CN1586827A - Joint-telescopic type super high voltage live cleaning robot - Google Patents

Joint-telescopic type super high voltage live cleaning robot Download PDF

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Publication number
CN1586827A
CN1586827A CN 200410066597 CN200410066597A CN1586827A CN 1586827 A CN1586827 A CN 1586827A CN 200410066597 CN200410066597 CN 200410066597 CN 200410066597 A CN200410066597 A CN 200410066597A CN 1586827 A CN1586827 A CN 1586827A
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China
Prior art keywords
forearm
joint
paw
high voltage
big arm
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Granted
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CN 200410066597
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Chinese (zh)
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CN1309534C (en
Inventor
顾毅
车立新
顾亚夫
杨汝清
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Shanghai Jiaotong University
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Shanghai Jiaotong University
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Priority to CNB2004100665976A priority Critical patent/CN1309534C/en
Publication of CN1586827A publication Critical patent/CN1586827A/en
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Publication of CN1309534C publication Critical patent/CN1309534C/en
Expired - Fee Related legal-status Critical Current
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Abstract

The telescopic joint type robot for superhigh voltage live cleaning is used in cleaning. The robot has hand claw connected to small arm via the first joint, hand claw rotating oil cylinder with piston rod hinged to hand claw and cylinder hinged to small arm, small arm connected to the large arm via the second joint, small arm rotating oil cylinder with piston rod hinged to small arm and cylinder hinged to large arm, large arm fixed onto the rotary platform, rotary platform fixed onto movable carrier, automatic hydraulic leveling system and cradle head on the movable carrier and remotely controlled operating terminal for data exchange with central control system via radio communication. The present invention has less joints, simple structure, light weight and easy working and assembling, and may position ceramic insulator accurately.

Description

Joint-telescopic type super high voltage live cleaning robot
Technical field
The present invention relates to a kind of type super high voltage live cleaning robot, specifically is a kind of joint-telescopic type super high voltage live cleaning robot.Be used for the service robot technical field.
Background technology
China's power department requires the external insulation of transmission line of electricity 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 when the equipment pollution flashover, the reclosing success rate is very low, often causes large-area power-cuts.The powerful electric arc of being followed in the pollution flashover also often causes electrical equipment to damage, and power off time is prolonged.The fast development that flies along with China's industrial and agricultural production, air environmental pollution is on the rise, the pollution level of porcelain insulator increasingly sharpens, the transmission voltage grade is improving constantly again simultaneously, the distribution of electrical network is also more and more wide, the grid equipment external insulation pollution flashover fault that causes is thus uprushed thereupon, and catastrophic electric grid large area pollution flashover accident the safe operation of serious threat power system again and again takes place in the whole nation in a big way.
Find through open source literature retrieval prior art, Chinese patent application number is: 01126817.4, denomination of invention is: " type super high voltage live cleaning robot ", this patent robot 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, insulated elevating mechanism is fixed on the revolving dial, revolving dial is fixed on the locomotive, locomotive is provided with hydraulic pressure automatic horizontal regulating system, and distant operating terminal carries out exchanges data by radio communication and central control system.This robot automation's degree height 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.But in the middle of the application of reality, this robot shows the some shortcomings part: (1) scissor-type lifting mechanism joint is numerous, complex structure, weight is big, process and assemble is difficult.(2) the stiffness coefficient K of insulating materials that elevating mechanism uses is easy to generate vibration less than metal material during the lifting of scissor-type frame, the location of influence cleaning arm.
Summary of the invention
The objective of the invention is to overcome deficiency of the prior art, a kind of type super high voltage live cleaning robot is provided, make that it has that the joint is few, simple in structure, in light weight, process and assemble characteristics easily, the vibration problem that exists in the time of simultaneously solving the scissor-type lifting mechanism lifting, can accurately finish the location of porcelain insulator, be used for the live cleaning of 220/330KV high voltage live cleaning and 500KV extra-high pressure Substation Insulator.
The present invention is achieved by the following technical solutions, the present invention includes: hydraulic pressure automatic horizontal control system, central control system, The Cloud Terrace, revolving dial, big arm, little swing cylinder, forearm, paw rotational fuel tank, paw, data collecting system, first turning joint, second turning joint, mobile vehicle and distant operating terminal.Its connected mode is: paw is connected with forearm by first turning joint, the piston rod of paw rotational fuel tank is connected with hinge on being fixed on paw, the cylinder barrel of paw rotational fuel tank is connected with the hinge that is fixed on the forearm upper end; forearm is connected with big arm by second turning joint; the piston rod of little swing cylinder is connected with the hinge that is fixed on the forearm lower end; the cylinder barrel of little swing cylinder is connected with the hinge that is fixed on big arm upper end, and big arm is fixed on the revolving dial; Revolving dial is fixed on the mobile vehicle, also is provided with hydraulic pressure automatic horizontal control system and The Cloud Terrace on mobile vehicle; Big arm and forearm adopt three grades of hydraulic telescopic type structures, realize the flexible of arm by hydraulic jack.Distant operating terminal carries out exchanges data by wireless telecommunications and central control system.
During work, the swing of the flexible realization paw of paw rotational fuel tank, the flexible swing that can drive forearm and be connected the paw on the forearm of little swing cylinder, the interlock of paw rotational fuel tank and little swing cylinder can keep the level of paw; Revolving dial can be realized the porcelain insulator of the horizontal rotation of whole cleaning arm with the cleaning different directions; Big arm adopts three grades of stretching structures, and forearm adopts the two-stage stretching structure, by the flexible porcelain insulator that can clean differing heights of big arm and forearm.Distant operating terminal carries out exchanges data by wireless telecommunications and central control system, realizes the automatic/hand cleaning operation of robot.
The invention belongs to the multi-freedom robot system, the automaticity height, simple in structure, in light weight, process and assemble is convenient, and lifting is not steadily vibrated, and can accurately finish the location of clean-up paw, has avoided the mistake of porcelain insulator to bump; And the highest 10m that surpasses of robot, can be used for the cleaning of 500KV transformer station porcelain insulator, inconvenience and the economic loss that so both can avoid power operation to bring, operating personnel's life security in the time of can guaranteeing livewire work again.
Description of drawings
Fig. 1 structural representation of the present invention
The specific embodiment
As shown in Figure 1, the present invention includes: hydraulic pressure automatic horizontal control system 1, central control system 2, The Cloud Terrace 3, revolving dial 4, big arm 5, forearm rotational fuel tank 6, forearm 7, paw rotational fuel tank 8, paw 9, data collecting system 10, turning joint 11, turning joint 12, mobile vehicle 13 and distant operating terminal 14.Its connected mode is: paw 9 is connected on the forearm 7 by turning joint 11; The piston rod of paw rotational fuel tank 8 is connected through the hinge on paw 9, and paw rotational fuel tank 8 cylinder barrels are connected through the hinge on forearm 7; Forearm 7 is connected on the big arm 5 by turning joint 12, and the piston rod of forearm rotational fuel tank 6 is connected through the hinge on forearm 7, and the cylinder barrel of forearm rotational fuel tank 6 is connected through the hinge on big arm 5; Big arm 5 is fixed on the revolving dial 4; Revolving dial 4 is fixed on the mobile vehicle 13; On mobile vehicle 13, also be provided with hydraulic pressure automatic horizontal control system 1 and The Cloud Terrace 3; Distant operating terminal 14 carries out exchanges data by wireless telecommunications and central control system 2.
Big arm 5 adopts three grades of hydraulic telescopic type structures; Forearm 7 adopts the secondary telescopic structure.

Claims (3)

1; A kind of joint-telescopic type super high voltage live cleaning robot; Comprise: the automatic leveling system of hydraulic pressure (1); Central control system (2); Cloud platform (3); Revolving dial (4); Paw (9); Data collecting system (10); Turning joint (11); Turning joint (12); Mobile vehicle (13) and distant operating terminal (14); It is characterized in that; Also comprise: big arm (5); Little swing cylinder (6); Forearm (7); Paw rotational fuel tank (8); Paw (9) is connected on the forearm (7) by turning joint (11); The piston rod of paw rotational fuel tank (8) is connected through the hinge on paw (9); The chain connection of paw rotational fuel tank (8) cylinder barrel by being fixed on forearm (5) upper end is on forearm (7); Forearm (7) is connected on the big arm (5) by turning joint (12); The piston rod of little swing cylinder (6) is connected through the hinge on forearm (7); Little swing cylinder (6) cylinder barrel is connected through the hinge on big arm (5); Big arm (5) is fixed on the revolving dial (4); Revolving dial (4) is fixed on the mobile vehicle (13); Also be provided with the automatic leveling system of hydraulic pressure (1) He Yuntai (3) on mobile vehicle (13), distant operating terminal (14) carries out the data exchange by wireless telecommunications and central control system (2).
2, joint-telescopic type super high voltage live cleaning robot according to claim 1 is characterized in that, big arm (5) adopts three grades of hydraulic telescopic type structures.
3, joint-telescopic type super high voltage live cleaning robot according to claim 1 is characterized in that, forearm (7) adopts the secondary telescopic structure.
CNB2004100665976A 2004-09-23 2004-09-23 Joint-telescopic type super high voltage live cleaning robot Expired - Fee Related CN1309534C (en)

Priority Applications (1)

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Application Number Priority Date Filing Date Title
CNB2004100665976A CN1309534C (en) 2004-09-23 2004-09-23 Joint-telescopic type super high voltage live cleaning robot

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CN1309534C CN1309534C (en) 2007-04-11

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Cited By (36)

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Publication number Priority date Publication date Assignee Title
CN100391771C (en) * 2006-01-13 2008-06-04 中国科学院沈阳自动化研究所 Autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot
CN100413605C (en) * 2005-11-24 2008-08-27 上海交通大学 Two-stage lifting superhigh voltage hot-line cleaning robot
CN102009046A (en) * 2010-10-15 2011-04-13 湖南大学 Intelligent mobile cleaning robot
CN101604825B (en) * 2009-07-14 2011-12-14 山东鲁能智能技术有限公司 Robot used for intelligent substation patrol
CN102357487A (en) * 2011-08-26 2012-02-22 重庆电力高等专科学校 Insulator cleaning mechanical arm
CN102361249A (en) * 2011-08-02 2012-02-22 山东济阳机械厂 Automatic remote control electric installation and maintenance vehicle
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
CN102601782A (en) * 2012-04-01 2012-07-25 山东电力研究院 High-voltage live working robot device
CN102615638A (en) * 2012-04-01 2012-08-01 山东鲁能智能技术有限公司 Master-slave hydraulic mechanical arm system of high-voltage hot-line operation robot
CN102615637A (en) * 2012-04-01 2012-08-01 山东电力研究院 Master-slave control robot work platform for high-voltage live working
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
CN102773859A (en) * 2012-05-21 2012-11-14 哈尔滨工程大学 Friction telescopic device of robot
CN103199456A (en) * 2013-03-14 2013-07-10 河南省电力公司南阳供电公司 High voltage power transmission line foreign material removing device
CN103376227A (en) * 2013-06-28 2013-10-30 国网电力科学研究院武汉南瑞有限责任公司 Novel hydrophobic online detection device
CN103433241A (en) * 2013-08-16 2013-12-11 广东电网公司电力科学研究院 Transformer substation insulator dry ice cleaning vehicle
CN104289476A (en) * 2014-09-22 2015-01-21 山东理工大学 Street lamp pole scrubbing device
CN104882823A (en) * 2015-06-12 2015-09-02 国网山东省电力公司烟台供电公司 Column switch nest removing apparatus based on insulating rod
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
CN105397841A (en) * 2015-12-08 2016-03-16 四川大学 Mechanical arm with three degrees of freedom
CN106002924A (en) * 2016-07-20 2016-10-12 张学衡 Inspection robot for transformer substation
CN106513206A (en) * 2016-12-14 2017-03-22 深圳供电局有限公司 Substation support column insulator electrified automatic spraying device
CN106595762A (en) * 2016-12-09 2017-04-26 南京理工大学 Hot-line work robot tension insulator detection method
CN106733802A (en) * 2017-02-14 2017-05-31 国家电网公司 One kind automation converting equipment hv live cleaning machine
CN106887803A (en) * 2017-04-27 2017-06-23 国网福建省电力有限公司 Multi-functional hotline maintenance device
CN106926260A (en) * 2017-03-10 2017-07-07 蒙柳 A kind of teleoperation robot interaction controller
CN107014418A (en) * 2017-03-27 2017-08-04 贵州大学 A kind of machinery instrument mounting bracket
CN107221880A (en) * 2017-04-11 2017-09-29 国网浙江台州市路桥区供电公司 One kind lives across stringing protection device
CN107234087A (en) * 2017-07-28 2017-10-10 王杰 A kind of power cable device
CN107508241A (en) * 2017-09-14 2017-12-22 国网山东省电力公司莱芜供电公司 A kind of more cable snow-removing devices in high-altitude
CN108127670A (en) * 2017-11-10 2018-06-08 广东珺桦能源科技有限公司 A kind of crawler type high-voltage contact automatic rinser device people applied to power domain
CN108555876A (en) * 2018-05-23 2018-09-21 桂林电子科技大学 Transformer porcelain bottle cleaning robot
CN111725731A (en) * 2020-06-03 2020-09-29 国家电网有限公司 Circuit cleaning equipment for electric power maintenance
CN111900662A (en) * 2020-07-07 2020-11-06 广东能飞航空科技发展有限公司 Tree obstacle cleaning robot
CN112942879A (en) * 2021-02-03 2021-06-11 陈林 High-pressure cleaning vehicle with high-altitude operation platform

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CN2189988Y (en) * 1994-04-20 1995-02-22 徐文澄 Automatic superhigh voltage live cleaning machine
JP2938777B2 (en) * 1995-01-12 1999-08-25 建設省関東地方建設局長 Pipeline inspection work vehicle
CN2336883Y (en) * 1998-04-20 1999-09-08 韩寿昌 Hot-line work dust cleaning device
CN1164403C (en) * 2001-09-20 2004-09-01 上海交通大学 Robot for cleaning alive ultrahigh voltage equipment

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CN100413605C (en) * 2005-11-24 2008-08-27 上海交通大学 Two-stage lifting superhigh voltage hot-line cleaning robot
CN100391771C (en) * 2006-01-13 2008-06-04 中国科学院沈阳自动化研究所 Autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot
CN101604825B (en) * 2009-07-14 2011-12-14 山东鲁能智能技术有限公司 Robot used for intelligent substation patrol
CN102009046A (en) * 2010-10-15 2011-04-13 湖南大学 Intelligent mobile cleaning robot
CN102361249A (en) * 2011-08-02 2012-02-22 山东济阳机械厂 Automatic remote control electric installation and maintenance vehicle
CN102357487A (en) * 2011-08-26 2012-02-22 重庆电力高等专科学校 Insulator cleaning mechanical arm
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
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CN102698970A (en) * 2012-03-31 2012-10-03 上海市电力公司 Energized cleaning robot
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CN102601782B (en) * 2012-04-01 2014-08-27 山东电力研究院 High-voltage live working robot device
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CN102615638B (en) * 2012-04-01 2014-08-06 山东鲁能智能技术有限公司 Master-slave hydraulic mechanical arm system of high-voltage hot-line operation 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
CN102773859A (en) * 2012-05-21 2012-11-14 哈尔滨工程大学 Friction telescopic device of robot
CN102773859B (en) * 2012-05-21 2015-07-22 哈尔滨工程大学 Friction telescopic device of robot
CN103199456A (en) * 2013-03-14 2013-07-10 河南省电力公司南阳供电公司 High voltage power transmission line foreign material removing device
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CN103433241B (en) * 2013-08-16 2016-08-10 广东电网公司电力科学研究院 Substation Insulator dry ice cleaning vehicle
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CN104882823A (en) * 2015-06-12 2015-09-02 国网山东省电力公司烟台供电公司 Column switch nest removing apparatus based on insulating rod
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