CN1586827A - Joint-telescopic type super high voltage live cleaning robot - Google Patents
Joint-telescopic type super high voltage live cleaning robot Download PDFInfo
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- 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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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
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.
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.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CNB2004100665976A CN1309534C (en) | 2004-09-23 | 2004-09-23 | Joint-telescopic type super high voltage live cleaning robot |
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CNB2004100665976A CN1309534C (en) | 2004-09-23 | 2004-09-23 | Joint-telescopic type super high voltage live cleaning robot |
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CN1586827A true CN1586827A (en) | 2005-03-02 |
CN1309534C CN1309534C (en) | 2007-04-11 |
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CNB2004100665976A Expired - Fee Related CN1309534C (en) | 2004-09-23 | 2004-09-23 | Joint-telescopic type super high voltage live cleaning robot |
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