An insulator cleaning robot

Abstract

This application provides an insulator cleaning robot, including a moving mechanism, cleaning units, and a brush drive mechanism. The moving mechanism has rollers on both sides of a roller mounting plate, with the rollers tilted inwards at an obtuse angle to the roller mounting plate. Cleaning units are located on both sides of the moving mechanism. The cleaning units are mounted on the brush drive mechanism, which is close to the moving mechanism, so that when the insulator cleaning robot is in a walking state, its center of gravity is located below the moving mechanism and between the two cleaning units. This allows the robot to utilize its center of gravity moment to resist interference from wind and other loads, ensuring its stability at high altitudes.

Description

Technical Field

[0001] This application relates to the field of automation, and more particularly to an insulator cleaning robot. Background Technology

[0002] During long-term outdoor use, insulators accumulate industrial dust, smoke particles, and even bird droppings on their surfaces. These contaminants can easily form a conductive film, reducing insulation performance. The adhesion of dirt to the insulator surface increases conductivity, leading to an excessively strong potential gradient, which may cause leakage or even breakdown. Simultaneously, dirt can cause slight moisture buildup on the insulator, increasing moisture content, increasing leakage current, and causing corrosion and aging of the insulator material, further reducing insulation capacity and service life.

[0003] Therefore, regular cleaning of insulators is essential to ensure the safe and stable operation of the power system. However, insulator cleaning robots operating at heights are susceptible to interference from wind and other loads, causing them to sway and affecting the cleaning effect. Summary of the Invention

[0004] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.

[0005] The purpose of this application is to at least partially solve one of the technical problems existing in the related technologies. The embodiments of this application provide an insulator cleaning robot that uses the center of gravity moment to resist the interference caused by loads such as wind, thus ensuring the stability of high-altitude operations.

[0006] An embodiment of the first aspect of this application provides an insulator cleaning robot, comprising:

[0007] A moving mechanism is provided to enable the insulator cleaning robot to move on the insulator. The moving mechanism has rollers on both sides of the roller mounting plate. The rollers are inclined inward and the angle with the roller mounting plate is obtuse.

[0008] A cleaning unit is provided on both sides of the moving mechanism;

[0009] A brush drive mechanism is provided, and the cleaning units are mounted on the brush drive mechanism. The brush drive mechanism is close to the moving mechanism so that when the insulator cleaning robot is in a walking state, the center of gravity of the insulator cleaning robot is located below the moving mechanism and between the two cleaning units.

[0010] According to certain embodiments of the first aspect of this application, the cleaning unit includes a brush mounting frame, a drive chain, a drive wheel, and a cleaning block. The brush mounting frame is provided with a chain track, the drive chain is disposed in the chain track, the cleaning block is mounted on the drive chain, and the drive wheel is drively connected to the drive chain.

[0011] According to certain embodiments of the first aspect of this application, the side of the brush mounting bracket away from the brush drive mechanism is an arc-shaped surface.

[0012] According to certain embodiments of the first aspect of this application, when the cleaning block is located at a position corresponding to the arcuate surface, the cleaning block protrudes from the arcuate surface.

[0013] According to certain embodiments of the first aspect of this application, a plurality of the cleaning blocks are distributed at intervals along the drive chain.

[0014] According to certain embodiments of the first aspect of this application, the brush drive mechanism includes a transverse rod and a longitudinal rod, the transverse rod being connected to the moving mechanism, the longitudinal rod being located on both sides of the moving mechanism, and the cleaning unit being mounted on the longitudinal rod.

[0015] According to certain embodiments of the first aspect of this application, the longitudinal bar is movably connected to the transverse bar.

[0016] According to certain embodiments of the first aspect of this application, the longitudinal rod is provided with a first drive mechanism, and the cleaning unit is disposed on the first drive mechanism.

[0017] According to certain embodiments of the first aspect of this application, the brush drive mechanism further includes a second drive mechanism located at a position corresponding to the moving mechanism, and the second drive mechanism is connected to the longitudinal rod via a connecting rod.

[0018] According to certain embodiments of the first aspect of this application, the moving mechanism is provided with an angle adjustment mechanism for adjusting the tilt angle of the roller.

[0019] The above solution has at least the following beneficial effects: the insulator is held by rollers on both sides of the moving mechanism. The rollers are tilted inward and the angle with the roller mounting plate is obtuse, which is adapted to the shape of the insulator, so that the insulator cleaning robot can be stably fixed on the insulator. The insulator cleaning robot moves along the insulator by rotating the rollers. When the insulator cleaning robot is in the cleaning state and cleaning the insulator, the cleaning unit cleans the insulator. When the insulator cleaning robot is in the walking state, because the brush drive mechanism is close to the moving mechanism, the center of gravity of the insulator cleaning robot is located below the moving mechanism and between the two cleaning units. The center of gravity moment resists the interference caused by wind and other loads, ensuring the stability of the insulator cleaning robot at high altitudes. Attached Figure Description

[0020] The accompanying drawings are used to provide a further understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0021] Figure 1 This is a structural diagram of an insulator cleaning robot;

[0022] Figure 2 This is a schematic diagram of an insulator cleaning robot in cleaning mode;

[0023] Figure 3 This is a schematic diagram of an insulator cleaning robot in a walking state;

[0024] Figure 4 This is a structural diagram of the cleaning unit. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0026] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, or the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0027] The embodiments of this application will be further described below with reference to the accompanying drawings.

[0028] An embodiment of this application provides an insulator cleaning robot.

[0029] Reference Figure 1 An insulator cleaning robot includes a moving mechanism, a cleaning unit, and a brush drive mechanism.

[0030] The moving mechanism is used to move the insulator cleaning robot on the insulator. The roller mounting plate 110 of the moving mechanism is provided with rollers 120 on both sides. The rollers 120 are inclined inward and the angle with the roller mounting plate 110 is obtuse. Cleaning units are provided on both sides of the moving mechanism. The cleaning units are mounted on the brush drive mechanism, which is close to the moving mechanism, so that when the insulator cleaning robot is in the walking state, the center of gravity of the insulator cleaning robot is located below the moving mechanism and between the two cleaning units.

[0031] In this embodiment, the insulator is held in place by rollers 120 on both sides of the moving mechanism. The rollers 120 are tilted inward and have an obtuse angle with the roller mounting plate 110, which is adapted to the shape of the insulator, so that the insulator cleaning robot can be stably fixed on the insulator. The insulator cleaning robot moves along the insulator by rotating the rollers 120. When the insulator cleaning robot is in the cleaning state and cleaning the insulator, the cleaning unit cleans the insulator. Since the brush drive mechanism is close to the moving mechanism, the center of gravity of the insulator cleaning robot is located below the moving mechanism and between the two cleaning units. The center of gravity moment is used to resist the interference caused by wind and other loads, ensuring the stability of the insulator cleaning robot at high altitudes.

[0032] Reference Figure 2 In some embodiments, the moving mechanism has four rollers 120, with two rollers 120 mounted on one roller mounting plate 110 and the other two rollers 120 mounted on another roller mounting plate 110. The cooperation of the four rollers 120 allows the insulator cleaning robot to move smoothly along the insulator. The rollers 120 adjust to the shape of different insulator models through frictional movement, effectively ensuring the drive structure fits tightly against the surface and adapts to different working scenarios.

[0033] Reference Figure 4 In some embodiments, the cleaning unit includes a brush mounting frame 210, a drive chain 220, a drive wheel 230, and a cleaning block 240. The brush mounting frame 210 is provided with a chain track 260, the drive chain 220 is disposed in the chain track 260, the cleaning block 240 is mounted on the drive chain 220, and the drive wheel 230 is connected to the drive chain 220 for transmission.

[0034] The cleaning block 240 can be a brush, a sponge, or other cleaning material.

[0035] When the two cleaning units are joined together, they are coaxially aligned with the insulator to achieve 360-degree coverage.

[0036] When the cleaning block 240 is positioned on the corresponding arc-shaped surface 250, the cleaning block 240 protrudes from the arc-shaped surface 250. The insulator is cleaned through the protruding part of the cleaning block 240.

[0037] The transmission wheel 230 is driven by a motor and is a gear. The transmission wheel 230 meshes with the transmission chain 220. When the motor drives the transmission wheel 230 to rotate, the transmission wheel 230 drives the transmission chain 220 to rotate. When the transmission chain 220 moves the cleaning block 240 to the position of the corresponding arc surface 250, the insulator is cleaned through the protruding part of the cleaning block 240. The transmission chain 220 drives the cleaning block 240 to move forward, so that the cleaning block 240 brushes the insulator.

[0038] The brush mounting bracket 210 is equipped with a water outlet, which is connected to a cleaning fluid storage tank via a conduit. The cleaning fluid storage tank contains cleaning fluid, which flows along the conduit and exits from the water outlet, spraying onto the insulator.

[0039] In some embodiments, the side of the brush mounting bracket 210 away from the brush drive mechanism is an arc-shaped surface 250, that is, the side of the brush mounting bracket 210 facing the insulator is an arc-shaped surface 250. This arc-shaped surface 250 conforms to the outer edge curve of the insulator, which allows the cleaning block 240 on the brush mounting bracket 210 to conform to the insulator to clean the insulator.

[0040] In some embodiments, multiple cleaning blocks 240 are distributed at intervals along the drive chain 220, so that no matter where the drive chain 220 rotates, there are cleaning blocks 240 on the drive chain 220 to clean the insulator; during the rotation of the drive chain 220, the cleaning blocks 240 on the drive chain 220 continuously clean the insulator; thus improving the cleaning effect and cleaning efficiency.

[0041] In some embodiments, the brush driving mechanism includes a transverse rod 310 and a longitudinal rod 320. The transverse rod 310 is connected to the moving mechanism, and the longitudinal rod 320 is located on both sides of the moving mechanism. The cleaning unit is mounted on the longitudinal rod 320. The longitudinal rod 320 is movably connected to the transverse rod 310. A second driving mechanism 420 is provided on the longitudinal rod 320, and the cleaning unit is disposed on the second driving mechanism 420. The brush driving mechanism further includes a second driving mechanism 420, which is located at a position corresponding to the moving mechanism. The second driving mechanism 420 is connected to the longitudinal rod 320 via a connecting rod 430, one end of which is connected to the longitudinal rod 320, and the other end of which is connected to the second driving mechanism 420.

[0042] The cleaning unit is connected to the sliding block of the second drive mechanism 420 by screws, which facilitates the assembly and disassembly of the cleaning unit and the sliding block of the second drive mechanism 420.

[0043] The first drive mechanism 410 is controlled to move, and the first drive mechanism 410 drives the brush mounting bracket 210 and the cleaning block 240 on it to move along the longitudinal rod 320; the second drive mechanism 420 is controlled to move, and the longitudinal rod 320 is driven to move along the transverse rod 310 through the connecting rod 430.

[0044] When the cleaning block 240 is needed to clean the insulator, the first drive mechanism 410 is controlled to move, causing the brush mounting bracket 210 and the cleaning block 240 on it to move along the longitudinal rod 320 to a height flush with the insulator. Then, the second drive mechanism 420 is controlled to move upward, driving the longitudinal rod 320 along the transverse rod 310 via the connecting rod 430, causing the longitudinal rod 320 to move towards the center, so that the cleaning blocks 240 on both sides of the moving mechanism are in contact with the insulator. By adjusting the second drive mechanism 420, the distance between the cleaning unit and the moving mechanism is controlled, allowing the cleaning unit to be used for insulators of different sizes.

[0045] The first drive mechanism 410 and the second drive mechanism 420 can be either pneumatic slide bars or electric slide bars.

[0046] In some embodiments, the moving mechanism is equipped with an angle adjustment mechanism. The angle adjustment mechanism includes a motor and a hinge. Rollers 120 are mounted on the hinge, and the motor drives the hinge to rotate, thereby adjusting the tilt angle of the rollers 120. By adjusting the tilt angle of the rollers 120 through the angle adjustment mechanism, the rollers 120 on both sides can clamp insulators of different sizes, enabling the insulator cleaning robot to be applicable to insulators of different sizes.

[0047] Reference Figure 2 and Figure 3The workflow of the insulator cleaning robot is as follows: The insulator cleaning robot is placed on the insulator, and the rollers 120 of the moving mechanism hold the insulator. The first drive mechanism 410 is controlled to move, so that the first drive mechanism 410 drives the brush mounting frame 210 and the cleaning block 240 on it to move along the longitudinal rod 320 to a height flush with the insulator. Then, the second drive mechanism 420 is controlled to move upward, and the longitudinal rod 320 is driven to move along the transverse rod 310 through the connecting rod 430, so that the longitudinal rod 320 moves towards the middle, so that the cleaning blocks 240 on both sides of the moving mechanism are in contact with the insulator. Cleaning liquid is sprayed out through the fine holes. The motor drives the transmission wheel 230 to rotate, and the transmission wheel 230 drives the transmission chain 220 to rotate. When the transmission chain 220 moves the cleaning block 240 to the position of the corresponding arc surface 250, the insulator is cleaned through the protruding part of the cleaning block 240. The transmission chain 220 also drives the cleaning block 240 to move forward, so that the cleaning block 240 brushes the insulator. After cleaning an insulator at one location, the second drive mechanism 420 is controlled to move downwards, driving the longitudinal rod 320 along the transverse rod 310 via the connecting rod 430. This causes the longitudinal rod 320 to move outwards, moving the cleaning blocks 240 on both sides of the moving mechanism away from the insulator. The first drive mechanism 410 is then controlled to move, driving the brush mounting bracket 210 and the cleaning blocks 240 on it along the longitudinal rod 320 to below the insulator. Simultaneously, the second drive mechanism 420 is controlled to move upwards, causing its cylinder to move away from the insulator. This drives the longitudinal rod 320 along the transverse rod 310 via the connecting rod 430, bringing it closer to the center. This positions the insulator cleaning robot's center of gravity below the moving mechanism and between the two cleaning units, meaning the robot's center of gravity is slightly below the insulator. The robot then transitions to a walking state. Finally, the rollers 120 of the moving mechanism are controlled to roll, allowing the robot to move along the insulator to the next cleaning location.

[0048] Since the insulator cleaning robot is in walking mode, its center of gravity is located slightly below the insulator, maintaining a low center of gravity. When the insulator cleaning robot is deflected by factors such as wind, it will automatically correct itself back to the position where the longitudinal rod 320 is perpendicular to the ground under the action of gravity torque.

[0049] The above is a detailed description of the preferred embodiments of this application, but this application is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. An insulator cleaning robot, characterized in that, include: A moving mechanism is provided to enable the insulator cleaning robot to move on the insulator. The moving mechanism has rollers on both sides of the roller mounting plate. The rollers are inclined inward and the angle with the roller mounting plate is obtuse. A cleaning unit is provided on both sides of the moving mechanism; A brush drive mechanism is provided, on which the cleaning units are mounted. The brush drive mechanism is located close to the moving mechanism, so that when the insulator cleaning robot is in a walking state, the center of gravity of the insulator cleaning robot is located below the moving mechanism and between the two cleaning units. The brush drive mechanism includes a transverse rod and a longitudinal rod. The transverse rod is connected to the moving mechanism, and the longitudinal rod is located on both sides of the moving mechanism. The cleaning units are mounted on the longitudinal rods, and the longitudinal rods are movably connected to the transverse rods. The longitudinal rods are provided with a first drive mechanism, and the cleaning units are disposed on the first drive mechanism. The brush drive mechanism also includes a second drive mechanism, which is located at a position corresponding to the moving mechanism and is connected to the longitudinal rods via a connecting rod. Specifically, the second drive mechanism is controlled to move downwards, driving the longitudinal rod along the transverse rod via the connecting rod, causing the longitudinal rod to move outwards and thus moving the cleaning units on both sides of the moving mechanism away from the insulator; the first drive mechanism is controlled to move, driving the cleaning unit along the longitudinal rod to below the insulator, and the second drive mechanism is controlled to move upwards, causing the cylinder of the second drive mechanism to move away from the insulator, driving the longitudinal rod along the transverse rod via the connecting rod, causing the longitudinal rod to move towards the center, so that the center of gravity of the insulator cleaning robot is located below the moving mechanism and between the two cleaning units.

2. The insulator cleaning robot according to claim 1, characterized in that, The cleaning unit includes a brush mounting frame, a drive chain, a drive wheel, and a cleaning block. The brush mounting frame is provided with a chain track, the drive chain is disposed in the chain track, the cleaning block is mounted on the drive chain, and the drive wheel is connected to the drive chain for transmission.

3. The insulator cleaning robot according to claim 2, characterized in that, The side of the brush mounting bracket away from the brush drive mechanism is curved.

4. An insulator cleaning robot according to claim 3, characterized in that, When the cleaning block is located at the position corresponding to the arc-shaped surface, the cleaning block protrudes from the arc-shaped surface.

5. An insulator cleaning robot according to claim 3, characterized in that, Multiple cleaning blocks are distributed at intervals along the drive chain.

6. An insulator cleaning robot according to claim 1, characterized in that, The moving mechanism is equipped with an angle adjustment mechanism for adjusting the tilt angle of the roller.

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