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 PDFInfo
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- 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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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
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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CN105834142B (en) * | 2016-04-29 | 2018-01-02 | 河北宇牛电气设备有限公司 | A kind of electric railway insulator cleaning device |
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CN107972038B (en) * | 2017-06-09 | 2020-11-17 | 国网智能科技股份有限公司 | System and method for washing robot with charged water for autonomous substation equipment |
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CN108436884B (en) * | 2018-06-08 | 2020-09-25 | 国网智能科技股份有限公司 | One-key restoration control method and system for live-line maintenance robot |
CN108748154A (en) * | 2018-06-11 | 2018-11-06 | 浙江国自机器人技术有限公司 | A kind of system and method for calibration mechanical arm |
CN109807854B (en) * | 2019-03-22 | 2023-09-05 | 万邦船舶重工(舟山)有限公司 | Special intelligent robot for repairing and manufacturing dock blocks of ship |
CN112221784B (en) * | 2020-08-25 | 2022-05-24 | 南京科工煤炭科学技术研究有限公司 | Automatic spraying equipment and spraying 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. |