CN110624881B - Cleaning robot system of power equipment - Google Patents
Cleaning robot system of power equipment Download PDFInfo
- Publication number
- CN110624881B CN110624881B CN201910932433.3A CN201910932433A CN110624881B CN 110624881 B CN110624881 B CN 110624881B CN 201910932433 A CN201910932433 A CN 201910932433A CN 110624881 B CN110624881 B CN 110624881B
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- cleaning
- cleaning robot
- robot
- camera
- control
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- 238000004140 cleaning Methods 0.000 title claims abstract description 71
- 239000007788 liquid Substances 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims description 24
- 239000007921 spray Substances 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 11
- 239000000243 solution Substances 0.000 claims description 7
- 239000000725 suspension Substances 0.000 claims description 6
- 239000012530 fluid Substances 0.000 claims description 5
- 238000007599 discharging Methods 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 239000011810 insulating material Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 claims description 3
- 238000005406 washing Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 6
- 230000006378 damage Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002253 acid Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000009525 mild injury Effects 0.000 description 1
- -1 moisture Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000004544 sputter deposition Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
Landscapes
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention provides a cleaning robot system of electric equipment, comprising: the cleaning robot comprises a cleaning robot body, a control device, a plate shell assembly, a lifting system, a cleaning liquid circulating system and an electric control system, wherein the control device is communicated with the cleaning robot body, the cleaning robot body is a movable robot body, and the cleaning robot body further comprises the plate shell assembly, the lifting system, the cleaning liquid circulating system and the electric control system. The cleaning robot is controlled by the control device to perform high-risk electrified cleaning work, so that the purposes of saving labor cost and accidents are achieved.
Description
Technical Field
The invention relates to the field of power equipment, in particular to a cleaning robot for power equipment.
Background
In the long-term continuous operation process of the power equipment, various dust, moisture, oil smoke, acid gas, salt, metal dust, static electricity and various charged particles are deposited on the surface of the equipment through physical adsorption, so that the heat dissipation capacity of the equipment is reduced, the operation quality and the operation reliability of the equipment are affected, the pollutants also form additional microcircuit effects on circuits in the equipment, the corrosion inhibition effect is caused, the faults such as poor contact, impedance reduction, electric leakage, short circuit, error code, bad board and the like of the equipment are caused to different degrees, and the outdoor high-voltage equipment which works for a long time is also affected by insolation, wind blowing and rain for a long time besides the factors.
The existing cleaning method is power-off manual cleaning and live working cleaning, and the power-off manual cleaning has low cost, but the economic loss caused by power failure is very large, so that the power-off manual cleaning is slowly eliminated at present. The existing live working cleaning is performed manually, and the cleaning mode is to spray cleaning liquid to the distribution equipment through a handheld spraying device so as to remove dirt on the surface of the equipment. And the operation mode is easy to be damaged by high-voltage arc.
Disclosure of Invention
The invention aims to solve the problems, overcomes the defects of the prior art, and relates to a power distribution room cleaning robot which replaces manual cleaning operation.
A cleaning robot system for electrical equipment, comprising: the cleaning robot and controlling means, controlling means and cleaning robot communication, cleaning robot are mobilizable robot, cleaning robot still includes board shell subassembly, lift system, washing liquid circulation system, electrical system, wherein:
The plate shell assembly comprises an insulating shell, is arranged on the robot chassis, is internally provided with a cleaning fluid circulation system and an electric control system, and is provided with a lifting and rotating system at the upper end;
The lifting and rotating system comprises a telescopic device, a camera and a spray head which are positioned on the telescopic device, wherein the directions of the camera and the spray head are fixed, the camera and the spray head are connected with the telescopic device through universal joints, and the angle is adjusted by up-down and left-right rotation;
the cleaning solution circulating system comprises a container for storing cleaning solution, a high-pressure pump, a pipeline and a nozzle, wherein the nozzle is communicated with the container through the pipeline;
the electronic control system comprises a controller and a communication unit, wherein the communication unit is used for communicating with the control device, and the controller is used for controlling the power assembly of the high-pressure pump, the lifting system and the robot chassis;
The control device is communicated with the electric control system and the camera and is used for displaying the data of the camera in real time and sending a control instruction to the electric control system.
As a further scheme of the invention, the plate shell component comprises a shell and an internal support, wherein the shell is fixedly connected with the robot chassis, the internal support is used for fixing a cleaning liquid circulation system and an electric control system, and the plate shell component is made of insulating materials and has the characteristic of arc resistance.
As a further scheme of the invention, the lifting and rotating device of the lifting and rotating system comprises a motor, a plurality of telescopic parts are driven by the motor to perform telescopic movement, and the telescopic parts are formed by combining a plurality of hollow frame-shaped structures with the same shape and different sizes.
As a further scheme of the invention, one end of the telescopic device is fixed in the plate shell assembly, the other end of the telescopic device is connected with the camera and the spray head through universal joints, the camera and the spray head are fixed on the adjusting platform, the adjusting platform is connected with the telescopic device through the universal joints, and the adjusting platform is also provided with a motor for controlling the platform to rotate left and right and up and down.
As a further scheme of the invention, the container of the cleaning liquid circulation system is arranged in the plate-shell assembly, the inlet of the container is arranged on the plate-shell assembly, the bottom of the container is connected with the spray head through a pipeline, and the pipeline further comprises a high-pressure pump for pressurizing the liquid of the container and then discharging the liquid from the spray head to clean the electric equipment.
As a further scheme of the invention, the electric control system controller is arranged in the plate-and-shell assembly, is connected with the power assembly of the robot chassis, the high-pressure pump, the motor of the telescopic device and the motor on the adjusting platform through circuit control, and transmits control signals through the circuit.
As a further scheme of the invention, the communication unit is in wireless communication connection with the control device, and the communication unit and the controller are connected on the same circuit board through a circuit.
As a further scheme of the invention, the control device is used for inputting control instructions, including a rocker for controlling the robot to move, a rocker for controlling the adjusting platform, a switch for controlling the telescopic device, and a switch for controlling the injection, and the control device inputs the control instructions to the controller through wireless communication connection, and further comprises a display screen for displaying video data of real-time shooting transmitted by the camera, and the control device is operated according to the scene displayed by the display screen.
As a further scheme of the invention, the robot chassis comprises a suspension assembly, a frame and a power assembly, wherein the frame is used for being fixedly connected with the plate shell assembly, the suspension assembly comprises a crawler belt, a transmission gear and a bogie wheel, and the power assembly is arranged in the frame and connected with the transmission gear and used for driving the transmission gear to rotate.
The electric control system is connected with the data line, the power line and the pipeline of the cleaning liquid circulating system of the conveying platform through chain belts.
The beneficial effects of the invention are as follows: the cleaning robot is controlled by the control device to perform high-risk electrified cleaning work, so that the purposes of saving labor cost and accidents are achieved.
Drawings
Fig. 1 is a schematic cross-sectional structure of a cleaning robot of the present invention.
Fig. 2 is a schematic diagram of a front structure of the cleaning robot of the present invention.
Fig. 3 is a plan view of the cleaning robot of the present invention.
Fig. 4 is a schematic circuit diagram of the robot of the present invention.
Detailed Description
Embodiments of the invention are described in detail below with reference to the attached drawings, but the invention can be implemented in a number of different ways, which are defined and covered by the claims.
In a specific embodiment of the present invention, as shown in fig. 1 to 3, a cleaning robot for electric power equipment includes: cleaning robot and controlling means, controlling means and cleaning robot communication, cleaning robot are mobilizable robot, cleaning robot still includes board shell subassembly 8, lift system 6, washing liquid circulation system 5, electrical system 3, wherein:
The plate-shell assembly 8 comprises an insulating shell, is arranged on the robot chassis, is internally provided with a cleaning fluid circulation system and an electric control system, and is provided with a lifting and rotating system at the upper end; the plate shell component comprises a shell and an internal support, the shell is fixedly connected with the robot chassis, the internal support is used for fixing a cleaning fluid circulation system and an electric control system, and the plate shell component is made of insulating materials and has the characteristic of arc resistance. In the existing live cleaning process, even if the existing live cleaning process is enough in safety protection, the existing live cleaning process cannot completely protect the existing live cleaning process, such as sputtering damage caused by explosion of power equipment and high-voltage arc damage caused by electric leakage of the power equipment, and the damage can be fatal, and even mild damage is caused to personnel. One of the purposes of the invention is to reduce casualties of people by carrying out live working by a robot instead of a person.
The lifting and rotating system is fixed inside a plate shell assembly 8 on the chassis, the bottom end of the lifting and rotating system is fixedly connected with the inner bottom surface of the plate shell assembly 8, the top end of the lifting and rotating system protrudes out of the plate shell assembly 8, the lifting and rotating system comprises a telescopic device and an adjusting platform arranged on the telescopic device, a camera and a spray head are arranged on the adjusting platform, and the directions of the camera and the spray head are fixed. The adjusting platform is connected with the telescopic device through a universal joint and can rotate up and down and left and right to adjust the angle; one end of the telescopic device is fixed in the plate shell assembly, the other end of the telescopic device is connected with the adjusting platform through a universal joint, the adjusting platform is connected with the telescopic device through the universal joint, and a motor is further installed on the adjusting platform and used for controlling the platform to rotate left and right and up and down. The lifting device of the lifting system comprises a motor, a plurality of telescopic parts are driven by the motor to perform telescopic motion, and the telescopic parts are formed by combining a plurality of hollow frame-shaped structures with the same shape and different sizes.
The cleaning solution circulating system comprises a container for storing cleaning solution, a high-pressure pump, a pipeline and a nozzle, wherein the nozzle is communicated with the container through the pipeline; the container of the cleaning liquid circulation system is arranged in the plate shell assembly, an inlet of the container is arranged on the plate shell assembly, the bottom of the container is connected with the spray head through a pipeline, and the pipeline further comprises a high-pressure pump for pressurizing liquid of the container and then discharging the liquid from the spray head to clean the power equipment.
The electric control system 3 comprises a controller and a communication unit, wherein the communication unit is used for communicating with the control device, the controller is used for controlling the power assembly of the high-pressure pump, the lifting system and the robot chassis, the controller is a singlechip and the communication unit are positioned on the same circuit board 7 and are connected through a circuit, and the communication unit is a wireless communication unit; the electric control system controller is arranged in the plate shell assembly, is connected with the power assembly of the robot chassis, the high-pressure pump, the motor of the telescopic device and the motor on the adjusting platform through line control, and transmits control signals through lines. The communication unit is in wireless communication connection with the control device, and the communication unit and the controller are connected on the same circuit board through a circuit.
As shown in fig. 4, the power supply is connected with the circuit board through a wire, the power supply supplies power to the circuit board, and a scram switch S1, a power switch S2 and a main relay K7 are arranged on a line between the power supply and the circuit board. The power source is a battery. The control unit on the circuit board is used for controlling a plurality of motors and water pump work, and the motor includes the motor of telescoping device, adjusts the motor on the platform, specifically: the control unit controls the motor of the telescopic device through the relays K3 and K4, electric signals are input to the motor, and the motor works according to the electric signals. The control unit controls the motor on the adjusting platform through relays K5 and K6, the K5 inputs signals for the horizontal rotation of the motor, and the K6 inputs signals for the vertical rotation of the motor. The control unit inputs the working signal of the high-voltage pump through the relay K1, and inputs the signal for starting the data transmission of the camera through the relay K2.
The control device is communicated with the electric control system and the camera and is used for displaying the data of the camera in real time and sending a control instruction to the electric control system. The control device is used for inputting control instructions, and comprises a rocker for controlling the robot to move, a rocker for controlling the adjusting platform, a switch for controlling the telescopic device and a switch for controlling injection, wherein the control instructions are input to the controller through wireless communication connection, the control device further comprises a display screen for displaying video data which are transmitted by the camera and shot in real time, and the control device is operated according to a scene displayed by the display screen.
As shown in fig. 1, the robot chassis comprises a suspension assembly 4, a frame 1 and a power assembly 2, wherein the frame is fixedly connected with the plate shell assembly, the suspension assembly comprises a crawler belt, a transmission gear and a bogie wheel, and the power assembly is arranged in the frame and connected with the transmission gear and used for driving the transmission gear to rotate.
The electric control system is connected with the data line, the power line and the pipeline of the cleaning liquid circulating system of the conveying platform through chain belts. Besides protecting cables and pipelines, the lifting system can not cause damage to the circuits when lifting.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A cleaning robot system for electrical equipment, comprising: the cleaning robot and controlling means, controlling means and cleaning robot communication, cleaning robot, for mobilizable robot, its characterized in that cleaning robot still includes board shell subassembly, lift system, washing liquid circulation system, electrical system, wherein:
The plate shell assembly comprises an insulating shell, is arranged on the robot chassis, is internally provided with a cleaning fluid circulation system and an electric control system, and is provided with a lifting and rotating system at the upper end;
The lifting and rotating system comprises a telescopic device, a camera and a spray head which are positioned on the telescopic device, wherein the directions of the camera and the spray head are fixed, the camera and the spray head are connected with the telescopic device through universal joints, and the angle is adjusted by up-down and left-right rotation;
the cleaning solution circulating system comprises a container for storing cleaning solution, a high-pressure pump, a pipeline and a nozzle, wherein the nozzle is communicated with the container through the pipeline;
the electronic control system comprises a controller and a communication unit, wherein the communication unit is used for communicating with the control device, and the controller is used for controlling the power assembly of the high-pressure pump, the lifting system and the robot chassis;
the control device is communicated with the electric control system and the camera, and is used for displaying the data of the camera in real time and sending a control instruction to the electric control system;
the plate shell component comprises a shell and an internal support, the shell is fixedly connected with the robot chassis, the internal support is used for fixing a cleaning fluid circulation system and an electric control system, and the plate shell component is made of insulating materials and has the characteristic of arc resistance;
One end of the telescopic device is fixed in the plate shell assembly, the other end of the telescopic device is connected with the camera and the spray head through universal joints, the camera and the spray head are fixed on an adjusting platform, the adjusting platform is connected with the telescopic device through the universal joints, and a motor is further arranged on the adjusting platform and used for controlling the platform to rotate left and right and up and down;
The electric control system controller is arranged in the plate shell assembly, is connected with the power assembly of the robot chassis, the high-pressure pump, the motor of the telescopic device and the motor on the adjusting platform in a control manner through a circuit, and transmits control signals through the circuit;
The communication unit is in wireless communication connection with the control device, and the communication unit is connected with the controller on the same circuit board through a circuit;
The power supply is connected with the circuit board through a wire, the power supply supplies power to the circuit board, an emergency stop switch S1, a power switch S2 and a main relay K7 are arranged on a circuit between the power supply and the circuit board, the power supply is a storage battery, a control unit on the circuit board is used for controlling a plurality of motors and a high-pressure pump to work, the motors comprise motors of a telescopic device and motors on an adjusting platform, the control unit controls the motors of the telescopic device through relays K3 and K4 to input electric signals to the motors, the motors work according to the electric signals, the control unit controls the motors on the adjusting platform through the relays K5 and K6, the relay K5 inputs signals for horizontal rotation of the motors, the relay K6 inputs signals for vertical rotation of the motors, the control unit inputs working signals of the high-pressure pump through the relay K1, and the relay K2 inputs signals for starting data transmission of the camera.
2. The cleaning robot system according to claim 1, wherein the lifting device of the lifting system comprises a motor, the motor drives the plurality of telescopic members to perform telescopic motion, and the telescopic members are formed by combining a plurality of hollow frame-shaped structures with the same shape and different sizes.
3. The cleaning robot system according to claim 1, wherein the container of the cleaning solution circulation system is disposed in a plate-and-shell assembly, an inlet of the container is disposed on the plate-and-shell assembly, a bottom of the container is connected to the spray head through a pipe, and the pipe further comprises a high-pressure pump for pressurizing the liquid of the container and discharging the liquid from the spray head, and cleaning the electric power equipment.
4. The cleaning robot system according to claim 1, wherein the control device is configured to input control instructions, including a rocker for controlling the robot to move, a rocker for controlling the adjustment platform, a switch for controlling the telescopic device, and a switch for controlling the injection, the control instructions being input to the controller through a wireless communication connection, and the control device further includes a display screen for displaying video data captured in real time transmitted by the camera, and the control device is operated according to a scene displayed by the display screen.
5. The cleaning robot system of claim 1, wherein the robot chassis comprises a suspension assembly, a frame and a power assembly, the frame is fixedly connected with the plate shell assembly, the suspension assembly comprises a crawler, a transmission gear and a bogie wheel, and the power assembly is arranged in the frame and connected with the transmission gear for driving the transmission gear to rotate.
6. The cleaning robot system of claim 1, wherein the electrical control system is connected with a data line, a power line, and a pipeline of the cleaning liquid circulation system of the transfer platform through a chain belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910932433.3A CN110624881B (en) | 2019-09-29 | 2019-09-29 | Cleaning robot system of power equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910932433.3A CN110624881B (en) | 2019-09-29 | 2019-09-29 | Cleaning robot system of power equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110624881A CN110624881A (en) | 2019-12-31 |
| CN110624881B true CN110624881B (en) | 2024-06-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910932433.3A Active CN110624881B (en) | 2019-09-29 | 2019-09-29 | Cleaning robot system of power equipment |
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| CN (1) | CN110624881B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104999450A (en) * | 2014-09-10 | 2015-10-28 | 国家电网公司 | Electrification water washing auxiliary flushing robot system for mobile self-water-supply type transformer substation and method |
| CN104998850A (en) * | 2014-09-10 | 2015-10-28 | 山东鲁能智能技术有限公司 | Electrification water washing robot system of transformer substation and method |
| CN105689828A (en) * | 2014-12-15 | 2016-06-22 | 发那科株式会社 | Electric discharge machine |
| CN206242036U (en) * | 2016-11-14 | 2017-06-13 | 华北电力大学（保定） | A kind of Substation Insulator string cleaning robot |
| CN107584501A (en) * | 2017-09-26 | 2018-01-16 | 山东鲁能智能技术有限公司 | A kind of substation equipment electrification cleaner device people and its control method |
| CN211100381U (en) * | 2019-09-29 | 2020-07-28 | 深圳市华睿丰盛带电作业有限公司 | Cleaning robot system of power equipment |
-
2019
- 2019-09-29 CN CN201910932433.3A patent/CN110624881B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104999450A (en) * | 2014-09-10 | 2015-10-28 | 国家电网公司 | Electrification water washing auxiliary flushing robot system for mobile self-water-supply type transformer substation and method |
| CN104998850A (en) * | 2014-09-10 | 2015-10-28 | 山东鲁能智能技术有限公司 | Electrification water washing robot system of transformer substation and method |
| CN105689828A (en) * | 2014-12-15 | 2016-06-22 | 发那科株式会社 | Electric discharge machine |
| CN206242036U (en) * | 2016-11-14 | 2017-06-13 | 华北电力大学（保定） | A kind of Substation Insulator string cleaning robot |
| CN107584501A (en) * | 2017-09-26 | 2018-01-16 | 山东鲁能智能技术有限公司 | A kind of substation equipment electrification cleaner device people and its control method |
| CN211100381U (en) * | 2019-09-29 | 2020-07-28 | 深圳市华睿丰盛带电作业有限公司 | Cleaning robot system of power equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110624881A (en) | 2019-12-31 |
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Address after: 518000 15th floor, Yantian modern industry service center, 3018 Shayan Road, Shatoujiao street, Yantian District, Shenzhen City, Guangdong Province Applicant after: Shenzhen electrified Technology Development Co.,Ltd. Address before: 518000 15th floor, Yantian modern industry service center, 3018 Shayan Road, Shatoujiao street, Yantian District, Shenzhen City, Guangdong Province Applicant before: Shenzhen Huarui Fengsheng Live Working Co.,Ltd. |
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