CN106984571A - The internal foreign matter cleaning plant of GIS cavitys visualization - Google Patents

The internal foreign matter cleaning plant of GIS cavitys visualization Download PDF

Info

Publication number
CN106984571A
CN106984571A CN201710101212.2A CN201710101212A CN106984571A CN 106984571 A CN106984571 A CN 106984571A CN 201710101212 A CN201710101212 A CN 201710101212A CN 106984571 A CN106984571 A CN 106984571A
Authority
CN
China
Prior art keywords
shell
gis
foreign matter
visualization
cleaning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710101212.2A
Other languages
Chinese (zh)
Inventor
马飞越
王博
丁培
樊益平
吴旭涛
摆存曦
闫振华
周秀
田禄
王海龙
刘威峰
李奇超
徐玉华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Ningxia Electric Power Co Ltd
Original Assignee
State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Ningxia Electric Power Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to CN201610838986 priority Critical
Priority to CN2016108389869 priority
Application filed by State Grid Corp of China SGCC, Electric Power Research Institute of State Grid Ningxia Electric Power Co Ltd filed Critical State Grid Corp of China SGCC
Publication of CN106984571A publication Critical patent/CN106984571A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools, brushes, or analogous members
    • B08B1/001Cleaning by methods involving the use of tools, brushes, or analogous members characterised by the type of cleaning tool
    • B08B1/002Brushes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools, brushes, or analogous members
    • B08B1/04Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B15/00Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
    • B08B15/04Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02BBOARDS, SUBSTATIONS, OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
    • H02B3/00Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear

Abstract

The present invention relates to a kind of internal foreign matter cleaning plant of GIS cavitys visualization.It is characterized in:Including rectangular body case (2), the medial recess of the shell (2) is in arc-shaped, driven pulley is installed in the front end of shell (2) bottom and two driving wheels are installed in the rear end of shell (2) bottom, two driving wheels are connected by the travel driving motor in rotating mechanism and shell (2), air suction opening is provided with the centre of shell (2) bottom, the air suction opening is connected with the dust collection mechanism in shell (2), Clean Brush for cleaning (4) is separately installed with the air suction opening both sides, the Clean Brush for cleaning (4) is connected by the cleaning motor in transmission mechanism and shell (2).By GIS inside cavities of the present invention visualization and the application of internal foreign matter cleaning plant, the efficiency of GIS repair and maintenances can be effectively improved, is eliminated because the potential safety hazard not left thoroughly is inspected in manpower maintenance.

Description

The internal foreign matter cleaning plant of GIS cavitys visualization
Technical field
The present invention relates to a kind of internal foreign matter cleaning plant of GIS cavitys visualization.
Background technology
The understanding of GIS electrical equipments is started from for China in the 1960s, at the beginning of the seventies, introduce first group of gas-insulated and become Power station (GIS).Hereafter come into operation different voltage class equipment in succession, to the eighties of reform and opening-up, introduces and is developed into The substantial amounts of GIS electrical equipments of work(, promote GIS electrical equipments developing rapidly in China.With economic development, China city City's quantity increase, urban area expands, and electric load surges therewith, and high voltage supply, which enters down town, becomes inexorable trend. Power construction is carried out in urban district and necessarily meets with a series of problems, such as land for building preciousness, environmental protection.Therefore built in dense population areas Transformer station gas insulated transformer substation (GIS) therefore certainly will be widelyd popularize to miniaturization.The thing followed is that GIS is set Some row problems such as standby operation and maintenance, it is main based on SF6 gases due to GIS compact conformations, and in cavity, so that Its maintenance with it is difficult in maintenance process.
The maintenance management of usual GIS transformer stations is mainly that daily management is safeguarded with operating.The content master of daily management There is attention observation oil pressure, suppress number of times and connecting lever connecting rod etc., make an inspection tour whether SF6 breaker mechanisms and exposed part have exception Deng.But in-house inspection and foreign matter cleaning, which are relied on, can not manually realize.With development in science and technology, engendered with X-ray digital imaging technology realizes GIS detection, at the same time, various pipe robot, service type dust-collecting robot etc. Emerge in an endless stream.But most equipment are appropriate only for ordinary construction place, to the inspection and the cleaning of foreign matter in GIS cavitys but without Method is realized.
The content of the invention
It is an object of the invention to provide a kind of internal foreign matter cleaning plant of GIS cavitys visualization, it can not only realize GIS's Intracavitary is inspected, moreover it is possible to is completed the cleaning to GIS cavitys, is improved GIS maintaining efficiency, reduce GIS operation costs.
A kind of internal foreign matter cleaning plant of GIS cavitys visualization, it is particular in that:Including rectangular body case, this is outer The medial recess of shell is in arc-shaped, is provided with driven pulley in the front end of the outer casing bottom and is provided with the rear end of the outer casing bottom Two driving wheels, two driving wheels are connected by the travel driving motor in rotating mechanism and shell, at the shell bottom The centre in portion is provided with air suction opening, and the air suction opening is connected with the dust collection mechanism in shell, is separately installed with clearly in the air suction opening both sides Clean hairbrush, the Clean Brush for cleaning is connected by the cleaning motor in transmission mechanism and shell;Also installed on the shell There are three shaft mechanical arms, lighting mechanism and camera are separately installed with the three shaft mechanicals arm top.
Controller is wherein installed in shell, the controller respectively with described travel driving motor control circuit, clear Clean motor control circuit, dust collection mechanism control circuit, three shaft mechanical arms control circuit, lighting mechanism and camera connection.
Wherein controller is also connected with rechargeable battery, so as to power.
Wherein controller is also wirelessly connected so as to communicate with human-computer interaction interface.
The beneficial effects of the invention are as follows:1) visualized by GIS inside cavities of the present invention and internal foreign matter cleaning plant Using, the efficiency of GIS repair and maintenances can be effectively improved, is eliminated and is safeguarded because of manpower and inspect the thoroughly potential safety hazard that leaves, The input of manpower is reduced, GIS device is reduced and hinders for some reason caused downtime, GIS operational efficiency is improved.2) it is of the invention GIS is visualized and the elevation and subsidence mechanical arm and two-dimensional pan-tilt of internal foreign matter cleaning plant matching realize that intracavitary multi-angle monitoring is inspected, The hairbrush of retractility and big suction dust suction module realize a wide range of foreign matter cleaning.The flexibility for inspecting cleaning plant is improved, Expand its working range.
Brief description of the drawings
Accompanying drawing 1 is the structural representation of the present invention;
Accompanying drawing 2 is structural representation of the invention.
Embodiment
As shown in Figure 1, 2, the invention provides a kind of internal foreign matter cleaning plant of GIS cavitys visualization, including cuboid Shell 2, the medial recess of the shell 2 is in arc-shaped, and one or more driven pulleys are provided with the middle of the front end of the bottom of shell 2 And two driving wheels are installed in the rear end both sides of the bottom of shell 2, two driving wheels pass through transmission mechanism such as rotary shaft It is connected with the travel driving motor output shaft in shell 2, air suction opening (mouth), the suction is provided with the centre of the bottom of shell 2 Dirt hole is connected with the dust collection mechanism (device) in shell 2, and Clean Brush for cleaning 4 is separately installed with the air suction opening both sides, the Clean Brush for cleaning 4 It is connected by the cleaning driving motor output shaft in transmission mechanism such as power transmission shaft and shell 2;Also installed on the shell 2 There are three shaft mechanical arms 3, be separately installed with lighting mechanism and camera 5 on the top of three shaft mechanicals arm 3, the three shaft mechanicals arm 3 can To be moved on three-dimensional GIS inside cavity arbitrary regions are shot so as to clear under lighting condition.
Controller, such as single-chip microcomputer or PLC are wherein installed in shell 2, the controller drives with described walking respectively Dynamic circuit for controlling motor, cleaning motor control circuit, dust collection mechanism control circuit, three shaft mechanical arms 3 control circuit, illumination Mechanism (control circuit) and camera (5) connection.Controller, travel driving motor, cleaning motor, dust collection mechanism, three axles Mechanical arm, lighting mechanism, camera are also connected with rechargeable battery, so as to power.Other controller also wirelessly with people The connection of machine interactive interface 1 is so as to communicate.Human-computer interaction interface 1 can use touch-screen or tablet personal computer, pass through WIFI and control Device connection processed, then walked by controller cover of driver 2, the spin-cleaning operation of Clean Brush for cleaning 4, dust suction operation manipulates three axle machines Tool arm 3 is moved to correct position, and opening illumination can be shot by camera 5 and by image post-back to human-computer interaction interface 1.
Embodiment 1:
The internal foreign matter cleaning plant of GIS cavitys visualization of the present invention it is main by drive mechanism, cleaning agency, inspect machinery Arm mechanism, power-supply system, control system, control module and human-computer interaction interface 1 etc. are constituted.
Described drive mechanism is mainly wheeled walking mechanism, hangs on device chassis, it is ensured that device is moved freely, maximum Limit assists operating personnel to complete to inspect task.Described cleaning agency is made up of brush sweeper and dust collection mechanism, brush sweeper The main cleaning for completing foreign matter is gathered, and dust collection mechanism then completes the clean catch to foreign matter.Described inspects mechanical arm mechanism master To realize that the multi-angle of GIS intracavitary inspects task without dead angle for three shaft mechanical arms 3 of a carrying two-dimensional illumination head.It is described Power-supply system include rechargeable battery pack and electric power detection module etc., not whole control module is powered.
Described control system is mainly made up of processor module, video module, motion-control module, power-supply system, institute Video module output end and processor module the input connection stated, described motion-control module, manipulator motion control mould Block is connected with processor output end.Described human-computer interaction interface 1, can be achieved the reality in picture transmission, feedback GIS cavitys Operating mode, and the internal foreign matter cleaning plant present position in GIS cavitys of GIS cavitys visualization is shown, electricity service condition is shown, Control the internal foreign matter cleaning plant self-return of GIS cavitys visualization.
The human-computer interaction interface 1 of the internal foreign matter cleaning plant of GIS cavitys visualization of the present invention is to be mounted in a matching 8 In the tablet PC of inch liquid crystal display screen.By wireless WIFI communication, the man-machine interaction of cleaning plant is realized.GIS cavitys are visual The mobile vehicle for changing internal foreign matter cleaning plant is in-wheel driving mechanism, and its design uses adaptive suspension system, can be adaptive GIS cavity interior conduit cambered surfaces, maximize transmission driving force, to ensure that visualization cleaning plant is effectively moved in GIS cavitys, most Limits compounding practice person complete it is various inspect, cleaning work task.
The main body of the internal foreign matter cleaning plant of GIS cavitys visualization of the present invention is fuselage, and it is also visualization cleaning dress The chassis put, to carry drive mechanism.Mechanical arm, which carries video monitoring module, realizes video monitoring diverse location in GIS cavitys Monitoring, screen monitoring module is equipped with two-dimensional pan-tilt, all-dimensional multi-angle monitoring can be achieved, while be equipped with LED light device, real Now the accurate of accurate monitoring system is inspected.Power-supply system etc. is installed in the internal foreign matter cleaning plant of GIS cavitys visualization Fuselage in, wherein clearing apparatus includes two groups of brush sweepers and one group big suction dust suction module, can be achieved many in GIS cavitys The foreign matters such as orientation dust are cleared up and collecting action.

Claims (4)

1. a kind of internal foreign matter cleaning plant of GIS cavitys visualization, it is characterised in that:Including rectangular body case (2), the shell (2) medial recess be in arc-shaped, driven pulley is installed in the front end of shell (2) bottom and behind shell (2) bottom End is provided with two driving wheels, and two driving wheels are connected by the travel driving motor in rotating mechanism and shell (2), Air suction opening is provided with the centre of shell (2) bottom, the air suction opening is connected with the dust collection mechanism in shell (2), in the air suction opening Both sides are separately installed with Clean Brush for cleaning (4), and the Clean Brush for cleaning (4) passes through the cleaning motor in transmission mechanism and shell (2) Drive connection;Three shaft mechanical arms (3) are also equipped with the shell (2), photograph is separately installed with three shaft mechanicals arm (3) top Bright mechanism and camera (5).
2. the internal foreign matter cleaning plant of GIS cavitys visualization as claimed in claim 1, it is characterised in that:Wherein in shell (2) Controller is inside installed, the controller respectively with described travel driving motor control circuit, cleaning motor control circuit, Dust collection mechanism control circuit, three shaft mechanical arms (3) control circuit, lighting mechanism and camera (5) connection.
3. the internal foreign matter cleaning plant of GIS cavitys visualization as claimed in claim 2, it is characterised in that:Wherein controller is also It is connected with rechargeable battery, so as to power.
4. the internal foreign matter cleaning plant of GIS cavitys visualization as claimed in claim 1, it is characterised in that:Wherein controller is also Wirelessly it is connected to communicate with human-computer interaction interface (1).
CN201710101212.2A 2016-09-21 2017-02-24 The internal foreign matter cleaning plant of GIS cavitys visualization Pending CN106984571A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201610838986 2016-09-21
CN2016108389869 2016-09-21

Publications (1)

Publication Number Publication Date
CN106984571A true CN106984571A (en) 2017-07-28

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710101212.2A Pending CN106984571A (en) 2016-09-21 2017-02-24 The internal foreign matter cleaning plant of GIS cavitys visualization

Country Status (1)

Country Link
CN (1) CN106984571A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108712632A (en) * 2018-04-28 2018-10-26 广东电网有限责任公司 Optical cable inspection tour system and inspection method in standing
CN109668913A (en) * 2018-11-30 2019-04-23 贵州电网有限责任公司 It is opened using digital radial measurement GIS device breaker away from the method for judging transmission system quality of connection

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105415384A (en) * 2015-12-30 2016-03-23 天津市安卓公共设施服务有限公司 Sweeping and patrolling integrated operation robot used for transformer substation
CN206716541U (en) * 2016-09-21 2017-12-08 国家电网公司 The internal foreign matter cleaning plant of GIS cavitys visualization

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105415384A (en) * 2015-12-30 2016-03-23 天津市安卓公共设施服务有限公司 Sweeping and patrolling integrated operation robot used for transformer substation
CN206716541U (en) * 2016-09-21 2017-12-08 国家电网公司 The internal foreign matter cleaning plant of GIS cavitys visualization

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108712632A (en) * 2018-04-28 2018-10-26 广东电网有限责任公司 Optical cable inspection tour system and inspection method in standing
CN109668913A (en) * 2018-11-30 2019-04-23 贵州电网有限责任公司 It is opened using digital radial measurement GIS device breaker away from the method for judging transmission system quality of connection

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Application publication date: 20170728