 and the angle of pitch for adjusting large arm 7, linking arm 27 is realized stretching out and contraction by telescopic oil cylinder, forearm
28 realize synchronously being stretched out and contraction with linking arm 27 under the drive of stretching chain 9, in amplitude oil cylinder 8, telescopic oil cylinder and stretch
Under the collective effect of chain 9, the pose of large arm 7, linking arm 27 and forearm 28 is adjusted；Leveling cyclinder I 5 and leveling cyclinder II 14
Coordinate the pose of adjustment workbench 11, keep the level of workbench 11, a left side for pitching oil cylinder pitching and oscillating oil cylinder 29 about 12
Right to swing the pose fine setting for realizing hydraulic giant frame 13, the image gathered by tracking camera 15 determines the pose of hydraulic giant 17, hydraulic giant
17 injection high-purity waters are rinsed operation.
As shown in figure 4, wheeled transformer station's living water washing robot hydraulic system adopts bottom control valve group A, upper dress control
Valve group B combination control processed and center-rotary joint combination control, have seven road proportional reversing valves and No. four hand-operated direction valves.It is wheeled
Living water washing robot of transformer station adopts diesel engine for power, is connected with duplex gear pump by shaft coupling, it is considered to transformer station
Livewire work special environment requires that hydraulic system adopts wear-resistant insulation hydraulic oil.Hydraulic oil enters from fuel tank, Jing oil absorption filters
Enter water flushing device people's hydraulic control oil circuit, then Jing return oil filters flow back to fuel tank.Wherein check valve is control fluid backflow, peace
Full valve its overload protection function, pressure gauge is connected by pressure meter switch with oil circuit, and shows oil circuit hydraulic fluid pressure in real time.In
Centre swivel coupling is the Hydraulic Elements for coupling revolving dial 4 and chassis oil circuit, and it ensures after any rotation of revolving dial 4,
Hydraulic circuit can also normally with oil.
Bottom control valve group A is connected by distributing valve with hydraulic pump, mainly controls water flushing by four groups of hand-operated direction valves
Completing stretching motion, two proportional reversing valves control left and right, two motors carry out robot ambulation to four support oil cylinders of device people
Motion.
Upper cartridge control valve group B Jing center-rotary joints, upper dress control switching push button, distributing valve and hydraulic pump connection, mainly
Rotary motor is controlled by a proportional reversing valve, completes to fill the rotary motion of revolving dial 4, two groups of proportional reversing valves control large arm
7 pitching and the stretching motion of forearm 28, another two groups of proportional reversing valves realize hydraulic giant 17 by oscillating oil cylinder 29 and pitching oil cylinder 12
Horizontal movement and elevating movement.
As shown in figure 5, wheeled transformer station's living water washing robot electric control system includes 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 being controlled to the valve group of car body 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, the control of elevating mechanism simple joint and collation control function.Onboard subsystem and handheld terminal
Subsystem wirelessly communicates.
Onboard subsystem is broadly divided into car body movement control module, upper dress elevating mechanism motion-control module, is sent out by function
Four modules of motivation and mains power monitoring module and security monitoring module etc..Car body movement control module 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 function such as the controls such as electromotor start and stop, speed governing and the monitoring of engine condition and supply voltage；Security monitoring module possesses lifting
The threshold value setting of the states such as each joint of mechanism is spacing, supporting leg state, oil temperature oil level, cell voltage and security alarm.
Onboard subsystem hardware is by industrial computer, wireless receiver, A/D modular converters, ZIGBEE, various kinds of sensors, ratio
Valve, switch valve etc. are constituted.Industrial computer gathers the data that various kinds of sensors is uploaded by 485 buses, and to connecing from remote manipulator
The instruction for receiving is handed down to wireless receiver, realizes to switch valve, the control of proportioning valve.Wireless receiver receives remote control
Carry out processing in industrial computer after data and be then handed down to transceiver again, by the regulation control proportioning valve to magnitude of voltage
Folding and uninterrupted, realize moving mobile chassis left and right wheels, and forearm 28 stretches, the pitching of large arm 7, the control of revolving dial rotation
System.
Various kinds of sensors includes stay wire sensor 24, angular transducer, obliquity sensor, temperature sensor, pressure sensing
Device, voltage sensor and current sensor, stay wire sensor 24 is arranged between large arm 7 and forearm 28, for measuring forearm 28
Collapsing length, large arm 7 and tip platform be respectively arranged with an angular transducer and an obliquity sensor, and collection large arm 7 is peaceful
Platform angle-data both horizontally and vertically simultaneously passes to industrial computer, wherein the angular transducer on platform and obliquity sensor number
According to by ZIGBEE Wireless transceivers, to realize the completely insulated of tip platform.Temperature and pressure sensor is arranged on hydraulic oil container
On 22, the pressure data of hydraulic oil in the oil temperature and fuel tank in fuel tank is gathered, the data for collecting are analog quantity, through A/D
It is converted into digital signal and passes to industrial computer through 485.Voltage x current value in voltage and current sensor Acquisition Circuit, detection
Whether the voltage x current in circuit is stable, and the analogue signal for collecting is converted to digital signal through 485 through A/D modular converters
Bus passes to industrial computer.
Remote manipulator realizes the remotely control to mobile chassis, lifting arm and hydraulic giant 17, before control revolver
Afterwards, before and after right wheel, large arm 7 or so, the pitching of large arm 7, forearm 28 be flexible, platform or so；Locking button includes instrument, selection, XYZ
The control of world coordinate system, throttle size；Self- recoverage button includes reset, electromotor start and stop, teaching, reproduction, the control of startup；
Display lamp includes power supply, radio communication, alarm lamp.
In Fig. 6, a kind of remote manipulator of wheeled transformer station's living water washing robot includes 7 simulation rocking bars, control
Before and after revolver, before and after right wheel, large arm 7 or so, the pitching of large arm 7, forearm 28 flexible, workbench 11 or so, the pitching of hydraulic giant 17；It is locking
Button includes instrument, selection, XYZ world coordinate systems, the control of throttle size；Self- recoverage button include reset, electromotor start and stop,
Teaching, reproduction, the control for starting；Display lamp includes power supply, radio communication, alarm lamp.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not to present invention protection model
The restriction enclosed, on the basis of technical scheme, those skilled in the art do by need not paying creative work
The various modifications for going out or deformation are still within protection scope of the present invention.
Claims (11)
1. wheeled transformer station's living water washing robot, is characterized in that, including car body travel mechanism, and car body travel mechanism is wheeled
Mobile chassis structure, the car body travel mechanism is connected by pivoting support with the revolving dial of elevating mechanism, elevating mechanism
Telescopic arm is also equipped with revolving dial, telescopic arm is connected by leveling cyclinder with the workbench of hydraulic giant flushing machine；Electric-controlled
System processed controls car body travel mechanism and moves to designated area by remote control device, by controlling bowing for hydraulic giant flushing machine
Face upward the upper and lower pitching of oil cylinder and swinging for oscillating oil cylinder realizes the pose fine setting of hydraulic giant frame, gathered by tracking camera
Image, determines the pose of hydraulic giant, and hydraulic giant injection high-purity water is rinsed operation；The revolving dial and its appurtenances can
360 ° of rotations；The electric control system includes onboard subsystem and remoting subsystem, and onboard subsystem includes industrial computer, industry control
Machine gathers the data that multiple sensors are uploaded by 485 buses；The plurality of sensor includes stay wire sensor, angle sensor
Device, obliquity sensor, temperature sensor and pressure transducer；
The industrial computer is handed down to wireless receiver to the instruction received from remote manipulator, and wireless receiver is received remotely
Carry out processing in industrial computer after the data of remote control and be then handed down to transceiver again, controlled by the regulation to magnitude of voltage
The folding of proportioning valve and uninterrupted, realize the control to car body travel mechanism, elevating mechanism and hydraulic giant flushing machine.
2. wheeled transformer station's living water washing robot as claimed in claim 1, is characterized in that, the car body travel mechanism master
To be made up of four hydraulic legs of wheel undercarriage, left running motor, right running motor, driving wheel, driven pulley and both sides, it is left
Running motor and right running motor are bolted on wheel undercarriage support, and driving wheel is by two rows of drive shaft and left and right
Motor connection is walked, driven pulley is coupled by rotary shaft with wheel undercarriage support, and the wheel undercarriage left side is diesel fuel tanks, and the right is hydraulic pressure
Fuel tank, hydraulic leg is hinged on wheel undercarriage.
3. wheeled transformer station's living water washing robot as claimed in claim 2, is characterized in that, the telescopic arm is three sections two
Level telescopic arm, including large arm, linking arm and forearm, large arm is hinged on revolving dial, and linking arm front and back ends are provided with cunning
Block, slide block and linking arm bolt connection, linking arm is slidably connected by slide block with large arm, forearm, and the head of linking arm is provided with
Sprocket wheel, by Chain conveyer the synchronization telescope of linking arm and forearm is realized.
4. wheeled transformer station's living water washing robot as claimed in claim 3, is characterized in that, the three sections two-stage telescopic arm
Large arm, be bolted luffing chain on forearm, large arm front end bypasses sprocket wheel and is hinged with the front end of stretching chain, stretches
The end of chain is hinged with forearm end.
5. wheeled transformer station's living water washing robot as claimed in claim 3, is characterized in that, the elevating mechanism includes back
Turn platform and levelling gear, revolving dial is connected with car body travel mechanism by pivoting support, is hinged with revolving dial flexible
Arm, revolving dial and large arm are hinged with amplitude oil cylinder, and large arm and linking arm are articulated and connected with telescopic oil cylinder, and levelling gear includes adjusting
Flat oil cylinder 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,
Leveling cyclinder II is arranged between workbench and forearm, is hinged with workbench, forearm.
6. wheeled transformer station's living water washing robot as claimed in claim 5, is characterized in that, the hydraulic giant flushing machine bag
Pitching oil cylinder and oscillating oil cylinder are included, pitching oil cylinder is bolted on oscillating oil cylinder, and oscillating oil cylinder is bolted
On workbench, hydraulic giant frame is hinged with pitching oil cylinder, on hydraulic giant frame hydraulic giant is connected with.
7. wheeled transformer station's living water washing robot as claimed in claim 6, is characterized in that, spiral shell is passed through on the hydraulic giant frame
Bolt is provided with tracking camera, for being equipped with laser immediately below Real Time Observation insulator water washing handling situations, tracking camera
Diastimeter, for the distance that measurement hydraulic giant in real time and water rinse operation insulator.
8. wheeled transformer station's living water washing robot as claimed in claim 6, is characterized in that, also connect on the revolving dial
It is connected to the proportional control valve group of hydraulic control system；Proportional control valve group herein is upper cartridge control valve group B；The hydraulic control
System includes bottom control valve group A, upper cartridge control valve group B and center-rotary joint, has seven proportional reversing valves and four handss
Dynamic reversal valve.
9. wheeled transformer station's living water washing robot as claimed in claim 8, is characterized in that, bottom control valve group A
It is connected with hydraulic pump by distributing valve, controls four support oil cylinders of water flushing device people to complete to stretch by four hand-operated direction valves
Motion, two proportional reversing valve control left and right, two running motors, carries out robot ambulation motion.
10. wheeled transformer station's living water washing robot as claimed in claim 8, is characterized in that, upper cartridge control valve group B
Successively Jing center-rotary joints, upper dress control switching push button, distributing valve and hydraulic pump connection, are controlled back by a proportional reversing valve
Turn motor, complete to fill revolving dial rotary motion, the control large arm pitching of two proportional reversing valves and forearm stretching motion, another two
Individual proportional reversing valve realizes the horizontal movement and elevating movement of hydraulic giant by oscillating oil cylinder and pitching oil cylinder.
The 11. wheeled transformer station's living water washing robots as any one of claim 3-10, is characterized in that, the drawing
Line sensor is arranged between large arm and forearm, and large arm and workbench are respectively arranged with an angular transducer and an inclination angle sensing
Device, temperature sensor and pressure transducer are arranged on hydraulic oil container.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN107030716A (en) * | 2017-06-13 | 2017-08-11 | 吉林风云图灵机器人制造有限公司 | A kind of new energy vehicle-mounted removable paint-spray robot system |
| CN107605161A (en) * | 2017-10-25 | 2018-01-19 | 马义军 | A kind of full landform Architecture 3D printer |
| CN108940981A (en) * | 2018-06-22 | 2018-12-07 | 江苏中鼎建材集团有限公司 | A kind of high-pressure water jet removes concrete mechanism |
| CN110238093A (en) * | 2019-06-20 | 2019-09-17 | 内蒙古大学 | A kind of cleaning device and its application method for solar panel |
| CN114558815B (en) * | 2020-05-07 | 2023-05-09 | 浙江大学台州研究院 | Robot and control method thereof |
| CN114102635A (en) * | 2021-12-17 | 2022-03-01 | 西南交通大学 | Third rail automatic cleaning manipulator and cleaning method thereof |
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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. |