WO2016082805A1

WO2016082805A1 - Insulator cleaning robot

Info

Publication number: WO2016082805A1
Application number: PCT/CN2015/096837
Authority: WO
Inventors: 蒋斌; 郭锐; 贾娟; 仲亮; 慕世友; 傅孟潮
Original assignee: 国家电网公司; 国网山东省电力公司电力科学研究院; 山东鲁能智能技术有限公司
Priority date: 2014-11-28
Filing date: 2015-12-09
Publication date: 2016-06-02
Also published as: RU2659252C1

Abstract

An insulator cleaning robot, comprising a crawling mechanism (100), a cleaning mechanism (200), a locking mechanism (300), a detecting mechanism (400), and a battery control system (500). The crawling mechanism (100) is a closed circumferential structure, surrounds an insulator string, and drives the robot to move continuously along the insulator string. The cleaning mechanism (200) is a closed circumferential structure and surrounds the insulator string, the locking mechanism (300) is uniformly arranged on the crawling mechanism (100), and the crawling mechanism (100) is connected to the cleaning mechanism (200) via the locking mechanism (300). The detecting mechanism (400) is distributed at one side of the locking mechanism (300), and the battery control system (500) is mounted on the crawling mechanism (100). The structure of the insulator cleaning robot is simple, the structure being an overall symmetrical-type structure. The robot has good stability, a continuous-type movement means is used, movement is rapid, the means of cleaning is simple, cleaning is rapid, there is little wear and tear to an insulator coating, and locking is reliable. An adjustment mechanism on the robot can adapt to insulator strings having different structural heights and disc diameters, an electrified cleaning insulator string operation is performed, and insulator piece quality is detected.

Description

Insulator cleaning robot

Technical field

The present invention relates to an insulator cleaning robot.

Background technique

With the continuous development of China's power system, the safe and stable operation of the power grid has received more and more attention. Especially in the ultra-high voltage and ultra-high voltage transmission systems that have been vigorously developed in recent years, the safe operation of the insulator directly determines the investment and safety level of the whole system. To ensure the electrical safety of the high-voltage transmission line, after the high-voltage transmission line is used for a period of time, It is necessary to detect the electrical performance of the line, especially the insulation safety of the insulator, to prevent the occurrence of short circuits.

After the insulator is used for a period of time, the surface of the insulator will inevitably accumulate dirt, which leads to the decrease of the resistance of the insulator, the decrease of the insulation performance, and the occurrence of a flashover accident, which poses a hidden danger for the safe and normal operation of the transmission line. Therefore, the insulator needs to be cleaned regularly. . The cleaning work of current insulators is generally carried out by manual cleaning or cleaning with limited simple mechanical tools. The operation risk is high, and power failure is often required for cleaning operations, which not only has high labor intensity, slow cleaning speed, but also low safety and economic loss. Big.

With the development of robot technology, more and more operating robots are currently used in power equipment and line operations.

Chinese patent CN103042000A discloses an insulator string intelligent cleaning robot system, which comprises a bracket, a guiding component, a driving mechanism, a cleaning mechanism and a control device, wherein the cleaning component can swing in the cross section of the bracket and rotate itself to complete the cleaning operation. Comprehensive analysis, the driving mechanism adopts one-side arrangement, which is easy to form the center of gravity of the robot and the deflection of the plane; the cleaning mechanism can swing and rotate in the plane, but the insulator cannot be cleaned in a circle, and the insulator cannot be thoroughly cleaned. Bottom groove. At the same time, in any state, at least one of the upper and lower sets of rollers of the robot drive mechanism is placed on the insulator piece, so the cleaning roller will inevitably interfere with the drive mechanism roller during the cleaning process, resulting in instability of the mechanism.

US Patent No. 005119851A discloses a device for cleaning a high voltage line insulator string. The cleaning device is wrapped around the insulator string. The tongue-shaped tooth in the driving mechanism circulates the upper surface of the insulator string to drive the cleaning device to move up and down along the insulator string. The mechanism is arranged with a plurality of nozzles along the circumferential direction of the insulator piece, and the ground water tanker is used to provide the insulating cleaning liquid. The liquid is sent to the cleaning device after being pressurized, and the insulating cleaning liquid is sprayed through the cleaning nozzle to perform the insulator string cleaning. It can be seen that the cleaning equipment uses an insulating liquid for cleaning, and needs to be equipped with a water tank truck and a pressing device. The engineering quantity is relatively large, and the number of operators is relatively large, which is relatively expensive, and is not conducive to widespread use and application. The cleaning device itself has a complicated structure, and is connected with a water pipe for providing a cleaning liquid, and the weight is increased, the operation difficulty is increased, and the tongue-shaped teeth are connected to the crawler belt, and the The insulator piece is toggled, but the track is yield elastic. Therefore, the tongue-shaped tooth will change the angle on the track when the force is applied to the insulator piece, which causes the spacing of the adjacent tongue-shaped teeth to be unstable, which is not conducive to climbing the insulator. string.

US Pat. No. 7,779,781 B2 discloses a robot mechanism for cleaning and detecting insulator strings, which mainly includes a moving mechanism, a cleaning mechanism, a locking mechanism and a detector. The moving mode uses intermittent movement, and the horizontal direction uses the steering gear to rotate the jaws. The linear motion of the guide rail clamps the insulator piece, and the vertical direction is moved up and down by the screw slider. The cleaning mechanism can be rotated in the circumferential direction, and the insulator piece is cleaned by a brush, and the detector is used for insulator inspection. This mechanism adopts the intermittent movement mode, the moving speed is slow, and the cleaning mechanism can only clean the upper surface or the lower surface of the insulator piece in a single time. To complete the cleaning of one insulator, two clamping and lifting processes are required, and the cleaning speed is slow, and The insulator sheets at both ends of the insulator string are not cleaned, the cleaning range is limited, and the cleaning is not complete. At the same time, see Figure 9 of the specification. The detection mechanism is set in the inner circumference of the circumference. When cleaning the brush for cleaning, the brush and the detection mechanism are bound to be caused. The interference of the straight bracket.

Summary of the invention

In order to solve the above problems, the present invention proposes an insulator cleaning robot, which has a fast moving speed, a wide cleaning range, thorough cleaning, and can be charged and cleaned.

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

An insulator cleaning robot includes a crawling mechanism, a cleaning mechanism, a locking mechanism, a detecting mechanism, and a battery control system, wherein the crawling mechanism is a closed circumferential structure that surrounds the insulator string and drives the robot to continuously move along the insulator string; The cleaning mechanism is a closed circumferential structure surrounding the insulator string, the locking mechanism is evenly disposed on the crawling mechanism, the crawling mechanism is connected to the cleaning mechanism by the locking mechanism; the detecting mechanism is arranged on the side of the locking mechanism, and the battery control system Installed on the crawling mechanism.

The crawling mechanism comprises a driving mechanism, a connecting mechanism and a plurality of guiding plates, wherein the driving mechanism is arranged in two upper and lower layers, the guiding plates are evenly distributed on the crawling mechanism, the driving mechanisms are connected by a connecting mechanism, and the guiding plates are fixed On the inside of the drive mechanism.

The driving mechanism is symmetrically arranged in a radial plane of the insulator piece, and is synchronously controlled. The driving mechanism comprises a driving motor, a transmission mechanism, a driving claw mechanism and a fixed frame, and the output shaft of the driving motor is connected with the transmission mechanism, and the transmission mechanism is gear reduction. The device comprises a main driven gear set, a fixed shaft and a transmission shaft, the output end of the transmission mechanism is connected with the driving claw mechanism, the driving motor is installed inside the fixing frame, and the transmission mechanism and the driving claw mechanism are installed outside the fixing frame.

The end of the driving claw mechanism is mounted with a roller, the roller is an insulating material, and is free to rotate, and the roller contacts the insulator piece during the crawling process.

The connecting mechanism is a vertical bracket and various annular brackets, and each driving mechanism is connected to form an annular whole body, the vertical bracket is connected with an axial driving mechanism, the annular bracket is connected with a radial driving mechanism, and the vertical bracket has an adjusting mounting hole, The axial drive mechanism spacing is adjusted.

The cleaning mechanism comprises a left and right symmetrical semi-disc, a vertically symmetrical rack, a rack drive mechanism, a rack guide, an upper and lower brush mechanism and a plurality of guide rods, wherein the semi-disc is a base of the cleaning mechanism, and is left and right The symmetrical two semi-disc bodies form a circumferential annular structure, and a plurality of guiding rods are mounted in the inner circular arc, and a rack rail is mounted on the semi-disc, the rack rail is a vertically symmetrical structure, and the roller bearing group is composed of several sizes. Forming, under the action of the rack drive mechanism, the rack moves circumferentially along the circular guide rail formed by the roller bearing set; the upper and lower brush mechanism are respectively mounted on the upper and lower racks, and at least two sets of brushes are mounted on each rack mechanism.

The guide bar is an insulating material, and the length of the guide bar does not interfere with the brush cleaning path.

The racks are semi-circular and symmetrically distributed on the upper and lower sides of the semi-disc.

The rack drive mechanism is fixed on the semi-disc, and each of the semi-discs is mounted with at least one set of rack drive mechanism, and is designed to ensure a semicircle when each of the semi-discs has a rack drive mechanism. The rack is smoothly connected when passing through the two rack drive mechanisms, and the distribution angle of the two rack drive mechanisms is less than 180°.

The rack drive mechanism comprises a rack drive motor, a symmetrical gear, a gear shaft and a motor base; the rack drive motor is fixed on the motor seat, the motor seat is fixed on the semi-disc, and the rack drive motor output shaft passes through the gear shaft Connected with the symmetrical gears, the symmetrical gears are respectively matched with the upper and lower symmetrical racks. When the drive motor shaft rotates, the upper and lower symmetrical racks can synchronously move in the circumferential direction.

The upper and lower brush mechanism includes a rudder base, a steering gear, a brush motor, a brush motor base, a motor base connection, a shaft plate and a brush, and the brush is divided into two types: upper and lower brush; The disc is connected to the end of the output shaft of the brush motor, the brush motor is fixed inside the brush motor base, and is fixed on the steering gear through the motor base. The steering gear is fixed on the rack through the servo base. When the steering shaft rotates, The brush is driven to oscillate in the radial direction of the insulator piece, and when the brush motor shaft rotates, the brush is driven to rotate along its own axis.

In order to increase the adaptability of the cleaning mechanism, the steering gear base can be adapted to different size insulator pieces by increasing or decreasing the height block and the brush can be replaced.

The locking mechanism is divided into two parts, the left and right parts, one is the hinged rotation center, the robot rotates around here, and the other is the lock switch; the hinge of the hinged rotation center rotates around the hinge axis, and the folding drives the left and right sides of the robot Part of the opening and closing.

Similarly, the hinged rotation center can increase the drive motor and the like to rotate the folding to complete the opening and closing of the robot. Accordingly, the lock switch can be a simple plug type structure, or can be designed as a motor drive pin or a clamp lock. .

The locking mechanism can be equipped with operating parts such as a handle or a lifting ring, which is convenient for the operator to carry and go online.

The detecting mechanism is configured to monitor the running condition of the robot, the surface crack and the contamination of the insulator string, the surrounding fittings, determine the limit position and detect the corresponding data, including the camera, the limiting device and the insulator detecting device; the insulator detecting device includes the probe driving mechanism and the fixing And the detecting probe, the probe driving mechanism comprises a driving steering gear, a swing arm, a crank connecting rod, a rotating shaft and the like, and drives the detecting probe to swing back and forth. The detecting probe has at least two, and the adjacent probe distance It is the axial length of the two insulators.

The battery control system outputs a driving device and a detection system that connect the crawling mechanism, the cleaning mechanism, and the detecting mechanism to control the actions of the driving device and the detecting mechanism.

The beneficial effects of the invention are:

(1) Adopting continuous movement mode, the movement speed is fast and the movement continuity is good;

(2) The overall symmetrical structure makes the robot run stably and does not form eccentricity in the movement and cleaning process;

(3) The cleaning speed is fast, the cleaning is thorough, the cleaning method is simple and light, and the structure of the upper and lower surfaces of the insulator piece can be cleaned by a single time, the cleaning efficiency is increased, and the dry brushing method is adopted, and the water washing method is reduced. Difficulty and workload;

(4) The wear of the insulator coating is small, and the number of shorted insulators is small. The overall structure of the robot and the contact parts of the insulator are all made of insulating materials, so as to avoid the wear of the anti-fouling coating on the insulator skirt to the greatest extent;

(5) The locking is reliable, the safety protection is good, and the circumferential closing method is used to increase the working stability of the robot;

(6) It has adaptability, the axial drive mechanism spacing of the robot crawling mechanism is designed to be adjustable, the upper and lower brush spacing of the cleaning mechanism is designed to be adjustable, and the brush length can be replaced, and the insulator can be adapted to different structural heights and disc diameters. String cleaning operation;

(7) In addition to the cleaning operation, the detecting device thereon can perform resistance and voltage detection on the insulator string to determine the strength of the insulator chip.

DRAWINGS

Figure 1 is a schematic perspective view of the present invention;

2 is a schematic view of a crawling mechanism of the present invention;

Figure 3 is a top view of the crawling mechanism of the present invention

Figure 4 is a schematic view showing the driving mechanism of the crawling mechanism of the present invention;

Figure 5 is a schematic view of the cleaning mechanism of the present invention;

Figure 6 is a schematic view showing the rack driving mechanism of the cleaning mechanism of the present invention;

Figure 7 is a schematic view of the brush mechanism on the cleaning mechanism of the present invention;

Figure 8 is a schematic view of the lower brush mechanism of the cleaning mechanism of the present invention;

Figure 9 is a schematic view of the locking mechanism of the present invention;

Figure 10 (a) is a schematic view of the insulator detection of the present invention;

Fig. 10 (b) is a schematic view showing the detection of the insulator of the present invention.

Among them: 100 crawling mechanism, 110 drive mechanism, 111 drive motor, 112 fixed frame, 120 transmission mechanism, 121 drive gear, 122 driven gear, 123 fixed shaft, 124 drive shaft, 130 drive hand mechanism, 131 drive hand, 132 roller, 140 connection mechanism, 141 vertical bracket, 142 ring bracket, 150 guide plate, 200 cleaning mechanism, 210 semi-disc, 220 rack, 230 rack drive mechanism, 231 rack drive motor, 232 motor seat, 233 Gear, 234 gear shaft, 240 rack guide, 241 large roller bearing set, 242 small roller bearing set, 250 upper brush mechanism, 251 steering base, 252 steering gear, 253 brush motor, 254 brush motor seat, 255 Upper motor base connection, 256 upper brush, 257 shaft plate, 260 lower brush mechanism, 261 lower motor base connection, 262 lower brush, 300 locking mechanism, 301 folding, 302 pin, 303 handle, 400 detection mechanism , 410 insulator detection device, 411 holder, 412 drive servo, 413 swing arm, 414 crank link, 415 rotary shaft, 416 detection probe, 420 camera, 430 limit device, 500 battery control system, 600 insulator.

detailed description:

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

As shown in FIG. 1, the robot has a circumferential structure as a whole, and includes a crawling mechanism 100, a cleaning mechanism 200, a locking mechanism 300, a detecting mechanism 400, and a battery control system 500. The crawling mechanism 100 is connected to the cleaning mechanism 200 by a locking mechanism 300, the detecting mechanism 400 is disposed on one side of the locking mechanism 300, and the battery control system 500 is disposed on the crawling mechanism 100.

As shown in FIG. 2, FIG. 3 and FIG. 4, the robot crawling mechanism 100 has a closed circumferential structure, surrounds the insulator string, and can be opened and closed. It is mainly composed of a driving mechanism 110, a connecting mechanism 140 and a plurality of guiding plates 150, and the driving mechanism 110 passes. The connecting mechanisms 140 are symmetrically connected and symmetric in the radial plane of the insulator piece. Each driving mechanism 110 corresponds to a set of guiding plates 150, and the inner diameter of the guiding plate 150 is attached to the outer diameter of the insulating piece. The driving mechanism 110 includes a driving motor 111, a transmission mechanism 120, a driving claw mechanism 130, and a fixing frame 112. The driving motor 111 is mounted inside the fixing frame 112, and the transmission mechanism 120 and the driving claw mechanism 130 are installed outside the fixing frame 112, and are fixed. The frame 112 is mounted on the circumferential periphery of the guide plate 150. Each of the driving mechanisms 110 is composed of at least one driving motor 111 for driving at least one driving claw 131. The output shaft of the driving motor 111 is coupled to the transmission mechanism 120. The transmission mechanism 120 is a gear reducer device, and mainly includes a driving gear 121 and a driven gear. 122, the fixed shaft 123, the transmission shaft 124, the output end of the transmission mechanism 120 and the driving claw mechanism on both sides 130 is connected, and the end of the driving claw 131 is mounted with a roller 132. The roller 132 is freely rotatable, and the roller 132 is in contact with the insulator 600 during the crawling process. The connecting mechanism 140 includes a vertical bracket 141 and various annular brackets 142, and each driving mechanism 110 is connected to form an annular whole body. As shown in FIG. 2, the vertical bracket 141 is connected to the axial driving mechanism 110, and the annular bracket 142 is connected to the radial driving mechanism. 110. The vertical bracket 141 has an adjustment mounting hole for adjusting the spacing of the axial driving mechanism 110.

As shown in FIG. 5 and FIG. 6, the robot cleaning mechanism 200 as a whole has a closed circumferential structure, and surrounds the insulator 600 to be opened and closed. The cleaning mechanism 200 mainly includes a left and right symmetrical semi-disc 210, a vertically symmetrical rack 220, a rack drive mechanism 230, a rack guide 240, an upper brush mechanism 250, a lower brush mechanism 260, and a plurality of guide rods 270. The two semi-discs 210 are formed into a circumferential annular structure, which is a base base of the cleaning mechanism 200. A plurality of guiding rods 270 are mounted on the inner circular arc, and symmetric rack guides 240 are disposed on the upper and lower sides thereof, and the rack rails 240 are disposed. Formed by a plurality of large roller bearing sets 241 and small roller bearing sets 242, as shown in FIG. 5, the large roller bearing sets 241 form an outer circular guide in the circumferential direction, and the small roller bearing sets 242 form an inner circular guide in the circumferential direction, and the rack 220 is provided. Restricted to the specified rail plane. The racks 220 are semi-circular and symmetrically distributed on the upper and lower sides of the semi-disc 210. That is, the upper and lower rack rails 240 respectively correspond to one rack 220. Under the action of the rack drive mechanism 230, the two racks 220 can be along the rollers. The circular guide rail formed by the bearing set performs synchronous circular motion. At least one set of rack drive mechanism 230 is mounted on each of the half discs 210. When one rack drive mechanism 230 is designed for each of the half discs 210, the semicircular rack 220 is driven to be driven by the two racks. When the mechanism 230 is smoothly connected, the distribution angle of the two rack drive mechanisms 230 is less than 180°.

As shown in FIG. 6, the rack drive mechanism 230 is fixed to the half disc 210. The rack drive mechanism 230 mainly includes a rack drive motor 231, a symmetrical gear 233, a gear shaft 234, and a motor base 232. The rack drive motor 231 is fixed on the motor base 232. The motor base 232 is fixed on the semi-disc 210. The output shaft of the rack drive motor 231 is connected to the symmetrical gear 233 via the gear shaft 234. The symmetrical gear 233 is respectively coupled with the upper and lower symmetrical racks. When the meshing of the rack driving motor 231 is performed, the upper and lower symmetrical racks 220 can be driven to perform synchronous circular motion.

As shown in FIG. 5, FIG. 7, and FIG. 8, the upper brush mechanism 250 and the lower brush mechanism 260 are respectively mounted on the upper and lower racks 220, and at least two sets of brush mechanisms are mounted on each of the racks 220, because of the insulator pieces. The upper and lower surface shapes are different, and the upper and lower brush mechanisms are slightly different. The upper brush mechanism 250 is composed of a steering base 251, a steering gear 252, a brush motor 253, a brush motor base 254, an upper motor base connection 255, a shaft plate 257, and an upper surface. The brush 256 is composed of a rudder base 251, a steering gear 252, a brush motor 253, a brush motor base 254, a lower motor base connection 261, a shaft plate 257, and a lower brush 262. The brush is divided into two types of upper and lower brush, and the specific design is to conform to the structure of the cleaning surface of the insulator piece. The brush is connected to the output shaft end of the brush motor 253 through the shaft plate 257, and the brush motor 253 is fixed inside the brush motor base 254, and is fixed to the rudder through the motor base. On the machine 252, the steering gear 252 is fixed to the rack 220 through the steering base 251. When the output shaft of the steering gear 252 rotates, the brush is driven to oscillate in the radial direction of the insulator piece, and is driven when the output shaft of the brush motor 253 rotates. The brush rotates along its own axis.

As shown in Fig. 1 and Fig. 9, the locking mechanism is divided into two parts, one is a hinged rotation center, the robot rotates around here, and the other is a lock switch. As shown in Fig. 9, the hinge of the hinge rotation center rotates around the hinge shaft, and the folding guides the left and right parts of the robot to open and close. The locking mechanism can be equipped with operating parts such as a handle or a lifting ring, which is convenient for the operator to carry and go on the line.

As shown in FIG. 1, FIG. 3, FIG. 4, and FIG. 5, the robot detecting mechanism includes a camera, a limiting device, and an insulator detecting device. The camera is used to monitor the running condition of the crawling mechanism and the cleaning brush. The limiting device limits the moving position of the robot and the cleaning and detecting position. The insulator detecting device can detect the resistance and voltage of the insulator.

As shown in FIG. 1 and FIG. 10, the insulator detecting device is mainly composed of a probe driving mechanism, a fixing frame and a detecting probe, and is installed on one side of the cleaning mechanism, and the probe driving mechanism includes a driving steering gear, a swing arm, and a crank connecting rod. Rotating shaft, etc., there are at least two detecting probes. The distance between adjacent probes is the axial length of two insulators, and the output shaft of the steering gear rotates, that is, the detecting probe swings back and forth, and is struck on the adjacent two insulator steel caps.

The working principle of the invention:

When the invention is not working, the crawling mechanism, the cleaning mechanism and the detecting mechanism are in an initial state, and the driving claws of the upper and lower driving mechanisms of the crawling mechanism are in a vertical state, and the semicircular boundary of the cleaning mechanism rack coincides with the semicircular boundary of the semi-disc (as shown in FIG. 5 Show), the upper and lower brush mechanism is retracted to the direction of the tangent and the circumferential guide (as shown in the left brush position of Figure 5), the detection probe is also retracted (as shown in Figure 10 (a)), the locking mechanism is closed The robot as a whole is in a closed state.

The robot can adopt the pulley block and the lifting mechanism, and raise the handle of the locking mechanism and other lifting components to the vicinity of the insulator string of the tower, open the robot battery control system, and open the locking mechanism, where the hinged rotating center of the locking mechanism can be simply hinged and closed. The mechanism can also be designed to drive the motor to rotate the flap to complete the opening and closing of the robot. Correspondingly, the lock switch can be a simple plug type structure, or can be designed as a motor drive pin or a clamp lock.

Adjust the position of the robot opening, use the insulating rod and other auxiliary tools to push the robot into the insulator string, start the closing switch, and lock the robot on the insulator string. At this time, the inner circular guiding plate of the crawling mechanism and the inner circular guiding rod of the cleaning mechanism contact the insulator string and Around the outer circumference of the insulator string, the crawling mechanism is adjusted to drive the position of the claw so that at least one driving claw of the upper and lower driving mechanisms is overlapped on the upper surface of the insulator string, and the robot is completely mounted on the insulator string.

At the beginning of the robot operation, the upper and lower driving mechanisms of the control crawling mechanism alternately operate to complete the crawling process, and the limiting device thereon can precisely control the driving claw rotation angle, and position the cleaning and detecting position. When the robot moves to the predetermined cleaning position, the cleaning program is started to perform the cleaning operation. First, the upper and lower brush mechanism servo shafts rotate, and the upper and lower brushes are swung to the insulator. In the disk diameter, the axis of the brush is directed to the axis of the insulator string, and then the rotating motor of the upper and lower brushes is started to drive the upper and lower brushes to rotate. At this time, only the rotation of the brush is completed, and then the motor of the rack drive mechanism is activated. When the upper and lower symmetrical gears rotate synchronously, the upper and lower symmetrical racks meshing with the upper and lower symmetrical gears move around the circumference within the range of the rack rails, and the upper and lower brushes are driven around the insulator pieces for cleaning work. At least one set of rack drive mechanism is mounted on each of the semi-discs. When designing a rack drive mechanism for each of the semi-discs, the connection of the semi-circular racks is ensured by the two rack drive mechanisms. The distribution angle of the two rack drive mechanism is less than 180°. At this time, the cleaning of the insulator piece brush needs to be rotated twice to complete the cleaning operation. If more than two sets of rack drive mechanisms are arranged in the entire circumferential direction, the brush performs 360° once. Rotate to complete the cleaning of the insulator piece one turn.

After an insulator cleaning operation is completed, the brush motor stops running, the brush servo swings the brush back to the initial position, the rack drive mechanism rotates the rack to the initial position, the crawling mechanism is activated, and the upper and lower drive mechanisms cooperate to move the robot to the lower position. A piece of cleaning insulator is placed under the action of the limiting device to reach the predetermined cleaning position, and then the cleaning mechanism drives the operating program to clean the next insulator. This round-trip operation process, and finally complete the cleaning of the entire string of insulators.

In addition to the cleaning operation, the robot can also perform the inspection operation, and the camera included therein is used to monitor the crawling mechanism and the cleaning brush running condition, the limiting device limits the moving position of the robot and the cleaning and detecting position, and the insulator detecting device can perform the insulator resistance. And voltage detection. These detection devices can monitor the running condition of the robot, the surface cracks and contamination of the insulator string, the surrounding hardware, determine the limit position and detect the corresponding data of the insulator piece.

The invention adopts a continuous moving mode, has a fast moving speed, good motion continuity, and an overall symmetrical structure, and does not form an eccentric phenomenon in the moving and cleaning process; the cleaning speed is fast, the cleaning is thorough, the cleaning method is simple and light, and the water washing is avoided. The difficulty of operation and the workload; the wear of the insulator coating is small, and the wear of the anti-fouling coating on the insulator porcelain skirt is avoided; the locking is reliable, the safety protection is good, and the working stability of the robot is increased by using the circumferential closing manner; With adaptability, the axial drive mechanism spacing of the robot crawling mechanism is designed to be adjustable, the upper and lower brush spacing of the cleaning mechanism is designed to be adjustable, and the brush length can be replaced, which can be adapted to the cleaning of the insulator string with different structural height and disk diameter. The operation can perform resistance and voltage detection on the insulator string to determine the advantages and disadvantages of the insulator.

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

Claims

An insulator cleaning robot, comprising: a crawling mechanism, a cleaning mechanism, a locking mechanism, a detecting mechanism and a battery control system, wherein the crawling mechanism has a closed circumferential structure, surrounds the insulator string, and drives the robot to continue along the insulator string Moving; the cleaning mechanism is a closed circumferential structure, surrounding the insulator string, the locking mechanism is evenly disposed on the crawling mechanism, the crawling mechanism is connected to the cleaning mechanism by the locking mechanism; the detecting mechanism is disposed on the side of the locking mechanism The battery control system is mounted on the crawling mechanism.
An insulator cleaning robot according to claim 1, wherein said crawling mechanism comprises a driving mechanism, a connecting mechanism and a plurality of guiding plates, wherein said driving mechanism is arranged in two upper and lower layers, and the guiding plates are uniformly circumferentially distributed. In the crawling mechanism, the drive mechanisms are connected by a connecting mechanism, and the guide plates are fixed to the inner side of the drive mechanism.
An insulator cleaning robot according to claim 2, wherein said driving mechanism is symmetrically arranged in a radial plane of the insulator piece and is synchronously controlled, and the driving mechanism comprises a driving motor, a transmission mechanism, a driving hand mechanism and The fixed frame, the output shaft of the driving motor is connected with the transmission mechanism, the transmission mechanism is a gear reducer device, including a main driven gear set, a fixed shaft and a transmission shaft, the output end of the transmission mechanism is connected with the driving claw mechanism, and the driving motor is mounted on the fixed frame. Internally, the transmission mechanism and the driving claw mechanism are mounted outside the fixed frame.
An insulator cleaning robot according to claim 3, wherein the driving claw mechanism is provided with a roller at the end, the roller is an insulating material, and is freely rotatable, and the roller is in contact with the insulator piece during the crawling process.
The insulator cleaning robot according to claim 2, wherein the connecting mechanism is a vertical bracket and various annular brackets, and each driving mechanism is connected to form an annular whole body, and the vertical bracket is connected to the axial driving mechanism, and the ring is connected. The bracket is connected to the radial drive mechanism, and the vertical bracket has an adjustment mounting hole for adjusting the axial drive mechanism spacing.
An insulator cleaning robot according to claim 1, wherein said cleaning mechanism comprises a left and right symmetrical semi-disc, a vertically symmetrical rack, a rack drive mechanism, a rack guide, an upper and lower brush mechanism, and a plurality of guides. a rod, wherein the semi-disc is a base of a cleaning mechanism, and the two semi-disc bodies are formed by a left and right symmetrical two-circle body, and a plurality of guiding rods are mounted on the inner circular arc, and a rack guide is mounted on the semi-disc. The rack rail is a vertically symmetrical structure, and is formed by a plurality of roller bearing groups. Under the action of the rack driving mechanism, the rack moves in a circular motion along a circular guide formed by the roller bearing group; the upper and lower brush mechanisms are respectively installed at At least two sets of brush mechanisms are mounted on each of the upper and lower racks.
The insulator cleaning robot according to claim 6, wherein the guide bar is an insulating material, and the length of the guide bar does not interfere with the brush cleaning path; the rack is semicircular and symmetrically distributed in half. The upper and lower sides of the disc.
An insulator cleaning robot according to claim 6, wherein said rack driving mechanism is fixed to the semi-disc, and each of the semi-discs is mounted with at least one set of rack driving mechanism, when designed for each Half disc has a rack drive In order to ensure the smooth connection of the semi-circular racks when passing through the two rack drive mechanisms, the distribution angle of the two rack drive mechanisms is less than 180°.
An insulator cleaning robot according to claim 6, wherein said rack drive mechanism comprises a rack drive motor, a symmetrical gear, a gear shaft and a motor base; the rack drive motor is fixed to the motor base, and the motor The seat is fixed on the semi-disc, the output shaft of the rack drive motor is connected with the symmetrical gear through the gear shaft, and the symmetrical gears are respectively matched with the upper and lower symmetrical racks. When the drive motor shaft rotates, the upper and lower symmetrical racks can synchronously perform the circumferential motion. ;

The upper and lower brush mechanism includes a rudder base, a steering gear, a brush motor, a brush motor base, a motor base connection, a shaft plate and a brush, and the brush is divided into two types: upper and lower brush; The disc is connected to the end of the output shaft of the brush motor, the brush motor is fixed inside the brush motor base, and is fixed on the steering gear through the motor base. The steering gear is fixed on the rack through the servo base. When the steering shaft rotates, The brush is driven to oscillate in the radial direction of the insulator piece, and when the brush motor shaft rotates, the brush is driven to rotate along its own axis.
The insulator cleaning robot according to claim 1, wherein the detecting mechanism is configured to monitor the running condition of the robot, the surface cracks and contamination of the insulator string, the surrounding hardware, determine the limit position, and detect corresponding data, including the camera and the limit. The position device and the insulator detecting device; the insulator detecting device comprises a probe driving mechanism, a fixing frame and a detecting probe, wherein the probe driving mechanism comprises a driving steering gear, a swing arm, a crank connecting rod, a rotating shaft, etc., and the detecting probe is driven back and forth For oscillating, there are at least two detection probes, and the distance between adjacent probes is two axial lengths of the insulator.