CN210112938U

CN210112938U - Insulator cleaning robot

Info

Publication number: CN210112938U
Application number: CN201920146440.6U
Authority: CN
Inventors: 夏金玉; 田光涛
Original assignee: Weifang High Aviation Machinery Technology Co Ltd
Current assignee: Weifang High Aviation Machinery Technology Co Ltd
Priority date: 2019-01-27
Filing date: 2019-01-27
Publication date: 2020-02-25
Anticipated expiration: 2029-01-27

Abstract

The utility model discloses an insulator cleaning machines people, it includes aircraft and aircraft case, the aircraft include controller I with cleaning device, rotating device, the device of crawling and the cleaning device that sets gradually in the past backward in the aircraft bottom still be provided with on the aircraft respectively with calibration sensor group, bluetooth module I, radio frequency receiver, hall sensor and wireless charger I that controller I is connected. The utility model discloses can realize regularly cleaning the insulator automatically.

Description

Insulator cleaning robot

Technical Field

The utility model relates to a clean the robot, especially insulator cleaning machines people.

Background

The insulator is a special insulating control part and plays an important role in overhead transmission lines, and the insulator is mainly used for telegraph poles in the early years, is slowly developed for high-voltage wire connecting towers and is mainly used for electrical insulation and mechanical fixation. However, under the wet condition, the dirty insulators are easy to generate flashover discharge, so the insulators need to be cleaned, the existing cleaning management comprises power failure cleaning, non-power-off cleaning and electrified water washing, the power failure cleaning for the high-voltage wire connecting tower obviously brings great defects, and great potential safety hazards exist when workers climb the tower and clean the high-voltage wire connecting tower with cleaning cloth; the electrified cleaning is generally to use an insulating rod which is provided with a brush or is bound with cotton yarn to wipe insulators on a running line, and the pair of the electrified cleaning and the common telegraph pole can not meet the requirement of a high-voltage wire connecting tower. In addition, most insulators are generally distributed outdoors, the economic cost is additionally increased when the insulators are manually cleaned to and fro outdoors, and the insulators are cleaned regularly. Therefore, the insulator cleaning robot which is provided with the functions of automatic cleaning, automatic charging, automatic addressing, automatic information feedback, automatic all-weather monitoring and energy saving has wide market prospect.

SUMMERY OF THE UTILITY MODEL

Not enough to above-mentioned prior art, the utility model provides a can realize regularly cleaning the insulator of insulator automatically and clean the robot.

The utility model provides a technical scheme that its technical problem adopted is:

insulator cleaning machines people, its characterized in that: the aircraft comprises an aircraft and an aircraft box, wherein the aircraft comprises a controller I and a cleaning device, a rotating device, a crawling device and a cleaning device which are sequentially arranged at the bottom of the aircraft from front to back, and the aircraft is also provided with a calibration sensor group, a Bluetooth module I, a radio frequency receiver, a Hall sensor and a wireless charger I which are respectively connected with the controller I; the calibration sensor group comprises two sensors with the distance equal to the distance between adjacent umbrella covers of the insulator, and the sensors are used for calibrating whether the cleaning roller falls between the two umbrella covers of the insulator or not, and the two sensors are arranged at the lower end of the aircraft in a sliding manner;

the aircraft box is internally provided with a controller II, a Bluetooth module II, a radio frequency front-end transmitter, a wireless charger II, a solar cell panel, a wind power generation device, a storage battery and a lifting plate; the Bluetooth module II is used as a key for opening the door of the aircraft after being paired with the Bluetooth module I; the radio frequency receiver addresses the position of the aircraft box according to the transmitting signal of the radio frequency front end transmitter; the wireless charger II is paired with the wireless charger I and used for charging the aircraft; the lifting plate is used as an aircraft landing carrier; the Bluetooth module II, the radio frequency front-end transmitter and the wireless charger II are respectively connected with the controller II; the solar cell panel and the wind power generation device are arranged on the outer side of the aircraft box and are connected with the storage battery in the aircraft box through a charger; the rear end of the aircraft box is hinged with a box door, and a box door folding and unfolding device is arranged in the aircraft box;

a screw I in the horizontal direction is arranged in the aircraft box, a nut matched with the screw I is arranged at the bottom of the lifting plate, a screw driving motor I is arranged at the front end of the aircraft box, an output shaft of the screw driving motor I is fixedly connected with the screw I, two ends of the lifting plate can slide in a groove arranged in the aircraft box, and the screw driving motor I is in control connection with the controller II; when the box door is opened, the controller II controls the screw rod driving motor I to rotate, and the lifting plate slides out; two magnets are arranged on the lifting plate, and the aircraft lands at the designated position of the lifting plate according to the signals of the magnets detected by the Hall sensor; the controller II controls the screw rod driving motor I to rotate, and the lifting plate slides in; the controller II controls the scroll driver to close the box door;

the rotating device comprises a support I, a connecting plate I, a pushing cylinder I, a clamping cylinder I, rollers and a roller driving motor, wherein a supporting plate is arranged at the bottom of the aircraft, the left side and the right side of the supporting plate are symmetrically hinged with the two supports I, the bottom of each support I is hinged with one connecting plate I, the rollers are respectively arranged on the supports I and the connecting plates I, the rollers are connected with the roller driving motor, the two ends of the pushing cylinder I are respectively hinged with the supporting plate and the supports I, and the two ends of the clamping cylinder I are respectively hinged with the supports I and the connecting plates I;

the crawling device comprises supports II, connecting plates II, pushing cylinders II, clamping cylinders II, crawler wheels and crawler wheel driving motors, the left side and the right side of the bottom of the supporting plate are symmetrically hinged with the two supports II, the bottom of each support II is hinged with one connecting plate II, the crawler wheels are arranged on the supports II and the connecting plates II respectively, the crawler wheels are connected with the crawler wheel driving motors, the two ends of each pushing cylinder II are hinged with the supports and the supports II respectively, and the two ends of each clamping cylinder II are hinged with the supports II and the connecting plates II respectively;

the cleaning device comprises cleaning rollers, a sliding plate driving mechanism and a cleaning roller driving motor, wherein at least four pairs of the cleaning rollers are arranged at the bottom of the supporting plate in a bilateral symmetry manner, four sliding grooves with openings at the upper end and the lower end are arranged on the supporting plate, the top end of each side of the four cleaning rollers is connected with one sliding plate, the top of a rotating shaft of each cleaning roller penetrates through the sliding grooves and the sliding plates and then is connected with the cleaning roller driving motor through chains, a limiting bearing is arranged on the sliding plate, the outer ring of the limiting bearing is fixed on the sliding plate, the inner ring of the limiting bearing is sleeved on the rotating shaft of the cleaning rollers, the sliding plate driving mechanism comprises a lead screw II and a lead screw driving motor II, the lead screw driving motor II is fixed on the supporting plate, and a forward thread area and a reverse thread area are arranged on, and a nut is sleeved in each sliding plate, the nut of the sliding plate on the left side is sleeved in the reverse threaded area, the nut of the sliding plate on the right side is sleeved in the forward threaded area, and the screw rod driving motor II is in control connection with the controller I.

Furthermore, a fixing frame is arranged at the bottom of the aircraft tank, and two semicircular hoops are symmetrically arranged at the front end of the fixing frame from top to bottom.

Further, an infrared imager and an ultraviolet imager are arranged at the bottom of the aircraft and connected with the image processor; the infrared imager is used for monitoring the temperature of the insulator; the ultraviolet imager is used for monitoring the flashover state of the insulator, the infrared imager and the ultraviolet imager are arranged at the bottom of the aircraft, the bottom of the aircraft box is provided with windows corresponding to the infrared imager and the ultraviolet imager, and the infrared imager and the ultraviolet imager penetrate through the windows to monitor the insulator.

Furthermore, the box door retracting device comprises a scroll, a scroll driver and two traction ropes, wherein the two sides above the front end of the aircraft box are respectively provided with the scroll, one end of each traction rope is connected with the scroll, and the other end of each traction rope is connected with the box door; the scroll driver with controller II is connected, works as the aircraft is close to when the aircraft case, after bluetooth module I of aircraft and the successful pairing of bluetooth module II of aircraft incasement, controller II control the scroll driver is rotatory to open the chamber door.

Furthermore, the cleaning roller on the left side of each cleaning device is a steel wire brush roller, and the cleaning roller on the right side is a soft brush roller.

Furthermore, the cleaning roller on the cleaning device positioned at the front end of the aircraft is a steel wire brush roller, and the cleaning roller on the cleaning device positioned at the rear end is a soft brush roller.

Furthermore, a sensor sliding seat is arranged at the middle position of the bottom of the supporting plate, an open slot in the vertical direction is formed in the sensor sliding seat, a sliding block arranged at the upper end of the sensor is located in the open slot, a bolt moving slot is formed in the side end of the sensor sliding seat, and the front end of the bolt penetrates through the bolt moving slot and is inserted into a threaded hole in the sliding block.

The first improvement, be provided with controller I, camera, image processor, memory, data transmission module, foreign matter radar and navigation on the aircraft, the camera with image processor connects, image processor with data transmission module connects, image processor, memory, foreign matter radar and navigation are connected with controller I respectively, the camera is provided with two, and the symmetry sets up respectively on the wing lower extreme base of aircraft front end both sides, navigation is used for the aircraft to fly according to predetermined route, makes the aircraft can fly to on the peripheral insulator.

The utility model has the advantages that:

the utility model discloses can fly to peripheral insulator automatically according to the route of setting for and clean on, automatic when cleaning is shot, the situation that will clean carries out information feedback, clean the completion back, the aircraft flies into the aircraft incasement automatically, monitor the temperature and the flashover phenomenon of insulator simultaneously, the aircraft case utilizes solar energy and wind power generation, charge to the aircraft at any time, the aircraft case is placed in the open air, it often comes and goes in the open air to save the manual work, wait when cleaning next time, continue to clean according to the route of presetting automatically, liberate the labour completely.

Through set up calibration sensor group on the aircraft, can calibrate whether clean the roller and fall into between two chute sheaths of insulator. Set up bluetooth module I on the aircraft, set up bluetooth module II that pairs with bluetooth module I in the aircraft incasement, can realize pairing and open the aircraft chamber door. The radio frequency receiver is arranged on the aircraft, the radio frequency front end transmitter is arranged in the aircraft box, and the position of the aircraft box can be addressed according to signals of the radio frequency front end transmitter. The Hall sensor is arranged on the aircraft, and the two corresponding magnets are arranged on the lifting plate in the aircraft box, so that the landing position of the aircraft can be calibrated. Set up wireless charger I on the aircraft, set up wireless charger II in the aircraft incasement, can mate each other for the aircraft charges. Set up solar cell panel and wind power generation set on aircraft case, can utilize the energy, reduce cost. The infrared imager and the ultraviolet imager are arranged on the aircraft, so that the temperature and the flashover state of the insulator can be monitored. The box door folding and unfolding device is arranged in the aircraft box, so that the box door can be automatically opened and closed, and the cleaning device is arranged at the bottom of the aircraft box to clean the insulator; the cleaning roller on the cleaning device can be controlled to move left and right through the controller I, so that the cleaning roller can be pressed close to the insulator to clean at any time, and the cleaning effect is ensured to be more thorough. The bottom of the aircraft is provided with a rotating device, so that the aircraft can rotate around the insulator to further clean the insulator. The crawling device is arranged on the aircraft, can move along the insulator, and performs cleaning work in the moving process. The left side of each cleaning device is cleaned and rotated the roller and is rotated the roller for the wire brush, and the right side is cleaned and is rotated the roller for the pappus brush, can clear away the more firm dirt of adhesion. The bottom of the supporting plate is provided with a sensor sliding seat, and the distance between the two sensors can be adjusted according to the insulated distance between the sweeping sleeves.

Drawings

FIG. 1 is a schematic view of the three-dimensional structure of the aircraft of the present invention;

FIG. 2 is a left side view structural diagram of the aircraft of the present invention;

FIG. 3 is a schematic view of the three-dimensional structure of the aircraft of the present invention;

FIG. 4 is a left side view structural diagram of the rotating device of the present invention;

FIG. 5 is a schematic perspective view of the rotating device of the present invention;

FIG. 6 is a left side view structure diagram of the crawling device of the present invention;

fig. 7 is a schematic sectional structure view (viewed in the horizontal direction) of the sensor sliding seat of the present invention;

fig. 8 is a schematic sectional structure view (viewed in the vertical direction) of the sensor sliding seat of the present invention;

FIG. 9 is a schematic view of the three-dimensional structure of the crawling device of the present invention;

FIG. 10 is a schematic perspective view of the cleaning device of the present invention;

FIG. 11 is a schematic sectional view of the cleaning roller according to the present invention;

FIG. 12 is a schematic view of the three-dimensional structure of the aircraft box of the present invention (showing the screw and the window);

fig. 13 is a schematic view of the three-dimensional structure of the aircraft box of the present invention (showing the fixing frame and the semicircular anchor ear);

FIG. 14 is a schematic perspective view of the aircraft of the present invention falling into the lifter plate;

fig. 15 is a left side view structural diagram of the rotating device holding insulator of the present invention;

FIG. 16 is a state diagram of the aircraft cleaning insulator of the present invention (showing the positional relationship of the calibration sensor set);

in the figure, an aircraft 1, a camera 11, a hall sensor 12, a wireless charger i 13, a support plate 14, an insulator 2, an umbrella cover 21, a sensor 3, a sensor sliding seat 31, an open groove 32, a sliding block 33, a bolt moving groove 34, a bolt 35, an aircraft box 4, a wireless charger ii 41, a solar cell panel 42, a wind power generation device 43, a lifting plate 44, a lead screw i 441, a lead screw driving motor i 442, a lead screw i fixing seat 443, a magnet 444, a door 45, a door storage device 46, a reel 461, a reel driver 462, a traction rope 463, a window 47, a fixing frame 48, a semicircular hoop 481, a cleaning device 5, a cleaning roller 51, a sliding plate 52, a limit bearing 521, a sliding plate driving mechanism 53, a lead screw ii 531, a lead screw driving motor ii 532, a cleaning roller driving motor 54, a rotating device 6, a bracket i 61, a connecting plate i 62, a pushing cylinder, The crawler type crawler belt conveyor comprises a clamping cylinder I64, a roller 65, a roller driving motor 66, a crawling device 7, a bracket II 71, a connecting plate II 72, a pushing cylinder II 73, a clamping cylinder II 74, a crawler wheel 75 and a crawler wheel driving motor 76.

Detailed Description

For a better understanding of the present invention, embodiments thereof are explained in detail below with reference to the accompanying drawings.

As shown in the accompanying drawings 1-16, the utility model discloses an aircraft 1, be provided with controller I on aircraft 1, camera 11, image processor, the memory, data transmission module, foreign matter radar and navigation, camera 11 is connected with image processor, image processor is connected with data transmission module, image processor, the memory, foreign matter radar and navigation are connected with controller I respectively, the foreign matter radar is used for dodging the barrier, camera 11 is provided with two, and the symmetry sets up on the wing lower extreme base of aircraft 1 front end both sides respectively, image processor is transmitted to the picture of shooing to camera 11, image processor handles, send information to control center through data transmission module after handling, in time carry out information feedback. To the aircraft, the utility model discloses in can adopt aircraft, unmanned aerial vehicle etc. of current multiple structure, like the chinese utility model patent that the publication number is CN206541198U discloses a combination navigation head based on visual navigation and inertial navigation of aircraft etc..

The aircraft 1 is further provided with a calibration sensor group, a Bluetooth module I, a radio frequency receiver, a Hall sensor 12 and a wireless charger I13 which are respectively connected with the controller I. The navigation system is used for the aircraft 1 to fly according to a preset route, so that the aircraft 1 can accurately fly to the peripheral insulators 2. Firstly, an operator controls the aircraft 1 to simulate a cleaning route, finally, the simulated cleaning route is recorded into a navigation system, and the controller I controls the aircraft 1 to fly according to a preset route. The calibration sensor group comprises two sensors 21 with the same distance with the adjacent umbrella covers 21 of the insulator 2, and is used for calibrating whether a cleaning rotating roller 51 falls between the two umbrella covers 21 of the insulator 2, when the two sensors 21 are aligned with the umbrella covers 21 of the insulator 2, the cleaning rotating roller 51 just falls between the two umbrella covers 21, the two sensors 21 can be slidably arranged at the lower end of the aircraft 1, a horizontal supporting plate 14 is fixed at the lower end of the aircraft 1, a sensor sliding seat 31 is arranged at the middle position of the bottom of the supporting plate 14, a vertical open slot 32 is arranged on the sensor sliding seat 31, a sliding block 33 fixed at the upper end of the sensor 3 is positioned in the open slot 32, the sliding block 33 is fixedly connected with the sensor 3, a bolt moving slot 34 is arranged at the side end of the sensor sliding seat 31, and the front end of a bolt 35 passes through the bolt moving slot 34 and is, before the use, the sensor 3 is adjusted to a corresponding position according to the distance between two adjacent umbrella covers 21 of the insulator 2, and finally the bolt 35 is screwed tightly.

The utility model discloses still include aircraft case 4, be provided with controller II, bluetooth module II, radio frequency front end transmitter, wireless charger II 41, solar cell panel 42, wind power generation set 43, battery and lifter plate 44 in the aircraft case 4. And the Bluetooth module II is used as a key for opening the box door 45 after being matched with the Bluetooth module I. A radio frequency front end transmitter, a radio frequency receiver addressing the position of the aircraft box 4 according to the transmission signal of the radio frequency front end transmitter. Wireless charger II 41 pairs with wireless charger I13 for aircraft 1 charges, and wireless charger II 41 sets up at aircraft case 4 top lower surface, and wireless charger I13 is located aircraft 1 upper surface.

The lifting plate 44 is the landing carrier of the aircraft 1, and after the aircraft box 4 is opened, the lifting plate 44 is extended horizontally, the aircraft falls onto the lifting plate 44, and the lifting plate 44 is retracted into the aircraft box 4. The Bluetooth module II, the radio frequency front-end transmitter and the wireless charger II 41 are respectively connected with the controller II; the solar cell panel 42 and the wind power generation device 43 are arranged on the outer side of the aircraft box 4, the solar cell panel 42 is fixed on the upper surface of the aircraft box 4, the wind power generation device 43 is fixed at the front end of the aircraft box 4, the solar cell panel 42 and the wind power generation device 43 generate power simultaneously in sunny days, and the wind power generation device 43 is used for generating power in rainy days, so that the power consumption requirement is fully met. The solar panel 42 and the wind power generation device 43 are connected to a battery in the aircraft box 4 via a charger.

As shown in fig. 12 and 14, a door 45 is hingedly attached to the rear end of the aircraft box 4, and a door retraction device 46 is provided within the aircraft box 4. Preferably, the door retracting device 46 includes a reel 461, a reel driver 462 and two pulling ropes 463, where two sides above the front end of the aircraft box are respectively provided with a reel 461, the pulling ropes 463 are wound on the reel 461, the other end of the reel 461 passes through the aircraft box 4 and is connected with the reel driver 462, the reel driver 462 is a reel driving motor, the reel driving motor is connected with the storage battery through a controller ii, one end of the pulling rope 463 is connected with the reel 461, the other end is connected with the door 45, the door 45 is provided with a pull ring, and the pulling rope 463 is tied to the pull ring. The scroll driver 462 is connected with the controller II, when the aircraft 1 is close to the aircraft box 4, after the Bluetooth module I of the aircraft 1 is successfully paired with the Bluetooth module II in the aircraft box 4, the controller II controls the scroll driver 462 to rotate, and the box door 45 is opened.

In order to detect the working temperature, flashover and other problems of the insulator and other surrounding electrical appliances, an infrared imager and an ultraviolet imager are further arranged at the bottom of the aircraft 1 and connected with an image processor. The infrared imager is used for monitoring the temperature of the insulator 2, and the ultraviolet imager is used for monitoring the flashover state of the insulator 2. Infrared imaging appearance and ultraviolet imaging appearance set up in the bottom of aircraft 1, are provided with the window 47 that corresponds with infrared imaging appearance and ultraviolet imaging appearance in the bottom of aircraft case 4, and aircraft case 4 is installed in the insulator top, and when aircraft 1 was located aircraft case 4, infrared imaging appearance and ultraviolet imaging appearance see through window 47 and monitor insulator 2. And the monitoring information is transmitted to the image processor, and the image processor transmits the information to the control center through the data transmission module, so that an operator of the control center can know the use condition of the insulator 2 at any time. Monitoring information can be sent to the memory, and the information is sent to the control center through the data transmission module uniformly every day, so that operators can observe the information uniformly. Of course, a fixed time may be set for the aircraft to automatically fly out of the aircraft box 4 for detection.

For the specific arrangement of the lifting plate 44, the following is provided: set up the lead screw I441 of a horizontal direction in the aircraft case 4, lead screw I441 front end passes aircraft case 4 and is connected with lead screw driving motor I442, and lead screw I441 rear end is fixed through I fixing base 443 of lead screw. The bottom of the lifting plate 44 is provided with a nut matched with the screw I441, the screw I441 rotates to drive the lifting plate 44 to move back and forth, an output shaft of a screw driving motor I442 is fixedly connected with the screw I441, two ends of the lifting plate 44 can slide in grooves formed in the aircraft box 4, and the screw driving motor I442 is in control connection with the controller II; when the door 45 is opened, the controller II controls the screw driving motor I442 to rotate, and the lifting plate 44 slides out. As shown in fig. 12 and 14, two magnets 444 are fixedly disposed on the left and right sides of the rear end of the lifting plate 44, and the aircraft 1 lands on a designated position of the lifting plate 44 according to a magnetic field signal of the magnets 444 detected by the hall sensor. The controller II controls the screw driving motor I442 to rotate, and the lifting plate 44 slides in. The reel controller 462 controls the reel 461 to rotate and the door 45 to close. The bottom of the aircraft box 4 is provided with a fixing frame 48, two semicircular hoops 481 are symmetrically arranged at the front end of the fixing frame 48 from top to bottom, the aircraft box 4 is fixed through the semicircular hoops 481, and it is noted that the infrared imager and the ultraviolet imager can monitor the insulator 2 through the window 47 at the fixed position of the aircraft box 4.

The bottom of the aircraft 1 is sequentially provided with a cleaning device 5, a rotating device 6, a crawling device 7 and a cleaning device 5 from front to back. The above-mentioned devices are described below with reference to the accompanying drawings.

As shown in fig. 5, the rotating device 6 includes a bracket i 61, a connecting plate i 62, a pushing cylinder i 63, a clamping cylinder i 64, a roller 65 and a roller driving motor 66, the bracket i 61 is hinged with the supporting plate 14, and the specific embodiment is as follows: the link of support I61 sets up a fixing base, and the fixing base passes through the bolt fastening, sets up a through-hole I on the fixing base, sets up the same through-hole II on support I61, passes through-hole I and through-hole II through the cylindric lock at last, connects support I61 and backup pad 14 are articulated. The later-mentioned embodiments of the articulated connection correspond to the embodiments of the articulated connection of the support i 61 to the support plate 14. The bottom of each support I61 is hinged with a connecting plate I62, a roller 65 is arranged on each support I61 and each connecting plate I62, each roller 65 is connected with a roller driving motor 66, two ends of a pushing cylinder I63 are hinged with the support plate 14 and the support I61 respectively, and two ends of a clamping cylinder I64 are hinged with the support I61 and the connecting plate I62 respectively; the pushing cylinder I63 and the clamping cylinder I64 are connected with the air pump I through an electromagnetic valve I, and the electromagnetic valve I is in control connection with the controller I. When the insulator clamping device is used, the controller I controls the pushing cylinder I63 and the clamping cylinder I64 to act, so that the roller 65 clamps the insulator 2. And the controller I controls the cleaning device 5 to clean the insulator 2, and when cleaning, the controller I controls the roller driving motor 66 to move, the roller 65 drives the cleaning device 5 to rotate, so that the purpose of cleaning the insulator 2 at any angle of 360 degrees is achieved, in order to increase friction, the surface of the roller 65 is made of rubber, and preferably, rubber bumps are densely distributed on the surface of the rubber.

As shown in fig. 9, the crawling device 7 includes a support ii 71, a connecting plate ii 72, a pushing cylinder ii 73, a clamping cylinder ii 74, a crawler wheel 75 and a crawler wheel driving motor 76, the two supports ii 71 are symmetrically hinged to the left and right sides of the bottom of the supporting plate 14, the bottom of each support ii 71 is hinged to one connecting plate ii 72, the crawler wheels 75 are respectively arranged on the supports ii 71 and the connecting plates ii 72, the crawler wheels 75 are connected with the crawler wheel driving motor 76, two ends of the pushing cylinder ii 73 are respectively hinged to the supporting frame 14 and the supports ii 71, and two ends of the clamping cylinder ii 74 are respectively hinged to the supports ii 71 and the connecting plates ii 72; after the cleaning at the current position is completed, the controller i controls the crawler wheel driving motor 76 to rotate, the crawler wheel driving motor 76 drives the crawler wheel 75 to rotate, and the crawler wheel 75 drives the cleaning device 5 to move.

As shown in fig. 10 and 11, the cleaning device 5 includes cleaning rollers 51, a sliding plate 52, a sliding plate driving mechanism 53 and a cleaning roller driving motor 54, at least four pairs of cleaning rollers 51 are symmetrically arranged at the bottom of the supporting plate 14, four sliding grooves with openings at the upper and lower ends are arranged on the supporting plate 14, one sliding plate 52 is connected to the top ends of the four cleaning rollers 51 at each side, the top of the rotating shaft of each cleaning roller 51 passes through the sliding grooves and the sliding plate 52 and then is connected to the cleaning roller driving motor 54 through a chain, a limit bearing 521 is arranged on the sliding plate 52, the outer ring of the limit bearing 521 is fixed on the sliding plate 52, and the inner ring is sleeved on the rotating shaft of the cleaning rollers 51, so that the cleaning rollers 51 can be prevented from falling. The sliding plate driving mechanism 53 comprises a screw II 531 and a screw II 532, the screw II 532 is fixed on the supporting plate 14, a forward threaded area and a reverse threaded area are symmetrically arranged on the left and right of the screw II 531, a nut is sleeved in each sliding plate 52, the nut of the sliding plate 52 on the left side is sleeved in the reverse threaded area, the nut of the sliding plate 52 on the right side is sleeved in the forward threaded area, and the screw II 532 is in control connection with the controller I. In order to remove the adhered dirt, the cleaning roller 51 of the cleaning device 5 located at the front end of the aircraft 1 is a wire brush roller, and the cleaning roller 51 of the cleaning device 5 located at the rear end is a fur brush roller. Preferably, the left cleaning roller 51 is a wire brush roller and the right cleaning roller 52 is a fur brush roller in each cleaning device 5.

The utility model discloses a use method as follows:

before the use, fix aircraft case 4 earlier, install solar cell panel 42 and wind power generation set 43, then, operating personnel controls aircraft 1 simulation cleaning route, writes the cleaning route that will simulate well into navigation at last, and by controller I control aircraft 1 according to the flight of predetermined route, aircraft 1 passes through the camera and confirms the position of insulator 2. Through calibration sensor group, ensure to clean and change roller 51 and be located between two adjacent chute sheaths 21, I control rotating device 6 of controller presss from both sides tight insulator 2, aircraft 1 stops the flight, cleaning device 5 cleans insulator 2, the current position cleans the completion back, I control crawling device 7 of controller crawls, clean the work until accomplishing, the camera will clean the result and send for image processor, image processor sends control center through the data transmission module, in time carry out information feedback. The controller I then controls the aircraft 1 to return to the aircraft box 4, and the radio frequency receiver on the aircraft 1 addresses the position of the aircraft box 4 according to the transmission signal of the radio frequency front end transmitter. When the aircraft 1 is close to the aircraft box 4, the Bluetooth module II and the Bluetooth module I are successfully paired, the controller II controls the reel driving motor 462 to rotate, the door 47 of the aircraft box 4 is opened, meanwhile, the lifting plate 44 slides out, the Hall sensor on the aircraft 1 calibrates the landing position according to the position of the magnet 444 on the lifting plate 44, the landing time is set to be 20 seconds, and after the action is completed, the controller II controls the lifting plate 44 to slide into the aircraft box 4. Wireless charger II 41 pairs with wireless charger I13, and aircraft 1 charges. Simultaneously, the infrared imager and the ultraviolet imager monitor the temperature and flashover phenomenon of the insulator 2 through the window 47. Certainly, in the cleaning process, when the electric quantity of the aircraft 1 is insufficient, an alarm is automatically given out and the cleaning route is interrupted, and the radio frequency receiver addresses the position of the aircraft box 4 according to the transmitting signal of the radio frequency front end transmitter and then charges. And after the power is fully charged, the cleaning task is continuously completed according to the previously set route. At set time intervals, the aircraft 1 regularly cleans the insulator 2.

Although the above description has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and on the basis of the technical solution of the present invention, various modifications or variations that can be made by those skilled in the art without creative efforts are still within the scope of the present invention.

Claims

1. Insulator cleaning machines people, its characterized in that: the aircraft comprises an aircraft and an aircraft box, wherein the aircraft comprises a controller I and a cleaning device, a rotating device, a crawling device and a cleaning device which are sequentially arranged at the bottom of the aircraft from front to back, and the aircraft is also provided with a calibration sensor group, a Bluetooth module I, a radio frequency receiver, a Hall sensor and a wireless charger I which are respectively connected with the controller I; the calibration sensor group comprises two sensors with the distance equal to the distance between adjacent umbrella covers of the insulator, and the sensors are used for calibrating whether the cleaning roller falls between the two umbrella covers of the insulator or not, and the two sensors are arranged at the lower end of the aircraft in a sliding manner;

the aircraft box is internally provided with a controller II, a Bluetooth module II, a radio frequency front-end transmitter, a wireless charger II, a solar cell panel, a wind power generation device, a storage battery and a lifting plate; the Bluetooth module II is used as a key for opening the door of the aircraft after being paired with the Bluetooth module I; the radio frequency receiver addresses the position of the aircraft box according to the transmitting signal of the radio frequency front end transmitter; the wireless charger II is paired with the wireless charger I and used for charging the aircraft; the lifting plate is used as an aircraft landing carrier; the Bluetooth module II, the radio frequency front-end transmitter and the wireless charger II are respectively connected with the controller II; the solar cell panel and the wind power generation device are arranged on the outer side of the aircraft box and are connected with the storage battery in the aircraft box through a charger; the rear end of the aircraft box is hinged with a box door, and a box door folding and unfolding device is arranged in the aircraft box; the box door retracting device comprises a scroll, a scroll driver and two traction ropes, wherein the scroll is respectively arranged on two sides above the front end of the aircraft box, one end of each traction rope is connected with the scroll, and the other end of each traction rope is connected with the box door; the scroll driver is connected with the controller II, and when the aircraft approaches the aircraft box, the controller II controls the scroll driver to rotate so as to open the box door after the Bluetooth module I of the aircraft is successfully paired with the Bluetooth module II in the aircraft box;

2. The insulator cleaning robot according to claim 1, wherein: the aircraft box bottom is provided with the mount the front end of mount is symmetry about setting up two semi-circular staple bolts.

3. The insulator cleaning robot according to claim 1, wherein: the left side of each cleaning device is provided with a steel wire brush roller, and the right side of each cleaning device is provided with a soft brush roller.

4. The insulator cleaning robot according to claim 1, wherein: the cleaning roller on the cleaning device at the front end of the aircraft is a steel wire brush roller, and the cleaning roller on the cleaning device at the rear end is a soft brush roller.

5. The insulator cleaning robot according to claim 1, wherein: be provided with controller I, camera, image processor, memory, data transmission module, foreign matter radar and navigation on the aircraft, the camera with image processor connects, image processor with data transmission module connects, image processor, memory, foreign matter radar and navigation are connected with controller I respectively, the camera is provided with two, and the symmetry sets up respectively on the wing lower extreme base of aircraft front end both sides, navigation is used for the aircraft to fly according to predetermined route, makes the aircraft can fly to on the peripheral insulator.