CN204277998U - Mobile automatic water-supplying transformer station living water washing is auxiliary rushes robot system - Google Patents
Mobile automatic water-supplying transformer station living water washing is auxiliary rushes robot system Download PDFInfo
- Publication number
- CN204277998U CN204277998U CN201420519506.9U CN201420519506U CN204277998U CN 204277998 U CN204277998 U CN 204277998U CN 201420519506 U CN201420519506 U CN 201420519506U CN 204277998 U CN204277998 U CN 204277998U
- Authority
- CN
- China
- Prior art keywords
- water
- pressure
- robot
- pump
- transformer station
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 155
- 238000005406 washing Methods 0.000 title claims abstract description 25
- 238000011010 flushing procedure Methods 0.000 claims abstract description 30
- 238000002347 injection Methods 0.000 claims abstract description 24
- 239000007924 injection Substances 0.000 claims abstract description 24
- 238000001223 reverse osmosis Methods 0.000 claims description 27
- 238000009413 insulation Methods 0.000 claims description 19
- 239000010453 quartz Substances 0.000 claims description 10
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 10
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 7
- 229910052799 carbon Inorganic materials 0.000 claims description 7
- 210000000056 organ Anatomy 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000012498 ultrapure water Substances 0.000 claims description 5
- 239000002283 diesel fuel Substances 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 claims description 4
- 230000000452 restraining effect Effects 0.000 claims description 3
- 239000003610 charcoal Substances 0.000 claims description 2
- 239000012212 insulator Substances 0.000 abstract description 12
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 238000009785 tube rolling Methods 0.000 description 5
- 239000012528 membrane Substances 0.000 description 4
- 239000000243 solution Substances 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000002360 preparation method Methods 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- JEGUKCSWCFPDGT-UHFFFAOYSA-N h2o hydrate Chemical compound O.O JEGUKCSWCFPDGT-UHFFFAOYSA-N 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 238000001764 infiltration Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 206010020852 Hypertonia Diseases 0.000 description 1
- 241000700605 Viruses Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000011001 backwashing Methods 0.000 description 1
- 239000000084 colloidal system Substances 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000002158 endotoxin Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 229920002521 macromolecule Polymers 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 239000005416 organic matter Substances 0.000 description 1
- 230000003204 osmotic effect Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000002904 solvent Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000008399 tap water Substances 0.000 description 1
- 235000020679 tap water Nutrition 0.000 description 1
Landscapes
- Cleaning By Liquid Or Steam (AREA)
Abstract
The utility model provides that a kind of mobile automatic water-supplying transformer station living water washing is auxiliary rushes robot system, and it is characterized in that, comprising: water rinse-system and Fu Chong robot, described water rinse-system comprises pure water making system and high-pressure injection system; Described pure water making system is connected with high-pressure injection system, and high-pressure injection system is connected by pressure duct with Fu Chong robot; Auxiliary robot system of rushing comprises: car body walking mechanism, vertical lifting mechanism, hydraulic giant flushing machine, power assembly and electric control system; The utility model beneficial effect: this device utilizes robot to replace manually completing Substation Insulator and rinses operation, operating personnel are made to be positioned at safety zone, ensure the safety of operating personnel, the labour intensity reduced, improve flush efficiency and automatization level, operating type is rinsed to transformer station of China water and produces positive change effect.
Description
Technical field
The utility model relates to transformer station living water washing robot field, particularly relates to that a kind of mobile automatic water-supplying transformer station living water washing is auxiliary rushes robot system.
Background technology
Substation Insulator is exposed in external environment for a long time, and surface is dirt deposits easily, and these dirts easily pollution flashover accident occur by bad weather infringement.Insulator charged water rinses the reliability that operation can improve power supply, reduces loss of outage, ensures the safety of transformer station and transmission line of electricity.Rinse operation in the Substation Insulator of present stage and mainly there is following shortcoming:
1, backwashing manner is enter scene by the hand-held flushing device of cleaning technique personnel to carry out operation mostly, artificial flushing not only depends on weather condition, cleaning personnel are also needed to possess compared with high-tech level and skilled operating process, the security protection of high standard is needed when living water washing is carried out to insulator, the security incident caused to avoid short circuit current, causing casualties, there is potential safety hazard in this kind of operating type;
2, manual work is faced with labour intensity greatly, the problems such as efficiency is low, and automatization level is low; Living water washing technical requirement is higher, by various factors such as environment, contamination situation, equipment creep distance, apparatus arrangement modes, equipment flashover easily occurs during artificial flushing;
3, consider that living water washing operation is subject to rinsing many-sided impact such as angle, hydraulic pressure, manual work can not wash away the dunghill on equipment outer insulation surface sometimes completely.For the region that substation equipment is relatively concentrated, large-scale flushing device cannot enter contaminated area through equipment and rinse, and artificial flushing operation exists above-mentioned many drawbacks, brings larger difficulty to the cleaning of insulator.
4, existing water flushing unit automaticity is not high, efficiency is low, energy consumption is large, there is very large potential safety hazard.And existing water flushing unit does not possess pure water preparation function, need supporting special pure water making machine, it is large that equipment takes up an area face, under the environment that space, ground on the scene is less, can not realize controlling flexibly; Or pure water preparation ability is poor, cause there is potential safety hazard when rinsing operation.
In addition, in water flushing process, the purity of water and pressure are two crucial indexs.Particularly pure electrical conductivity of water is the most important factor affecting living water washing, if electrical conductivity is not up to standard will cause great bodily injury to equipment and personal safety.Therefore utilize safer and that efficiency is higher robot to replace manually carrying out water flushing operation to Substation Insulator to be necessary, meet research.
Utility model content
The purpose of this utility model is exactly to solve the problem, and provide a kind of by wireless remote control operation, flush efficiency is high, and the mobile automatic water-supplying transformer station living water washing of high safety is auxiliary rushes robot system.
To achieve these goals, the utility model adopts following technical scheme:
A kind of mobile automatic water-supplying transformer station living water washing is auxiliary rushes robot system, and comprising: water rinse-system, Fu Chong robot and electric control system, described water rinse-system comprises pure water making system and high-pressure injection system; Described pure water making system is connected with high-pressure injection system, and high-pressure injection system is connected by pressure duct with Fu Chong robot;
Described Fu Chong robot comprises car body travel mechanism, vertical lifting mechanism and hydraulic giant flushing machine; The auxiliary vertical lifting mechanism rinsing robot is connected with car body travel mechanism, and vertical lifting mechanism is provided with multistage telescopic arm, and vertical lifting mechanism is connected with hydraulic giant flushing machine by multistage telescopic arm; Described electric control system is for realizing the control to water rinse-system and Fu Chong robot.
Described car body walking mechanism is crawler-type mobile chassis structure; The power assembly of described car body walking mechanism adopts diesel engine powers, is arranged in robot housing; Described vertical lifting mechanism is arranged on the front end of car body walking mechanism, is provided with two-stage telescopic arm, and the upper arm of described two-stage telescopic arm is connected with hydraulic giant flushing machine by insulation column; Described electric control system comprises onboard subsystem and remoting subsystem, and remoting subsystem matches with onboard subsystem, realizes the control to robot car body walking mechanism, vertical lifting mechanism and hydraulic giant flushing machine.
Described car body walking mechanism comprises: crawler-type mobile chassis, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt and tension buffer device; Left running motor and right running motor are bolted on crawler-type mobile chassis overhang, driving wheel is connected with running motor by driving shaft, driven pulley, BOGEY WHEEL are connected with crawler body support respectively by rotating shaft with tension buffer device, crawler belt is enclosed within the outside of driving wheel, driven pulley, BOGEY WHEEL and tension buffer device, and the both sides of the described crawler-type mobile extreme end of chassis are respectively equipped with hydraulic oil container and diesel fuel tanks.
Described vertical lifting mechanism comprises: two stage vertical telescopic arm, organ case guard shield, insulation column and Vehicle Controller, the lower end of described vertical telescopic arm is fixed on the fixed head of car body walking mechanism, and the upper end of vertical telescopic arm is connected with some insulation columns by top board; Described Vehicle Controller is fixed on vertical telescopic arm restraining board, and two stage vertical telescopic arm, insulation column and Vehicle Controller surround wherein by described organ case guard shield.
Described hydraulic giant flushing machine comprises: The Cloud Terrace, electric cabinet, adjustable water gun carriage, hydraulic giant, video camera and laser range finder;
Described electric cabinet is arranged on the top of insulation column, and is fixed on insulation column; Described The Cloud Terrace is fixed on electric cabinet; Described adjustable water gun carriage is hinged and connected to above The Cloud Terrace, adjustable water gun carriage is connected to hydraulic giant, video camera and laser range finder.
Described pure water making system comprises: active carbon, quartz filter, cartridge filter, one-level high-pressure pump, first-stage reverse osmosis film group, intermediate water tank, secondary high-pressure pump, two-pass reverse osmosis film group and pure water tank;
Described active carbon, the side of quartz filter is connected with running water pipe, opposite side is connected with cartridge filter by pipeline, described cartridge filter is by pipeline and one-level high-pressure hydraulic pump, first-stage reverse osmosis film group, intermediate water tank, secondary high-pressure hydraulic pump, two-pass reverse osmosis film group is connected successively with pure water tank, described property charcoal, quartz filter, cartridge filter, first-stage reverse osmosis film group and two-pass reverse osmosis film group form pure water making system level Four filter progress jointly, the pipeline of the every one-level filter progress in described pure water making system level Four filter progress is respectively equipped with Pressure gauge and flowmeter.
Described high-pressure injection system comprises: high-pressure hydraulic pump, electromagnetic clutch, power transmission, stand-by pump and outlet pipe; Described electromagnetic clutch one end is connected with the power takeoff that mobile chassis carries, the other end of electromagnetic clutch is connected with high-pressure hydraulic pump and stand-by pump respectively by power transmission, described stand-by pump is arranged on the side relative with high-pressure hydraulic pump, and water under high pressure delivery side of pump connects outlet pipe; At described water under high pressure delivery side of pump, pressure-detecting device is installed, water resistance rate checkout gear is set at the end of described outlet pipe;
Described stand-by pump and high-pressure pump belong to parallel relationship, under normal operative condition, only open high-pressure pump; When high purity water pressure is less than regulation operating pressure, automatically start stand-by pump.
Described high-pressure injection system also comprises electric-control system, and described pressure-detecting device is all connected with electric-control system with water resistance rate checkout gear; When pure water pressure or resistivity do not meet instructions for use, electric control system controls high-pressure pump quits work and reports to the police.
The beneficial effects of the utility model:
1, the needs of operation are rinsed according to transformer station's water, design that a kind of mobile automatic water-supplying Novel transformer substation living water washing is auxiliary rushes robot system, main body is made up of pure water making system and auxiliary robot system of rushing, Fu Chong robot carries out long-range wireless remote control by remote control, auxiliary punching between robot body and remote control all carries out signal transmission by wireless signal, make flushing operating personnel away from high voltage electric field, ensure the safety of operating personnel.
2, pure water making system adopts advanced RO reverse osmosis membrane technology, and its pure water preparation speed is fast, water power rate is high.Be connected with Fu Chong robot movably, can at any time for Fu Chong robot provides pure water source, improve the water yield processed, by adopting the high powered water pump matched with engine, improve the flow of system, the uninterrupted water supply to water flushing device people can be realized, meet transformer station's water and rinse field operation requirement, ensured the safety of operating personnel.
3, this device utilizes robot to replace manually completing Substation Insulator and rinses operation, operating personnel are made to be positioned at safety zone, ensure the safety of operating personnel, the labour intensity reduced, improve flush efficiency and automatization level, operating type is rinsed to transformer station of China water and produces positive change effect.
Accompanying drawing explanation
Fig. 1 is the utility model Fu Chong robot structural representation;
Fig. 2 is the utility model water rinse-system structural representation;
Fig. 3 is the utility model water rinse-system front view;
Fig. 4 is the utility model water rinse-system top view;
Fig. 5 is the utility model pure water making system structural representation;
Fig. 6 is the utility model high-pressure injection system structural representation.
Wherein, 1. mobile chassis, 2. water resistance rate detects table, 3. pressure-detecting device, 4. high-pressure hydraulic pump, 5. pure water tank, 6. electromagnetic clutch, 7. belt pulley I, 8. belt pulley II, 9. tube rolling device, 10. reserve pump, 11. belts, 12. electric-control system Pressure gauges, 13. two-pass reverse osmosis film groups, 14. active carbons, quartz filter, 15. electric-control system voltmeters, 16. electric-control system ammeters, 17. intermediate water tanks, 18. first-stage reverse osmosis film groups, 19. high-pressure injection system flowmeters, 20. electromagnetic switch, 21. secondary high-pressure hydraulic pumps, 22. one-level high-pressure hydraulic pumps, 23. cartridge filters, 24. electric-control system flowmeters, 25. belt pulleys III,
2-1. video camera, 2-2. hydraulic giant, 2-3. electric cabinet, 2-4. organ case guard shield, 2-5. vertical lifting mechanism, 2-6. Vehicle Controller, 2-7. chassis, 2-8. car body walking mechanism, 2-9. hydraulic oil container, 2-10. display floater, 2-11. power assembly, 2-12. diesel fuel tanks, 2-13. insulation column, 2-14. water inlet pipe, 2-15. The Cloud Terrace, 2-16. adjustable water gun carriage, 2-17. laser range finder, 2-18. robot shells.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the utility model is described in further detail.
Mobile automatic water-supplying transformer station living water washing is auxiliary rushes robot system, and comprise water rinse-system and Fu Chong robot, water rinse-system comprises pure water making system and high-pressure injection system; Pure water making system is connected with high-pressure injection system, and high-pressure injection system is connected by pressure duct with Fu Chong robot; From tube rolling device water under high pressure out, directly docked by hydraulic quick coupler with Fu Chong robot high-pressure intake pipe.
As shown in Figure 1, auxiliary robot system of rushing comprises the compositions such as car body walking mechanism 2-8, power assembly 2-11, vertical lifting mechanism 2-5, hydraulic giant flushing machine, electric control system to Fu Chong robot structural representation; Wherein, car body walking mechanism 2-8 is crawler-type mobile chassis structure, power assembly 2-11 adopts diesel engine powers, be installed on mobile chassis, vertical lifting mechanism 2-5 is connected to car body travel mechanism front end, vertical lifting mechanism 2-5 is provided with two-stage telescopic arm, and the upper arm of two-stage telescopic arm is connected with the working cradle head 2-15 of hydraulic giant flushing machine by insulation column 2-13; Electric control system comprises onboard subsystem and remoting subsystem, and remoting subsystem matches with onboard subsystem, wirelessly the long-range control completed robot vertical elevating mechanism and hydraulic giant flushing machine.
Car body walking mechanism comprises: crawler-type mobile chassis, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt and tension buffer device; Left running motor and right running motor are bolted on crawler-type mobile chassis overhang, driving wheel is connected with running motor by driving shaft, driven pulley, BOGEY WHEEL are connected with crawler body support respectively by rotating shaft with tension buffer device, crawler belt is enclosed within the outside of driving wheel, driven pulley, BOGEY WHEEL and tension buffer device, and the both sides of the described crawler-type mobile extreme end of chassis are respectively equipped with hydraulic oil container 2-9 and diesel fuel tanks 2-12.
Power assembly 2-11 adopts self-powered source, diesel engine powers, can enter operation in intensive battery limits, solves on-the-spot power configuration problem.
Vertical lifting mechanism 2-5 comprises two stage vertical telescopic arm, organ case guard shield 2-4, insulation column 2-3 and Vehicle Controller 2-6 form, vertical telescopic arm is hinged with on car body travel mechanism fixed head, insulation column 2-13 is installed on vertical telescopic arm upper end, Vehicle Controller 2-6 is fixed on vertical telescopic arm restraining board, and two stage vertical telescopic arm, insulation column 2-13 and Vehicle Controller 2-6 surround wherein by organ case guard shield 4.
Hydraulic giant flushing machine comprises the composition such as The Cloud Terrace 2-15, electric cabinet 2-3, adjustable water gun carriage 2-16; Electric cabinet 2-3 is installed on insulation column 2-13, provides power supply needed for The Cloud Terrace 2-15, video camera 2-1; The Cloud Terrace 2-15 realizes hydraulic giant level and the motion of pitching both direction; Adjustable water gun carriage 2-16 is hinged and connected to above The Cloud Terrace, adjustable water gun carriage is connected with hydraulic giant 2-2, video camera 2-1, laser range finder 2-17.Adjustable water gun carriage 2-16 being provided with tracking camera 2-1 by bolt, for Real Time Observation insulator water washing handling situations, laser range finder 2-17 being housed immediately below tracking camera, rinsing the distance of operation insulator for measuring hydraulic giant and water in real time.
As shown in figures 2-6, water rinse-system comprises pure water making system and high-pressure injection system, pure water making machine is primarily of comprising mobile chassis 1, active carbon, quartz filter 14, cartridge filter 23, one-level high-pressure hydraulic pump 22, first-stage reverse osmosis film group 18, intermediate water tank 17, secondary high-pressure hydraulic pump 21, two-pass reverse osmosis film group 13, pure water tank 5 forms.The side of active carbon, quartz filter 14 is connected with running water pipe.Opposite side is connected with cartridge filter 23 by pipeline.Cartridge filter 23 opposite side is connected with one-level high-pressure hydraulic pump 22 by pipeline.The opposite side of one-level high-pressure hydraulic pump 22 is connected with first-stage reverse osmosis film group 18 by pipeline.The opposite side of first-stage reverse osmosis film group 18 is connected with intermediate water tank 17 by pipeline.The opposite side of intermediate water tank 17 is connected with secondary high-pressure hydraulic pump 21 by pipeline.The opposite side of secondary high-pressure pump 21 is connected with two-pass reverse osmosis film group 13 by pipeline.The opposite side of two-pass reverse osmosis film group 13 is connected with pure water tank 5 by pipeline, specifically as shown in Figure 4.Water source needed for this device is ordinary tap water water source, after described pure water making machine filters, can reach the water resistance rate requirement of charged electric power apparatus water flushing required by directive/guide.Described every one filter progress is all equipped with Pressure gauge and flowmeter, can be in the reasonable scope with the pressure and flow of guaranteeing water.
Counter-infiltration with enough pressure, the solvent in solution (general Chang Zhishui) is separated, direction is contrary with infiltration direction, and the hyperfiltration being greater than osmotic pressure can be used to carry out being separated, purifying and concentrated solution.Utilize reverse osmosis technology effectively can remove dissolving salt, colloid in water, the impurity such as bacterium, virus, bacterial endotoxin and most of organic matter.The main separate object of reverse osmosis membrane is the ion range in solution, effectively can remove impurities in water, thus obtain high purity water without the need to chemicals.The utility model is by active carbon, quartz filter, and cartridge filter, one-level high-pressure pump, first-stage reverse osmosis film group, intermediate water tank, secondary high-pressure pump, two-pass reverse osmosis film group is filtered step by step, obtains the high purity water meeting transformer station's living water washing job requirements.
High-pressure injection system is made up of high-pressure hydraulic pump 4, electromagnetic clutch 6, belt pulley I 7, belt pulley II 8, belt pulley III 25, reserve pump 10, tube rolling device 9, pressure-detecting device 3, high-pressure injection system flowmeter 19 and water resistance rate detection table 2 etc.The electromagnetic clutch 6 that the power source of described high-pressure hydraulic pump 4 carries from automobile chassis 1, via electromagnetic clutch 6 outputting power, to meet the not timing job requirement of high-pressure injection system.The input that described belt pulley I 7 is arranged on the output shaft of electromagnetic clutch 6, belt pulley II 8 is arranged on high-pressure hydraulic pump 4, belt pulley III 25 are arranged on the input of stand-by pump 10; Described belt pulley I 7 and belt pulley II 8, between belt pulley I 7 and belt pulley III 25, all transmit power by belt 11.
Reserve pump 10 is installed on the opposite side of mobile chassis 1, its main application for prevent high-pressure hydraulic pump from breaking down or insufficient pressure time provide enough power for system.Pressure-detecting device 3 is arranged on the output of high-pressure hydraulic pump 4, for detecting high-pressure pump pure water output pressure.Water resistance rate detection table 2 is for detecting the water resistance rate of pure water after high-pressure pump pressurization.Described Pressure gauge and water resistance rate detect table and are all connected with electric-control system, and when pure water pressure and resistivity do not meet instructions for use, high-pressure hydraulic pump 4 can quit work and report to the police.High-pressure injection system is also equipped with Manual throttle controller, is connected with diesel engine throttle, can manual adjustments Oil Switch size, thus realizes the adjustment of high-pressure hydraulic pump outlet pressure.
Electric-control system is furnished with scram button, start button, one-level high-pressure pump start-stop button, secondary high-pressure pump start-stop button and the device such as voltmeter, ammeter, to observe the ruuning situation of each device.And electric-control system voltmeter 15 is installed, electric-control system ammeter 16, and detect electric-control system flowmeter 24 and the Pressure gauge of water after every single filter.
Pure water making machine has manually and automatic two kinds of control models; When manual mode runs, hand push button of first outwarding winding, manual lamp is lighted, and manual mode Xia Fen tetra-tunnel controls: booster pump, primary pump, flushing valve, two stage pump are outwarded winding after button respectively, and equipment manually runs, and cycle button again during stopping, equipment quits work.When automatic mode runs, automatic button of outwarding winding, equipment is by automatic panel controlling run, and cycle button during cut out, equipment quits work automatically.
In automatic mode, equipment has the protection of former water excessive low water level protection, a secondary high-pressure pump excessive low water level protection, hypertonia and pure water water pot full water to shut down four automatic protection functions.
In automatic mode, in order to be rinsed out by the macromolecular substances be retained at work in reverse osmosis membrane, reverse osmosis membrane can clean automatically according to program.
Water rinses Fu Chong robot when operation, the car body travel mechanism being controlled basic machine by the joystick of remote control device moves to appointed area, electric control system control unlatching pure water making system is prepared pure water and is stored to pure water tank 5, and the pure water of pure water tank 5 is rinsed Fu Chong robot by the Pipeline transport of tube rolling device 9 to water by high-pressure injection system; From tube rolling device 9 water under high pressure out, directly docked by hydraulic quick coupler with Fu Chong robot high-pressure intake pipe;
Water rinses Fu Chong robot and controls hydraulic giant 2-2 in level and the motion of pitching both direction by regulating The Cloud Terrace 2-15, be arranged on the video camera Real Time Observation insulator water washing handling situations on water flushing Fu Chong robot adjustable water gun carriage 2-16, and measure hydraulic giant and water in real time by laser range finder and rinse distance between operation insulator, by the image that tracking camera gathers, the real-time pose of control hydraulic giant and the moving direction of robot body, hydraulic giant sprays high-purity water and carries out flushing operation.
By reference to the accompanying drawings detailed description of the invention of the present utility model is described although above-mentioned; but the restriction not to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection domain of the present utility model.
Claims (9)
1. mobile automatic water-supplying transformer station living water washing is auxiliary rushes a robot system, and it is characterized in that, comprising: water rinse-system, Fu Chong robot and electric control system, described water rinse-system comprises pure water making system and high-pressure injection system; Described pure water making system is connected with high-pressure injection system, and high-pressure injection system is connected by pressure duct with Fu Chong robot;
Described Fu Chong robot comprises car body travel mechanism, vertical lifting mechanism and hydraulic giant flushing machine; The auxiliary vertical lifting mechanism rinsing robot is connected with car body travel mechanism, and vertical lifting mechanism is provided with multistage telescopic arm, and vertical lifting mechanism is connected with hydraulic giant flushing machine by multistage telescopic arm; Described electric control system is for realizing the control to water rinse-system and Fu Chong robot.
2. a kind of mobile automatic water-supplying transformer station as claimed in claim 1 living water washing is auxiliary rushes robot system, and it is characterized in that, described car body walking mechanism is crawler-type mobile chassis structure; The power assembly of described car body walking mechanism adopts diesel engine powers, is arranged in robot housing; Described vertical lifting mechanism is arranged on the front end of car body walking mechanism, is provided with two-stage telescopic arm, and the upper arm of described two-stage telescopic arm is connected with hydraulic giant flushing machine by insulation column; Described electric control system comprises onboard subsystem and remoting subsystem, and remoting subsystem matches with onboard subsystem, realizes the control to robot car body walking mechanism, vertical lifting mechanism and hydraulic giant flushing machine.
3. a kind of mobile automatic water-supplying transformer station as claimed in claim 1 living water washing is auxiliary rushes robot system, it is characterized in that, described car body walking mechanism comprises: crawler-type mobile chassis, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt and tension buffer device; Left running motor and right running motor are bolted on crawler-type mobile chassis overhang, driving wheel is connected with running motor by driving shaft, driven pulley, BOGEY WHEEL are connected with crawler body support respectively by rotating shaft with tension buffer device, crawler belt is enclosed within the outside of driving wheel, driven pulley, BOGEY WHEEL and tension buffer device, and the both sides of the described crawler-type mobile extreme end of chassis are respectively equipped with hydraulic oil container and diesel fuel tanks.
4. a kind of mobile automatic water-supplying transformer station as claimed in claim 1 living water washing is auxiliary rushes robot system, it is characterized in that, described vertical lifting mechanism comprises: two stage vertical telescopic arm, organ case guard shield, insulation column and Vehicle Controller, the lower end of described vertical telescopic arm is fixed on the fixed head of car body walking mechanism, and the upper end of vertical telescopic arm is connected with some insulation columns by top board; Described Vehicle Controller is fixed on vertical telescopic arm restraining board, and two stage vertical telescopic arm, insulation column and Vehicle Controller surround wherein by described organ case guard shield.
5. a kind of mobile automatic water-supplying transformer station as claimed in claim 1 living water washing is auxiliary rushes robot system, and it is characterized in that, described hydraulic giant flushing machine comprises: The Cloud Terrace, electric cabinet, adjustable water gun carriage, hydraulic giant, video camera and laser range finder;
Described electric cabinet is arranged on the top of insulation column, and is fixed on insulation column; Described The Cloud Terrace is fixed on electric cabinet; Described adjustable water gun carriage is hinged and connected to above The Cloud Terrace, adjustable water gun carriage is connected to hydraulic giant, video camera and laser range finder.
6. a kind of mobile automatic water-supplying transformer station as claimed in claim 1 living water washing is auxiliary rushes robot system, it is characterized in that, described pure water making system comprises: active carbon, quartz filter, cartridge filter, one-level high-pressure pump, first-stage reverse osmosis film group, intermediate water tank, secondary high-pressure pump, two-pass reverse osmosis film group and pure water tank;
Described active carbon, the side of quartz filter is connected with running water pipe, opposite side is connected with cartridge filter by pipeline, described cartridge filter is by pipeline and one-level high-pressure hydraulic pump, first-stage reverse osmosis film group, intermediate water tank, secondary high-pressure hydraulic pump, two-pass reverse osmosis film group is connected successively with pure water tank, described property charcoal, quartz filter, cartridge filter, first-stage reverse osmosis film group and two-pass reverse osmosis film group form pure water making system level Four filter progress jointly, the pipeline of the every one-level filter progress in described pure water making system level Four filter progress is respectively equipped with Pressure gauge and flowmeter.
7. a kind of mobile automatic water-supplying transformer station as claimed in claim 1 living water washing is auxiliary rushes robot system, and it is characterized in that, described high-pressure injection system comprises: high-pressure hydraulic pump, electromagnetic clutch, power transmission, stand-by pump and outlet pipe; Described electromagnetic clutch one end is connected with the power takeoff that mobile chassis carries, the other end of electromagnetic clutch is connected with high-pressure hydraulic pump and stand-by pump respectively by power transmission, described stand-by pump is arranged on the side relative with high-pressure hydraulic pump, and water under high pressure delivery side of pump connects outlet pipe; At described water under high pressure delivery side of pump, pressure-detecting device is installed, water resistance rate checkout gear is set at the end of described outlet pipe.
8. a kind of mobile automatic water-supplying transformer station as claimed in claim 7 living water washing is auxiliary rushes robot system, and it is characterized in that, described stand-by pump and high-pressure pump belong to parallel relationship, under normal operative condition, only open high-pressure pump; When high purity water pressure is less than regulation operating pressure, automatically start stand-by pump.
9. a kind of mobile automatic water-supplying transformer station as claimed in claim 7 living water washing is auxiliary rushes robot system, and it is characterized in that, described high-pressure injection system also comprises electric-control system, and described pressure-detecting device is all connected with electric-control system with water resistance rate checkout gear; When pure water pressure or resistivity do not meet instructions for use, electric control system controls high-pressure pump quits work and reports to the police.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420519506.9U CN204277998U (en) | 2014-09-10 | 2014-09-10 | Mobile automatic water-supplying transformer station living water washing is auxiliary rushes robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420519506.9U CN204277998U (en) | 2014-09-10 | 2014-09-10 | Mobile automatic water-supplying transformer station living water washing is auxiliary rushes robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204277998U true CN204277998U (en) | 2015-04-22 |
Family
ID=52861193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420519506.9U Expired - Fee Related CN204277998U (en) | 2014-09-10 | 2014-09-10 | Mobile automatic water-supplying transformer station living water washing is auxiliary rushes robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204277998U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104999450A (en) * | 2014-09-10 | 2015-10-28 | 国家电网公司 | Electrification water washing auxiliary flushing robot system for mobile self-water-supply type transformer substation and method |
| CN106043480A (en) * | 2016-05-25 | 2016-10-26 | 刘明月 | New-energy automobile part warehouse operation robot |
| CN107962016A (en) * | 2017-06-09 | 2018-04-27 | 国网山东省电力公司电力科学研究院 | A kind of self-positioning substation equipment living water washing robot system and method |
| EP3338961B1 (en) * | 2016-12-23 | 2020-09-09 | Boll Automation GmbH | Device for controlling a robot and robot for high pressure cleaning using water |
| WO2020178696A1 (en) * | 2019-03-01 | 2020-09-10 | Advanced Intelligent Systems Inc. | Agricultural robot for a vertical farming unit |
-
2014
- 2014-09-10 CN CN201420519506.9U patent/CN204277998U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104999450A (en) * | 2014-09-10 | 2015-10-28 | 国家电网公司 | Electrification water washing auxiliary flushing robot system for mobile self-water-supply type transformer substation and method |
| CN104999450B (en) * | 2014-09-10 | 2017-05-24 | 国家电网公司 | Electrification water washing auxiliary flushing robot system for mobile self-water-supply type transformer substation and method |
| CN106043480A (en) * | 2016-05-25 | 2016-10-26 | 刘明月 | New-energy automobile part warehouse operation robot |
| EP3338961B1 (en) * | 2016-12-23 | 2020-09-09 | Boll Automation GmbH | Device for controlling a robot and robot for high pressure cleaning using water |
| CN107962016A (en) * | 2017-06-09 | 2018-04-27 | 国网山东省电力公司电力科学研究院 | A kind of self-positioning substation equipment living water washing robot system and method |
| WO2020178696A1 (en) * | 2019-03-01 | 2020-09-10 | Advanced Intelligent Systems Inc. | Agricultural robot for a vertical farming unit |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104999450A (en) | Electrification water washing auxiliary flushing robot system for mobile self-water-supply type transformer substation and method | |
| CN104998850B (en) | Electrification water washing robot system of transformer substation and method | |
| CN204277998U (en) | Mobile automatic water-supplying transformer station living water washing is auxiliary rushes robot system | |
| CN204170997U (en) | Transformer station's living water washing robot system | |
| CN105033984B (en) | Mobile automatic water-supplying transformer station living water washing robot system | |
| CN204448669U (en) | Living water washing robot of a kind of transformer station | |
| CN204277997U (en) | Mobile automatic water-supplying transformer station living water washing robot system | |
| CN103316859B (en) | Cleaning device for greenhouse tops | |
| CN204248894U (en) | Transformer station's living water washing is auxiliary rushes robot control system | |
| CN105910850A (en) | Aerodynamical sampling ship and sampling method thereof | |
| CN110656695A (en) | Municipal administration pipeline desilting robot | |
| CN105014674A (en) | Convertor station live washing robot system and method | |
| CN101961537A (en) | High-energy battery water mist fire-extinguishing trolley | |
| CN104998847B (en) | A kind of system that sprays water with high pressure for living water washing robot of transformer station | |
| CN202316396U (en) | Charged water flushing vehicle of large-diameter transformer | |
| CN204171000U (en) | For the living water washing robot of transformer station of low latitude insulator | |
| CN113625638A (en) | Intelligent pipe network robot system | |
| CN204036449U (en) | A kind of living water washing Fu Chong robot of transformer station that can accurately rinse | |
| CN204194339U (en) | A kind of system that sprays water with high pressure for living water washing robot of transformer station | |
| CN204111298U (en) | Big machinery four seasons water-supply apparatus | |
| CN204278028U (en) | Current conversion station living water washing robot system | |
| CN103144568B (en) | Powered water-washing vehicle | |
| CN104858166A (en) | Emergency control system and method of live-washing robot for low-altitude insulator | |
| CN205562212U (en) | Air force sampling boat | |
| CN211223653U (en) | Industrial inspection equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee after: STATE GRID CORPORATION OF CHINA Co-patentee after: National Network Intelligent Technology Co.,Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: State Grid Corporation of China Co-patentee before: SHANDONG LUNENG INTELLIGENCE TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201103 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150422 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |