CN218954534U - High-voltage transformer substation capacitor tower dimension inspection operation robot system - Google Patents
High-voltage transformer substation capacitor tower dimension inspection operation robot system Download PDFInfo
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- CN218954534U CN218954534U CN202222922962.5U CN202222922962U CN218954534U CN 218954534 U CN218954534 U CN 218954534U CN 202222922962 U CN202222922962 U CN 202222922962U CN 218954534 U CN218954534 U CN 218954534U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/30—Reactive power compensation
Abstract
The utility model discloses a high-voltage transformer substation capacitor tower maintenance operation robot system which comprises a mobile chassis, a lifting device, a translation device, mechanical arms and an operation tail end, wherein a carrying platform is arranged at the upper end of the lifting device, the translation device is arranged on the carrying platform, the two mechanical arms are arranged on the translation device, the operation tail end comprises a first tail end and a second tail end which are respectively arranged at the tail ends of the two mechanical arms, the first tail end is used for cleaning a post insulator, the second tail end is used for cleaning a pin insulator and simultaneously fastening a bolt, and the first tail end and the second tail end are matched with each other to detect the capacitor capacitance. The operation tail end integrates a cleaning function, a bolt fastening function and a capacitance detection function, the mechanical arm does not need to repeatedly replace different functional tail ends, the tail end structure is optimized, and the operation efficiency is greatly improved. In short, the utility model configures the multifunctional operation terminal through the high flexibility of the mechanical arm to carry out automatic operation, and only operators are needed to operate equipment in the whole process, thereby being efficient and energy-saving.
Description
Technical Field
The utility model belongs to the field of power transmission operation and maintenance, and particularly relates to a high-voltage transformer substation capacitor tower maintenance operation robot system.
Background
Because the capacitor of the capacitor tower of the high-voltage transformer substation is exposed to the atmosphere for a long time and works in severe environments such as a strong electric field, strong mechanical stress, severe weather change and the like, solid, liquid and gaseous dirt particles can be deposited on the surface of the electric outer insulation, and under the effect of severe meteorological conditions such as fog, dew, capillary rain, ice (snow) melting and the like, the electric strength of the capacitor is greatly reduced, so that the health state of the capacitor tower is deteriorated.
Based on the importance of the safe operation of the transformer substation, the capacitor needs to be subjected to health condition assessment regularly, and the tasks of capacitance measurement, insulator cleaning, bolt fastening and the like are completed.
In the past practice, the staff who maintains the electric capacity tower needs to carry out insulator cleaning, electric capacity detection and bolt tightening task in proper order. However, since the number of capacitors in the capacitor tower is very large, a great deal of manpower is required for measuring, cleaning, overhauling and other operation tasks, time and labor are wasted, a certain operation risk exists when the capacitor at the high position of the capacitor tower is operated, and in order to pursue the operation efficiency, the operation quality of constructors may be different, so that potential safety hazards are buried.
Disclosure of Invention
The utility model aims to provide an operation robot system which can evaluate the health state of a capacitance tower of a transformer substation in real time and can continuously and stably finish insulator cleaning, capacitance measurement and bolt fastening operation in the transformer substation.
The utility model provides a high-voltage transformer substation capacitor tower maintenance operation robot system, which adopts the following technical scheme: including removing chassis, elevating gear, translation device, arm and operation end, elevating gear's upper end sets up the loading platform, and translation device installs on the loading platform, and two arms are installed on translation device, and the operation end position includes first end and second end, installs respectively in the end of two arms, and the first end washs the pillar insulator, and the second end washs the fastening bolt in the time of needle insulator, and first end and second end cooperation detect capacitor's electric capacity.
In one embodiment of the above system, the lifting device comprises a scissor type lifting frame and a linear telescopic device, wherein the lower end of the scissor type lifting frame is fixed on the movable chassis, the linear telescopic device is a hydraulic cylinder which is obliquely arranged, and two ends of the linear telescopic device are respectively arranged at folding joints at the bottom and the middle of the scissor type lifting frame.
In one embodiment of the above system, the mounting platform is a rectangular platform connected to an upper end of the scissor lift.
In one embodiment of the above system, the translation device comprises a fixing frame, a transverse moving frame, a longitudinal moving frame, a transverse screw rod sliding block device and a longitudinal screw rod sliding block device, wherein the fixing frame is installed on the carrying platform, the transverse screw rod sliding block device is arranged at the transverse middle position of the fixing frame, the sliding block of the transverse screw rod sliding block device is fixedly connected with the bottom surface of the transverse moving frame, the longitudinal screw rod sliding block device is arranged on the longitudinal outer side of the transverse moving frame, and the sliding block of the longitudinal screw rod sliding block device is fixedly connected with the bottom surface of the longitudinal moving frame.
In one embodiment of the above system, the mechanical arm is a six-degree-of-freedom arm, and two mechanical arms are installed along the longitudinal direction of the longitudinal moving frame.
In one embodiment of the system, the first end comprises a first cleaning module and a linear expansion device, the first cleaning module comprises a fixed sleeve plate and a movable sleeve plate, the inner surface of the fixed sleeve plate is arc-shaped, the outer surface of the fixed sleeve plate is U-shaped, the inner surface of the movable sleeve plate is arc-shaped, the outer surface of the movable sleeve plate is L-shaped, high-pressure cleaning water channels are arranged on the inner walls of the fixed sleeve plate and the movable sleeve plate, and the high-pressure cleaning water channels are connected with nozzles; the opening both sides symmetry of fixed sleeve board are articulated and are enclosed into the cleaning sleeve behind the movable sleeve board, and cleaning sleeve's inner chamber is circular, and cleaning sleeve's direction of height both sides intermediate position symmetry sets up sharp telescoping device, and sharp telescoping device is the cylinder, and its stiff end is installed on fixed sleeve board, and the movable end is installed on movable sleeve board.
In one embodiment of the above system, a connecting seat connected with the tail end of the mechanical arm is arranged at the center position of the outer side of the inner plane of the fixed sleeve plate, a capacitance electrostatic charge probe is arranged at the middle position of the upper end of the inner plane in the width direction, and a camera is arranged at the lower end of the inner plane.
In one embodiment of the above system, the second end includes a second cleaning module, a servo motor, and a miniature harmonic reducer, a bolt fastening module and a capacitance detection module connected with an output shaft of the servo motor; the second cleaning module comprises an upper fixed ring and two side movable rings which are symmetrically arranged on two sides of the upper fixed ring, and two miniature harmonic reducers, wherein rigid wheels of the miniature harmonic reducers are symmetrically arranged on two sides of the inner end of the upper fixed ring, flexible wheels are respectively fixed with the inner end of the side movable ring, the outer ends of the side movable rings are connected with the upper movable ring through plane thrust bearings, and output shafts of two servo motors are respectively connected with wave generators of the miniature harmonic reducers, so that the side movable rings can be opened and closed relative to the upper fixed ring; the bolt fastening module mainly comprises a servo motor, a worm wheel, a three-joint universal joint coupler, a ratchet wheel, an inner hexagonal sleeve and a spring, wherein the servo motor is connected with the worm in a horizontal arrangement mode, one end of the three-joint universal joint coupler is fixed in a central hole of the worm wheel, the other end of the three-joint universal joint coupler is connected with the ratchet wheel mechanism, and a wheel shaft of the ratchet wheel is connected to the central position of the inner end of the inner hexagonal sleeve; the servo motor, the worm and the worm wheel are arranged in the protective shell, and the three-joint universal joint coupler penetrates through the protective shell to be connected with the worm wheel; the inner hexagonal sleeve is externally connected with a radial bearing, and a positioning spring is connected between the protective shell and the radial bearing; the capacitance detection module comprises an electrostatic charge probe and a connection base, the connection base comprises a vertical plate and a horizontal frame, the vertical plate is vertically fixed on the outer wall of the protective shell, the horizontal frame is connected to the middle position of the inner end of the upper fixing ring, and the inner hexagon sleeve and the upper fixing ring are enabled to be coaxial to the central line; the outside of vertical board sets up with the connecting seat that the arm is connected, the camera is installed to the inboard.
In one embodiment of the system, the mobile chassis is an automobile chassis with front wheels and rear wheels, adopts an ackerman steering structure, and adopts independent front wheel steering and swing arm suspension; the movable chassis is provided with a hydraulic station matched with the hydraulic cylinder, an air compressor matched with the cylinder, a water tank matched with the first cleaning module and the second cleaning module and a pressurizing pump.
According to the utility model, the automobile chassis is adopted as the movable chassis, so that the working conditions of wide area of a transformer substation and low ground flatness can be adapted, the movable chassis is adopted as the basic structure of the robot body to carry the lifting device for carrying out operations of different heights, the upper end of the lifting device is provided with the carrying platform, the carrying platform is provided with the translation device, the translation device is provided with the two mechanical arms, the tail ends of the two mechanical arms are respectively provided with the first tail ends for cleaning the post insulators and the second tail ends for cleaning the pin insulators and fastening the pin insulator bolts, the mechanical arms and the tail ends carried by the mechanical arms are accurately sent to the designated positions through the translation device, and the second tail ends carry out bolt fastening operations while carrying out cleaning operations, so that the working efficiency is high. And the two ends are provided with the capacitance detection structures, and the capacitance detection can be accurately carried out on the capacitor through the cooperation of the two ends, so that the health evaluation is carried out on the capacitor tower. In short, the utility model carries out automatic operation by configuring the operation tail end of the organic integration of cleaning, bolt fastening and capacitance detection through the high flexibility of the mechanical arm, and only needs operators to operate equipment in the whole process, thereby being efficient and energy-saving.
Drawings
Fig. 1 is a schematic front view of an embodiment of the present utility model.
Fig. 2 is a schematic top view of fig. 1.
Fig. 3 is a right-side view of fig. 1.
Fig. 4 is a schematic diagram of an axial structure of the present embodiment.
Fig. 5 is an assembly schematic diagram of the mechanical arm and the first end in the present embodiment.
Fig. 6 is an assembly schematic diagram of the mechanical arm and the second end in the present embodiment.
Fig. 7 is an enlarged schematic view of the second end of fig. 6.
Fig. 8 is an enlarged schematic view of the bolt-up module of fig. 7.
Fig. 9 is a schematic diagram of the axial structure of fig. 7.
Fig. 10 to 13 are schematic views showing a process of cleaning and fastening bolts to the pin insulator at the second end.
Fig. 14-17 are schematic views of the process of exiting after the second end cleaning and bolting operation is completed.
Fig. 18 and 19 are schematic diagrams showing the state of the first end and the second end after adjustment before capacitance detection.
FIG. 20 is a schematic diagram of the first end and the second end cooperatively performing capacitive sensing.
Detailed Description
As shown in fig. 1 to 9, the high-voltage substation capacitor tower dimension inspection operation robot system disclosed in this embodiment mainly includes a mobile chassis a, a lifting device B, a translation device C, a first mechanical arm D1, a second mechanical arm D2, a first end E and a second end F.
The mobile chassis A is an automobile chassis with front wheels and rear wheels, adopts an Ackerman steering structure, and adopts independent front wheel steering and swing arm suspension.
Most cement floors in the transformer substation, the floor flatness is low and the surface is rough, so that the AGV chassis in the traditional factory is not suitable for running in such an outdoor environment. The movable chassis is used as a carrying device of other devices of the system, and has certain bearing capacity, so that the automobile chassis is adopted, the tire abrasion degree is small, the movable chassis is suitable for long-time high-strength work with large load, and the front wheel adopts an Ackerman steering structure like an automobile. The chassis adopts independent front wheels to turn and swing arms to suspend, thereby enhancing the environment adaptability, smoothly passing through barriers such as a deceleration strip and the like, and completely coping with the working environment in the transformer substation.
The lifting device B comprises a scissor type lifting frame B1 and a hydraulic cylinder B2. The lower end of the scissor type lifting frame B1 is fixed on a frame of the movable chassis, and the upper end of the scissor type lifting frame B1 is provided with a rectangular carrying platform B3. The hydraulic cylinder B2 is obliquely arranged, and two ends of the hydraulic cylinder B2 are respectively arranged at folding joints at the bottom and the middle of the scissor type lifting frame B1.
The translation device C comprises a fixing frame C1, a transverse moving frame C2, a longitudinal moving frame C3, a transverse screw rod sliding block device C4 and a longitudinal screw rod sliding block device C5.
The fixing frame C1 is arranged on the carrying platform B3, the transverse screw rod sliding block device is arranged at the transverse middle position of the fixing frame C1, the sliding block of the transverse screw rod sliding block device C4 is fixedly connected with the bottom surface of the transverse moving frame C2, the longitudinal screw rod sliding block device C5 is arranged on the longitudinal outer side of the transverse moving frame C2, and the sliding block of the longitudinal screw rod sliding block device is fixedly connected with the bottom surface of the longitudinal moving frame C3. The transverse moving frame can transversely move relative to the fixing frame under the action of the transverse screw rod sliding block device, and the longitudinal moving frame can longitudinally move relative to the longitudinal moving frame under the action of the longitudinal screw rod sliding block device, so that the accurate position adjustment of the mechanical arm is realized.
Because the screw rod sliding block device is a mature technology, the screw rod sliding block device can be negotiated and customized with manufacturers according to requirements, and the screw rod sliding block device is simply represented in the figure.
The first mechanical arm D1 and the second mechanical arm D2 are six-degree-of-freedom arms, and in this embodiment, UR5 mechanical arms are used. The two mechanical arms are installed along the longitudinal direction of the longitudinal moving frame C3.
The first end E is used for cleaning the post insulator, the second end F is used for cleaning the needle insulator and fastening the bolt, and the two ends are matched for capacitance detection. The pillar insulator is vertically installed, and the needle insulator is horizontally installed.
The tail ends of the two operations are respectively provided with a connecting seat, and the connecting seats are detachably connected with the tail ends of the two mechanical arms through fasteners respectively.
The first end E includes a first cleaning module, a cylinder, and an electrostatic charge probe.
The first cleaning module includes a fixed sleeve plate E1 and a movable sleeve plate E2.
The inner surface of the fixed sleeve plate E1 is arc-shaped, and the outer surface is U-shaped. The inner surface of the movable sleeve plate E2 is arc-shaped, and the outer surface is L-shaped. The inner walls of the fixed and movable sleeve plates E1 and E2 are provided with high-pressure cleaning water passages, which are connected with nozzles, which are not shown in the drawing.
The opening two sides of the fixed sleeve plate E1 are symmetrically hinged with the movable sleeve plate E2 to form a cleaning sleeve, the inner cavity of the cleaning sleeve is circular, the middle positions of the two sides of the height direction of the cleaning sleeve are symmetrically provided with air cylinders F3, the fixed ends of the air cylinders are arranged on the fixed sleeve plate E1, and the movable ends are arranged on the movable sleeve plate E2.
The center position of the outer side of the inner plane of the fixed sleeve plate E1 is provided with a connecting seat connected with the tail end of the mechanical arm, the electrostatic charge probe II TZ2 is arranged at the middle position of the upper end of the inner plane in the width direction, and the lower end of the inner plane is provided with a camera.
The second tail end F comprises a second cleaning module, a servo motor, a miniature harmonic reducer connected with an output shaft of the servo motor, a bolt fastening module and a capacitance detection module.
The second cleaning module comprises an upper fixed ring F1 and side movable rings F2 symmetrically arranged on two sides of the upper fixed ring F1.
The miniature harmonic speed reducer F3 is provided with two rigid wheels which are symmetrically arranged on two sides of the inner end of the upper fixed ring F1, the flexible wheels are respectively fixed with the inner end of the side movable ring F2, the outer end of the side movable ring F2 is connected with the upper movable ring F1 through a plane thrust bearing and a radial bearing, and the output shafts of the two servo motors SFDJ are respectively connected with the wave generator of the miniature harmonic speed reducer F3, so that the side movable ring F2 can be opened and closed relative to the upper fixed ring F1.
The bolt fastening module mainly comprises a servo motor SFDJ, a worm F4, a worm wheel F5, a three-joint universal joint coupler F6, a ratchet mechanism F7, an inner hexagonal sleeve F8 and a spring F9.
The servo motor SFDJ is fixed in the protective housing F10, and the output shaft is connected with the worm F4, and the other end of the worm is connected with the protective housing F10 through a radial bearing, so that the worm is ensured to be a smooth rotating pair. The worm and the turbine F5 constitute worm gear transmission mechanism, turbine one end is connected with the protective housing through radial thrust bearing, the other end is connected with three-joint universal joint shaft coupling F6, this end of three-joint universal joint shaft coupling is connected with the protective housing through radial thrust bearing and guarantees rotatory smoothness and stability, the other end of three-joint universal joint shaft coupling is connected with hexagon socket head cap F8 through ratchet F7, it can towards a direction free rotation to guarantee hexagon socket head cap, hexagon socket head cap external connection radial bearing XXZC, connect spring F9 between protective housing F10 and the radial thrust bearing, guarantee that bolt fastening module has accurate initial position, the flexible construction that ratchet F7 and three-joint universal joint shaft coupling F6 constitute makes bolt fastening module overlap on the bolt under the condition that certain angle and position error exist at the end.
The capacitance detection module comprises an electrostatic charge probe TZ1 and a connecting base, wherein the connecting base comprises a vertical plate F11 and a horizontal frame F12, the vertical plate is vertically fixed on the outer wall of the protective shell F10, and the horizontal frame is connected to the middle position of the inner end of the upper fixing ring F1, so that the inner hexagon sleeve and the upper fixing ring are coaxial to the central line. The outside of vertical board sets up the connecting seat that is used for connecting the arm, and the inboard sets up camera SXT.
The system is provided with a secondary water storage scheme for providing a water source for the tail end cleaning insulator, and a large-volume primary water tank YJSX is arranged on the movable chassis A, so that the water storage capacity is increased, and the gravity center of the whole system is reduced to ensure the stability of the system. Two secondary water tanks EJSX with small capacity are arranged on the carrying platform B3 and respectively provide water sources for the two tail ends, and the secondary water tanks rise and fall along with the carrying platform. The water in the first-stage water tank is conveyed to the second-stage water tank by the water pump in a pressurized mode, and the water in the second-stage water tank is conveyed to the corresponding tail end by the water pump in a pressurized mode.
The system is provided with an air compressor KYJ matched with an air cylinder and a hydraulic station (not shown in the figure) matched with a hydraulic cylinder on a mobile chassis.
The working process and principle of the system are as follows.
(1) The system is moved to a designated location by moving the chassis.
(2) The hydraulic cylinder of the lifting device works to adjust the height of the scissor type lifting frame, so that the carrying platform at the upper end of the scissor type lifting frame reaches the designated height.
Aiming at cleaning of a post insulator, the first end and a mechanical arm provided with the first end work, and the specific process is as follows:
the joints of the mechanical arms cooperatively move to enable the first tail end to reach under/under the post insulator to be cleaned;
two cylinders at the first end work simultaneously to open the two movable sleeve plates;
the joints of the mechanical arm cooperatively move to enable the first end to ascend/descend to the periphery of the post insulator;
the two cylinders work simultaneously to fold the two movable sleeve plates to form a cleaning sleeve;
and pumping water to the cleaning sleeve, and enabling the joint of the mechanical arm to cooperatively move so that the cleaning sleeve reciprocates up and down along the post insulator to perform cleaning work.
Aiming at cleaning of the needle insulator, the second end and the mechanical arm provided with the second end work, and the specific process is as follows:
(1) The two servo motors at the second end work simultaneously to drive the miniature harmonic speed reducer, so that the miniature harmonic speed reducer drives the two side movable rings to open;
(2) The mechanical arm at the second end is installed to move, the second cleaning module is moved to the outer end of the insulator string to be cleaned, the axial center line of the upper fixing ring is overlapped with the axial center line of the insulator string, and the inner hexagon socket of the bolt fastening module is aligned with the bolt at the center of the insulator, as shown in fig. 10;
(3) The mechanical arm moves to enable the second tail end to move forward to the bolt of the inner end of the second cleaning module to pass through the inner end of the insulator string, as shown in fig. 11;
(4) The servo motor of the second cleaning module works reversely, so that two movable rings at the two sides of the second cleaning module are folded to form a cleaning sleeve together with the upper fixed ring, as shown in fig. 12;
(5) The mechanical arm moves to enable the second cleaning module to move forwards and simultaneously supply water to the second cleaning module in a pressurizing mode to start cleaning work, meanwhile, a servo motor of the bolt fastening module is started to enable the inner hexagon socket to rotate, and when the second cleaning module moves forwards, the inner hexagon socket fastens the bolts, as shown in fig. 13;
(6) After the insulator cleaning and the bolt fastening are completed, the second end is withdrawn to the state of step (2) after the reverse operation step (1) as shown in fig. 14, as shown in fig. 15 to 17;
next, the system performs capacitance detection on the capacitor, and two electrodes of the capacitor are respectively connected with the pin insulator, namely, the capacitor and the pin insulator are equivalent to a band-stop capacitor. The capacitance value can be measured by the two capacitive electrostatic charge probes working together. The capacitance measurement work is commonly measured by two ends, and is contacted with a lead on a capacitor through an electrostatic charge probe to form a loop, so that the capacitor to be tested is tested, and the task of capacitance value measurement of the capacitor tower is completed, and the specific process is as follows:
the robot arm mounted on the second end moves to rotate the second end until the electrostatic charge probe is in a horizontal state as shown in fig. 18, and the other robot arm moves to horizontally state the electrostatic charge probe mounted on the first end as shown in fig. 19. At this time, the initial state of capacitance detection is performed.
After the positions of the first capacitive element 1208 and the second capacitive element 1209 to be detected are determined by the visual detection technology, the first mechanical arm D1 is controlled to adjust the position and the posture of the first electrostatic charge probe TZ1 so that the first electrostatic charge probe TZ1 can be in contact with the first capacitive element 1208 to be detected, and the second mechanical arm D2 is controlled to adjust the position and the posture of the second electrostatic charge probe TZ2 so that the second capacitive charge probe TZ2 can be in contact with the second capacitive element 1209 to be detected. In the process, the algorithm for controlling the mechanical arm I D1 and the mechanical arm II D2 is used for carrying out obstacle avoidance track planning, so that the first capacitive electrostatic charge probe TZ1 and the second capacitive electrostatic charge probe TZ2 are prevented from colliding with the insulator string 1207. When the first capacitance charge probe TZ1 contacts the first capacitive element to be detected 1208 and the second capacitance charge probe TZ2 contacts the second capacitive element to be detected 1209, the first capacitance charge probe TZ1 and the second capacitance charge probe TZ2 are actually a capacitive voltage divider. In order to ensure the characteristics of the electrostatic charge probe measurement system and prevent electrostatic breakdown accidents between the end of the electrostatic charge probe and the surface to be measured, the measurement system is verified in the following manner. The surface to be measured is replaced by a metal conductor, so that direct current voltages with different magnitudes are carried on the metal conductor, an electrostatic charge probe is moved to the surface of the metal conductor and contact is ensured, and the output voltage of the electrostatic charge measurement system is measured by an electrometer. By comparing the output voltages of the probes under different direct current voltages, the actual measurement sensitivity and the linear characteristic of the measurement system can be obtained. By this linear characteristic, a more accurate capacitance measurement can be obtained. As shown in fig. 20.
In addition, in order to ensure the accuracy of measurement, the accuracy of each position of the probe needs to be ensured first, so that the probe has certain flexibility, and can deform to a certain extent when being stressed, and the probe moves a little more when contacting the capacitor to be detected each time, so that the probe is ensured to be fully contacted with the capacitor to be detected.
According to the utility model, the automobile chassis is adopted as the movable chassis, so that the working conditions of wide area of a transformer substation and low ground flatness can be adapted, the movable chassis is adopted as the basic structure of the robot body to carry the lifting device for carrying out operations of different heights, the upper end of the lifting device is provided with the carrying platform, the carrying platform is provided with the translation device, the translation device is provided with the two mechanical arms, the tail ends of the two mechanical arms are respectively provided with the first tail ends for cleaning the post insulators and the second tail ends for cleaning the pin insulators and fastening the pin insulator bolts, the mechanical arms and the tail ends carried by the mechanical arms are accurately sent to the designated positions through the translation device, and the second tail ends carry out bolt fastening operations while carrying out cleaning operations, so that the working efficiency is high. And the two ends are provided with the capacitance detection structures, and the capacitance detection can be accurately carried out on the capacitor through the cooperation of the two ends, so that the health evaluation is carried out on the capacitor tower. In short, the utility model carries out automatic operation by configuring the operation tail end of the organic integration of cleaning, bolt fastening and capacitance detection through the high flexibility of the mechanical arm, and only needs operators to operate equipment in the whole process, thereby being efficient and energy-saving.
Claims (6)
1. The utility model provides a high voltage substation electric capacity tower dimension examines operation robot system which characterized in that:
the system comprises a mobile chassis, a lifting device, a translation device, mechanical arms and operation tail ends, wherein the upper end of the lifting device is provided with a carrying platform, the translation device is arranged on the carrying platform, the two mechanical arms are arranged on the translation device, the operation tail ends comprise a first tail end and a second tail end, the two mechanical arms are respectively arranged at the tail ends of the two mechanical arms, the first tail end is used for cleaning a post insulator, the second tail end is used for cleaning a pin insulator and simultaneously fastening a bolt, and the first tail end and the second tail end are matched with the capacitance of a detection capacitor;
the lifting device comprises a scissor type lifting frame and a linear telescopic device, the lower end of the scissor type lifting frame is fixed on the movable chassis, the linear telescopic device is obliquely arranged, and the two ends of the linear telescopic device are respectively arranged at folding joints at the bottom and the middle of the scissor type lifting frame;
the carrying platform is a rectangular platform connected to the upper end of the scissor type lifting frame;
the translation device comprises a fixing frame, a transverse moving frame, a longitudinal moving frame, a transverse screw rod sliding block device and a longitudinal screw rod sliding block device, wherein the fixing frame is arranged on the carrying platform, the transverse screw rod sliding block device is arranged at the transverse middle position of the fixing frame, a sliding block of the transverse screw rod sliding block device is fixedly connected with the bottom surface of the transverse moving frame, the longitudinal screw rod sliding block device is arranged on the longitudinal outer side of the transverse moving frame, and a sliding block of the longitudinal screw rod sliding block device is fixedly connected with the bottom surface of the longitudinal moving frame.
2. The high voltage substation capacitor tower dimension inspection operation robot system of claim 1, wherein: the mechanical arms are six-degree-of-freedom arms, and the two mechanical arms are arranged along the longitudinal direction of the longitudinal moving frame.
3. The high voltage substation capacitor tower dimension inspection operation robot system of claim 2, wherein: the first tail end comprises a first cleaning module and a linear expansion device, the first cleaning module comprises a fixed sleeve plate and a movable sleeve plate, the inner surface of the fixed sleeve plate is arc-shaped, the outer surface of the fixed sleeve plate is U-shaped, the inner surface of the movable sleeve plate is arc-shaped, the outer surface of the movable sleeve plate is L-shaped, high-pressure cleaning water channels are arranged on the inner walls of the fixed sleeve plate and the movable sleeve plate, and the high-pressure cleaning water channels are connected with nozzles; the opening both sides symmetry of fixed sleeve board are articulated and are enclosed into the cleaning sleeve behind the movable sleeve board, and cleaning sleeve's inner chamber is circular, and cleaning sleeve's direction of height both sides intermediate position symmetry sets up sharp telescoping device, and its stiff end is installed on fixed sleeve board, and the expansion end is installed on movable sleeve board.
4. A high voltage substation capacitive tower inspection work robot system as defined in claim 3, wherein: the center position of the outer side of the inner plane of the fixed sleeve plate is provided with a connecting seat connected with the tail end of the mechanical arm, a capacitance electrostatic charge probe is arranged in the middle position of the upper end of the inner plane in the width direction, and a camera is arranged at the lower end of the inner plane.
5. The high voltage substation capacitor tower dimension inspection operation robot system of claim 4, wherein: the second tail end comprises a second cleaning module, a servo motor, a miniature harmonic reducer connected with an output shaft of the servo motor, a bolt fastening module and a capacitance detection module;
the second cleaning module comprises an upper fixed ring and two side movable rings which are symmetrically arranged on two sides of the upper fixed ring, and two miniature harmonic reducers, wherein rigid wheels of the miniature harmonic reducers are symmetrically arranged on two sides of the inner end of the upper fixed ring, flexible wheels are respectively fixed with the inner end of the side movable ring, the outer ends of the side movable rings are connected with the upper movable ring through plane thrust bearings, and output shafts of two servo motors are respectively connected with wave generators of the miniature harmonic reducers, so that the side movable rings can be opened and closed relative to the upper fixed ring;
the bolt fastening module mainly comprises a servo motor, a worm wheel, a three-joint universal joint coupler, a ratchet wheel, an inner hexagonal sleeve and a spring, wherein the servo motor is connected with the worm in a horizontal arrangement mode, one end of the three-joint universal joint coupler is fixed in a central hole of the worm wheel, the other end of the three-joint universal joint coupler is connected with the ratchet wheel mechanism, and a wheel shaft of the ratchet wheel is connected to the central position of the inner end of the inner hexagonal sleeve;
the servo motor, the worm and the worm wheel are arranged in the protective shell, and the three-joint universal joint coupler penetrates through the protective shell to be connected with the worm wheel;
the inner hexagonal sleeve is externally connected with a radial bearing, and a positioning spring is connected between the protective shell and the radial bearing;
the capacitance detection module comprises an electrostatic charge probe and a connection base, the connection base comprises a vertical plate and a horizontal frame, the vertical plate is vertically fixed on the outer wall of the protective shell, the horizontal frame is connected to the middle position of the inner end of the upper fixing ring, and the inner hexagon sleeve and the upper fixing ring are enabled to be coaxial to the central line;
the outside of vertical board sets up with the connecting seat that the arm is connected, the camera is installed to the inboard.
6. The high voltage substation capacitor tower dimension inspection operation robot system of claim 5, wherein: the mobile chassis is an automobile chassis with front wheels and rear wheels, adopts an Ackerman steering structure, and adopts independent front wheel steering and swing arm suspension;
the movable chassis is provided with a hydraulic station and an air compressor, and the first cleaning module and the second cleaning module are matched with a water tank and a booster pump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222922962.5U CN218954534U (en) | 2022-11-03 | 2022-11-03 | High-voltage transformer substation capacitor tower dimension inspection operation robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222922962.5U CN218954534U (en) | 2022-11-03 | 2022-11-03 | High-voltage transformer substation capacitor tower dimension inspection operation robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218954534U true CN218954534U (en) | 2023-05-02 |
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