CN107096740B - Running gear of insulator cleaning and decontamination robot - Google Patents

Abstract

The invention relates to an insulator cleaning and decontamination robot walking device which comprises an annular upper fixing plate and an annular lower fixing plate, wherein the upper fixing plate and the lower fixing plate are formed by buckling two semicircular plates. The insulator cleaning and decontamination robot walking device mainly can adapt to insulators with different diameters and has an anti-theft function, the device can enable the insulator cleaning and decontamination robot to rotate around a center shaft of the insulator when walking, long-term stress on one side of the walking device is avoided, and the service life is longer.

Description

Running gear of insulator cleaning and decontamination robot

Technical Field

The invention belongs to electric power facility cleaning equipment, in particular to a walking device of an insulator cleaning and decontamination robot.

Background

The insulator is an insulating element used for connecting a wire and an iron tower on an overhead high-voltage transmission line, and because an insulator string is exposed in the atmosphere for a long time, dust and dirt can be generated on the surface of the insulator string, so that a line short circuit is easily caused, the insulating property of the insulator of the line is reduced, the surface of the insulator is cleaned, and the manual cleaning mode is adopted at present, so that the operation risk is high, the efficiency is low, and the difficulty is high. Along with the requirement of humanized operation popularization and the development of intelligent robots, more and more intelligent cleaning robots are applied to power line inspection or equipment detection at present. The existing intelligent cleaning robot can climb up and down along an insulator string and clean and decontaminate insulators, but the existing intelligent robot can only operate on the insulators with the same diameter, cannot climb and attach to the insulators with different diameters, and is poor in compatibility. In addition, the existing intelligent cleaning robot is difficult to endure outdoor severe conditions for a long time, the working time is limited after charging, the robot cannot be exposed in an outdoor environment for a long time to work, the cost of the robot is high, therefore, the existing intelligent cleaning robot for the insulators is of a detachable structure, the insulator is cleaned by being installed on the insulator during use, the robot is detached by workers after cleaning is completed and is moved to the next group of insulators to clean, and the intelligent cleaning robot which is not required to be detached cannot be installed on each group of insulators in a matched mode. The insulator cleaning robot usually needs several hours to complete the complete cleaning of a group of insulators, in order to improve the working efficiency and save the labor cost, a worker cannot watch on the spot after mounting the cleaning robot on all the insulators on one power transmission tower, but continues to mount the cleaning robot on other power transmission towers, returns to dismount the cleaning robot after mounting a plurality of power transmission towers, and gives a machine for a lawless person to ride, the case that the cleaning robot is stolen when the worker mounts the cleaning robot before occurs, and huge economic loss is caused for power enterprises. The existing insulator cleaning robot performs reciprocating movement on an insulator string to clean during working, the stress direction of a walking mechanism of the robot is always unchanged, particularly when the robot cleans the horizontally arranged insulator string, the walking mechanism above the robot bears the whole dead weight of the robot, and the walking mechanism can deform after long-term use to influence the normal work of the insulator cleaning robot.

Disclosure of Invention

In order to solve the problems, the invention aims to provide the insulator cleaning and decontamination robot walking device which can adapt to insulators with different diameters and has an anti-theft function.

In order to achieve the purpose, the invention is realized by the following technical scheme: the lock comprises an annular upper fixing plate and an annular lower fixing plate, wherein the upper fixing plate and the lower fixing plate are formed by buckling two semicircular plates, one ends of the two semicircular plates buckled with each other of the upper fixing plate are hinged with each other, the other ends of the two semicircular plates buckled with each other of the upper fixing plate are connected with each other through an electric control lock catch, the other ends of the two semicircular plates are connected with each other through a hook, the electric control lock catch comprises a connecting plate connected with one semicircular plate, a limiting through hole is formed in the connecting plate, a lock box is installed on the other semicircular plate, an inserting groove is formed in the lock box, the connecting plate can be inserted into the inserting groove, a driving motor is installed in the lock box, an output shaft of the driving motor is meshed with a driven rack through a driving gear, the driven rack is installed on a guide rod, a guide plate is arranged in the lock box and is matched with the guide rod, the driving motor drives the guide rod to ascend through the driving gear and the driven rack, and the lower end of the guide rod is connected with a lock tongue, a spring bolt actuating spring is arranged between the spring bolt and the guide plate, when the driving motor does not rotate, the spring bolt actuating spring can push the spring bolt to descend and reset, when the connecting plate is inserted into the slot, the spring bolt can be inserted into the limit through hole, one side of the spring bolt is a slope surface, when the connecting plate is inserted into the slot, the end part of the connecting plate is contacted with the slope surface, an external power interface and an unlocking button are arranged on the lock box, the external power interface is connected with the power input end of the driving motor, the unlocking button can start the driving motor after the driving motor is powered on, a code controller is arranged on the driving motor, the code controller can control the on-off of a circuit of the driving motor, a code input circuit of the code controller is connected with a code input device, a plurality of upright posts are arranged between the upper fixing plate and the lower fixing plate, a plurality of cleaning wheels are uniformly arranged on the upper fixing plate, and one end of two connecting rods which are parallel to each other is hinged on the upright posts, the articulated mounting panel of the other end of two connecting rods, the one end of articulated first connecting handle on the mounting panel, set up rectangular hole along length direction on the first connecting handle, the one end of articulated second connecting handle on every stand, fixed mounting electric telescopic handle on every stand, electric telescopic handle's expansion end and the other end fixed connection of second connecting handle, the one end of the articulated regulation pole of the other end of second connecting handle, the other end installation dead lever of regulation pole, the dead lever is located rectangular downthehole and can slides along rectangular hole, set up regulating spring on the regulation pole, the both ends of spring respectively with the tip of first connecting handle and the end connection of regulation pole, set up the motor on the mounting panel respectively, speed reducer and track, the motor passes through the speed reducer and can drive the track motion, the track periphery evenly is equipped with a plurality of lugs, each lug homogeneous phase is to the width direction slope of track, the incline direction of each lug is all the same. The included angle alpha between the length direction of each lug and the width direction of the crawler belt is 15-20 degrees. The two sides of the convex block are provided with anti-slip grooves. The lower fixing plate is internally provided with a fixing groove, a C-shaped holding groove, a first sliding groove and a second sliding groove respectively, the C-shaped holding groove is communicated with the first sliding groove and the second sliding groove respectively, a supporting plate is arranged in the fixing groove and fixed on the stand column, a rack is installed on the side wall of the supporting plate along the length direction, a gear is installed in one end of the C-shaped holding groove, the gear is meshed with the rack, a driving wheel is coaxially installed on the gear, one end of a driving belt is connected to the driving wheel, a transition wheel is arranged in the holding groove, a first wedge is arranged in the first sliding groove, a second wedge is arranged in the second sliding groove, one end of the driving belt, provided with an inclined plane, is contacted with the inclined plane of the second wedge, the other end of the first wedge is connected with a pull rod, the end of the pull rod extends out of the lower fixing plate, a spring is arranged on the pull rod, the two ends of the spring are fixedly connected with the side wall of the first sliding groove and the first wedge respectively, the spring always provides a tension for the first wedge, the other end of the driving belt is connected with one end of the second wedge, a limit block, and a limit block is arranged on the side wall of the second wedge. The end part of the pull rod extending out of the lower fixing plate is provided with a baffle. The lateral part of the limiting block is provided with an inclined plane, the side wall of the limiting groove is provided with an inclined plane, and the inclined plane of the limiting block is matched with the inclined plane of the limiting groove. The password input device comprises a shell, a circular through hole is formed in the top surface of the shell, a rotating sleeve is installed in the circular through hole and can lift and rotate relative to the shell in the circular through hole, a limiting block is arranged on the periphery of the bottom of the rotating sleeve and can be contacted with the shell outside the circular through hole when the limiting block rises to a limit position, a sealing plate is arranged on the top surface of the rotating sleeve and is made of a transparent material, a convex ring is arranged on the inner wall of the shell, a first spring is installed on the top surface of the convex ring, the top of the first spring is connected with an annular gasket, the annular gasket is contacted with the bottom surface of the rotating sleeve, a plurality of supports are arranged on the inner wall of the convex ring at intervals and are connected with a supporting plate, a lead screw is installed on the top surface of the supporting plate, a screw sleeve matched with the lead screw is installed on the lead screw, the periphery of the screw sleeve is connected with a rotating disc through a one-way bearing, and a second spring is installed between the screw sleeve and the supporting plate, the rotary table top sets up annular briquetting, annular briquetting is connected with the shrouding, when the rotating sleeve moves down, annular briquetting can promote the carousel together to move down, carousel lateral wall periphery sets up the ratchet, the pawl that rotating sleeve inner wall installation and ratchet are supporting, install the reset torsion spring in the pivot of pawl, rotating sleeve can drive the carousel and allow rotatory direction to one-way bearing after pawl and ratchet meshing, the carousel top surface sets up a plurality of word blocks, each word block is annular align to grid at the carousel top surface, carousel bottom surface installation lug, the interior diaphragm of installation of casing below the bulge loop, the diaphragm top surface is equipped with a plurality of password input button, each password input button is annular align to grid at the diaphragm top surface, the quantity of password input button is the same with the quantity of word block, when the carousel together moved down along with rotating sleeve, a password input button can be pressed to the lug. The transverse plate can lift in the shell, the transverse plate is in contact with the bottom surface of the convex ring when rising to the extreme position, the lug can press a password input button after the rotary plate descends, the lug cannot contact the password input button after the transverse plate descends, a tension spring is arranged between the transverse plate and the bottom of the shell, the bottom of the shell is provided with guide rails with bright stripes parallel to each other, each guide rail is provided with a roller matched with the guide rail, each roller is provided with a support rod, the upper end of each support rod is hinged to the bottom surface of the transverse plate, the two support rods are connected through a transverse shaft, the transverse shaft is provided with a transverse shaft sleeve, the transverse shaft sleeve can rotate around the axis of the transverse shaft, the outer wall of one side of the shell is provided with a lock shell, the lock core opened and closed by a key is installed on the lock shell, a crank is installed on a rotating part of the lock core, the crank is hinged to one end of a connecting rod, the other end of the connecting rod is hinged to the transverse shaft sleeve, the key can drive the crank to swing, the lower end of the connecting rod can push or pull the guide rail when the crank swings, an arc-shaped positioning groove is formed on the guide rail, when the support rod is perpendicular to the transverse plate, the roller is located in the arc-shaped positioning groove, and the transverse plate is in contact with the bottom surface of the convex ring.

The invention has the advantages that: the invention enables the upright post, the two connecting rods and the mounting plate to form a parallelogram mechanism, the two connecting rods ensure that the mounting plate is always parallel to the upright post to prevent the mounting plate from being skewed, the movable end of the electric telescopic rod stretches out and draws back, the mounting plate can be moved through the first connecting handle, the second connecting handle and the adjusting rod, so that the mounting plate is tightly held or loosened with insulators with different diameters, the motor can drive the track to move through the speed reducer, so as to drive the whole set of device to climb along the insulators, the device is suitable for the insulators with different diameters, the insulator cleaning and decontamination robot can rotate around the central axis of the insulators when the device walks, the long-term stress on one side of the walking device is avoided, and the service life is longer; when the cleaning robot is detached, an external power supply is required and a password is input, so that the cleaning robot can be effectively prevented from being stolen by lawless persons.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view of the structure in the direction A of FIG. 1;

FIG. 3 is an enlarged view of the direction C of FIG. 2;

FIG. 4 is an enlarged view of part I of FIG. 2;

FIG. 5 is another state diagram of FIG. 4;

FIG. 6 is an enlarged view of the structure in the direction B of FIG. 1;

FIG. 7 is a schematic diagram of a preferred structure of the password input device of the present invention;

FIG. 8 is a schematic cross-sectional view of D-D of FIG. 7;

FIG. 9 is a schematic cross-sectional view E-E of FIG. 8;

FIG. 10 is a schematic view of the structure of FIG. 8 after the horizontal plate has been moved downward;

FIG. 11 is an enlarged view of the structure of FIG. 8 from the direction F;

fig. 12 is a schematic view of the structure enlarged in the direction of G in fig. 10.

Detailed description of the preferred embodiments

The insulator cleaning and decontamination robot walking device comprises an annular upper fixing plate 1 and an annular lower fixing plate 2, wherein the upper fixing plate 1 and the lower fixing plate 2 are formed by mutually buckling two semicircular plates, one ends of the two semicircular plates which are mutually buckled by the upper fixing plate 1 are mutually hinged, the other ends of the two semicircular plates are connected through an electric control lock catch, one ends of the two semicircular plates which are mutually buckled by the lower fixing plate 2 are mutually hinged, the other ends of the two semicircular plates are connected through a hook, the electric control lock catch comprises a connecting plate 201 connected with one semicircular plate, a limiting through hole 202 is formed in the connecting plate 201, a lock box 203 is arranged on the other semicircular plate, an inserting groove 204 is formed in the lock box 203, the connecting plate 201 can be inserted into the inserting groove 204, a driving motor 205 is arranged in the lock box 203, an output shaft of the driving motor 205 is meshed with a driven rack 207 through a driving gear 206, the driven rack 207 is arranged on a guide rod 208, and a guide plate 211 is arranged in the lock box 203, the guide plate 211 is matched with the guide rod 208, the driving motor 205 drives the guide rod 208 to ascend through the driving gear 206 and the driven rack 207, the lower end of the guide rod 208 is connected with the bolt 209, the bolt actuating spring 212 is installed between the bolt 209 and the guide plate 211, when the driving motor 205 does not rotate, the bolt actuating spring 212 can push the bolt 209 to descend and reset, when the connecting plate 201 is inserted into the slot 204, the bolt 209 can be inserted into the limit through hole 202, one side of the bolt 209 is a slope 210, when the connecting plate 201 is inserted into the slot 204, the end part of the connecting plate 201 is contacted with the slope 210, the lock box 203 is provided with an external power interface 213 and an unlocking button 216, the external power interface 213 is connected with the power input end of the driving motor 205, the unlocking button 216 can start the driving motor 205 after the driving motor 205 is electrified, the driving motor 205 is provided with a password controller 215, and the password controller 215 can control the on-off of the circuit of the driving motor 205, a password input circuit of the password controller 215 is connected with a password input device, a plurality of upright posts 3 are arranged between an upper fixing plate 1 and a lower fixing plate 2, a plurality of cleaning wheels 4 are uniformly arranged on the upper fixing plate 1, one ends of two parallel connecting rods 5 are hinged on the upright posts 3, the other ends of the two connecting rods 5 are hinged with a mounting plate 6, one end of a first connecting handle 7 is hinged on the mounting plate 6, a long strip hole 100 is formed in the first connecting handle 7 along the length direction, one end of a second connecting handle 8 is hinged on each upright post 3, an electric telescopic rod 10 is fixedly mounted on each upright post 3, the movable end of the electric telescopic rod 10 is fixedly connected with the other end of the second connecting handle 8, one end of a regulating rod 9 is hinged on the other end of the second connecting handle 8, a fixing rod 12 is mounted on the other end of the regulating rod 9, the fixing rod 12 is positioned in the long strip hole 100 and can slide along the long strip hole 100, a regulating spring 13 is arranged on the regulating rod 9, two ends of the regulating spring 13 are respectively connected with the end of the first connecting handle 7 and the end of the regulating rod 9, a motor 14 and a crawler belt 16 are respectively arranged on the mounting plate 6, the mounting plate 14 and a crawler belt 16 can drive the motor 14 and 16, a plurality of first speed reducer 301 with a plurality of first speed reducer which uniformly inclined lugs are uniformly inclined lug which are uniformly arranged in the same direction, and a plurality of the first crawler belt 301, and a plurality of the first speed reducer 301. During the installation, the staff opens two respective semicircle boards of upper fixed plate 1, bottom plate 2, embraces the insulator from both sides, then hangs the couple on the lower fixed plate 2, inserts the connecting plate 201 in the slot 204, and the insulator cleans scrubbing robot this moment and installs on the insulator promptly, can clean the insulator surface after the robot starts. When the robot needs to be detached, a worker needs to butt the output interface of the mobile power supply with the external power supply interface 213 to supply power to the driving motor 205, then inputs a correct password through the password input device to unlock the driving motor 205, the worker presses the unlocking button 216 after unlocking to start the driving motor 205 to pull out the lock tongue 209 from the limiting through hole 202 through the driving guide rod 208, so that the two semicircular plates of the upper fixing plate 1 are separated, and finally, the hook of the lower fixing plate 2 is opened to detach the cleaning robot from the insulator. The structure can effectively improve the anti-theft performance of the insulator cleaning robot, in addition, the external power supply interface 213 can also adopt a special interface with a non-standard shape to be connected with a special mobile power supply carried by a worker, the special mobile power supply carried by the worker can become a key for unlocking, and the difficulty of stealing the insulator cleaning robot by lawbreakers is further increased. According to the invention, the upright post 3, the two connecting rods 5 and the mounting plate 6 form a parallelogram mechanism, the two connecting rods 5 ensure that the mounting plate 6 is always parallel to the upright post 3 to prevent the mounting plate 6 from being inclined, the movable end of the electric telescopic rod 10 stretches, the mounting plate 6 can be moved through the first connecting handle 7, the second connecting handle 8 and the adjusting rod 9, so that the mounting plate 6 can be tightly held or loosened with insulators of different diameters, and the motor 14 can drive the crawler belt 16 to move through the speed reducer 15, so that the whole set of device is driven to climb along the insulators. The electric telescopic rod 10 has a self-locking function, and can ensure that the robot is still in a holding state and does not fall off when power is cut off or other faults occur accidentally, so that the intelligent robot for working high above the ground is prevented from falling from the high altitude, people and objects are easily injured, and self damage is avoided. Adjust pole 9, adjusting spring 13, dead lever 12, first connecting handle 7 and rectangular hole 100, can avoid electric telescopic handle 10 and mounting panel 6 crooked according to the flexible length automatically regulated position of electric telescopic handle 10. During operation, the insulator is held tightly by combining a parallelogram mechanism, the electric telescopic rod 10 drives the track to tightly attach or loosen the insulator, and meanwhile, the robot can be suitable for insulators of different sizes and can smoothly pass through the insulator connecting flange. The first bumps 301 are inclined relative to the width direction of the crawler 16, so that the crawler 16 can rotate around the central axis of the insulator string when moving on the insulator string in a reciprocating manner, the stress angle of the walking device is changed constantly, and the walking device is prevented from deforming.

The angle alpha between the length direction of the first lug 301 and the width direction of the crawler 16 is 15-20 degrees. When the angle alpha is smaller than 15 degrees, the first bump 301 has limited rotary driving force on the cleaning robot, and it is difficult to ensure that the cleaning robot can be effectively pushed to rotate around the central axis of the insulator string; when the angle α is greater than 20 °, the first bump 301 is difficult to smoothly enter the gap between the insulators, and the walking of the cleaning robot is affected.

In order to increase the friction force between the first bump 301 and the insulator and prevent the first bump 301 from slipping with the insulator, anti-slip grooves 302 may be disposed on both sides of the first bump 301.

The lower fixing plate 2 is internally provided with a fixing groove 17, a C-shaped accommodating groove 18, a first sliding groove 19 and a second sliding groove 20 respectively, the C-shaped accommodating groove 18 is communicated with the first sliding groove 19 and the second sliding groove 20 respectively, a supporting plate 21 is arranged in the fixing groove 17, the supporting plate 21 is fixed on the upright post 3, a rack 23 is arranged on the side wall of the supporting plate 21 along the length direction, a gear 24 is arranged in one end of the C-shaped accommodating groove 18, the gear 24 is meshed with the rack 23, a driving wheel 25 is coaxially arranged on the gear 24, one end of the driving wheel 25, which is connected with a driving belt 26, is arranged in the accommodating groove 18, a transition wheel 27 is arranged in the accommodating groove 18, a first wedge block 28 is arranged in the first sliding groove 19, a second wedge block 29 is arranged in the second sliding groove 20, and one end of the first wedge block 28, which is provided with an inclined plane, is contacted with an inclined plane of the second wedge block 29, the other end of the first wedge-shaped block 28 is connected with a pull rod 30, the end part of the pull rod 30 extends out of the lower fixing plate 2, a spring 31 is arranged on the pull rod 30, two ends of the spring 31 are respectively fixedly connected with the side wall of the first sliding groove 19 and the first wedge-shaped block 28, the spring 31 always pushes the first wedge-shaped block 28, the other end of the transmission belt 26 bypasses the transition wheel 27 and is connected with one end of the second wedge-shaped block 29, the other end of the second wedge-shaped block 29 is fixedly connected with a tension spring 32, the tension spring 32 is fixed on the side wall of the C-shaped accommodating groove 18, the tension spring 32 always pulls the second wedge-shaped block 29, a limit block 33 is arranged on the side part of the second wedge-shaped block 29, a limit groove 34 is formed in the side wall of the supporting plate 21, and the limit block 33 is located in the limit groove 34. When the lower fixing plate 2 is connected with the upright post 3, the supporting plate 21 is pushed to enable the supporting plate 21 to enter the fixing groove 17, in the entering process, the rack 23 on the supporting plate 21 drives the gear 24 to rotate, so that the driving wheel 25 drives the second wedge-shaped block 29 to move through the driving belt 26, when the inclined surface of the second wedge-shaped block 29 moves along the inclined surface of the first wedge-shaped block 28, the limiting block 33 on the second wedge-shaped block 29 enters the limiting groove 34 on the supporting plate 21, the supporting plate 21 is fixed in the fixing groove 17, and the lower fixing plate 2 is fixed with the upright post 3. When the bottom plate 2 separates from the column 3, the pull rod 30 is pulled to separate the limiting block 33 on the second wedge block 29 from the limiting groove 34, and under the action of the tension spring 32, the second wedge block 29 returns to the original position, the transmission belt 26 drives the gear 24 to rotate reversely through the transmission wheel 25, so that the supporting plate 21 leaves the fixing groove 17, and the bottom plate 2 is conveniently separated from the column 3. The structure facilitates the installation and the disassembly between the lower fixing plate 2 and the upright post 3, can be disassembled for storage and carrying during transportation, and is convenient to work after assembly. This structure can also be installed between the upper fixing plate 1 and the upright 3, so that the upper fixing plate 1 and the upright 3 can be conveniently installed and disassembled for convenient transportation and assembly.

The end of the pull rod 30 extending out of the lower fixing plate 2 is provided with a baffle 35. This construction prevents the pull rod 30 from completely entering the first slide groove 19 and facilitates the pulling of the pull rod 30.

The lateral part of the limiting block 33 is provided with an inclined plane, the side wall of the limiting groove 34 is provided with an inclined plane, and the inclined plane of the limiting block 33 is matched with the inclined plane of the limiting groove 34. The structure can ensure that the inclined surfaces of the limiting block 33 and the limiting groove 34 are mutually attached to provide buffering when the limiting block 33 enters the limiting groove 34, and the limiting block 33 and the limiting groove 34 are prevented from being collided.

The password input device of the invention can adopt various password input devices such as an electronic password input device, a mechanical password input device and the like, and because the outdoor environment is relatively severe and the radiation and the interference near a power transmission line are relatively strong, the mechanical password input device has relatively better reliability, and in order to avoid lawless persons to steal passwords by adopting a peeping or video recording mode, the optimal structure of the password input device of the invention is as follows: the password input device comprises a shell 101, a circular through hole 102 is formed in the top surface of the shell 101, a rotary sleeve 103 is installed in the circular through hole 102, the rotary sleeve 103 can lift and rotate relative to the shell 101 in the circular through hole 102, a limit block 104 is arranged on the periphery of the bottom of the rotary sleeve 103, when the limit block 104 rises to a limit position, the limit block 104 can be contacted with the shell 101 on the outer side of the circular through hole 102, a seal plate 105 is arranged on the top surface of the rotary sleeve 103, the seal plate 105 is made of transparent materials, a convex ring 106 is arranged on the inner wall of the shell 101, a first spring 113 is installed on the top surface of the convex ring 106, the top of the first spring 113 is connected with an annular gasket 116, the annular gasket 116 is contacted with the bottom surface of the rotary sleeve 103, a plurality of supports 107 are arranged on the inner wall of the convex ring 106 at intervals, each support 107 is connected with a support plate 108, a lead screw 109 is installed on the top surface of the support plate 108, a screw 110 matched with the lead screw 109 is installed on the lead screw 109, the periphery of the screw 110 is connected with a rotary table 112 through a one-way bearing 111, a second spring 115 is arranged between the screw sleeve 110 and the supporting plate 108, an annular pressing block 114 is arranged above the rotary table 112, the annular pressing block 114 is connected with the sealing plate 105, when the rotary sleeve 103 moves downwards, the annular pressing block 114 can push the rotary table 112 to move downwards together, ratchets 121 are arranged on the periphery of the outer side wall of the rotary table 112, pawls 122 matched with the ratchets 121 are arranged on the inner wall of the rotary sleeve 103, a reset torsion spring 123 is arranged on a rotating shaft of the pawls 122, after the pawls 122 are meshed with the ratchets 121, the rotary sleeve 103 can drive the rotary table 112 to rotate towards the direction which is allowed to rotate by the one-way bearing 111, a plurality of character blocks 117 are arranged on the top surface of the rotary table 112, each character block 117 is annularly and uniformly arranged on the top surface of the rotary table 112, a second bump 118 is arranged on the bottom surface of the rotary table 112, 119 is arranged in the shell 101 below the convex ring 106, a plurality of transverse plate code input buttons 120 are arranged on the top surface of the transverse plate 119, each code input button 120 is annularly and uniformly arranged on the top surface of the transverse plate 119, the number of the password input buttons 120 is the same as the number of the code blocks 117, and the second protrusion 118 can press one password input button when the dial 112 moves down together with the rotation sleeve 103. The code block 117 is printed or engraved with the contents of the code, confirmation, cancellation, etc., so that the user can see the contents of the code block 117 on the turntable 112 inside the housing 101 through the transparent sealing plate 105, and the viewing angle of the code block 117 is concentrated above the sealing plate 105, so that the user can only view the code block, and the contents cannot be seen from the side by others. When inputting a password, a user rotates the rotary sleeve 103 in the direction of meshing the pawl 122 and the ratchet 121, the rotary disc 112 can be driven to rotate by the pawl 122 and the ratchet 121, the character code to be input is rotated to an input position, then the rotary sleeve 103 is pressed down, and the password input button 120 at the corresponding position is pressed down by the second bump 118 at the bottom surface of the rotary disc 112, so that one-digit character code input is completed. During the downward movement of the turntable 112, the threaded sleeve 110 rotates relative to the screw rod 109, at this time, the relative rotation direction between the turntable 112 and the threaded sleeve 110 is the direction in which the one-way bearing 111 allows rotation, so the turntable 112 cannot rotate when moving downward, after the character code is input, the user releases the rotary sleeve 103, the rotary sleeve 103 rises and resets under the action of the first spring 113, the turntable 112 rises and resets under the action of the second spring 115, during the upward movement of the turntable 112, the threaded sleeve 110 rotates reversely, at this time, the relative rotation direction between the turntable 112 and the threaded sleeve 110 is the locking direction of the one-way bearing 111, so the turntable 112 rotates together with the threaded sleeve 110, the rotation of the threaded sleeve 110 stops after reaching the top limit position, at this time, the relative rotation direction between the turntable 112 and the threaded sleeve 110 becomes the direction in which the one-way bearing 111 allows rotation, so the turntable 112 continues to rotate for a period under the inertia, and during the rotation of the turntable 112, the pawl 122 cannot be engaged with the ratchet 121. When a next character is to be input, the user rotates the rotating sleeve 103 again in the direction of engaging the pawl 122 with the ratchet 121, so as to drive the rotating disc 112 to rotate, and the next character is then input to the input position. Since the rotation speed and time of the rotary plate 112 after each character input are related to the speed at which the user releases the rotary sleeve 103, the angle at which the rotary plate 112 stops after rotating is uncertain, and a lawbreaker cannot estimate the content of a character by recording the angle at which the rotary sleeve 103 rotates when the next character input is made. The invention can disturb the position of the character code after inputting one digit of the password, has stronger anti-interference and anti-peeping performance compared with the prior password input device, and can greatly enhance the safety of the password lock. The password input button 120 of the present invention may be installed with various circuits, electromagnetic or electronic components to generate signals, for example, a metal contact may be installed in the password input button 120, a switch circuit board is installed below the password input button 120, and when the password input button 120 is pressed, the metal contact switches on the corresponding circuit of the switch circuit board, and outputs password information to the password controller 215 of the driving motor 205.

In order to further improve the security of the password input device, the following structure can be adopted: the transverse plate 119 can be lifted in the housing 101, the transverse plate 119 is contacted with the bottom surface of the convex ring 106 when lifted to the limit position, then the second lug 118 can press a password input button after the rotary disc 112 is lowered, the lug 118 can not contact the password input button after the transverse plate 119 is lowered, a tension spring 124 is arranged between the transverse plate 119 and the bottom of the housing 101, guide rails 125 with bright stripes parallel to each other are arranged at the bottom of the housing 101, rollers 126 matched with the guide rails are arranged on each guide rail 125, supporting rods 127 are arranged on each roller 126, the upper ends of the supporting rods 127 are hinged with the bottom surface of the transverse plate 119, the two supporting rods 127 are connected through a transverse shaft 128, a transverse shaft sleeve 129 is arranged on the transverse shaft 128, the transverse shaft sleeve 129 can rotate around the axis of the transverse shaft 128, a lock shell 130 is arranged on the outer wall of one side of the shell 101, a lock core 132 opened and closed by a key 131 is installed on the lock shell 130, a crank 133 is installed on a rotating part of the lock core 132, the crank 133 is hinged to one end of a connecting rod 134, the other end of the connecting rod 134 is hinged to the transverse shaft sleeve 129, the key 131 can drive the crank 133 to swing, the crank 133 can push or pull the lower end of a supporting rod 127 through the connecting rod 134 when swinging, an arc-shaped positioning groove 135 is formed in a guide rail 125, when the supporting rod 127 is perpendicular to the transverse plate 119, a roller 126 is positioned in the arc-shaped positioning groove 135, and the transverse plate 119 is in contact with the bottom surface of the convex ring 106. This structure uses key 131 to drive diaphragm 119 and goes up and down, and only when diaphragm 119 rose to top extreme position, lug 118 could contact password input button and input the password, and consequently this structure can realize the second grade safety lock function, before the password of input trick lock promptly, must use key 131 earlier to rise diaphragm 119 and just can input the password, possess key 131 alone or know the password alone and all can't unblock. In this structure, after the transverse plate 119 rises, the connecting rod 134 is perpendicular to the transverse plate 119, and the gyro wheel 126 at the end of the connecting rod 134 is located in the arc-shaped positioning groove 135 to play a positioning role, so as to prevent the connecting rod 134 from accidentally inclining, and at the moment, the connecting rod 134 supports the transverse plate 119 from the bottom of the transverse plate 119, and the bottom surface of the convex ring 106 is in contact with the periphery of the top surface of the transverse plate 119, so that the transverse plate can be prevented from inclining when pressed by the convex block 118, and the password input button 120 can be accurately pressed by the second convex block 118.

Claims (5)

1. Insulator cleans scrubbing robot running gear, its characterized in that: comprises an annular upper fixing plate (1) and an annular lower fixing plate (2), wherein the upper fixing plate (1) and the lower fixing plate (2) are formed by buckling two semicircular plates, one ends of the two semicircular plates which are buckled with each other of the upper fixing plate (1) are hinged with each other, the other ends of the two semicircular plates are connected through an electric control lock catch, one ends of the two semicircular plates which are buckled with each other of the lower fixing plate (2) are hinged with each other, the other ends of the two semicircular plates are connected through a hook, the electric control lock catch comprises a connecting plate (201) connected with one semicircular plate, a limiting through hole (202) is formed in the connecting plate (201), a lock box (203) is installed on the other semicircular plate, a slot (204) is formed in the lock box (203), the connecting plate (201) can be inserted into the slot (204), a driving motor (205) is installed in the lock box (203), an output shaft of the driving motor (205) is meshed with a driven rack (207) through a driving gear (206), the driven rack (207) is installed on a guide rod (208), a guide plate (211) is arranged in the lock box (203), the guide plate (211) is matched with the guide rod (208), the driving gear (205), a spring bolt (209) is installed between the guide plate (211) and a spring (209), and a spring bolt (209) is installed between the guide plate (209), when the driving motor (205) does not rotate, the spring (212) for actuating the spring bolt can push the spring bolt (209) to descend and reset, when the connecting plate (201) is inserted into the slot (204), the spring bolt (209) can be inserted into the limiting through hole (202), one side of the spring bolt (209) is a slope surface (210), when the connecting plate (201) is inserted into the slot (204), the end part of the connecting plate (201) is contacted with the slope surface (210), an external power interface (213) and an unlocking button (216) are arranged on the lockset box (203), the external power interface (213) is connected with the power input end of the driving motor (205), the unlocking button (216) can start the driving motor (205) after the driving motor (205) is powered on, a plurality of upright posts (3) are arranged on the driving motor (205), the password controller (215) can control the on-off of the circuit of the driving motor (205), the password input circuit of the password controller (215) is connected with the password input device, a plurality of upright posts (3) are arranged between the upper fixing plate (1) and the lower fixing plate (2), a plurality of upright posts (4) are uniformly arranged on the upper fixing plate (1), two connecting rods (5) hinged with the connecting rod (6) with the other ends of the two connecting rods (5) hinged with the connecting plates (5), the long-strip-shaped hole (100) is formed in the first connecting handle (7) along the length direction, one end, hinged to the second connecting handle (8), of each upright (3), an electric telescopic rod (10) is fixedly mounted on each upright (3), the movable end of each electric telescopic rod (10) is fixedly connected with the other end of each second connecting handle (8), the other end of each second connecting handle (8) is hinged to one end of each adjusting rod (9), a fixing rod (12) is mounted at the other end of each adjusting rod (9), the fixing rod (12) is located in each long-strip-shaped hole (100) and can slide along each long-strip-shaped hole (100), an adjusting spring (13) is arranged on each adjusting rod (9), two ends of each adjusting spring (13) are connected with the end portion of the corresponding first connecting handle (7) and the end portion of each adjusting rod (9) respectively, a motor (14) is arranged on each mounting plate (6), a speed reducer (15) and a crawler belt (16) are arranged on each mounting plate (6), the motor (14) can drive each crawler belt (16) to move through the speed reducer (15), a plurality of first protruding blocks (301) are uniformly arranged on the periphery of the crawler belt (16), the first protruding blocks (301) in the same inclination direction of the crawler belt (16), and the same inclination direction of each first protruding blocks (16);

the password input device comprises a shell (101), a circular through hole (102) is formed in the top surface of the shell (101), a rotating sleeve (103) is installed in the circular through hole (102), the rotating sleeve (103) can lift and rotate relative to the shell (101) in the circular through hole (102), a limiting block (104) is arranged on the periphery of the bottom of the rotating sleeve (103), when the limiting block (104) rises to a limit position, the limiting block (104) can be in contact with the shell (101) on the outer side of the circular through hole (102), a sealing plate (105) is arranged on the top surface of the rotating sleeve (103), the sealing plate (105) is made of a transparent material, a convex ring (106) is arranged on the inner wall of the shell (101), a first spring (113) is installed on the top surface of the convex ring (106), the top of the first spring (113) is connected with an annular gasket (116), the annular gasket (116) is in contact with the bottom surface of the rotating sleeve (103), a plurality of supports (107) are arranged on the inner wall of the convex ring (106) at intervals, each support (107) is connected with a support plate (108), a screw rod (109), a screw sleeve (109), a screw rod (109) is installed on the screw rod (109), a second spring (110) and a second support plate (110) is connected with a second spring (110) through a one-way bearing (112), an annular pressing block (114) is arranged above the turntable (112), the annular pressing block (114) is connected with the sealing plate (105), when the rotating sleeve (103) moves downwards, the annular pressing block (114) can push the rotary table (112) to move downwards together, ratchets (121) are arranged on the periphery of the outer side wall of the rotary table (112), pawls (122) matched with the ratchets (121) are mounted on the inner wall of the rotary sleeve (103), reset torsion springs (123) are mounted on a rotating shaft of the pawls (122), the rotary sleeve (103) can drive the rotary table (112) to rotate towards the direction in which the one-way bearing (111) allows rotation after the pawls (122) are meshed with the ratchets (121), a plurality of code blocks (117) are arranged on the top surface of the rotary table (112), the code blocks (117) are uniformly arranged in an annular manner on the top surface of the rotary table (112), second convex blocks (118) are mounted on the bottom surface of the rotary table (112), a transverse plate (119) is mounted in the shell (101) below the convex ring (106), a plurality of password input buttons (120) are arranged on the top surface of the transverse plate (119), the password input buttons (120) are uniformly arranged in an annular manner on the top surface of the transverse plate (119), the number of the password input buttons (120) is the same as that of the code blocks (117), and when the rotary table (112) moves downwards along with the sleeve (103), the rotary table, the second convex blocks (118) can input buttons (118);

the included angle alpha between the length direction of the first lug (301) and the width direction of the crawler belt (16) is 15-20 degrees;

anti-slip grooves (302) are arranged on both sides of the first bump (301).

2. The walking device of the insulator cleaning and decontamination robot according to claim 1, wherein: the lower fixing plate (2) is internally provided with a fixing groove (17), a C-shaped accommodating groove (18), a first sliding groove (19) and a second sliding groove (20), the C-shaped accommodating groove (18) is respectively communicated with the first sliding groove (19) and the second sliding groove (20), a supporting plate (21) is arranged in the fixing groove (17), the supporting plate (21) is fixed on the upright post (3), a rack (23) is arranged on the side wall of the supporting plate (21) along the length direction, a gear (24) is arranged in one end of the C-shaped accommodating groove (18), the gear (24) is meshed with the rack (23), a driving wheel (25) is coaxially arranged on the gear (24), one end of a driving belt (26) is connected on the driving wheel (25), a transition wheel (27) is arranged in the accommodating groove (18), a first wedge block (28) is arranged in the first sliding groove (19), a second wedge block (29) is arranged in the second sliding groove (20), one end of the first wedge block (28) provided with an inclined plane is contacted with the wedge of the second wedge block (29), the other end of the first wedge block (28) is connected with a pull rod (30), the end of the lower fixing plate (30) is respectively connected with a first spring (31) and the side wall of the lower fixing plate (2), first wedge (28) thrust is given all the time in spring (31), the other end of drive belt (26) is walked around ferryboat (27) and is connected with the one end of second wedge (29), the other end fixed connection extension spring (32) of second wedge (29), extension spring (32) are fixed on holding tank (18) lateral wall of C shape, extension spring (32) are given second wedge (29) pulling force all the time, second wedge (29) lateral part installation stopper (33), spacing groove (34) are seted up to layer board (21) lateral wall, stopper (33) are located spacing groove (34).

3. The walking device of the insulator cleaning and decontamination robot as claimed in claim 2, wherein: the end part of the pull rod (30) extending out of the lower fixing plate (2) is provided with a baffle plate (35).

4. The walking device of the insulator cleaning and decontamination robot according to claim 2, wherein: the side part of the limiting block (33) is provided with an inclined plane, the side wall of the limiting groove (34) is provided with an inclined plane, and the inclined plane of the limiting block (33) is matched with the inclined plane of the limiting groove (34).

5. The walking device of the insulator cleaning and decontamination robot according to claim 1, wherein: the transverse plate (119) can lift in the shell (101), the transverse plate (119) is in contact with the bottom surface of the convex ring (106) when rising to the limit position, at the moment, a code input button can be pressed down by the second lug (118) after the rotary disc (112) descends, the code input button cannot be contacted by the second lug (118) after the transverse plate (119) descends, a tension spring (124) is arranged between the transverse plate (119) and the bottom of the shell (101), guide rails (125) with bright strips parallel to each other are arranged at the bottom of the shell (101), rollers (126) matched with the guide rails are arranged on each guide rail (125), supporting rods (127) are arranged on each roller (126), the upper ends of the supporting rods (127) are hinged with the bottom surface of the transverse plate (119), the two supporting rods (127) are connected through a transverse shaft (128), a transverse shaft sleeve (129) is arranged on the transverse shaft (128), the transverse shaft sleeve (129) can rotate around the axis of the transverse shaft (128), a shaft sleeve (130) is arranged on one side of the shell (101), a key (131) is arranged on the lock shell, a crank connecting rod (133) which is opened and closed by a key, a crank connecting rod (133) is arranged on the other end of the lock shell (133), and a crank (133) can drive a rotating component (133) which can drive the crank (133) which can be hinged with a key (133), when the crank (133) swings, the lower end of the supporting rod (127) can be pushed or pulled through the connecting rod (134), the guide rail (125) is provided with an arc-shaped positioning groove (135), when the supporting rod (127) is perpendicular to the transverse plate (119), the roller (126) is positioned in the arc-shaped positioning groove (135), and the transverse plate (119) is in contact with the bottom surface of the convex ring (106).

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