CN204171000U - For the living water washing robot of transformer station of low latitude insulator - Google Patents

For the living water washing robot of transformer station of low latitude insulator Download PDF

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Publication number
CN204171000U
CN204171000U CN201420519383.9U CN201420519383U CN204171000U CN 204171000 U CN204171000 U CN 204171000U CN 201420519383 U CN201420519383 U CN 201420519383U CN 204171000 U CN204171000 U CN 204171000U
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China
Prior art keywords
hydraulic giant
insulator
transformer station
water washing
vertical lifting
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Active
Application number
CN201420519383.9U
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Chinese (zh)
Inventor
陈强
李建祥
鲁守银
慕世友
任杰
傅孟潮
韩磊
李健
王振利
谭林
吕曦晨
王滨海
赵金龙
张海龙
高郎宏
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State Grid Intelligent Technology Co Ltd
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Shandong Luneng Intelligence Technology Co Ltd
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Abstract

The utility model discloses a kind of living water washing robot of transformer station for low latitude insulator; Robot, comprises the compositions such as car body walking mechanism, power assembly, vertical lifting mechanism, hydraulic giant flushing machine, electric control system; Wherein, car body walking mechanism is crawler-type mobile chassis structure, power assembly adopts diesel engine powers, be installed on mobile chassis, vertical lifting mechanism is connected to car body walking mechanism front end, vertical lifting mechanism is provided with two-stage telescopic arm, and the upper arm of two-stage telescopic arm is connected by the working cradle head of insulation column with hydraulic giant flushing machine; The utility model can replace manually completing Substation Insulator and rinse operation, make operating personnel be positioned at safety zone, ensure the safety of operating personnel, the labour intensity of reduction, improve flush efficiency and automatization level, operating type is rinsed to transformer station of China water and produces positive change effect.

Description

For the living water washing robot of transformer station of low latitude insulator
Technical field
The utility model relates to a kind of living water washing robot of transformer station for low latitude insulator.
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, manual work is faced with labour intensity greatly, the problems such as efficiency is low, and automatization level is low;
3, living water washing technical requirement is higher, by various factors such as environment, contamination situation, equipment creep distance, apparatus arrangement modes, equipment flashover easily occurs during artificial flushing;
4, 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;
5, existing water flushing device people spininess designs the insulator in order to clean more than 8m, and this water flushing device people is for below 8m, the transformer station's support insulator being positioned at low latitude inapplicable.
Therefore the living water washing robot that research and development are directed to the Substation Insulator of below 8m carries out water and rinses operation and be necessary, and meets research.
Utility model content
The utility model is in order to solve the problem, propose a kind of living water washing robot of transformer station for low latitude insulator, this device can replace operating personnel, when not having a power failure, robot living water washing operation is carried out to substation equipment, it effectively can alleviate the heavy physical labor of manual cleaning work, ensure 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:
For a living water washing robot of transformer station for low latitude insulator, comprise car body walking mechanism, power assembly, vertical lifting mechanism, hydraulic giant flushing machine, electric control system; Wherein, described power assembly is fixed on car body walking mechanism upper end, is connected with shell, case nose is fixed with vertical lifting mechanism, vertical lifting mechanism is connected with power assembly, and the top of vertical lifting mechanism is fixed with hydraulic giant flushing machine, and electric control system is arranged on vertical lifting mechanism;
Described hydraulic giant flushing machine comprises The Cloud Terrace, electric cabinet and adjustable water gun carriage; Electric cabinet is installed on vertical lifting mechanism, provides power supply needed for The Cloud Terrace, and The Cloud Terrace realizes hydraulic giant level and the motion of pitching both direction, and adjustable water gun carriage is connected to above The Cloud Terrace, and hydraulic giant frame is connected with hydraulic giant.
Described car body walking mechanism comprises crawler body, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt and tension buffer device, 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, and the right is diesel fuel tanks.
Described car body walking mechanism adopts wheeled locomotion mechanism, wheeled locomotion mechanism is primarily of four hydraulic legs compositions of wheel undercarriage, left running motor, right running motor, driving wheel, driven pulley and both sides, left running motor and right running motor are bolted on wheel undercarriage support, driving wheel is connected with running motor by driving shaft, driven pulley is connected with wheel undercarriage support by rotating shaft, the wheel undercarriage left side is diesel fuel tanks, the right is hydraulic oil container, and hydraulic leg is hinged on wheel undercarriage.
Described power assembly adopts self-powered source, diesel engine powers, can enter operation in intensive battery limits, solves on-the-spot power configuration problem.
Described vertical lifting mechanism comprises two stage vertical telescopic arm, organ case guard shield, insulation column and Vehicle Controller, vertical telescopic arm is hinged with on car body walking 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 electric cabinet is installed on insulation column, provides power supply needed for The Cloud Terrace, video camera; 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, hydraulic giant frame is connected with hydraulic giant, video camera, laser range finder.
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 laser range finder adopts red laser, and its light source hot spot is 1mm*1mm, measuring distance 1.5m to 8m, and Measuring Time is 1 to 5 millisecond.
Described electric control system, comprise industrial computer and remote control system, 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.
Based on a method of work for above-mentioned flushing robot, be specially:
Remote control system controls industrial computer, power assembly is made to drive the motion of car body walking mechanism, laser range finder on hydraulic giant frame, after hydraulic giant being detected and needing the horizontal range of the insulator rinsed to meet safe distance, Vehicle Controller control vertical lifting mechanism carries out the stretching motion on vertical direction, rinse distance to make the distance between hydraulic giant and insulator meet, rinse; The state of tracking camera Real Time Observation hydraulic giant, remote control system controls the rotation of The Cloud Terrace, makes hydraulic giant carry out level and elevating movement, and constantly the spray angle of adjustment hydraulic giant, reaches best to make developing result.
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 walking 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, utilize the mechanism that sprays water with high pressure to spray high purity water and carry out flushing operation;
(3) 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;
(4) insulator of below 8m capable of washing, is applicable to the transformer station's support insulator being positioned at low latitude, cleaning performance is good, efficiency is high.
Accompanying drawing explanation
Fig. 1 is people's 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 robot of transformer station for low latitude insulator, comprises car body walking mechanism 8, power assembly 11, vertical lifting mechanism 5, hydraulic giant flushing machine and electric control system; Wherein, power assembly 11 adopts diesel engine powers, be installed in car body walking mechanism 8, vertical lifting mechanism 5 is connected to car body walking mechanism front end, 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; 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 can adopt crawler-type mobile chassis structure, primarily of crawler body, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt, tension buffer device forms, 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 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 9, the right is diesel fuel tanks 12.
Car body walking mechanism also can adopt wheeled locomotion mechanism.
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 3 and Vehicle Controller 6, vertical telescopic arm is hinged with on car body walking 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.Adjustable water gun carriage 16 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.
Laser range finder adopts red laser, and its light source hot spot is 1mm*1mm, measuring distance 1.5m to 8m, and Measuring Time is 1 to 5 millisecond.
Electric control system, comprise industrial computer and remote control system, 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.
Based on a method of work for above-mentioned flushing robot, be specially:
Remote control system controls industrial computer, power assembly is made to drive the motion of car body walking mechanism, when the laser range finder 17 on adjustable water gun carriage 16, after hydraulic giant 2 being detected and needing the horizontal range of the insulator rinsed to meet safe distance, Vehicle Controller control vertical lifting mechanism carries out the stretching motion on vertical direction, meet to make the distance between hydraulic giant 2 and insulator and rinse distance, rinse; The state of tracking camera Real Time Observation hydraulic giant, remote control system controls the rotation of The Cloud Terrace 15, makes hydraulic giant 2 carry out level and elevating movement, and constantly the spray angle of adjustment hydraulic giant, reaches best to make developing result.
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 (9)

1. for a living water washing robot of transformer station for low latitude insulator, it is characterized in that: comprise car body walking mechanism, power assembly, vertical lifting mechanism, hydraulic giant flushing machine, electric control system; Wherein, described power assembly is fixed on car body walking mechanism upper end, is connected with shell, case nose is fixed with vertical lifting mechanism, vertical lifting mechanism is connected with power assembly, and the top of vertical lifting mechanism is fixed with hydraulic giant flushing machine, and electric control system is arranged on vertical lifting mechanism;
Described hydraulic giant flushing machine comprises The Cloud Terrace, electric cabinet and adjustable water gun carriage; Electric cabinet is installed on vertical lifting mechanism, provides power supply needed for The Cloud Terrace, and The Cloud Terrace realizes hydraulic giant level and the motion of pitching both direction, and adjustable water gun carriage is connected to above The Cloud Terrace, and hydraulic giant frame is connected with hydraulic giant.
2. a kind of living water washing robot of transformer station for low latitude insulator as claimed in claim 1, it is characterized in that: described car body walking mechanism comprises crawler body, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt and tension buffer device, 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 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 robot of transformer station for low latitude insulator as claimed in claim 1, it is characterized in that: described vertical lifting mechanism comprises two stage vertical telescopic arm, organ case guard shield, insulation column and Vehicle Controller, vertical telescopic arm is hinged with on car body walking 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 are enclosed in wherein by organ case guard shield.
4. a kind of living water washing robot of transformer station for low latitude insulator as claimed in claim 1, is characterized in that: described hydraulic giant flushing machine comprises The Cloud Terrace, electric cabinet and adjustable water gun carriage; Electric cabinet is installed on insulation column, provides power supply needed for The Cloud Terrace, video camera; 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, hydraulic giant frame is connected with hydraulic giant, video camera, laser range finder.
5. a kind of living water washing robot of transformer station for low latitude insulator as claimed in claim 4, 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.
6. a kind of living water washing robot of transformer station for low latitude insulator as claimed in claim 5, is characterized in that: described laser range finder adopts red laser, and its light source hot spot is 1mm*1mm, measuring distance 1.5m to 8m, and Measuring Time is 1 to 5 millisecond.
7. a kind of living water washing robot of transformer station for low latitude insulator as claimed in claim 1, it is characterized in that: vertical lifting mechanism is provided with two-stage telescopic arm, the upper arm of two-stage telescopic arm is connected by the working cradle head of insulation column with hydraulic giant flushing machine.
8. a kind of living water washing robot of transformer station for low latitude insulator as claimed in claim 1, it is characterized in that: described electric control system, comprise industrial computer and remote control system, 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.
9. a kind of living water washing robot of transformer station for low latitude insulator as claimed in claim 1, it is characterized in that: described car body walking mechanism adopts wheeled locomotion mechanism, wheeled locomotion mechanism is primarily of wheel undercarriage, left running motor, right running motor, driving wheel, four hydraulic leg compositions of driven pulley and both sides, left running motor and right running motor are bolted on wheel undercarriage support, driving wheel is connected with running motor by driving shaft, driven pulley is connected with wheel undercarriage support by rotating shaft, the wheel undercarriage left side is diesel fuel tanks, the right is hydraulic oil container, hydraulic leg is hinged on wheel undercarriage.
CN201420519383.9U 2014-09-10 2014-09-10 For the living water washing robot of transformer station of low latitude insulator Active CN204171000U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105013732A (en) * 2014-09-10 2015-11-04 山东鲁能智能技术有限公司 Transformer substation live washing robot for low-air insulators and method
CN107457217A (en) * 2017-09-26 2017-12-12 山东鲁能智能技术有限公司 A kind of Substation Insulator cleaning device
CN107649436A (en) * 2017-09-26 2018-02-02 山东鲁能智能技术有限公司 A kind of insulator cleaning method and 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

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105013732A (en) * 2014-09-10 2015-11-04 山东鲁能智能技术有限公司 Transformer substation live washing robot for low-air insulators and method
WO2016037558A1 (en) * 2014-09-10 2016-03-17 山东鲁能智能技术有限公司 Robot and method for hot line washing of low-altitude insulators at substation
CN107457217A (en) * 2017-09-26 2017-12-12 山东鲁能智能技术有限公司 A kind of Substation Insulator cleaning device
CN107649436A (en) * 2017-09-26 2018-02-02 山东鲁能智能技术有限公司 A kind of insulator cleaning method and 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

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CP03 Change of name, title or address

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: 250101 Shandong city of Ji'nan province high tech Zone (Lixia District) Xinluo Avenue No. 2008 silver bearing building B block 626

Patentee before: Shandong Luneng Intelligent Technology Co., Ltd.

CP03 Change of name, title or address