Insulator Surface Flashover Trace Cleaning Device and Method

Abstract

The present invention discloses a device and method for cleaning the surface flashover traces of insulators. The device includes an SF6 gas chamber, an image sensor, a control terminal, and a robotic arm. The SF6 gas chamber is used to provide an SF6 gas environment and an experimental voltage. The image sensor real-time collects the images of the insulator specimen and sends the images of the insulator specimen to the control terminal. The control terminal is used to determine the area to be cleaned and the degree of flashover trace ablation based on the received images of the insulator specimen and the pre-stored three-dimensional model of the insulator, so as to generate a task trajectory and a cleaning operation instruction and send them to the robotic arm. When receiving the task trajectory sent by the control terminal, the robotic arm moves to a position within a preset first range from the area to be cleaned and cleans the area to be cleaned of the insulator specimen according to the cleaning operation instruction. It can provide an automatic cleaning device for the surface flashover traces of insulators, improve the cleaning efficiency of the surface flashover traces of insulators, and further improve the surface flashover experiment efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of insulator surface treatment, and in particular to a device and method for cleaning the surface flashover traces of insulators. Background Art

[0002] Gas-insulated metal-enclosed switchgear (GIS) and gas-insulated transmission line (GIL) have the advantages of small floor area, little influence by natural environment, safe and reliable operation, long maintenance and overhaul cycle, and no electrical aging, and are widely used in power systems at home and abroad. One of the main reasons for the failure of GIS and GIL equipment is the surface flashover of internal insulators. Therefore, improving the surface flashover voltage helps to improve the insulation performance of GIS / GIL equipment. Researchers generally adjust the material formula, structure, surface treatment process, etc. of insulators, and then experimentally measure the surface flashover voltage of insulators to verify the effectiveness of the optimization method.

[0003] Different from gas insulation, surface flashover is an irreversible insulation. After one flashover, the arc will ablate the gas-solid interface, leaving carbon traces to change parameters such as surface resistance. For the next experiment, it is necessary to replace the specimen or clean the experimental surface. The existing cleaning method requires recovering the SF6 gas in the tank, then disassembling the insulator specimen to polish and clean its surface, and then installing the insulator specimen and tooling. After vacuum pumping, gas filling, and standing, the next experiment can be carried out. It can be seen that the disassembly, cleaning, installation, vacuum pumping, gas filling, and standing of the insulator specimen take several hours, and only one data point can be obtained. However, at least 30 data points are required to obtain an effective flashover voltage data, and then calculate the flashover voltage with a low probability such as 50% probability or 1% based on its statistical distribution. The traditional experimental method has very low test efficiency. Therefore, it is necessary to optimize the experimental process and optimize and improve the experimental method, especially the method for cleaning the surface flashover traces after flashover, to improve the experimental efficiency and economy. Summary of the Invention

[0004] The present invention provides a device and method for cleaning the surface flashover traces of insulators, which can solve the technical problem that the existing technology has low efficiency in removing the surface flashover traces of insulators, resulting in low efficiency of the surface flashover experiment of insulators.

[0005] In the first aspect of the present invention, a device for cleaning the surface flashover traces of insulators is provided, including:

[0006] SF 6 A gas chamber for providing an SF 6 gas environment and an experimental voltage;

[0007] An image sensor for real-time acquisition of insulator specimen images and sending the insulator specimen images to a control terminal;

[0008] A control terminal for receiving the insulator specimen images acquired by the image sensor, determining the area to be cleaned and the degree of flash ablation of the insulator specimen according to the insulator specimen images and a pre-stored three-dimensional model of the insulator, generating a task trajectory and a cleaning operation instruction according to the area to be cleaned and the degree of flash ablation, and sending the task trajectory and the cleaning operation instruction to a robotic arm;

[0009] A robotic arm for receiving the task trajectory sent by the control terminal, moving to a position within a preset first range from the area to be cleaned according to the task trajectory, and cleaning the area to be cleaned of the insulator specimen according to the cleaning operation instruction.

[0010] As an improvement of the above solution, the robotic arm includes a robotic arm base, a first rotating joint, a first connecting member, a second rotating joint, a second connecting member, a third rotating joint, a third connecting member and a cleaning device. The robotic arm base is connected to the first rotating joint. The first rotating joint and the second rotating joint are connected by the first connecting member. The second rotating joint and the third rotating joint are connected by the second connecting member. The third rotating joint and the cleaning device are connected by the third connecting member. Among them, the first rotating joint can be driven to rotate around the x-axis; the second rotating joint can be driven to rotate around the y-axis and the z-axis, and the third rotating joint can be driven to rotate around the y-axis and the z-axis;

[0011] The cleaning device includes a lubrication unit, a grinding unit, a cleaning unit and an alcohol bottle with a compression pump arranged beside the robotic arm base, and the lubrication unit, the grinding unit and the cleaning unit can all be controlled to make popping-out and retracting actions.

[0012] As an improvement of the above solution, the first rotating joint includes a first driving motor, and the first driving motor is respectively connected to the robotic arm base and the first connecting member;

[0013] The second rotating joint includes a second driving motor, and the second driving motor is connected to the second connecting member;

[0014] The third rotating joint includes a third driving motor, and the third driving motor is connected to the third connecting member.

[0015] As an improvement of the above solution, the lubrication unit includes a lubrication cleaning head, an armature base, a vertical rod, and a spring device configured with an electromagnetic coil. The lubrication cleaning head is connected through the armature base and the spring device. The spring device is fixedly connected to the bottom of the vertical rod. The top of the vertical rod penetrates through the armature base. The vertical rod is provided with a slide rail. The armature base can move up and down along the slide rail under the action of the electromagnetic coil, so as to drive the lubrication cleaning head to pop out or retract.

[0016] The grinding unit includes a sandpaper grinding cleaning head, an armature base, a vertical rod, and a spring device configured with an electromagnetic coil. The sandpaper grinding cleaning head is connected through the armature base and the spring device. The spring device is fixedly connected to the bottom of the vertical rod. The top of the vertical rod penetrates through the armature base. The vertical rod is provided with a slide rail. The armature base can move up and down along the slide rail under the action of the electromagnetic coil, so as to drive the sandpaper grinding cleaning head to pop out or retract.

[0017] The cleaning unit includes a non-woven fabric cleaning head, an armature base, a vertical rod, and a spring device configured with an electromagnetic coil. The sandpaper grinding cleaning head is connected through the armature base and the spring device. The spring device is fixedly connected to the bottom of the vertical rod. The top of the vertical rod penetrates through the armature base. The vertical rod is provided with a slide rail. The armature base can move up and down along the slide rail under the action of the electromagnetic coil, so as to drive the non-woven fabric cleaning head to pop out or retract.

[0018] As an improvement of the above solution, the insulator surface flashover trace cleaning device further includes an insulator specimen detection unit, and the insulator specimen detection unit includes an insulator specimen, an insulator shielding structure, and a grounding tank.

[0019] The second aspect of the present invention provides a method for cleaning insulator surface flashover traces. The method is based on the above-mentioned cleaning of insulator surface flashover traces and includes:

[0020] After applying a voltage flashover to the insulator specimen, receiving the image of the insulator specimen collected by the image sensor;

[0021] According to the image of the insulator specimen and the pre-stored three-dimensional model of the insulator, determining the area to be cleaned and the degree of flashover ablation of the insulator specimen, and generating corresponding task trajectories and cleaning operation instructions;

[0022] Perform a cleaning operation: According to the task trajectory and the cleaning operation instruction, control the robotic arm to move to a position within a preset first range from the area to be cleaned, and control the robotic arm to clean the area to be cleaned of the insulator specimen to obtain the current image of the insulator specimen. Then, based on the current image of the insulator specimen, determine whether the cleanliness of the surface of the insulator specimen meets the standard. If it meets the standard, control the robotic arm to return to its original position and conduct the next flashover experiment. If it does not meet the standard, repeat the cleaning operation until the cleanliness of the surface of the insulator specimen meets the standard.

[0023] As an improvement to the above solution, the step of controlling the robotic arm to move to a position within a preset first range from the area to be cleaned and controlling the robotic arm to clean the area to be cleaned of the insulator specimen according to the task trajectory and the cleaning operation instruction specifically includes:

[0024] Control the robotic arm to move to a position within a preset first range from the area to be cleaned according to the task trajectory;

[0025] Control the lubrication unit of the robotic arm to apply vegetable oil along the area to be cleaned, then control the grinding unit to grind the area to be cleaned according to a preset first pressure. After that, control the robotic arm to move to a position within a preset second range from the alcohol bottle with a compression pump, and control the cleaning unit on the robotic arm to act on the alcohol bottle with a compression pump according to a preset second pressure so that the cleaning unit is soaked with alcohol. Finally, control the cleaning unit to move to a position within a preset second range from the area to be cleaned and control the cleaning unit to clean along the area to be cleaned. After the robotic arm cleans the area to be cleaned of the insulator specimen, it also includes: obtaining the current image of the insulator specimen, and based on the current image of the insulator specimen, determining whether the cleanliness of the surface of the insulator specimen meets the standard. If it meets the standard, control the robotic arm to return to its original position and conduct the next flashover experiment. If it does not meet the standard, repeat the cleaning operation until the cleanliness of the surface of the insulator specimen meets the standard.

[0026] As an improvement to the above solution, before receiving the image of the insulator specimen collected by the image sensor after applying a pressure flashover to the insulator specimen, it further includes:

[0027] Determine the coordinates of the surface of the insulator specimen relative to the robotic arm, perform three-dimensional modeling on the insulator specimen to obtain an insulator three-dimensional model.

[0028] Compared with the prior art, the beneficial effects of the insulator surface flashover trace cleaning device and method provided by the present invention are as follows:

[0029] The insulator surface flashover trace cleaning device provided by the present invention includes an SF 6 gas chamber, an image sensor, a control terminal, and a robotic arm. The SF 6The gas chamber is used to provide an SF 6 gas environment and an experimental voltage for conducting an insulator flashover experiment. The image sensor is used to collect insulator specimen images in real time and send the insulator specimen images to the control terminal. The control terminal is used to, when receiving the insulator specimen images collected by the image sensor, determine the area to be cleaned and the flashover trace ablation degree of the insulator specimen according to the insulator specimen images and a pre-stored three-dimensional model of the insulator, generate a task trajectory and a cleaning operation instruction according to the area to be cleaned and the flashover trace ablation degree, and send the task trajectory and the cleaning operation instruction to the robotic arm. The robotic arm is used to, when receiving the task trajectory sent by the control terminal, move to a position within a preset first range from the area to be cleaned according to the task trajectory, and clean the area to be cleaned of the insulator specimen according to the cleaning operation instruction. It can provide an automatic cleaning device for insulator surface flashover traces, improve the cleaning efficiency of insulator surface flashover traces, and further improve the flashover experiment efficiency along the surface and reduce the experimental cost. Description of the Drawings

[0030] Figure 1 is a structural diagram of an embodiment of the insulator surface flashover trace cleaning device provided by the present invention;

[0031] Figure 2 is a structural diagram of another embodiment of the insulator surface flashover trace cleaning device provided by the present invention;

[0032] Figure 3 is a structural diagram of an embodiment of the robotic arm in the insulator surface flashover trace cleaning device provided by the present invention;

[0033] Figure 4 is a front view of the cleaning device in the insulator surface flashover trace cleaning device provided by an embodiment of the present invention;

[0034] Figure 5 is a schematic structural diagram of a lubrication unit provided by an embodiment of the present invention;

[0035] Figure 6 is a schematic structural diagram of a sandpaper polishing cleaning head provided by an embodiment of the present invention;

[0036] Figure 7 is a schematic flow diagram of an embodiment of the insulator surface flashover trace cleaning method provided by the present invention. Detailed Embodiments

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0038] See Figure 1 , Figure 1 which is a structural diagram of an embodiment of the insulator surface flashover trace cleaning device provided by the present invention.

[0039] The insulator surface flashover trace cleaning device provided by the embodiments of the present invention includes:

[0040] SF 6 gas chamber 1 for providing an SF 6 gas environment and experimental voltage;

[0041] Image sensor 2 for real-time collecting images of the insulator specimen and sending the insulator specimen images to the control terminal 3;

[0042] Control terminal 3 for receiving the insulator specimen images collected by the image sensor 2, determining the area to be cleaned and the flashover trace ablation degree of the insulator specimen according to the insulator specimen images and the pre-stored three-dimensional model of the insulator, generating a task trajectory and a cleaning operation instruction according to the area to be cleaned and the flashover trace ablation degree, and sending the task trajectory and the cleaning operation instruction to the robotic arm 4;

[0043] Robotic arm 4 for receiving the task trajectory sent by the control terminal 3, moving to a position within a preset first range from the area to be cleaned according to the task trajectory, and cleaning the area to be cleaned of the insulator specimen according to the cleaning operation instruction.

[0044] Specifically, the SF 6 gas chamber 1 is used to provide an insulator flashover experiment environment, that is, the insulator flashover experiment is carried out in the SF 6 gas chamber 1. The image sensor 2 and the robotic arm 4 should be arranged inside the SF 6 gas chamber 1 to facilitate the collection of insulator images and the cleaning of the surface flashover traces of the insulator.

[0045] Specifically, the control terminal 3 can be a PC, which is integrated with a control system including but not limited to the robotic arm 4 control system, the image sensor 2 control system, and the experimental voltage output control system to control the experimental voltage output, the movement trajectory and program of the robotic arm 4, and the image recording of the image sensor 2. In addition, the control terminal 3 is arranged in the SF 6Outside the gas chamber 1 and communicatively connected to the image sensor 2 and the robotic arm 4.

[0046] The insulator surface flashover trace cleaning device provided by the embodiment of the present invention includes SF 6 gas chamber 1, image sensor 2, control terminal 3 and robotic arm 4. The SF 6 gas chamber 1 is used to provide an SF 6 gas environment and experimental voltage for conducting insulator flashover experiments. The image sensor 2 is used to collect insulator specimen images in real time and send the insulator specimen images to the control terminal 3. The control terminal 3 is used to, when receiving the insulator specimen images collected by the image sensor 2, determine the area to be cleaned and the flashover trace ablation degree of the insulator specimen according to the insulator specimen images and a pre-stored three-dimensional model of the insulator, generate a task trajectory and a cleaning operation instruction according to the area to be cleaned and the flashover trace ablation degree, and send the task trajectory and the cleaning operation instruction to the robotic arm 4. The robotic arm 4 is used to, when receiving the task trajectory sent by the control terminal 3, move to a position within a preset first range from the area to be cleaned according to the task trajectory, and clean the area to be cleaned of the insulator specimen according to the cleaning operation instruction. It can provide an automatic cleaning device for insulator surface flashover traces without a disassembly tooling, improve the cleaning efficiency of insulator surface flashover traces, and further improve the flashover experiment efficiency along the surface and reduce the experimental cost.

[0047] Specifically, referring to Figure 2 , in one embodiment, the insulator surface flashover trace cleaning device further includes an insulator specimen detection unit 5. The insulator specimen detection unit 5 includes an insulator specimen, an insulator shielding structure and a grounding tank body.

[0048] In the embodiment of the present invention, the insulator surface flashover trace cleaning device is also used for cleaning the flashover traces after the insulator flashover experiment, that is, the insulator surface flashover trace cleaning device not only provides the environment for the insulator flashover experiment, but also provides the function of cleaning the flashover traces after the insulator flashover test. In the embodiment of the present invention, the insulator specimen detection unit 5 is arranged inside the SF 6 gas chamber 1, and the grounding tank body should be grounded fixedly connected to the tank wall of the SF 6 gas chamber 1 to ensure the potential of the high-voltage electrode.

[0049] Referring to Figure 3 and Figure 4, in one embodiment, the robotic arm 4 includes a robotic arm base 41, a first rotary joint 42, a first connecting member 43, a second rotary joint 44, a second connecting member 45, a third rotary joint 46, a third connecting member, and a cleaning device 47. The robotic arm base 41 is connected to the first rotary joint 42. The first rotary joint 42 and the second rotary joint 44 are connected by the first connecting member 43. The second rotary joint 44 and the third rotary joint 46 are connected by the second connecting member 45. The third rotary joint 46 and the cleaning device 47 are connected by the third connecting member. Among them, the first rotary joint 42 can be driven to rotate around the x-axis; the second rotary joint 44 can be driven to rotate around the y-axis and the z-axis, and the third rotary joint 46 can be driven to rotate around the y-axis and the z-axis;

[0050] The cleaning device 47 includes a lubrication unit 474, a grinding unit 472, a cleaning unit 473, and an alcohol bottle 471 with a compression pump disposed beside the robotic arm base. The lubrication unit 474, the grinding unit 472, and the cleaning unit 473 can all be controlled to perform ejection and retraction actions.

[0051] In an embodiment of the present invention, the first rotary joint 42 of the robotic arm 4 rotates around the x-axis, driving the first connecting member 43 to rotate in the vertical direction, and further driving the second connecting member 45, the third connecting member, and the cleaning device to rotate in the vertical direction, thereby achieving the effect of adjusting the height of the robotic arm 4. The second rotary joint 44 and the third rotary joint 46 can rotate around the y-axis and the z-axis, thereby controlling the radial displacement of the robotic arm 4 on the pot insulator.

[0052] Specifically, the alcohol bottle 471 is filled with anhydrous alcohol. The lubrication unit 474, the grinding unit 472, and the cleaning unit 473 are all tools for cleaning the surface of the insulator, and are respectively used for lubricating, grinding, and cleaning the insulator, thereby achieving the effect of cleaning the surface flashover trace of the insulator.

[0053] In one embodiment, the first rotary joint 42 includes a first driving motor, and the first driving motor is respectively connected to the robotic arm base 41 and the first connecting member 43;

[0054] The second rotary joint 44 includes a second driving motor, and the second driving motor is connected to the second connecting member 45;

[0055] The third rotary joint 46 includes a third driving motor, and the third driving motor is connected to the third connecting member.

[0056] In an embodiment of the present invention, the first rotating joint, the second rotating joint, and the third rotating joint are controlled by a driving motor and a robotic arm control system to move along a preset trajectory, thereby realizing the control of the robotic arm.

[0057] Specifically, refer to Figure 5 , Figure 5 FIG. is a schematic structural diagram of a lubrication unit provided by an embodiment of the present invention. The lubrication unit 474 includes a lubricating and cleaning head 4741, an armature base 4742, a vertical rod 4743, and a spring device 4744 configured with an electromagnetic coil. The lubricating and cleaning head 4741 is connected through the armature base 4742 and the spring device 4744. The spring device 4744 is fixedly connected to the bottom of the vertical rod 4743. The top of the vertical rod 4743 penetrates through the armature base 4742. The vertical rod 4743 is provided with a slide rail 47431. The armature base 4742 can move up and down along the slide rail 47431 under the action of the electromagnetic coil, thereby driving the lubricating and cleaning head 4741 to pop out or retract.

[0058] Further, the spring device 4744 configured with an electromagnetic coil includes a spring 47441, a base 47442, and an iron core 47443. An electromagnetic coil is sleeved on the iron core 47443. The electromagnetic coil is connected to an external power supply. One end of the spring 47441 is connected to the armature base 4742, the second end of the spring 47441 is connected to the base 47442, and the base 47442 is also connected to the iron core 47443.

[0059] In specific implementation, when it is necessary to lubricate the insulator, the external power supply is not powered on. At this time, the lubrication unit 474 pops out under the action of the spring 47441 and slides on the surface of the insulator as the robotic arm moves, thereby realizing the lubrication of the surface of the insulator. After the lubrication is completed, the external power supply is powered on. At this time, the armature base 4742 moves downward along the slide rail 47431 under the action of the electromagnetic coil, thereby driving the lubricating and cleaning head 4741 to retract.

[0060] In one embodiment, the grinding unit includes a sandpaper grinding and cleaning head, an armature base, a vertical rod, and a spring device configured with an electromagnetic coil. The sandpaper grinding and cleaning head is connected through the armature base and the spring device. The spring device is fixedly connected to the bottom of the vertical rod. The top of the vertical rod penetrates through the armature base. The vertical rod is provided with a slide rail. The armature base can move up and down along the slide rail under the action of the electromagnetic coil, thereby driving the sandpaper grinding and cleaning head to pop out or retract.

[0061] In one embodiment, the cleaning unit includes a non-woven fabric cleaning head, an armature base, a vertical rod, and a spring device configured with an electromagnetic coil. The sandpaper polishing and cleaning head is connected through the armature base and the spring device. The spring device is fixedly connected to the bottom of the vertical rod. The top of the vertical rod penetrates through the armature base. The vertical rod is provided with a slide rail, and the armature base can move up and down along the slide rail under the action of the electromagnetic coil, thereby driving the non-woven fabric cleaning head to pop out or retract.

[0062] It should be noted that the structures of the polishing unit and the non-woven fabric cleaning head provided in the embodiments of the present invention are similar to the structure of the lubricating unit, except that the structures of the cleaning heads are different. Therefore, the cleaning heads will be described below.

[0063] In one embodiment, the lubricating and cleaning head includes an oil-soaked sponge ball. Exemplarily, the oil-soaked sponge ball is a sponge ball immersed in vegetable oil.

[0064] Exemplarily, refer to Figure 6 , Figure 6 shows a schematic structural diagram of the sandpaper polishing and cleaning head provided by the present invention. The sandpaper polishing and cleaning head 4721 includes a cleaning head support silicone ball 47212, a sandpaper roll 47211, and a winding motor 47213. The cleaning head support silicone ball 47212 is used to support the sandpaper roll paper. The sandpaper roll 47211 is connected to the output shaft of the winding motor 47213 and winds as the winding motor 47213 rotates.

[0065] It should be noted that the structure of the non-woven fabric cleaning head provided in the embodiments of the present invention is similar to that of the sandpaper polishing and cleaning head, except that the non-woven fabric cleaning head uses a non-woven fabric roll instead of a sandpaper roll. No further elaboration will be made here.

[0066] Correspondingly, refer to Figure 7 , Figure 7 is a schematic flowchart of an embodiment of the method for cleaning the surface flashover trace of an insulator provided by the present invention. The method for cleaning the surface flashover trace of an insulator provided in the embodiments of the present invention includes steps S11 to S13:

[0067] Step S11, after applying voltage flashover to the insulator specimen, receive the image of the insulator specimen collected by the image sensor;

[0068] Step S12, according to the image of the insulator specimen and the pre-stored three-dimensional model of the insulator, determine the area to be cleaned and the degree of flashover trace ablation of the insulator specimen, and generate corresponding task trajectories and cleaning operation instructions;

[0069] Step S13, perform a cleaning operation: According to the task trajectory and the cleaning operation instruction, control the robotic arm to move to a position within a preset first range from the area to be cleaned, and control the robotic arm to clean the area to be cleaned of the insulator specimen.

[0070] In an embodiment of the present invention, based on the insulator surface flashover trace cleaning device provided in the embodiment of the present invention, the control terminal controls the application of pressure to the insulator specimen, and the insulator specimen image is collected in real time. The control terminal analyzes the insulator specimen image to determine the position of the carbon trace left after the flashover of the insulator specimen and the degree of ablation of the flash trace, and combines the pre-stored three-dimensional model of the insulator to determine the area to be cleaned (i.e., the coordinate range) of the insulator specimen, and then generates the corresponding task trajectory and cleaning operation instruction, so that the mechanical part moves to a position near the area to be cleaned according to the task trajectory, and the robotic arm is used to clean the area to be cleaned, realizing the automatic and efficient cleaning of the insulator flashover trace, and thus improving the insulator flashover test efficiency.

[0071] In one embodiment, the step S13 "According to the task trajectory and the cleaning operation instruction, control the robotic arm to move to a position within a preset first range from the area to be cleaned, and control the robotic arm to clean the area to be cleaned of the insulator specimen" specifically includes:

[0072] According to the task trajectory, control the robotic arm to move to a position within a preset first range from the area to be cleaned;

[0073] Control the lubrication unit of the robotic arm to apply vegetable oil along the area to be cleaned, then control the grinding unit to grind the area to be cleaned according to a preset first pressure. After that, control the robotic arm to move to a position within a preset second range from the alcohol bottle with a compression pump, and control the cleaning unit on the robotic arm to act on the alcohol bottle with a compression pump according to a preset second pressure, so that the cleaning unit is soaked with alcohol. Finally, control the cleaning unit to move to a position within a preset second range from the area to be cleaned, and control the cleaning unit to clean along the area to be cleaned.

[0074] In one embodiment, before the step S11 "After applying pressure to cause flashover of the insulator specimen, receive the insulator specimen image collected by the image sensor", it further includes:

[0075] Determine the coordinates of the insulator specimen surface relative to the robotic arm, perform three-dimensional modeling on the insulator specimen to obtain a three-dimensional model of the insulator.

[0076] In an embodiment of the present invention, after establishing the three-dimensional model of the insulator, the insulator specimen detection unit, the robotic arm, and the image sensor are installed according to the coordinates of the insulator specimen surface relative to the robotic arm to ensure that the insulator surface is observable, and then the SF6 gas chamber is closed.

[0077] After the step S13 "control the robotic arm to move to a position within a preset first range from the area to be cleaned according to the task trajectory and the cleaning operation instruction, and control the robotic arm to clean the area to be cleaned of the insulator specimen", the following is further included:

[0078] Obtain the current image of the insulator specimen, and judge whether the cleanliness of the insulator specimen surface meets the standard according to the current image of the insulator specimen;

[0079] If it meets the standard, control the robotic arm to return to its original position and conduct the next flashover experiment; if it does not meet the standard, repeat the cleaning operation until the cleanliness of the insulator specimen surface meets the standard.

[0080] In an embodiment of the present invention, after controlling the robotic arm to complete the cleaning task, it is also possible to judge whether the flashover voltage test of the insulator specimen is completed according to the experimental progress: if it is completed, stop the experiment, recover the SF in the gas chamber 6 , and then disassemble the experimental device and replenish and replace the tool consumables in the robotic arm; if it is not completed, repeat the step of applying voltage to the insulator specimen for flashover.

[0081] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. An insulator surface flashover trace cleaning device, characterized in that, it includes: SF 6 Gas chamber, used to provide SF 6 gas environment and experimental voltage; an image sensor for real-time collecting an insulator sample image and sending the insulator sample image to a control terminal; the control terminal for receiving the insulator sample image collected by the image sensor, determining a to-be-cleaned area and the flashover trace ablation degree of the insulator sample according to the insulator sample image and a pre-stored three-dimensional model of the insulator, generating a task trajectory and a cleaning operation instruction according to the to-be-cleaned area and the flashover trace ablation degree, and sending the task trajectory and the cleaning operation instruction to a robotic arm; obtaining the current insulator sample image, and judging whether the cleanliness of the surface of the insulator sample reaches the standard according to the current insulator sample image; if it reaches the standard, controlling the robotic arm to return to its original position and performing the next flashover experiment; if it does not reach the standard, repeating the cleaning operation until the cleanliness of the surface of the insulator sample reaches the standard; the robotic arm for receiving the task trajectory sent by the control terminal, moving to a position within a preset first range from the to-be-cleaned area according to the task trajectory, and cleaning the to-be-cleaned area of the insulator sample according to the cleaning operation instruction; the robotic arm includes a robotic arm base, a first rotating joint, a first connecting member, a second rotating joint, a second connecting member, a third rotating joint, a third connecting member and a cleaning device. The robotic arm base is connected to the first rotating joint. The first rotating joint and the second rotating joint are connected by the first connecting member. The second rotating joint and the third rotating joint are connected by the second connecting member. The third rotating joint and the cleaning device are connected by the third connecting member. Wherein, the first rotating joint can be driven to rotate around the x-axis; the second rotating joint can be driven to rotate around the y-axis and the z-axis, and the third rotating joint can be driven to rotate around the y-axis and the z-axis; the cleaning device includes a lubricating unit, a grinding unit, a cleaning unit and an alcohol bottle with a compression pump arranged beside the robotic arm base, and the lubricating unit, the grinding unit and the cleaning unit can all be controlled to perform popping-out and retracting actions; the lubricating unit includes a lubricating cleaning head, an armature base, a vertical rod and a spring device configured with an electromagnetic coil. The lubricating cleaning head is connected by the armature base and the spring device. The spring device is fixedly connected to the bottom of the vertical rod. The top of the vertical rod penetrates through the armature base. The vertical rod is provided with a slide rail. The armature base can move up and down along the slide rail under the action of the electromagnetic coil, thereby driving the lubricating cleaning head to pop out or retract; the first rotating joint includes a first driving motor, and the first driving motor is respectively connected to the robotic arm base and the first connecting member; the second rotating joint includes a second driving motor, and the second driving motor is connected to the second connecting member; the third rotating joint includes a third driving motor, and the third driving motor is connected to the third connecting member.

2. The insulator surface flashover trace cleaning device according to claim 1, characterized in that, The grinding unit includes a sandpaper grinding and cleaning head, an armature base, a vertical rod, and a spring device configured with an electromagnetic coil. The sandpaper grinding and cleaning head is connected through the armature base and the spring device. The spring device is fixedly connected to the bottom of the vertical rod. The top of the vertical rod penetrates through the armature base. The vertical rod is provided with a slide rail. The armature base can move up and down along the slide rail under the action of the electromagnetic coil, thereby driving the sandpaper grinding and cleaning head to pop out or retract. The cleaning unit includes a non-woven fabric cleaning head, an armature base, a vertical rod, and a spring device configured with an electromagnetic coil. The sandpaper grinding and cleaning head is connected through the armature base and the spring device. The spring device is fixedly connected to the bottom of the vertical rod. The top of the vertical rod penetrates through the armature base. The vertical rod is provided with a slide rail. The armature base can move up and down along the slide rail under the action of the electromagnetic coil, thereby driving the non-woven fabric cleaning head to pop out or retract.

3. The insulator surface flashover trace cleaning device according to claim 1, characterized in that the insulator surface flashover trace cleaning device further includes an insulator specimen detection unit, and the insulator specimen detection unit includes an insulator specimen, an insulator shielding structure, and a grounding tank.

4. A method for cleaning insulator surface flashover traces, characterized in that the method is based on the cleaning of insulator surface flashover traces according to any one of claims 1-3, and includes: after applying a pressure flashover to the insulator specimen, receiving the image of the insulator specimen collected by the image sensor; determining the area to be cleaned and the flashover ablation degree of the insulator specimen according to the image of the insulator specimen and the pre-stored three-dimensional model of the insulator, and generating corresponding task trajectories and cleaning operation instructions; Performing a cleaning operation: according to the task trajectory and the cleaning operation instructions, controlling the robotic arm to move to a position within a preset first range from the area to be cleaned, and controlling the robotic arm to clean the area to be cleaned of the insulator specimen, obtaining the current image of the insulator specimen, and judging whether the cleanliness of the surface of the insulator specimen meets the standard according to the current image of the insulator specimen; if it meets the standard, controlling the robotic arm to return to its original position and performing the next flashover experiment; if it does not meet the standard, repeating the cleaning operation until the cleanliness of the surface of the insulator specimen meets the standard.

5. The method for cleaning insulator surface flashover traces according to claim 4, characterized in that the controlling the robotic arm to move to a position within a preset first range from the area to be cleaned and controlling the robotic arm to clean the area to be cleaned of the insulator specimen according to the task trajectory and the cleaning operation instructions specifically includes: controlling the robotic arm to move to a position within a preset first range from the area to be cleaned according to the task trajectory; Control the lubrication unit of the robotic arm to apply vegetable oil along the area to be cleaned, then control the grinding unit to grind the area to be cleaned according to a preset first pressure. After that, control the robotic arm to move to a position within a preset second range from the alcohol bottle with a compression pump, and control the cleaning unit on the robotic arm to act on the alcohol bottle with a compression pump according to a preset second pressure so that the cleaning unit is soaked with alcohol. Finally, control the cleaning unit to move to a position within a preset second range from the area to be cleaned, and control the cleaning unit to clean along the area to be cleaned.

6. The method for cleaning the surface flashover trace of an insulator according to claim 4, wherein, before receiving the image of the insulator specimen collected by the image sensor after applying voltage flashover to the insulator specimen, it further includes: determining the coordinates of the surface of the insulator specimen relative to the robotic arm, and performing three-dimensional modeling on the insulator specimen to obtain a three-dimensional model of the insulator.

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