WO2016037559A1 - 变电站带电水冲洗机器人系统及方法 - Google Patents

变电站带电水冲洗机器人系统及方法 Download PDF

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Publication number
WO2016037559A1
WO2016037559A1 PCT/CN2015/089120 CN2015089120W WO2016037559A1 WO 2016037559 A1 WO2016037559 A1 WO 2016037559A1 CN 2015089120 W CN2015089120 W CN 2015089120W WO 2016037559 A1 WO2016037559 A1 WO 2016037559A1
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WO
WIPO (PCT)
Prior art keywords
water
robot
flushing
arm
stage
Prior art date
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PCT/CN2015/089120
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English (en)
French (fr)
Inventor
李健
张海龙
鲁守银
苏建军
慕世友
任杰
傅孟潮
韩磊
王振利
谭林
吕曦晨
王滨海
李建祥
赵金龙
Original Assignee
山东鲁能智能技术有限公司
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Application filed by 山东鲁能智能技术有限公司 filed Critical 山东鲁能智能技术有限公司
Publication of WO2016037559A1 publication Critical patent/WO2016037559A1/zh
Priority to PH12017500429A priority Critical patent/PH12017500429B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning

Definitions

  • the invention relates to a substation charged water washing robot system and method.
  • 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.
  • substation insulator flushing operations have the following disadvantages:
  • the existing water washing equipment is not highly automated, low in efficiency, high in energy consumption, and has great safety hazards. Moreover, the existing water washing equipment does not have the pure water preparation function, and needs a special pure water preparation device, the equipment occupies a large ground, can not achieve flexible control in a small space environment; or the pure water preparation ability is poor , causing safety hazards during flushing operations.
  • the present invention discloses a substation charged water washing robot system and method, which uses a robot instead of manually completing a substation insulator flushing operation, so that the operator is located in a safe area, thereby ensuring the safety of the operator and reducing Labor intensity, improve flushing efficiency and automation level.
  • a substation charged water washing robot system comprising: a main flushing robot, an auxiliary flushing robot, and a pure water preparing device; wherein the main flushing robot and the auxiliary flushing robot are respectively connected to the pure water preparing device through a high pressure pipeline;
  • the main flushing robot includes a vehicle body moving mechanism, a lifting mechanism and a water gun flushing mechanism; the vehicle body moving mechanism is connected to the swing platform of the lifting mechanism through the slewing bearing, and the multi-stage multi-stage telescopic arm is mounted on the rotating platform of the lifting mechanism.
  • the multi-section multi-stage telescopic arm is connected to the water gun flushing mechanism through a leveling cylinder;
  • the auxiliary flushing robot comprises a vehicle body moving mechanism, a vertical lifting mechanism and a water gun flushing mechanism; the vertical lifting mechanism of the auxiliary flushing robot is connected with the vehicle body moving mechanism, the vertical lifting mechanism is equipped with a multi-stage telescopic arm, and the vertical lifting mechanism is multi-stage telescopic The arm is connected to the water gun flushing mechanism.
  • the auxiliary flushing robot and the main flushing robot each include an electrical control system, each of which includes an in-vehicle subsystem and a remote control subsystem, and the remote control subsystem cooperates with the in-vehicle subsystem to wirelessly complete the body movement of the corresponding robot. Control of the mechanism, lifting mechanism and water gun flushing mechanism.
  • the vehicle body moving mechanism of the main flushing robot is a crawler type moving chassis structure, and the vehicle body moving mechanism is connected to the rotating platform of the lifting mechanism through the slewing bearing, and the three-stage two-stage telescopic arm is further installed on the rotating platform of the lifting mechanism, three sections The arm of the two-stage telescopic arm is connected to the table of the water gun flushing mechanism through the leveling cylinder II.
  • the vehicle body moving mechanism of the auxiliary flushing robot is a crawler type moving chassis structure, and the power assembly of the auxiliary flushing robot is powered by a diesel engine and installed on the mobile chassis; the vertical lifting mechanism is disposed at the front end of the moving body of the vehicle body, and the vertical lifting mechanism is installed.
  • There is a two-stage telescopic arm and the upper arm of the two-stage telescopic arm is connected to the working gimbal of the water gun flushing mechanism through the insulating pillar, and the lower arm of the two-stage telescopic arm is fixed on the moving chassis.
  • the main washing robot and the auxiliary washing robot have the same body moving mechanism, and both include: Track chassis, left travel motor, right travel motor, drive wheel, driven wheel, load wheel, track, tension buffer and four hydraulic legs on both sides, left travel motor and right travel motor are bolted to the track chassis bracket
  • the driving wheel is coupled to the traveling motor through the driving shaft
  • the driven wheel, the bearing wheel and the tension buffering device are respectively coupled with the crawler chassis bracket through the rotating shaft
  • 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 diesel tank
  • the right side is a hydraulic tank
  • the hydraulic legs are hinged on the track chassis.
  • the lifting mechanism of the main flushing robot comprises a rotating platform and a leveling mechanism.
  • the rotating platform is connected with the moving body of the vehicle body through a slewing bearing.
  • the three-stage two-stage telescopic arm is hinged on the rotating platform, and the swinging platform and the boom of the three-section two-stage telescopic arm are hinged.
  • the boom and the connecting arm of the three-section two-stage telescopic arm are hingedly connected with the telescopic cylinder, and the leveling mechanism comprises a leveling cylinder I and a leveling cylinder II, and the leveling cylinder I is installed between the swing platform and the boom
  • the hinged cylinder and the boom are hingedly connected, and the leveling cylinder II is installed between the table and the arm, and is hingedly connected with the table and the arm.
  • the three-section two-stage telescopic arm comprises a boom, a connecting arm and an arm, and the boom is hinged to the swing platform, and a slider is arranged at the front and the back of the connecting arm, the slider is connected with the connecting arm bolt, and the connecting arm passes the slider Sliding connection with the boom and the arm, the head of the connecting arm is mounted with a sprocket; the big arm and the arm of the three-stage two-stage telescopic arm are connected by a bolt with a variable-width chain, and the front end of the boom bypasses the sprocket and expands and contracts The front end of the chain is hinged, and the end of the telescopic chain is hinged to the end of the arm.
  • the water gun flushing mechanism of the main flushing robot comprises a tilting cylinder and a swinging cylinder.
  • the tilting cylinder is connected to the swinging cylinder by bolts, and the swinging cylinder is connected to the working table by bolts.
  • the tilting cylinder is hinged with a water gun frame, and the water gun frame is connected with a water gun. ;
  • 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 vertical lifting mechanism of the auxiliary washing robot comprises: a two-stage vertical telescopic arm, a bellows shroud, an insulating pillar and an on-board controller, wherein the lower end of the vertical telescopic arm is fixed on a fixing plate of the vehicle body traveling mechanism, and the vertical telescopic arm The upper end is connected to the plurality of insulating struts through the top plate; the on-board controller is fixed on the vertical telescopic arm fixing plate, and the organ hood covers the two-stage vertical telescopic arms, the insulating struts and the on-board controller.
  • the water gun flushing mechanism of the auxiliary flushing robot comprises: a pan/tilt head, an electric control box, an adjustable water gun bracket, a water gun, a camera and a laser range finder;
  • the electric control box is disposed above the insulating pillar and fixed on the insulating pillar for providing power required by the pan/tilt and the camera; the pan/tilt is fixed on the electric control box; the adjustable water gun bracket is hingedly connected Above the pan/tilt head, a water gun, a camera and a laser range finder are respectively connected to the adjustable water gun bracket, and the laser range finder is disposed directly below the camera.
  • the pure water preparation device comprises: a pure water preparation system, a high pressure injection system and an electrical control system;
  • the pure water preparation system is connected to a high pressure injection system, and the electronic control system is respectively connected with a pure water preparation system and a high pressure injection system, wherein the electronic control system is used for controlling the opening of the pure water preparation device and when the pressure or flow rate is higher than the rated flow rate. Or overload protection at rated pressure.
  • the high-pressure injection system comprises: a high-pressure water pump, an electromagnetic clutch, a power transmission device, a backup pump and an outlet pipe; one end of the electromagnetic clutch is connected with a power take-off device of the mobile chassis, and the other end of the electromagnetic clutch is respectively connected with the power transmission device a high pressure water pump is connected to the backup pump, the standby pump is disposed on a side opposite to the high pressure water pump, and an output end of the high pressure water pump is connected to the outlet water pipe; at the output end of the high pressure water pump, a pressure detecting device is installed at the outlet pipe a water resistivity detecting device is disposed at the end;
  • the standby pump and the high pressure pump are in a parallel relationship, and the high pressure pump is turned on under normal working conditions; when the output high purity water pressure is less than the specified working pressure, the standby pump is automatically turned on.
  • the power transmission device includes: a pulley I, a pulley II and a pulley III, the pulley I is mounted on an output shaft of the electromagnetic clutch, the pulley II is installed at an input end of the high pressure water pump, and the pulley III is installed at an input end of the standby pump; Both the pulley I and the pulley II, the pulley I and the pulley III transmit power through the belt.
  • the pressure detecting device and the water resistivity detecting device are both connected to the electronic control system; when the pure water pressure or the resistivity does not meet the usage requirements, the electronic control system controls the high pressure pump to stop working and alarm.
  • the high-pressure injection system is further equipped with a manual throttle controller, and the manual throttle controller is connected with the diesel engine throttle, and the outlet pressure of the high-pressure water pump is adjusted by manually adjusting the size of the throttle switch.
  • the pure water preparation system comprises: activated carbon, quartz sand filter, security filter, first stage high pressure pump, first stage reverse osmosis membrane group, intermediate water tank, secondary high pressure pump, secondary reverse osmosis membrane group and pure water tank;
  • One side of the activated carbon and quartz sand filter is connected to a water pipe and the other side is passed through a pipe Connected to the security filter, the security filter is sequentially connected to the first-stage high-pressure water pump, the first-stage reverse osmosis membrane group, the intermediate water tank, the second-stage high-pressure water pump, the second-stage reverse osmosis membrane group and the pure water tank through a pipeline, the activated carbon
  • the quartz sand filter, the security filter, the first-stage reverse osmosis membrane group and the second-stage reverse osmosis membrane group together constitute a four-stage filtration process of the pure water preparation system, and pressure is respectively arranged on the pipeline of each of the filtration processes Table and flow meter.
  • the pure water preparation system is disposed on a side of the moving chassis remote from the front end, the high pressure injection system is disposed on a side close to the front end, and the pure water preparation system and the high pressure injection system are connected by a pure water tank; the high pressure injection system and the volume
  • the pipe is connected, the water pipe is wound on the hose reel, and the high pressure water from the high pressure water pump is sent to the high pressure pipe of the external water washing device through the water pipe channel.
  • the electronic control system is provided with an emergency stop button, a start button, a first-stage high-pressure pump start-stop button and a secondary high-pressure pump start-stop button, and is capable of displaying a pressure gauge reading and a flow meter reading.
  • the electrical control system of the main flushing robot and the auxiliary flushing robot both include an in-vehicle subsystem and a remote control subsystem.
  • the in-vehicle subsystem includes an industrial computer.
  • the industrial computer collects data uploaded by various sensors through the 485 bus, and receives data from the remote controller.
  • the incoming command is sent to the wireless receiver, and the wireless receiver receives the data of the remote remote controller, processes it in the industrial computer, and then sends it to the wireless transceiver, and controls the opening and closing of the proportional valve by adjusting the voltage value. Size, the control of the left and right wheel movement and telescopic arm of the mobile chassis.
  • a control method for a substation charged water washing robot system specifically: a pure water preparing device is used to provide pure water required for the main flushing robot and the auxiliary flushing robot to work, and the main flushing robot and the auxiliary flushing robot are remotely operated during operation
  • the control handle of the remote control device controls the movement mechanism of the body of the mechanical body to move to a designated area, and supports the front hydraulic leg I, the front hydraulic leg II, the rear hydraulic leg I, and the rear hydraulic leg II to improve the stability of the robot operation. ;
  • the slewing platform of the main flushing robot and its accessory parts can be rotated 360° to adjust the orientation of the two-stage telescopic arm.
  • the connecting arm can extend and contract through the telescopic cylinder, and the arm is stretched and contracted.
  • the chain is driven to extend and contract synchronously with the connecting arm, and the position of the boom, the connecting arm and the arm is adjusted under the joint action of the variable amplitude cylinder, the telescopic cylinder and the telescopic chain;
  • the leveling cylinder I and the leveling cylinder II coordinately adjust the position of the table, maintain the level of the table, tilt the up and down pitch of the cylinder and the left and right swing of the swing cylinder to achieve fine adjustment of the position of the water gun frame, and determine the water gun by tracking the image captured by the camera.
  • Pose water jet high-purity water for washing industry
  • the auxiliary flushing robot realizes the movement of the second water gun horizontally and tilted by adjusting the pan/tilt during operation, and the second tracking camera is mounted on the second water gun frame by bolts for real-time observation of the insulator water washing operation, the second tracking A second laser range finder is installed directly below the camera to measure the distance between the water gun and the water washing operation insulator in real time. The image captured by the camera is tracked to determine the position of the water gun, and the water gun sprays high purity water for flushing.
  • the main body is composed of mechanical body and remote control device.
  • the signal is transmitted between the mechanical body and the remote control device through wireless signals to make the flushing operation. Keeping people away from high-voltage electric fields ensures the safety of workers.
  • the water washing robot system of the present invention uses a robot instead of manually completing the substation insulator flushing operation, so that the operator is located in a safe area, which ensures the safety of the operator, reduces the labor intensity, and improves the flushing efficiency and automation level.
  • the operator holds the remote control device, and through the control handle on the remote control device, the vehicle body moving mechanism of the robot mechanical body, the three-section two-stage telescopic arm lifting mechanism and the water gun flushing mechanism can be remotely controlled, and the robot can be adjusted according to the image captured by the tracking camera.
  • the working posture uses a high-pressure water spray mechanism to spray high-purity water for flushing operation.
  • the auxiliary flushing robot is designed to cooperate with the main flushing robot. For the place where the main flushing robot cannot enter or flush, the auxiliary washing robot is used to flush the insulating equipment to ensure the all-round effective cleaning of the insulating equipment.
  • the invention provides a separate pure water preparation device for the water washing robot system, and the pure water preparation device adopts the advanced RO reverse osmosis membrane technology, and the pure water preparation speed is fast and the water power rate is high. It is movably connected with the auxiliary punching robot, which can provide pure water source for the auxiliary punching robot at any time, improve the water production capacity, and improve the flow rate of the system by adopting a high-power water pump matched with the engine, which can realize the water washing robot. Intermittent water supply meets the requirements of substation water flushing site operations and ensures the safety of operators.
  • FIG. 1(a) is a schematic structural view of a main flushing robot for charging a substation according to the present invention
  • FIG. 1(b) is a schematic structural view of a substation electrified auxiliary flushing flushing robot of the present invention
  • FIG. 2 is a top plan view showing the structure of the main flushing robot of the substation
  • FIG. 3 is a schematic structural view showing a working limit position of a main flushing robot for charging a substation according to the present invention
  • FIG. 4 is a schematic diagram of hydraulic control of a main flushing robot for charging a substation according to the present invention
  • FIG. 5 is a block diagram of an electrical control structure of a main flushing robot for charging a substation according to the present invention
  • FIG. 6 is a schematic diagram of a remote remote controller panel of a main flushing robot for a substation
  • Figure 7 is a schematic structural view of a pure water preparation device of the present invention.
  • Figure 8 is a front view showing the structural arrangement of the pure water preparation device of the present invention.
  • Figure 9 is a plan view showing the structural arrangement of the pure water preparation device of the present invention.
  • Figure 10 is a schematic structural view of a pure water preparation system of the present invention.
  • Figure 11 is a schematic view showing the structure of a high pressure injection system of the present invention.
  • the structure of the auxiliary flushing robot is as shown in Fig. 1(b), including the vehicle body moving mechanism 2-8, the powertrain 2-11, the vertical lifting mechanism 2-5, the water gun flushing mechanism, the electric control system, etc.;
  • the body running mechanism 2-8 is a crawler type moving chassis structure, the power assembly 2-11 is powered by a diesel engine, and is mounted on the moving chassis, and the vertical lifting mechanism 2-5 is connected to the front end of the moving body of the vehicle body, and the vertical lifting mechanism 2-5
  • the two-stage telescopic arm is installed, and the upper arm of the two-stage telescopic arm is connected to the working platform 2-15 of the water gun flushing mechanism through the insulating pillar 2-13;
  • the electrical control system includes the vehicle subsystem and the remote control subsystem, the remote control subsystem and the vehicle The system cooperates to remotely control the vertical lifting mechanism of the robot and the water gun flushing mechanism.
  • the body moving mechanism 2-8 of the auxiliary flushing robot has the same structure as the body moving mechanism of the main flushing robot.
  • the second crawler chassis 2-7 has a second hydraulic oil tank 2-9 on the left side and a second diesel fuel tank 2-12 on the right side.
  • the powertrain 2-11 uses 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 2-5 comprises a two-stage vertical telescopic arm, a bellows shield 2-4, an insulating pillar 2-3 and a vehicle controller 2-6.
  • the vertical telescopic arm hinge connection and the vehicle body moving mechanism fixing plate are insulated.
  • the pillars 2-13 are mounted on the upper end of the vertical telescopic arm, and the vehicle controller 2-6 is fixed on the vertical telescopic arm fixing plate.
  • the organ box shield 2-4 will have two stages of vertical telescopic arms, insulating pillars 2-13 and the vehicle controller 2 -6 surrounded by it.
  • the front portion of the outer casing 2-18 of the auxiliary flushing robot is provided with display panels 2-10, and the second water gun 2-2 is connected to the inlet pipes 2-14.
  • the water gun flushing mechanism of the auxiliary flushing robot comprises a pan/tilt 2-15, an electric control box 2-3, a second water gun rack 2-16, and the like; the electric control box 2-3 is mounted on the insulating pillar 2-13 to provide the pan/tilt 2 -15, the second tracking camera 2-1 required power; the PTZ 15 realizes the second water gun 2-2 horizontal and pitch movement; the water gun frame 2-16 is hinged above the PTZ 2-15, the water gun frame 2 A second water gun 2-2, a second tracking camera 2-1, and a second laser range finder 17 are connected to the -16.
  • a second tracking camera 2-1 is mounted on the water gun frame 2-16 by bolts for real-time observation of the insulator water washing operation.
  • a second laser range finder 2-17 is mounted directly below the second tracking camera 2-1 for real-time measurement of the distance between the water gun and the water rinsing insulator.
  • a substation is charged with a main flushing washing robot, and the main body is composed of a mechanical body and a remote control device.
  • the mechanical body is mainly composed of a vehicle body moving mechanism, a three-section two-stage telescopic arm lifting mechanism, a water gun flushing mechanism, a hydraulic control system and an electric control system.
  • the vehicle body moving mechanism is a crawler type mobile chassis structure, one side of the crawler chassis is a diesel tank, and the other side is a hydraulic oil tank, and the power source of the robot is a vehicle diesel engine; the vehicle body moving mechanism is connected to the swing platform 8 of the lifting mechanism through the slewing bearing.
  • the three-stage telescopic arm of the three-stage two-stage telescopic arm is connected to the table 15 of the water gun flushing mechanism through the leveling cylinder II18, and the swing platform 8 is also connected with The proportional control valve group of the hydraulic control system; the electric control system includes an onboard subsystem and a remote control subsystem, and the remote control subsystem cooperates with the onboard subsystem to complete the vehicle body moving mechanism, the lifting mechanism and the water gun of the robot by using a hydraulic control system Control of the flushing mechanism.
  • Substation charged water washing robot system working power source vehicle diesel engine. With 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 body moving mechanism of the main flushing robot adopts a crawler type moving chassis structure, mainly composed of a first crawler chassis 6, a left and right travel motor, a driven wheel 1, a drive wheel 4, a load bearing wheel 2, a crawler belt 5, and a tensioning device.
  • the buffer device 3 and four hydraulic legs on both sides are composed.
  • the left side of the chassis is the first diesel tank 28, the right side is the first hydraulic oil tank 25, the rear hydraulic support leg I23, the rear hydraulic support leg II24, the front hydraulic support leg I26, and the front hydraulic support leg II27 are hinged on the crawler chassis 6.
  • An electrical control box 22 is also provided on the first track chassis 6.
  • the lifting mechanism composed of three two-stage telescopic arms is mainly composed of a rotary platform 8, three two-stage telescopic arms, and a leveling mechanism.
  • the slewing platform 8 is connected to the vehicle body moving mechanism through the slewing bearing, and is driven by the slewing motor to realize 360° continuous rotation movement of the slewing platform 8 and its accessory components.
  • the proportional control valve group 7 is bolted to the slewing platform 8; the two-stage telescopic arm
  • the utility model is mainly composed of a boom 11, a connecting arm 29 and an arm 30.
  • the two-stage telescopic arm is mounted on the rotary platform 8, and the boom 11 is hinged to the rotary platform 8.
  • the front and rear ends of the connecting arm 29 have a slider, a slider and a connecting arm. 29 bolt connection, the connecting arm 29 is slidably connected with the boom 11 and the arm 30, and the head of the connecting arm 29 is mounted with the sprocket 14; the variable amplitude cylinder 12 is hingedly connected with the boom 11 and the rotary platform 8, and the telescopic cylinder and the boom 11 ,
  • the connecting arm 29 is hingedly connected;
  • the leveling mechanism is mainly composed of a leveling cylinder I9 and a leveling cylinder II18, and the leveling cylinder I9 is installed between the swing platform 8 and the boom 11, and is hingedly connected with the swing platform 8 and the boom 11 to level
  • the cylinder II18 is mounted between the table 15 and the arm 30, and is hingedly connected to the table 15 and the arm 30.
  • variable chain 10 is respectively connected to the boom 11 and the arm 30 by bolts, and the front end of the telescopic chain 13 is hinged at The front end of the boom 11 bypasses the sprocket 14 and the end hinges the end of the arm 30.
  • the water gun flushing mechanism is mainly composed of a table 15, a tilting cylinder 16, a swing cylinder 31, a first water gun frame 17, and a first water gun 21.
  • the pitch cylinder 16 is bolted to the swing cylinder 31, and the swing cylinder 31 is bolted to the table 15, and the first water gun frame 17 is hinged to the pitch cylinder 16, and the first water gun 21 is screwed to the first water gun frame 17.
  • the first tracking camera 19 is mounted on the robot first water gun frame 17, and is used for real-time observation of the insulator water washing operation, and real-time transmission of the scene of the job site, so that the remote operator can perform the operation.
  • the first tracking camera 19 is bolted to the water gun frame 17.
  • a first laser range finder 20 is mounted directly below the first tracking camera 19 to measure the distance between the water gun and the water rinsing insulator in real time to keep it within a safe working distance.
  • the vehicle body moving mechanism of the mechanical body is controlled to move to a designated area by the control handle of the remote control device, and the front hydraulic leg I26, the front hydraulic leg II27, the rear hydraulic leg I23, the rear hydraulic leg II24 Supporting the ground to improve the stability of the robot operation; the rotary platform 8 and its accessory parts can be rotated 360° to adjust the orientation of the two-stage telescopic arm, and the pitching cylinder 12 adjusts the pitch angle of the boom 11 and the connecting arm 29 is realized by the telescopic cylinder With the extension and contraction, the arm 30 is extended and contracted in synchronization with the connecting arm 29 under the driving of the telescopic chain 13, and the boom 11 and the connecting arm are adjusted under the joint action of the luffing cylinder 12, the telescopic cylinder and the telescopic chain 13.
  • the leveling cylinder I9 and the leveling cylinder II18 coordinately adjust the posture of the table 15, maintain the level of the table 15, the pitching of the pitch cylinder 16 and the left and right swing of the swing cylinder 31 to realize the water gun frame 17
  • the posture is finely adjusted, and the posture of the water gun 21 is determined by the image captured by the first tracking camera 19, and the water gun 21 sprays high-purity water for the flushing operation.
  • the substation charged water washing robot system hydraulic system uses the lower control valve group A, the upper control valve group B combined control and the central rotary joint combination control, a total of seven proportional reversing valves and four manual reversing valves.
  • the substation charged water washing robot system adopts diesel engine as the power, and is connected with the double gear pump through the coupling.
  • the hydraulic system adopts anti-wear insulating hydraulic oil.
  • the hydraulic oil enters the water from the fuel tank and through the oil suction filter. Wash the robot hydraulic control oil circuit, and then return to the fuel tank through the oil return filter.
  • the one-way valve controls the oil return, and the safety valve has the overload protection function.
  • the pressure gauge is connected to the oil passage through the pressure gauge switch, and displays the hydraulic pressure of the oil passage in real time.
  • the central swivel joint is a hydraulic component that connects the rotary platform to the oil circuit of the chassis. It ensures that the hydraulic oil circuit can be properly dispensed after the rotary platform is rotated at any angle.
  • the lower control valve group A is connected to the hydraulic pump through the distribution valve.
  • the four sets of manual reversing valves control the four leg cylinders of the water washing robot to complete the telescopic movement.
  • the two proportional reversing valves control the left and right two motors for robot walking. motion.
  • the top control valve group B is connected to the hydraulic pump via a central rotary joint, a top control switch button, a distribution valve, and a hydraulic pump.
  • the rotary motor is mainly controlled by a proportional reversing valve to complete the rotary motion of the top loading rotary platform, and the two sets of proportional reversing valve control booms Pitch and arm telescopic movement, the other two sets of proportional reversing valves realize the horizontal and vertical movement of the water gun through the horizontal swing cylinder and the vertical swing cylinder.
  • the substation charged main flushing robot electrical control system includes an in-vehicle subsystem and a remote control subsystem.
  • the vehicle subsystem includes a vehicle-mounted host computer control system and a vehicle-mounted driver.
  • the vehicle-mounted host computer control system has functions of receiving commands from the remote control subsystem, parsing commands, and implementing motion algorithms.
  • the vehicle driver receives the command of the vehicle host computer control system to realize the function of controlling the valve block of the vehicle body.
  • the remote control subsystem has the movement of the car body, the start and stop of the engine, the size of the throttle, the single joint control of the lifting mechanism and the combined control function.
  • the in-vehicle subsystem and the handheld terminal subsystem communicate wirelessly.
  • the vehicle subsystem is mainly divided into four modules: the vehicle body movement control module, the upper lifting mechanism motion control module, the engine and power supply power monitoring module and the safety monitoring module.
  • the vehicle body movement control module has functions of forward, backward, speed regulation, left and right steering, leg extension, auxiliary illumination, safety monitoring, etc.
  • the upper lifting mechanism motion control module has single joint control, single joint position feedback, automatic leveling and safety monitoring. And other functions; engine and power power monitoring module with engine start and stop, speed control and other engine and power supply voltage monitoring; safety monitoring module with lifting mechanism joint limit, leg status, oil temperature oil level, battery Threshold setting and safety alarm for voltage and other conditions.
  • the vehicle subsystem hardware consists of industrial computer, wireless receiver, A/D conversion module, ZIGBEE, various sensors, proportional valves, on-off valves and so on.
  • the industrial computer collects the data uploaded by various sensors through the 485 bus, and sends the commands received from the remote remote controller to the wireless receiver to realize the control of the on-off valve and the proportional valve.
  • the wireless receiver After receiving the data of the remote controller, the wireless receiver enters the industrial computer
  • the line processing is then sent to the wireless transceiver, and the control of the proportional value of the proportional valve is controlled by adjusting the voltage value to realize the control of the left and right wheel movement of the moving chassis, the expansion of the arm, the tilting of the boom, and the rotation of the rotary platform.
  • Various types of sensors include wire sensor, angle sensor, tilt sensor, temperature sensor, pressure sensor, voltage sensor and current sensor.
  • the wire sensor is installed between the boom and the arm to measure the telescopic length of the arm, the boom and the top.
  • the platform is equipped with an angle sensor and a tilt sensor to collect the horizontal and vertical angle data of the boom and platform and transmit it to the industrial computer.
  • the angle sensor and the tilt sensor data on the platform are wirelessly transmitted through ZIGBEE to realize the top platform.
  • the temperature and pressure sensors are installed on the hydraulic oil tank, collecting the oil temperature in the fuel tank and the pressure data of the hydraulic oil in the fuel tank.
  • the collected data is analog, and is converted into a digital signal by A/D and transmitted to the industrial computer through 485.
  • the voltage and current sensors collect voltage and current values in the circuit, and the voltage and current in the detection circuit are stable.
  • the collected analog signals are converted into digital signals by the A/D conversion module and transmitted to the industrial computer through the 485 bus.
  • the remote control realizes remote control of the mobile chassis, the lifting arm and the water gun, including controlling the front and rear of the left wheel, the front and rear of the right wheel, the left and right arms, the arm tilting, the arm stretching, and the platform left and right;
  • the lock button includes tools, selection, XYZ World coordinate system, throttle size control;
  • self-recovery button includes reset, engine start and stop, teaching, reproduction, start control;
  • indicators include power, wireless communication, alarm indicators.
  • a remote control device for a substation charged main flushing robot includes seven analog rockers, front and rear front and rear wheels, right and left front and rear arms, boom 11 and left, boom 11 pitch, arm 31 telescopic, table 15 Left and right, water gun 17 pitch; lock button includes tool, selection, XYZ world coordinate system, throttle size control; self-recovery button includes reset, engine start and stop, teaching, reproduction, start control; indicator light includes power supply, wireless communication , alarm indicator.
  • the main flushing robot is mainly used for the flushing of high-altitude insulators, generally 8 meters or more of insulator equipment; the auxiliary flushing robot is mainly used for the flushing of low-altitude insulators, generally 8 meters below the insulator device.
  • a pure water preparation system As shown in FIG. 7, comprising: a pure water preparation system, a high pressure injection system and an electronic control system; a pure water preparation system is connected to the high pressure injection system, and the electronic control system is respectively connected with the pure water preparation system and the high pressure injection system; the pure water preparation system Set on the side of the moving chassis away from the front of the vehicle, the high-pressure injection system is placed on the side close to the front, and the pure water preparation system and the high-pressure injection system are connected through the pure water tank. Pick up.
  • the high-pressure injection system is connected with the hose reel, and a 60-meter water pipe is wound thereon, and the high-pressure water mainly from the water pump is sent to the high-pressure pipeline of the external high-pressure water washing robot through the water pipe passage of the hose reel 3-9.
  • the function of the reel 3-9 is to control the retraction of the outlet pipe to reduce the labor intensity of the field staff.
  • the pure water preparation device mainly consists of mobile chassis 3-1, activated carbon, quartz sand filter 3-14, security filter 3-23, first stage high pressure water pump 3-22, first stage reverse osmosis.
  • Membrane group 3-18 intermediate water tank 3-17, secondary high pressure water pump 3-21, secondary reverse osmosis membrane group 3-13, pure water tank 3-5.
  • One side of the activated carbon and quartz sand filter 3-14 is connected to the water pipe.
  • the other side is connected to the security filter 3-23 via a pipe.
  • the other side of the security filter 3-23 is connected to the primary high pressure water pump 3-22 through a pipe.
  • the other side of the first stage high pressure water pump 3-22 is connected to the first stage reverse osmosis membrane group 3-18 through a pipe.
  • the other side of the primary reverse osmosis membrane group 3-18 is connected to the intermediate water tank 3-17 through a pipe.
  • the other side of the intermediate water tank 3-17 is connected to the secondary high pressure water pump 3-21 through a pipe.
  • the other side of the secondary high pressure pump 3-21 is connected to the secondary reverse osmosis membrane group 3-13 through a pipe.
  • the other side of the secondary reverse osmosis membrane group 3-13 is connected to the pure water tank 3-5 through a pipe, as shown in Fig. 4.
  • the water source required for the device is a common tap water source, and after filtering by the pure water preparation device, the water resistivity requirement required for the charged water washing guide of the electric equipment can be met.
  • a pressure gauge and a flow meter are installed in each of the filtration processes to ensure that the pressure and flow rate of the water can be within a reasonable range.
  • Reverse osmosis is the separation of the solvent (usually referred to as water) in the solution through a reverse osmosis membrane (a semi-permeable membrane) with sufficient pressure in the opposite direction to the permeation direction. Separation can be carried out using a reverse osmosis method that is greater than the osmotic pressure. , purification and concentration of the solution. Reverse osmosis technology can effectively remove dissolved salts, colloids, bacteria, viruses, bacterial endotoxins and most organic impurities in water.
  • the main separation object of the reverse osmosis membrane is the ion range in the solution, and the impurities in the water can be effectively removed without chemicals, thereby obtaining high purity water.
  • the invention adopts activated carbon, quartz sand filter, security filter, first-stage high-pressure pump, first-stage reverse osmosis membrane group, intermediate water tank, two-stage high-pressure pump and two-stage reverse osmosis membrane group to be filtered step by step, and is obtained to meet the substation charged water washing. High purity water required for operation.
  • High-pressure injection system consists of high-pressure water pump 3-4, electromagnetic clutch 3-6, pulley I3-7, pulley II3-8, pulley III3-25, backup water pump 3-10, hose reel 3-9, pressure detecting device 3-3 , high pressure injection system flow meter 3-19 and water resistivity test table 3-2 and so on.
  • the power of the high pressure water pump 3-4 is derived from the electromagnetic clutch 3-6 of the automobile chassis 1 and outputs power via the electromagnetic clutch 3-6 to meet the irregular working requirements of the high pressure injection system.
  • the pulley I3-7 is mounted on the electric The output shaft of the magnetic clutch 3-6, the pulley II3-8 are installed at the input end of the high pressure water pump 3-4, and the pulley III3-25 is installed at the input end of the standby pump 3-10; the pulley I3-7 and the pulley II3-8
  • the belt 3-11 transmits power between the pulley I3-7 and the pulley III3-25.
  • the backup water pump 3-10 is mounted on the other side of the mobile chassis 3-1, and its main purpose is to prevent sufficient power for the system when the high pressure water pump fails or the pressure is insufficient.
  • the pressure detecting device 3-3 is installed at the output end of the high pressure water pump 3-4 for detecting the pure water output pressure of the high pressure pump.
  • Water resistivity test Table 3-2 is used to detect the water resistivity of pure water after being pressurized by a high pressure pump.
  • the pressure gauge and the water resistivity test table are connected to the electronic control system. When the pure water pressure and the resistivity do not meet the requirements for use, the high pressure water pump 3-4 stops working and alarms.
  • the high-pressure injection system is also equipped with a manual throttle controller, which is connected to the diesel engine throttle, and can manually adjust the size of the throttle switch to achieve the adjustment of the outlet pressure of the high-pressure water pump.
  • the electronic control system is equipped with an emergency stop button, a start button, a first-stage high-pressure pump start-stop button, a secondary high-pressure pump start-stop button, a voltmeter, an ammeter, and the like to observe the operation of each device. It is equipped with an electronic control system voltmeter 3-15, an electronic control system ammeter 3-16, and an electronic control system flow meter 3-24 for detecting each stage of filtered water and an electronic control system pressure gauge 3-12.
  • the pure water preparation device has two control modes: manual and automatic; in the manual mode operation, first unscrew the manual button, the manual light is on, and the manual mode is divided into four channels: booster pump, primary pump, flush valve, two After the level pump is turned on and the button is turned on, the device is manually operated. When the button is stopped, the button is turned back and the device stops working.
  • the automatic mode is running, the auto button is turned on, the device controls the operation through the automatic panel, and when the switch is closed, the device automatically stops working.
  • the equipment In the automatic mode, the equipment has four automatic protection functions: raw water shortage protection, one-two high-pressure pump water shortage protection, over-pressure protection and pure water tank full water shutdown.
  • the reverse osmosis membrane In the automatic mode, in order to flush out the macromolecular substances left in the reverse osmosis membrane at work, the reverse osmosis membrane is automatically cleaned according to the procedure.

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  • Cleaning In General (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

变电站带电水冲洗机器人系统及方法，包括主冲洗机器人、辅助冲洗机器人、纯水制备装置；主冲洗机器人和辅助冲洗机器人分别与纯水制备装置通过高压管路连接；主冲洗机器人包括车体移动机构、升降机构和水枪冲洗机构；车体移动机构通过回转支承与升降机构的回转平台（8）相连，升降机构的回转平台（8）上安装有多节多级伸缩臂，多节多级伸缩臂通过调平油缸与水枪冲洗机构连接；该装置利用机器人代替人工完成变电站绝缘子冲洗作业，使操作人员位于安全区域内，保障了操作人员的安全，降低了劳动强度，提高冲洗效率和自动化水平。

Description

变电站带电水冲洗机器人系统及方法
本申请要求于2014年09月10日提交中国专利局、申请号为201410459455.X、发明名称为“变电站带电水冲洗机器人系统及方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及一种变电站带电水冲洗机器人系统及方法。
背景技术
变电站绝缘子长时间暴露在外界环境中，表面易沉积污垢，这些污垢受恶劣天气侵害容易发生污闪事故。绝缘子带电水冲洗作业可以提高供电的可靠性，减少停电损失，保证变电站及输电线路的安全。在现阶段的变电站绝缘子冲洗作业主要存在以下缺点：
1、冲洗方式大多是由清洗技术人员手持冲洗设备进入现场进行作业，人工冲洗不仅依赖于天气情况，还需要清洗人员具备较高技术水平及熟练的操作流程，对绝缘子进行带电水冲洗时需要高规格的安全防护，以避免短路电流造成的安全事故，引发人员伤亡，这类作业方式存在安全隐患。
2、人工作业面临着劳动强度大，效率低，自动化水平低等诸多问题；带电水冲洗技术要求较高，受环境、积污情况、设备爬距、设备布置方式等多种因素影响，人工冲洗时容易发生设备闪络。
3、考虑到带电水冲洗作业受到冲洗角度、水压等多方面的影响，人工作业有时不能把设备外绝缘表面的污秽物完全冲走。对于特殊地理位置的绝缘子，采用单独的水冲洗机器人也存在无法保证对变电站绝缘子进行全方位有效冲洗的问题，因此，需要辅助冲洗设备与主冲洗机器人进行配合工作，才能实现对绝缘子各个位置的有效冲洗。
4、现有的水冲洗设备自动化程度不高、效率低、能耗大、存在着很大的安全隐患。且现有水冲洗设备不具备纯水制备功能，需要配套专门的纯水制备装置，设备占地面大，在场地空间较小的环境下，不能够实现灵活的控制；或者纯水制备能力较差，导致冲洗作业时存在安全隐患。
因此利用更安全和效率更高的机器人代替人工对变电站绝缘子进行水冲洗作业是非常有必要的，是符合时代发展要求的。
发明内容
为解决现有技术存在的不足，本发明公开了变电站带电水冲洗机器人系统及方法，该装置利用机器人代替人工完成变电站绝缘子冲洗作业，使操作人员位于安全区域内，保障了操作人员的安全，降低的劳动强度，提高冲洗效率和自动化水平。
为实现上述目的，本发明的具体方案如下：
一种变电站带电水冲洗机器人系统，包括：主冲洗机器人、辅助冲洗机器人、纯水制备装置；所述主冲洗机器人和辅助冲洗机器人分别与纯水制备装置通过高压管路连接；
所述主冲洗机器人包括车体移动机构、升降机构和水枪冲洗机构；所述车体移动机构通过回转支承与升降机构的回转平台相连，升降机构的回转平台上安装有多节多级伸缩臂，所述多节多级伸缩臂通过调平油缸与水枪冲洗机构连接；
所述辅助冲洗机器人包括车体移动机构、垂直升降机构和水枪冲洗机构；辅助冲洗机器人的垂直升降机构与车体移动机构连接，垂直升降机构安装有多级伸缩臂，垂直升降机构通过多级伸缩臂与水枪冲洗机构连接。
所述辅助冲洗机器人和主冲洗机器人均包括电气控制系统，所述电气控制系统均包括车载子系统和遥控子系统，遥控子系统与车载子系统相配合通过无线方式完成对相应机器人的车体移动机构、升降机构及水枪冲洗机构的控制。
所述主冲洗机器人的车体移动机构为履带式移动底盘结构，所述车体移动机构通过回转支承与升降机构的回转平台相连，升降机构的回转平台上还安装有三节两级伸缩臂，三节两级伸缩臂的小臂通过调平油缸Ⅱ与水枪冲洗机构的工作台相连。
所述辅助冲洗机器人的车体移动机构为履带式移动底盘结构，辅助冲洗机器人的动力总成采用柴油机提供动力，安装于移动底盘上；垂直升降机构设置在车体移动机构前端，垂直升降机构安装有两级伸缩臂，两级伸缩臂的上臂通过绝缘支柱与水枪冲洗机构的工作云台相连，两级伸缩臂的下臂固定在移动底盘上。
所述主冲洗机器人和辅助冲洗机器人的车体移动机构相同，均包括： 履带底盘、左行走马达、右行走马达、驱动轮、从动轮、承重轮、履带、张紧缓冲装置以及两侧的四个液压支腿，左行走马达和右行走马达通过螺栓连接在履带底盘支架上，驱动轮通过驱动轴与行走马达联接，从动轮、承重轮与张紧缓冲装置分别通过旋转轴与履带底盘支架联接，履带套在驱动轮、从动轮、承重轮与张紧缓冲装置的外侧，底盘左边为柴油箱，右边为液压油箱，液压支腿铰接在履带底盘上。
所述主冲洗机器人的升降机构包括回转平台及调平机构，回转平台通过回转支承与车体移动机构连接，回转平台上铰接有三节两级伸缩臂，回转平台及三节两级伸缩臂的大臂与变幅油缸铰接连接，三节两级伸缩臂的大臂及连接臂与伸缩油缸铰接连接，调平机构包括调平油缸Ⅰ和调平油缸Ⅱ，调平油缸Ⅰ安装在回转平台和大臂间，与回转平台、大臂铰接连接，调平油缸Ⅱ安装在工作台与小臂之间，与工作台、小臂铰接连接。
所述三节两级伸缩臂包括大臂、连接臂及小臂，大臂铰接到回转平台上，连接臂前、后端均设置有滑块，滑块与连接臂螺栓连接，连接臂通过滑块与大臂、小臂滑动连接，连接臂的头部安装有链轮；所述三节两级伸缩臂的大臂、小臂上通过螺栓连接有变幅链条，大臂前端绕过链轮与伸缩链条的前端铰接，伸缩链条的末端与小臂末端铰接。
所述主冲洗机器人的水枪冲洗机构包括俯仰油缸及摆动油缸，俯仰油缸通过螺栓连接在摆动油缸上，摆动油缸通过螺栓连接在工作台上，俯仰油缸上铰接有水枪架，水枪架上连接有水枪；
所述水枪架上通过螺栓安装有跟踪摄像机，用于实时观察绝缘子水冲洗作业情况，跟踪摄像机正下方装有激光测距仪，用于实时测量水枪与水冲洗作业绝缘子的距离。
所述辅助冲洗机器人的垂直升降机构包括：两级垂直伸缩臂、风琴箱护罩、绝缘支柱和车载控制器，所述垂直伸缩臂的下端固定在车体行走机构的固定板上，垂直伸缩臂的上端通过顶板与若干绝缘支柱连接；所述车载控制器固定在垂直伸缩臂固定板上，所述风琴箱护罩将两级垂直伸缩臂、绝缘支柱及车载控制器包围其中。
所述辅助冲洗机器人的水枪冲洗机构包括：云台、电控箱、可调式水枪支架、水枪、摄像机和激光测距仪；
所述电控箱设置在绝缘支柱的上方，并固定在绝缘支柱上，用于提供云台和摄像机所需的电源；所述云台固定在电控箱上；所述可调式水枪支架铰连接在云台上方，可调式水枪支架上分别连接有水枪、摄像机和激光测距仪，所述激光测距仪设置在摄像机的正下方。
所述纯水制备装置包括：纯水制备系统、高压喷射系统和电气控制系统；
所述纯水制备系统与高压喷射系统连接，电控系统与纯水制备系统和高压喷射系统分别连接，所述电控系统用于控制纯水制备装置的开启以及当压力或流量高于额定流量或额定压力时的过载保护。
所述高压喷射系统包括：高压水泵、电磁离合器、动力传送装置、备用泵和出水管；所述电磁离合器一端与移动底盘自带的取力器连接，电磁离合器的另一端通过动力传送装置分别与高压水泵和备用泵连接，所述备用泵设置在与高压水泵相对的一侧，高压水泵的输出端连接出水管；在所述高压水泵的输出端安装有压力检测装置，在所述出水管的末端设置水电阻率检测装置；
所述备用泵与高压泵属于并联关系，在正常工作状况下，开启高压泵；当输出高纯水压力小于规定工作压力时，自动开启备用泵。
所述动力传送装置包括：皮带轮Ⅰ、皮带轮Ⅱ和皮带轮Ⅲ，所述皮带轮Ⅰ安装在电磁离合器的输出轴、皮带轮Ⅱ安装在高压水泵的输入端、皮带轮Ⅲ安装在备用泵的输入端；所述皮带轮Ⅰ和皮带轮Ⅱ、皮带轮Ⅰ和皮带轮Ⅲ之间均通过皮带传输动力。
所述压力检测装置和水电阻率检测装置均与电控系统相连；当纯水压力或者电阻率不符合使用要求时，电控系统控制高压泵会停止工作并报警。
所述高压喷射系统还装有手动油门控制器，所述手动油门控制器与柴油机油门连接，通过手动调节油门开关大小，实现高压水泵出口压力的调节。
所述纯水制备系统包括：活性炭、石英砂过滤器，保安过滤器，一级高压泵，一级反渗透膜组，中间水箱，二级高压泵，二级反渗透膜组和纯水箱；
所述活性炭、石英砂过滤器的一侧与自来水管相连，另一侧通过管道 与保安过滤器连接，所述保安过滤器通过管道与一级高压水泵、一级反渗透膜组、中间水箱、二级高压水泵、二级反渗透膜组和纯水箱依次连接，所述活性炭、石英砂过滤器，保安过滤器，一级反渗透膜组和二级反渗透膜组共同组成纯水制备系统的四级过滤工序，在所述每一级过滤工序的管路上分别设有压力表和流量计。
所述纯水制备系统设置在移动底盘的远离车头一侧，高压喷射系统设置在靠近车头的一侧，纯水制备系统和高压喷射系统之间通过纯水箱连接；所述高压喷射系统与卷管器连接，所述卷管器上缠绕水管，高压水泵出来的高压水通过水管通道输送至外部水冲洗设备的高压管路上。
所述电控系统设有急停按钮、启动按钮、一级高压泵启停按钮和二级高压泵启停按钮，并能够进行压力表读数显示和流量计读数显示。
所述主冲洗机器人和辅助冲洗机器人的电气控制系统均包括车载子系统和遥控子系统，车载子系统包括工控机，工控机通过485总线采集各类传感器上传的数据，并对从远程遥控器接收到的指令下发给无线接收机，无线接收机接收到远程遥控器的数据后在工控机中进行处理然后再下发给无线收发机，通过对电压值的调节控制比例阀的开合及流量大小，实现对移动底盘左右轮运动和伸缩臂的控制。
一种变电站带电水冲洗机器人系统的控制方法，具体为：纯水制备装置用于提供主冲洗机器人和辅助冲洗机器人工作时所需的纯水，主冲洗机器人和辅助冲洗机器人在作业时，通过远程遥控装置的控制手柄控制机械本体的车体移动机构移动到指定区域，将前液压支腿Ⅰ，前液压支腿Ⅱ，后液压支腿Ⅰ，后液压支腿Ⅱ支撑着地，提高机器人作业稳定性；
主冲洗机器人的回转平台及其附属部件可360°转动，调整两级伸缩臂的方位，通过变幅油缸与调整大臂的俯仰角，连接臂通过伸缩油缸实现伸出与收缩，小臂在伸缩链条的带动下实现与连接臂同步伸出与收缩，在变幅油缸、伸缩油缸和伸缩链条的共同作用下，调整大臂、连接臂以及小臂的位姿；
调平油缸Ⅰ和调平油缸Ⅱ协调调整工作台的位姿，保持工作台水平，俯仰油缸上下俯仰以及摆动油缸的左右摆动实现水枪架的位姿微调，通过跟踪摄像机采集的图像，确定水枪的位姿，水枪喷射高纯度水进行冲洗作 业；
辅助冲洗机器人在作业时，通过调节云台实现第二水枪水平及俯仰两个方向运动，第二水枪架上通过螺栓安装有第二跟踪摄像机，用于实时观察绝缘子水冲洗作业情况，第二跟踪摄像机正下方装有第二激光测距仪，用于实时测量水枪与水冲洗作业绝缘子的距离，通过跟踪摄像机采集的图像，确定水枪的位姿，水枪喷射高纯度水进行冲洗作业。
本发明的有益效果：
1、根据变电站水冲洗作业的需要，设计一种新型变电站带电水冲洗机器人系统装置，主体由机械本体和远程遥控装置组成，机械本体与遥控装置之间全部通过无线信号进行信号传递，使冲洗作业人员远离高压电场，保障了作业人员的安全。
2、本发明水冲洗机器人系统，利用机器人代替人工完成变电站绝缘子冲洗作业，使操作人员位于安全区域内，保障了操作人员的安全，降低的劳动强度，提高冲洗效率和自动化水平。
3、操作人员手持遥控装置，通过远程遥控装置上的控制手柄，可以远距离控制机器人机械本体的车体移动机构、三节两级伸缩臂升降机构及水枪冲洗机构，可以根据跟踪摄像机采集图像调整机器人的作业姿态，利用高压喷水机构喷射高纯水进行冲洗作业。
4、设计了辅助冲洗机器人配合主冲洗机器人的工作，对于主冲洗机器人无法进入或冲洗不到的地方，利用辅助冲洗机器人对绝缘设备进行冲洗，保证绝缘设备的全方位有效冲洗。
5、本发明为水冲洗机器人系统配备了单独的纯水制备装置，纯水制备装置采用先进的RO反渗透膜技术，其纯水制备速度快、水电率高。可移动地与辅冲机器人连接，能够随时为辅冲机器人提供纯水水源，提高了制水量，通过采用与发动机相匹配的大功率水泵，提高了系统的流量，可实现对水冲洗机器人的不间断供水，满足了变电站水冲洗现场作业要求，保障了作业人员的安全。
附图说明
图1(a)为本发明变电站带电主冲水冲洗机器人结构示意图；
图1(b)为本发明变电站带电辅冲水冲洗机器人结构示意图；
图2为本发明变电站带电主冲水冲洗机器人制图支撑时结构俯视图；
图3为本发明变电站带电主冲水冲洗机器人工作极限位置的结构示意图；
图4为本发明变电站带电主冲水冲洗机器人液压控制原理图；
图5为本发明变电站带电主冲水冲洗机器人电气控制结构框图；
图6为本发明变电站带电主冲水冲洗机器人远程遥控器面板示意图；
图7为本发明纯水制备装置结构示意图；
图8为本发明纯水制备装置结构布置主视图；
图9为本发明纯水制备装置结构布置俯视图；
图10为本发明纯水制备系统结构示意图；
图11为本发明高压喷射系统结构示意图。
图中，1、从动轮，2、承重轮，3、张紧缓冲装置，4、驱动轮，5、履带，6、第一履带底盘，7、比例控制阀组B，8、回转平台，9、调平油缸Ⅰ，10、变幅链条，11、大臂，12、变幅油缸，13、伸缩链条，14、链轮，15、工作台，16、俯仰油缸，17、第一水枪架，18、调平油缸Ⅱ，19、第一跟踪摄像机，20、第一激光测距仪，21、第一水枪，22、电气控制箱，23、后液压支腿Ⅰ，24、后液压支腿Ⅱ，25、第一液压油箱，26、前液压支腿Ⅰ，27、前液压支腿Ⅱ，28、第一柴油箱，29、连接臂，30、小臂，31、摆动油缸；
2-1、第二跟踪摄像机，2-2、第二水枪，2-3、电控箱，2-4、风琴箱护罩，2-5、垂直升降机构，2-6、车载控制器，2-7、第二履带底盘，2-8、第二车体移动机构，2-9、第二液压油箱，2-10、显示面板，2-11、动力总成，2-12、第二柴油箱，2-13、绝缘支柱，2-14、进水管，2-15、云台，2-16、第二水枪架，2-17、第二激光测距仪，2-18、外壳；
3-1、移动底盘，3-2、水电阻率检测表，3-3、压力检测装置，3-4、高压水泵，3-5、纯水箱，3-6、电磁离合器，3-7、皮带轮Ⅰ，3-8、皮带轮Ⅱ，3-9、卷管器，3-10、备用水泵，3-11、皮带，3-12、电控系统压力表，3-13、二级反渗透膜组，3-14、活性炭、石英砂过滤器，3-15、电控系统电压表，3-16、电控系统电流表，3-17、中间水箱，3-18、一级反渗透膜组，3-19、 高压喷射系统流量表，3-20、电磁开关，3-21、二级高压水泵，3-22、一级高压水泵，3-23、保安过滤器，3-24、电控系统流量表，3-25、皮带轮Ⅲ。
具体实施方式
下面结合附图对本发明进行详细说明：
辅助冲洗机器人结构示意图如图1(b)所示，包括车体移动机构2-8、动力总成2-11、垂直升降机构2-5、水枪冲洗机构、电气控制系统等组成；其中，车体行走机构2-8为履带式移动底盘结构，动力总成2-11采用柴油机提供动力，安装于移动底盘上，垂直升降机构2-5连接在车体移动机构前端，垂直升降机构2-5安装有两级伸缩臂，两级伸缩臂的上臂通过绝缘支柱2-13与水枪冲洗机构的工作云台2-15相连；电气控制系统包括车载子系统和遥控子系统，遥控子系统与车载子系统相配合，通过无线方式远程完成对机器人垂直升降机构及水枪冲洗机构的控制。
辅助冲洗机器人的车体移动机构2-8与主冲洗机器人的车体移动机构结构相同，第二履带底盘2-7左边为第二液压油箱2-9，右边为第二柴油箱2-12。
动力总成2-11采用自带动力源，柴油机提供动力，可以进入密集设备区内作业，解决了现场的电源配置问题。
垂直升降机构2-5包括两级垂直伸缩臂、风琴箱护罩2-4、绝缘支柱2-3及车载控制器2-6组成，垂直伸缩臂铰连接与车体移动机构固定板上，绝缘支柱2-13安装于垂直伸缩臂上端，车载控制器2-6固定在垂直伸缩臂固定板上，风琴箱护罩2-4将两级垂直伸缩臂、绝缘支柱2-13及车载控制器2-6包围其中。辅助冲洗机器人的的外壳2-18的前部设有显示面板2-10，第二水枪2-2与进水管2-14相连。
辅助冲洗机器人的水枪冲洗机构包括云台2-15、电控箱2-3、第二水枪架2-16等组成；电控箱2-3安装于绝缘支柱2-13上，提供云台2-15、第二跟踪摄像机2-1所需电源；云台15实现第二水枪2-2水平及俯仰两个方向运动；水枪架2-16铰连接在云台2-15上方，水枪架2-16上连接有第二水枪2-2、第二跟踪摄像机2-1、第二激光测距仪17。水枪架2-16上通过螺栓安装有第二跟踪摄像机2-1，用于实时观察绝缘子水冲洗作业情况， 第二跟踪摄像机2-1正下方装有第二激光测距仪2-17，用于实时测量水枪与水冲洗作业绝缘子的距离。
如图1(a)所示，一种变电站带电主冲水冲洗机器人，主体由机械本体和远程遥控装置组成。其中，机械本体主要由车体移动机构、三节两级伸缩臂升降机构、水枪冲洗机构、液压控制系统和电气控制系统组成。车体移动机构为履带式移动底盘结构，履带底盘的一边为柴油箱，另一边为液压油箱，机器人的动力源为车载柴油机；所述车体移动机构通过回转支承与升降机构的回转平台8相连，升降机构的回转平台8上还安装有三节两级伸缩臂，三节两级伸缩臂的小臂30通过调平油缸Ⅱ18与水枪冲洗机构的工作台15相连，所述回转平台8上还连接有液压控制系统的比例控制阀组；电气控制系统包括车载子系统和遥控子系统，遥控子系统与车载子系统相配合利用液压控制系统通过无线方式完成对机器人的车体移动机构、升降机构及水枪冲洗机构的控制。
变电站带电水冲洗机器人系统工作动力来源车载柴油机。采用自带动力源，柴油机提供动力，可以进入密集设备区内作业，解决了现场的电源配置问题。
如图2所示，主冲洗机器人的车体移动机构采用履带式移动底盘结构，主要由第一履带底盘6、左右行走马达、从动轮1、驱动轮4、承重轮2、履带5、张紧缓冲装置3以及两侧的四个液压支腿组成。底盘左边为第一柴油箱28，右边为第一液压油箱25，后液压支腿Ⅰ23，后液压支腿Ⅱ24，前液压支腿Ⅰ26，前液压支腿Ⅱ27铰接在履带底盘6上。第一履带底盘6上还设有电气控制箱22。
如图3所示，三节两级伸缩臂组成的升降机构主要由回转平台8、三节两级伸缩臂，调平机构组成。回转平台8通过回转支承与车体移动机构连接，由回转马达驱动实现回转平台8及其附属各部件360°连续回转运动，比例控制阀组7通过螺栓连接在回转平台8上；两级伸缩臂主要由大臂11、连接臂29、小臂30组成，两级伸缩臂安装于回转平台8上，大臂11铰接到回转平台8上，连接臂29前后端有滑块，滑块与连接臂29螺栓连接，连接臂29与大臂11、小臂30滑动连接，连接臂29的头部安装链轮14；变幅油缸12与大臂11、回转平台8铰接连接，伸缩油缸与大臂11、 连接臂29铰接连接；调平机构主要由调平油缸Ⅰ9和调平油缸Ⅱ18组成，调平油缸Ⅰ9安装在回转平台8和大臂11间，与回转平台8、大臂11铰接连接，调平油缸Ⅱ18安装在工作台15与小臂30之间，与工作台15、小臂30铰接连接；变幅链条10通过螺栓分别连接在大臂11、小臂30上，伸缩链条13的前端铰接在大臂11前端，绕过链轮14，末端铰接小臂30末端。
水枪冲洗机构主要由工作台15、俯仰油缸16、摆动油缸31、第一水枪架17、第一水枪21组成。俯仰油缸16通过螺栓连接在摆动油缸31上，摆动油缸31通过螺栓连接在工作台15上，第一水枪架17铰接在俯仰油缸16上，第一水枪21螺旋连接于第一水枪架17上。
机器人第一水枪架17上安装第一跟踪摄像机19，用于实时观察绝缘子水冲洗作业情况，实时的传递作业现场的画面，方便远程操作人员实施作业。第一跟踪摄像机19螺栓连接在水枪架17上。第一跟踪摄像机19正下方装有第一激光测距仪20，实时测量水枪与水冲洗作业绝缘子的距离，使其保持在安全作业距离以内。
该机器人在作业时，通过远程遥控装置的控制手柄控制机械本体的车体移动机构移动到指定区域，将前液压支腿Ⅰ26，前液压支腿Ⅱ27，后液压支腿Ⅰ23，后液压支腿Ⅱ24支撑着地，提高机器人作业稳定性；回转平台8及其附属部件可360°转动，调整两级伸缩臂的方位，通过变幅油缸12与调整大臂11的俯仰角，连接臂29通过伸缩油缸实现伸出与收缩，小臂30在伸缩链条13的带动下实现与连接臂29同步伸出与收缩，在变幅油缸12、伸缩油缸和伸缩链条13的共同作用下，调整大臂11、连接臂29以及小臂30的位姿；调平油缸Ⅰ9和调平油缸Ⅱ18协调调整工作台15的位姿，保持工作台15水平，俯仰油缸16上下俯仰以及摆动油缸31的左右摆动实现水枪架17的位姿微调，通过第一跟踪摄像机19采集的图像，确定水枪21的位姿，水枪21喷射高纯度水进行冲洗作业。
如图4所示，变电站带电水冲洗机器人系统液压系统采用下部控制阀组A、上装控制阀组B组合控制和中央回转接头组合控制，共有七路比例换向阀和四路手动换向阀。变电站带电水冲洗机器人系统采用柴油机为动力，通过联轴器与双联齿轮泵相连，考虑变电站带电作业特殊环境要求，液压系统均采用抗磨绝缘液压油。液压油从油箱，经吸油过滤器进入水冲 洗机器人液压控制油路，再经回油滤油器流回油箱。其中单向阀为控制油液回流，安全阀其过载保护功能，压力表通过压力表开关与油路相连，并实时显示油路液压油压力。中央回转接头是联接回转平台与底盘油路的液压元件，它保证回转平台旋转任意角度后，液压油路还能正常配油。
下部控制阀组A通过分配阀与液压泵连接，主要由四组手动换向阀控制水冲洗机器人四个支腿油缸来完成伸缩运动，两个比例换向阀控制左右两个马达，进行机器人行走运动。
上装控制阀组B经中央回转接头、上装控制切换按钮、分配阀、与液压泵连接，主要由一个比例换向阀控制回转马达，完成上装回转平台旋转运动，两组比例换向阀控制大臂俯仰和小臂伸缩运动，另两组比例换向阀通过水平摆动油缸和垂直摆动油缸实现水枪的水平运动和俯仰运动。
如图5所示，变电站带电主冲水冲洗机器人电气控制系统包括车载子系统和遥控子系统。车载子系统包括车载上位机控制系统和车载驱动器，车载上位机控制系统具有接收遥控子系统的命令，并对命令进行解析和实现运动算法的等功能。车载驱动器接收车载上位机控制系统的指令实现对车体的阀组进行控制的功能。遥控子系统具有车体的移动、发动机的启停、油门的大小、升降机构单关节控制和组合控制功能。车载子系统和手持终端子系统通过无线方式通信。
车载子系统按功能主要分为车体移动控制模块、上装升降机构运动控制模块、发动机及电源动力监控模块和安全监控模块等四个模块。车体移动控制模块具备前进、后退、调速、左右转向、支腿伸缩、辅助照明、安全监控等功能；上装升降机构运动控制模块具备单关节控制、单关节位置反馈、自动调平及安全监控等功能；发动机及电源动力监控模块具备发动机启停、调速等控制和发动机状态及电源电压的监视等功能；安全监控模块具备升降机构各关节限位、支腿状态、油温油位、电池电压等状态的阈值设定及安全报警。
车载子系统硬件由工控机、无线接收机、A/D转换模块、ZIGBEE、各类传感器、比例阀、开关阀等组成。工控机通过485总线采集各类传感器上传的数据，并对从远程遥控器接收到的指令下发给无线接收机，实现对开关阀，比例阀的控制。无线接收机接收到遥控器的数据后在工控机中进 行处理然后再下发给无线收发机，通过对电压值的调节控制比例阀的开合及流量大小，实现对移动底盘左右轮运动，小臂伸缩，大臂俯仰，回转平台旋转的控制。
各类传感器包括拉线传感器、角度传感器、倾角传感器、温度传感器、压力传感器、电压传感器与电流传感器，拉线传感器安装在大臂与小臂之间，用于测量小臂的伸缩长度，大臂和顶端平台均装有一个角度传感器和一个倾角传感器，采集大臂和平台水平和垂直方向的角度数据并传递给工控机，其中平台上的角度传感器与倾角传感器数据通过ZIGBEE无线传送，以实现顶端平台的完全绝缘。温度和压力传感器安装在液压油箱上，采集油箱中的油温以及油箱中液压油的压力数据，采集到的数据为模拟量，经过A/D转换成数字信号经过485传递给工控机。电压与电流传感器采集电路中的电压电流值，检测电路中的电压电流是否稳定，采集到的模拟信号经过A/D转换模块转换为数字信号经过485总线传递给工控机。
远程遥控器实现对移动底盘、升降臂和水枪的远程控制，其中包括控制左轮前后、右轮前后、大臂左右、大臂俯仰、小臂伸缩、平台左右；带锁按键包括工具、选择、XYZ世界坐标系、油门大小的控制；自恢复按键包括复位、发动机启停、示教、再现、启动的控制；指示灯包括电源、无线通信、报警指示灯。
图6中，一种变电站带电主冲水冲洗机器人的远程遥控器包括7个模拟摇杆，控制左轮前后、右轮前后、大臂11左右、大臂11俯仰、小臂31伸缩、工作台15左右、水枪17俯仰；带锁按键包括工具、选择、XYZ世界坐标系、油门大小的控制；自恢复按键包括复位、发动机启停、示教、再现、启动的控制；指示灯包括电源、无线通信、报警指示灯。
主冲洗机器人主要用于高空绝缘子设备的冲洗，一般为8米以上绝缘子设备；辅助冲洗机器人主要用于低空绝缘子设备的冲洗，一般为8米以下绝缘子设备。
如图7所示，包括：纯水制备系统、高压喷射系统和电控系统；纯水制备系统与高压喷射系统连接，电控系统与纯水制备系统和高压喷射系统分别连接；纯水制备系统设置在移动底盘的远离车头一侧，高压喷射系统设置在靠近车头的一侧，纯水制备系统和高压喷射系统之间通过纯水箱连 接。高压喷射系统与卷管器连接，其上缠绕60米水管，主要将从水泵出来的高压水，通过卷管器3-9上水管通道，输送到外部高压水冲洗机器人的高压管路上。卷管器3-9的作用在于控制出水管的收放，以减小现场工作人员劳动强度。
如图8-11所示，纯水制备装置主要由包括移动底盘3-1、活性炭、石英砂过滤器3-14，保安过滤器3-23，一级高压水泵3-22，一级反渗透膜组3-18，中间水箱3-17，二级高压水泵3-21，二级反渗透膜组3-13，纯水箱3-5组成。活性炭、石英砂过滤器3-14的一侧与自来水管相连。另一侧通过管道与保安过滤器3-23相连。保安过滤器3-23另一侧通过管道与一级高压水泵3-22相连。一级高压水泵3-22的另一侧通过管道与一级反渗透膜组3-18相连。一级反渗透膜组3-18的另一侧通过管道与中间水箱3-17相连。中间水箱3-17的另一侧通过管道与二级高压水泵3-21相连。二级高压泵3-21的另一侧通过管道与二级反渗透膜组3-13相连。二级反渗透膜组3-13的另一侧通过管道与纯水箱3-5相连，具体如图4所示。本装置所需水源为普通自来水水源，经过所述纯水制备装置过滤后，可达到电力设备带电水冲洗导则所要求的水电阻率要求。所述的每一道过滤工序上都装有压力表和流量计，以确保水的压力和流量能在合理范围内。
反渗透是用足够的压力使溶液中的溶剂(一般常指水)通过反渗透膜(一种半透膜)而分离出来，方向与渗透方向相反，可使用大于渗透压的反渗透法进行分离、提纯和浓缩溶液。利用反渗透技术可以有效的去除水中的溶解盐、胶体，细菌、病毒、细菌内毒素和大部分有机物等杂质。反渗透膜的主要分离对象是溶液中的离子范围，无需化学品即可有效脱除水中杂质，从而得到高纯水。本发明通过活性炭、石英砂过滤器，保安过滤器，一级高压泵，一级反渗透膜组，中间水箱，二级高压泵，二级反渗透膜组逐级过滤，得到符合变电站带电水冲洗作业要求的高纯水。
高压喷射系统由高压水泵3-4、电磁离合器3-6、皮带轮Ⅰ3-7、皮带轮Ⅱ3-8、皮带轮Ⅲ3-25、备用水泵3-10、卷管器3-9、压力检测装置3-3、高压喷射系统流量表3-19以及水电阻率检测表3-2等组成。所述高压水泵3-4的动力源自汽车底盘1自带的电磁离合器3-6，经由电磁离合器3-6输出动力，以满足高压喷射系统的不定时工作要求。所述皮带轮Ⅰ3-7安装在电 磁离合器3-6的输出轴、皮带轮Ⅱ3-8安装在高压水泵3-4的输入端、皮带轮Ⅲ3-25安装在备用泵3-10的输入端；所述皮带轮Ⅰ3-7和皮带轮Ⅱ3-8、皮带轮Ⅰ3-7和皮带轮Ⅲ3-25之间均通过皮带3-11传输动力。
备用水泵3-10安装于移动底盘3-1的另一侧，其主要用途为防止高压水泵出现故障或压力不足时为系统提供足够动力。压力检测装置3-3安装在高压水泵3-4的输出端，用于检测高压泵纯水输出压力。水电阻率检测表3-2用于检测纯水经高压泵加压后的水电阻率。所述压力表和水电阻率检测表均与电控系统相连，当纯水压力和电阻率不符合使用要求时，高压水泵3-4会停止工作并报警。高压喷射系统还装有手动油门控制器，与柴油机油门相连，可以手动调节油门开关大小，从而实现高压水泵出口压力的调节。
电控系统配有急停按钮、启动按钮、一级高压泵启停按钮、二级高压泵启停按钮和电压表、电流表等装置，以便观察各装置的运行情况。并安装有电控系统电压表3-15，电控系统电流表3-16，以及检测每一级过滤后水的电控系统流量表3-24和电控系统压力表3-12。
纯水制备装置有手动和自动两种控制模式；在手动模式运行时，首先旋开手动按钮，手动灯点亮，手动模式下分四路控制：增压泵、一级泵、冲洗阀、二级泵分别旋开按钮后，设备手动运行，停止时再旋回按钮，设备停止工作。在自动模式运行时，旋开自动按钮，设备通过自动面板控制运行，关闭时旋回按钮，设备自动停止工作。
在自动模式下，设备有原水缺水保护、一二级高压泵缺水保护、压力过高保护和纯水水罐满水停机四项自动保护功能。
在自动模式下，为了将在工作中遗留在反渗透膜内的大分子物质冲洗掉，反渗透膜会根据程序自动清洗。
上述虽然结合附图对本发明的具体实施方式进行了描述，但并非对本发明保护范围的限制，在本发明的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本发明的保护范围以内。

Claims (20)

  1. 一种变电站带电水冲洗机器人系统，其特征是，包括：主冲洗机器人、辅助冲洗机器人、纯水制备装置；所述主冲洗机器人和辅助冲洗机器人分别与纯水制备装置通过高压管路连接；
    所述主冲洗机器人包括车体移动机构、升降机构和水枪冲洗机构；所述车体移动机构通过回转支承与升降机构的回转平台相连，升降机构的回转平台上安装有多节多级伸缩臂，所述多节多级伸缩臂通过调平油缸与水枪冲洗机构连接；
    所述辅助冲洗机器人包括车体移动机构、垂直升降机构和水枪冲洗机构；辅助冲洗机器人的垂直升降机构与车体移动机构连接，垂直升降机构安装有多级伸缩臂，垂直升降机构通过多级伸缩臂与水枪冲洗机构连接。
  2. 如权利要求1所述的一种变电站带电水冲洗机器人系统，其特征是，所述辅助冲洗机器人和主冲洗机器人均包括电气控制系统，所述电气控制系统均包括车载子系统和遥控子系统，遥控子系统与车载子系统相配合通过无线方式完成对相应机器人的车体移动机构、升降机构及水枪冲洗机构的控制。
  3. 如权利要求1所述的一种变电站带电水冲洗机器人系统，其特征是，所述主冲洗机器人的车体移动机构为履带式移动底盘结构，所述车体移动机构通过回转支承与升降机构的回转平台相连，升降机构的回转平台上还安装有三节两级伸缩臂，三节两级伸缩臂的小臂通过调平油缸Ⅱ与水枪冲洗机构的工作台相连。
  4. 如权利要求1所述的一种变电站带电水冲洗机器人系统，其特征是，所述辅助冲洗机器人的车体移动机构为履带式移动底盘结构，辅助冲洗机器人的动力总成采用柴油机提供动力，安装于移动底盘上；垂直升降机构设置在车体移动机构前端，垂直升降机构安装有两级伸缩臂，两级伸缩臂的上臂通过绝缘支柱与水枪冲洗机构的工作云台相连，两级伸缩臂的下臂固定在移动底盘上。
  5. 如权利要求1所述的一种变电站带电水冲洗机器人系统，其特征是，所述主冲洗机器人和辅助冲洗机器人的车体移动机构相同，均包括：履带 底盘、左行走马达、右行走马达、驱动轮、从动轮、承重轮、履带、张紧缓冲装置以及两侧的四个液压支腿，左行走马达和右行走马达通过螺栓连接在履带底盘支架上，驱动轮通过驱动轴与行走马达联接，从动轮、承重轮与张紧缓冲装置分别通过旋转轴与履带底盘支架联接，履带套在驱动轮、从动轮、承重轮与张紧缓冲装置的外侧，底盘左边为柴油箱，右边为液压油箱，液压支腿铰接在履带底盘上。
  6. 如权利要求1所述的变电站带电水冲洗机器人系统，其特征是，所述主冲洗机器人的升降机构包括回转平台及调平机构，回转平台通过回转支承与车体移动机构连接，回转平台上铰接有三节两级伸缩臂，回转平台及三节两级伸缩臂的大臂与变幅油缸铰接连接，三节两级伸缩臂的大臂及连接臂与伸缩油缸铰接连接，调平机构包括调平油缸Ⅰ和调平油缸Ⅱ，调平油缸Ⅰ安装在回转平台和大臂间，与回转平台、大臂铰接连接，调平油缸Ⅱ安装在工作台与小臂之间，与工作台、小臂铰接连接。
  7. 如权利要求6所述的变电站带电水冲洗机器人系统，其特征是，所述三节两级伸缩臂包括大臂、连接臂及小臂，大臂铰接到回转平台上，连接臂前、后端均设置有滑块，滑块与连接臂螺栓连接，连接臂通过滑块与大臂、小臂滑动连接，连接臂的头部安装有链轮；所述三节两级伸缩臂的大臂、小臂上通过螺栓连接有变幅链条，大臂前端绕过链轮与伸缩链条的前端铰接，伸缩链条的末端与小臂末端铰接。
  8. 如权利要求1所述的变电站带电水冲洗机器人系统，其特征是，所述主冲洗机器人的水枪冲洗机构包括俯仰油缸及摆动油缸，俯仰油缸通过螺栓连接在摆动油缸上，摆动油缸通过螺栓连接在工作台上，俯仰油缸上铰接有水枪架，水枪架上连接有水枪；
    所述水枪架上通过螺栓安装有跟踪摄像机，用于实时观察绝缘子水冲洗作业情况，跟踪摄像机正下方装有激光测距仪，用于实时测量水枪与水冲洗作业绝缘子的距离。
  9. 如权利要求1所述的变电站带电水冲洗机器人系统，其特征是，所述辅助冲洗机器人的垂直升降机构包括：两级垂直伸缩臂、风琴箱护罩、绝缘支柱和车载控制器，所述垂直伸缩臂的下端固定在车体行走机构的固定板上，垂直伸缩臂的上端通过顶板与若干绝缘支柱连接；所述车载控制 器固定在垂直伸缩臂固定板上，所述风琴箱护罩将两级垂直伸缩臂、绝缘支柱及车载控制器包围其中。
  10. 如权利要求1所述的变电站带电水冲洗机器人系统，其特征是，所述辅助冲洗机器人的水枪冲洗机构包括：云台、电控箱、可调式水枪支架、水枪、摄像机和激光测距仪；
    所述电控箱设置在绝缘支柱的上方，并固定在绝缘支柱上，用于提供云台和摄像机所需的电源；所述云台固定在电控箱上；所述可调式水枪支架铰连接在云台上方，可调式水枪支架上分别连接有水枪、摄像机和激光测距仪，所述激光测距仪设置在摄像机的正下方。
  11. 如权利要求1所述的变电站带电水冲洗机器人系统，其特征是，所述纯水制备装置包括：纯水制备系统、高压喷射系统和电气控制系统；
    所述纯水制备系统与高压喷射系统连接，电控系统与纯水制备系统和高压喷射系统分别连接，所述电控系统用于控制纯水制备装置的开启以及当压力或流量高于额定流量或额定压力时的过载保护。
  12. 如权利要求11所述的变电站带电水冲洗机器人系统，其特征是，所述高压喷射系统包括：高压水泵、电磁离合器、动力传送装置、备用泵和出水管；所述电磁离合器一端与移动底盘自带的取力器连接，电磁离合器的另一端通过动力传送装置分别与高压水泵和备用泵连接，所述备用泵设置在与高压水泵相对的一侧，高压水泵的输出端连接出水管；在所述高压水泵的输出端安装有压力检测装置，在所述出水管的末端设置水电阻率检测装置；
    所述备用泵与高压泵属于并联关系，在正常工作状况下，开启高压泵；当输出高纯水压力小于规定工作压力时，自动开启备用泵。
  13. 如权利要求12所述的变电站带电水冲洗机器人系统，其特征是，所述动力传送装置包括：皮带轮Ⅰ、皮带轮Ⅱ和皮带轮Ⅲ，所述皮带轮Ⅰ安装在电磁离合器的输出轴、皮带轮Ⅱ安装在高压水泵的输入端、皮带轮Ⅲ安装在备用泵的输入端；所述皮带轮Ⅰ和皮带轮Ⅱ、皮带轮Ⅰ和皮带轮Ⅲ之间均通过皮带传输动力。
  14. 如权利要求12所述的变电站带电水冲洗机器人系统，其特征是，所述压力检测装置和水电阻率检测装置均与电控系统相连；当纯水压力或 者电阻率不符合使用要求时，电控系统控制高压泵会停止工作并报警。
  15. 如权利要求12所述的变电站带电水冲洗机器人系统，其特征是，所述高压喷射系统还装有手动油门控制器，所述手动油门控制器与柴油机油门连接，通过手动调节油门开关大小，实现高压水泵出口压力的调节。
  16. 如权利要求11所述的变电站带电水冲洗机器人系统，其特征是，所述纯水制备系统包括：活性炭、石英砂过滤器，保安过滤器，一级高压泵，一级反渗透膜组，中间水箱，二级高压泵，二级反渗透膜组和纯水箱；
    所述活性炭、石英砂过滤器的一侧与自来水管相连，另一侧通过管道与保安过滤器连接，所述保安过滤器通过管道与一级高压水泵、一级反渗透膜组、中间水箱、二级高压水泵、二级反渗透膜组和纯水箱依次连接，所述活性炭、石英砂过滤器，保安过滤器，一级反渗透膜组和二级反渗透膜组共同组成纯水制备系统的四级过滤工序，在所述每一级过滤工序的管路上分别设有压力表和流量计。
  17. 如权利要求11所述的变电站带电水冲洗机器人系统，其特征是，所述纯水制备系统设置在移动底盘的远离车头一侧，高压喷射系统设置在靠近车头的一侧，纯水制备系统和高压喷射系统之间通过纯水箱连接；所述高压喷射系统与卷管器连接，所述卷管器上缠绕水管，高压水泵出来的高压水通过水管通道输送至外部水冲洗设备的高压管路上。
  18. 如权利要求11所述的一种变电站带电高压水冲洗系统，其特征是，所述电控系统设有急停按钮、启动按钮、一级高压泵启停按钮和二级高压泵启停按钮，并能够进行压力表读数显示和流量计读数显示。
  19. 如权利要求1所述的一种变电站带电高压水冲洗系统，其特征是，所述主冲洗机器人和辅助冲洗机器人的电气控制系统均包括车载子系统和遥控子系统，车载子系统包括工控机，工控机通过485总线采集各类传感器上传的数据，并对从远程遥控器接收到的指令下发给无线接收机，无线接收机接收到远程遥控器的数据后在工控机中进行处理然后再下发给无线收发机，通过对电压值的调节控制比例阀的开合及流量大小，实现对移动底盘左右轮运动和伸缩臂的控制。
  20. 如权利要求1所述的变电站带电水冲洗机器人系统的控制方法，其特征是，具体为：纯水制备装置用于提供主冲洗机器人和辅助冲洗机器 人工作时所需的纯水，主冲洗机器人和辅助冲洗机器人在作业时，通过远程遥控装置的控制手柄控制机械本体的车体移动机构移动到指定区域，将前液压支腿Ⅰ，前液压支腿Ⅱ，后液压支腿Ⅰ，后液压支腿Ⅱ支撑着地，提高机器人作业稳定性；
    主冲洗机器人的回转平台及其附属部件可360°转动，调整两级伸缩臂的方位，通过变幅油缸与调整大臂的俯仰角，连接臂通过伸缩油缸实现伸出与收缩，小臂在伸缩链条的带动下实现与连接臂同步伸出与收缩，在变幅油缸、伸缩油缸和伸缩链条的共同作用下，调整大臂、连接臂以及小臂的位姿；
    调平油缸Ⅰ和调平油缸Ⅱ协调调整工作台的位姿，保持工作台水平，俯仰油缸上下俯仰以及摆动油缸的左右摆动实现水枪架的位姿微调，通过跟踪摄像机采集的图像，确定水枪的位姿，水枪喷射高纯度水进行冲洗作业；
    辅助冲洗机器人在作业时，通过调节云台实现第二水枪水平及俯仰两个方向运动，第二水枪架上通过螺栓安装有第二跟踪摄像机，用于实时观察绝缘子水冲洗作业情况，第二跟踪摄像机正下方装有第二激光测距仪，用于实时测量水枪与水冲洗作业绝缘子的距离，通过跟踪摄像机采集的图像，确定水枪的位姿，水枪喷射高纯度水进行冲洗作业。
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