CN204277997U - Mobile automatic water-supplying transformer station living water washing robot system - Google Patents
Mobile automatic water-supplying transformer station living water washing robot system Download PDFInfo
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- CN204277997U CN204277997U CN201420518774.9U CN201420518774U CN204277997U CN 204277997 U CN204277997 U CN 204277997U CN 201420518774 U CN201420518774 U CN 201420518774U CN 204277997 U CN204277997 U CN 204277997U
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Abstract
The utility model provides a kind of mobile automatic water-supplying transformer station living water washing robot system, and comprising: water rinse-system and living water washing robot, water rinse-system comprises pure water making system and high-pressure injection system; Pure water making system is connected with high-pressure injection system, and high-pressure injection system is connected with electrification in high voltage water flushing device people; Living water washing robot comprises car body travel mechanism, car body travel mechanism is crawler-type mobile chassis structure, 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 three joint two-stage telescopic arms, the forearm of three joint two-stage telescopic arms is connected with the workbench of hydraulic giant flushing machine by leveling cyclinder II; The utility model beneficial effect: this device utilizes robot to replace manually completing Substation Insulator and rinses operation, makes operating personnel be positioned at safety zone, has ensured the safety of operating personnel, improve flush efficiency and automatization level.
Description
Technical field
The utility model relates to transformer station living water washing robot field, particularly relates to a kind of mobile automatic water-supplying transformer station living water washing robot system.
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, 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; The problems such as it is large that manual work is faced with labour intensity, and efficiency is low, and automatization level is low, flushing is not thorough;
3, in water flushing process, the purity of water and pressure are two crucial indexs.Particularly pure electrical conductivity of water is the most important factor affecting living water washing, if electrical conductivity is not up to standard will cause great bodily injury to equipment and personal safety.
4, existing water flushing unit automaticity is not high, efficiency is low, energy consumption is large, there is very large potential safety hazard.And existing water flushing unit does not possess pure water preparation function or pure water preparation ability is poor, cause there is potential safety hazard when rinsing operation; Or provide the pure water source prepared, the water yield is limited, can not be water flushing unit in situ preparation pure water according to actual needs.
Therefore need to provide one can carry pure water preparation function, and security of operation efficient transformer station living water washing robot system.
Utility model content
The purpose of this utility model is exactly to solve the problem, and provide a kind of by wireless remote control operation, flush efficiency is high, the mobile automatic water-supplying transformer station living water washing robot system of high safety.
To achieve these goals, the utility model adopts following technical scheme:
A kind of mobile automatic water-supplying transformer station living water washing robot system, comprising: water rinse-system, living water washing robot and electric control system, described water rinse-system comprises pure water making system and high-pressure injection system; Described pure water making system is connected with high-pressure injection system, and high-pressure injection system is connected by pressure duct with electrification in high voltage water flushing device people;
Described living water washing robot comprises car body travel mechanism, elevating mechanism and hydraulic giant flushing machine; Described car body travel mechanism is connected with the revolving dial of elevating mechanism by pivoting support, the revolving dial of elevating mechanism is provided with Multi-section multistage telescopic arm, and described Multi-section multistage telescopic arm is connected with hydraulic giant flushing machine by leveling cyclinder; Described electric control system is for realizing the control to water rinse-system and Fu Chong robot.
Described car body travel mechanism is crawler-type mobile chassis structure, and described car body walking mechanism comprises: crawler-type mobile chassis, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt and tension buffer device and be arranged on four hydraulic legs of both sides, crawler-type mobile chassis; Left running motor and right running motor are bolted on crawler-type mobile chassis overhang, driving wheel is connected with running motor by driving shaft, driven pulley, BOGEY WHEEL are connected 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 both sides of the described crawler-type mobile extreme end of chassis are respectively equipped with hydraulic oil container and diesel fuel tanks, and described hydraulic leg is hinged on four drift angles of crawler body respectively.
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 respectively.
Described Multi-section multistage telescopic arm is three joint two-stage telescopic arms, specifically 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;
The large arm of described three joint two-stage telescopic arms, 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, 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 electric control system comprises onboard subsystem and remoting subsystem, onboard subsystem comprises industrial computer, the data that industrial computer is uploaded by 485 buses collection various kinds of sensors, and wireless receiver is handed down to the instruction received from remote manipulator, carry out after wireless receiver receives the data of remote manipulator 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, control that large arm pitching and revolving dial rotate.
Described pure water making system comprises: active carbon, quartz filter, cartridge filter, one-level high-pressure pump, first-stage reverse osmosis film group, intermediate water tank, secondary high-pressure pump, two-pass reverse osmosis film group and pure water tank;
The side of described active carbon, quartz filter is connected with running water pipe, opposite side is connected with cartridge filter by pipeline, described cartridge filter is connected with one-level high-pressure hydraulic pump, first-stage reverse osmosis film group, intermediate water tank, secondary high-pressure hydraulic pump, two-pass reverse osmosis film group and pure water tank successively by pipeline, described property charcoal, quartz filter, cartridge filter, first-stage reverse osmosis film group and two-pass reverse osmosis film group form pure water making system level Four filter progress jointly, and the pipeline of described every one-level filter progress is respectively equipped with Pressure gauge and flowmeter.
Described high-pressure injection system comprises: high-pressure hydraulic pump, electromagnetic clutch, power transmission, stand-by pump and outlet pipe; Described electromagnetic clutch one end is connected with the power takeoff that mobile chassis carries, the other end of electromagnetic clutch is connected with high-pressure hydraulic pump and stand-by pump respectively by power transmission, described stand-by pump is arranged on the side relative with high-pressure hydraulic pump, and water under high pressure delivery side of pump connects outlet pipe; At described water under high pressure delivery side of pump, pressure-detecting device is installed, water resistance rate checkout gear is set at the end of described outlet pipe;
Described stand-by pump and high-pressure pump belong to parallel relationship, under normal operating condition, open high-pressure pump; When exporting high purity water pressure and being less than regulation operating pressure, automatically open stand-by pump.
Described pressure-detecting device is all connected with electric control system with water resistance rate checkout gear; When pure water pressure or resistivity do not meet instructions for use, electric control system controls high-pressure pump and quits work and report to the police.
The beneficial effects of the utility model:
1, the needs of operation are rinsed according to transformer station's water, design mobile automatic water-supplying transformer station living water washing robot system, main body is made up of pure water making system and living water washing robot, living water washing robot carries out long-range wireless remote control by remote control, all signal transmission is carried out by wireless signal between living water washing robot body and remote control, make flushing operating personnel away from high voltage electric field, ensure the safety of operating personnel.
2, the utility model is that water flushing device robot system is equipped with independent pure water making machine, and pure water making machine adopts advanced RO reverse osmosis membrane technology, and its pure water preparation speed is fast, water power rate is high.Be connected with Fu Chong robot movably, can at any time for Fu Chong robot provides pure water source, improve the water yield processed, by adopting the high powered water pump matched with engine, improve the flow of system, the uninterrupted water supply to water flushing device people can be realized, meet transformer station's water and rinse field operation requirement, ensured the safety of operating personnel.
3, pure water making system adopts advanced RO reverse osmosis membrane technology, and its pure water preparation speed is fast, water power rate is high.Be connected with Fu Chong robot movably, can at any time for Fu Chong robot provides pure water source, improve the water yield processed, by adopting the high powered water pump matched with engine, improve the flow of system, the uninterrupted water supply to water flushing device people can be realized, meet transformer station's water and rinse field operation requirement, ensured the safety of operating personnel.
4, this device utilizes robot to replace manually completing Substation 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 transformer station of China water and produces positive change effect.
Accompanying drawing explanation
Fig. 1 is the utility model transformer station living water washing robot architecture schematic diagram;
Structure top view when Fig. 2 is the drawing support of living water washing robot of the utility model transformer station;
Fig. 3 is the structural representation of the utility model transformer station living water washing robot working limit position;
Fig. 4 is living water washing robot of the utility model transformer station hydraulic principle figure;
Fig. 5 is living water washing robot of the utility model transformer station electric control structure block diagram;
Fig. 6 is the utility model transformer station living water washing robot remote telecontrol panel schematic diagram;
Fig. 7 is the utility model water rinse-system structural representation;
Fig. 8 is the utility model water rinse-system front view;
Fig. 9 is the utility model water rinse-system top view;
Figure 10 is the utility model pure water making system structural representation;
Figure 11 is the utility model high-pressure injection system structural representation.
Wherein, 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,
2-1. mobile chassis, 2-2. water resistance rate detects table, 2-3. pressure-detecting device, 2-4. high-pressure hydraulic pump, 2-5. pure water tank, 2-6. electromagnetic clutch, 2-7. belt pulley I, 2-8. belt pulley II, 2-9. tube rolling device, 2-10. reserve pump, 2-11. belt, 2-12. electric-control system Pressure gauge, 2-13. two-pass reverse osmosis film group, 2-14. active carbon, quartz filter, 2-15. electric-control system voltmeter, 2-16. electric-control system ammeter, 2-17. intermediate water tank, 2-18. first-stage reverse osmosis film group, 2-19. high-pressure injection system flowmeter, 2-20. electromagnetic switch, 2-21. secondary high-pressure hydraulic pump, 2-22. one-level high-pressure hydraulic pump, 2-23. cartridge filter, 2-24. electric-control system flowmeter, 2-25. belt pulley III.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the utility model is described in further detail.
A kind of mobile automatic water-supplying transformer station living water washing robot system, comprising: water rinse-system and living water washing robot, described water rinse-system comprises pure water making system and high-pressure injection system; Described pure water making system is connected with high-pressure injection system, and high-pressure injection system is connected by pressure duct with electrification in high voltage water flushing device people; From tube rolling device water under high pressure out, directly docked by hydraulic quick coupler with robot high-pressure intake pipe.
As Figure 1-3, main body is made up of basic machine and remote control device living water washing robot architecture schematic diagram.Wherein, basic machine is primarily of car body travel mechanism, three joint two-stage telescopic arm elevating mechanisms, 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 three joint two-stage telescopic arms, the forearm 30 of three joint two-stage telescopic arms 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.
Living water washing robot of transformer station 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 three joint two-stage telescopic arm compositions saves two-stage telescopic arm primarily of revolving dial 8, three, 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, living water washing robot of transformer station 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.Living water washing robot of transformer station adopts diesel engine to be power, is connected with duplex gear pump by shaft coupling, and consider transformer station's livewire work particular surroundings requirement, 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, transformer station's 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 wirelessly communicates 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 wireless receiver is handed down to the instruction received from remote manipulator, realize switch valve, the control of proportioning valve.Carry out after wireless 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, the remote manipulator of living water washing robot of a kind of transformer station 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, radio communication, alarm lamp.
As illustrated in figures 7-11, water rinse-system comprises pure water making system and high-pressure injection system;
Pure water making machine primarily of comprising mobile chassis 2-1, active carbon, quartz filter 2-14, cartridge filter 2-23, one-level high-pressure hydraulic pump 2-22, first-stage reverse osmosis film group 2-18, intermediate water tank 2-17, secondary high-pressure hydraulic pump 2-21, two-pass reverse osmosis film group 2-13, pure water tank 2-5 form.The side of active carbon, quartz filter 2-14 is connected with running water pipe.Opposite side is connected with cartridge filter 2-23 by pipeline.Cartridge filter 2-23 opposite side is connected with one-level high-pressure hydraulic pump 2-22 by pipeline.The opposite side of one-level high-pressure hydraulic pump 2-22 is connected with first-stage reverse osmosis film group 2-18 by pipeline.The opposite side of first-stage reverse osmosis film group 2-18 is connected with intermediate water tank 2-17 by pipeline.The opposite side of intermediate water tank 2-17 is connected with secondary high-pressure hydraulic pump 2-21 by pipeline.Pipeline is provided with electromagnetic switch 2-20; The opposite side of secondary high-pressure pump 21 is connected with two-pass reverse osmosis film group 2-13 by pipeline.The opposite side of two-pass reverse osmosis film group 2-13 is connected with pure water tank 2-5 by pipeline, specifically as shown in Figure 4.Water source needed for this device is ordinary tap water water source, after described pure water making machine filters, can reach the water resistance rate requirement of charged electric power apparatus water flushing required by directive/guide.Described every one filter progress is all equipped with Pressure gauge and flowmeter, can be in the reasonable scope with the pressure and flow of guaranteeing water.
Counter-infiltration with enough pressure, the solvent in solution (general Chang Zhishui) is separated, direction is contrary with infiltration direction, and the hyperfiltration being greater than osmotic pressure can be used to carry out being separated, purifying and concentrated solution.Utilize reverse osmosis technology effectively can remove dissolving salt, colloid in water, the impurity such as bacterium, virus, bacterial endotoxin and most of organic matter.The main separate object of reverse osmosis membrane is the ion range in solution, effectively can remove impurities in water, thus obtain high purity water without the need to chemicals.The utility model is by active carbon, quartz filter, and cartridge filter, one-level high-pressure pump, first-stage reverse osmosis film group, intermediate water tank, secondary high-pressure pump, two-pass reverse osmosis film group is filtered step by step, obtains the high purity water meeting transformer station's living water washing job requirements.
High-pressure injection system is made up of high-pressure hydraulic pump 2-4, electromagnetic clutch 2-6, belt pulley I 2-7, belt pulley II 2-8, belt pulley III 2-25, reserve pump 2-10, tube rolling device 2-9, pressure-detecting device 2-3, high-pressure injection system flowmeter 2-19 and water resistance rate detection table 2-2 etc.The electromagnetic clutch 2-6 that the power source of described high-pressure hydraulic pump 2-4 carries from automobile chassis 1, via electromagnetic clutch 2-6 outputting power, to meet the not timing job requirement of high-pressure injection system.The input that described belt pulley I 2-7 is arranged on the output shaft of electromagnetic clutch 2-6, belt pulley II 2-8 is arranged on high-pressure hydraulic pump 2-4, belt pulley III 2-25 are arranged on the input of stand-by pump 10; Described belt pulley I 2-7 and between belt pulley II 2-8, belt pulley I 2-7 and belt pulley III 2-25 all by belt 2-11 transmit power.
Reserve pump 2-10 is installed on the opposite side of mobile chassis 2-1, its main application for prevent high-pressure hydraulic pump from breaking down or insufficient pressure time provide enough power for system.Pressure-detecting device 2-3 is arranged on the output of high-pressure hydraulic pump 2-4, for detecting high-pressure pump pure water output pressure.Water resistance rate detection table 2-2 is for detecting the water resistance rate of pure water after high-pressure pump pressurization.Described Pressure gauge and water resistance rate detect table and are all connected with electric-control system, and when pure water pressure and resistivity do not meet instructions for use, high-pressure hydraulic pump 2-4 can quit work and report to the police.High-pressure injection system is also equipped with Manual throttle controller, is connected with diesel engine throttle, can manual adjustments Oil Switch size, thus realizes the adjustment of high-pressure hydraulic pump outlet pressure.
Electric-control system is furnished with scram button, start button, one-level high-pressure pump start-stop button, secondary high-pressure pump start-stop button and the device such as voltmeter, ammeter, to observe the ruuning situation of each device.And electric-control system voltmeter 2-15 is installed, electric-control system ammeter 2-16, and detect electric-control system flowmeter 2-24 and the electric-control system Pressure gauge 2-12 of water after every single filter.
Pure water making machine has manually and automatic two kinds of control models; When manual mode runs, hand push button of first outwarding winding, manual lamp is lighted, and manual mode Xia Fen tetra-tunnel controls: booster pump, primary pump, flushing valve, two stage pump are outwarded winding after button respectively, and equipment manually runs, and cycle button again during stopping, equipment quits work.When automatic mode runs, automatic button of outwarding winding, equipment is by automatic panel controlling run, and cycle button during cut out, equipment quits work automatically.
In automatic mode, equipment has the protection of former water excessive low water level protection, a secondary high-pressure pump excessive low water level protection, hypertonia and pure water water pot full water to shut down four automatic protection functions.
In automatic mode, in order to be rinsed out by the macromolecular substances be retained at work in reverse osmosis membrane, reverse osmosis membrane can clean automatically according to program.
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 (10)
1. a mobile automatic water-supplying transformer station living water washing robot system, it is characterized in that, comprising: water rinse-system, living water washing robot and electric control system, described water rinse-system comprises pure water making system and high-pressure injection system; Described pure water making system is connected with high-pressure injection system, and high-pressure injection system is connected by pressure duct with electrification in high voltage water flushing device people;
Described living water washing robot comprises car body travel mechanism, elevating mechanism and hydraulic giant flushing machine; Described car body travel mechanism is connected with the revolving dial of elevating mechanism by pivoting support, the revolving dial of elevating mechanism is provided with Multi-section multistage telescopic arm, and described Multi-section multistage telescopic arm is connected with hydraulic giant flushing machine by leveling cyclinder; Described electric control system is for realizing the control to water rinse-system and Fu Chong robot.
2. a kind of mobile automatic water-supplying transformer station as claimed in claim 1 living water washing robot system, it is characterized in that, described car body travel mechanism is crawler-type mobile chassis structure, and described car body walking mechanism comprises: crawler-type mobile chassis, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt and tension buffer device and be arranged on four hydraulic legs of both sides, crawler-type mobile chassis; Left running motor and right running motor are bolted on crawler-type mobile chassis overhang, driving wheel is connected with running motor by driving shaft, driven pulley, BOGEY WHEEL are connected 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 both sides of the described crawler-type mobile extreme end of chassis are respectively equipped with hydraulic oil container and diesel fuel tanks, and described hydraulic leg is hinged on four drift angles of crawler body respectively.
3. a kind of mobile automatic water-supplying transformer station as claimed in claim 1 living water washing robot system, 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 respectively.
4. a kind of mobile automatic water-supplying transformer station as claimed in claim 1 living water washing robot system, it is characterized in that, described Multi-section multistage telescopic arm is three joint two-stage telescopic arms, specifically comprise large arm, linking arm and forearm, large arm is hinged on revolving dial, and linking arm front and back ends is provided with slide block, and 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.
5. a kind of mobile automatic water-supplying transformer station as claimed in claim 4 living water washing robot system, it is characterized in that, the large arm of described three joint two-stage telescopic arms, forearm have been bolted luffing chain, 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. a kind of mobile automatic water-supplying transformer station as claimed in claim 1 living water washing robot system, 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;
Described hydraulic giant frame being provided with tracking camera, 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 mobile automatic water-supplying transformer station as claimed in claim 1 living water washing robot system, it is characterized in that, described electric control system comprises onboard subsystem and remoting subsystem, onboard subsystem comprises industrial computer, the data that industrial computer is uploaded by 485 buses collection various kinds of sensors, and wireless receiver is handed down to the instruction received from remote manipulator, carry out after wireless receiver receives the data of remote manipulator 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 moving to mobile chassis left and right wheels, forearm stretches, the control that large arm pitching and revolving dial rotate.
8. a kind of mobile automatic water-supplying transformer station as claimed in claim 1 living water washing robot system, it is characterized in that, described pure water making system comprises: active carbon, quartz filter, cartridge filter, one-level high-pressure pump, first-stage reverse osmosis film group, intermediate water tank, secondary high-pressure pump, two-pass reverse osmosis film group and pure water tank;
Described active carbon, the side of quartz filter is connected with running water pipe, opposite side is connected with cartridge filter by pipeline, described cartridge filter is by pipeline and one-level high-pressure hydraulic pump, first-stage reverse osmosis film group, intermediate water tank, secondary high-pressure hydraulic pump, two-pass reverse osmosis film group is connected successively with pure water tank, described property charcoal, quartz filter, cartridge filter, first-stage reverse osmosis film group and two-pass reverse osmosis film group form pure water making system level Four filter progress jointly, in described level Four filter progress every one-level filter progress pipeline on be respectively equipped with Pressure gauge and flowmeter.
9. a kind of mobile automatic water-supplying transformer station as claimed in claim 1 living water washing robot system, it is characterized in that, described high-pressure injection system comprises: high-pressure hydraulic pump, electromagnetic clutch, power transmission, stand-by pump and outlet pipe; Described electromagnetic clutch one end is connected with the power takeoff that mobile chassis carries, the other end of electromagnetic clutch is connected with high-pressure hydraulic pump and stand-by pump respectively by power transmission, described stand-by pump is arranged on the side relative with high-pressure hydraulic pump, and water under high pressure delivery side of pump connects outlet pipe; At described water under high pressure delivery side of pump, pressure-detecting device is installed, water resistance rate checkout gear is set at the end of described outlet pipe;
Described stand-by pump and high-pressure pump belong to parallel relationship, under normal operating condition, open high-pressure pump; When exporting high purity water pressure and being less than regulation operating pressure, automatically open stand-by pump.
10. a kind of mobile automatic water-supplying transformer station as claimed in claim 9 living water washing robot system, it is characterized in that, described pressure-detecting device is all connected with electric control system with water resistance rate checkout gear; When pure water pressure or resistivity do not meet instructions for use, electric control system controls high-pressure pump and quits work and report to the police.
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| CN201420518774.9U CN204277997U (en) | 2014-09-10 | 2014-09-10 | Mobile automatic water-supplying transformer station living water washing robot system |
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| CN201420518774.9U CN204277997U (en) | 2014-09-10 | 2014-09-10 | Mobile automatic water-supplying transformer station living water washing robot system |
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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 |
| CN104858168A (en) * | 2015-04-28 | 2015-08-26 | 国家电网公司 | Water washing robot aiming system and method based on laser ranging and image recognition |
| CN105033984A (en) * | 2014-09-10 | 2015-11-11 | 山东鲁能智能技术有限公司 | Mobile self-water supply transformer station live-line water washing robot system |
| CN105381980A (en) * | 2015-12-14 | 2016-03-09 | 陕西龙辉视频监控运行管理有限公司 | Automatic dust detection and cleaning vehicle for high-altitude electronic equipment |
| CN106480847A (en) * | 2015-08-31 | 2017-03-08 | 日立建机株式会社 | Watering adnexa, Work machine and sprinkler system |
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2014
- 2014-09-10 CN CN201420518774.9U patent/CN204277997U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105033984A (en) * | 2014-09-10 | 2015-11-11 | 山东鲁能智能技术有限公司 | Mobile self-water supply transformer station live-line water washing robot system |
| CN105033984B (en) * | 2014-09-10 | 2017-04-05 | 山东鲁能智能技术有限公司 | Mobile automatic water-supplying transformer station living water washing robot system |
| 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 |
| CN104858168A (en) * | 2015-04-28 | 2015-08-26 | 国家电网公司 | Water washing robot aiming system and method based on laser ranging and image recognition |
| CN106480847A (en) * | 2015-08-31 | 2017-03-08 | 日立建机株式会社 | Watering adnexa, Work machine and sprinkler system |
| CN106480847B (en) * | 2015-08-31 | 2019-05-21 | 日立建机株式会社 | Watering attachment, Work machine and sprinkler system |
| CN105381980A (en) * | 2015-12-14 | 2016-03-09 | 陕西龙辉视频监控运行管理有限公司 | Automatic dust detection and cleaning vehicle for high-altitude electronic equipment |
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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. |