CN105032805A - Transformer station live-line water washing robot capable of doing accurate washing - Google Patents

Transformer station live-line water washing robot capable of doing accurate washing Download PDF

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Publication number
CN105032805A
CN105032805A CN201410458695.8A CN201410458695A CN105032805A CN 105032805 A CN105032805 A CN 105032805A CN 201410458695 A CN201410458695 A CN 201410458695A CN 105032805 A CN105032805 A CN 105032805A
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China
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hydraulic
transformer station
water washing
forearm
large arm
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CN201410458695.8A
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CN105032805B (en
Inventor
李健
王滨海
鲁守银
慕世友
任杰
傅孟潮
韩磊
陈强
王振利
谭林
吕曦晨
李建祥
赵金龙
张海龙
高郎宏
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State Grid Intelligent Technology Co Ltd
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Shandong Luneng Intelligence Technology Co Ltd
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Publication of CN105032805A publication Critical patent/CN105032805A/en
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Publication of CN105032805B publication Critical patent/CN105032805B/en
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Abstract

The invention discloses a transformer station live-line water washing robot capable of doing accurate washing; the transformer station live-line water washing robot comprises a vehicle body mobile mechanism, a lifting mechanism, an electric control system and a water gun washing mechanism; the vehicle body mobile mechanism is provided with a first damper, and connected with a rotary platform of the lifting mechanism through a rotary support; the rotary platform of the lifting mechanism is also provided with a robot arm having a second damper; the robot arm is connected with a work table of the water gun washing mechanism; the electric control system comprises a vehicle subsystem and a remote control subsystem; the vehicle subsystem and a remote control subsystem cooperate to control the vehicle body mobile mechanism, the lifting mechanism and the water gun washing mechanism of the robot in a wireless mode; the washing robot can replace labors so as to complete washing work of transformer station insulators, so the operation people can be in a safe zone, thus ensuring operation people safety, reducing labor intensity, improving washing efficiency, and improving automation level.

Description

A kind of living water washing robot of transformer station that can accurately rinse
Technical field
The present invention relates to a kind of living water washing robot of transformer station that can accurately rinse.
Background technology
Substation Insulator is exposed in external environment for a long time, and surface is dirt deposits easily, and these dirts easily pollution flashover accident occur by bad weather infringement.Insulator charged water rinses the reliability that operation can improve power supply, reduces loss of outage, ensures the safety of transformer station and transmission line of electricity.The insulator of present stage rinses the shortcoming that operation exists following several respects:
1, backwashing manner is enter scene by the hand-held flushing device of cleaning technique personnel to carry out operation mostly, artificial flushing not only depends on weather condition, cleaning personnel are also needed to possess compared with high-tech level and skilled operating process, the security protection of high standard is needed when living water washing is carried out to insulator, the security incident caused to avoid short circuit current, causing casualties, there is potential safety hazard in this kind of operating type;
2, operating personnel are when rinsing, and cannot ensure to be positioned at safety zone all the time, labour intensity is high and efficiency is low;
3, consider that living water washing operation is subject to rinsing many-sided impact such as angle, hydraulic pressure, manual work can not wash away the dunghill on equipment outer insulation surface sometimes completely;
4, existing water flushing device people is when rinsing, and walking mechanism, mechanical arm and hydraulic giant all can produce vibrations and wave, and reduces and rinses accuracy, the dirt of outer surface of insulator cannot be cleaned up.
Therefore, research and develop a kind of can reaching and reduce vibrations, the robot accurately rinsing object can be reached replace manual operation to be very important, meet research.
Summary of the invention
The present invention is in order to solve the problem, propose a kind of living water washing robot of transformer station that can accurately rinse, this system can replace operating personnel, when not having a power failure, robot living water washing operation is carried out to substation equipment, it effectively can alleviate the heavy physical labor of manual cleaning work, ensure the personal safety of operating personnel, the vibrations produced when simultaneously reducing robot ambulation, jet douche, dirt on accurate cleaning insulator, prevents equipment pollution flashover accident, ensures the safe operation of electrical network.
To achieve these goals, the present invention adopts following technical scheme:
The living water washing robot of transformer station that can accurately rinse, comprises car body travel mechanism, elevating mechanism, electric control system and hydraulic giant flushing machine, and wherein, car body travel mechanism is provided with the first damper; Described car body travel mechanism is connected with elevating mechanism, elevating mechanism is provided with mechanical arm, described mechanical arm is provided with the second damper, mechanical arm is connected with the workbench of hydraulic giant flushing machine, electric control system comprises onboard subsystem and remoting subsystem, remoting subsystem matches with onboard subsystem, wirelessly completes the control of the car body travel mechanism to robot, elevating mechanism and hydraulic giant flushing machine;
Described elevating mechanism comprises revolving dial and levelling gear, and revolving dial is connected with car body travel mechanism by pivoting support, and revolving dial is connected with mechanical arm, and revolving dial and mechanical arm are connected with cylinder system.
Described car body travel mechanism, comprise crawler body, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt, four hydraulic legs of tension buffer device and both sides, left running motor and right running motor are bolted on crawler body support, driving wheel is connected with running motor by driving shaft, driven pulley, BOGEY WHEEL connects with crawler body support respectively by rotating shaft with tension buffer device, crawler belt is enclosed within driving wheel, driven pulley, the outside of BOGEY WHEEL and tension buffer device, the left side, chassis is diesel fuel tanks, the right is hydraulic oil container, hydraulic leg is hinged on crawler body.
Described car body travel mechanism comprises four hydraulic legs of wheel undercarriage, left running motor, right running motor, driving wheel, driven pulley and both sides, left running motor and right running motor are bolted on wheel undercarriage support, driving wheel is connected with running motor by driving shaft, driven pulley is connected with wheel undercarriage support by rotating shaft, the wheel undercarriage left side is diesel fuel tanks, the right is hydraulic oil container, and hydraulic leg is hinged on wheel undercarriage.
Described mechanical arm is three joint two-stage telescopic arms.
Described three joint two-stage telescopic arms comprise large arm, linking arm and forearm, large arm is hinged on revolving dial, linking arm front and back ends is provided with slide block, slide block is connected with linking arm bolt, linking arm is slidably connected by slide block and large arm, forearm, the head of linking arm is provided with sprocket wheel, is realized the synchronization telescope of linking arm and forearm by Chain conveyer.
The large arm of described three joint two-stage telescopic arms, forearm have been bolted luffing chain, and the front end that sprocket wheel and stretching chain are walked around in large arm front end is hinged, and end and the forearm end of stretching chain are hinged.
Described cylinder system comprises amplitude oil cylinder and telescopic oil cylinder, wherein, revolving dial and large arm and amplitude oil cylinder are articulated and connected, large arm and linking arm are connected with telescopic oil cylinder, levelling gear comprises leveling cyclinder I and leveling cyclinder II, and leveling cyclinder I is arranged between revolving dial and large arm, is connected with revolving dial, large arm, leveling cyclinder II is arranged between workbench and forearm, is connected with workbench, forearm.
Described hydraulic giant flushing machine comprises pitching oil cylinder and oscillating oil cylinder, and pitching oil cylinder is bolted on oscillating oil cylinder, and oscillating oil cylinder is bolted on the table, pitching oil cylinder is hinged with hydraulic giant frame, and hydraulic giant frame is connected with hydraulic giant.
Described hydraulic giant frame being provided with tracking camera by bolt, for Real Time Observation insulator water washing handling situations, immediately below tracking camera, laser range finder being housed, rinsing the distance of operation insulator for measuring hydraulic giant and water in real time.
Described revolving dial is also connected with the proportional control valve group of hydraulic control system; Proportional control valve group is herein upper cartridge control valve group B.
Described hydraulic system comprises bottom control valve group A, upper cartridge control valve group B and center-rotary joint, has seven proportional reversing valves and four hand-operated direction valves.
Described bottom control valve group A is connected with hydraulic pump by distributing valve, controls water flushing device people four support oil cylinders complete stretching motion by four hand-operated direction valves, and two proportional reversing valves control two motors in left and right, carry out robot ambulation motion;
Described upper cartridge control valve group B controls switching push button, distributing valve through center-rotary joint, upper dress, is connected with hydraulic pump successively, rotary motor is controlled by a proportional reversing valve, complete the rotary motion of dress revolving dial, two proportional reversing valves control large arm pitching and forearm stretching motion, and another two proportional reversing valves realize horizontal movement and the elevating movement of hydraulic giant by horizontal hunting oil cylinder and vertical oscillation oil cylinder.
Described center-rotary joint is the Hydraulic Elements connecting revolving dial and chassis oil circuit, and after making revolving dial any rotation, hydraulic circuit normally can also join oil.
Described electric control system comprises onboard subsystem and remoting subsystem, onboard subsystem comprises industrial computer, the data that industrial computer is uploaded by 485 buses collection various kinds of sensors, and wireless receiver is handed down to the instruction received from remote manipulator, carry out after wireless receiver receives the data of remote manipulator processing and then being handed down to transceiver in industrial computer, by folding and the uninterrupted of the regulable control proportioning valve to magnitude of voltage, realize the motion of mobile chassis left and right wheels, forearm stretches, control that large arm pitching and revolving dial rotate.
Described various kinds of sensors comprises stay wire sensor, angular transducer, obliquity sensor, temperature sensor, pressure sensor, voltage sensor and current sensor, stay wire sensor is arranged between large arm and forearm, for measuring the collapsing length of forearm, large arm and workbench are all equipped with an angular transducer and an obliquity sensor, gather the angle-data of large arm and the gentle vertical direction of driving water and pass to industrial computer, angular transducer wherein on workbench and obliquity sensor data are by ZIGBEE Wireless transceiver, to realize the insulation completely of tip platform, temperature sensor and pressure sensor are arranged on hydraulic oil container, gather the pressure data of hydraulic oil in oil temperature in hydraulic oil container and hydraulic oil container, the data collected are analog quantity, convert data signal to through A/D and pass to industrial computer through 485, magnitude of voltage in voltage sensor and current sensor Acquisition Circuit and current value, whether the voltage in testing circuit and electric current are stablized, the analog signal collected is converted to data signal through A/D modular converter and passes to industrial computer through 485 buses.
Onboard subsystem comprises vehicle-mounted upper computer control system and vehicle-mounted driver, and vehicle-mounted upper computer control system has and receives the order of remoting subsystem, and to order resolve and realize motion algorithm etc. function.The instruction that vehicle-mounted driver receives vehicle-mounted upper computer control system realizes the function controlled the valve group of car body.Remoting subsystem has the movement of car body, the start and stop of engine, the size of throttle, elevating mechanism simple joint control and collation control function.Onboard subsystem wirelessly communicates with handheld terminal subsystem.
Onboard subsystem is mainly divided into car body to move control module, upper dress elevating mechanism motion-control module, engine and four modules such as mains power monitoring module and security monitoring module by function.Car body moves control module and possesses the functions such as advance, retrogressing, speed governing, left and right turn, landing leg stretching, floor light, security monitoring; Upper dress elevating mechanism motion-control module possesses the functions such as simple joint control, simple joint position feedback, automatic leveling and security monitoring; Engine and mains power monitoring module possess the functions such as the supervision of the controls such as engine start and stop, speed governing and engine condition and supply voltage; Security monitoring module possesses threshold value setting and the security alarm of the states such as each joint of elevating mechanism is spacing, supporting leg state, oil temperature oil level, cell voltage.
Beneficial effect of the present invention:
1, the needs of operation are rinsed according to transformer station's water, design a kind of novel a kind of transformer station living water washing robot device that can accurately rinse, main body is made up of basic machine and remote control device, all signal transmission is carried out by wireless signal between basic machine and remote control, make flushing operating personnel away from high voltage electric field, ensure the safety of operating personnel.
2, operating personnel's handheld remote control device, by the joystick on remote control device, can the car body travel mechanism of far distance controlled robotic body, three joint two-stage telescopic arm elevating mechanisms and hydraulic giant flushing machines, the operation attitude of Image Adjusting robot can be gathered according to tracking camera, utilize the mechanism that sprays water with high pressure to spray high purity water and carry out flushing operation.
3, this device utilizes robot to replace manually completing Substation Insulator and rinses operation, operating personnel are made to be positioned at safety zone, ensure the safety of operating personnel, the labour intensity reduced, improve flush efficiency and automatization level, operating type is rinsed to transformer station of China water and produces positive change effect;
4, first damper and the second shock absorber are set, reduce the vibrations of flushing robot generation when rinsing and wave, rinsing accuracy and significantly improve, thoroughly cleaning the dirt on insulator, preventing equipment pollution flashover accident, ensureing the safe operation of electrical network.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Structure top view when Fig. 2 is drawing of the present invention support;
Fig. 3 is the structural representation of working limit position of the present invention;
Fig. 4 is hydraulic principle figure of the present invention;
Fig. 5 is electric control structure block diagram of the present invention;
Fig. 6 is remote manipulator panel schematic diagram of the present invention;
In figure, 1, driven pulley, 2, BOGEY WHEEL, 3, tension buffer device, 4, driving wheel, 5, crawler belt, 6, crawler body, 7, proportional control valve group, 8, revolving dial, 9, leveling cyclinder I, 10, luffing chain, 11, large arm, 12, amplitude oil cylinder, 13, stretching chain, 14, sprocket wheel, 15, workbench, 16, pitching oil cylinder, 17, hydraulic giant frame, 18, leveling cyclinder II, 19, tracking camera, 20, laser range finder, 21, hydraulic giant, 22, electric control box, 23, rear hydraulic leg I, 24, rear hydraulic leg II, 25, hydraulic oil container, 26, front hydraulic leg I, 27, front hydraulic leg II, 28, diesel fuel tanks, 29, linking arm, 30, forearm, 31, oscillating oil cylinder.
Detailed description of the invention:
Below in conjunction with accompanying drawing, the present invention is described in detail:
As Figure 1-3, a kind of living water washing robot of transformer station that can accurately rinse, main body is made up of basic machine and remote control device.Wherein, basic machine is primarily of car body travel mechanism, three joint two-stage telescopic arm elevating mechanisms, hydraulic giant flushing machine, hydraulic control system and electric control system composition.Car body travel mechanism is provided with the first damper; Car body travel mechanism is connected with the revolving dial 8 of elevating mechanism by pivoting support, the revolving dial 8 of elevating mechanism is also provided with three joint two-stage telescopic arms, three joint two-stage telescopic arms are provided with the second damper, the forearm 30 of three joint two-stage telescopic arms is connected with the workbench 15 of hydraulic giant flushing machine by leveling cyclinder II 18, described revolving dial 8 is also connected with the proportional control valve group of hydraulic control system; Electric control system comprises onboard subsystem and remoting subsystem, remoting subsystem matches with onboard subsystem the control utilizing hydraulic control system wirelessly to complete car body travel mechanism to robot, elevating mechanism and hydraulic giant flushing machine, and mobile chassis and three joint two-stage telescopic arms are respectively equipped with the first damper and the second damper.
A kind of living water washing robot of transformer station operation power that can accurately rinse is originated vehicle-mounted diesel engine.Adopt self-powered source, diesel engine powers, operation in intensive battery limits can be entered, solve on-the-spot power configuration problem.
Car body travel mechanism can adopt crawler-type mobile chassis structure, primarily of four hydraulic legs compositions of crawler body 6, left and right running motor, driving wheel 4, BOGEY WHEEL 2, crawler belt 5, tension buffer device 3 and both sides.The left side, chassis is diesel fuel tanks 28, and the right is hydraulic oil container 25, rear hydraulic leg I 23, rear hydraulic leg II 24, front hydraulic leg I 26, and front hydraulic leg II 27 is hinged on crawler body 6.
Car body travel mechanism also can adopt wheeled locomotion mechanism, wheeled locomotion mechanism is primarily of four hydraulic legs compositions of wheel undercarriage, left running motor, right running motor, driving wheel, driven pulley and both sides, left running motor and right running motor are bolted on wheel undercarriage support, driving wheel is connected with running motor by driving shaft, driven pulley is connected with wheel undercarriage support by rotating shaft, the wheel undercarriage left side is diesel fuel tanks, the right is hydraulic oil container, and hydraulic leg is hinged on wheel undercarriage.
The elevating mechanism of three joint two-stage telescopic arm compositions saves two-stage telescopic arm primarily of revolving dial 8, three, and levelling gear forms.Revolving dial 8 is connected with car body travel mechanism by pivoting support, and driven by rotary motor and realize revolving dial 8 and the 360 ° of continuous rotaries motions of attached each parts thereof, proportional control valve group 7 is bolted on revolving dial 8; Two-stage telescopic arm forms primarily of large arm 11, linking arm 29, forearm 30, two-stage telescopic arm is installed on revolving dial 8, large arm 11 is hinged on revolving dial 8, there is slide block linking arm 29 front and back end, slide block is connected with linking arm 29 bolt, linking arm 29 and large arm 11, forearm 30 are slidably connected, and the head of linking arm 29 installs sprocket wheel 14; Amplitude oil cylinder 12 and large arm 11, revolving dial 8 are articulated and connected, and telescopic oil cylinder and large arm 11, linking arm 29 are articulated and connected; Levelling gear forms primarily of leveling cyclinder I 9 and leveling cyclinder II 18, leveling cyclinder I 9 is arranged between revolving dial 8 and large arm 11, be articulated and connected with revolving dial 8, large arm 11, leveling cyclinder II 18 is arranged between workbench 15 and forearm 30, is articulated and connected with workbench 15, forearm 30; Luffing chain 10 is connected on large arm 11, forearm 30 by bolt, and the front end of stretching chain 13 is hinged on large arm 11 front end, walks around sprocket wheel 14, end hinged forearm 30 end.
Hydraulic giant flushing machine forms primarily of workbench 15, pitching oil cylinder 16, oscillating oil cylinder 31, hydraulic giant frame 17, hydraulic giant 21.Pitching oil cylinder 16 is bolted on oscillating oil cylinder 31, and oscillating oil cylinder 31 is bolted on workbench 15, and hydraulic giant frame 17 is hinged on pitching oil cylinder 16, and hydraulic giant 21 spiral is connected on hydraulic giant frame 17.
Robot water gun rack 17 is installed tracking camera 19, for Real Time Observation insulator water washing handling situations, the picture of real-time transmission operation field, facilitates teleworker to implement operation.Tracking camera 19 bolt is connected on hydraulic giant frame 17.Laser range finder 20 is housed immediately below tracking camera 19, and measurement hydraulic giant and water rinse the distance of operation insulator in real time, within making it remain on safety work distance.
This robot is when operation, and the car body travel mechanism being controlled basic machine by the joystick of remote control device moves to appointed area, by front hydraulic leg I 26, front hydraulic leg II 27, rear hydraulic leg I 23, rear hydraulic leg II 24 supports and lands, and improves robot manipulating task stability; Revolving dial 8 and appurtenances thereof can 360 ° of rotations, the orientation of adjustment two-stage telescopic arm, by the angle of pitch of amplitude oil cylinder 12 with adjustment large arm 11, linking arm 29 realizes stretching out and contraction by telescopic oil cylinder, forearm 30 realizes synchronously stretching out and contraction with linking arm 29 under the drive of stretching chain 13, under the acting in conjunction of amplitude oil cylinder 12, telescopic oil cylinder and stretching chain 13, the pose of adjustment large arm 11, linking arm 29 and forearm 30; The pose of adjustment workbench 15 coordinated by leveling cyclinder I 9 and leveling cyclinder II 18, holding table 15 level, the pose fine setting realizing hydraulic giant frame 17 that swings of pitching oil cylinder about 16 pitching and oscillating oil cylinder 31, by the image that tracking camera 19 gathers, determine the pose of hydraulic giant 21, hydraulic giant 21 sprays high-purity water and carries out flushing operation.
As shown in Figure 4, a kind of living water washing robot of transformer station hydraulic system that can accurately rinse adopts bottom control valve group A, upper cartridge control valve group B combination to control and center-rotary joint combination controls, and has seven road proportional reversing valves and No. four hand-operated direction valves.The living water washing robot of transformer station that can accurately rinse adopts diesel engine to be a power, is connected with duplex gear pump by shaft coupling, and consider transformer station's livewire work particular surroundings requirement, hydraulic system all adopts wear-resistant dielectric force feed.Hydraulic oil, from fuel tank, enters water flushing device people hydraulic control oil circuit through oil absorption filter, then flows back to fuel tank through return oil filter.Wherein check valve is for controlling fluid backflow, its overload protection function of safety valve, and Pressure gauge is connected with oil circuit by pressure meter switch, and shows oil circuit hydraulic fluid pressure in real time.Center-rotary joint is the Hydraulic Elements connecting revolving dial and chassis oil circuit, and after it ensures revolving dial any rotation, hydraulic circuit normally can also join oil.
Bottom control valve group A is connected with hydraulic pump by distributing valve, controls water flushing device people four support oil cylinders complete stretching motion primarily of four groups of hand-operated direction valves, and two proportional reversing valves control two motors in left and right, carry out robot ambulation motion.
Upper cartridge control valve group B controls switching push button, distributing valve through center-rotary joint, upper dress, is connected with hydraulic pump, rotary motor is controlled primarily of a proportional reversing valve, complete the rotary motion of dress revolving dial, two groups of proportional reversing valves control large arm pitching and forearm stretching motion, and another two groups of proportional reversing valves realize horizontal movement and the elevating movement of hydraulic giant by horizontal hunting oil cylinder and vertical oscillation oil cylinder.
As shown in Figure 5, a kind of living water washing robot of transformer station electric control system that can accurately rinse comprises onboard subsystem and remoting subsystem.Onboard subsystem comprises vehicle-mounted upper computer control system and vehicle-mounted driver, and vehicle-mounted upper computer control system has and receives the order of remoting subsystem, and to order resolve and realize motion algorithm etc. function.The instruction that vehicle-mounted driver receives vehicle-mounted upper computer control system realizes the function controlled the valve group of car body.Remoting subsystem has the movement of car body, the start and stop of engine, the size of throttle, elevating mechanism simple joint control and collation control function.Onboard subsystem wirelessly communicates with handheld terminal subsystem.
Onboard subsystem is mainly divided into car body to move control module, upper dress elevating mechanism motion-control module, engine and four modules such as mains power monitoring module and security monitoring module by function.Car body moves control module and possesses the functions such as advance, retrogressing, speed governing, left and right turn, landing leg stretching, floor light, security monitoring; Upper dress elevating mechanism motion-control module possesses the functions such as simple joint control, simple joint position feedback, automatic leveling and security monitoring; Engine and mains power monitoring module possess the functions such as the supervision of the controls such as engine start and stop, speed governing and engine condition and supply voltage; Security monitoring module possesses threshold value setting and the security alarm of the states such as each joint of elevating mechanism is spacing, supporting leg state, oil temperature oil level, cell voltage.
Onboard subsystem hardware is made up of industrial computer, wireless receiver, A/D modular converter, ZIGBEE, various kinds of sensors, proportioning valve, switch valve etc.The data that industrial computer is uploaded by 485 buses collection various kinds of sensors, and wireless receiver is handed down to the instruction received from remote manipulator, realize switch valve, the control of proportioning valve.Carry out after wireless receiver receives the data of remote controller processing and then being handed down to transceiver in industrial computer, by folding and the uninterrupted of the regulable control proportioning valve to magnitude of voltage, realize the motion of mobile chassis left and right wheels, forearm stretches, large arm pitching, the control that revolving dial rotates.
Various kinds of sensors comprises stay wire sensor, angular transducer, obliquity sensor, temperature sensor, pressure sensor, voltage sensor and current sensor, stay wire sensor is arranged between large arm and forearm, for measuring the collapsing length of forearm, large arm and tip platform are all equipped with an angular transducer and an obliquity sensor, gather the angle-data in large arm and platform horizontal and vertical direction and pass to industrial computer, angular transducer wherein on platform and obliquity sensor data pass through ZIGBEE Wireless transceiver, to realize the insulation completely of tip platform.Temperature and pressure sensor is arranged on hydraulic oil container, and gather the pressure data of hydraulic oil in oil temperature in fuel tank and fuel tank, the data collected are analog quantity, convert data signal to pass to industrial computer through 485 through A/D.Voltage x current value in voltage and current sensor Acquisition Circuit, whether the voltage x current in testing circuit is stablized, and the analog signal collected is converted to data signal through A/D modular converter and passes to industrial computer through 485 buses.
Remote manipulator realizes Long-distance Control to mobile chassis, lifting arm and hydraulic giant, comprising before and after control revolver, right take turns before and after, about large arm, about flexible, the platform of large arm pitching, forearm; Locking button comprises the control of instrument, selection, XYZ world coordinate system, throttle size; Self-recoverage button comprises the control of reset, engine start and stop, teaching, reproduction, startup; Indicator lamp comprises power supply, radio communication, alarm lamp.
As shown in Figure 6, remote manipulator panel schematic diagram, comprises 7 simulation rocking bars, to control before and after revolver, right take turns before and after, about large arm, about flexible, the platform of large arm pitching, forearm; Locking button comprises the control of instrument, selection, XYZ world coordinate system, throttle size; Self-recoverage button comprises the control of reset, engine start and stop, teaching, reproduction, startup; Indicator lamp comprises power supply, radio communication, alarm lamp.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.

Claims (16)

1. the living water washing robot of transformer station that can accurately rinse, is characterized in that: comprise car body travel mechanism, elevating mechanism, electric control system and hydraulic giant flushing machine, and wherein, car body travel mechanism is provided with the first damper; Described car body travel mechanism is connected with elevating mechanism, elevating mechanism is provided with mechanical arm, described mechanical arm is provided with the second damper, mechanical arm is connected with the workbench of hydraulic giant flushing machine, electric control system comprises onboard subsystem and remoting subsystem, remoting subsystem matches with onboard subsystem, wirelessly completes the control of the car body travel mechanism to robot, elevating mechanism and hydraulic giant flushing machine;
Described elevating mechanism comprises revolving dial and levelling gear, and revolving dial is connected with car body travel mechanism by pivoting support, and revolving dial is connected with mechanical arm, and revolving dial and mechanical arm are connected with cylinder system.
2. a kind of living water washing robot of transformer station that can accurately rinse as claimed in claim 1, it is characterized in that: described car body travel mechanism, comprise crawler body, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt, four hydraulic legs of tension buffer device and both sides, left running motor and right running motor are bolted on crawler body support, driving wheel is connected with running motor by driving shaft, driven pulley, BOGEY WHEEL connects with crawler body support respectively by rotating shaft with tension buffer device, crawler belt is enclosed within driving wheel, driven pulley, the outside of BOGEY WHEEL and tension buffer device, the left side, chassis is diesel fuel tanks, the right is hydraulic oil container, hydraulic leg is hinged on crawler body.
3. a kind of living water washing robot of transformer station that can accurately rinse as claimed in claim 1, it is characterized in that: described car body travel mechanism comprises four hydraulic legs of wheel undercarriage, left running motor, right running motor, driving wheel, driven pulley and both sides, left running motor and right running motor are bolted on wheel undercarriage support, driving wheel is connected with running motor by driving shaft, driven pulley is connected with wheel undercarriage support by rotating shaft, the wheel undercarriage left side is diesel fuel tanks, the right is hydraulic oil container, and hydraulic leg is hinged on wheel undercarriage.
4. a kind of living water washing robot of transformer station that can accurately rinse as claimed in claim 1, is characterized in that: described mechanical arm is three joint two-stage telescopic arms.
5. a kind of living water washing robot of transformer station that can accurately rinse as claimed in claim 4, it is characterized in that: described three joint two-stage telescopic arms comprise large arm, linking arm and forearm, large arm is hinged on revolving dial, linking arm front and back ends is provided with slide block, slide block is connected with linking arm bolt, linking arm is slidably connected by slide block and large arm, forearm, and the head of linking arm is provided with sprocket wheel, is realized the synchronization telescope of linking arm and forearm by Chain conveyer.
6. a kind of living water washing robot of transformer station that can accurately rinse as claimed in claim 5, it is characterized in that: the large arm of described three joint two-stage telescopic arms, forearm have been bolted luffing chain, the front end that sprocket wheel and stretching chain are walked around in large arm front end is hinged, and end and the forearm end of stretching chain are hinged.
7. a kind of living water washing robot of transformer station that can accurately rinse as claimed in claim 1, it is characterized in that: described cylinder system comprises amplitude oil cylinder and telescopic oil cylinder, wherein, revolving dial and large arm and amplitude oil cylinder are articulated and connected, large arm and linking arm are connected with telescopic oil cylinder, levelling gear comprises leveling cyclinder I and leveling cyclinder II, leveling cyclinder I is arranged between revolving dial and large arm, be connected with revolving dial, large arm, leveling cyclinder II is arranged between workbench and forearm, is connected with workbench, forearm.
8. a kind of living water washing robot of transformer station that can accurately rinse as claimed in claim 1, it is characterized in that: described hydraulic giant flushing machine comprises pitching oil cylinder and oscillating oil cylinder, pitching oil cylinder is bolted on oscillating oil cylinder, oscillating oil cylinder is bolted on the table, pitching oil cylinder is hinged with hydraulic giant frame, hydraulic giant frame is connected with hydraulic giant.
9. a kind of living water washing robot of transformer station that can accurately rinse as claimed in claim 8, it is characterized in that: described hydraulic giant frame is provided with tracking camera by bolt, for Real Time Observation insulator water washing handling situations, immediately below tracking camera, laser range finder being housed, rinsing the distance of operation insulator for measuring hydraulic giant and water in real time.
10. a kind of living water washing robot of transformer station that can accurately rinse as claimed in claim 7, is characterized in that: the proportional control valve group described revolving dial being also connected with hydraulic control system; Proportional control valve group is herein upper cartridge control valve group B.
11. a kind of living water washing robots of transformer station that can accurately rinse as claimed in claim 10, it is characterized in that: described hydraulic system comprises bottom control valve group A, upper cartridge control valve group B and center-rotary joint, have seven proportional reversing valves and four hand-operated direction valves; Described bottom control valve group A is connected with hydraulic pump by distributing valve, controls water flushing device people four support oil cylinders complete stretching motion by four hand-operated direction valves, and two proportional reversing valves control two motors in left and right, carry out robot ambulation motion;
Described upper cartridge control valve group B controls switching push button, distributing valve through center-rotary joint, upper dress, is connected with hydraulic pump successively, rotary motor is controlled by a proportional reversing valve, complete the rotary motion of dress revolving dial, two proportional reversing valves control large arm pitching and forearm stretching motion, and another two proportional reversing valves realize horizontal movement and the elevating movement of hydraulic giant by horizontal hunting oil cylinder and vertical oscillation oil cylinder.
12. a kind of living water washing robots of transformer station that can accurately rinse as claimed in claim 11, it is characterized in that: described center-rotary joint is the Hydraulic Elements connecting revolving dial and chassis oil circuit, after making revolving dial any rotation, hydraulic circuit normally can also join oil.
13. a kind of living water washing robots of transformer station that can accurately rinse as claimed in claim 1, it is characterized in that: described electric control system comprises onboard subsystem and remoting subsystem, onboard subsystem comprises industrial computer, the data that industrial computer is uploaded by 485 buses collection various kinds of sensors, and wireless receiver is handed down to the instruction received from remote manipulator, carry out after wireless receiver receives the data of remote manipulator processing and then being handed down to transceiver in industrial computer, by folding and the uninterrupted of the regulable control proportioning valve to magnitude of voltage, realize moving to mobile chassis left and right wheels, forearm stretches, the control that large arm pitching and revolving dial rotate.
14. a kind of living water washing robots of transformer station that can accurately rinse as claimed in claim 13, it is characterized in that: described various kinds of sensors comprises stay wire sensor, angular transducer, obliquity sensor, temperature sensor, pressure sensor, voltage sensor and current sensor, stay wire sensor is arranged between large arm and forearm, for measuring the collapsing length of forearm, large arm and workbench are all equipped with an angular transducer and an obliquity sensor, gather the angle-data of large arm and the gentle vertical direction of driving water and pass to industrial computer, angular transducer wherein on workbench and obliquity sensor data pass through Wireless transceiver, to realize the insulation completely of tip platform, temperature sensor and pressure sensor are arranged on hydraulic oil container, gather the pressure data of hydraulic oil in oil temperature in hydraulic oil container and hydraulic oil container, the data collected are analog quantity, digital signal transfers is converted to industrial computer through A/D, magnitude of voltage in voltage sensor and current sensor Acquisition Circuit and current value, whether the voltage in testing circuit and electric current are stablized, the analog signal collected is converted to digital signal transfers to industrial computer through A/D modular converter.
15. a kind of living water washing robots of transformer station that can accurately rinse as claimed in claim 13, it is characterized in that: described onboard subsystem comprises vehicle-mounted upper computer control system and vehicle-mounted driver, vehicle-mounted upper computer control system has the order receiving remoting subsystem.
16. a kind of living water washing robots of transformer station that can accurately rinse as claimed in claim 15, is characterized in that: described remoting subsystem have car body movement, the start and stop of engine, the size of throttle, elevating mechanism simple joint controls and combination controls button.
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