CN108631199B - Intelligent maintenance robot for crawler-type transformer substation and intelligent maintenance method thereof - Google Patents
Intelligent maintenance robot for crawler-type transformer substation and intelligent maintenance method thereof Download PDFInfo
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- CN108631199B CN108631199B CN201810426400.7A CN201810426400A CN108631199B CN 108631199 B CN108631199 B CN 108631199B CN 201810426400 A CN201810426400 A CN 201810426400A CN 108631199 B CN108631199 B CN 108631199B
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- 238000012423 maintenance Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000009466 transformation Effects 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 229910052573 porcelain Inorganic materials 0.000 claims description 29
- 238000004140 cleaning Methods 0.000 claims description 24
- 239000012212 insulator Substances 0.000 claims description 23
- 238000005507 spraying Methods 0.000 claims description 17
- 239000003973 paint Substances 0.000 claims description 15
- 238000001035 drying Methods 0.000 claims description 10
- 238000011835 investigation Methods 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 5
- 230000003373 anti-fouling effect Effects 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 abstract 1
- 238000005498 polishing Methods 0.000 description 7
- 230000003139 buffering effect Effects 0.000 description 6
- 230000006978 adaptation Effects 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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Abstract
The invention aims to provide a crawler-type transformer substation intelligent maintenance robot and an intelligent maintenance method thereof, the robot comprises a robot body and a robot chassis, the robot body is fixed at the upper surface of the robot chassis, transmission tracks are symmetrically arranged at two sides of the robot chassis, two telescopic robot arms are symmetrically arranged at two sides of the robot body, the robot arms are connected with the side surface of the robot body through a rotating shaft, a detachable power transformation operation device is arranged on each robot arm, the maintenance robot can carry out unmanned maintenance operation on a transformer substation, the intelligent maintenance robot can carry out live maintenance under the condition that equipment is not powered off, and the crawler-type robot transmission mode is adopted, so that the robot can adapt to the terrain of a complex transformer substation, the robot can run more stably, the loss of the robot is reduced, the unmanned maintenance operation is realized, and the safety accidents of human bodies and equipment are avoided, and has high efficiency, environmental protection and energy saving.
Description
Technical Field
The invention belongs to the field of substation equipment, and mainly relates to a crawler-type substation intelligent maintenance robot and an intelligent maintenance method thereof.
Background
Along with the rapid progress and development of China's society, especially in electric power, the transformer substation needs to be overhauled, but according to the past, all equipment in transformer substation places are charged bodies, and the adjacent charged bodies are very close to each other, so that the short circuit phenomenon is easy to occur, equipment tripping and personal casualty accidents are caused, great difficulty is brought to equipment overhauling, operation and maintenance, the deep part is difficult to operate manually, the difficulty of transformer substation overhauling is increased to a great extent, and the transformer substation overhauling cost is increased.
Therefore, the crawler-type transformer substation intelligent maintenance robot and the intelligent maintenance method thereof are provided, unmanned maintenance operation is carried out on a transformer substation through the maintenance robot, the intelligent maintenance robot can be enabled to be maintained under the condition that equipment is not powered off, live maintenance is carried out, personal and equipment safety accidents are avoided, the operation is efficient, environment-friendly and energy-saving, meanwhile, a buffer device is added on a robot arm, the robot can be effectively prevented from being damaged by collision during operation, maintenance and cleaning of a hollow interface can be effectively improved according to the buffer characteristic, the operation quality and the operation efficiency are improved, the maintenance cost of the transformer substation is reduced, and the problem that technical personnel in the field need to solve urgently is solved.
Disclosure of Invention
The invention aims to provide a crawler-type transformer substation intelligent maintenance robot and an intelligent maintenance method thereof, wherein the transformer substation is subjected to unmanned maintenance operation through the maintenance robot, so that the intelligent maintenance robot can be maintained in an electrified way under the condition that equipment is not powered off, personal and equipment safety accidents are avoided, the robot is efficient, environment-friendly and energy-saving, meanwhile, a buffer device is added on a robot arm, the robot can be effectively prevented from being collided and damaged during operation, the maintenance and cleaning of a hollow interface can be effectively improved according to the buffer characteristic, the operation quality and efficiency are improved, and the maintenance cost of the transformer substation is reduced.
In order to solve the technical problems in the background technology, the invention adopts the following technical scheme:
the utility model provides a track type transformer substation intelligence overhauls robot, includes robot and robot chassis, the robot fix the upper surface department on robot chassis, robot chassis bilateral symmetry is equipped with drive track, robot bilateral symmetry be equipped with two telescopic robot arm, robot arm passes through the rotation axis and is connected with the robot side, is equipped with detachable transformer operation device on the robot arm.
Preferably, the power transformation operation device can be one or more of an automatic rotating cleaning ball, a grinder, a cleaning water gun, a high-pressure airless spraying gun and a dryer, and a connecting rod of a robot arm can be provided with any one of a connecting sleeve or a resilience type mechanical gripper.
Preferably, the robot arm is formed by sequentially connecting a rotary rod, an adjusting rod and a connecting rod, a connecting sleeve is arranged on the connecting rod, a plurality of groups of jacking screw rods are uniformly arranged on jacking holes in the side wall of the connecting sleeve, four groups of height adjusting rods are arranged between the robot body and the robot chassis, and the height adjusting rods are respectively arranged at four corners of the lower surface of the robot body.
Preferably, rotary rod and regulation pole junction be equipped with the buffering annular, be equipped with a plurality of buffer spring in the buffering annular, buffer spring one end is fixed on adjusting the buffer block on the pole lateral wall, the buffer spring other end is fixed on buffering annular inside wall, set up buffer spring through the junction at rotary rod and regulation pole, can enough cushion when the robot arm collides, can closely laminate the surface of the different degree of depth again to adapt to hollow interface, can improve the maintenance and the cleaning of hollow interface, improve operation quality and efficiency.
Preferably, the buffer spring can be any one of two groups, three groups or four groups.
Preferably, four groups of height adjusting rods between the robot body and the robot chassis are respectively connected with four groups of mutually independent driving motors, and are driven by a plurality of groups of mutually independent driving motors, so that the height of the robot body can be adjusted, the horizontal angle of the robot body can be adjusted, the robot body can be adapted to cleaning and operation under different conditions, and the adaptation degree during operation can be improved.
Preferably, the robot arm uses the insulating rod structure, can be effectual robot arm 4 carry out insulation treatment, better protect the robot body, prevent the influence of high-voltage electric field to the robot circuit, increase of service life reduces the cost of change and maintenance.
An intelligent maintenance method of a crawler-type substation intelligent maintenance robot comprises the following steps:
when the robot is maintained and cleaned, firstly, the robot program is adjusted after the robot is opened, the robot travels to a specified position to carry out investigation, then the double robot arms of the robot automatically extend to the first piece on the upper part of an equipment porcelain bottle to be cleaned from top to bottom, then a cleaning water gun is used for cleaning from top to bottom, then a drying gun is replaced for drying, and finally, the operation is finished after antifouling flashover paint spraying is carried out through an airless sprayer;
when the robot is used for anticorrosion operation, firstly, the robot program is adjusted after the robot is opened, the robot is walked to a specified position for investigation, then the robot arm automatically stretches to the joint of the lower part of an equipment porcelain bottle and the equipment and is polished by an angle grinder, after St2 grade is reached, the high-pressure airless sprayer is automatically replaced to carry out two-way paint spraying, and the operation is finished after self-inspection.
Preferably, the time gap of the high-pressure airless sprayer for spraying the second paint is controlled to be 10-12 min.
Preferably, when the porcelain insulator polishing is carried out by the robot arm, the porcelain insulator polishing is carried out by adopting a uniform-speed rotary type porcelain insulator polishing, and the porcelain insulator polishing rotation speed is 17-21 rad/min.
The invention has the beneficial effects that:
1) the intelligent maintenance robot can be used for carrying out unmanned maintenance operation on a transformer substation, can be maintained in an electrified mode under the condition that equipment is not powered off, can adapt to the complex terrain of the transformer substation by adopting a crawler-type robot transmission mode, is more stable in operation, reduces the loss of the robot, realizes unmanned maintenance operation, avoids the occurrence of personal and equipment safety accidents, and is efficient, environment-friendly and energy-saving.
2) Simultaneously add buffer on the robot arm, can effectually prevent that the robot from appearing the collision damage when the operation to according to the maintenance and the cleaning of buffer characteristic can effectual improvement hole interface, improve operation quality and efficiency, reduce the transformer substation and overhaul the cost.
3) The maintenance cleaning and the anti-corrosion spraying operation of the robot can be realized simultaneously only by changing the operation device through adjusting the robot arm which can disassemble and change the operation device, the application range of the power station robot can be improved to the maximum extent, the use efficiency is effectively improved,
drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a schematic structural diagram of an intelligent maintenance robot for a crawler-type substation and an intelligent maintenance method thereof according to the present invention;
fig. 2 is a partial schematic view of the intelligent maintenance robot for the crawler-type substation and the intelligent maintenance method thereof.
Detailed Description
The present invention will be described in further detail below in order to enable those skilled in the art to better understand the technical solution of the present invention.
Please refer to fig. 1 and 2, a track-mounted transformer substation intelligent maintenance robot includes a robot body 3 and a robot chassis 2, the robot body 3 is fixed on the upper surface of the robot chassis 2, transmission tracks 1 are symmetrically arranged on two sides of the robot chassis 2, two telescopic robot arms 4 are symmetrically arranged on two sides of the robot body 3, the robot arms 4 are connected with the side surfaces of the robot body 3 through rotating shafts 5, and a detachable power transformation operation device is arranged on the robot arms 4.
Furthermore, the power transformation operation device can be one or more of an automatic rotating cleaning ball, a grinding machine, a cleaning water gun, a high-pressure airless spraying gun and a dryer, and a connecting rod 8 of the robot arm 4 can be provided with any one of a connecting sleeve 9 or a resilience type mechanical gripper.
Further, robot arm 4 connect gradually by rotary rod 6, adjust pole 7 and connecting rod 8 and form, be equipped with adapter sleeve 9 on the connecting rod 8, evenly be equipped with multiunit top on the tight hole 10 in top of adapter sleeve 9 lateral wall and advance screw rod 11, through four groups altitude mixture control pole 12 between robot body 3 and robot chassis 2, altitude mixture control pole 12 sets up the four corners department at robot body 3 lower surface respectively.
Further, the rotary rod 6 with adjust the pole 7 junction and be equipped with buffering annular groove 13, be equipped with a plurality of buffer spring 15 in the buffering annular groove 13, buffer spring 15 one end is fixed on adjusting the buffer block 14 on the pole 7 lateral wall, the buffer spring 15 other end is fixed on buffering annular groove 13 inside wall, through setting up buffer spring 15 at the rotary rod 6 with the junction of adjusting pole 7, can enough cushion when robot arm 4 collides, can closely laminate the surface of the different degree of depth again, in order to adapt to hollow interface, can improve the maintenance and the cleaning of hollow interface, improve operation quality and efficiency.
Further, the buffer spring 15 may be any one of two, three or four groups.
Further, four groups of altitude mixture control pole 12 between robot body 3 and robot chassis 2 be connected with four groups of mutually independent driving motor respectively, drive through mutual multiunit mutually independent driving motor, can enough realize highly adjusting robot body 3, can adjust robot body 3's horizontal angle again to clearance and operation under the adaptation different situation, adaptation degree when with the improvement operation.
Further, robot arm 4 use be the insulator spindle structure, can effectual robot arm 4 carry out insulation treatment, better protect robot body 3, prevent the influence of high-voltage electric field to robot circuit, increase of service life reduces the cost of change and maintenance.
Example 1:
an intelligent maintenance method of a crawler-type substation intelligent maintenance robot comprises the following steps:
when the robot is maintained and cleaned, firstly, the robot program is adjusted after the robot is opened, the robot travels to a specified position for investigation, then the double robot arms 4 of the robot automatically extend to the first piece on the upper part of the porcelain insulator of the equipment to be cleaned from top to bottom, then the cleaning water gun is used for cleaning from top to bottom, then the drying gun is replaced for drying, and finally the operation is finished after the anti-pollution flashover paint is sprayed by the airless sprayer;
when the robot carries out anticorrosion operation, firstly, the robot program is adjusted after the robot is opened, the robot is walked to a specified position for investigation, then the robot arm 4 automatically stretches to the joint of the lower part of the porcelain insulator of the equipment and is polished by an angle grinder, after St2 grade is reached, the high-pressure airless sprayer is automatically replaced to carry out two-way paint spraying, and the operation is finished after self-inspection.
Further, the time gap of the high-pressure airless sprayer during the second paint spraying is controlled to be 10 min.
Further, when the porcelain insulator is polished by the robot arm 4, the porcelain insulator is polished by adopting a uniform rotation type porcelain insulator, and the porcelain insulator polishing rotation speed is 17 rad/min.
Example 2:
an intelligent maintenance method of a crawler-type substation intelligent maintenance robot comprises the following steps:
when the robot is maintained and cleaned, firstly, the robot program is adjusted after the robot is opened, the robot travels to a specified position for investigation, then the double robot arms 4 of the robot automatically extend to the first piece on the upper part of an equipment porcelain bottle to be cleaned from top to bottom, then a cleaning water gun is used for cleaning from top to bottom, then a drying gun is replaced for drying, and finally, the operation is completed after an anti-pollution flashover paint spraying level is carried out through an airless sprayer;
when the robot carries out anticorrosion operation, firstly, the robot program is adjusted after the robot is opened, the robot is walked to a specified position for investigation, then the robot arm 4 automatically stretches to the joint of the lower part of the porcelain insulator of the equipment and is polished by an angle grinder, after St2 grade is reached, the high-pressure airless sprayer is automatically replaced to carry out two-way paint spraying, and the operation is finished after self-inspection.
Further, the time gap of the high-pressure airless sprayer during the second paint spraying is controlled to be 11 min.
Further, when the porcelain insulator is polished by the robot arm 4, the porcelain insulator is polished by adopting a uniform rotation type porcelain insulator, and the porcelain insulator polishing rotation speed is 19 rad/min.
Example 3:
an intelligent maintenance method of a crawler-type substation intelligent maintenance robot comprises the following steps:
when the robot is maintained and cleaned, firstly, the robot program is adjusted after the robot is opened, the robot travels to a specified position for investigation, then the double robot arms 4 of the robot automatically extend to the first piece on the upper part of the porcelain insulator of the equipment to be cleaned from top to bottom, then the cleaning water gun is used for cleaning from top to bottom, then the drying gun is replaced for drying, and finally the operation is finished after the anti-pollution flashover paint is sprayed by the airless sprayer;
when the robot is used for anticorrosion operation, firstly, the robot program is adjusted after the robot is opened, the robot is walked to a specified position for exploration, then the robot arm 4 automatically extends to the joint of the lower part of the porcelain insulator of the equipment and is polished by an angle grinder, after St2 grade is reached, the high-pressure airless sprayer is automatically replaced to carry out two-way paint spraying, and the operation is finished after self-inspection.
Further, the time gap of the high-pressure airless sprayer during the second paint spraying is controlled to be 12 min.
Further, when the robot arm 4 polishes the porcelain insulator, the porcelain insulator is polished by adopting a uniform-speed rotary type porcelain insulator, and the rotational speed of the porcelain insulator polishing is 21 rad/min.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the foregoing description is illustrative in nature and is not to be construed as limiting the scope of the invention as claimed.
Claims (8)
1. The utility model provides a track-mounted substation intelligence overhauls robot, includes robot body and robot chassis, the robot body fix the upper surface department on robot chassis, its characterized in that: the two sides of the robot chassis are symmetrically provided with transmission tracks, the two telescopic robot arms are symmetrically arranged on the two sides of the robot body, the robot arms are connected with the side surfaces of the robot body through rotating shafts, and the robot arms are provided with detachable power transformation operation devices;
the robot arm is formed by sequentially connecting a rotary rod, an adjusting rod and a connecting rod; a buffer ring groove is formed at the joint of the rotating rod and the adjusting rod, a plurality of buffer springs are arranged in the buffer ring groove, one end of each buffer spring is fixed on a buffer block on the side wall of the adjusting rod, and the other end of each buffer spring is fixed on the inner side wall of the buffer ring groove;
four groups of height adjusting rods are arranged between the robot body and the robot chassis, the four groups of height adjusting rods are respectively connected with one group of driving motors, and the four groups of driving motors are mutually independent.
2. The intelligent overhaul robot for the crawler-type substation according to claim 1, wherein the power transformation operation device is composed of one or more of an automatic rotating cleaning ball, a grinding mill, a cleaning water gun, a high-pressure airless spraying gun and a dryer, and a connecting rod of a robot arm is provided with any one of a connecting sleeve and a rebounding mechanical gripper.
3. The intelligent overhaul robot for the crawler-type substation of claim 2, wherein when the connecting rod is provided with the connecting sleeve, a plurality of groups of jacking screws are uniformly arranged on a plurality of jacking holes in the side wall of the connecting sleeve, the jacking holes correspond to the jacking screws one by one, and four groups of height adjusting rods between the robot body and the robot chassis are respectively arranged at four corners of the lower surface of the robot body.
4. The intelligent overhaul robot of a crawler-type substation of claim 1, wherein the buffer spring is any one of two, three or four groups.
5. The intelligent overhaul robot for the crawler-type substation of claim 1, wherein the robot arm uses an insulating rod structure.
6. An intelligent maintenance method of the tracked substation intelligent maintenance robot as claimed in any one of claims 2 to 5, characterized in that the intelligent maintenance method comprises:
when the robot is used for overhauling and cleaning, firstly, the robot program is adjusted, the robot travels to a specified position for investigation, then two robot arms automatically extend to the upper part of an equipment porcelain bottle to clean a first piece from top to bottom, then a cleaning water gun is used for cleaning from top to bottom, then a drying gun is replaced for drying, and finally, a high-pressure airless sprayer is used for spraying antifouling flashover paint to complete the operation;
when the robot carries out anticorrosion operation, firstly the robot program is adjusted, the robot walks to a specified position for exploration, then the robot arm automatically stretches to the lower part of the porcelain insulator of the equipment and is connected with the equipment to be polished through an angle grinder, and after St2 level is reached, the high-pressure airless sprayer is automatically replaced to carry out two-way paint spraying, and the operation is finished after self-inspection.
7. The intelligent overhauling method of the intelligent overhauling robot of the crawler-type substation according to claim 6, wherein the time gap of the high-pressure airless sprayer during spraying the secondary paint is controlled to be 10-12 min.
8. The intelligent overhauling method of the intelligent overhauling robot of the crawler-type substation according to claim 6, wherein the robot arm polishes the porcelain bottles by adopting a constant-speed rotary porcelain bottle polisher, and the rotational speed of the porcelain bottle polisher is 17-21 rad/min.
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| CN201810426400.7A CN108631199B (en) | 2018-05-07 | 2018-05-07 | Intelligent maintenance robot for crawler-type transformer substation and intelligent maintenance method thereof |
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| CN201810426400.7A CN108631199B (en) | 2018-05-07 | 2018-05-07 | Intelligent maintenance robot for crawler-type transformer substation and intelligent maintenance method thereof |
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| CN108631199A CN108631199A (en) | 2018-10-09 |
| CN108631199B true CN108631199B (en) | 2020-03-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9463574B2 (en) * | 2012-03-01 | 2016-10-11 | Irobot Corporation | Mobile inspection robot |
| CN105013732A (en) * | 2014-09-10 | 2015-11-04 | 山东鲁能智能技术有限公司 | Transformer substation live washing robot for low-air insulators and method |
| CN107538461A (en) * | 2017-08-23 | 2018-01-05 | 柳州福能机器人开发有限公司 | Adjustable for height industrial transport machine people |
| CN207104929U (en) * | 2017-08-26 | 2018-03-16 | 山西禾源科技股份有限公司 | A kind of tunnel multifunctional intellectual emergency management and rescue caterpillar type robot |
| CN107398895A (en) * | 2017-09-20 | 2017-11-28 | 柳州欧卡机器人有限公司 | A kind of rotatable industrial robot of both arms |
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