CN108646603A - The control system of substation's hot line robot live line tool - Google Patents

The control system of substation's hot line robot live line tool Download PDF

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Publication number
CN108646603A
CN108646603A CN201810588590.2A CN201810588590A CN108646603A CN 108646603 A CN108646603 A CN 108646603A CN 201810588590 A CN201810588590 A CN 201810588590A CN 108646603 A CN108646603 A CN 108646603A
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CN
China
Prior art keywords
module
control
analog
tool
output
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Pending
Application number
CN201810588590.2A
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Chinese (zh)
Inventor
蔡洪建
许玮
慕世友
傅孟潮
张俊峰
李建祥
张耀群
闵中华
刘冠东
李健
王振利
陈强
董旭
张岩
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State Grid Intelligent Technology Co Ltd
Original Assignee
State Grid Corp of China SGCC
Jinan Power Supply Co of State Grid Shandong Electric Power Co Ltd
Shandong Luneng Intelligence Technology Co Ltd
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Application filed by State Grid Corp of China SGCC, Jinan Power Supply Co of State Grid Shandong Electric Power Co Ltd, Shandong Luneng Intelligence Technology Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201810588590.2A priority Critical patent/CN108646603A/en
Publication of CN108646603A publication Critical patent/CN108646603A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers

Abstract

The invention discloses a kind of control systems of substation's hot line robot live line tool, including:Control module for sending control command by WIFI communication and Ether CAT communications, and handles the limit switch signal of acquisition, generates and export the control instruction according to the limit switch signal;Signal transmitting and receiving module, the analog signals for exporting collected main controller are sent to servo valve by Ether CAT communications, and the on-off model that limit switch and optoelectronic switch are exported is sent remotely to master controller by radio-frequency communication;Drive module is acted for being executed according to control instruction driving with protection module accordingly;Execution and protection module, the analog signals for executing analog output, and export corresponding on-off model in actuator motions to extreme position.

Description

The control system of substation's hot line robot live line tool
Technical field
The present invention relates to a kind of control systems of substation's hot line robot live line tool.
Background technology
By environmental pollution and coastal area complexity climatic effect, substation's porcelain insulator surface can adhere to a large amount of filths, when It is likely to result in pollution flashover accident when there was dampness in the air or has condensation to occur to take place frequently, causes power grid risk.It is every in the serious area of contamination It needs in year periodically to carry out living water washing operation and power failure insulating compound washing and cleaning operation to important transformer equipment, for service work For, antifouling work is even more the most important thing, and the directiveness that " meet and stop sweep " has become antifouling work requires, but with power supply Pressure further increases, and power failure difficulty can be increasing, therefore can be in electrification to porcelain oversheath equipment or porcelain Column insulator replaces manually performing simply cleaning upkeep operation and is just particularly important.
Meanwhile overhead line circuit is chronically exposed to outdoor environment in substation, experience is exposed to the weather, and steel-cored aluminium strand is normal Phenomena such as wire strand breakage can occur, moreover, vibration is stranded to be showed since the effect conducting wire of external force there is also when circuit is run As.It needs to carry out repairing treatment to conducting wire in this case, preventing steel-cored aluminium strand broken lot from further expanding leads to circuit Mechanical strength reduce, cause safety accident, at this stage, to the repairing of conducting wire mainly manually to carry out, great work intensity, efficiency Low and the degree of automation is low, there are some potential safety problemss, it is therefore desirable to which robot assists operation.
Existing livewire work equipment, with regard to the power tool being arranged on the manipulator of robot, it is necessary to utilize different Control system goes to control different power tools, generally at least two sets or even three or four sets of control systems, cause control system it Between redundancy each other, and switching when response time, meanwhile, be susceptible to control instruction mistake, can not operate, even destroy The case where power system device, jeopardizes the safety of operating personnel, robot and power equipment.
Invention content
The present invention is to solve the above-mentioned problems, it is proposed that a kind of control of substation's hot line robot live line tool System processed, the present invention can realize the method for operation and state to conducting wire cleaning means or/and repair outfit remote control and There is very high dual-purpose, direct replacement tool not to have to the control system of redundancy for monitoring.
To achieve the goals above, the present invention adopts the following technical scheme that:
A kind of control system of substation's hot line robot live line tool, including:
Control module for sending control command by WIFI communication and Ether CAT communications, and handles the limit of acquisition Switching signal generates according to the limit switch signal and exports control instruction;
Signal transmitting and receiving module, the analog signals for exporting collected main controller pass through Ether CAT communication hairs It is sent to servo valve, the on-off model that limit switch and optoelectronic switch are exported is sent remotely to main control by radio-frequency communication Device;
Drive module is acted for being executed according to control instruction driving with protection module accordingly;
Execution and protection module, the analog signals for executing analog output, and in actuator motions to limit position Set the corresponding on-off model of output.
Wherein, the control module specifically includes:Remote control terminal and master controller, the remote control terminal can lead to Remote-control handle and button output mux amount and analog signals are crossed, for the control to actuator;The master controller is used It is communicated in each module, acquisition process signal simultaneously sends out instruction.
Wherein, the signal transmitting and receiving module specifically includes:Analog signals radio receiving transmitting module and on-off model are wireless Transceiver module, the analog signals radio receiving transmitting module, for acquiring and remotely sending analog signals;The switching value letter Number radio receiving transmitting module, for acquiring and remotely sending on-off model.
Further, the analog signals radio receiving transmitting module includes Analog input mModule, analog quantity wireless transmission Module, analog quantity wireless receiving module and analog output module, the Analog input mModule is receiving the master control The control instruction of device output processed simultaneously outputs this to the analog quantity wireless transmitter module, is sent out by the analog quantity wireless transmitter module It send to the analog quantity wireless receiving module, then is exported to the analog output module through the analog quantity wireless receiving module, It is exported to the drive module by the analog output module.
Further, the on-off model radio receiving transmitting module includes switching input module, switching value wireless transmission Module, switching value wireless receiving module and switching value output module, the switching input module is receiving the protection The limit signal of module output simultaneously outputs this to the switching value wireless transmitter module, is sent out by the switching value wireless transmitter module It send to the switching value wireless receiving module, then is exported to the switching value output module through the switching value wireless receiving module, It is exported to the master controller by the switching value output module.
Wherein, the execution and protection module specifically include:Limit switch, servo valve and hydraulic cylinder, the limit are opened It closes, for carrying out limit detection to actuator;The servo valve, for controlling hydraulic cylinder;The hydraulic cylinder, for driving Actuator.
Further, the execution and protection module include multiple limit switches, actuator of each limit switch pair Limit detection is carried out, includes multiple execution tools to be suitable for the actuator.
Further, the drive module includes servo motor.
Further, the master controller, Analog input mModule, the analog quantity wireless transmitter module, described Switching value wireless receiving module and the switching value output module are set on the moving body of the hot line robot, The drive module, the protection module, the analog quantity wireless receiving module, the analog output module, the switch Amount input module and the switching value wireless transmitter module are set on the power tool.
Further, the power tool includes but not limited to conducting wire cleaning means and conducting wire mending tool.
The advantageous effect of the embodiment of the present invention is:
By the innovative design of the control system of substation's hot line robot live line tool, can help to operate Person improves the insulation of robot manipulating task to the operating type of live line tool and the remote control of condition intelligent and monitoring Property, stability and safety.
Meanwhile there is this control system versatility and compatibility, different power tools can use same set of control system System, the redundancy being effectively reduced between electromagnetic interference, control system, additionally it is possible to reduce the response time.
Description of the drawings
The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows Meaning property embodiment and its explanation do not constitute the improper restriction to the application for explaining the application.
Fig. 1 is the structural frames for the control system that the present invention is applied to substation's hot line robot conducting wire mending tool Figure.
Fig. 2 is the control flow for the control system that the present invention is applied to substation's hot line robot conducting wire mending tool Figure.
Fig. 3 is the structural frames for the control system that the present invention is applied to substation's hot line robot hot-line cleaning tool Figure.
Fig. 4 is the control flow for the control system that the present invention is applied to substation's hot line robot hot-line cleaning tool Figure.
Fig. 5 is the pictorial diagram that the present invention is applied to substation's hot line robot hot-line cleaning tool.
Specific implementation mode:
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
In the present invention, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ", The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this hair Bright each component or component structure relationship and the relative of determination, not refer in particular to either component or element in the present invention, cannot understand For limitation of the present invention.
In the present invention, term such as " affixed ", " connected ", " connection " shall be understood in a broad sense, and indicate may be a fixed connection, Can also be to be integrally connected or be detachably connected;It can be directly connected, it can also be indirectly connected through an intermediary.For The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the present invention as the case may be, It is not considered as limiting the invention.
A kind of control system of substation's hot line robot live line tool, including:
Control module for sending control command by WIFI communication and Ether CAT communications, and handles the limit of acquisition Switching signal generates according to the limit switch signal and exports control instruction;
Signal transmitting and receiving module, the analog signals for exporting collected main controller pass through Ether CAT communication hairs It is sent to servo valve, the on-off model that limit switch and optoelectronic switch are exported is sent remotely to main control by radio-frequency communication Device;
Drive module is acted for being executed according to control instruction driving with protection module accordingly;
Execution and protection module, the analog signals for executing analog output, and in actuator motions to limit position Set the corresponding on-off model of output.
Wherein, the control module specifically includes:Remote control terminal and master controller, the remote control terminal can lead to Remote-control handle and button output mux amount and analog signals are crossed, for the control to actuator;The master controller is used It is communicated in each module, acquisition process signal simultaneously sends out instruction.
Signal transmitting and receiving module specifically includes:Analog signals radio receiving transmitting module and on-off model radio receiving transmitting module, The analog signals radio receiving transmitting module, for acquiring and remotely sending analog signals;The on-off model is wirelessly received Module is sent out, for acquiring and remotely sending on-off model.
Analog signals radio receiving transmitting module include Analog input mModule, analog quantity wireless transmitter module, analog quantity without Line receiving module and analog output module, the Analog input mModule is receiving the control of master controller output The analog quantity wireless transmitter module is instructed and output this to, the analog quantity is sent to by the analog quantity wireless transmitter module Wireless receiving module, then exported to the analog output module through the analog quantity wireless receiving module, by the analog output Module is exported to the drive module.
On-off model radio receiving transmitting module include switching input module, switching value wireless transmitter module, switching value without Line receiving module and switching value output module, the switching input module is receiving the limit of protection module output Signal simultaneously outputs this to the switching value wireless transmitter module, and the switching value is sent to by the switching value wireless transmitter module Wireless receiving module, then exported to the switching value output module through the switching value wireless receiving module, by the output switch parameter Module is exported to the master controller.
Wherein, the execution and protection module specifically include:Limit switch, servo valve, hydraulic cylinder, the limit are opened It closes, for carrying out limit detection to actuator;The servo valve, for controlling hydraulic cylinder;The hydraulic cylinder, for driving Actuator.
It executing and protection module includes multiple limit switches, actuator of each limit switch pair carries out limit detection, To include multiple tool suitable for the actuator.
Drive module includes servo motor.
Master controller, the Analog input mModule, the analog quantity wireless transmitter module, the switching value wireless receiving Module and the switching value output module are set on the moving body of the hot line robot, the drive module, The protection module, the analog quantity wireless receiving module, the analog output module, the switching input module, institute Switching value wireless transmitter module is stated to be set on the power tool.
Power tool includes but not limited to conducting wire cleaning means, conducting wire mending tool.
As shown in Figure 1, when applied to substation's hot line robot conducting wire mending tool, the control system, to The operation of substation's hot line robot conducting wire mending tool is controlled, which is carried by hot line robot And carry out the repairing work of conducting wire in overhead transmission line.As shown in Figure 1, the control system includes control module 10, signal transmitting and receiving mould Block 20, drive module 30 and protection module 40, wherein control module 10 is generating and export control instruction;Signal transmitting and receiving Module 20 is sent to drive module 30, and the limit that protection module 40 is generated to the control instruction for exporting control module 10 Signal sends control module 10 to;Drive module 30 is to according to 50 operation of control instruction driving conducting wire mending tool;Protect mould Block 40 then to monitor the position of the operation of conducting wire mending tool 50, limit signal is generated when it runs to extreme position, and will It feeds back to control module 10.
Specifically, control module 10 includes remote control terminal 11 and master controller 12, remote control terminal 11 and master It is wireless communication connection (such as WIFI) between controller 12.Remote control terminal 11 its remote-control handle operated or button by by When pressure, master controller 12 is sent a control signal to, the control to conducting wire mending tool 50, the control are realized by master controller 12 Signal is multi-way switching values signal or analog signals.Master controller 12 also receives the limit signal from protection module 40, should Limit signal is on-off model.Master controller 12 receives the control signal from remote control terminal 11 or carrys out self-shield mould When the limit signal of block 40, the corresponding control instruction that exports is to signal transmitting and receiving module.The control instruction is that the analog quantity of " 0~5V " is believed Number, when receiving the on-off model of " -127~127 " of 10 output of remote control terminal such as master controller 12, digital-to-analogue is carried out to it Conversion process, with the analog signals of output " 0~5V ".
Signal transmitting and receiving module 20 receives control instruction from master controller 12, and sends it to drive module 30;From protection Module 40 receives limit signal, and sends it to master controller 12.Signal transmitting and receiving module 20 is wirelessly received including analog signals Send out module 21 and on-off model radio receiving transmitting module 22.
Analog signals radio receiving transmitting module 21 is acquiring and teletransmission analog signals, including analog input mould Block 211, analog quantity wireless transmitter module 212, analog quantity wireless receiving module 213 and analog output module 214.Wherein, Analog input mModule 211 is connected with analog quantity wireless transmitter module 212, analog quantity wireless receiving module 213 and analog quantity Output module 214 is connected, and is wireless communication between analog quantity wireless transmitter module 212 and analog quantity wireless receiving module 213 Connection, and the analog quantity wireless receiving module exports " 0-5V " analog signals.When Analog input mModule 211 receives master control The control instruction that device 12 processed exports, that is, export to analog quantity wireless transmitter module 212, sent out by analog quantity wireless transmitter module 212 It send to analog quantity wireless receiving module 213, then is exported to analog output module 214 through analog quantity wireless receiving module 213, by Analog output module 214 is exported to drive module 30.It is used between the analog output module 214 and drive module 30 Ether CAT communications.
On-off model radio receiving transmitting module 22 is for acquiring simultaneously teletransmission on-off model, including On-off signal mould Block 221, switching value wireless transmitter module 222, switching value wireless receiving module 223 and switching value output module 224, wherein Switching input module 221 is connected with switching value wireless transmitter module 222, switching value wireless receiving module 223 and switching value Output module 224 is connected, logical using radio frequency between switching value wireless transmitter module 222 and switching value wireless receiving module 223 Letter.When switching input module 221 receive protection module 40 output limit signal, that is, export to switching value wireless transmission mould Block 222 is sent to switching value wireless receiving module 223 by switching value wireless transmitter module 222, then through switching value wireless receiving mould The output of block 223 is to switching value output module 224, by the output of switching value output module 224 to master controller 12.
Drive module 30 includes servo motor, to receive the control instruction of the transmission of signal transmitting and receiving module 20, and according to this Control instruction drives conducting wire mending tool 50 to run, or terminates the operation of conducting wire mending tool 50.
Protection module 40 include limit switch, the limit switch to monitor conducting wire mending tool 50 operation position, with Conducting wire mending tool is limited accordingly.When conducting wire mending tool 50 moves to extreme position, limit switch, the limit are triggered Bit switch exports limit signal to switching input module 221.
It is and then defeated by switching input module 221 if limit switch exports " 5V " high level to switching input module 221 Go out to switching value wireless transmitter module 222, switching value wireless transmitter module 222 communicates with switching value wireless receiving module 223, makes 223 synchronism output relay signal of switching value wireless receiving module is obtained, if providing 12V letters to switching value wireless receiving module 223 Number, then its output is " 12V " high level, is connect with switching value output module 224, and it is logical to output a signal to one of those Road, when limit switch corresponds to output low and high level, master controller 12, which corresponds to, receives low and high level.
When the control system control substation hot line robot conducting wire mending tool operation of the present invention, Fig. 2 is referred to, It is operated first remote control terminal 11, master controller 12 is sent a control signal to by it.When the master controller 12 receives the control When signal processed, if the control signal is on-off model, which is first simulation by master controller 12 Signal is measured, to export the control instruction for analog signals to analog signals radio receiving transmitting module 21;If the control signal is Analog signals, i.e. output are accordingly the control instruction of analog signals to analog signals radio receiving transmitting module 21.The control System instruction is transmitted through analog signals radio receiving transmitting module 21, final output to drive module 30, to start servo motor work. Then, servo motor driving conducting wire mending tool 50 is run, and repairing work is carried out to aerial condutor in substation.
During conducting wire mending tool 50 is run, limit switch monitors the position of 50 operation of conducting wire mending tool.When Conducting wire mending tool 50 moves to extreme position, i.e., can trigger limit switch, it is defeated to switching value that limit switch exports limit signal Enter module 221, which transmits through on-off model radio receiving transmitting module 22 and export to master controller 12.Work as main control Device 12 receives the limit signal, that is, exports corresponding control instruction, and it is out of service to carry out control servomotor, to pilot Repair outfit 50 stops operation.The control instruction is similarly analog signals, and is passed through analog signals radio receiving transmitting module 21 It send to drive module 30.
So realize control of the control system to substation's hot line robot conducting wire mending tool.
In the specific implementation, master controller 12, Analog input mModule 211, analog quantity wireless transmitter module 212, switch Amount wireless receiving module 223 and switching value output module 224 are set on the moving body of hot line robot, drive mould Block 30, analog quantity wireless receiving module 213, analog output module 214, switching input module 221, is opened protection module 40 Pass amount wireless transmitter module 222 is then installed on the conducting wire mending tool that hot line robot is carried.
The control system of substation's hot line robot conducting wire mending tool of the present invention, can help operator to leading The method of operation and state of line repair outfit carry out remote control and monitoring, improve the insulating properties of robot manipulating task, stability and Safety.
As shown in figure 3, the control system includes control module 10, signal transmitting and receiving module 20, drive module 30 and protection Module 40, wherein control module 10 is generating and export control instruction;Signal transmitting and receiving module 20 is to defeated by control module 10 The control instruction gone out is sent to drive module 30, and sends the limit signal that protection module 40 generates to control module 10;It drives Dynamic model block 30 is to according to the control instruction driving operation of hot-line cleaning tool 50;Protection module 40 is then monitoring live cleaning work The position of 50 operation of tool, limit signal is generated when it runs to extreme position, and fed back to control module 10.
Specifically, control module 10 includes remote control terminal 11 and master controller 12, remote control terminal 11 and master It is wireless communication connection (such as WIFI) between controller 12.Remote control terminal 11 its remote-control handle operated or button by by When pressure, master controller 12 is sent a control signal to, the control to hot-line cleaning tool 50, the control are realized by master controller 12 Signal is multi-way switching values signal or analog signals.Master controller 12 also receives the limit signal from protection module 40, should Limit signal is on-off model.Master controller 12 receives the control signal from remote control terminal 11 or carrys out self-shield mould When the limit signal of block 40, the corresponding control instruction that exports is to signal transmitting and receiving module.The control instruction is that the analog quantity of " 0~5V " is believed Number, when receiving the on-off model of " -127~127 " of 10 output of remote control terminal such as master controller 12, digital-to-analogue is carried out to it Conversion process, with the analog signals of output " 0~5V ".
Signal transmitting and receiving module 20 receives control instruction from master controller 12, and sends it to drive module 30;From protection Module 40 receives limit signal, and sends it to master controller 12.Signal transmitting and receiving module 20 is wirelessly received including analog signals Send out module 21 and on-off model radio receiving transmitting module 22.
Analog signals radio receiving transmitting module 21 is acquiring and teletransmission analog signals, including analog input mould Block 211, analog quantity wireless transmitter module 212, analog quantity wireless receiving module 213 and analog output module 214.Wherein, Analog input mModule 211 is connected with analog quantity wireless transmitter module 212, analog quantity wireless receiving module 213 and analog quantity Output module 214 is connected, and is wireless communication between analog quantity wireless transmitter module 212 and analog quantity wireless receiving module 213 Connection, and the analog quantity wireless receiving module exports " 0-5V " analog signals.When Analog input mModule 211 receives master control The control instruction that device 12 processed exports, that is, export to analog quantity wireless transmitter module 212, sent out by analog quantity wireless transmitter module 212 It send to analog quantity wireless receiving module 213, then is exported to analog output module 214 through analog quantity wireless receiving module 213, by Analog output module 214 is exported to drive module 30.It is used between the analog output module 214 and drive module 30 Ether CAT communications.
On-off model radio receiving transmitting module 22 is for acquiring simultaneously teletransmission on-off model, including On-off signal mould Block 221, switching value wireless transmitter module 222, switching value wireless receiving module 223 and switching value output module 224, wherein Switching input module 221 is connected with switching value wireless transmitter module 222, switching value wireless receiving module 223 and switching value Output module 224 is connected, logical using radio frequency between switching value wireless transmitter module 222 and switching value wireless receiving module 223 Letter.When switching input module 221 receive protection module 40 output limit signal, that is, export to switching value wireless transmission mould Block 222 is sent to switching value wireless receiving module 223 by switching value wireless transmitter module 222, then through switching value wireless receiving mould The output of block 223 is to switching value output module 224, by the output of switching value output module 224 to master controller 12.
Drive module 30 drives band to receive the control instruction of the transmission of signal transmitting and receiving module 20 according to the control instruction Electric cleaning device 50 is run, or terminates the operation of hot-line cleaning tool 50.The drive module 30 includes servo valve 31 and hydraulic pressure horse Up to 32, wherein servo valve 31 receives the control instruction that analog output module 214 exports, and controls hydraulic pressure according to the control instruction Motor 32 moves, to drive hot-line cleaning tool to carry out substation's support insulator cleaning work.
Protection module 40 includes optoelectronic switch 41 and close switch 42, to monitor the position of the operation of hot-line cleaning tool 50 It sets, to be limited accordingly to hot-line cleaning tool 50.When hot-line cleaning tool 50 moves to extreme position, triggering photoelectricity is opened It closes 41 and/or exports limit signal to switching input module close to switch 42, the optoelectronic switch 41 and/or close to switch 42 221。
" 5V " high level is exported to switching input module 221, and then by switching such as optoelectronic switch 41 or close to switch 42 The output of input module 221 is measured to switching value wireless transmitter module 222, switching value wireless transmitter module 222 wirelessly connects with switching value Module 223 is received to communicate so that 223 synchronism output relay signal of switching value wireless receiving module, if giving switching value wireless receiving Module 223 provides 12V signals, then its output is " 12V " high level, is connect with switching value output module 224, and signal is defeated Go out to one of channel, when optoelectronic switch 41 and/or close switch 42 correspond to when exporting low and high level, master controller 12 is right Low and high level should be received.
Drive module 30 and protection module 40 are further illustrated with the citing of hot-line cleaning tool 50 in Fig. 4.In Fig. 2 Hot-line cleaning tool 50 has the first executive item 51 and the second executive item 52, first executive item 51 can be along about 53 sliding rail of insulation Sliding, the second executive item 52 can then rotate horizontally on the first executive item 51.Clean Brush for cleaning 54 is set on the second executive item 52, And can be cleaned above and below support insulator surface when the first executive item 51 is run, when the second executive item 51 is run around pillar Insulator surface level cleans.The operation of first executive item 51 and the second executive item 52 by drive module 30 hydraulic motor 32 Driving;Optoelectronic switch 41 monitors the position of the first executive item 51 operation, when first executive item 51 moves to extreme position, touches Shine electric switch 41, which exports limit signal (the first limit signal) to switching input module 221;It is close Switch 42 monitors the position of the second executive item 52 operation, and when second executive item 52 moves to extreme position, triggering is close to open 42 are closed, this exports limit signal (the second limit signal) close to switch 42 to switching input module 221.
When the first limit signal and/or the second limit signal are sent to main control by on-off model radio receiving transmitting module 22 Device 12, master controller 12 accordingly export control instruction, and hydraulic motor 32 is controlled by controlling the servo valve 31 of drive module 30 Movement to the first executive item 51 of control and the second executive item 52, such as enables its out of service, even if hot-line cleaning tool 50 is held The continuous operation for carrying out support insulator cleaning work or stopping hot-line cleaning tool 50.
It these are only that citing, the setting of protection module 40 and its optoelectronic switch 41, close switch 42 are without being limited thereto.
When the control system control substation hot line robot hot-line cleaning tool operation of the present invention, Fig. 5 is referred to, It is operated first remote control terminal 11, master controller 12 is sent a control signal to by it.When the master controller 12 receives the control When signal processed, if the control signal is on-off model, which is first simulation by master controller 12 Signal is measured, to export the control instruction for analog signals to analog signals radio receiving transmitting module 21;If the control signal is Analog signals, i.e. output are accordingly the control instruction of analog signals to analog signals radio receiving transmitting module 21.The control System instruction is transmitted through analog signals radio receiving transmitting module 21, the servo valve 31 of final output to drive module 30, to start liquid Pressure motor 32 works.Then, the hydraulic motor 32 driving hot-line cleaning tool 50 is run, and is carried out to substation's support insulator clear Sweep operation.
During hot-line cleaning tool 50 is run, optoelectronic switch 41 and close switch 42 monitor hot-line cleaning tool 50 The position of operation.When hot-line cleaning tool 50 moves to extreme position, i.e., it can trigger optoelectronic switch 41 and/or close to switch 42, It is set to export limit signal to switching input module 221, which transmits through on-off model radio receiving transmitting module 22 And it exports to master controller 12.When master controller 12 receives the limit signal, that is, corresponding control instruction is exported, control is passed through The servo valve 31 of drive module 30 moves to control hydraulic motor 32, stops operation to control hot-line cleaning tool 50.The control System instruction is similarly analog signals, and is sent to drive module 30 through analog signals radio receiving transmitting module 21.
So realize control of the control system to substation's hot line robot hot-line cleaning tool.
In the specific implementation, master controller 12, Analog input mModule 211, analog quantity wireless transmitter module 212, switch Amount wireless receiving module 223 and switching value output module 224 are set on the moving body of hot line robot, drive mould Block 30, analog quantity wireless receiving module 213, analog output module 214, switching input module 221, is opened protection module 40 Pass amount wireless transmitter module 222 is then installed on the hot-line cleaning tool that hot line robot is carried.
The control system of substation's hot line robot hot-line cleaning tool of the present invention, can help operator to band The method of operation and state of electric cleaning device carry out remote control and monitoring, improve the insulating properties of robot manipulating task, stability and Safety.
More clearly to illustrate this control system, with a kind of a kind of specific substation's live-line maintenance operation robot Application note is carried out for system.
A kind of substation's live-line maintenance operation robot system mentioned, robot body, live line tool and distant Control terminal;
The robot body includes:Mobile chassis, the insulated lift arm being set on mobile chassis, the insulated lift Arm front end connects small fly jib, and the live working platform for placing live line tool is arranged in the small fly jib front end, described small Fly jib is connect by Quick Connect Kit with live line tool;
Live line tool includes:Foreign matter cleaning tool, conducting wire mending tool, insulator cleaning tool and/or dry ice are clear Wash tool;
Remote terminal includes remote control module and wireless communication module, and the remote control module passes through wireless communication module and machine Human body's master controller communicates.
Insulated lift arm includes:Sequentially connected revolving platform, principal arm, upper arm, insulating telescopic arm and small fly jib;Also wrap Insulated lift arm control system is included, the sensor for detecting its corner and position is installed respectively on the principal arm and upper arm;Institute State the sensor installed respectively on insulating telescopic arm for detecting its collapsing length and position;It is respectively equipped with use on the small fly jib In the sensor of detection its rotation angle and level inclination;The insulated lift arm control system is collected according to the sensor Data control the movement of principal arm, upper arm, insulating telescopic arm and small fly jib respectively, realized pair according to the priority orders of setting One key of insulated lift arm system restores and the leveling to small fly jib;
Alternatively, principal arm and upper arm are including two sections of metal arms and the insulation arm being arranged between two sections of metal arms;And/or The small fly jib is the hollow bar structure using insulating materials;
Alternatively, small fly jib is connect with insulating telescopic arm, small fly jib passes through rotary oscillation oil cylinder and pitching hydraulic oil cylinder driving It realizes and the swing of the relative rotation of insulating telescopic arm and pitching;
Alternatively, live working platform is arranged in small fly jib front end, the small fly jib realizes that electrification is made by leveling oscillating oil cylinder Industry platform erection;Panorama camera and laser scanner is respectively set on the live working platform, for realizing Image Acquisition and Ranging.
The insulation arm course of work specifically includes:By control the pitching of principal arm and upper arm, the flexible of insulating telescopic arm and The precision of small fly jib is finely tuned, and live line tool is accurately sent to target location.
The present invention is used for the insulated lift arm system of substation's live-line maintenance operation, further includes:Insulated lift arm control system System, the insulated lift arm control system include:Master controller, pilot controller and signal acquisition module;The master controller By optical fiber distinguish signal acquisition module with and pilot controller communicate;
Signal acquisition module is for acquiring upper arm rotation angle information and principal arm security protection information, and by collected letter Breath passes to master controller;(3 ultrasonic sensors are separately positioned on three sides of elbow joint, for acquiring The distance of equipment in elbow joint to substation);
Pilot controller acquisition obtains voltage signal, and voltage is believed mounted on the data of the ultrasonic sensor of upper arm It number is scaled range information, realizes the control to elbow joint hydraulic proportion valve.
Pilot controller acquisition is mounted on the data of the laser range sensor on insulating telescopic arm, obtains insulating telescopic arm The distance between substation equipment, to realize the control to insulating telescopic arm collapsing length;
Pilot controller acquisition is mounted on the data of the obliquity sensor on automatic job platform, obtains the rotation of small fly jib Angle, to realize the control to small fly jib rotation angle;
Pilot controller acquisition is mounted on the data of the horizontal rotation encoder on small fly jib, and the level for obtaining small fly jib is inclined Angle, to realize the control to small fly jib level inclination;
Master controller acquires the data of the encoder mounted on principal arm and upper arm respectively, obtains the corner of principal arm and upper arm, To realize the control to principal arm and upper arm corner;
Master controller acquires the data close to switch on principal arm and upper arm respectively, obtains the position of principal arm and upper arm Confidence ceases, to realize the control to principal arm and upper arm position.
Insulated lift arm control system includes:Small fly jib levelling control system, specifically includes:Obliquity sensor, leveling electricity Magnet valve and signal input output end;The obliquity sensor is connect by signal input output end with master controller, master control Device processed is connect with solenoid valve;
Obliquity sensor detects the angle of inclination of automatic job platform, is exported in the form of voltage signal, and controller passes through letter Number input and output terminal reads the numerical value, obtained inclination data is compared with allowable error, when inclination data is more than When allowable error, by adjusting spool aperture and the valve core movement direction of leveling solenoid valve, the control for exchanging flat oscillating oil cylinder is realized System, to realize leveling operation.
Insulated lift arm control system further includes:One key of insulated lift arm restores control system;Including:Rotary shaft valve group, Encoder, telescopic shaft valve group, telescopic shaft laser range sensor, leakage current sensor and ultrasonic sensor;
Wherein, encoder is respectively set in principal arm and upper arm position, for realizing the measurement of principal arm and upper arm rotation angle; Telescopic shaft laser range sensor is set on flexible inner arm, for realizing the measurement of telescopic arm distance of stretch out and draw back;Setting leakage electricity Flow sensor realizes the measurement of leakage current values;Ultrasonic sensor is set in upper arm position, for realizing upper arm and substation The measurement of equipment range information.
The flexible of telescopic arm is controlled by telescopic shaft valve group, the rotation of rotating platform is controlled by rotary shaft valve group.
Realize that the process of one key reduction of insulated lift arm includes:
1. restoring to insulation arm rotary shaft
When being restored to restore rotary shaft to insulation arm rotary shaft, rotary shaft valve group will drive rotary shaft to transport Dynamic, corresponding encoder will detect rotation shaft angle value in real time, when encoder numerical value is 0, be considered as recovery and complete;
2. restoring to insulation arm telescopic shaft
When restoring to telescopic shaft, telescopic shaft valve group will drive telescopic shaft to move, telescopic shaft laser ranging sensing Device will detect flexible shaft length in real time, when laser range sensor numerical value is 0, be considered as recovery and complete;
In insulation arm recovery process, leakage current sensor and ultrasonic sensor let out real-time detection robot complete machine Leakage current value and corresponding position are at a distance from substation equipment;When leakage current values exceed safety value, robot complete machine is all Action will stop;When ultrasonic sensor numerical value exceeds safety value, the valve group of corresponding position will stop operation.
One key reduction be by a key trigger robot automatic reset, by robot from job state be reset to operation before shape State.Reseting procedure realizes the monitoring to each joint, while realization and power transformation station equipment avoidance, the realization of a key restoring function are Multi-sensor Fusion based on robot.
Robot is after operation, and robot chassis support leg opens, insulation arm has different degrees of stretching, extension and rotation, special work Industry tool is in job state.After the reduction of one key, simultaneously leveling chassis, insulation arm recycling are rotated to most for robot chassis support leg recycling Small spatiality, power tool are recycled to minimum space state.
The current state of each actuator and original state are compared, in current shape after also original system is triggered by one key When state is less than certain error value with original state difference, original system completion is gone back.
The system that insulation arm recycles automatically, removal process are triggered by a key:It is whole that leakage current sensor detects robot Machine leakage current size, ultrasonic sensor detect distance of each position apart from substation equipment, encoder by instantaneous value with just Initial value is compared, and when instantaneous value is less than certain value with initial value error, obliquity sensor detects chassis angle of inclination, and controls Supporting leg motor processed is to level value.So far recycling operation is completed.Reduction process is completed according to the priority of sensor and actuator.
When leakage current values and distance value are in normal range (NR), each actuator is returned according to first up and then down sequence It receives.The recycling for carrying out each tool first, then carries out the recycling of small fly jib, telescopic arm, upper arm, principal arm, finally by branch respectively Leg oil cylinder carries out leveling to chassis.
The operation of one key reduction is broadly divided into:Flexible reduction, rotation reduction and tool reduction.Wherein:
Flexible to restore the reduction for referring mainly to telescopic arm, the detection component of telescopic arm reduction is laser range sensor, when When the error of sensing data and setting value is less than 10mm, it is considered as and resets operation completion;
Rotation reduction refers mainly to each joint rotation reduction, and the detection component for rotating reduction is encoder, when encoder number When being less than 1 ° according to error, it is considered as and resets operation completion;
Tool restores the reduction for referring mainly to each tool subsystem, respectively carries out state judgement respectively according to technical indicator, works as reality When data with setting data difference be less than allowable error when, be considered as reset operation complete.
Conducting wire mending tool includes shell, and driving mechanism, the driving mechanism and left clamping, the right side are equipped in the shell Clamping limb is separately connected, and driving left and right clamping limb realizes open and close movement;It is described it is left clamping right clamping limb between, along and clamping Pedestal of the vertical direction setting of the arm direction of motion for retained prosthesis makes piece, zygonema dress is respectively set at the both ends of the pedestal It sets.
Driving mechanism includes:Worm and worm-wheel gearing and driving motor;
Driving motor drives worm shaft, the worm shaft to be equipped with two sections of helical tooths, Mei Yiduan by transmission gear Helical tooth is separately connected a worm gear, and the worm gear is separately connected left clamping and right clamping limb;Worm shaft drives worm gear to turn It is dynamic, to drive the movement of left and right clamping limb.
Conducting wire mending tool further includes patch, and the patch includes:
Conductor compression jointing area is connected at least two crimping teeth in the side in the conductor compression jointing area, each two crimp tooth it Between form the gap of setpoint distance, the other side in conductor compression jointing area is connected with crimping tooth corresponding with the clearance position; The end of the crimping tooth, which curves inwardly, sets radian;
Alternatively, the rear and front end in conductor compression jointing area is respectively equipped with opening, the openings of sizes meets and is arranged in pedestal two The trapezoidal axis pin transition cooperation at end;
Alternatively, through-hole is arranged in the center in conductor compression jointing area;
Alternatively, conductor compression jointing area is arc groove, the crooked radian of arc groove and the end for crimping tooth curve inwardly Radian according to the diameter of conducting wire determine.
As shown in figure 5, cleaning device includes:Vertical lifting mechanism 53 encircles rotating mechanism 52 and cleaning agency 54, institute It states and encircles the side that rotating mechanism is set to the vertical lifting mechanism, the cleaning agency, which is set to, described encircles rotating mechanism Both ends and can horizontally rotate respectively along the annular axis for encircling rotating mechanism;Wherein, described to encircle rotating mechanism packet It includes and encircles holder and ring gear;There is the holder of encircling annular cavity, the inner cavity bottom plate for encircling holder to be equipped with and lead Slot, the ring gear are limited in the guide groove and are moved along the guide groove.
Encircling rotating mechanism further includes:Hydraulic motor and rotation gear are encircled, ring gear side is encircled by being set to The opening of holder one side manifests to coordinate with the rotation gear;It is described to encircle hydraulic motor to drive the rotation Gear is so that its axis horizontal for driving the ring gear to encircle holder around this in the inner cavity for encircling holder rotates;Institute State the both ends that cleaning agency is set to the top surface of the ring gear and is located at the ring gear;
Alternatively, it further includes tary control member to encircle rotating mechanism, which encircles limit position including at least two It sets close to switch and buting iron, the buting iron and is respectively arranged on the cleaning agency;The extreme position of encircling is close to switch point It She Yu not encircle on holder, to send electric signal when sensing the position of the buting iron to the ratio for encircling hydraulic motor Proportional direction valve, make the proportional direction valve commutate, to drive the rotary teeth rotate to;
The inner cavity bottom plate for encircling holder is equipped with T-type guide groove, and the gear ring of ring gear is equipped with to match with T-type guide groove T-type sliding block;The T-type sliding block moves in T-type guide groove.
Vertical lifting mechanism includes insulation sliding rail, connecting bracket, raise-lower hydraulic motor and lifter wheel, wherein described Connecting bracket is set on the insulation sliding rail, and the raise-lower hydraulic motor and the lifter wheel are set to the connecting bracket It is upper with the side that encircle rotating mechanism opposite;The raise-lower hydraulic motor passes through worm-gear speed reducer and the lifting tooth Wheel connection, the lifter wheel and the insulation sliding rail formation transmission, the raise-lower hydraulic motor is driving the lifting Gear is moved up and down along the insulation sliding rail, to drive the connecting bracket to be moved up and down along the insulation sliding rail.
Live line tool in above-mentioned robot system, specifically includes:Foreign matter cleaning tool, conducting wire mending tool, absolutely Edge cleaning device can be applicable in control system provided by the invention, and with the change of tool types, control object has tune The change of whole property, these are that conducting wire mending tool and insulator cleaning tool has been given in the present invention in those skilled in the art Specific implementation mode on the basis of can be modified, details are not described herein.
During control, will monitor the state of each actuator in real time, avoid its collide with substation equipment and Leakage current is excessive, ensures that robot is in safety work state.
Security protection includes robot manipulating task security protection and motion control security protection, and wherein operation safety protection is associated with Sensor is:Laser scanner, laser range sensor, leakage current sensor and encoder;Motion control security protection is closed Joining sensor is:Ultrasonic sensor, obliquity sensor and close switch.It is installed in telescopic arm end, ancon and forearm end Ultrasonic sensor ranging, distance are less than safety value deceleration and stop.
Leakage current sensor, leakage current are installed in front of tool>1mA, warning lamp flicker.
After multi-sensor fusion system triggering, complete machine leakage current values, distance value, encoder values and chassis are detected successively and is inclined Angle value judges above-mentioned data according to sequencing when each data are in normal range (NR), actuation means carry out successively Reset operation.Detect and implementation procedure in, the case where each sensor and actuator will appear while judging, it is therefore necessary to right It carries out priority classification according to urgency level.
Different types of actuator and sensor are respectively provided with different priority according to function, in the sensor, leakage Current sensor has highest priority, followed by ultrasonic sensor, obliquity sensor and encoder, priority minimum Sensor is laser sensor and visual sensor;In actuator, insulation arm actuator has highest priority, Secondary is power tool, and the minimum actuator of priority is that chassis driving and supporting leg control actuator.
During robot manipulating task, it may appear that a case where sensor corresponds to multiple actuators, so can cause preferential Grade is identical and system erroneous judgement occurs, occurs to avoid similar situation so introducing judgement priority, judges priority:Any execution Device priority is multiplied by it and is associated with the priority of actuator.So when the above situation occurs, system will be by judging that priority is determined Determine the action sequencing of actuator, i.e., when multiple sensors judge simultaneously, then judging two priority classes according to it, its is right Actuator is answered to act.
By taking ultrasonic sensor as an example:
Chassis driving protection ultrasonic sensor priority be:
2 (ultrasonic sensor) * 3 (chassis driving)=6
The priority of telescopic arm rotary ultrasonic wave sensor is:
2 (ultrasonic sensor) * 1 (telescopic arm rotation)=2
Obviously:2<6, so, when two ultrasonic sensors are carried out at the same time judgement, mechanical arm rotation will slow down first to stop Only.
In insulation arm recovery process, leakage current sensor and ultrasonic sensor let out real-time detection robot complete machine Leakage current value and corresponding position are at a distance from substation equipment.When leakage current values exceed safety value, robot complete machine is all Action will stop;When ultrasonic sensor numerical value exceeds safety value, the valve group of corresponding position will stop operation.
The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.

Claims (10)

1. a kind of control system of substation's hot line robot live line tool, it is characterized in that:Including:
Control module for sending control command by WIFI communication and Ether CAT communications, and handles the limit switch of acquisition Signal generates according to the limit switch signal and exports control instruction;
Signal transmitting and receiving module, the analog signals for exporting collected main controller are sent to by Ether CAT communications Servo valve, the on-off model that limit switch and optoelectronic switch are exported, master controller is sent remotely to by radio-frequency communication;
Drive module is acted for being executed according to control instruction driving with protection module accordingly;
Execution and protection module, the analog signals for executing analog output, and it is defeated to extreme position in actuator motions Go out corresponding on-off model.
2. a kind of control system of substation's hot line robot live line tool as described in claim 1, feature It is:The control module specifically includes:Remote control terminal and master controller, the remote control terminal can pass through remote-control handle With button output mux amount and analog signals, it to be used for the control to actuator;The master controller is used for and each module It is communicated, acquisition process signal simultaneously sends out instruction.
3. a kind of control system of substation's hot line robot live line tool as described in claim 1, feature It is:The signal transmitting and receiving module specifically includes:Analog signals radio receiving transmitting module and on-off model radio receiving transmitting module, institute Analog signals radio receiving transmitting module is stated, for acquiring and remotely sending analog signals;The on-off model wireless receiving and dispatching Module, for acquiring and remotely sending on-off model.
4. a kind of control system of substation's hot line robot live line tool as described in claim 1, feature It is:The analog signals radio receiving transmitting module includes Analog input mModule, analog quantity wireless transmitter module, analog quantity is wireless Receiving module and analog output module, the Analog input mModule refer to receive the control of the master controller output Enable and output this to the analog quantity wireless transmitter module, by the analog quantity wireless transmitter module be sent to the analog quantity without Line receiving module, then exported to the analog output module through the analog quantity wireless receiving module, by the analog output mould Block is exported to the drive module.
5. a kind of control system of substation's hot line robot live line tool as described in claim 1, feature It is:The on-off model radio receiving transmitting module includes switching input module, switching value wireless transmitter module, switching value is wireless Receiving module and switching value output module, the switching input module are believed to receive the limit of the protection module output Number and output this to the switching value wireless transmitter module, by the switching value wireless transmitter module be sent to the switching value without Line receiving module, then exported to the switching value output module through the switching value wireless receiving module, by the output switch parameter mould Block is exported to the master controller.
6. a kind of control system of substation's hot line robot live line tool as described in claim 1, feature It is:The execution and protection module specifically include:Limit switch, servo valve, hydraulic cylinder, the limit switch, for holding Row device carries out limit detection;The servo valve, for controlling hydraulic cylinder;The hydraulic cylinder, for driving actuator.
7. a kind of control system of substation's hot line robot live line tool as described in claim 1, feature It is:The execution and protection module include multiple limit switches, and actuator of each limit switch pair carries out limit detection, with Include multiple execution tools suitable for the actuator.
8. a kind of control system of substation's hot line robot live line tool as described in claim 1, feature It is:The drive module includes servo motor.
9. a kind of control system of substation's hot line robot live line tool as described in claim 1, feature It is:The master controller, the Analog input mModule, the analog quantity wireless transmitter module, the switching value wireless receiving Module and the switching value output module are set on the moving body of the hot line robot, the drive module, The protection module, the analog quantity wireless receiving module, the analog output module, the switching input module and The switching value wireless transmitter module is set on the power tool.
10. a kind of control system of substation's hot line robot live line tool as described in claim 1, feature It is:The power tool includes but not limited to conducting wire cleaning means and conducting wire mending tool.
CN201810588590.2A 2018-06-08 2018-06-08 The control system of substation's hot line robot live line tool Pending CN108646603A (en)

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