An insulator flushing manipulator based on drone

Abstract

The present invention belongs to the field of manipulator technology, and in particular discloses an insulator washing manipulator based on a drone, comprising a placement rack, both sides of the bottom of the placement rack are provided with cleaning components, the cleaning components include a first clamping frame and a second clamping frame, the inner concave surfaces of the first clamping frame and the second clamping frame are arranged opposite to each other, and the first clamping frame and the second clamping frame both clamp the insulator through the inner concave surfaces, a connecting frame is arranged on the top of the placement rack, the connecting frame is installed at the bottom of the drone, and a plurality of arc frames are arranged inside the inner concave surfaces of the first clamping frame and the second clamping frame. When the present invention uses a drone equipped with a manipulator to clean the insulator, the first clamping frame and the second clamping frame cooperate to clamp the insulator, and the scraper moves up and down to clean the side of the insulator, thereby preventing the resistance value of the insulator from decreasing, protecting the staff, and reducing the waste of water resources.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to an insulator flushing manipulator based on an unmanned aerial vehicle. Background Art

[0002] When insulators are exposed to the external environment for a long time, in wet conditions such as dew deposition, fog or rain, a layer of wet conductive film slowly forms on the outer surface of the insulator over time and begins to leak current. When a dry band is formed on the outer surface of the insulator, the leakage current is interrupted and an arc is caused.

[0003] At present, the cleaning of power transmission lines is mainly done by manual cleaning, which wastes a lot of water resources and also puts workers working at heights at greater risk of falling from the tower.

[0004] Therefore, it is necessary to invent an insulator flushing robot based on a drone to solve the above problems. Summary of the invention

[0005] In view of the above problems, the present invention provides an insulator flushing robot based on a drone to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an insulator flushing manipulator based on a drone, comprising a placing frame, cleaning components are arranged on both sides of the bottom of the placing frame, the cleaning components include a first clamping frame and a second clamping frame, the inner concave surfaces of the first clamping frame and the second clamping frame are arranged opposite to each other, and the first clamping frame and the second clamping frame both clamp the insulator through the inner concave surfaces, a connecting frame is arranged on the top of the placing frame, and the connecting frame is installed on the bottom of the drone, a plurality of arc frames are arranged inside the inner concave surfaces of the first clamping frame and the second clamping frame, an annular groove is formed between two adjacent insulators, and the arc frames are engaged and clamped inside the annular groove, the top of the arc frame is connected to two opposite scrapers through a connecting component, the first clamping frame and the second clamping frame are both provided with a winding rod at the bottom, a pull rod is arranged on the inner side of the arc frame, the top of the pull rod is connected to the connecting component, and the bottom of the pull rod is wound on the surface of the winding rod, and motors are installed on the sides of the first clamping frame and the second clamping frame, and the end of the winding rod is transmission-connected to the output end of the motor.

[0007] Furthermore, the scraper is configured as a rubber plate, and adsorption cotton is laid on the surface of the rubber plate. The moving scraper cleans impurities on the surface of the insulator through the adsorption cotton.

[0008] Furthermore, the multiple arc frames of the first clamping frame correspond to the multiple arc frames of the second clamping frame one by one, and the arc frames of the first clamping frame and the arc frames of the second clamping frame are matched and clamped on the inner side of the annular groove between two adjacent insulators.

[0009] Furthermore, a vertical rod is fixed at the center of the top surface of the placement rack and passes through the center of the connecting frame. A spring is sleeved on the surface of the vertical rod. The bottom end of the spring is connected to the top surface of the placement rack, and the top end of the spring is fitted with the bottom surface of the connecting frame. A plurality of support rods are fixed to the top surface of the placement rack, and the top ends of the support rods pass through the connecting frame. Nuts are spirally sleeved on the top ends of the support rods, and the bottom surfaces of the nuts are fitted with the top surface of the connecting frame.

[0010] Furthermore, a square rod is provided at the center of the outer convex surface of the first clamp frame, side panels are fixed to the bottom surfaces of both ends of the placement frame, and the square rod passes through the center of the side panels accordingly, an elastic member is sleeved on the surface of the square rod, the inner end of the elastic member is connected to the outer convex surface of the first clamp frame, and the outer end of the elastic member is connected to the inner side surface of the side panel, and the bottom of the inner concave surface of the first clamp frame and the second clamp frame are both provided with inclined surfaces.

[0011] Furthermore, a push rod is fixed to the top surface of the second clamping frame, a sliding groove corresponding to the push rod is provided on the surface of the placement frame, an inner rod is embedded in the inner side of the sliding groove, the push rod is slidably sleeved on the surface of the inner rod, a pressure plate is provided at the bottom of the placement frame, and rotating plates are provided on both sides of the pressure plate, the bottom end of the rotating plate is hinged to the center of the outer convex surface of the second clamping frame, the top end of the rotating plate is hinged to the end of the pressure plate, a cylinder is installed at the center of the bottom surface of the placement frame, and the top surface of the pressure plate is transmission-connected to the output end of the cylinder.

[0012] Furthermore, an inner frame is provided on the inner side of the arc frame, and the inner frame is slidably clamped on the inner side of the arc frame. Side rings are fixed on both sides of the inner frame. Arc grooves corresponding to the side rings are provided on both sides of the arc frame. The movable inner frame slides on the inner side of the arc groove through the side rings. Pull rods are connected to the tops of the first clamping frame and the second clamping frame, and the top surfaces of the inner frames are connected to the pull rods through elastic strips.

[0013] Furthermore, an insertion rod penetrating the side ring and the inner frame is fixed to the inner side of the scraper, a pressure block is fixed to the inner end of the insertion rod, the pressure blocks at the inner ends of the two insertion rods are connected by spring sheets, and the top of the pull rod is connected to the bottom of the pressure block.

[0014] Technical effects and advantages of the present invention:

[0015] 1. When the present invention uses a drone equipped with a manipulator to clean the insulator, the first clamping frame and the second clamping frame cooperate to clamp the insulator, and the scraper moves up and down to clean the side of the insulator, thereby avoiding the reduction of the resistance value of the insulator, protecting the staff and reducing the waste of water resources.

[0016] 2. The present invention clamps the insulator on the surface of the cable by the first clamp and the second clamp, thereby ensuring the stability of the placement frame and the drone on the top of the cable and preventing the drone from falling during the process of cleaning the insulator.

[0017] 3. In the present invention, when the second clamp is close to the first clamp by rotating the rotating plate, the first clamp cooperates with the second clamp to clamp insulators of different diameters, thereby improving the adaptability of the first clamp and the second clamp to insulators of different diameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is an overall diagram of an insulator flushing manipulator based on a drone according to an embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of the bottom components of a drone according to an embodiment of the present invention;

[0020] Figure 3 The embodiment of the present invention Figure 2 A magnified view of the structure of part A;

[0021] Figure 4 is a schematic diagram of the relative cooperation between the first clamping frame and the second clamping frame according to an embodiment of the present invention;

[0022] Figure 5 is a schematic diagram of an arc-shaped frame of a concave surface of a second clamping frame according to an embodiment of the present invention;

[0023] Figure 6 2 is a schematic diagram of the relative cooperation of two scrapers in an embodiment of the present invention;

[0024] In the figure: 1. placement rack; 2. first clamping rack; 3. second clamping rack; 4. connecting rack; 5. drone; 6. arc rack; 7. scraper; 8. winding rod; 9. pull rod; 10. motor; 11. vertical rod; 12. spring; 13. support rod; 14. nut; 15. square and round rod; 16. side plate; 17. elastic member; 18. push rod; 19. inner rod; 20. pressure plate; 21. rotating plate; 22. cylinder; 23. inner frame; 24. side ring; 25. arc groove; 26. pull rod; 27. elastic strip; 28. plug rod; 29. ​​pressure block; 30. shrapnel. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0026] The present invention provides an insulator flushing manipulator based on a drone, such as Figures 1 to 5As shown, it includes a placement frame 1, and cleaning components are arranged on both sides of the bottom of the placement frame 1. The cleaning components include a first clamping frame 2 and a second clamping frame 3. The inner concave surfaces of the first clamping frame 2 and the second clamping frame 3 are arranged opposite to each other, and the first clamping frame 2 and the second clamping frame 3 both clamp insulators through the inner concave surfaces. A connecting frame 4 is arranged on the top of the placement frame 1, and the connecting frame 4 is installed on the bottom of the drone 5. A plurality of arc frames 6 are arranged inside the inner concave surfaces of the first clamping frame 2 and the second clamping frame 3, and an annular groove is formed between two adjacent insulators, and the arc frame 6 is engaged and clamped inside the annular groove. The top of the arc frame 6 is connected to two opposite scrapers 7 through a connecting component. The first clamping frame 2 and the second clamping frame 3 are both provided with a winding rod 8 at the bottom, and a pull rod 9 is arranged on the inner side of the arc frame 6. The top of the pull rod 9 is connected to the connecting component, and the bottom of the pull rod 9 is wound on the surface of the winding rod 8. The sides of the first clamping frame 2 and the second clamping frame 3 are both provided with motors 10, and the end of the winding rod 8 is transmission-connected to the output end of the motor 10.

[0027] It is understandable that the connecting member between the arc frame 6 and the scraper 7 can be a connecting rod, a hinge, etc., and the specific form can be determined according to actual design requirements. Its function is to transmit the pulling force of the pull rod to the scraper through the connecting member when the winding rod winds up the pull rod, so as to realize the up and down movement of the scraper to clean the surface of the insulator.

[0028] Start the drone 5, and control the drone 5 to take off through the controller. The drone 5 drives the placement frame 1 and the cleaning component to move synchronously until the placement frame 1 reaches the position of the insulator. At this time, the two ends of the placement frame 1 are respectively placed on two parallel cable surfaces, and a plurality of insulators are connected in series on the cable surface, that is, the placement frame 1 corresponds to the insulator surface placed on the cable surface. At this time, the arc frame 6 on the concave surface of the first clamping frame 2 cooperates and is clamped on the inner side of the annular groove between two adjacent insulators, so that when the second clamping frame 3 moves, the second clamping frame 3 gradually approaches the first clamping frame 2, and the second clamping frame 3 cooperates with the first clamping frame 2 to clamp a plurality of insulators. Through the cooperation of the arc frame 6 and the annular groove, it is convenient to limit the placement frame 1 to the top of the insulator. At this time, the scraper 7 of the arc frame 6 fits tightly with the side of the insulator. The motor 10 is started by the controller, and the output end of the motor 10 drives the winding rod 8 to rotate. The rotating winding rod 8 winds up the pull rod 9. During the winding process, the pull rod 9 pulls the scraper 7 downward through the connecting component. The downward scraper 7 scrapes impurities on the surface of the insulator to complete the cleaning of the insulator and avoid the resistance value of the insulator from decreasing.

[0029] The scraper 7 is configured as a rubber plate, and the surface of the rubber plate is paved with absorbent cotton. The moving scraper 7 cleans impurities on the surface of the insulator through the absorbent cotton. The multiple arc frames 6 of the first clamp 2 correspond to the multiple arc frames 6 of the second clamp 3 one by one, and the arc frames 6 of the first clamp 2 and the arc frames 6 of the second clamp 3 are engaged and clamped on the inner side of the annular groove between two adjacent insulators. Before the drone 5 takes off, the cleaning agent is applied to the surface of the absorbent cotton on the scraper 7. When the first clamp 2 and the second clamp 3 cooperate to clamp the insulator on the surface of the cable, the scraper 7 is tightly attached to the side of the insulator through the absorbent cotton. When the connecting component drives the scraper 7 to move, the moving scraper 7 cleans the insulator through the cleaning agent on the absorbent cotton, thereby ensuring the cleaning effect of the insulator and reducing the waste of water resources.

[0030] exist Figures 1 to 3 In the figure, a vertical rod 11 penetrating the center of the connecting frame 4 is fixed at the center of the top surface of the placing frame 1, a spring 12 is sleeved on the surface of the vertical rod 11, the bottom end of the spring 12 is connected to the top surface of the placing frame 1, the top of the spring 12 is in contact with the bottom surface of the connecting frame 4, a plurality of supporting rods 13 are fixed on the top surface of the placing frame 1, and the top of the supporting rod 13 penetrates the connecting frame 4, a nut 14 is spirally sleeved on the top of the supporting rod 13, and the bottom surface of the nut 14 is in contact with the top surface of the connecting frame 4. When the drone 5 drives the placing frame 1 to be placed on the two cable surfaces, the drone 5 moves down, and the weight of the drone 5 drives the connecting frame 4 to move down on the surface of the vertical rod 11. The moving connecting frame 4 cooperates with the spring 12 on the surface of the vertical rod 11 to absorb the impact force of the moving drone 5 through the elastic force of the spring 12, so as to prevent the drone 5 from directly impacting the cable surface. When the drone 5 drives the connecting frame 4 to move down, the moving connecting frame 4 moves down on the surfaces of the plurality of supporting rods 13, and the placing frame 1 follows the stable movement of the drone 5 through the plurality of supporting rods 13, so as to prevent the placing frame 1 from rotating at the bottom of the drone 5.

[0031] exist Figure 1 and Figure 2 In the embodiment, a square rod 15 is arranged at the center of the outer convex surface of the first clamping frame 2, and side plates 16 are fixed to the bottom surfaces of both ends of the placement frame 1, and the square rod 15 passes through the center of the side plates 16. An elastic member 17 is sleeved on the surface of the square rod 15, and the inner end of the elastic member 17 is connected to the outer convex surface of the first clamping frame 2, and the outer end of the elastic member 17 is connected to the inner side surface of the side plates 16. The bottom of the inner concave surface of the first clamping frame 2 and the second clamping frame 3 are both provided with inclined surfaces. The placement frame 1 that moves downward drives the first clamping frame 2 to move downward synchronously. When the inclined surface of the first clamping frame 2 contacts the insulator, the insulator squeezes the inclined surface to make the first clamping frame 2 close to the side plates 16. During the movement, the first clamping frame 2 cooperates with the elastic member 17 on the surface of the square rod 15 to pressurize the elastic force of the elastic member 17, so that the arc frame 6 of the first clamping frame 2 is buckled in the inner side of the annular groove of the insulator.

[0032] exist Figure 2 and Figure 4 In the embodiment, a push rod 18 is fixed on the top surface of the second clamping frame 3, a sliding groove corresponding to the push rod 18 is arranged on the surface of the placement frame 1, an inner rod 19 is embedded in the inner side of the sliding groove, and the push rod 18 is slidably sleeved on the surface of the inner rod 19, a pressing plate 20 is arranged at the bottom of the placement frame 1, and rotating plates 21 are arranged on both sides of the pressing plate 20, the bottom end of the rotating plate 21 is hinged to the center of the outer convex surface of the second clamping frame 3, and the top end of the rotating plate 21 is hinged to the end of the pressing plate 20, a cylinder 22 is installed at the center of the bottom surface of the placement frame 1, and the top surface of the pressing plate 20 is transmission-connected to the output end of the cylinder 22. After the placement rack 1 is placed on the cable surface, the cylinder 22 is started through the controller, and the output end of the cylinder 22 pushes the pressure plate 20 downward. The downwardly moved pressure plate 20 drives the top end of the rotating plate 21 to move downward during the downward movement, and the rotating plate 21 rotates during the downward movement. The rotating rotating plate 21 pushes the second clamping frame 3 to approach the first clamping frame 2, and the moving second clamping frame 3 slides on the surface of the inner rod 19 on the inner side of the slide groove through the top rod 18. The second clamping frame 3 is limited by the inner rod 19 and the rotating plate 21 to prevent the second clamping frame 3 from shifting during the movement, so that the second clamping frame 3 moves smoothly horizontally until the arc frame 6 of the second clamping frame 3 is clamped on the inner side of the annular groove.

[0033] exist Figures 4 to 6 In the embodiment, an inner frame 23 is provided inside the arc frame 6, and the inner frame 23 is slidably engaged with the inner side of the arc frame 6. Side rings 24 are fixed on both sides of the inner frame 23. Arc grooves 25 corresponding to the side rings 24 are provided on both sides of the arc frame 6. The movable inner frame 23 slides inside the arc grooves 25 through the side rings 24. The tops of the first clamping frame 2 and the second clamping frame 3 are connected with a pull rod 26, and the top surface of the inner frame 23 is connected with the pull rod 26 through an elastic strip 27. An insertion rod 28 penetrating the side ring 24 and the inner frame 23 is fixed on the inner side of the scraper 7. A pressure block 29 is fixed on the inner end of the insertion rod 28. The pressure blocks 29 at the inner ends of the two insertion rods 28 are connected by an elastic sheet 30. The top of the pull bar 9 is connected to the bottom surface of the pressure block 29 to ensure the connection stability between the scraper 7 and the inner frame 23 and to be able to perform adaptive adjustment according to the shape and pressure of the insulator during operation, while ensuring the effective pulling and control of the scraper 7 by the pull bar 9. After the arc frame 6 is clamped on the inner side of the annular groove, the side of the insulator cooperates to squeeze the scraper 7. Under the action of pressure, the scraper 7 drives the pressure block 29 to move through the plug rod 28. At this time, the two opposing pressure blocks 29 cooperate to squeeze the spring sheet 30 on the inner side of the inner frame 23. The elastic force of the spring sheet 30 makes the outer side of the scraper 7 fit tightly with the side of the insulator. When the rotating winding rod 8 rewinds the pull rod 9, the pull rod 9 pulls the inner frame 23 downward on the inner side of the arc frame 6 through the pressure block 29, and the downwardly moved inner frame 23 moves downward on the inner side of the arc groove 25 through the side ring 24. The arc frame 6 cooperates to limit the inner frame 23, and the downwardly moved pressure block 29 drives the scraper 7 to move downward on the side surface of the insulator through the plug rod 28. The downwardly moved scraper 7 cleans the insulator by absorbing the cleaning agent on the cotton.

[0034] It is understandable that the combination of the plug rod, the pressure block and the spring sheet can be used as an indirect connection component to connect the pull rod with the structure on the inner side of the scraper to achieve force transmission and adjustment of the scraper position. When the pull rod is pulled, the scraper moves through the pressure block and the plug rod, and the spring sheet plays a certain buffering and resetting role in this process, ensuring that the scraper fits tightly with the side of the insulator and can adapt to different working conditions.

[0035] When the inner frame 23 moves downward on the inner side of the arc frame 6, the arc frame 6 that moves downward cooperates with the pull rod 26 to pull the spring bar 27. The spring bar 27 is deformed and lengthened under the pulling of the inner frame 23 until the side ring 24 moves to the bottom of the arc groove 25. At this time, the inner frame 23 stops moving, and the output end of the motor 10 causes the winding rod 8 to reverse. At this time, the elastic force of the spring bar 27 pulls the inner frame 23 to move upward on the inner side of the arc frame 6. The upward inner frame 23 continues to clean the insulator through the scraper 7 until the side ring 24 moves to the top of the arc groove 25. The scraper 7 stops moving. The bidirectional movement of the scraper 7 facilitates the comprehensive cleaning of the insulator.

[0036] Working principle of the present invention:

[0037] Reference Figures 1 to 6 As shown, start the drone 5, control the drone 5 to take off through the controller, and the drone 5 drives the placement rack 1 and the cleaning components to move synchronously until the placement rack 1 reaches the position of the insulator. At this time, the two ends of the placement rack 1 are respectively placed on two parallel cable surfaces, and a plurality of insulators are connected in series on the cable surface, that is, the placement rack 1 corresponds to the insulator surface placed on the cable surface.

[0038] When the drone 5 drives the placement frame 1 to be placed on the two cable surfaces, the drone 5 moves downward, and the weight of the drone 5 drives the connection frame 4 to move downward on the surface of the vertical rod 11. The downwardly moving connection frame 4 cooperates with the spring 12 that squeezes the surface of the vertical rod 11, and absorbs the impact force of the downward movement of the drone 5 through the elastic force of the spring 12, thereby preventing the drone 5 from directly impacting the cable surface. When the drone 5 drives the connection frame 4 to move downward, the downwardly moving connection frame 4 moves downward on the surfaces of the multiple support rods 13, and the placement frame 1 follows the stable movement of the drone 5 through the multiple support rods 13, thereby preventing the placement frame 1 from rotating at the bottom of the drone 5.

[0039] The downward-moving placement frame 1 drives the first clamping frame 2 to move downward synchronously. When the inclined surface of the first clamping frame 2 contacts the insulator, the insulator squeezes the inclined surface to make the first clamping frame 2 close to the side plate 16. During the movement, the first clamping frame 2 cooperates with the elastic member 17 on the surface of the pressurized square rod 15. Through the elastic force of the elastic member 17, the arc frame 6 of the first clamping frame 2 is buckled on the inner side of the annular groove of the insulator.

[0040] At this time, the arc frame 6 on the concave surface of the first clamping frame 2 cooperates and is clamped on the inner side of the annular groove between two adjacent insulators, and the cylinder 22 is started by the controller. The output end of the cylinder 22 pushes the pressing plate 20 to move downward. The downwardly moved pressing plate 20 drives the top end of the rotating plate 21 to move downward during the downward movement, and the rotating plate 21 rotates during the downward movement. The rotating rotating plate 21 pushes the second clamping frame 3 to approach the first clamping frame 2, and the moving second clamping frame 3 slides on the surface of the inner rod 19 inside the sliding groove through the top rod 18. The second clamping frame 3 is limited by the inner rod 19 and the rotating plate 21 to prevent the second clamping frame 3 from deviating during the movement, so that the second clamping frame 3 moves smoothly horizontally until the arc frame 6 of the second clamping frame 3 is clamped on the inner side of the annular groove. The second clamping frame 3 cooperates with the first clamping frame 2 to clamp multiple insulators. Through the cooperation of the arc frame 6 and the annular groove, it is convenient to limit the placement frame 1 at the top of the insulator. At this time, the scraper 7 of the arc frame 6 is tightly fitted with the side of the insulator. After the arc frame 6 is clamped on the inner side of the annular groove, the side surface of the insulator cooperates to squeeze the scraper 7. Under the action of pressure, the scraper 7 drives the pressure block 29 to move through the insertion rod 28. At this time, the two opposing pressure blocks 29 cooperate to squeeze the spring piece 30 on the inner side of the inner frame 23. The elastic force of the spring piece 30 makes the outer side surface of the scraper 7 fit tightly with the side surface of the insulator.

[0041] The motor 10 is started by the controller, and the output end of the motor 10 drives the winding rod 8 to rotate, and the rotating winding rod 8 winds up the pull rod 9. When the rotating winding rod 8 winds up the pull rod 9, the pull rod 9 pulls the inner frame 23 to move downward on the inner side of the arc frame 6 through the pressure block 29, and the downwardly moved inner frame 23 moves downward on the inner side of the arc groove 25 through the side ring 24. The arc frame 6 cooperates to limit the inner frame 23, and the downwardly moved pressure block 29 drives the scraper 7 to move downward on the side surface of the insulator through the insertion rod 28. The downwardly moved scraper 7 cleans the insulator by absorbing the cleaning agent on the cotton.

[0042] When the inner frame 23 moves downward on the inner side of the arc frame 6, the arc frame 6 that moves downward cooperates with the pull rod 26 to pull the spring bar 27. The spring bar 27 is deformed and lengthened under the pulling of the inner frame 23 until the side ring 24 moves to the bottom of the arc groove 25. At this time, the inner frame 23 stops moving, and the output end of the motor 10 causes the winding rod 8 to reverse. At this time, the elastic force of the spring bar 27 pulls the inner frame 23 to move upward on the inner side of the arc frame 6. The upward inner frame 23 continues to clean the insulator through the scraper 7 until the side ring 24 moves to the top of the arc groove 25. The scraper 7 stops moving. The bidirectional movement of the scraper 7 facilitates the comprehensive cleaning of the insulator to avoid the reduction of the resistance value of the insulator.

[0043] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them.

Claims

1. An insulator flushing manipulator based on a drone, characterized by: The invention comprises a placement frame (1), wherein both sides of the bottom of the placement frame (1) are provided with cleaning components, the cleaning components comprising a first clamping frame (2) and a second clamping frame (3), the inner concave surfaces of the first clamping frame (2) and the second clamping frame (3) are arranged opposite to each other, and the first clamping frame (2) and the second clamping frame (3) both clamp the insulator by cooperating with each other through the inner concave surfaces; A connecting frame (4) is arranged on the top of the placement frame (1), and the connecting frame (4) is installed on the bottom of the drone (5); A plurality of arc-shaped frames (6) are arranged inside the inner concave surfaces of the first clamping frame (2) and the second clamping frame (3), an annular groove is formed between two adjacent insulators, and the arc-shaped frames (6) are engaged and clamped inside the annular groove; The top of the arc frame (6) is connected to two opposite scrapers (7) via a connecting component, the bottom of the first clamping frame (2) and the second clamping frame (3) are both provided with a winding rod (8), the inner side of the arc frame (6) is provided with a pull rod (9), the top of the pull rod (9) is connected to the connecting component, and the bottom of the pull rod (9) is wound on the surface of the winding rod (8), the side of the first clamping frame (2) and the second clamping frame (3) are both installed with a motor (10), and the end of the winding rod (8) is transmission-connected to the output end of the motor (10); A square rod (15) is provided at the center of the outer convex surface of the first clamping frame (2), and side plates (16) are fixed to the bottom surfaces of both ends of the placement frame (1), and the square rod (15) passes through the center of the side plates (16) correspondingly, and an elastic member (17) is sleeved on the surface of the square rod (15), the inner end of the elastic member (17) is connected to the outer convex surface of the first clamping frame (2), and the outer end of the elastic member (17) is connected to the inner side surface of the side plate (16), and the bottom of the inner concave surface of the first clamping frame (2) and the second clamping frame (3) are both provided with inclined surfaces; A push rod (18) is fixed on the top surface of the second clamping frame (3); a sliding groove corresponding to the push rod (18) is arranged on the surface of the placement frame (1); an inner rod (19) is embedded in the inner side of the sliding groove; the push rod (18) is slidably sleeved on the surface of the inner rod (19); a pressing plate (20) is arranged at the bottom of the placement frame (1); rotating plates (21) are arranged on both sides of the pressing plate (20); the bottom end of the rotating plate (21) is hinged to the center of the outer convex surface of the second clamping frame (3); the top end of the rotating plate (21) is hinged to the end of the pressing plate (20); a cylinder (22) is installed at the center of the bottom surface of the placement frame (1); the top surface of the pressing plate (20) is transmission-connected to the output end of the cylinder (22); An inner frame (23) is provided on the inner side of the arc frame (6), and the inner frame (23) is slidably engaged with the inner side of the arc frame (6). Side rings (24) are fixed on both sides of the inner frame (23). Arc grooves (25) corresponding to the side rings (24) are provided on both sides of the arc frame (6). The movable inner frame (23) slides on the inner side of the arc groove (25) through the side rings (24). The tops of the first clamping frame (2) and the second clamping frame (3) are both connected to pull rods (26), and the top surface of the inner frame (23) is connected to the pull rod (26) through elastic bars (27).

2. The insulator flushing manipulator based on a drone according to claim 1 is characterized in that: The scraper (7) is configured as a rubber plate, and adsorption cotton is laid on the surface of the rubber plate. The moving scraper (7) cleans impurities on the surface of the insulator through the adsorption cotton.

3. The insulator flushing manipulator based on a drone according to claim 2 is characterized in that: The plurality of arc-shaped frames (6) of the first clamping frame (2) correspond one to one with the plurality of arc-shaped frames (6) of the second clamping frame (3), and the arc-shaped frames (6) of the first clamping frame (2) and the arc-shaped frames (6) of the second clamping frame (3) are matched and clamped on the inner side of the annular groove between two adjacent insulators.

4. The insulator flushing manipulator based on a drone according to claim 3 is characterized in that: A vertical rod (11) is fixed at the center of the top surface of the placement frame (1) and passes through the center of the connecting frame (4). A spring (12) is sleeved on the surface of the vertical rod (11). The bottom end of the spring (12) is connected to the top surface of the placement frame (1). The top end of the spring (12) is in contact with the bottom surface of the connecting frame (4). A plurality of support rods (13) are fixed to the top surface of the placement frame (1). The top ends of the support rods (13) pass through the connecting frame (4). Nuts (14) are spirally sleeved on the top ends of the support rods (13). The bottom surfaces of the nuts (14) are in contact with the top surface of the connecting frame (4).

5. The insulator flushing manipulator based on a drone according to claim 1 is characterized in that: An insertion rod (28) penetrating the side ring (24) and the inner frame (23) is fixed to the inner side surface of the scraper (7); a pressure block (29) is fixed to the inner end of the insertion rod (28); the pressure blocks (29) at the inner ends of the two insertion rods (28) are connected via a spring sheet (30); and the top end of the pull bar (9) is connected to the bottom surface of the pressure block (29).

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