High-voltage electrical equipment insulator hot-line work robot and working method

Abstract

The invention discloses a high-voltage electrical equipment insulator hot-line work robot and a working method, relates to the technical field of electrical equipment, and aims to solve the problem of low manual cleaning efficiency of insulator strings in the prior art. Comprising a base, a clamping assembly, a lifting assembly and an operation assembly, the clamping assembly comprises a clamping rod, a hoop and a clamping driving mechanism, one end of the clamping rod is rotationally connected with the base, the hoop is fixed to the other end of the clamping rod, and the clamping driving mechanism is located on the base to drive the clamping rod to swing; the operation assembly comprises a main guide rail, an operation head, auxiliary guide rails and an air pump, the two ends of the main guide rail are each slidably provided with one auxiliary guide rail, the operation head is slidably connected with the supporting rail, the initial position of the operation head is located in the main guide rail, the arc-shaped inner wall of the operation head is provided with an air hole and a camera, and the air hole is connected with the air pump located on the base through an air pipe; the camera is used for shooting an insulator chain surface image; the lifting assembly is located between the main guide rail and the base. According to the invention, automatic cleaning and detection of the insulator string can be realized.

Description

Technical Field

[0001] The invention relates to the technical field of electrical equipment, in particular to a live working robot for insulators of high-voltage electrical equipment and a working method. Background Art

[0002] The main functions of the insulator string are to achieve electrical insulation and mechanical fixation. When there is a lot of dust on the surface of the insulator string, it is easy to cause dirty flashover. The commonly used method of cleaning insulators in the prior art is manual cleaning. The defects of the manual cleaning method are: ① Manual cleaning is inefficient and time-consuming, and cleaning work cannot be performed in time when needed; ② The operator is close to the disconnector, and there are safety risks when working with power. In addition, the insulator string needs to be inspected regularly to promptly detect surface defects in the insulator string. The inspection method in the prior art is generally manual visual observation, which is not only inefficient, but also has low detection accuracy. Summary of the invention

[0003] The object of the present invention is to provide a high-voltage electrical equipment insulator live working robot and working method, which are used to solve the problems of low manual cleaning efficiency, low manual visual inspection efficiency and low inspection accuracy of insulator strings in the prior art.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a live working robot for insulators of high-voltage electrical equipment, including a base, a clamping assembly, a lifting assembly and an operating assembly, the clamping assembly includes a clamping rod, a clamp and a clamping drive mechanism, the clamping rod is two symmetrically arranged, and one end of the clamping rod is rotatably connected to the base, the clamp is fixed to the other end of the clamping rod, the clamping drive mechanism is located on the base to drive the swing of the clamping rod, and the swinging directions of the two clamping rods are always opposite, and when the two clamps form a full circle, the two clamps cooperate to clamp the insulator string; the operating assembly includes a main rail, an operating head, a secondary guide rail and an air pump, the main rail is a C-shaped structure, and a secondary guide rail is slidably installed at both ends of the main rail, and the main rail and the secondary guide form a A support rail, the working head is slidably connected to the support rail and the initial position of the working head is located in the main rail, the main rail is provided with a main driving mechanism for driving the working head to slide relative to the main rail and an extension driving mechanism for driving the auxiliary guide rail to slide relative to the main rail, the auxiliary guide rail is provided with an auxiliary driving mechanism for driving the working head to slide relative to the auxiliary guide rail, the arc-shaped inner wall of the working head is provided with an air hole and a camera, the air hole is connected to an air pump located on the base through an air pipe, when the air pump is working, air is sucked at the air hole to absorb dust on the surface of the insulator string, and the camera is used to take an image of the surface of the insulator string; the lifting assembly is located between the main rail and the base to drive the main rail to approach or move away from the base, and when the working assembly is in working state, the main rail and the insulator string are arranged concentrically.

[0005] Furthermore, an shed groove is provided on the inner arc surface of the clamp, and after the two clamps clamp the insulator string, the sheds of the insulator string extend into the shed groove.

[0006] Furthermore, the clamping drive mechanism includes a clamping motor and a clamping gear, the clamping motor is fixed to the bottom of the base, the clamping gear is fixed to one end of the clamping rod and the clamping gears on the two clamping rods are meshed, and one of the clamping gears is fixed to the output end of the clamping motor.

[0007] Furthermore, the lifting assembly includes a first swing arm, a second swing arm, a first lifting motor and a second lifting motor, one end of the first swing arm is hinged to the base, one end of the second swing arm is hinged to the other end of the first swing arm, the other end of the second swing arm is hinged to the main rail, the first lifting motor is fixed on the base to drive the first swing arm to swing relative to the base, the second lifting motor is fixed on the other end of the first swing arm to drive the second swing arm to swing relative to the first swing arm; the other end of the second swing arm has a leveling motor that drives the main rail to swing relative to the second swing arm, and the leveling motor acts to make the main rail and the insulator string concentrically arranged.

[0008] Furthermore, a guide rail box is provided on the outer arc surface of the main guide rail, and the guide rail box is hingedly connected to the other end of the second rocker arm. The main drive mechanism includes a main rotating motor and a main rotating gear. The main rotating motor is fixed in the guide rail box, and the main rotating gear is fixed at the output end of the main rotating motor. The outer arc surface of the working head has external teeth that mesh with the main rotating gear.

[0009] Furthermore, the inner arc surface of the main guide rail has a slide groove, the outer arc portion of the working head is located in the slide groove and is slidably connected to the slide groove, and the inner arc portion of the working head extends out of the slide groove; the auxiliary guide rail is located on the outside of the main guide rail.

[0010] Furthermore, the extension drive mechanism includes an extension motor housing, an extension motor and an extension gear, the extension motor housing is fixed on the outer arc surface of the main guide rail, the extension motor is fixed in the extension motor housing, the extension gear is fixed on the output end of the extension motor and the extension gear is meshed with the external teeth on the outer arc surface of the auxiliary guide rail.

[0011] Furthermore, the auxiliary driving mechanism includes a secondary rotating motor housing, a secondary rotating motor and a secondary rotating gear, the secondary rotating motor housing is fixed at the bottom of the secondary guide rail, the secondary rotating motor is fixed in the secondary rotating motor housing, the secondary rotating gear is fixed at the output end of the secondary rotating motor, and the bottom of the working head also has external teeth meshing with the secondary rotating gear.

[0012] Furthermore, it also includes a coating component, which includes a coating motor, a coating brush and a paint supply mechanism. The coating motor is fixed on the top of the working head, and the coating brush is fixed on the output end of the coating motor. When the coating motor drives the coating brush toward the insulator string, the coating brush is in a working state, and the paint supply mechanism is used to supply paint to the coating brush.

[0013] The present invention also provides a working method of a live working robot for insulators of high-voltage electrical equipment, comprising the following steps: S1. Clamp the lowermost end of the insulator string to be operated by the clamping assembly; S2. The operation assembly is positioned at the operation starting point by means of the lifting assembly, wherein the operation starting point of the operation assembly is located at the highest point of the shed of the insulator string; S3, extending the secondary guide rail of the working assembly, driving the working head to slide along the primary guide rail through the main driving mechanism, and starting the air pump to allow dust on the surface of the insulator string to enter the air holes to clean the insulator string, and at the same time starting the camera to obtain the surface image of the insulator string to detect surface defects of the insulator string; S4, when the end of the working head moves to the position of the auxiliary driving mechanism, the auxiliary driving mechanism starts to drive the working head to slide along the secondary guide rail until the working head returns to the initial position; S5, driving the auxiliary guide rail back to the initial position; S6, moving the operating assembly downward by an operating spacing through the lifting assembly; S7, executing steps S3-S6 until the cleaning and inspection operation of the entire insulator string is completed; S8. When it is found through testing that there are defects on the surface of the shed of the insulator string, the operation assembly is lifted to a corresponding height by the lifting assembly, and the defective shed position is subjected to RTV spraying by the coating assembly; S9, making the clamping assembly release the insulator string and removing the working robot from the insulator string.

[0014] The beneficial effects of the present invention are as follows: when the present invention is working, the lower end of the insulator string is clamped by the clamping assembly, and the working robot is relatively fixed to the insulator string at this time; then the working assembly is placed at the highest point of the insulator string, and the working assembly is started to clean and detect surface defects on the upper end of the insulator string; the working assembly is driven to move down step by step by the lifting assembly, and the working assembly performs a cleaning and detection operation every time the working assembly moves down an operation spacing until the cleaning and detection operation of the entire insulator string is completed; during the cleaning and detection process, the working robot is always fixed at the lower end of the insulator string, and the working robot moves along the length direction of the insulator string by itself, and there is no need for people to adjust the position of the working assembly midway. The present invention relies on the working head of the working assembly fixed at the lower end of the insulator string, which can rotate 360 ​​degrees, and the working assembly can move step by step along the length direction of the insulator string, thereby being able to realize the automated cleaning and detection of the entire insulator string. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is one of the three-dimensional diagrams of the present invention; Figure 2 This is the second three-dimensional diagram of the present invention; Figure 3 It is a front view of the present invention; Figure 4 A top view of the present invention; Figure 5 is a top view of the clamping assembly; Figure 6 is a cross-sectional view of the clamping assembly; Figure 7 for Figure 1 A local enlarged view of point A in FIG. Figure 8 A three-dimensional diagram of the auxiliary guide rail of the cleaning component after it moves along the main guide rail; Fig. 9 It is a left side view of the present invention; Fig.10 It is the working state diagram of the present invention; Fig.11 A front view of the cleaning assembly of the present invention moving along the axial direction of the insulator string; Fig.12 A front view showing the present invention being placed on a transport robot; Fig.13 The top view of the main rail is shown; Fig.14 It is a side view of the extended motor housing; Fig.15 is a side view of the auxiliary rotating electrical machine housing; Fig.16 A top view of a coating motor and a coating brush disposed on a working assembly; In the figure: 1 base, 11 mounting cavity, 12 base ear plate, 13 first lifting motor, 14 positioning rod, 2 clamping assembly, 21 clamping rod, 211 clamping gear, 22 clamp, 221 umbrella skirt groove, 23 clamping motor, 3 lifting assembly, 31 first swing arm, 32 second swing arm, 321 swing arm ear plate, 33 second lifting motor, 34 leveling motor, 4 main rail, 41 guide rail box, 42 working head, 421 air hole, 422 groove, 43 secondary guide rail, 431 through hole, 432 external tooth, 44 extension motor shell, 45 main rotating motor, 46 main rotating gear, 47 slide slot, 48 extension motor, 49 extension gear, 5 camera, 6 secondary rotating motor shell, 61 secondary rotating motor, 62 secondary rotating gear, 7 insulator string, 8 carrier robot, 9 brushing motor, 91 brusher. DETAILED DESCRIPTION

[0016] like Figures 1 to 16 As shown, the present invention includes a base 1, a clamping component 2, a lifting component 3, an operating component, a camera 5 and a coating component. The structure, working principle and working method of the operating robot of the present invention are described in detail below in conjunction with the accompanying drawings.

[0017] like Figures 1 to 16 As shown, the high-voltage electrical equipment insulator live working robot comprises a base 1, a clamping assembly 2, a lifting assembly 3 and an operating assembly, such as Figures 1 to 4 As shown, the base 1 is the basic component of the present invention, and the clamping assembly 2 and the lifting assembly 3 are directly mounted on the base 1 .

[0018] like Figures 1 to 6 As shown, the clamping assembly 2 includes a clamping rod 21, a clamping hoop 22 and a clamping drive mechanism. The clamping rods 21 are two symmetrically arranged, and one end of the clamping rod 21 is rotatably connected to the base 1. The clamping hoop 22 is a C-shaped structure, and the central angle corresponding to the clamping hoop 22 is 180 degrees. The clamping hoop 22 is fixed to the other end of the clamping rod 21, and the outer arc surface of the clamping hoop 22 is in contact and fixed with the other end of the clamping rod 21. The clamping drive mechanism is located on the base 1 to drive the clamping rod 21 to swing, and the swinging directions of the two clamping rods 21 are always opposite. When the clamping rod 21 swings, it drives the rotation of the clamping hoop 22. When the two clamping hoops 22 contact to form a full circle, the two clamping hoops 22 cooperate to clamp the insulator string between the two clamping hoops 22. At this time, the clamping assembly 2 firmly clamps the insulator string, so that the clamping assembly 2 is placed on the insulator string. Specifically, as Figure 6 As shown, the inner arc surface of the clamp 22 has an shed groove 221. After the two clamps 22 clamp the insulator string, the shed of the insulator string extends into the shed groove 221. The clamping drive mechanism includes a clamping motor 23 and a clamping gear 211. Figure 3 As shown, the clamping motor 23 is fixed to the bottom of the base 1, as shown in FIG. Figure 6As shown, the clamping gear 211 is fixed to one end of the clamping rod 21 and the clamping gears 211 on the two clamping rods 21 are meshed, and one of the clamping gears 211 is fixed to the output end of the clamping motor 23. After the clamping motor 23 is started, the clamping gear 211 fixed to the output end of the clamping motor 23 rotates, driving the other clamping gear 211 to rotate. At this time, the two clamping gears 211 rotate simultaneously and in opposite directions. The rotation center of the clamping rod 21 is the center of the circle of the clamping gear 211. Before clamping the insulator string, as shown in FIG. Figure 5 As shown, the two clamps 22 are separated by the clamping drive mechanism, and then the insulator string is placed between the two clamps 22. Subsequently, the two clamps 22 are driven to move closer to the middle by the clamping drive mechanism, as shown in FIG. Figure 4 As shown, until the two clamps 22 contact to form a complete circle, the two clamps 22 clamp the insulator string, and then the installation of the entire working robot on the insulator string is completed. Figure 1 As shown, a mounting cavity 11 is provided on the base 1 , and the mounting cavity 11 runs through the side surface of the base 1 . One end of the clamping rod 21 and the clamping gear 211 are both located in the mounting cavity 11 .

[0019] like Figures 1 to 3 As shown, the lifting assembly 3 includes a first swing rod 31, a second swing rod 32, a first lifting motor 13 and a second lifting motor 33. One end of the first swing rod 31 is hinged to the base ear plate 12 on the top of the base 1, and one end of the second swing rod 32 is hinged to the other end of the first swing rod 31. The other end of the second swing rod 32 has a swing rod ear plate 321. The first lifting motor 13 is fixed to the base ear plate 12 on the top of the base 1 to drive the first swing rod 31 to swing relative to the base 1. The second lifting motor 33 is fixed to the other end of the first swing rod 31 to drive the second swing rod 32 to swing relative to the first swing rod 31. The working assembly is located on the swing rod ear plate 321. After starting the first lifting motor 13 and the second lifting motor 33, the height of the working assembly in the vertical direction and the lateral position in the left and right directions can be adjusted. Fig.11 As shown in the figure, by adjusting the height position of the working assembly, the working assembly is placed at the required working height position; by adjusting the lateral position of the working assembly, the working assembly is placed concentrically with the insulator string, that is, the positioning of the working assembly is achieved. The highest point of the insulator string shed is the working starting point. From the working starting point, each time the lifting assembly 3 moves once, the working assembly moves downward by one working distance, as shown in the figure. Fig.10 As shown, each time the working assembly moves one working distance, the working assembly should be set concentrically with the insulator string.

[0020] like Figures 1 to 4 , Figures 7 to 9As shown, the working assembly includes a main rail 4, a working head 42, a secondary guide rail 43 and an air pump. The main rail 4 is a C-shaped structure. The central angle corresponding to the main rail 4 is 180 degrees. A secondary guide rail 43 is slidably installed at both ends of the main rail 4, and the main rail 4 and the secondary guide rail 43 constitute a support rail. When the working assembly is in the working position, the support rail is located above the clamp 22 and the two are coaxially arranged. The working head 42 is slidably connected to the support rail, and the initial position of the working head 42 is located in the main rail 4. The main rail 4 has a main driving mechanism that drives the working head 42 to slide relative to the main rail 4, and an extension driving mechanism that drives the secondary guide rail 43 to slide relative to the main rail 4. The secondary guide rail 43 has an auxiliary driving mechanism that drives the working head 42 to slide relative to the secondary guide rail 43. Specifically, as Figure 7 , Figure 8 As shown, a guide rail box 41 is fixed on the outer arc surface of the main guide rail 4, and the main guide rail 4 is hingedly connected to the swing arm ear plate 321 through the guide rail box 41. The swing arm ear plate 321 is provided with a leveling motor 34 for driving the guide rail box 41 to swing relative to the swing arm ear plate 321. After the leveling motor 34 is started, the guide rail box 41 swings in the vertical plane relative to the swing arm ear plate 321, and the main guide rail 4 swings in the vertical plane until the main guide rail 4 is located in the horizontal plane. At this time, the main guide rail 4 is coaxially arranged with the clamp 22.

[0021] like Fig.13 As shown, the main driving mechanism includes a main rotary motor 45 and a main rotary gear 46. The main rotary motor 45 is fixed in the guide rail box 41, and the main rotary gear 46 is fixed at the output end of the main rotary motor 45. The outer arc surface of the working head 42 has external teeth that mesh with the main rotary gear 46. The main rotary gear 46 passes through the outer arc surface of the main guide rail 4 and then extends into the slide groove 47 on the main guide rail 4, and meshes with the external teeth on the outer arc surface of the working head 42. The outer arc portion of the working head 42 is slidably arranged in the slide groove 47. After the main rotary motor 45 is started, the main rotary gear 46 rotates and then drives the working head 42 meshed therewith to rotate, that is, the working head 42 slides relative to the main guide rail 4 along the arc direction.

[0022] like Figure 7 , Figure 8 and Fig.14 As shown, the stretching drive mechanism includes a stretching motor housing 44, a stretching motor 48 and a stretching gear 49. The stretching motor housing 44 is fixed on the outer arc surface of the main guide rail 4, the stretching motor 48 is fixed in the stretching motor housing 44, and the stretching gear 49 is fixed at the output end of the stretching motor 48. Figure 8 As shown, the extension gear 49 is meshed with the outer teeth 432 on the outer arc surface of the auxiliary guide rail 43. After the extension motor 48 is started, the extension gear 49 rotates, thereby driving the rotation of the auxiliary guide rail 43 meshed therewith. At this time, the auxiliary guide rail 43 slides along the main guide rail 4 and the sliding direction is the arc direction. In order to avoid the extension motor housing 44, as shown in FIG. Figure 2As shown, a strip-shaped through hole 431 is provided on the outer arc surface of the auxiliary guide rail 43, and the extension motor housing 44 passes through the through hole 431 and is slidably connected to the through hole 431. The cross section of the auxiliary guide rail 43 is C-shaped, and the main rail 4 is located inside the auxiliary guide rail 43. The extension drive mechanism is used to drive the auxiliary guide rail 43 to move along the main rail 4, thereby expanding the support rail.

[0023] like Figure 8 , Fig.15 As shown, the auxiliary drive mechanism includes a secondary rotating motor housing 6, a secondary rotating motor 61 and a secondary rotating gear 62. The secondary rotating motor housing 6 is fixed to the bottom of the secondary guide rail 43, the secondary rotating motor 61 is fixed in the secondary rotating motor housing 6, the secondary rotating gear 62 is fixed to the output end of the secondary rotating motor 61, and the bottom of the working head 42 has external teeth that mesh with the secondary rotating gear 62. Figure 8 As shown, the upper end of the auxiliary rotating gear 62 passes through the bottom of the auxiliary guide rail 43 and extends into the inner side of the auxiliary guide rail 43, and meshes with the outer teeth at the bottom of the working head 42. After the auxiliary rotating motor 61 is started, the auxiliary rotating gear 62 rotates, thereby driving the working head 42 to slide along the arc direction relative to the auxiliary guide rail 43. When the main driving mechanism can no longer drive the working head 42 to slide relative to the main guide rail 43, the auxiliary driving mechanism continues to drive the working head 42 to slide, and at this time the working head 42 slides along the auxiliary guide rail 43.

[0024] like Figure 7 , Figure 8 As shown, the inner arc portion of the working head 42 extends out of the slide slot 47, and the arc-shaped inner wall of the working head 42 has an air hole 421 and a camera 5. The air hole 421 is connected to the air pump located on the base 1 through an air pipe. When the air pump is working, the air hole 421 sucks air to absorb the dust on the surface of the insulator string. The camera 5 is used to take an image of the surface of the insulator string. Figure 8 As shown, a groove 422 is provided on the inner arc surface of the working head 42. After the main rail 4 is concentric with the insulator string, the umbrella skirt extends into the groove 422, and there is a gap between the umbrella skirt and the inner wall of the groove 422, forming a gap between the insulator string and the working head. Dust on the surface of the insulator string flows into the air hole 421 through the gap.

[0025] When the camera 5 finds defects on the surface of the insulator string, the present invention is also provided with a coating component, and RTV (vulcanized silicone rubber) is coated on the surface of the insulator string through the coating component. Fig.16As shown, the coating assembly includes a coating motor 9, a coating brush 91 and a coating supply mechanism. The coating motor 9 is fixed on the top of the working head 42, and the coating brush 91 is fixed on the output end of the coating motor 9. When the coating motor 9 drives the coating brush 91 toward the insulator string, the coating brush 91 is in a working state, and when the coating motor 9 drives the coating brush 91 away from the insulator string, the coating brush 91 is in a non-working state. The coating supply mechanism is used to supply coating to the coating brush 91. The coating supply mechanism includes an RTV storage barrel, a pump and a pipeline. The RTV in the RTV storage barrel is extracted by the pump and transported to the coating brush 91 through the pipeline.

[0026] The clamping rod 21, the clamp 22, the first swing rod 31, the second swing rod 32, the cleaning head 42, the main rail 4 and the auxiliary rail 43 are all made of insulating materials, so that the present invention can perform cleaning and detection operations when the disconnector is energized or not.

[0027] When the present invention is used, it can be carried to the vicinity of the insulator string by a person or a carrying robot with walking function. Figures 1 to 3 As shown, a square positioning rod 14 is provided at the bottom of the base 1. Fig.12 As shown, the positioning rod 14 is inserted into the positioning hole 81 on the carrier robot 8, and the base 1 is in contact with the top of the carrier robot 8. After the carrier robot 8 moves to the vicinity of the insulator string, the working robot of the present invention is lifted until the clamping assembly 2 is at the same height as the lower end of the insulator string, and then the carrier robot 8 moves to move the clamp 22 to both sides of the insulator string, and then the clamping drive mechanism is started, so that the two clamps 22 clamp the insulator string. At this time, the working robot has been temporarily assembled with the insulator string, and then the carrier robot 8 is moved away from the insulator string.

[0028] The working principle of the present invention is described below: (1) In the non-working state, the present invention is in a folded state, and the height of the lifting component 3 is minimum; (2) In the non-working state, the present invention does not contact the insulator string; in the working state, the clamping component 2 of the present invention clamps the insulator string to realize the assembly of the present invention and the insulator string; (3) The present invention can be carried to the vicinity of the insulator string by a person or a carrying robot with walking function, and then the insulator string is clamped by the clamping component 2. At this time, the present invention changes from a non-working state to a working state; (4) The present invention uses air suction to remove dust on the surface of the insulator string, thereby realizing the cleaning of the surface of the insulator string; during the cleaning process, the surface image of the insulator string is obtained by the camera 5 to find defects on the surface of the insulator string; (5) The setting of the lifting component 3 is used to lift the working component to the starting point of the operation point, and from the operation starting point, the operation component is advanced step by step. Under the action of the lifting component 3, the operation component moves one operation spacing each time, and after each operation spacing, the operation component performs a cleaning and inspection operation; at each operation position (i.e., the stop position after the operation component moves one operation spacing), the operation head 42 rotates 360 degrees relative to the insulator string; when the operation component moves from the operation starting point to the operation end point along the length direction of the insulator string, the cleaning and inspection of the entire insulator string can be achieved; (6) When defects are found on the surface of the insulator string, the coating component can be started to apply RTV coating to the shed of the insulator string; (7) After the cleaning, inspection or coating operation of a certain insulator string is completed, the present invention is removed from the insulator string by a person or a carrier robot.

[0029] The following is a description of a working method of a live working robot for insulators of high-voltage electrical equipment according to the present invention, comprising the following steps: S1, the operating robot is carried to the side of the insulator string 7 by the carrier robot 8, the lower end of the insulator string 7 to be operated is clamped by the clamping assembly 2, and then the carrier robot 8 is moved away from the insulator string 7; S2, the operation assembly is positioned at the operation starting point by means of the lifting assembly 3, and the operation starting point of the operation assembly is positioned at the highest point of the shed of the insulator string 7; S3, the auxiliary guide rail 43 of the working assembly is extended, the working head 42 is driven to slide along the main guide rail 4 by the main driving mechanism, and the air pump is started to allow the dust on the surface of the insulator string to enter the air hole 421 to clean the insulator string 7, and at the same time, the camera 5 is turned on to obtain the surface image of the insulator string 7 to detect surface defects of the insulator string 7; S4, when the end of the working head 42 moves to the position of the auxiliary driving mechanism, the auxiliary driving mechanism starts to drive the working head 42 to slide along the secondary guide rail 43 until the working head 42 returns to the initial position; S5, driving the auxiliary guide rail 43 back to the initial position; S6, using the lifting assembly 3 to move the operating assembly downward by an operating spacing; S7, executing steps S3-S6 until the cleaning and inspection operation of the entire insulator string is completed; S8. When it is found through testing that there are defects on the surface of the shed of the insulator string, the operation assembly is lifted to a corresponding height by the lifting assembly, and the defective shed position is subjected to RTV spraying by the coating assembly; S9, making the clamping assembly release the insulator string and removing the working robot from the insulator string.

[0030] When the present invention is working, the lower end of the insulator string is clamped by the clamping assembly, and the working robot is relatively fixed with the insulator string at this time; then the working assembly is placed at the highest point of the insulator string, and the working assembly is started to clean and detect surface defects on the upper end of the insulator string; the working assembly is driven to move down step by step by the lifting assembly, and each time the working assembly moves down an operating spacing, the working assembly performs a cleaning and detection operation until the cleaning and detection operation of the entire insulator string is completed; during the cleaning and detection process, the working robot is always fixed at the lower end of the insulator string, and the working robot moves along the length direction of the insulator string by itself, and there is no need for people to adjust the position of the working assembly in the middle. The present invention relies on the working head of the working assembly fixed at the lower end of the insulator string, which can rotate 360 ​​degrees, and the working assembly can move step by step along the length direction of the insulator string, thereby realizing the automatic cleaning and detection of the entire insulator string. When defects are found on the surface of the insulator string, the insulator string umbrella skirt can be RTV-coated by the coating assembly to eliminate the surface defects.

Claims

1. A robot for live working on insulators of high-voltage electrical equipment, characterized in that: It includes a base, a clamping assembly, a lifting assembly and an operating assembly, the clamping assembly includes a clamping rod, a clamping hoop and a clamping drive mechanism, the clamping rod is two symmetrically arranged, and one end of the clamping rod is rotatably connected to the base, the clamping hoop is fixed to the other end of the clamping rod, the clamping drive mechanism is located on the base to drive the swing of the clamping rod, and the swinging directions of the two clamping rods are always opposite, and when the two clamps form a full circle, the two clamps cooperate to clamp the insulator string; the operating assembly includes a main rail, an operating head, a secondary guide rail and an air pump, the main rail is a C-shaped structure, and a secondary guide rail is slidably installed at both ends of the main rail, and the main rail and the secondary guide rail constitute a support rail, the operating head is slidably connected to the support rail and operates The initial position of the working head is located in the main rail. The main rail is provided with a main driving mechanism for driving the working head to slide relative to the main rail and an extension driving mechanism for driving the auxiliary guide rail to slide relative to the main rail. The auxiliary guide rail is provided with an auxiliary driving mechanism for driving the working head to slide relative to the auxiliary guide rail. The arc-shaped inner wall of the working head is provided with air holes and a camera. The air holes are connected to an air pump located on the base through an air pipe. When the air pump is working, air is sucked at the air holes to absorb dust on the surface of the insulator string. The camera is used to take images of the surface of the insulator string. The lifting assembly is located between the main rail and the base to drive the main rail to approach or move away from the base, and when the working assembly is in working state, the main rail is concentrically arranged with the insulator string.

2. The high-voltage electrical equipment insulator live working robot according to claim 1, characterized in that: An shed groove is provided on the inner arc surface of the clamp. After the two clamps clamp the insulator string, the sheds of the insulator string extend into the shed groove.

3. The high-voltage electrical equipment insulator live working robot according to claim 1, characterized in that: The clamping drive mechanism includes a clamping motor and a clamping gear. The clamping motor is fixed to the bottom of the base. The clamping gear is fixed to one end of the clamping rod. The clamping gears on the two clamping rods are meshed. One of the clamping gears is fixed to the output end of the clamping motor.

4. The high-voltage electrical equipment insulator live working robot according to claim 1, characterized in that: The lifting assembly includes a first swing arm, a second swing arm, a first lifting motor and a second lifting motor, one end of the first swing arm is hinged to the base, one end of the second swing arm is hinged to the other end of the first swing arm, the other end of the second swing arm is hinged to the main rail, the first lifting motor is fixed on the base to drive the first swing arm to swing relative to the base, the second lifting motor is fixed on the other end of the first swing arm to drive the second swing arm to swing relative to the first swing arm; the other end of the second swing arm is provided with a leveling motor for driving the main rail to swing relative to the second swing arm, and the leveling motor is used to make the main rail and the insulator string concentrically arranged.

5. The high-voltage electrical equipment insulator live working robot according to claim 4, characterized in that: A guide rail box is provided on the outer arc surface of the main guide rail, and the guide rail box is hingedly connected to the other end of the second rocker arm. The main driving mechanism includes a main rotating motor and a main rotating gear. The main rotating motor is fixed in the guide rail box, and the main rotating gear is fixed to the output end of the main rotating motor. The outer arc surface of the working head has external teeth meshing with the main rotating gear.

6. The high-voltage electrical equipment insulator live working robot according to claim 5, characterized in that: The inner arc surface of the main guide rail is provided with a slide groove, the outer arc portion of the working head is located in the slide groove and is slidably connected to the slide groove, and the inner arc portion of the working head extends out of the slide groove; the auxiliary guide rail is located outside the main guide rail.

7. The high-voltage electrical equipment insulator live working robot according to claim 1, characterized in that: The extension drive mechanism includes an extension motor housing, an extension motor and an extension gear. The extension motor housing is fixed on the outer arc surface of the main guide rail, the extension motor is fixed in the extension motor housing, the extension gear is fixed on the output end of the extension motor and the extension gear is meshed with the external teeth on the outer arc surface of the auxiliary guide rail.

8. The high-voltage electrical equipment insulator live working robot according to claim 1, characterized in that: The auxiliary driving mechanism includes a secondary rotating motor housing, a secondary rotating motor and a secondary rotating gear. The secondary rotating motor housing is fixed at the bottom of the secondary guide rail, the secondary rotating motor is fixed in the secondary rotating motor housing, the secondary rotating gear is fixed at the output end of the secondary rotating motor, and the bottom of the working head also has external teeth that mesh with the secondary rotating gear.

9. The high-voltage electrical equipment insulator live working robot according to claim 1, characterized in that: It also includes a coating component, which includes a coating motor, a coating brush and a paint supply mechanism. The coating motor is fixed on the top of the working head, and the coating brush is fixed on the output end of the coating motor. When the coating motor drives the coating brush toward the insulator string, the coating brush is in a working state, and the paint supply mechanism is used to supply paint to the coating brush.

10. The working method of the robot for live-line working on insulators of high-voltage electrical equipment according to claim 9, characterized in that: The following steps are involved: S1. Clamp the lowermost end of the insulator string to be operated by the clamping assembly; S2. The operation assembly is positioned at the operation starting point by means of the lifting assembly, wherein the operation starting point of the operation assembly is located at the highest point of the shed of the insulator string; S3, extending the secondary guide rail of the working assembly, driving the working head to slide along the primary guide rail through the main driving mechanism, and starting the air pump to allow dust on the surface of the insulator string to enter the air holes to clean the insulator string, and at the same time starting the camera to obtain the surface image of the insulator string to detect surface defects of the insulator string; S4, when the end of the working head moves to the position of the auxiliary driving mechanism, the auxiliary driving mechanism starts to drive the working head to slide along the secondary guide rail until the working head returns to the initial position; S5, driving the auxiliary guide rail back to the initial position; S6, moving the operating assembly downward by an operating spacing through the lifting assembly; S7, executing steps S3-S6 until the cleaning and inspection operation of the entire insulator string is completed; S8. When it is found through testing that there are defects on the surface of the shed of the insulator string, the operation assembly is lifted to a corresponding height by the lifting assembly, and the defective shed position is subjected to RTV spraying by the coating assembly; S9, making the clamping assembly release the insulator string and removing the working robot from the insulator string.

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