CN105032805B - A kind of living water washing robot of transformer station that accurately can be rinsed - Google Patents

A kind of living water washing robot of transformer station that accurately can be rinsed Download PDF

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Publication number
CN105032805B
CN105032805B CN201410458695.8A CN201410458695A CN105032805B CN 105032805 B CN105032805 B CN 105032805B CN 201410458695 A CN201410458695 A CN 201410458695A CN 105032805 B CN105032805 B CN 105032805B
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China
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hydraulic
rinsed
water washing
arm
accurately
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CN105032805A (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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Abstract

The invention discloses a kind of living water washing robot of transformer station that accurately can be rinsed, including car body travel mechanism, elevating mechanism, electric control system and hydraulic giant flushing machine, wherein, car body travel mechanism is provided with the first amortisseur;Car body travel mechanism is connected with the revolving dial of elevating mechanism by pivoting support, mechanical arm is also equipped with the revolving dial of elevating mechanism, mechanical arm is provided with the second amortisseur, mechanical arm is connected with the workbench of hydraulic giant flushing machine, electric control system includes onboard subsystem and remoting subsystem, remoting subsystem is engaged with onboard subsystem, wirelessly completes the control of car body travel mechanism, elevating mechanism and hydraulic giant flushing machine to robot;The device replaces being accomplished manually Substation Insulator flushing operation using robot, operator is located in safety zone, has ensured the safety of operator, and the labor intensity of reduction improves flush efficiency and automatization level.

Description

A kind of living water washing robot of transformer station that accurately can be rinsed
Technical field
The present invention relates to a kind of living water washing robot of transformer station that accurately can be rinsed.
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 the reliability that operation can improve power supply, reduces loss of outage, protects Card transformer station and the safety of transmission line of electricity.Insulator at this stage rinses operation and haves the shortcomings that following several respects:
1st, backwashing manner is to carry out operation into scene by the hand-held flushing device of cleaning technique personnel mostly, and artificial flushing is not Only rely upon weather condition, in addition it is also necessary to which cleaning personnel possess compared with high-tech level and skilled operating process, and insulator is carried out The security protection of high standard is needed during living water washing, with the security incident for avoiding short circuit current from causing, causes casualties, this There is potential safety hazard in class operating type;
2nd, operator are when rinsing, it is impossible to which guarantee is always positioned in safety zone, and labor intensity is high and efficiency is low;
3rd, 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 can be washed away completely;
4th, existing water flushing device people rinse when, walking mechanism, mechanical arm and hydraulic giant can produce vibrations and wave, drop Low flushing degree of accuracy, it is impossible to which the dirt of outer surface of insulator is cleaned up.
Therefore, a kind of can reaching of research and development reduces the artificial behaviour of robot replacement that shake, can reach accurate flushing purpose It is very important, meets research.
The content of the invention
The present invention is in order to solve the above problems, it is proposed that a kind of living water washing robot of transformer station that accurately can be rinsed, The system can replace operator, carry out robot living water washing operation in the case where not having a power failure to substation equipment, its The heavy physical labor of manual cleaning work can effectively be mitigated, it is ensured that the personal safety of operator, while reducing robot row Walk, jet douche when the vibrations that produce, the dirt on accurate cleaning insulator prevents equipment pollution flashover accident, ensures the peace of electrical network Row for the national games.
To achieve these goals, the present invention is adopted the following technical scheme that:
A kind of living water washing robot of transformer station that accurately can be rinsed, including car body travel mechanism, elevating mechanism, electrically Control system and hydraulic giant flushing machine, wherein, car body travel mechanism is provided with the first amortisseur;The car body travel mechanism and liter Descending mechanism connects, and mechanical arm is provided with elevating mechanism, and the mechanical arm is provided with the second amortisseur, and mechanical arm is rinsed with hydraulic giant The workbench of mechanism is connected, and electric control system includes onboard subsystem and remoting subsystem, remoting subsystem and vehicle-mounted subsystem System is engaged, and wirelessly completes the control of car body travel mechanism, elevating mechanism and hydraulic giant flushing machine to robot;
The elevating mechanism includes revolving dial and levelling gear, and revolving dial is by pivoting support and car body travel mechanism Connection, is connected with mechanical arm on revolving dial, revolving dial and mechanical arm are connected with cylinder system.
The car body travel mechanism, including crawler body, left running motor, right running motor, driving wheel, driven pulley, hold Four hydraulic legs of roller, crawler belt, tension buffer device and both sides, left running motor and right running motor are connected by bolt It is connected on crawler body support, driving wheel is coupled with running motor by drive shaft, driven pulley, BOGEY WHEEL and tension buffer device Coupled with crawler body support by rotary shaft respectively, crawler belt is enclosed within driving wheel, driven pulley, BOGEY WHEEL and tension buffer device Outside, the chassis left side are diesel fuel tanks, and the right is hydraulic oil container, and hydraulic leg is hinged on crawler body.
The car body travel mechanism include wheel undercarriage, left running motor, right running motor, driving wheel, driven pulley and Four hydraulic legs of both sides, left running motor and right running motor are bolted on wheel undercarriage support, driving wheel Coupled with running motor by drive shaft, driven pulley is coupled with wheel undercarriage support by rotary shaft, the wheel undercarriage left side is bavin Fuel tank, the right is hydraulic oil container, and hydraulic leg is hinged on wheel undercarriage.
The mechanical arm is three section two-stage telescopic arms.
The three sections two-stage telescopic arm includes 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 for connecing arm is provided with sprocket wheel, realizes the synchronization telescope of linking arm and forearm by Chain conveyer.
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 cylinder system includes amplitude oil cylinder and telescopic oil cylinder, wherein, revolving dial and large arm are hinged with amplitude oil cylinder Connection, large arm and linking arm are connected with telescopic oil cylinder, and levelling gear includes leveling cyclinder I and leveling cyclinder II, and leveling cyclinder I is pacified It is mounted between revolving dial and large arm, is connected with revolving dial, large arm, leveling cyclinder II is arranged between workbench and forearm, with Workbench, forearm connection.
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, is hinged with hydraulic giant frame, is connected with hydraulic giant on hydraulic giant frame on pitching oil cylinder.
Tracking camera is provided with by bolt on the hydraulic giant frame, for Real Time Observation insulator water washing operation feelings Condition, is equipped with laser range finder immediately below tracking camera, rinse the distance of operation insulator for measurement hydraulic giant in real time and water.
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 with hydraulic pump by distributing valve, controls water flushing by four 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;
Jing center-rotary joints, upper dress control switching push button, distributing valve and hydraulic pump to upper cartridge control valve group B successively Connection, controls rotary motor by a proportional reversing valve, completes to fill revolving dial rotary motion, two proportional reversing valve controls Large arm pitching and forearm stretching motion, another two proportional reversing valve realize hydraulic giant by horizontal hunting oil cylinder and vertical oscillation oil cylinder Horizontal movement 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 electric control system includes onboard subsystem and remoting subsystem, and onboard subsystem includes industrial computer, industry control Machine gathers the data that various kinds of sensors is uploaded by 485 buses, and the instruction to receiving from remote manipulator is handed down to wirelessly Receiver, wireless receiver are carried out processing after receiving the data of remote manipulator in industrial computer and then are handed down to wireless receipts again 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 various kinds of sensors includes that stay wire sensor, angular transducer, obliquity sensor, temperature sensor, pressure are passed Sensor, voltage sensor and current sensor, stay wire sensor are arranged between large arm and forearm, for measuring the flexible of forearm Length, large arm and workbench are respectively arranged with an angular transducer and an obliquity sensor, and collection large arm and driving water are gentle The angle-data of vertical direction simultaneously passes to industrial computer, and wherein the angular transducer on workbench is passed through with obliquity sensor data ZIGBEE Wireless transceivers, to realize that the completely insulated of tip platform, temperature sensor and pressure transducer are arranged on hydraulic oil container On, gather hydraulic oil container in oil temperature and hydraulic oil container in hydraulic oil pressure data, the data for collecting be analog quantity, Jing Crossing A/D and being converted into digital signal industrial computer is passed to through 485, the voltage in voltage sensor and current sensor Acquisition Circuit Whether value and current value, the voltage and electric current in detection circuit are stable, and the analogue signal for collecting is changed through A/D modular converters Industrial computer is passed to through 485 buses for digital signal.
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.
Beneficial effects of the present invention:
1st, the needs of operation are rinsed according to transformer station water, a kind of a kind of powered water of new transformer station that accurately can be rinsed is designed Robot device is rinsed, main body is made up of basic machine and remote control device, is all led between basic machine and remote control unit Crossing wireless signal carries out 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 has been 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;
The 4th, first amortisseur and the second vibroshock are set, vibrations and wave that reduction flushing robot is produced when rinsing, Rinse degree of accuracy to greatly improve, the dirt on thoroughly cleaning insulator, prevent equipment pollution flashover accident, ensure the safety fortune of electrical network OK.
Description of the drawings
Fig. 1 is the structural representation of the present invention;
Fig. 2 is structure top view when the drawing of the present invention is supported;
Fig. 3 is the structural representation of the working limit position of the present invention;
Fig. 4 is the hydraulic principle figure of the present invention;
Fig. 5 is the electric control structure block diagram of the present invention;
Fig. 6 is the 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, ratio Example control valve group, 8, revolving dial, 9, leveling cyclinder I, 10, luffing chain, 11, large arm, 12, amplitude oil cylinder, 13, flexible chain Bar, 14, sprocket wheel, 15, workbench, 16, pitching oil cylinder, 17, hydraulic giant frame, 18, leveling cyclinder II, 19, tracking camera, 20, swash Optar, 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.
Specific embodiment:
The present invention is described in detail below in conjunction with the accompanying drawings:
As Figure 1-3, a kind of living water washing robot of transformer station that accurately can be rinsed, main body is by basic machine and far Journey remote control unit is constituted.Wherein, basic machine is mainly by car body travel mechanism, three section two-stage telescopic arm elevating mechanisms, hydraulic giant punching Washing machine structure, hydraulic control system and electric control system composition.Car body travel mechanism is provided with the first amortisseur;Car body moving machine Structure is connected with the revolving dial 8 of elevating mechanism by pivoting support, and three section two-stages are also equipped with the revolving dial 8 of elevating mechanism Telescopic arm, three section two-stage telescopic arms are provided with the second amortisseur, and the forearm 30 of three section two-stage telescopic arms passes through leveling cyclinder II 18 It is connected with the workbench 15 of hydraulic giant flushing machine, on the revolving dial 8, is also associated with the proportional control valve of hydraulic control system Group;Electric control system includes onboard subsystem and remoting subsystem, and remoting subsystem is engaged with onboard subsystem and utilizes liquid Pressure control system wirelessly completes the control of car body travel mechanism, elevating mechanism and hydraulic giant flushing machine to robot The first amortisseur and the second amortisseur are respectively equipped with system, mobile chassis and three section two-stage telescopic arms.
A kind of vehicle-mounted diesel engine in living water washing robot of transformer station operation power source that accurately can be rinsed.Using carrying Power source, diesel engine powers can enter operation in intensive battery limits, solve the problems, such as the power configuration at scene.
Car body travel mechanism can adopt crawler-type mobile chassis structure, mainly by crawler body 6, left and right running motor, Four hydraulic leg compositions of driving wheel 4, BOGEY WHEEL 2, crawler belt 5, tension buffer device 3 and both sides.The chassis left side is diesel oil Case 28, the right be hydraulic oil container 25, rear hydraulic leg I 23, rear hydraulic leg II 24, front hydraulic leg I 26, front hydraulic leg II 27 are hinged on crawler body 6.
Car body travel mechanism can also adopt wheeled locomotion mechanism, wheeled locomotion mechanism mainly to be walked by wheel undercarriage, left lateral Four hydraulic leg compositions of motor, right running motor, driving wheel, driven pulley and both sides, left running motor and right lateral are galloped along on horseback Up to being bolted on wheel undercarriage support, driving wheel is coupled with running motor by drive shaft, and driven pulley is by rotation Axle is coupled with wheel undercarriage support, and the wheel undercarriage left side is diesel fuel tanks, and the right is hydraulic oil container, and hydraulic leg is hinged on wheeled bottom On disk.
The elevating mechanism of three section two-stage telescopic arm compositions mainly saves two-stage telescopic arm, levelling gear group by revolving dial 8, three Into.Revolving dial 8 is connected with car body travel mechanism by pivoting support, is driven by rotary motor and is realized revolving dial 8 and its attached Belong to the 360 ° of continuous rotary motions of each part, proportional control valve group 7 is bolted on revolving dial 8;Two-stage telescopic arm master To be made up of large arm 11, linking arm 29, forearm 30, two-stage telescopic arm is installed on revolving dial 8, it is flat that large arm 11 is hinged to revolution On platform 8, there are slide block, slide block and 29 bolt connection of linking arm in 29 front and back end of linking arm, and linking arm 29 is slided with large arm 11, forearm 30 Sprocket wheel 14 is installed in connection, the head of linking arm 29;Amplitude oil cylinder 12 is articulated and connected with large arm 11, revolving dial 8, telescopic oil cylinder with Large arm 11, linking arm 29 are articulated and connected;Levelling gear is mainly made up of leveling cyclinder I 9 and leveling cyclinder II 18, leveling cyclinder I 9 Installed between revolving dial 8 and large arm 11, it is articulated and connected with revolving dial 8, large arm 11, leveling cyclinder II 18 is arranged on workbench Between 15 and forearm 30, it is articulated and connected with workbench 15, forearm 30;Luffing chain 10 by bolt be connected to large arm 11, On forearm 30, the front end of stretching chain 13 is hinged on 11 front end of large arm, bypasses sprocket wheel 14, and end is hinged 30 end of forearm.
Hydraulic giant flushing machine is mainly made up 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, hydraulic giant Frame 17 is hinged on pitching oil cylinder 16, and 21 spiral of hydraulic giant is connected on hydraulic giant frame 17.
Tracking camera 19 is installed on robot water gun rack 17, it is for Real Time Observation insulator water washing handling situations, real When transmission operation field picture, facilitate teleworker implement operation.Tracking camera 19 is bolted to hydraulic giant frame On 17.Laser range finder 20 is housed immediately below tracking camera 19, measurement hydraulic giant and water rinse the distance of operation insulator in real time, Within keeping it in 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 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, adjust two-stage telescopic arm Orientation, by amplitude oil cylinder 12 and the angle of pitch for adjusting large arm 11, linking arm 29 is realized stretching out and contraction by telescopic oil cylinder, front Arm 30 is realized synchronously stretching out and contraction with linking arm 29 under the drive of stretching chain 13, in amplitude oil cylinder 12, telescopic oil cylinder and Under the collective effect of stretching chain 13, the pose of large arm 11, linking arm 29 and forearm 30 is adjusted;Leveling cyclinder I 9 and leveling oil Cylinder II 18 coordinates the pose of adjustment workbench 15, keeps 15 level of workbench, 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 the image gathered by tracking camera 19 determines the position of hydraulic giant 21 Appearance, the injection high-purity water of hydraulic giant 21 are rinsed operation.
As shown in figure 4, a kind of living water washing robot of transformer station hydraulic system that accurately can be rinsed is controlled using bottom Valve group A, upper cartridge control valve group B combination control and center-rotary joint combination control, have seven road proportional reversing valves and four road handss Dynamic reversal valve.A kind of living water washing robot of transformer station that accurately can be rinsed adopts diesel engine for power, by shaft coupling with Duplex gear pump is connected, it is considered to which transformer station's livewire work special environment requires that hydraulic system adopts wear-resistant insulation hydraulic oil.Liquid Force feed enters water flushing device people's hydraulic control oil circuit from fuel tank, Jing oil absorption filters, then Jing return oil filters flow back to fuel tank.Its Middle check valve is control fluid backflow, and relief valve its overload protection function, pressure gauge are connected with oil circuit by pressure meter switch, and Oil circuit hydraulic fluid pressure is shown in real time.Center-rotary joint is the Hydraulic Elements for coupling revolving dial and chassis oil circuit, and it ensures After revolving dial any rotation, hydraulic circuit can also normally with oil.
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 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 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, a kind of living water washing robot of transformer station electric control system that accurately can be rinsed include it is vehicle-mounted Subsystem and remoting subsystem.Onboard subsystem includes vehicle-mounted upper computer control system and vehicle-mounted driver, vehicle-mounted host computer control System processed have receive remoting subsystem order, and to order parsed and realized motion algorithm etc. function.Vehicle-mounted drive Dynamic 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 The movement of car body, the start and stop of electromotor, the size of throttle, the control of elevating mechanism simple joint and collation control function.Vehicle-mounted subsystem System and handheld terminal subsystem wirelessly communicate.
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 after data in industrial computer 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 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 are 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 by ZIGBEE without Line is transmitted, 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 for collecting are analog quantity, are converted into digital signal process through A/D 485 pass to industrial computer.Voltage x current value in voltage and current sensor Acquisition Circuit, detects that the voltage x current in circuit is No stable, the analogue signal for collecting is converted to digital signal through A/D modular converters and passes to industrial computer through 485 buses.
Remote manipulator realizes remotely control to mobile chassis, lifting arm and hydraulic giant, including control revolver before and after, Before and after right wheel, large arm or so, large arm pitching, forearm be flexible, platform or so;Locking button includes that instrument, selection, the XYZ worlds sit Mark system, the control of throttle size;Self- recoverage button includes reset, electromotor start and stop, teaching, reproduction, the control for starting;Display lamp Including power supply, radio communication, alarm lamp.
As shown in fig. 6, remote manipulator panel schematic diagram, including 7 simulation rocking bars, before and after control revolver, before and after right wheel, Large arm or so, large arm pitching, forearm are flexible, platform or so;Locking button includes instrument, selection, XYZ world coordinate systems, throttle The control of size;Self- recoverage button includes reset, electromotor start and stop, teaching, reproduction, the control for starting;Display lamp include 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, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not The various modifications made by needing to pay creative work or deformation are still within protection scope of the present invention.

Claims (13)

1. a kind of living water washing robot of transformer station that accurately can be rinsed, is characterized in that:Including car body travel mechanism, elevator Structure, electric control system and hydraulic giant flushing machine, wherein, car body travel mechanism is provided with the first amortisseur;The car body movement Mechanism is connected with elevating mechanism, is provided with mechanical arm on elevating mechanism, and the mechanical arm is provided with the second amortisseur, mechanical arm with The workbench of hydraulic giant flushing machine is connected, and electric control system includes onboard subsystem and remoting subsystem, remoting subsystem with Onboard subsystem is engaged, and wirelessly completes the car body travel mechanism to robot, elevating mechanism and hydraulic giant washer The control of structure;
The elevating mechanism includes revolving dial and levelling gear, and revolving dial is connected with car body travel mechanism by pivoting support Connect, on revolving dial, be connected with mechanical arm, revolving dial and mechanical arm are connected with cylinder system;
The mechanical arm is three section two-stage telescopic arms, and described three save two-stage telescopic arm includes large arm, linking arm and forearm, large arm hinge It is connected on revolving dial, linking arm front and back ends are provided with slide block, slide block and linking arm bolt connection, linking arm passes through slide block It is slidably connected with large arm, forearm, the head of linking arm is provided with sprocket wheel, synchronously stretching for linking arm and forearm is realized by Chain conveyer Contracting;
The 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 is bolted on the table, is hinged with hydraulic giant frame, is connected with hydraulic giant on hydraulic giant frame on pitching oil cylinder.
2. a kind of living water washing robot of transformer station that accurately can be rinsed as claimed in claim 1, is characterized in that:The car Body travel mechanism, including crawler body, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt, tensioning Buffer unit and four hydraulic legs of both sides, left running motor and right running motor are bolted in crawler body On frame, driving wheel is coupled with running motor by drive shaft, and driven pulley, BOGEY WHEEL and tension buffer device pass through rotary shaft respectively Couple with crawler body support, crawler belt is enclosed within the outside of driving wheel, driven pulley, BOGEY WHEEL and tension buffer device, the chassis left side For diesel fuel tanks, the right is hydraulic oil container, and hydraulic leg is hinged on crawler body.
3. a kind of living water washing robot of transformer station that accurately can be rinsed as claimed in claim 1, is characterized in that:The car Body travel mechanism includes four hydraulic pressure of wheel undercarriage, left running motor, right running motor, driving wheel, driven pulley and both sides Supporting leg, left running motor and right running motor are bolted on wheel undercarriage support, and driving wheel passes through drive shaft and row Motor connection is walked, driven pulley is coupled with wheel undercarriage support by rotary shaft, and the wheel undercarriage left side is diesel fuel tanks, and the right is hydraulic pressure Fuel tank, hydraulic leg are hinged on wheel undercarriage.
4. a kind of living water washing robot of transformer station that accurately can be rinsed as claimed in claim 1, is characterized in that:Described three Luffing chain is bolted on the section large arm of two-stage telescopic arm, forearm, large arm front end bypasses sprocket wheel with stretching chain Front end is hinged, and end and the forearm end of stretching chain are hinged.
5. a kind of living water washing robot of transformer station that accurately can be rinsed as claimed in claim 1, is characterized in that:The oil Cylinder system includes amplitude oil cylinder and telescopic oil cylinder, wherein, revolving dial and large arm are articulated and connected with amplitude oil cylinder, large arm and connection Arm is connected with telescopic oil cylinder, and levelling gear includes leveling cyclinder I and leveling cyclinder II, leveling cyclinder I be arranged on revolving dial and Between large arm, it is connected with revolving dial, large arm, leveling cyclinder II is arranged between workbench and forearm, connects with workbench, forearm Connect.
6. a kind of living water washing robot of transformer station that accurately can be rinsed as claimed in claim 1, is characterized in that:The water Tracking camera is provided with by bolt on gun rack, for Real Time Observation insulator water washing handling situations, tracking camera is just Lower section is equipped with laser range finder, rinses the distance of operation insulator for measurement hydraulic giant in real time and water.
7. a kind of living water washing robot of transformer station that accurately can be rinsed as claimed in claim 5, is characterized in that:Described time Turn on platform, to be also associated with the proportional control valve group of hydraulic control system;Proportional control valve group herein is upper cartridge control valve group B.
8. a kind of living water washing robot of transformer station that accurately can be rinsed as claimed in claim 7, is characterized in that:The liquid Pressure control system includes 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;Bottom control valve group A is connected with hydraulic pump by distributing valve, controls water by four hand-operated direction valves Rinse four support oil cylinders of robot to complete stretching motion, two proportional reversing valve control left and right, two motors carry out machine People's walking movement;
Upper cartridge control valve group B Jing center-rotary joints, upper dress control switching push button, distributing valve and hydraulic pump connection successively, Rotary motor is controlled by a proportional reversing valve, completes to fill revolving dial rotary motion, two proportional reversing valves control large arm Pitching and forearm stretching motion, another two proportional reversing valve realize the water of hydraulic giant by horizontal hunting oil cylinder and vertical oscillation oil cylinder Flat motion and elevating movement.
9. a kind of living water washing robot of transformer station that accurately can be rinsed as claimed in claim 8, is characterized in that:In described Centre swivel coupling is the Hydraulic Elements for connecting revolving dial and chassis oil circuit, for making after revolving dial any rotation, liquid Force feed road can also normally with oil.
10. a kind of living water washing robot of transformer station that accurately can be rinsed as claimed in claim 1, is characterized in that:It is described Electric control system includes onboard subsystem and remoting subsystem, and onboard subsystem includes industrial computer, and industrial computer passes through 485 buses The data that collection various kinds of sensors is uploaded, and the instruction to receiving from remote manipulator is handed down to wireless receiver, wirelessly connects Receipts machine is carried out processing after receiving the data of remote manipulator in industrial computer and then is handed down to transceiver again, by electricity The folding of the regulation control proportioning valve of pressure value and uninterrupted, realization is stretched to the motion of mobile chassis left and right wheels, forearm, large arm is bowed Face upward and revolving dial rotation control.
A kind of 11. living water washing robots of transformer station that accurately can be rinsed as claimed in claim 10, is characterized in that:It is described Various kinds of sensors includes stay wire sensor, angular transducer, obliquity sensor, temperature sensor, pressure transducer, voltage sensor Device and current sensor, stay wire sensor are arranged between large arm and forearm, for measuring the collapsing length of forearm, large arm and work An angular transducer and an obliquity sensor are respectively arranged with as platform, large arm and workbench angle both horizontally and vertically is gathered Data simultaneously pass to industrial computer, and wherein the angular transducer on workbench passes through Wireless transceiver with obliquity sensor data, with reality Now tip platform is completely insulated, and temperature sensor and pressure transducer are arranged on hydraulic oil container, in collection hydraulic oil container The pressure data of hydraulic oil in oil temperature and hydraulic oil container, the data for collecting are analog quantity, are converted into digital signal through A/D Industrial computer is passed to, the magnitude of voltage and current value in voltage sensor and current sensor Acquisition Circuit detects the electricity in circuit Whether pressure and electric current are stable, and the analogue signal for collecting is converted to digital signal through A/D modular converters and passes to industrial computer.
A kind of 12. living water washing robots of transformer station that accurately can be rinsed as claimed in claim 10, is characterized in that:It is described Onboard subsystem includes vehicle-mounted upper computer control system and vehicle-mounted driver, and vehicle-mounted upper computer control system has reception remote control The order of system.
A kind of 13. living water washing robots of transformer station that accurately can be rinsed as claimed in claim 9, is characterized in that:It is described Remoting subsystem has the movement of car body, the start and stop of electromotor, the size of throttle, the control of elevating mechanism simple joint and combines control Button.
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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)

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