WO2016037558A1

WO2016037558A1 - Robot and method for hot line washing of low-altitude insulators at substation

Info

Publication number: WO2016037558A1
Application number: PCT/CN2015/089119
Authority: WO
Inventors: 陈强; 李建祥; 鲁守银; 慕世友; 任杰; 傅孟潮; 韩磊; 李健; 王振利; 谭林; 吕曦晨; 王滨海; 赵金龙; 张海龙
Original assignee: 山东鲁能智能技术有限公司
Priority date: 2014-09-10
Filing date: 2015-09-08
Publication date: 2016-03-17
Also published as: PH12017500428A1; CN105013732A; PH12017500428B1

Abstract

Robot for hot line washing of low-altitude insulators at a substation, comprising: a vehicle traveling mechanism (8), a powertrain (11), a vertical lifting/lowering mechanism (5), a water-jet washing mechanism, and an electrical control system. The powertrain (11) is mounted on the vehicle traveling mechanism (8). The vertical lifting/lowering mechanism (5) is connected at the front extremity of the vehicle traveling mechanism (8). Two levels of telescoping arms are mounted on the vertical lifting/lowering mechanism (5), where the upper arm is connected with the water-jet washing mechanism via an insulating support column (13). The robot is capable of replacing manual labor in washing insulators of a substation, allows an operator to be situated in a safe area, reduces labor intensity, and increases washing efficiency. Also provided is a method for washing.

Description

Substation charged water washing robot and method for low-altitude insulator

This application claims priority to Chinese Patent Application No. 201410459176.3, entitled "Powered Water Washing Robot and Method for Substation for Low-Equivalent Insulators", filed on September 10, 2014, the entire contents of which are incorporated by reference. In this application.

Technical field

The invention relates to a substation charged water washing robot and method for low-altitude insulators.

Background technique

Substation insulators are exposed to the external environment for a long time, and the surface is easy to deposit dirt. These dirt are easily damaged by bad weather. The electric water washing operation of the insulator can improve the reliability of the power supply, reduce the power loss, and ensure the safety of the substation and the transmission line. At present, substation insulator flushing operations have the following disadvantages:

1. Most of the rinsing methods are carried out by the cleaning technicians, and the manual rinsing equipment is not only dependent on the weather conditions, but also requires the cleaning personnel to have a high technical level and skilled operation procedures. The safety protection of the specification to avoid the safety accident caused by the short-circuit current, causing casualties, and there are safety hazards in this type of operation;

2. Manual work faces many problems such as high labor intensity, low efficiency, and low level of automation;

3. The technical requirements for charged water washing are high. Due to various factors such as environment, pollution, equipment creepage, and equipment layout, equipment flashover is likely to occur during manual flushing;

4. Considering that the charged water washing operation is affected by many aspects such as flushing angle and water pressure, manual work sometimes cannot completely wash away the dirt on the outer insulating surface of the equipment;

5. The existing water washing robots are designed for cleaning insulators of 8 m or more. Such water washing robots are not suitable for substation post insulators of 8 m or less and located at low altitude.

Therefore, it is very necessary to develop a water washing operation for a charged water washing robot for substation insulators of 8 m or less, which is in line with the development requirements of the times.

Summary of the invention

In order to solve the above problems, the present invention proposes a substation charged water flushing robot and method for a low-altitude insulator, which can replace the operator and perform a robotized charged water flushing operation on the substation equipment without power failure, which can effectively alleviate Heavy work of manual cleaning work Labor, to ensure the personal safety of operators, at the same time through the cleaning of equipment contamination, to prevent equipment pollution accidents, to ensure the safe operation of the power grid.

In order to achieve the above object, the present invention adopts the following technical solutions:

A substation charged water washing robot for low-altitude insulators, comprising a vehicle body traveling mechanism, a power assembly, a vertical lifting mechanism, a water gun flushing mechanism, and an electric control system; wherein the power assembly is fixed at an upper end of the vehicle body traveling mechanism, and The outer casing is connected, the vertical lifting mechanism is fixed at the front end of the outer casing, the vertical lifting mechanism is connected with the power assembly, the top of the vertical lifting mechanism is fixed with a water gun flushing mechanism, and the electrical control system is disposed on the vertical lifting mechanism;

The water gun flushing mechanism comprises a cloud platform, an electric control box and an adjustable water gun bracket; the electric control box is installed on the vertical lifting mechanism to provide the power required by the cloud platform, and the cloud platform realizes the movement of the water gun horizontally and tiltingly, the adjustable water gun The bracket is connected above the pan/tilt, and a water gun is attached to the water gun frame.

The vehicle body traveling mechanism includes a crawler chassis, a left travel motor, a right travel motor, a drive wheel, a driven wheel, a load bearing wheel, a crawler belt and a tension buffering device, and the left travel motor and the right travel motor are bolted to the crawler chassis bracket. The driving wheel is coupled to the traveling motor through the driving shaft, and the driven wheel, the bearing wheel and the tension buffering device are respectively coupled with the crawler chassis bracket through the rotating shaft, and the crawler belt is sleeved on the outer side of the driving wheel, the driven wheel, the bearing wheel and the tension buffering device, and the chassis The hydraulic tank on the left and the diesel tank on the right.

The vehicle body traveling mechanism adopts a wheel type moving mechanism, and the wheel type moving mechanism mainly comprises a wheeled chassis, a left traveling motor, a right traveling motor, a driving wheel, a driven wheel and four hydraulic legs on both sides, a left traveling motor and The right traveling motor is bolted to the wheeled chassis bracket, the driving wheel is coupled to the traveling motor through the driving shaft, and the driven wheel is coupled to the wheeled chassis bracket through the rotating shaft. The left side of the wheeled chassis is a diesel tank, and the right side is a hydraulic oil tank, and the hydraulic branch The legs are hinged to the wheeled chassis.

The powertrain adopts a self-contained power source, and the diesel engine provides power, and can enter the intensive equipment area to solve the power supply configuration problem at the site.

The vertical lifting mechanism comprises two vertical telescopic arms, a bellows shroud, an insulating pillar and a vehicle controller, a vertical telescopic arm hinged and a vehicle body running mechanism fixing plate, and an insulating pillar is mounted on the upper end of the vertical telescopic arm, and the vehicle controller is fixed. On the vertical telescopic arm fixing plate, the organ shield covers the two-stage vertical telescopic arm, the insulating post and the on-board controller.

The electric control box is installed on the insulating pillar to provide power required for the pan/tilt and the camera; the pan/tilt realizes the horizontal and vertical movement of the water gun; the adjustable water gun bracket is hinged above the pan/tilt, and the water gun A water gun, a camera, and a laser range finder are attached to the rack.

A tracking camera is mounted on the water gun frame by bolts for real-time observation of the insulator water washing operation, and a laser range finder is directly under the tracking camera for real-time measurement of the distance between the water gun and the water washing operation insulator.

The laser range finder adopts a red laser with a light source spot of 1 mm*1 mm, a measuring distance of 1.5 m to 8 m, and a measuring time of 1 to 5 msec.

The electrical control system comprises an industrial computer and a remote control system, and the industrial computer is connected to the remote control system via a wireless receiver, and the control signal transmitted by the remote control system is received by the wireless receiver and transmitted to the industrial computer, and the industrial computer receives the control signal and sends it to the wireless device. The transceiver is used to realize the movement of the left and right wheels of the chassis, the vertical lifting mechanism, and the rotation of the gimbal.

A working method based on the above flushing robot, specifically:

The remote control system controls the industrial computer to enable the powertrain to drive the movement of the vehicle body. When the laser range finder on the water gun frame detects that the horizontal distance of the water gun and the insulator to be flushed meets the safety distance, the vehicle controller controls the vertical lifting mechanism. The telescopic movement in the vertical direction is performed so that the distance between the water gun and the insulator satisfies the flushing distance, and the flushing is performed; the tracking camera observes the state of the water gun in real time, and the remote control system controls the rotation of the gimbal to make the water gun perform horizontal and pitch motions continuously. Adjust the spray angle of the water gun to achieve the best flushing effect.

The beneficial effects of the invention are:

(1) The main body of the invention consists of a mechanical body and a remote control device. The signal is transmitted between the mechanical body and the remote control device through wireless signals, so that the flushing operation personnel are kept away from the high-voltage electric field, thereby ensuring the safety of the operator;

(2) The operator holds the remote control device, and through the control handle on the remote control device, the vehicle body running mechanism, the lifting mechanism and the water gun flushing mechanism of the robot mechanical body can be remotely controlled, and the working posture of the robot can be adjusted according to the image captured by the tracking camera. Using high-pressure water spray mechanism to spray high-purity water for flushing operation;

(3) The invention can replace the manual submersible insulator flushing operation, so that the operator is located in the safe area, which ensures the safety of the operator, reduces the labor intensity, improves the flushing efficiency and the automation level, and positively affects the water washing operation mode of the substation in China. Transformational role;

(4) It can clean insulators up to 8m, suitable for substation post insulators located in low altitude, with good cleaning effect and high efficiency.

DRAWINGS

1 is a schematic structural view of a robot of the present invention;

Among them, 1, camera, 2, water gun, 3, electric control box, 4, organ box shield, 5, vertical lifting mechanism, 6, vehicle controller, 7, chassis, 8, walking mechanism, 9, hydraulic tank, 10 , display panel, 11, powertrain, 12, diesel tank, 13, insulation pillar, 14, inlet pipe, 15, cloud platform, 16, adjustable water gun bracket, 17, laser range finder, 18, robot shell.

detailed description

The invention will be further described below in conjunction with the drawings and embodiments.

As shown in FIG. 1 , a substation charged water washing robot for low-altitude insulators includes a vehicle body traveling mechanism 8 , a power assembly 11 , a vertical lifting mechanism 5 , a water gun flushing mechanism and an electric control system; wherein the powertrain 11 is adopted. The diesel engine is powered and mounted on the vehicle body traveling mechanism 8. The vertical lifting mechanism 5 is connected to the front end of the vehicle body traveling mechanism, and the vertical lifting mechanism 5 is equipped with a two-stage telescopic arm. The upper arm of the two-stage telescopic arm passes through the insulating pillar 13 and the water gun flushing mechanism. The working cloud platform 15 is connected; the electrical control system includes an in-vehicle subsystem and a remote control subsystem, and the remote control subsystem cooperates with the vehicle-mounted subsystem to remotely control the vertical lifting mechanism of the robot and the water gun flushing mechanism.

The vehicle body traveling mechanism can adopt a crawler type moving chassis structure, and is mainly composed of a crawler chassis, a left travel motor, a right travel motor, a drive wheel, a driven wheel, a load bearing wheel, a crawler belt, and a tension buffering device, and the left travel motor and the right travel motor pass The bolt is connected to the crawler chassis bracket, the driving wheel is coupled with the traveling motor through the driving shaft, and the driven wheel, the bearing wheel and the tension buffering device are respectively coupled with the crawler chassis bracket through the rotating shaft, and the crawler belt is sleeved on the driving wheel, the driven wheel and the bearing wheel. On the outside of the tension buffer, the left side of the chassis is the hydraulic oil tank 9, and the right side is the diesel tank 12.

The wheel body moving mechanism can also adopt a wheel type moving mechanism.

The powertrain 11 adopts its own power source. The diesel engine provides power and can enter the intensive equipment area to solve the power supply configuration problem on site.

The vertical lifting mechanism 5 comprises a two-stage vertical telescopic arm, a bellows guard 4, an insulating pillar 3 and an on-board controller 6, a vertical telescopic arm hinged and a vehicle body running mechanism fixing plate, and an insulating pillar 13 mounted on the upper end of the vertical telescopic arm, the vehicle The controller 6 is fixed to the vertical telescopic arm fixing plate, and the organ box cover 4 surrounds the two-stage vertical telescopic arm, the insulating post 13 and the on-board controller 6.

The water gun flushing mechanism includes a pan/tilt head 15, an electric control box 3 and an adjustable water gun bracket 16; the electric control box 3 is mounted on the insulating pillar 13 to provide the power supply of the pan/tilt 15 and the camera 1; the pan/tilt 15 realizes the water gun level and the pitching The direction of the movement; the adjustable water gun bracket 16 is hinged above the pan/tilt, and the water gun frame is connected with a water gun, a camera 1, and a laser range finder 17. The adjustable water gun bracket 16 is equipped with a tracking camera 1 through bolts for real-time observation of the insulator water washing operation, and a laser range finder 17 is directly under the tracking camera for real-time measurement of the distance between the water gun and the water washing operation insulator.

The laser range finder uses a red laser with a light source spot of 1 mm*1 mm, a measuring distance of 1.5 m to 8 m, and a measuring time of 1 to 5 msec.

The electrical control system includes an industrial computer and a remote control system. The industrial computer is connected to the remote control system through a wireless receiver. The control signal transmitted by the remote control system is received by the wireless receiver and transmitted to the industrial computer. The industrial computer receives the control signal and sends it to the wireless transceiver. In order to achieve the left and right wheel movement of the chassis, the vertical lifting mechanism lifting and the rotation of the gimbal.

A working method based on the above flushing robot, specifically:

The remote control system controls the industrial computer to enable the powertrain to drive the movement of the vehicle body. When the laser range finder 17 on the adjustable water gun bracket 16 detects that the horizontal distance between the water gun 2 and the insulator to be flushed satisfies the safety distance, the vehicle control The vertical lifting mechanism controls the telescopic movement in the vertical direction, so that the distance between the water gun 2 and the insulator satisfies the flushing distance, and the flushing is performed; the tracking camera observes the state of the water gun in real time, and the remote control system controls the rotation of the pan/tilt 15 to make the water gun 2 Perform horizontal and pitch movements and continuously adjust the spray angle of the water gun to achieve the best flushing effect.

The above description of the specific embodiments of the present invention has been described with reference to the accompanying drawings, but it is not intended to limit the scope of the present invention. Those skilled in the art should understand that the skilled in the art does not require the creative work on the basis of the technical solutions of the present invention. Various modifications or variations that can be made are still within the scope of the invention.

Claims

A substation charged water washing robot for low-altitude insulators, comprising: a vehicle body running mechanism, a power assembly, a vertical lifting mechanism, a water gun flushing mechanism, and an electric control system; wherein the power assembly is fixed to the vehicle body for walking The upper end of the mechanism is connected with the outer casing, the vertical front end of the outer casing is fixed with a vertical lifting mechanism, the vertical lifting mechanism is connected with the power assembly, the top of the vertical lifting mechanism is fixed with a water gun flushing mechanism, and the electrical control system is disposed on the vertical lifting mechanism;

The water gun flushing mechanism comprises a cloud platform, an electric control box and an adjustable water gun bracket; the electric control box is installed on the vertical lifting mechanism to provide the power required by the cloud platform, and the cloud platform realizes the movement of the water gun horizontally and tiltingly, the adjustable water gun The bracket is connected above the pan/tilt, and a water gun is attached to the water gun frame.
A substation charged water washing robot for low-altitude insulators according to claim 1, wherein the vehicle body traveling mechanism comprises a crawler chassis, a left travel motor, a right travel motor, a drive wheel, a driven wheel, a load bearing wheel, The crawler belt and the tension buffering device, the left travel motor and the right travel motor are bolted to the crawler chassis bracket, the drive wheel is coupled to the travel motor through the drive shaft, and the driven wheel, the load bearing wheel and the tension buffering device respectively pass through the rotating shaft and the crawler chassis The bracket is coupled, and the track is sleeved on the outer side of the driving wheel, the driven wheel, the bearing wheel and the tension buffering device, the left side of the chassis is a hydraulic oil tank, and the right side is a diesel tank.
The substation charged water washing robot for low-altitude insulators according to claim 1, wherein the vertical lifting mechanism comprises two-stage vertical telescopic arms, a bellows shroud, an insulating pillar and a vehicle controller, and a vertical telescopic arm. The hinged and vehicle body running mechanism fixing plate is mounted on the upper end of the vertical telescopic arm, and the vehicle controller is fixed on the vertical telescopic arm fixing plate. The organ box cover surrounds the two-stage vertical telescopic arm, the insulating pillar and the vehicle controller. among them.
A substation charged water washing robot for a low-altitude insulator according to claim 1, wherein the water gun flushing mechanism comprises a pan/tilt head, an electric control box and an adjustable water gun bracket; and the electric control box is mounted on the insulating pillar. Provide the power supply for the pan/tilt and camera; the pan/tilt realizes the horizontal and vertical movement of the water gun; the adjustable water gun bracket is hinged above the pan/tilt, and the water gun frame is connected with a water gun, a camera, and a laser range finder.
A substation charged water washing robot for low-altitude insulators according to claim 4, wherein: the water gun frame is provided with a tracking camera by bolts, and is used for real-time observation of the insulator water washing operation, and the tracking camera directly underneath Laser range finder for real-time measurement The distance between the water gun and the water rinse operating insulator.
The substation charged water washing robot for low-altitude insulators according to claim 5, wherein the laser range finder adopts a red laser, the light source spot is 1 mm*1 mm, the measuring distance is 1.5 m to 8 m, and the measuring time is It is 1 to 5 milliseconds.
A substation charged water washing robot for low-altitude insulators according to claim 1, wherein the vertical lifting mechanism is equipped with a two-stage telescopic arm, and the upper arm of the two-stage telescopic arm passes through the working pillar of the insulating strut and the water gun flushing mechanism. Connected.
A substation charged water washing robot for low-altitude insulators according to claim 1, wherein said electrical control system comprises an industrial computer and a remote control system, and the industrial computer is connected to the remote control system via a wireless receiver, and the remote control system transmits the same. The control signal is received by the wireless receiver and transmitted to the industrial computer. The industrial computer receives the control signal and sends it to the wireless transceiver to realize the movement of the left and right wheels of the chassis, the vertical lifting mechanism, and the rotation of the pan/tilt.
A substation charged water washing robot for a low-altitude insulator according to claim 1, wherein the vehicle body traveling mechanism adopts a wheel type moving mechanism, and the wheel type moving mechanism mainly comprises a wheeled chassis, a left traveling motor, and a right. The traveling motor, the driving wheel, the driven wheel and four hydraulic legs on both sides are composed. The left traveling motor and the right traveling motor are bolted to the wheeled chassis bracket, the driving wheel is coupled with the traveling motor through the driving shaft, and the driven wheel is rotated. The shaft is coupled to the wheeled chassis bracket, the left side of the wheeled chassis is a diesel tank, the right side is a hydraulic tank, and the hydraulic legs are hinged to the wheeled chassis.
A working method of a flushing robot according to any one of claims 1-9, characterized in that:

The remote control system controls the industrial computer to enable the powertrain to drive the movement of the vehicle body. When the laser range finder on the water gun frame detects that the horizontal distance of the water gun and the insulator to be flushed meets the safety distance, the vehicle controller controls the vertical lifting mechanism. The telescopic movement in the vertical direction is performed so that the distance between the water gun and the insulator satisfies the flushing distance, and the flushing is performed; the tracking camera observes the state of the water gun in real time, and the remote control system controls the rotation of the gimbal to make the water gun perform horizontal and pitch motions continuously. Adjust the spray angle of the water gun to achieve the best flushing effect.