CN204195767U - Current conversion station living water washing robot - Google Patents
Current conversion station living water washing robot Download PDFInfo
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- CN204195767U CN204195767U CN201420517716.4U CN201420517716U CN204195767U CN 204195767 U CN204195767 U CN 204195767U CN 201420517716 U CN201420517716 U CN 201420517716U CN 204195767 U CN204195767 U CN 204195767U
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 52
- 238000006243 chemical reaction Methods 0.000 title claims abstract description 44
- 238000005406 washing Methods 0.000 title claims abstract description 36
- 210000000245 forearm Anatomy 0.000 claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 238000011010 flushing procedure Methods 0.000 claims abstract description 24
- 230000003028 elevating effect Effects 0.000 claims abstract description 23
- 239000012212 insulator Substances 0.000 claims abstract description 14
- 239000003921 oil Substances 0.000 claims description 67
- 230000033001 locomotion Effects 0.000 claims description 25
- 239000010720 hydraulic oil Substances 0.000 claims description 12
- 239000002283 diesel fuel Substances 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 5
- 230000010355 oscillation Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 description 12
- 230000008602 contraction Effects 0.000 description 5
- 239000007921 spray Substances 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 239000002828 fuel tank Substances 0.000 description 4
- 239000012498 ultrapure water Substances 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009413 insulation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000011001 backwashing Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Abstract
The utility model discloses current conversion station living water washing robot, comprise car body travel mechanism, car body travel mechanism is crawler-type mobile chassis structure, described car body travel mechanism is connected with the revolving dial of elevating mechanism by pivoting support, the revolving dial of elevating mechanism is also provided with Multi-section multistage telescopic arm, and the forearm of Multi-section multistage telescopic arm is connected with the workbench of hydraulic giant flushing machine by leveling cyclinder II.This device utilizes robot to replace manually completing current conversion station insulator and rinses operation, makes operating personnel be positioned at safety zone, has ensured the safety of operating personnel, the labour intensity of reduction, improve flush efficiency and automatization level.
Description
Technical field
The utility model relates to a kind of current conversion station living water washing robot.
Background technology
Current conversion station refers in HVDC transmission system, is direct current to complete convert alternating current or is the conversion of alternating current by DC power conversion, and reaches power system for the requirement of safety and stability and the quality of power supply and the website set up.
Current conversion station 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 current conversion station and transmission line of electricity.Rinse operation at the current conversion station 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.
Therefore utilize safer and that efficiency is higher robot to replace manually carrying out water flushing operation to current conversion station insulator to be necessary, meet research.
Utility model content
For solving the deficiency that prior art exists, the utility model discloses current conversion station living water washing robot, this device utilizes robot to replace manually completing current conversion station insulator and rinses operation, operating personnel are made to be positioned at safety zone, ensure the safety of operating personnel, the labour intensity reduced, improves flush efficiency and automatization level.
For achieving the above object, concrete scheme of the present utility model is as follows:
Current conversion station living water washing robot, comprise car body travel mechanism, car body travel mechanism is crawler-type mobile chassis structure, described car body travel mechanism is connected with the revolving dial of elevating mechanism by pivoting support, the revolving dial of elevating mechanism is also provided with Multi-section multistage telescopic arm, and the forearm of Multi-section multistage telescopic arm is connected by the workbench of leveling cyclinder with hydraulic giant flushing machine; Water flushing device people also comprises electric control system, this electric control system comprises industrial computer, industrial computer gathers the data that various kinds of sensors is uploaded, and pass through folding and the uninterrupted of wired mode control ratio valve, realize the motion of mobile chassis left and right wheels, forearm stretch, control that large arm pitching and revolving dial rotate, by the image that tracking camera gathers, determine the pose of hydraulic giant, hydraulic giant sprays high-purity water and carries out flushing operation.
Forearm realizes synchronously stretching out and contraction with linking arm under the drive of stretching chain, under the acting in conjunction of amplitude oil cylinder, telescopic oil cylinder and stretching chain, and the pose of adjustment large arm, linking arm and forearm; The pose of adjustment workbench coordinated by leveling cyclinder I and leveling cyclinder II, holding table level, the pose fine setting realizing hydraulic giant frame that swings of the upper and lower pitching of pitching oil cylinder and oscillating oil cylinder.
Described car body travel mechanism is primarily of crawler body, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt, four hydraulic leg compositions of tension buffer device and both sides, 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 diesel fuel tanks, the right is hydraulic oil container, hydraulic leg is hinged on crawler body.
Described elevating mechanism comprises revolving dial and levelling gear, revolving dial is connected with car body travel mechanism by pivoting support, revolving dial is hinged with Multi-section multistage telescopic arm, large arm and the amplitude oil cylinder of revolving dial and Multi-section multistage telescopic arm are articulated and connected, the large arm of Multi-section multistage telescopic arm and linking arm and telescopic oil cylinder are articulated and connected, levelling gear comprises leveling cyclinder I and leveling cyclinder II, leveling cyclinder I is arranged between revolving dial and large arm, with revolving dial, large arm is articulated and connected, leveling cyclinder II is arranged between workbench and forearm, with workbench, forearm is articulated and connected.
Described Multi-section multistage telescopic arm is three joint two-stage telescopic arms, comprise large arm, linking arm and forearm, large arm is hinged on revolving dial, linking arm front and back ends is provided with slide block, slide block is connected with linking arm bolt, linking arm is slidably connected by slide block and large arm, forearm, and the head of linking arm is provided with sprocket wheel, is realized the synchronization telescope of linking arm and forearm by Chain conveyer.
The large arm of described Multi-section multistage telescopic arm, forearm have been bolted luffing chain, and the front end that sprocket wheel and stretching chain are walked around in large arm front end is hinged, and end and the forearm end of stretching chain are hinged.
Described hydraulic giant flushing machine comprises pitching oil cylinder and oscillating oil cylinder, and pitching oil cylinder is bolted on oscillating oil cylinder, and oscillating oil cylinder is bolted on the table, pitching oil cylinder is hinged with hydraulic giant frame, and hydraulic giant frame is connected 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 revolving dial is also connected with the proportional control valve group of hydraulic control system; Proportional control valve group is herein upper cartridge control valve group B.
Hydraulic system 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 two motors in left and right, carry out robot ambulation motion;
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 revolving dial, two proportional reversing valves control large arm pitching and forearm stretching motion, 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 center-rotary joint is the Hydraulic Elements connecting revolving dial and chassis oil circuit, and after making revolving dial any rotation, hydraulic circuit normally can also join oil.
Described electric control system comprises onboard subsystem, onboard subsystem comprises industrial computer, the data that industrial computer is uploaded by 485 buses collection various kinds of sensors, carry out processing in industrial computer being then handed down to transceiver again by wired, by folding and the uninterrupted of the regulable control proportioning valve to magnitude of voltage, realize the motion of mobile chassis left and right wheels, forearm stretches, control that large arm pitching and revolving dial rotate.Because the interference ratio of current conversion station is comparatively large, adopt wireless mode the acceptance of signal can be caused accurate not, so this electric control system adopts wired mode to carry out transmission and the communication of signal.
Described various kinds of sensors comprises stay wire sensor, angular transducer, obliquity sensor, temperature sensor, pressure sensor, voltage sensor and current sensor, stay wire sensor is arranged between large arm and forearm, for measuring the collapsing length of forearm, large arm and workbench are all equipped with an angular transducer and an obliquity sensor, gather the angle-data of large arm and the gentle vertical direction of driving water and pass to industrial computer, angular transducer wherein on workbench and obliquity sensor data are by ZIGBEE Wireless transceiver, to realize the insulation completely of tip platform, temperature sensor and pressure sensor are arranged on hydraulic oil container, gather the pressure data of hydraulic oil in oil temperature in hydraulic oil container and hydraulic oil container, the data collected are analog quantity, convert data signal to through A/D and pass to industrial computer through 485, magnitude of voltage in voltage sensor and current sensor Acquisition Circuit and current value, whether the voltage in testing circuit and electric current are stablized, the analog signal collected is converted to data signal through A/D modular converter and passes to industrial computer through 485 buses.
The control method of current conversion station living water washing robot, be specially: this robot is when operation, the car body travel mechanism being controlled basic machine by the joystick of remote control device moves to appointed area, by front hydraulic leg I, front hydraulic leg II, rear hydraulic leg I, rear hydraulic leg II supports and lands, and improves robot manipulating task stability;
Revolving dial and appurtenances thereof can 360 ° of rotations, the orientation of adjustment two-stage telescopic arm, by the angle of pitch of amplitude oil cylinder with adjustment large arm, linking arm realizes stretching out and contraction by telescopic oil cylinder; forearm realizes synchronously stretching out and contraction with linking arm under the drive of stretching chain; under the acting in conjunction of amplitude oil cylinder, telescopic oil cylinder and stretching chain, adjust the pose of large arm, linking arm and forearm;
The pose of adjustment workbench coordinated by leveling cyclinder I and leveling cyclinder II, holding table level, the pose fine setting realizing hydraulic giant frame that swings of the upper and lower pitching of pitching oil cylinder and oscillating oil cylinder, by the image that tracking camera gathers, determine the pose of hydraulic giant, hydraulic giant sprays high-purity water and carries out flushing operation.
Onboard subsystem is mainly divided into car body to move control module, upper dress elevating mechanism motion-control module, engine and four modules such as mains power monitoring module and security monitoring module by function.Car body moves control module and possesses the functions such as advance, retrogressing, speed governing, left and right turn, landing leg stretching, floor light, security monitoring; Upper dress elevating mechanism motion-control module possesses the functions such as simple joint control, simple joint position feedback, automatic leveling and security monitoring; Engine and mains power monitoring module possess the functions such as the supervision of the controls such as engine start and stop, speed governing and engine condition and supply voltage; Security monitoring module possesses threshold value setting and the security alarm of the states such as each joint of elevating mechanism is spacing, supporting leg state, oil temperature oil level, cell voltage.
The beneficial effects of the utility model:
1, the needs of operation are rinsed according to current conversion station water, design a kind of novel current conversion station living water washing robot device, main body is made up of basic machine and remote control device, all signal transmission is carried out by wire signal between basic machine and remote control, make flushing operating personnel away from high voltage electric field, ensure the safety of operating personnel.
2, the industrial computer of electric control system gathers the data uploaded of various kinds of sensors by 485 buses, realizes stretching to the motion of mobile chassis left and right wheels, forearm, control that large arm pitching and revolving dial rotate.The application can gather the operation attitude of Image Adjusting robot according to tracking camera, utilize the mechanism that sprays water with high pressure to spray high purity water and carry out flushing operation.
3, this device utilizes robot to replace manually completing current conversion station insulator and rinses 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 China's current conversion station water and produces positive change effect.
Accompanying drawing explanation
Fig. 1 is the utility model current conversion station living water washing robot architecture schematic diagram;
Structure top view when Fig. 2 is the drawing support of the utility model current conversion station living water washing robot;
Fig. 3 is the structural representation of the utility model current conversion station living water washing robot working limit position;
Fig. 4 is the utility model current conversion station living water washing robot hydraulic principle figure;
Fig. 5 is the utility model current conversion station living water washing robot electric control structure block diagram;
Fig. 6 is the utility model current conversion station living water washing robot remote telecontrol panel schematic diagram;
In figure, 1, driven pulley, 2, BOGEY WHEEL, 3, tension buffer device, 4, driving wheel, 5, crawler belt, 6, crawler body, 7, proportional control valve group B, 8, revolving dial, 9, leveling cyclinder I, 10, luffing chain, 11, large arm, 12, amplitude oil cylinder, 13, stretching chain, 14, sprocket wheel, 15, workbench, 16, pitching oil cylinder, 17, hydraulic giant frame, 18, leveling cyclinder II, 19, tracking camera, 20, laser range finder, 21, hydraulic giant, 22, electric control box, 23, rear hydraulic leg I, 24, rear hydraulic leg II, 25, hydraulic oil container, 26, front hydraulic leg I, 27, front hydraulic leg II, 28, diesel fuel tanks, 29, linking arm, 30, forearm, 31, oscillating oil cylinder.
Detailed description of the invention:
Below in conjunction with accompanying drawing, the utility model is described in detail:
As Figure 1-3, a kind of current conversion station living water washing robot, main body is made up of basic machine and remote control device.Wherein, basic machine is primarily of car body travel mechanism, Multi-section multistage telescopic arm elevating mechanism, hydraulic giant flushing machine, hydraulic control system and electric control system composition.Car body travel mechanism is crawler-type mobile chassis structure, crawler body be diesel fuel tanks, another side is hydraulic oil container, and the power source of robot is vehicle-mounted diesel engine; Described car body travel mechanism is connected with the revolving dial 8 of elevating mechanism by pivoting support, the revolving dial 8 of elevating mechanism is also provided with Multi-section multistage telescopic arm, the forearm 30 of Multi-section multistage telescopic arm is connected with the workbench 15 of hydraulic giant flushing machine by leveling cyclinder II 18, described revolving dial 8 is also connected with the proportional control valve group of hydraulic control system; Electric control system comprises onboard subsystem and remoting subsystem, and remoting subsystem matches with onboard subsystem the control utilizing hydraulic control system wirelessly to complete car body travel mechanism to robot, elevating mechanism and hydraulic giant flushing machine.
Current conversion station living water washing robot operation power is originated vehicle-mounted diesel engine.Adopt self-powered source, diesel engine powers, operation in intensive battery limits can be entered, solve on-the-spot power configuration problem.
Car body travel mechanism adopts crawler-type mobile chassis structure, primarily of four hydraulic legs compositions of crawler body 6, left and right running motor, driving wheel 4, BOGEY WHEEL 2, crawler belt 5, tension buffer device 3 and both sides.The left side, chassis is diesel fuel tanks 28, and the right is hydraulic oil container 25, rear hydraulic leg I 23, rear hydraulic leg II 24, front hydraulic leg I 26, and front hydraulic leg II 27 is hinged on crawler body 6.
The elevating mechanism of Multi-section multistage telescopic arm composition is primarily of revolving dial 8, Multi-section multistage telescopic arm, and levelling gear forms.Revolving dial 8 is connected with car body travel mechanism by pivoting support, and driven by rotary motor and realize revolving dial 8 and the 360 ° of continuous rotaries motions of attached each parts thereof, proportional control valve group 7 is bolted on revolving dial 8; Two-stage telescopic arm forms primarily of large arm 11, linking arm 29, forearm 30, two-stage telescopic arm is installed on revolving dial 8, large arm 11 is hinged on revolving dial 8, there is slide block linking arm 29 front and back end, slide block is connected with linking arm 29 bolt, linking arm 29 and large arm 11, forearm 30 are slidably connected, and the head of linking arm 29 installs sprocket wheel 14; Amplitude oil cylinder 12 and large arm 11, revolving dial 8 are articulated and connected, and telescopic oil cylinder and large arm 11, linking arm 29 are articulated and connected; Levelling gear forms primarily of leveling cyclinder I 9 and leveling cyclinder II 18, leveling cyclinder I 9 is arranged between revolving dial 8 and large arm 11, be articulated and connected with revolving dial 8, large arm 11, leveling cyclinder II 18 is arranged between workbench 15 and forearm 30, is articulated and connected with workbench 15, forearm 30; Luffing chain 10 is connected on large arm 11, forearm 30 by bolt, and the front end of stretching chain 13 is hinged on large arm 11 front end, walks around sprocket wheel 14, end hinged forearm 30 end.
Hydraulic giant flushing machine forms primarily of workbench 15, pitching oil cylinder 16, oscillating oil cylinder 31, hydraulic giant frame 17, hydraulic giant 21.Pitching oil cylinder 16 is bolted on oscillating oil cylinder 31, and oscillating oil cylinder 31 is bolted on workbench 15, and hydraulic giant frame 17 is hinged on pitching oil cylinder 16, and hydraulic giant 21 spiral is connected on hydraulic giant frame 17.
Robot water gun rack 17 is installed tracking camera 19, for Real Time Observation insulator water washing handling situations, the picture of real-time transmission operation field, facilitates teleworker to implement operation.Tracking camera 19 bolt is connected on hydraulic giant frame 17.Laser range finder 20 is housed immediately below tracking camera 19, and measurement hydraulic giant and water rinse the distance of operation insulator in real time, within making it remain on safety work distance.
This robot is when operation, and the car body travel mechanism being controlled basic machine by the joystick of remote control device moves to appointed area, by front hydraulic leg I 26, front hydraulic leg II 27, rear hydraulic leg I 23, rear hydraulic leg II 24 supports and lands, and improves robot manipulating task stability; Revolving dial 8 and appurtenances thereof can 360 ° of rotations, the orientation of adjustment two-stage telescopic arm, by the angle of pitch of amplitude oil cylinder 12 with adjustment large arm 11, linking arm 29 realizes stretching out and contraction by telescopic oil cylinder; forearm 30 realizes synchronously stretching out and contraction with linking arm 29 under the drive of stretching chain 13; under the acting in conjunction of amplitude oil cylinder 12, telescopic oil cylinder and stretching chain 13, adjust the pose of large arm 11, linking arm 29 and forearm 30; The pose of adjustment workbench 15 coordinated by leveling cyclinder I 9 and leveling cyclinder II 18, holding table 15 level, the pose fine setting realizing hydraulic giant frame 17 that swings of pitching oil cylinder about 16 pitching and oscillating oil cylinder 31, by the image that tracking camera 19 gathers, determine the pose of hydraulic giant 21, hydraulic giant 21 sprays high-purity water and carries out flushing operation.
As shown in Figure 4, current conversion station living water washing robot hydraulic system adopts bottom control valve group A, upper cartridge control valve group B combination to control and center-rotary joint combination controls, and has seven road proportional reversing valves and No. four hand-operated direction valves.Current conversion station living water washing robot adopts diesel engine to be power, is connected with duplex gear pump by shaft coupling, and consider the requirement of current conversion station livewire work particular surroundings, hydraulic system all adopts wear-resistant dielectric force feed.Hydraulic oil, from fuel tank, enters water flushing device people hydraulic control oil circuit through oil absorption filter, then flows back to fuel tank through return oil filter.Wherein check valve is for controlling fluid backflow, its overload protection function of safety valve, and Pressure gauge is connected with oil circuit by pressure meter switch, and shows oil circuit hydraulic fluid pressure in real time.Center-rotary joint is the Hydraulic Elements connecting revolving dial and chassis oil circuit, and after it ensures revolving dial any rotation, hydraulic circuit normally can also join oil.
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 primarily of four groups of hand-operated direction valves, and two proportional reversing valves control two motors in left and right, carry out robot ambulation motion.
Upper cartridge control valve group B controls switching push button, distributing valve through center-rotary joint, upper dress, is connected with hydraulic pump, rotary motor is controlled primarily of a proportional reversing valve, complete the rotary motion of dress revolving dial, two groups of proportional reversing valves control large arm pitching and forearm stretching motion, and another two groups of proportional reversing valves realize horizontal movement and the elevating movement of hydraulic giant by horizontal hunting oil cylinder and vertical oscillation oil cylinder.
As shown in Figure 5, current conversion station living water washing robot electric control system comprises onboard subsystem and remoting subsystem.Onboard subsystem comprises vehicle-mounted upper computer control system and vehicle-mounted driver, and vehicle-mounted upper computer control system has and receives the order of remoting subsystem, and to order resolve and realize motion algorithm etc. function.The instruction that vehicle-mounted driver receives vehicle-mounted upper computer control system realizes the function controlled the valve group of car body.Remoting subsystem has the movement of car body, the start and stop of engine, the size of throttle, elevating mechanism simple joint control and collation control function.Onboard subsystem is communicated by wired mode with handheld terminal subsystem.
Onboard subsystem is mainly divided into car body to move control module, upper dress elevating mechanism motion-control module, engine and four modules such as mains power monitoring module and security monitoring module by function.Car body moves control module and possesses the functions such as advance, retrogressing, speed governing, left and right turn, landing leg stretching, floor light, security monitoring; Upper dress elevating mechanism motion-control module possesses the functions such as simple joint control, simple joint position feedback, automatic leveling and security monitoring; Engine and mains power monitoring module possess the functions such as the supervision of the controls such as engine start and stop, speed governing and engine condition and supply voltage; Security monitoring module possesses threshold value setting and the security alarm of the states such as each joint of elevating mechanism is spacing, supporting leg state, oil temperature oil level, cell voltage.
Onboard subsystem hardware is made up of industrial computer, wireless receiver, A/D modular converter, ZIGBEE, various kinds of sensors, proportioning valve, switch valve etc.The data that industrial computer is uploaded by 485 buses collection various kinds of sensors, and receiver is handed down to the instruction received from remote manipulator, realize switch valve, the control of proportioning valve.Carry out after receiver receives the data of remote controller processing and then being handed down to transceiver in industrial computer, by folding and the uninterrupted of the regulable control proportioning valve to magnitude of voltage, realize the motion of mobile chassis left and right wheels, forearm stretches, large arm pitching, the control that revolving dial rotates.
Various kinds of sensors comprises stay wire sensor, angular transducer, obliquity sensor, temperature sensor, pressure sensor, voltage sensor and current sensor, stay wire sensor is arranged between large arm and forearm, for measuring the collapsing length of forearm, large arm and tip platform are all equipped with an angular transducer and an obliquity sensor, gather the angle-data in large arm and platform horizontal and vertical direction and pass to industrial computer, angular transducer wherein on platform and obliquity sensor data pass through ZIGBEE Wireless transceiver, to realize the insulation completely of tip platform.Temperature and pressure sensor is arranged on hydraulic oil container, and gather the pressure data of hydraulic oil in oil temperature in fuel tank and fuel tank, the data collected are analog quantity, convert data signal to pass to industrial computer through 485 through A/D.Voltage x current value in voltage and current sensor Acquisition Circuit, whether the voltage x current in testing circuit is stablized, and the analog signal collected is converted to data signal through A/D modular converter and passes to industrial computer through 485 buses.
Remote manipulator realizes Long-distance Control to mobile chassis, lifting arm and hydraulic giant, comprising before and after control revolver, right take turns before and after, about large arm, about flexible, the platform of large arm pitching, forearm; Locking button comprises the control of instrument, selection, XYZ world coordinate system, throttle size; Self-recoverage button comprises the control of reset, engine start and stop, teaching, reproduction, startup; Indicator lamp comprises power supply, radio communication, alarm lamp.
In Fig. 6, a kind of remote manipulator of current conversion station living water washing robot comprises 7 simulation rocking bars, to control before and after revolver, rightly take turns front and back, large arm about 11, large arm 11 pitching, forearm 31 stretch, workbench about 15, hydraulic giant 17 pitching; Locking button comprises the control of instrument, selection, XYZ world coordinate system, throttle size; Self-recoverage button comprises the control of reset, engine start and stop, teaching, reproduction, startup; Indicator lamp comprises power supply indicator, communication indicator lamp, alarm lamp.
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; 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 (10)
1. current conversion station living water washing robot, it is characterized in that, comprise car body travel mechanism, car body travel mechanism is crawler-type mobile chassis structure, described car body travel mechanism is connected with the revolving dial of elevating mechanism by pivoting support, the revolving dial of elevating mechanism is also provided with Multi-section multistage telescopic arm, and the forearm of Multi-section multistage telescopic arm is connected by the workbench of leveling cyclinder with hydraulic giant flushing machine; Water flushing device people also comprises electric control system, and this electric control system comprises industrial computer, industrial computer and various kinds of sensors wired connection.
2. current conversion station living water washing robot as claimed in claim 1, it is characterized in that, described car body travel mechanism is primarily of crawler body, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt, four hydraulic leg compositions of tension buffer device and both sides, 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 diesel fuel tanks, the right is hydraulic oil container, hydraulic leg is hinged on crawler body.
3. current conversion station living water washing robot as claimed in claim 1, it is characterized in that, described elevating mechanism comprises revolving dial and levelling gear, revolving dial is connected with car body travel mechanism by pivoting support, revolving dial is hinged with Multi-section multistage telescopic arm, large arm and the amplitude oil cylinder of revolving dial and Multi-section multistage telescopic arm are articulated and connected, the large arm of Multi-section multistage telescopic arm and linking arm and telescopic oil cylinder are articulated and connected, levelling gear comprises leveling cyclinder I and leveling cyclinder II, leveling cyclinder I is arranged between revolving dial and large arm, with revolving dial, large arm is articulated and connected, leveling cyclinder II is arranged between workbench and forearm, with workbench, forearm is articulated and connected.
4. current conversion station living water washing robot as claimed in claim 1, it is characterized in that, described Multi-section multistage telescopic arm comprises large arm, linking arm and forearm, large arm is hinged on revolving dial, linking arm front and back ends is provided with slide block, slide block is connected with linking arm bolt, and linking arm is slidably connected by slide block and large arm, forearm, and the head of linking arm is provided with sprocket wheel.
5. current conversion station living water washing robot as claimed in claim 4, it is characterized in that, the large arm of described Multi-section multistage telescopic arm, forearm have been bolted luffing chain, and the front end that sprocket wheel and stretching chain are walked around in large arm front end is hinged, and end and the forearm end of stretching chain are hinged.
6. current conversion station living water washing robot as claimed in claim 1, it is characterized in that, described hydraulic giant flushing machine comprises pitching oil cylinder and oscillating oil cylinder, pitching oil cylinder is bolted on oscillating oil cylinder, oscillating oil cylinder is bolted on the table, pitching oil cylinder is hinged with hydraulic giant frame, hydraulic giant frame is connected with hydraulic giant.
7. current conversion station living water washing robot as claimed in claim 6, 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.
8. current conversion station living water washing robot as claimed in claim 3, is characterized in that, described revolving dial is also connected with the proportional control valve group of hydraulic control system; Proportional control valve group is herein upper cartridge control valve group B;
Hydraulic control system 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.
9. current conversion station living water washing robot as claimed in claim 8, it is characterized in that, described bottom control valve group A is connected with hydraulic pump by distributing valve, control water flushing device people four support oil cylinders by four hand-operated direction valves and complete stretching motion, two proportional reversing valves control two motors in left and right, carry out robot ambulation motion.
10. current conversion station living water washing robot as claimed in claim 8, it is characterized in that, 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 revolving dial, two proportional reversing valves control large arm pitching and forearm stretching motion, 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420517716.4U CN204195767U (en) | 2014-09-10 | 2014-09-10 | Current conversion station living water washing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420517716.4U CN204195767U (en) | 2014-09-10 | 2014-09-10 | Current conversion station living water washing robot |
Publications (1)
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| CN204195767U true CN204195767U (en) | 2015-03-11 |
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| CN201420517716.4U Expired - Fee Related CN204195767U (en) | 2014-09-10 | 2014-09-10 | Current conversion station living water washing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104801509A (en) * | 2015-05-05 | 2015-07-29 | 国家电网公司 | Electrified water-washing operation device for electrical equipment |
| CN110587587A (en) * | 2019-10-14 | 2019-12-20 | 天津萨克赛斯机械技术开发有限公司 | Ship bottom rust removal robot |
| CN114952808A (en) * | 2022-08-02 | 2022-08-30 | 哈尔滨工业大学 | Double-arm six-degree-of-freedom heavy-load mounting manipulator |
-
2014
- 2014-09-10 CN CN201420517716.4U patent/CN204195767U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104801509A (en) * | 2015-05-05 | 2015-07-29 | 国家电网公司 | Electrified water-washing operation device for electrical equipment |
| CN110587587A (en) * | 2019-10-14 | 2019-12-20 | 天津萨克赛斯机械技术开发有限公司 | Ship bottom rust removal robot |
| CN114952808A (en) * | 2022-08-02 | 2022-08-30 | 哈尔滨工业大学 | Double-arm six-degree-of-freedom heavy-load mounting manipulator |
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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 Co. 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 Co. Patentee before: State Grid Corporation of China Co-patentee before: SHANDONG LUNENG INTELLIGENCE TECHNOLOGY Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201104 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. |
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