CN204036449U - A kind of living water washing Fu Chong robot of transformer station that can accurately rinse - Google Patents
A kind of living water washing Fu Chong robot of transformer station that can accurately rinse Download PDFInfo
- Publication number
- CN204036449U CN204036449U CN201420516427.2U CN201420516427U CN204036449U CN 204036449 U CN204036449 U CN 204036449U CN 201420516427 U CN201420516427 U CN 201420516427U CN 204036449 U CN204036449 U CN 204036449U
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- lifting mechanism
- vertical lifting
- hydraulic giant
- transformer station
- fixed
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 41
- 238000005406 washing Methods 0.000 title claims abstract description 21
- 238000011010 flushing procedure Methods 0.000 claims abstract description 25
- 238000009413 insulation Methods 0.000 claims abstract description 19
- 239000012212 insulator Substances 0.000 claims abstract description 13
- 210000000056 organ Anatomy 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 23
- 239000003921 oil Substances 0.000 claims description 9
- 230000003028 elevating effect Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000002283 diesel fuel Substances 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 claims description 4
- 230000010355 oscillation Effects 0.000 claims description 3
- 230000000452 restraining effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000004140 cleaning Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 238000011001 backwashing Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a kind of living water washing Fu Chong robot of transformer station that can accurately rinse, basic machine comprises chassis, chassis is fixed in walking mechanism, fixed housing on chassis, vertical lifting mechanism is fixed on chassis, and outside vertical lifting mechanism, surrounding is with organ case guard shield, in organ case guard shield, Vehicle Controller is installed, vertical lifting mechanism is fixed with insulation column, and the upper end of insulation column is fixed with electric cabinet, and electric cabinet controls hydraulic giant flushing machine mounted thereto; Be provided with power assembly in shell, for walking mechanism and vertical lifting mechanism provide power source, Vehicle Controller matches with remote control system, and remote control system drives vertical lifting mechanism, the work of hydraulic giant flushing machine by remote controlled manner; The utility model can replace manually completing Substation Insulator and rinse operation, has ensured the safety of operating personnel, the labour intensity of reduction, has improved flush efficiency and automatization level, rinsed operating type produce positive change effect to transformer station of China water.
Description
Technical field
The utility model relates to a kind of living water washing Fu Chong robot of transformer station that can accurately rinse.
Background technology
Substation Insulator is exposed in external environment for a long time, and surface is dirt deposits easily, and these dirts easily pollution flashover accident occur by bad weather infringement.Insulator charged water rinses the reliability that operation can improve power supply, reduces loss of outage, ensures the safety of transformer station and transmission line of electricity.Rinse operation in the Substation Insulator of present stage and mainly there is following shortcoming:
1, backwashing manner is enter scene by the hand-held flushing device of cleaning technique personnel to carry out operation mostly, artificial flushing not only depends on weather condition, cleaning personnel are also needed to possess compared with high-tech level and skilled operating process, the security protection of high standard is needed when living water washing is carried out to insulator, the security incident caused to avoid short circuit current, causing casualties, there is potential safety hazard in this kind of operating type;
2, operating personnel are when rinsing, and cannot ensure to be positioned at safety zone all the time, labour intensity is high and efficiency is low;
3, consider that living water washing operation is subject to rinsing many-sided impact such as angle, hydraulic pressure, manual work can not wash away the dunghill on equipment outer insulation surface sometimes completely;
4, existing water flushing device people is when rinsing, and walking mechanism, mechanical arm and hydraulic giant all can produce vibrations and wave, and reduces and rinses accuracy, the dirt of outer surface of insulator cannot be cleaned up.
Therefore, research and develop a kind of can reaching and reduce vibrations, the robot accurately rinsing object can be reached replace manual operation to be very important, meet research.
Utility model content
The utility model is in order to solve the problem, propose a kind of living water washing Fu Chong robot of transformer station that can accurately rinse, this system can replace operating personnel, cooperatively interact with main flushing robot, carry out robot living water washing operation when not having a power failure to substation equipment, it effectively can alleviate the heavy physical labor of manual cleaning work, ensures the personal safety of operating personnel, simultaneously by the cleaning to equipment filth, prevent equipment pollution flashover accident, ensure the safe operation of electrical network.
To achieve these goals, the utility model adopts following technical scheme:
A kind of living water washing Fu Chong robot of transformer station that can accurately rinse, comprise shell, chassis, walking mechanism, vertical lifting mechanism and Vehicle Controller, wherein, chassis is fixed in walking mechanism, described walking mechanism is provided with the first damper, fixed housing on chassis, vertical lifting mechanism is fixed on chassis, outside vertical lifting mechanism, surrounding is with guard shield, in guard shield, Vehicle Controller is installed, vertical lifting mechanism is fixed with insulation column, the upper end of insulation column is fixed with electric cabinet, electric cabinet controls hydraulic giant flushing machine mounted thereto, described hydraulic giant flushing machine is provided with the second damper, be provided with power assembly in shell, for walking mechanism and vertical lifting mechanism provide power source, Vehicle Controller matches with remote control system, and remote control system drives vertical lifting mechanism, the work of hydraulic giant flushing machine by remote controlled manner.
Described walking mechanism is crawler-type mobile structure, comprise crawler body, running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt and tension buffer device, running motor is bolted on crawler body support, driving wheel is connected with running motor by driving shaft, driven pulley, BOGEY WHEEL connect with crawler body support respectively by rotating shaft with tension buffer device, crawler belt is enclosed within the outside of driving wheel, driven pulley, BOGEY WHEEL and tension buffer device, the left side, chassis is hydraulic oil container, and the right is diesel fuel tanks.
Described running motor comprises left and right running motor.
Described guard shield is organ case guard shield.
Described vertical lifting mechanism, comprise two stage vertical telescopic arm, organ case guard shield, insulation column and Vehicle Controller, vertical telescopic arm is articulated with on car body travel mechanism fixed head, insulation column is installed on vertical telescopic arm upper end, Vehicle Controller is fixed on vertical telescopic arm restraining board, and two stage vertical telescopic arm, insulation column and Vehicle Controller surround wherein by organ case guard shield.
Described hydraulic giant flushing machine comprises The Cloud Terrace, adjustable water gun carriage and hydraulic giant; The Cloud Terrace realizes hydraulic giant level and the motion of pitching both direction; Adjustable water gun carriage is hinged on above The Cloud Terrace, and adjustable water gun carriage is fixed with hydraulic giant.
Described hydraulic giant frame being provided with tracking camera by bolt, for Real Time Observation insulator water washing handling situations, immediately below tracking camera, laser range finder being housed, rinsing the distance of operation insulator for measuring hydraulic giant and water in real time.
Described power assembly adopts diesel engine powers, comprises bottom control valve group A, upper cartridge control valve group B and center-rotary joint, has seven proportional reversing valves and four hand-operated direction valves.
Described bottom control valve group A is connected with hydraulic pump by distributing valve, controls water flushing device people four support oil cylinders complete stretching motion by four hand-operated direction valves, and two proportional reversing valves control running motor, the walking movement of control;
Described upper cartridge control valve group B controls switching push button, distributing valve through center-rotary joint, upper dress, is connected with hydraulic pump successively, rotary motor is controlled by a proportional reversing valve, complete the rotary motion of dress The Cloud Terrace, two proportional reversing valves control the stretching motion of vertical lifting mechanism, and another two proportional reversing valves realize horizontal movement and the elevating movement of hydraulic giant by horizontal hunting oil cylinder and vertical oscillation oil cylinder.
Described Vehicle Controller, comprise industrial computer, industrial computer connects remote control system by wireless receiver, the control signal of remote control system transmission is received by wireless receiver, and be transferred to industrial computer, transceiver is sent to, to realize the motion of chassis left and right wheels, vertical lifting mechanism lifting and the rotation of The Cloud Terrace after industrial computer reception control signal.
The beneficial effects of the utility model are:
(1) the utility model main body is made up of basic machine and remote control device, all carries out signal transmission by wireless signal between basic machine and remote control, makes flushing operating personnel away from high voltage electric field, has ensured the safety of operating personnel;
(2) operating personnel's handheld remote control device, by the joystick on remote control device, can the car body travel mechanism of far distance controlled robotic body, elevating mechanism and hydraulic giant flushing machine, the operation attitude of Image Adjusting robot can be gathered according to tracking camera;
(3) adopt camera and laser range finder, the position that Real-Time Monitoring is current, makes robot be operated in safe distance, ensures starting point and the terminal accurate positioning of rinsing track, thus improves the quality and efficiency of rinsing;
(4) the utility model can replace manually completing Substation Insulator flushing operation, operating personnel are made to be positioned at safety zone, ensure the safety of operating personnel, the labour intensity reduced, improve flush efficiency and automatization level, operating type is rinsed to transformer station of China water and produces positive change effect.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Wherein, 1, video camera, 2, hydraulic giant, 3, electric cabinet, 4, organ case guard shield, 5, vertical lifting mechanism, 6, Vehicle Controller, 7, chassis, 8, walking mechanism, 9, hydraulic oil container, 10, display floater, 11, power assembly, 12, diesel fuel tanks, 13, insulation column, 14, water inlet pipe, 15, The Cloud Terrace, 16, adjustable water gun carriage, 17, laser range finder, 18, robot shells.
Detailed description of the invention:
Below in conjunction with accompanying drawing and embodiment, the utility model is described in further detail.
As shown in Figure 1, a kind of living water washing Fu Chong robot of transformer station that can accurately rinse comprises car body walking mechanism 8, power assembly 11, vertical lifting mechanism 5, hydraulic giant flushing machine and electric control system; Wherein, car body walking mechanism 8 is crawler-type mobile chassis structure, and power assembly 11 adopts diesel engine powers, car body walking mechanism is provided with the first damper; Be installed on mobile chassis, vertical lifting mechanism 5 is connected to car body travel mechanism front end, and vertical lifting mechanism 5 is provided with two-stage telescopic arm, and the upper arm of two-stage telescopic arm is connected with the working cradle head 15 of hydraulic giant flushing machine by insulation column 13; Hydraulic giant flushing machine is provided with the second damper; Electric control system comprises onboard subsystem and remoting subsystem, and remoting subsystem matches with onboard subsystem, wirelessly the long-range control completed robot vertical elevating mechanism and hydraulic giant flushing machine.
Car body walking mechanism is primarily of crawler body, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt, tension buffer device composition, left running motor and right running motor are bolted on crawler body support, driving wheel is connected with running motor by driving shaft, driven pulley, BOGEY WHEEL connect with crawler body support respectively by rotating shaft with tension buffer device, crawler belt is enclosed within the outside of driving wheel, driven pulley, BOGEY WHEEL and tension buffer device, the left side, chassis is hydraulic oil container 9, and the right is diesel fuel tanks 12.
In robot shells, 18 are fixed with display floater 10.
Power assembly 11 adopts self-powered source, diesel engine powers, can enter operation in intensive battery limits, solves on-the-spot power configuration problem.
Vertical lifting mechanism 5 comprises two stage vertical telescopic arm, organ case guard shield 4, insulation column 13 and Vehicle Controller 6, vertical telescopic arm is articulated with on car body travel mechanism fixed head, insulation column 13 is installed on vertical telescopic arm upper end, Vehicle Controller 6 is fixed on vertical telescopic arm restraining board, and two stage vertical telescopic arm, insulation column 13 and Vehicle Controller 6 surround wherein by organ case guard shield 4.
Hydraulic giant flushing machine comprises The Cloud Terrace 15, electric cabinet 3 and adjustable water gun carriage 16; Electric cabinet 3 is installed on insulation column 13, provides power supply needed for The Cloud Terrace 15, video camera 1; The Cloud Terrace 15 realizes hydraulic giant level and the motion of pitching both direction; Adjustable water gun carriage 16 is hinged on above The Cloud Terrace, hydraulic giant frame is connected with hydraulic giant, video camera 1, laser range finder 17.Hydraulic giant frame being provided with tracking camera 1 by bolt, for Real Time Observation insulator water washing handling situations, laser range finder 17 being housed immediately below tracking camera, rinsing the distance of operation insulator for measuring hydraulic giant and water in real time.
Power assembly 11 adopts diesel engine powers, comprises bottom control valve group A, upper cartridge control valve group B and center-rotary joint, has seven proportional reversing valves and four hand-operated direction valves.
Bottom control valve group A is connected with hydraulic pump by distributing valve, controls water flushing device people four support oil cylinders complete stretching motion by four hand-operated direction valves, and two proportional reversing valves control running motor, the walking movement of control;
Upper cartridge control valve group B controls switching push button, distributing valve through center-rotary joint, upper dress, is connected with hydraulic pump successively, rotary motor is controlled by a proportional reversing valve, complete the rotary motion of dress The Cloud Terrace 15, two proportional reversing valves control the stretching motion of vertical lifting mechanism, and another two proportional reversing valves realize horizontal movement and the elevating movement of hydraulic giant 2 by horizontal hunting oil cylinder and vertical oscillation oil cylinder.
Vehicle Controller 6, comprise industrial computer, industrial computer connects remote control system by wireless receiver, the control signal of remote control system transmission is received by wireless receiver, and be transferred to industrial computer, transceiver is sent to, to realize the rotation of moving to chassis 7 left and right wheels, vertical lifting mechanism is elevated 5 and The Cloud Terrace 15 after industrial computer reception control signal.
By reference to the accompanying drawings detailed description of the invention of the present utility model is described although above-mentioned; but the restriction not to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection domain of the present utility model.
Claims (8)
1. the living water washing Fu Chong robot of transformer station that can accurately rinse, it is characterized in that: comprise shell, chassis, walking mechanism, vertical lifting mechanism and Vehicle Controller, wherein, chassis is fixed in walking mechanism, described walking mechanism is provided with the first damper, fixed housing on chassis, vertical lifting mechanism is fixed on chassis, outside vertical lifting mechanism, surrounding is with guard shield, in guard shield, Vehicle Controller is installed, vertical lifting mechanism is fixed with insulation column, the upper end of insulation column is fixed with electric cabinet, electric cabinet controls hydraulic giant flushing machine mounted thereto, described hydraulic giant flushing machine is provided with the second damper, be provided with power assembly in shell, for walking mechanism and vertical lifting mechanism provide power source, Vehicle Controller matches with remote control system, and remote control system drives vertical lifting mechanism, the work of hydraulic giant flushing machine by remote controlled manner.
2. a kind of living water washing Fu Chong robot of transformer station that can accurately rinse as claimed in claim 1, it is characterized in that: described walking mechanism is crawler-type mobile structure, comprise crawler body, running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt and tension buffer device, running motor is bolted on crawler body support, driving wheel is connected with running motor by driving shaft, driven pulley, BOGEY WHEEL connects with crawler body support respectively by rotating shaft with tension buffer device, crawler belt is enclosed within driving wheel, driven pulley, the outside of BOGEY WHEEL and tension buffer device, the left side, chassis is hydraulic oil container, the right is diesel fuel tanks.
3. a kind of living water washing Fu Chong robot of transformer station that can accurately rinse as claimed in claim 1, is characterized in that: described guard shield is organ case guard shield.
4. a kind of living water washing Fu Chong robot of transformer station that can accurately rinse as claimed in claim 1, it is characterized in that: described vertical lifting mechanism, comprise two stage vertical telescopic arm, organ case guard shield, insulation column and Vehicle Controller, vertical telescopic arm is articulated with on car body travel mechanism fixed head, insulation column is installed on vertical telescopic arm upper end, Vehicle Controller is fixed on vertical telescopic arm restraining board, and two stage vertical telescopic arm, insulation column and Vehicle Controller surround wherein by organ case guard shield.
5. a kind of living water washing Fu Chong robot of transformer station that can accurately rinse as claimed in claim 1, is characterized in that: described hydraulic giant flushing machine comprises The Cloud Terrace, adjustable water gun carriage and hydraulic giant; The Cloud Terrace realizes hydraulic giant level and the motion of pitching both direction; Adjustable water gun carriage is hinged on above The Cloud Terrace, and adjustable water gun carriage is fixed with hydraulic giant.
6. a kind of living water washing Fu Chong robot of transformer station that can accurately rinse as claimed in claim 5, it is characterized in that: described hydraulic giant frame is provided with tracking camera by bolt, for Real Time Observation insulator water washing handling situations, immediately below tracking camera, laser range finder being housed, rinsing the distance of operation insulator for measuring hydraulic giant and water in real time.
7. a kind of living water washing Fu Chong robot of transformer station that can accurately rinse as claimed in claim 1, it is characterized in that: described power assembly adopts diesel engine powers, comprise bottom control valve group A, upper cartridge control valve group B and center-rotary joint, have seven proportional reversing valves and four hand-operated direction valves;
Described bottom control valve group A is connected with hydraulic pump by distributing valve, controls water flushing device people four support oil cylinders complete stretching motion by four hand-operated direction valves, and two proportional reversing valves control running motor, the walking movement of control;
Described upper cartridge control valve group B controls switching push button, distributing valve through center-rotary joint, upper dress, is connected with hydraulic pump successively, rotary motor is controlled by a proportional reversing valve, complete the rotary motion of dress The Cloud Terrace, two proportional reversing valves control the stretching motion of vertical lifting mechanism, and another two proportional reversing valves realize horizontal movement and the elevating movement of hydraulic giant by horizontal hunting oil cylinder and vertical oscillation oil cylinder.
8. a kind of living water washing Fu Chong robot of transformer station that can accurately rinse as claimed in claim 1, it is characterized in that: described Vehicle Controller, comprise industrial computer, industrial computer connects remote control system by wireless receiver, the control signal of remote control system transmission is received by wireless receiver, and be transferred to industrial computer, send to transceiver after industrial computer reception control signal, to realize the motion of chassis left and right wheels, vertical lifting mechanism lifting and the rotation of The Cloud Terrace.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420516427.2U CN204036449U (en) | 2014-09-10 | 2014-09-10 | A kind of living water washing Fu Chong robot of transformer station that can accurately rinse |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420516427.2U CN204036449U (en) | 2014-09-10 | 2014-09-10 | A kind of living water washing Fu Chong robot of transformer station that can accurately rinse |
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| CN204036449U true CN204036449U (en) | 2014-12-24 |
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| CN201420516427.2U Active CN204036449U (en) | 2014-09-10 | 2014-09-10 | A kind of living water washing Fu Chong robot of transformer station that can accurately rinse |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104777768A (en) * | 2015-04-28 | 2015-07-15 | 山东鲁能智能技术有限公司 | Emergency control system and method for substation charged water flushing robot |
| CN104865940A (en) * | 2015-04-28 | 2015-08-26 | 国家电网公司 | Remote control system for transformer station water washing robot for aiming at low-altitude insulator |
| CN104932457A (en) * | 2015-04-28 | 2015-09-23 | 山东鲁能智能技术有限公司 | Remote control system for live-line water flushing robot of transformer station and method of system |
| CN107649437A (en) * | 2017-09-26 | 2018-02-02 | 山东鲁能智能技术有限公司 | A kind of Substation Insulator purging system |
| CN107962016A (en) * | 2017-06-09 | 2018-04-27 | 国网山东省电力公司电力科学研究院 | A kind of self-positioning substation equipment living water washing robot system and method |
-
2014
- 2014-09-10 CN CN201420516427.2U patent/CN204036449U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104777768A (en) * | 2015-04-28 | 2015-07-15 | 山东鲁能智能技术有限公司 | Emergency control system and method for substation charged water flushing robot |
| CN104865940A (en) * | 2015-04-28 | 2015-08-26 | 国家电网公司 | Remote control system for transformer station water washing robot for aiming at low-altitude insulator |
| CN104932457A (en) * | 2015-04-28 | 2015-09-23 | 山东鲁能智能技术有限公司 | Remote control system for live-line water flushing robot of transformer station and method of system |
| CN107962016A (en) * | 2017-06-09 | 2018-04-27 | 国网山东省电力公司电力科学研究院 | A kind of self-positioning substation equipment living water washing robot system and method |
| CN107649437A (en) * | 2017-09-26 | 2018-02-02 | 山东鲁能智能技术有限公司 | A kind of Substation Insulator purging system |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee after: State Grid Corporation of China Co-patentee after: National Network Intelligent Technology Co., Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee before: State Grid Corporation of China Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201029 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. |