CN1336270A - Robot for cleaning alive ultrahigh voltage equipment - Google Patents

Robot for cleaning alive ultrahigh voltage equipment Download PDF

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Publication number
CN1336270A
CN1336270A CN 01126817 CN01126817A CN1336270A CN 1336270 A CN1336270 A CN 1336270A CN 01126817 CN01126817 CN 01126817 CN 01126817 A CN01126817 A CN 01126817A CN 1336270 A CN1336270 A CN 1336270A
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China
Prior art keywords
insulated
cleaning
robot
platform
central control
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Granted
Application number
CN 01126817
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Chinese (zh)
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CN1164403C (en
Inventor
杨汝青
赵群飞
张祥全
彭夕岚
高雪官
张健
马培荪
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Lanzhou Power Supply Bureau Of Gansu Electric Power Industry Bureau
Shanghai Jiaotong University
Original Assignee
Lanzhou Power Supply Bureau Of Gansu Electric Power Industry Bureau
Shanghai Jiaotong University
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Application filed by Lanzhou Power Supply Bureau Of Gansu Electric Power Industry Bureau, Shanghai Jiaotong University filed Critical Lanzhou Power Supply Bureau Of Gansu Electric Power Industry Bureau
Priority to CNB011268174A priority Critical patent/CN1164403C/en
Publication of CN1336270A publication Critical patent/CN1336270A/en
Application granted granted Critical
Publication of CN1164403C publication Critical patent/CN1164403C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The invented cleaning robot with superhigh votlage on line is composed of hydraulic automatic level regulating system, mobile vehicle, rotating platform, insulated lifting mechanism, cleaning brush, cleaning arm, insulated platform, insulated platform data collection system, control control system, remote operation terminal etc. Automation degree of the present invention is high. The system is a multi freedom of robot system and possess flexible operation space.

Description

Type super high voltage live cleaning robot
Technical field: what the present invention relates to is a kind of robot, and particularly a kind of type super high voltage live cleaning robot belongs to the robot field.
Background technology: China's power department requires the external insulation of output electric line and transformer station in atmospheric over-voltage, the equal down energy reliability service of internal overvoltage and long-time running voltage, but be deposited on the lip-deep solid of porcelain insulator, filthy particulate of liquids and gases and mist, reveal, drizzle, ice-melt, effect in the time of bad weather conditions such as snow melt, to the electrical strength of porcelain insulator be reduced greatly, thereby make the external insulation of transmission line of electricity and transformer station not only under superpotential effect, flashover take place, more frequent is under long-time running voltage pollution flashover to take place, and causes power outage.Along with developing rapidly of the industrial and agricultural production of China, the pollution level of porcelain insulator increasingly sharpens, and the improving constantly of transmission voltage grade, the distribution of electrical network is more and more wide, according to statistics, owing to the filthy insulation flashover accident number of times that causes has accounted for second at present in the total accident number of times of electrical network, be only second to lightning disturbance, and the loss that pollution flashover accident causes is 10 times of lightning disturbance.Therefore the professional has proposed some solutions at above-mentioned situation, find through literature search, the patent No. is: 98245149, name is called: the utility model technology of " the charged automatic sweeping machine tool of fork truck assembling super-pressure ", this device has replaced dolly and electric up-down platform with small-sized fork truck, but has following problems in actual applications:
1. this complete equipment does not have the sensing device of porcelain vase location, and the efficient of artificial guiding location is low, and the mistake that porcelain insulator takes place is easily bumped.
2. this equipment can only clean vertical porcelain vase, can't clean the porcelain vase of other attitudes, as porcelain vase that tilts or the vertical porcelain vase of ground cleaning that is tilting.
3. the cleaning action of each joint porcelain vase is finished by the lifting of manually-operated brush dish, and automaticity is low.
4. during field work, this complete equipment transportation difficulty, fork truck and scavenging machine will deliver to truck with equipment hoistings such as cranes.
Summary of the invention: the present invention is directed to problems of the prior art, a kind of type super high voltage live cleaning robot is provided, this robot adopts the multiple degrees of freedom control mode; Robot can guide cleaning brush location automatically, cleans porcelain insulator automatically; The coordination of the several frees degree by robot can be cleaned the porcelain insulator of various attitudes; Robot has hydraulic pressure automatic horizontal regulating system, can eliminate the influence of uneven ground to robot pose; For the complex task that robot can't work, robot has manned insulated platform, and the operator can be at the enterprising line operate of insulated platform.The present invention mainly comprises: hydraulic pressure automatic horizontal regulating system, locomotive, revolving dial, insulated elevating mechanism, the cleaning brush, cleaning arm, The Cloud Terrace, insulated platform, the insulated platform data collecting system, central control system, distant operating terminal, its connected mode is: the cleaning brush is connected on the telescopic arm of cleaning arm by turning joint, the standing part of cleaning arm and insulated platform directly are fixed on the insulated elevating mechanism, realize vertical displacement movement, insulated elevating mechanism is fixed on the revolving dial, the realization cleaning arm ± 180 horizontal rotations, revolving dial is fixed on the locomotive, locomotive is provided with hydraulic pressure automatic horizontal regulating system, revolving dial is provided with the X-Y dipmeter, carries out automatic horizontal by central control system according to the signal of dipmeter and regulates.Insulated platform is provided with The Cloud Terrace and insulated platform data collecting system, video camera and laser range finder are set on the The Cloud Terrace, the insulated platform data collecting system is transmitted by wireless data, send the posture information of porcelain insulator to central control system, the motion of control cleaning arm and revolving dial, make cleaning arm steadily, exactly near porcelain insulator.Distant operating terminal carries out exchanges data by radio communication and central control system, can realize the automatic/hand cleaning operation of robot.
The present invention has substantive distinguishing features and marked improvement, and automaticity height of the present invention has solved the maloperation problem that manually-operated efficient is hanged down and may be occurred; Multivariant robot system has working space flexibly, can clean the porcelain insulator of various attitudes; Locomotive has solved the transportation problem of field work as the carrier of robot; Hydraulic pressure automatic horizontal regulating system has been eliminated the position error that uneven ground causes.
Description of drawings: Fig. 1 structural representation of the present invention
The specific embodiment: as shown in Figure 1, the present invention mainly comprises: hydraulic pressure automatic horizontal regulating system 1, move Motor-car 2, revolving dial 3, insulated elevating mechanism 4, cleaning brush 5, cleaning arm 6, The Cloud Terrace 7, insulated platform 8, insulated platform data collecting system 9, central control system 10, distant operating terminal 11, its connected mode is: Cleaning brush 5 is connected on the telescopic arm of cleaning arm 6 standing part of cleaning arm 6 and insulation by turning joint Platform 8 directly is fixed on the insulated elevating mechanism 4, realizes vertical displacement movement, and insulated elevating mechanism 4 is fixed on On the revolving dial 3, the realization cleaning arm ± 180 ° of horizontal rotations, revolving dial 3 is fixed on the locomotive 2, moves Motor-car 2 is provided with hydraulic pressure automatic horizontal regulating system 1, and revolving dial 3 is provided with the X-Y dipmeter, is controlled by central authorities System 10 processed carries out the automatic horizontal adjusting according to the signal of dipmeter, and insulated platform 8 is provided with The Cloud Terrace 7 and insulation is flat Number of units arranges video camera and laser range finder 12, the insulated platform data collecting system according to acquisition system 9 on the The Cloud Terrace 7 9 by Wireless Data Transmission, sends the posture information of porcelain insulator to central control system 10, the control cleaning arm 6 and the motion of revolving dial 3, make cleaning arm 6 steadily, exactly near porcelain insulator. Distant operating terminal 11 leads to Cross radio communication and central control system 10 is carried out exchanges data, can realize the automatic/hand cleaning behaviour of robot Do.

Claims (2)

1, a kind of type super high voltage live cleaning robot, mainly comprise: locomotive (2), insulated elevating mechanism (4), cleaning brush (5), insulated platform (8), it is characterized in that comprising: hydraulic pressure automatic horizontal regulating system (1), four change platform (3) cleaning arm (6), The Cloud Terrace (7), insulated platform data collecting system (9), central control system (10), distant operating terminal (11), its connected mode is: cleaning brush (5) is connected on the telescopic arm of cleaning arm (6) by turning joint, cleaning arm (6)) standing part and insulated platform (8) directly are fixed on the insulated elevating mechanism (4), insulated elevating mechanism (4) is fixed on the revolving dial (3), revolving dial (3) is fixed on the locomotive (2), locomotive (2) is provided with hydraulic pressure automatic horizontal regulating system (1), revolving dial (3) is provided with the X-Y dipmeter, carrying out automatic horizontal by central control system (10) according to the signal of dipmeter regulates, insulated platform (8) is provided with The Cloud Terrace (7) and insulated platform data collecting system (9), insulated platform data collecting system (9) is transmitted by wireless data, send the posture information of porcelain insulator to central control system (10), distant operating terminal (11) carries out exchanges data by radio communication and central control system (10).
2, this type super high voltage live cleaning robot according to claim 1 is characterized in that being provided with on the The Cloud Terrace (7) video camera and laser range finder (12).
CNB011268174A 2001-09-20 2001-09-20 Robot for cleaning alive ultrahigh voltage equipment Expired - Fee Related CN1164403C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNB011268174A CN1164403C (en) 2001-09-20 2001-09-20 Robot for cleaning alive ultrahigh voltage equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB011268174A CN1164403C (en) 2001-09-20 2001-09-20 Robot for cleaning alive ultrahigh voltage equipment

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Publication Number Publication Date
CN1336270A true CN1336270A (en) 2002-02-20
CN1164403C CN1164403C (en) 2004-09-01

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Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100337796C (en) * 2003-01-18 2007-09-19 新田株式会社 Robot system
CN100413605C (en) * 2005-11-24 2008-08-27 上海交通大学 Two-stage lifting superhigh voltage hot-line cleaning robot
CN100427226C (en) * 2004-09-17 2008-10-22 清华大学 Multifunction integrated cleaning robot for ventilation pipeline
CN102430546A (en) * 2011-09-09 2012-05-02 内蒙古电力科学研究院 Electrified cleaning robot for insulator of transformer substation
CN102441537A (en) * 2011-10-22 2012-05-09 武陟县电业总公司 High-pressure china bowl scavenging machine
CN102671876A (en) * 2012-05-04 2012-09-19 上海市电力公司 High-voltage charged transformer cleaning robot
CN102698970A (en) * 2012-03-31 2012-10-03 上海市电力公司 Energized cleaning robot
CN103241300A (en) * 2013-05-23 2013-08-14 广东电网公司电力科学研究院 Carrier trolley device for live cleaning system
CN103433243A (en) * 2013-08-16 2013-12-11 广东电网公司电力科学研究院 Insulator surface aged RTV paint eliminating method and device
CN103433242A (en) * 2013-08-16 2013-12-11 广东电网公司电力科学研究院 Transformer substation dry ice cleaning vehicle
CN104242120A (en) * 2014-09-10 2014-12-24 国家电网公司 Transformer substation disconnecting link electrified automatic washing device
CN104934900A (en) * 2015-07-15 2015-09-23 王学香 Apparatus for maintaining electric power equipment
CN105162045A (en) * 2015-10-29 2015-12-16 国网山东省电力公司莱芜供电公司 Trolley special for assembly and disassembly of high-position grounding wire
CN105268680A (en) * 2014-07-07 2016-01-27 深圳市福田区青少年科技教育协会 Overhead cleaning machine
CN105583802A (en) * 2014-10-22 2016-05-18 云南电网公司楚雄供电局 Vision-based high-altitude line hanging robot
CN105965225A (en) * 2016-06-27 2016-09-28 中国原子能科学研究院 Reactor graphite removal device
CN105977864A (en) * 2013-11-30 2016-09-28 国网河南省电力公司周口供电公司 High-altitude operation workbench for multifunctional power transmission line
CN106182010A (en) * 2016-08-18 2016-12-07 上海交通大学 Intelligent substation gold utensil dismounting automatic job robot and using method thereof
CN106448962A (en) * 2016-12-21 2017-02-22 国网山东省电力公司龙口市供电公司 Live cleaning device for electrical insulators
CN107234087A (en) * 2017-07-28 2017-10-10 王杰 A kind of power cable device
CN107282548A (en) * 2017-07-18 2017-10-24 中原工学院 Adaptive surface cleaning device and its application method for tall and big pillar type column
CN107617591A (en) * 2017-09-13 2018-01-23 长沙展朔轩兴信息科技有限公司 Overpressured zones electric machine people cleans the automatic centering device of brush
CN107799926A (en) * 2017-09-12 2018-03-13 国家电网公司 Transformer substation grounding wire assembling and disassembling device
CN108246682A (en) * 2018-01-09 2018-07-06 岳睿 Large-scale high level mechanized equipment cleaning equipment
CN109482580A (en) * 2018-09-14 2019-03-19 国网浙江省电力有限公司金华供电公司 A kind of disconnecting switch intelligence electrification Dry ice cleaning device
CN110653195A (en) * 2019-09-29 2020-01-07 国网河南省电力公司邓州市供电公司 Post insulator cleaning equipment of transformer substation
CN112620193A (en) * 2021-03-08 2021-04-09 广东电网有限责任公司佛山供电局 Insulator live-line cleaning device

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1309534C (en) * 2004-09-23 2007-04-11 上海交通大学 Joint-telescopic type super high voltage live cleaning robot
CN1978004B (en) * 2005-11-30 2010-11-03 中国科学院自动化研究所 Fire-disaster emergency robot system and method

Cited By (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100337796C (en) * 2003-01-18 2007-09-19 新田株式会社 Robot system
CN100427226C (en) * 2004-09-17 2008-10-22 清华大学 Multifunction integrated cleaning robot for ventilation pipeline
CN100413605C (en) * 2005-11-24 2008-08-27 上海交通大学 Two-stage lifting superhigh voltage hot-line cleaning robot
CN102430546A (en) * 2011-09-09 2012-05-02 内蒙古电力科学研究院 Electrified cleaning robot for insulator of transformer substation
CN102441537A (en) * 2011-10-22 2012-05-09 武陟县电业总公司 High-pressure china bowl scavenging machine
CN102698970A (en) * 2012-03-31 2012-10-03 上海市电力公司 Energized cleaning robot
CN102671876B (en) * 2012-05-04 2014-04-23 上海市电力公司 High-voltage charged transformer cleaning robot
CN102671876A (en) * 2012-05-04 2012-09-19 上海市电力公司 High-voltage charged transformer cleaning robot
CN103241300A (en) * 2013-05-23 2013-08-14 广东电网公司电力科学研究院 Carrier trolley device for live cleaning system
CN103433243A (en) * 2013-08-16 2013-12-11 广东电网公司电力科学研究院 Insulator surface aged RTV paint eliminating method and device
CN103433242A (en) * 2013-08-16 2013-12-11 广东电网公司电力科学研究院 Transformer substation dry ice cleaning vehicle
CN103433242B (en) * 2013-08-16 2016-09-14 广东电网公司电力科学研究院 Transformer station's dry ice cleaning vehicle
CN103433243B (en) * 2013-08-16 2016-08-17 广东电网公司电力科学研究院 Insulator surface aging RTV coating sweep-out method and device
CN105977864B (en) * 2013-11-30 2017-08-18 国网河南省电力公司周口供电公司 A kind of multifunction power high-altitude operation worktable used for transmission line
CN105977864A (en) * 2013-11-30 2016-09-28 国网河南省电力公司周口供电公司 High-altitude operation workbench for multifunctional power transmission line
CN105268680A (en) * 2014-07-07 2016-01-27 深圳市福田区青少年科技教育协会 Overhead cleaning machine
CN104242120A (en) * 2014-09-10 2014-12-24 国家电网公司 Transformer substation disconnecting link electrified automatic washing device
CN104242120B (en) * 2014-09-10 2016-01-20 国家电网公司 The charged automatic flushing device of a kind of transformer station's disconnecting link
CN105583802A (en) * 2014-10-22 2016-05-18 云南电网公司楚雄供电局 Vision-based high-altitude line hanging robot
CN104934900B (en) * 2015-07-15 2018-01-02 大唐三门峡电力有限责任公司 A kind of electric power apparatus examination device
CN104934900A (en) * 2015-07-15 2015-09-23 王学香 Apparatus for maintaining electric power equipment
CN107196234A (en) * 2015-07-15 2017-09-22 钟明乐 A kind of repair method of power equipment
CN105162045A (en) * 2015-10-29 2015-12-16 国网山东省电力公司莱芜供电公司 Trolley special for assembly and disassembly of high-position grounding wire
CN105965225A (en) * 2016-06-27 2016-09-28 中国原子能科学研究院 Reactor graphite removal device
CN106182010A (en) * 2016-08-18 2016-12-07 上海交通大学 Intelligent substation gold utensil dismounting automatic job robot and using method thereof
CN106448962A (en) * 2016-12-21 2017-02-22 国网山东省电力公司龙口市供电公司 Live cleaning device for electrical insulators
CN107282548B (en) * 2017-07-18 2018-03-06 中原工学院 Adaptive surface cleaning device and its application method for tall and big pillar type column
CN107282548A (en) * 2017-07-18 2017-10-24 中原工学院 Adaptive surface cleaning device and its application method for tall and big pillar type column
CN107234087A (en) * 2017-07-28 2017-10-10 王杰 A kind of power cable device
CN107799926A (en) * 2017-09-12 2018-03-13 国家电网公司 Transformer substation grounding wire assembling and disassembling device
CN107617591A (en) * 2017-09-13 2018-01-23 长沙展朔轩兴信息科技有限公司 Overpressured zones electric machine people cleans the automatic centering device of brush
CN108246682A (en) * 2018-01-09 2018-07-06 岳睿 Large-scale high level mechanized equipment cleaning equipment
CN109482580A (en) * 2018-09-14 2019-03-19 国网浙江省电力有限公司金华供电公司 A kind of disconnecting switch intelligence electrification Dry ice cleaning device
CN110653195A (en) * 2019-09-29 2020-01-07 国网河南省电力公司邓州市供电公司 Post insulator cleaning equipment of transformer substation
CN112620193A (en) * 2021-03-08 2021-04-09 广东电网有限责任公司佛山供电局 Insulator live-line cleaning device

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