CN107962017B - 一种变电站带电水冲洗机器人双枪协同控制方法 - Google Patents
一种变电站带电水冲洗机器人双枪协同控制方法 Download PDFInfo
- Publication number
- CN107962017B CN107962017B CN201710954710.1A CN201710954710A CN107962017B CN 107962017 B CN107962017 B CN 107962017B CN 201710954710 A CN201710954710 A CN 201710954710A CN 107962017 B CN107962017 B CN 107962017B
- Authority
- CN
- China
- Prior art keywords
- water washing
- robot
- washing robot
- transformer substation
- live
- 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.)
- Active
Links
- 238000005406 washing Methods 0.000 title claims abstract description 255
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 251
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000011010 flushing procedure Methods 0.000 claims abstract description 107
- 239000012212 insulator Substances 0.000 claims abstract description 85
- 230000008569 process Effects 0.000 claims abstract description 24
- 238000009434 installation Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 8
- 238000009413 insulation Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 description 31
- 230000033001 locomotion Effects 0.000 description 13
- 239000000725 suspension Substances 0.000 description 8
- 238000004140 cleaning Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 238000004080 punching Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 239000010865 sewage Substances 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 1
- 238000002679 ablation Methods 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 239000003792 electrolyte Substances 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000003631 expected effect Effects 0.000 description 1
- 238000009422 external insulation Methods 0.000 description 1
- 125000001967 indiganyl group Chemical group [H][In]([H])[*] 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000011780 sodium chloride Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710954710.1A CN107962017B (zh) | 2017-10-13 | 2017-10-13 | 一种变电站带电水冲洗机器人双枪协同控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710954710.1A CN107962017B (zh) | 2017-10-13 | 2017-10-13 | 一种变电站带电水冲洗机器人双枪协同控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107962017A CN107962017A (zh) | 2018-04-27 |
CN107962017B true CN107962017B (zh) | 2020-06-09 |
Family
ID=61996694
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710954710.1A Active CN107962017B (zh) | 2017-10-13 | 2017-10-13 | 一种变电站带电水冲洗机器人双枪协同控制方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN107962017B (zh) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109985846B (zh) * | 2019-01-11 | 2022-07-08 | 贵州电网有限责任公司 | 一种变电站带电水冲洗机器人的激光雷达标定方法 |
CN110560413A (zh) * | 2019-10-24 | 2019-12-13 | 山西晋缘电力化学清洗中心有限公司 | 一种35kV设备外绝缘带电水冲洗方法及其使用的冲洗系统 |
CN112222056B (zh) * | 2020-08-17 | 2022-02-22 | 云南电网有限责任公司曲靖供电局 | 带电水冲洗作业方法 |
CN113134484A (zh) * | 2021-03-25 | 2021-07-20 | 中国科学技术大学 | 一种基于双机协作的高压带电水冲洗方法及系统 |
CN113250279B (zh) * | 2021-06-16 | 2022-06-10 | 中国水利水电科学研究院 | 一种可自动调节高度的淋浴系统及其调节方法 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05184032A (ja) * | 1991-12-26 | 1993-07-23 | Tokyo Electric Power Co Inc:The | 線条体ブラッシング装置と同装置を用いた高圧引下線工事用ロボット |
CN204170997U (zh) * | 2014-09-10 | 2015-02-25 | 山东鲁能智能技术有限公司 | 变电站带电水冲洗机器人系统 |
CN105014673B (zh) * | 2014-09-10 | 2017-04-26 | 国家电网公司 | 变电站带电水冲洗辅冲机器人控制系统 |
CN205540209U (zh) * | 2016-04-28 | 2016-08-31 | 孙文兵 | 一种变电站带电水冲洗机器人控制系统 |
CN107971266B (zh) * | 2017-06-09 | 2020-05-08 | 国网山东省电力公司电力科学研究院 | 一种基于双机协同控制的变电站设备带电水冲洗机器人系统及方法 |
-
2017
- 2017-10-13 CN CN201710954710.1A patent/CN107962017B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN107962017A (zh) | 2018-04-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107962017B (zh) | 一种变电站带电水冲洗机器人双枪协同控制方法 | |
CN107972038B (zh) | 一种自主变电站设备带电水冲洗机器人系统及方法 | |
CN107971266B (zh) | 一种基于双机协同控制的变电站设备带电水冲洗机器人系统及方法 | |
CN105014674B (zh) | 换流站带电水冲洗机器人系统及方法 | |
CN107584501B (zh) | 一种变电站设备带电清洗机器人及其控制方法 | |
CN104991559B (zh) | 一种自动巡航检测温室综合信息的方法 | |
CN104998848B (zh) | 轨道式变电站带电水冲洗机器人 | |
CN107611849A (zh) | 一种自走式输电线缆巡检机器人 | |
CN105013733B (zh) | 变电站带电水冲洗辅冲机器人及方法 | |
CN204248894U (zh) | 变电站带电水冲洗辅冲机器人控制系统 | |
CN103158154A (zh) | 绝缘子串智能检测机器人系统及其控制方法 | |
CN204170998U (zh) | 一种可精确冲洗的变电站带电水冲洗机器人 | |
CN105014651B (zh) | 变电站带电水冲洗机器人及方法 | |
CN107962589B (zh) | 一种基于多传感器融合的变电站设备带电水冲洗机器人绝缘防护系统 | |
CN204912140U (zh) | 一种变电站带电水冲洗机器人用安全防护系统 | |
CN105032805A (zh) | 一种可精确冲洗的变电站带电水冲洗机器人 | |
CN108714897A (zh) | 变电站带电检修作业机器人绝缘臂位姿控制系统及方法 | |
CN109607301A (zh) | 智能电网巡检设备搭载平台 | |
CN104999449A (zh) | 轮式变电站带电水冲洗机器人 | |
CN104777768A (zh) | 变电站带电水冲洗机器人用应急控制系统及方法 | |
CN204278028U (zh) | 换流站带电水冲洗机器人系统 | |
CN204194341U (zh) | 基于超声测距的变电站水冲洗机器人 | |
CN209455827U (zh) | 智能电网巡检设备搭载平台 | |
CN204194340U (zh) | 轨道式变电站带电水冲洗机器人 | |
CN104858167A (zh) | 一种变电站带电水冲洗机器人用安全防护系统及方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB02 | Change of applicant information |
Address after: Ji'nan City, Shandong Province Wang Yue Road 250003 No. 2000 Applicant after: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant after: Shandong Construction University Applicant after: National Network Intelligent Technology Co., Ltd. Applicant after: State Grid Corporation of China Address before: Ji'nan City, Shandong Province Wang Yue Road 250003 No. 2000 Applicant before: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant before: Shandong Construction University Applicant before: Shandong Luneng Intelligent Technology Co., Ltd. Applicant before: State Grid Corporation of China |
|
CB02 | Change of applicant information | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20201030 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. Patentee after: Shandong University of Architecture Address before: Ji'nan City, Shandong Province Wang Yue Road 250003 No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: Shandong University of Architecture Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |
|
TR01 | Transfer of patent right |