Insulator cleaning robot

Abstract

The application belongs to the technical field of insulator string nondestructive cleaning, and particularly relates to an insulator cleaning robot. The insulator cleaning robot comprises an upper and lower docking mobile rack module, an upper docking module, a rotatable cleaning module, a gear transmission module, a lower docking module and a motor driving module. The upper docking module, the gear transmission module and the lower docking module are arranged on the upper and lower docking mobile rack module from top to bottom. The upper docking module and the lower docking module are alternately fixed with the insulator string. The motor driving module drives the upper and lower docking mobile rack module to stretch and retract, so that the movement on the insulator string is realized. The rotatable cleaning module is arranged on the gear transmission module. The gear transmission module drives the rotatable cleaning module to rotate. The rotatable cleaning module is used for cleaning the insulator string. The application is suitable for the surface mobile cleaning of the high-altitude suspended insulator string, has the characteristics of high automation, accurate detection and easy implementation, and has a wide application prospect.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of non-destructive cleaning of insulator strings, and particularly relates to an insulator cleaning robot. BACKGROUND

[0002] With the increasing expansion and complexity of the power network, the safe and stable operation of high-voltage transmission lines has become a key link in the operation of the power system. In-depth exploration of the core issues in the field of power engineering, the importance of insulator cleaning is increasingly prominent, becoming a key link to ensure the safe and stable operation of high-voltage transmission lines and even the entire power system. As the "invisible guardian" in high-voltage transmission lines, the performance state of insulators is directly related to the safety boundary of power transmission. Under the continuous erosion of the natural environment, the pollution gradually accumulated on the surface of the insulator not only erodes its insulating performance, but also poses a potential threat to the safe and stable operation of the power grid. The accumulation of pollution not only reduces the insulating resistance, leading to a decline in electrical performance, but also may form a conductive path under wet conditions, inducing a pollution flashover accident. Such accidents not only cause huge economic losses, affect power supply reliability and user satisfaction, but also may trigger a chain reaction, endangering the overall stability of the power system. In summary, regular and efficient cleaning of insulators is not only a routine means of maintaining equipment performance, but also a necessary measure to ensure the safe and stable operation of the power grid and prevent major power accidents. It can effectively restore the insulating performance of insulators, improve their anti-pollution flashover capability, and thus enhance the overall defense capability of the power grid. At the same time, with the continuous progress of cleaning technology, such as the application of robot automatic cleaning and environmentally friendly cleaning agents, cleaning operations are not only more efficient and accurate, but also pay more attention to environmental protection and personnel safety, further improving the operation and maintenance level and sustainable development capability of the power system. Therefore, there is an urgent need for an insulator cleaning robot to achieve mobile and non-destructive cleaning of the surface of the insulator string. SUMMARY

[0003] In view of the above problems, the purpose of the present application is to provide an insulator cleaning robot to solve the problem that insulator strings are usually located in high altitude and have a large number and are widely distributed, and existing institutions cannot perform comprehensive cleaning.

[0004] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows:

[0005] The application provides an insulator cleaning robot, which comprises an upper-lower docking mobile frame module, an upper docking module, a rotatable cleaning module, a gear transmission module, a lower docking module and a motor driving module, wherein the motor driving module is arranged on the upper-lower docking mobile frame module and is used to drive the upper-lower docking mobile frame module to stretch and retract, the upper docking module, the gear transmission module and the lower docking module are sequentially arranged on the upper-lower docking mobile frame module from top to bottom, the upper docking module and the lower docking module are alternately fixed with the insulator string, the upper-lower docking mobile frame module is caused to move on the insulator string by stretching and retracting to cause the upper docking module and the lower docking module to relatively move, the rotatable cleaning module is arranged on the gear transmission module, the gear transmission module drives the rotatable cleaning module to rotate, and the rotatable cleaning module is used to clean the insulator string.

[0006] The upper-lower docking mobile frame module comprises an upper frame, an intermediate frame and a lower frame which are sequentially connected by connecting rods, wherein the intermediate frame and the lower frame are fixed relative to the connecting rods, and the upper frame can move up and down along the connecting rods.

[0007] The upper docking module and the lower docking module are arranged on the upper frame and the lower frame respectively, and the rotatable cleaning module and the gear transmission module are arranged on the intermediate frame.

[0008] The motor driving module comprises a motor, a trapezoidal screw rod, a trapezoidal screw nut, a pulley transmission mechanism, an arm support and a locking motor base, wherein the arm support is arranged on the locking motor base, the arm support is provided with lifting slides in the vertical direction, the trapezoidal screw rod is rotatably arranged on the arm support and is parallel to the lifting slides, the motor is arranged at the lower part of the arm support and the output end thereof is connected with the trapezoidal screw rod through the pulley transmission mechanism, and the trapezoidal screw nut forms a threaded pair with the trapezoidal screw rod.

[0009] The upper frame is in sliding fit with the lifting slides and is connected with the trapezoidal screw nut.

[0010] The upper docking module comprises an upper suction disc, an upper suction disc base, an upper supporting rod and an upper rotary driving mechanism, wherein the upper rotary driving mechanism is arranged on the upper frame, the output end of the upper rotary driving mechanism is connected with the upper supporting rod, the upper suction disc base is arranged on the upper supporting rod, the upper suction disc is arranged on the upper suction disc base, the upper suction disc is used to be fixed with the insulator string by suction, and the upper rotary driving mechanism is used to drive the upper suction disc to swing horizontally.

[0011] The upper rotary driving mechanism comprises an upper driving large gear, an upper driving small gear, an upper steering engine and an upper steering engine mounting base, wherein the upper steering engine mounting base is connected with the upper frame, the upper steering engine is arranged on the upper steering engine mounting base and the output end thereof is connected with the upper driving small gear, the upper driving large gear is rotatably arranged on the upper steering engine mounting base and is in mesh with the upper driving small gear, and the upper driving large gear is fixedly connected with the upper supporting rod.

[0012] The lower part docking module comprises a lower suction disc, a lower suction disc base, a lower support rod and a lower rotary drive mechanism, wherein the lower rotary drive mechanism is arranged on the lower rack, and the output end is connected with the lower support rod, the lower suction disc base is installed on the lower support rod, and the lower suction disc is installed on the lower suction disc base, and the lower suction disc is used for adsorbing and fixing the insulator string; the rotary drive mechanism is used for driving the lower suction disc to swing horizontally.

[0013] The lower rotary drive mechanism comprises a lower transmission large gear, a lower transmission small gear, a lower steering gear and a lower steering gear mounting seat, wherein the lower steering gear mounting seat is connected with the lower rack, the lower steering gear is installed on the lower steering gear mounting seat, and the output end is connected with the lower transmission small gear; the lower transmission large gear is rotatably installed on the lower steering gear mounting seat and is engaged with the lower transmission small gear, and the lower transmission large gear is connected with the lower support rod.

[0014] The rotatable cleaning module comprises a descaling wheel, a descaling wheel baffle, a cleaning fixed frame and a descaling long connecting plate base, wherein the descaling long connecting plate base is connected with the gear transmission module, one end of the descaling wheel baffle is hinged with the descaling long connecting plate base through a hinge shaft, a torsional spring I is sleeved on the hinge shaft, the descaling wheel is rotatably installed at the other end of the descaling wheel baffle, and the descaling wheel can be tightly attached to the insulator string under the torsional force of the torsional spring I; the cleaning fixed frame is sleeved on the connecting rod, and a torsional spring II is arranged between the cleaning fixed frame and the connecting rod, the torsional spring II keeps the cleaning fixed frame in a non-parallel posture with the descaling wheel baffle, and the cleaning fixed frame can only rotate in one direction; when the descaling wheel baffle rotates reversely to contact the cleaning fixed frame, the cleaning fixed frame will gradually lift the descaling wheel baffle with the reverse rotation of the descaling wheel baffle.

[0015] The gear transmission module comprises a lead large gear, a small transmission gear and a driving motor, wherein the lead large gear and the small transmission gear are rotatably installed on the intermediate rack, and the lead large gear and the small transmission gear are engaged with each other, the driving motor is arranged on the intermediate rack, and the output end is connected with the small transmission gear.

[0016] The insulator cleaning robot further comprises a guide module, and the guide module comprises a lower guide plate and an upper guide plate.

[0017] The top of the upper rack is provided with a plurality of upper guide plates in the circumferential direction, and the upper guide plates and the plurality of upper part docking modules are alternately and spacedly arranged; the bottom of the lower rack is provided with a plurality of lower guide plates in the circumferential direction, and the ends of the lower guide plates and the upper guide plates are both outwardly inclined structures.

[0018] The insulator cleaning robot further comprises a guide module, and the guide module comprises a lower guide plate and an upper guide plate.

[0019] Additional features and advantages of the application will be set forth in the description that follows, and in part will become apparent to those skilled in the art upon examination of the following or can be learned by practice of the application. The objectives and other advantages of the application can be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

[0020] The technical solutions of the present application are described in further detail below with reference to the accompanying drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

[0022] Figure 1 is a schematic diagram of the working state of an insulator cleaning robot of the present application;

[0023] Figure 2 is a top view of an insulator cleaning robot of the present application;

[0024] Figure 3 is one of the structural schematic diagrams of the upper and lower docking mobile rack module and the motor driving module in the present application;

[0025] Figure 4 is another of the structural schematic diagrams of the upper and lower docking mobile rack module and the motor driving module in the present application;

[0026] Figure 5 is one of the structural schematic diagrams of the upper docking module in the present application;

[0027] Figure 6 is another of the structural schematic diagrams of the upper docking module in the present application;

[0028] Figure 7 is a top view of the rotatable cleaning module in the present application;

[0029] Figure 8 is an isometric view of the rotatable cleaning module in the present application;

[0030] Figure 9 is a top view of the lower docking module in the present application;

[0031] Figure 10 is an isometric view of the lower docking module in the present application;

[0032] Figure 11 is a structural schematic diagram of the motor driving module in the present application;

[0033] Figure 12 is an isometric view of the motor driving module in the present application.

[0034] Figure 13 Figure is a schematic diagram of the docking cleaning process of the insulator cleaning robot of the present application.

[0035] In the figure: 1-insulator string, 2-up and down docking moving frame module, 201-upper frame, 202-middle frame, 203-lower frame, 204-connecting rod, 3-upper part docking module, 301-upper suction cup, 302-upper suction cup base, 303-upper support rod, 304-upper transmission gear, 305-upper transmission pinion, 306-upper steering engine, 4-rotatable cleaning module, 401-dirt removal wheel, 402-dirt removal wheel baffle, 403-cleaning fixed frame, 404-dirt removal long connecting plate base, 5-gear transmission module, 501-lead screw gear, 502-small transmission gear, 503-driving motor, 6-lower part docking module, 601-lower suction cup, 602-lower suction cup base, 603-lower support rod, 604-lower transmission gear, 605-lower transmission pinion, 606-lower steering engine, 7-guiding module, 701-lower guiding plate, 702-upper guiding plate, 8-motor driving module, 801-motor, 802-tapered screw, 803-tapered nut, 804-belt transmission mechanism, 805-arm support, 806-locking motor seat. DETAILED DESCRIPTION

[0036] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and other terms should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0037] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings, and it should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0038] Reference Figure 1 , Figure 2As shown in the figure, the present application provides an insulator cleaning robot, which comprises an up-down docking mobile rack module 2, an upper docking module 3, a rotatable cleaning module 4, a gear transmission module 5, a lower docking module 6 and a motor driving module 8. The motor driving module 8 is arranged on the up-down docking mobile rack module 2 and is used to drive the up-down docking mobile rack module 2 to stretch and retract. The upper docking module 3, the gear transmission module 5 and the lower docking module 6 are arranged on the up-down docking mobile rack module 2 from top to bottom. The upper docking module 3 and the lower docking module 6 are fixed alternately with the insulator string 1. The up-down docking mobile rack module 2 moves the upper docking module 3 and the lower docking module 6 relative to each other through stretching and retracting, so as to realize the movement on the insulator string 1. The rotatable cleaning module 4 is arranged on the gear transmission module 5. The gear transmission module 5 drives the rotatable cleaning module 4 to rotate. The rotatable cleaning module 4 is used for cleaning the insulator string 1.

[0039] Referring to Figure 3 、 Figure 4 As shown in the figure, in the embodiment of the present application, the up-down docking mobile rack module 2 comprises an upper rack 201, an intermediate rack 202 and a lower rack 203 which are connected in sequence through connecting rods 204. The intermediate rack 202 and the lower rack 203 are fixed relative to the connecting rods 204. The upper rack 201 can move up and down along the connecting rods 204. The upper docking module 3 and the lower docking module 6 are arranged on the upper rack 201 and the lower rack 203 respectively. The rotatable cleaning module 4 and the gear transmission module 5 are arranged on the intermediate rack 202.

[0040] Referring to Figure 11 、 Figure 12 As shown in the figure, in the embodiment of the present application, the motor driving module 8 comprises a motor 801, a trapezoidal screw 802, a trapezoidal nut 803, a pulley transmission mechanism 804, an arm support 805 and a locking motor base 806. The arm support 805 is arranged on the locking motor base 806. The arm support 805 is provided with lifting slide rails in the vertical direction. The trapezoidal screw 802 is rotatably installed on the arm support 805 and is parallel to the lifting slide rails. The motor 801 is arranged at the lower part of the arm support 805 and the output end is connected with the trapezoidal screw 802 through the pulley transmission mechanism 804. The trapezoidal nut 803 forms a threaded pair with the trapezoidal screw 802. The upper rack 201 is in sliding fit with the lifting slide rails and is connected with the trapezoidal nut 803. The motor 801 drives the trapezoidal screw 802 to rotate through the pulley transmission mechanism 804, so as to drive the upper rack 201 to lift along the lifting slide rails through the trapezoidal nut 803, and further drive the up-down docking mobile rack module 2 to move accurately, so as to realize more efficient and more thorough cleaning of the insulator string.

[0041] Referring to Figure 5 、 Figure 6As shown, in the embodiment of the present application, the upper docking module 3 comprises an upper suction disc 301, an upper suction disc base 302, an upper supporting rod 303 and an upper rotary drive mechanism, wherein the upper rotary drive mechanism is arranged on the upper rack 201, the output end of the upper rotary drive mechanism is connected with the upper supporting rod 303, the upper suction disc base 302 is arranged on the upper supporting rod 303, the upper suction disc 301 is arranged on the upper suction disc base 302, and the upper suction disc 301 is used for adsorbing and fixing the insulator string 1; the upper rotary drive mechanism is used for driving the upper suction disc 301 to swing horizontally.

[0042] Specifically, the upper rotary drive mechanism comprises an upper driving large gear 304, an upper driving small gear 305, an upper steering engine 306 and an upper steering engine mounting seat, wherein the upper steering engine mounting seat is connected with the upper rack 201, the upper steering engine 306 is arranged on the upper steering engine mounting seat and the output end thereof is connected with the upper driving small gear 305, the upper driving large gear 304 is rotatably arranged on the upper steering engine mounting seat and is engaged with the upper driving small gear 305, and the upper driving large gear 304 is fixedly connected with the upper supporting rod 303.

[0043] Referring to Figure 9 , Figure 10 As shown, in the embodiment of the present application, the lower docking module 6 comprises a lower suction disc 601, a lower suction disc base 602, a lower supporting rod 603 and a lower rotary drive mechanism, wherein the lower rotary drive mechanism is arranged on the lower rack 203 and the output end thereof is connected with the lower supporting rod 603, the lower suction disc base 602 is arranged on the lower supporting rod 603, the lower suction disc 601 is arranged on the lower suction disc base 602, and the lower suction disc 601 is used for adsorbing and fixing the insulator string 1; the rotary drive mechanism is used for driving the lower suction disc 601 to swing horizontally.

[0044] In the embodiment of the present application, the lower rotary drive mechanism comprises a lower driving large gear 604, a lower driving small gear 605, a lower steering engine 606 and a lower steering engine mounting seat, wherein the lower steering engine mounting seat is connected with the lower rack 203, the lower steering engine 606 is arranged on the lower steering engine mounting seat and the output end thereof is connected with the lower driving small gear 605; the lower driving large gear 604 is rotatably arranged on the lower steering engine mounting seat and is engaged with the lower driving small gear 605, and the lower driving large gear 604 is connected with the lower supporting rod 603.

[0045] Referring to Figure 7 , Figure 8As shown, in the embodiment of the present application, the gear transmission module 5 comprises a lead screw 501, a small transmission gear 502 and a driving motor 503, wherein the lead screw 501 and the small transmission gear 502 are rotatably installed on the intermediate rack 202, and the lead screw 501 and the small transmission gear 502 are in mesh with each other, the driving motor 503 is arranged on the intermediate rack 202, and the output end is connected with the small transmission gear 502. The driving motor 503 drives the small transmission gear 502 to rotate, and then drives the lead screw 501 to rotate to drive the rotatable cleaning module 4 to rotate.

[0046] As shown in the drawings, Figure 7 , Figure 8 As shown, in the embodiment of the present application, the rotatable cleaning module 4 comprises a descaling wheel 401, a descaling wheel baffle 402, a cleaning fixed frame 403 and a descaling long connecting plate base 404, wherein the descaling long connecting plate base 404 is connected with the lead screw 501 in the gear transmission module 5, one end of the descaling wheel baffle 402 is hinged with the descaling long connecting plate base 404 through a hinge shaft, a torsional spring I is sleeved on the hinge shaft, the descaling wheel 401 is rotatably installed on the other end of the descaling wheel baffle 402, and the descaling wheel 401 can be tightly attached to the insulator string 1 under the torsional force of the torsional spring I. The cleaning fixed frame 403 is sleeved on a connecting rod 204, and a torsional spring II is arranged between the cleaning fixed frame 403 and the connecting rod 204, the torsional spring II keeps the cleaning fixed frame 403 in a non-parallel posture with the descaling wheel baffle 402, and the cleaning fixed frame 403 can only rotate in one direction; when the descaling wheel baffle 402 rotates reversely to contact the cleaning fixed frame 403, with the continuous reverse rotation of the descaling wheel baffle 402, the cleaning fixed frame 403 will gradually lift the descaling wheel baffle 402. When the descaling wheel baffle 402 is completely lifted, the lead screw 501 stops rotating.

[0047] As shown in the drawings, Figure 1 , Figure 2 , Figure 10 As shown, in the embodiment of the present application, the insulator cleaning robot further comprises a guide module 7, the guide module 7 comprises a lower guide plate 701 and an upper guide plate 702; a plurality of upper guide plates 702 are circumferentially arranged on the top of the upper rack 201, the upper guide plates 702 and the plurality of upper position docking modules 3 are alternately and spacedly arranged; a plurality of lower guide plates 701 are circumferentially arranged on the bottom of the lower rack 203, and the lower guide plates 701 and the upper guide plates 702 are both outwardly inclined at the ends. The lower guide plates 701 and the upper guide plates 702 have a guiding effect on the up-down movement of the insulator string 1.

[0048] In the embodiment, the number of the upper position docking module 3 and the lower position docking module 6 is four respectively, realizing a half-enclosing structure of the insulator string 1, which can better clean the surface of the insulator string.

[0049] As shown in the drawings, Figure 13As shown, the present application provides an insulator cleaning robot, whose working principle is as follows:

[0050] When cleaning the insulator string 1, the insulator cleaning robot is in contact with and adsorbed to the surface of the insulator string 1 through the upper part docking module 3 and the lower part docking module 6, the gear transmission module 5 rotates, and drives the rotatable cleaning module 4 to perform cleaning and wiping operation on the surface of the insulator string 1, as shown in Figure 13 (a).

[0051] After completing the cleaning of an insulator string, the gear transmission module 5 reversely rotates to the point where the descaling wheel baffle 402 is in contact with the cleaning fixing frame 403, and as the descaling wheel baffle 402 continues to reversely rotate, the cleaning fixing frame 403 gradually lifts the descaling wheel baffle 402. When the descaling wheel baffle 402 is completely lifted, the lead screw gear 501 stops rotating, as shown in Figure 13 (b).

[0052] The lower suction disc 601 in the lower part docking module 6 is released from adsorption and rotates to the outside of the insulator string 1, as shown in Figure 13 (c).

[0053] The motor drive module 8 drives the lower part docking module 6 to move upward by a distance of one insulator string, as shown in Figure 13 (d).

[0054] The lower suction disc 601 in the lower part docking module 6 rotates to above the insulator string 1 and is adsorbed and fixed to the surface of the insulator string 1, as shown in Figure 13 (e).

[0055] The upper suction disc 301 of the upper part docking module 3 is in contact with adsorption and rotates to the outside of the insulator string 1, as shown in Figure 13 (f).

[0056] The motor drive module 8 drives the upper part docking module 3 to move upward by a distance of one insulator string, as shown in Figure 13 (g).

[0057] The upper suction disc 301 of the upper part docking module 3 rotates to above the insulator string 1 and is adsorbed and fixed to the insulator string 1, as shown in Figure 13 (h).

[0058] The gear transmission module 5 rotates and drives the rotatable cleaning module 4 to perform cleaning and wiping operation on the surface of the insulator string 1, as shown in Figure 13 (m).

[0059] Repeat the above process, to achieve the overall movement of the insulator string 1 cleaning work, in the cleaning process, gear drive module 5 rotates 180 degrees to complete the cleaning task, then counterclockwise rotation and cleaning fixed frame 403 contact, trigger the upper and lower docking mobile frame module 2 and the signal response of the cleaning robot, realize the vertical movement of the overall robot. The application is suitable for the surface of the high-altitude suspension insulator string moving cleaning, has the characteristics of high automation, accurate detection and easy implementation, and has wide application prospect.

[0060] The above description is only an embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An insulator cleaning robot, characterized in that, The system includes an upper and lower docking mobile frame module (2), an upper docking module (3), a rotatable cleaning module (4), a gear transmission module (5), a lower docking module (6), and a motor drive module (8). The motor drive module (8) is mounted on the upper and lower docking mobile frame module (2) and is used to drive the upper and lower docking mobile frame module (2) to extend and retract. The upper docking module (3), the gear transmission module (5), and the lower docking module (6) are mounted on the upper and lower docking mobile frame module (2) from top to bottom. The upper docking module (3) and the lower docking module (6) are alternately fixed to the insulator string (1). The upper and lower docking mobile frame module (2) moves relative to the upper docking module (3) and the lower docking module (6) by extending and retracting, thereby realizing movement on the insulator string (1). The rotatable cleaning module (4) is mounted on the gear transmission module (5). The gear transmission module (5) drives the rotatable cleaning module (4) to rotate. The rotatable cleaning module (4) is used to clean the insulator string (1). The upper and lower docking movable frame module (2) includes an upper frame (201), an intermediate frame (202) and a lower frame (203) connected in sequence by a connecting rod (204), wherein the intermediate frame (202) and the lower frame (203) are relatively fixed to the connecting rod (204), and the upper frame (201) can move up and down along the connecting rod (204); The upper docking module (3) and the lower docking module (6) are respectively mounted on the upper frame (201) and the lower frame (203), and the rotatable cleaning module (4) and the gear transmission module (5) are mounted on the middle frame (202); The upper docking module (3) includes an upper suction cup (301), an upper suction cup base (302), an upper support rod (303), and an upper rotation drive mechanism. The upper rotation drive mechanism is mounted on the upper frame (201), and its output end is connected to the upper support rod (303). The upper suction cup base (302) is mounted on the upper support rod (303), and the upper suction cup (301) is mounted on the upper suction cup base (302). The upper suction cup (301) is used to adhere and fix the insulator string (1). The upper rotation drive mechanism is used to drive the upper suction cup (301) to swing horizontally. The lower docking module (6) includes a lower suction cup (601), a lower suction cup base (602), a lower support rod (603), and a lower rotation drive mechanism. The lower rotation drive mechanism is mounted on the lower frame (203) and its output end is connected to the lower support rod (603). The lower suction cup base (602) is mounted on the lower support rod (603), and the lower suction cup (601) is mounted on the lower suction cup base (602). The lower suction cup (601) is used to adsorb and fix with the insulator string (1). The rotary drive mechanism is used to drive the lower suction cup (601) to swing horizontally; The rotatable cleaning module (4) includes a descaling wheel (401), a descaling wheel baffle (402), a cleaning fixing frame (403), and a descaling long connecting plate base (404). The descaling long connecting plate base (404) is connected to the gear transmission module (5). One end of the descaling wheel baffle (402) is hinged to the descaling long connecting plate base (404) via a hinge shaft. A torsion spring I is sleeved on the hinge shaft. The descaling wheel (401) is rotatably mounted on the other end of the descaling wheel baffle (402). Under the torsion of the torsion spring I, the descaling wheel (401) can connect with the insulator string ( 1) Tight fit; the cleaning fixing frame (403) is sleeved on the connecting rod (204), and a torsion spring II is provided between the cleaning fixing frame (403) and the connecting rod (204). The torsion spring II keeps the cleaning fixing frame (403) in a non-parallel posture with the descaling wheel baffle (402), and the cleaning fixing frame (403) can only rotate in one direction. When the descaling wheel baffle (402) rotates in the opposite direction to contact the cleaning fixing frame (403), the cleaning fixing frame (403) will gradually lift the descaling wheel baffle (402) as the descaling wheel baffle (402) rotates in the opposite direction.

2. The insulator cleaning robot according to claim 1, characterized in that, The motor drive module (8) includes a motor (801), a trapezoidal screw (802), a trapezoidal nut (803), a pulley transmission mechanism (804), an arm support (805), and a locking motor seat (806). The arm support (805) is mounted on the locking motor seat (806). A lifting slide rail is provided on the arm support (805) along the vertical direction. The trapezoidal screw (802) is rotatably mounted on the arm support (805) and is parallel to the lifting slide rail. The motor (801) is located at the lower part of the arm support (805), and its output end is connected to the trapezoidal screw (802) through the pulley transmission mechanism (804). The trapezoidal nut (803) and the trapezoidal screw (802) form a threaded pair. The upper frame (201) is slidably engaged with the lifting slide rail and connected to the trapezoidal nut (803).

3. The insulator cleaning robot according to claim 1, characterized in that, The upper rotation drive mechanism includes an upper transmission large gear (304), an upper transmission small gear (305), an upper servo motor (306), and an upper servo motor mounting base. The upper servo motor mounting base is connected to the upper frame (201). The upper servo motor (306) is mounted on the upper servo motor mounting base and its output end is connected to the upper transmission small gear (305). The upper transmission large gear (304) is rotatably mounted on the upper servo motor mounting base and meshes with the upper transmission small gear (305). The upper transmission large gear (304) is fixedly connected to the upper support rod (303).

4. The insulator cleaning robot according to claim 1, characterized in that, The lower rotation drive mechanism includes a lower transmission large gear (604), a lower transmission small gear (605), a lower servo motor (606), and a lower servo motor mounting base. The lower servo motor mounting base is connected to the lower frame (203). The lower servo motor (606) is mounted on the lower servo motor mounting base, and its output end is connected to the lower transmission small gear (605). The lower transmission large gear (604) is rotatably mounted on the lower servo motor mounting base and meshes with the lower transmission small gear (605). The lower transmission large gear (604) is connected to the lower support rod (603).

5. The insulator cleaning robot according to claim 1, characterized in that, The gear transmission module (5) includes a large lead gear (501), a small transmission gear (502), and a drive motor (503). The large lead gear (501) and the small transmission gear (502) are rotatably mounted on the intermediate frame (202) and mesh with each other. The drive motor (503) is mounted on the intermediate frame (202) and its output end is connected to the small transmission gear (502).

6. The insulator cleaning robot according to claim 1, characterized in that, It also includes a guide module (7), which includes a lower guide plate (701) and an upper guide plate (702); The top of the upper frame (201) is provided with multiple upper guide plates (702) along the circumferential direction, and the upper guide plates (702) and multiple upper part docking modules (3) are arranged alternately at intervals; The bottom of the lower frame (203) is provided with multiple lower guide plates (701) along the circumferential direction. The ends of the lower guide plates (701) and the upper guide plates (702) are both inclined outwards.

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