High-voltage electrical equipment insulator live working robot and working method

Abstract

The utility model relates to high -voltage electrical equipment insulator live working robot and working method relates to electrical equipment technical field for solving the problem of low efficiency of insulator string manual cleaning in prior art, including base, clamping component, lifting assembly and operation component, clamping component includes clamping rod, clamp and clamping drive mechanism, one end of clamping rod is rotatably connected with base, the other end of clamping rod is fixed with clamp, and clamping drive mechanism is located on base and drives the swing of clamping rod, operation component includes main guide rail, operation head, auxiliary guide rail and air pump, one auxiliary guide rail is slidably installed at both ends of main guide rail, operation head is slidably connected with support rail and the initial position of operation head is located in main guide rail, the circular arc inner wall of operation head has air hole and camera, air hole is connected with air pump on base through air pipe, and camera is used for shooting insulator string surface image, lifting assembly is located between main guide rail and base, the utility model can realize the automatic cleaning and detection of insulator string.

Description

Technical Field

[0001] This invention relates to the field of electrical equipment technology, specifically to a robot and working method for live-line operation of insulators in high-voltage electrical equipment. Background Technology

[0002] The main function of insulator strings is to provide electrical insulation and mechanical fixation. When the surface of the insulator string is covered with dust, flashover can easily occur. The commonly used method for cleaning insulators in the current technology is manual cleaning. The drawbacks of manual cleaning are: ① it is inefficient and time-consuming, and cannot be performed promptly when needed; ② the operator is too close to the disconnecting switch, posing a safety risk when working with live equipment. Furthermore, insulator strings need to be inspected regularly to detect surface defects in a timely manner. Current inspection methods generally rely on visual inspection, which is not only inefficient but also has low accuracy. Summary of the Invention

[0003] The purpose of this invention is to provide a robot and method for live-line operation of insulators in high-voltage electrical equipment, which solves the problems of low efficiency in manual cleaning of insulator strings, low efficiency in manual visual inspection, and low inspection accuracy in the prior art.

[0004] The technical solution adopted by this invention to solve its technical problem is: a live-line working robot for insulators of high-voltage electrical equipment, including a base, a clamping assembly, a lifting assembly, and a working assembly. The clamping assembly includes clamping rods, clamps, and a clamping drive mechanism. Two clamping rods are symmetrically arranged, with one end rotatably connected to the base. The clamps are fixed to the other end of the clamping rods. The clamping drive mechanism, located on the base, drives the clamping rods to swing in opposite directions. When the two clamps form a complete circle, they cooperate to clamp the insulator string. The working assembly includes a main guide rail, a working head, a secondary guide rail, and an air pump. The main guide rail has a C-shaped structure, and a secondary guide rail is slidably installed at each end of the main guide rail, forming a combination of the main guide rail and the secondary guide rail. The working head is slidably connected to the support rail, and its initial position is within the main guide rail. The main guide rail has a main drive mechanism that drives the working head to slide relative to the main guide rail and an extension drive mechanism that drives the secondary guide rail to slide relative to the main guide rail. The secondary guide rail has an auxiliary drive mechanism that drives the working head to slide relative to the secondary guide rail. The arc-shaped inner wall of the working head has 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 drawn in through the air holes to adsorb dust on the surface of the insulator string. The camera is used to capture images of the surface of the insulator string. The lifting assembly is located between the main guide rail and the base to drive the main guide rail closer to or further away from the base. When the working assembly is in working condition, the main guide rail and the insulator string are concentrically arranged.

[0005] Furthermore, the inner arc surface of the clamp has a skirt groove, and after the two clamps clamp the insulator string, the skirt of the insulator string extends into the skirt 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, and the clamping gear is fixed to one end of the clamping rod, with the clamping gears on the two clamping rods meshing together. 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, and the other end of the second swing arm is hinged to the main guide rail. The first lifting motor is fixed to the base to drive the first swing arm to swing relative to the base, and the second lifting motor is fixed to 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 guide rail to swing relative to the second swing arm. The leveling motor ensures that the main guide rail and the insulator string are concentrically arranged.

[0008] Furthermore, the outer arc surface of the main guide rail has a guide rail box, the guide rail box is hinged to the other end of the second swing arm, the main drive mechanism includes a main rotary motor and a main rotary gear, the main rotary motor is fixed inside the guide rail box, the main rotary gear is fixed at the output end of the main rotary motor, and the outer arc surface of the working head has external teeth that mesh with the main rotary gear.

[0009] Furthermore, the inner arc surface of the main guide rail has a groove, the outer arc portion of the working head is located in the groove and slidably connected to the groove, and the inner arc portion of the working head extends out of the groove; the secondary guide rail is located outside 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 inside the extension motor housing, and the extension gear is fixed at the output end of the extension motor and meshes with the external teeth on the outer arc surface of the secondary guide rail.

[0011] Furthermore, the auxiliary drive mechanism includes a secondary rotary motor housing, a secondary rotary motor, and a secondary rotary gear. The secondary rotary motor housing is fixed to the bottom of the secondary guide rail, the secondary rotary motor is fixed inside the secondary rotary motor housing, the secondary rotary gear is fixed to the output end of the secondary rotary motor, and the bottom of the working head also has external teeth that mesh with the secondary rotary gear.

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

[0013] This invention also provides a method for operating a robot for live-line working on insulators of high-voltage electrical equipment, comprising the following steps:

[0014] S1. The clamping assembly clamps the bottom end of the insulator string to be operated;

[0015] S2. The lifting assembly is used to position the working assembly at the starting point of the operation, and the starting point of the working assembly is located at the highest point of the insulator string skirt.

[0016] S3. Extend the auxiliary guide rail of the working component, drive the working head to slide along the main guide rail through the main drive mechanism, and start the air pump to allow dust on the surface of the insulator string to enter the air hole to clean the insulator string. At the same time, turn on the camera to acquire the surface image of the insulator string to detect surface defects of the insulator string.

[0017] S4. When the end of the working head moves to the position of the auxiliary drive mechanism, the auxiliary drive mechanism is activated to drive the working head to slide along the secondary guide rail until the working head returns to the initial position.

[0018] S5. Drive the secondary guide rail back to its initial position;

[0019] S6. The lifting component causes the working component to move downward by one working distance.

[0020] S7. Perform steps S3-S6 until the entire insulator string has been cleaned and inspected.

[0021] S8. When defects are found on the surface of the insulator string skirts during inspection, the lifting assembly is used to lift the working assembly to the corresponding height, and the coating assembly is used to perform RTV spraying on the defective skirt position.

[0022] S9. The clamping assembly is released from the insulator string, and the working robot is removed from the insulator string.

[0023] The beneficial effects of this invention are as follows: During operation, the clamping assembly holds the bottom of the insulator string, at which point the working robot is relatively fixed to the insulator string. Then, the working component is placed at the highest point of the insulator string and activated to clean and inspect the uppermost part of the insulator string for surface defects. The lifting assembly drives the working component to gradually move downwards, performing a cleaning and inspection operation each time it moves down a certain distance, until the entire insulator string is cleaned and inspected. During the cleaning and inspection process, the working robot remains fixed at the bottom of the insulator string and moves autonomously along the length of the insulator string, eliminating the need for manual adjustment of the working component's position. This invention, relying on the fixed position at the bottom of the insulator string, the 360-degree rotatable working head of the working component, and the step-by-step movement of the working component along the length of the insulator string, enables automated cleaning and inspection of the entire insulator string. Attached Figure Description

[0024] Figure 1 This is one of the three-dimensional diagrams of the present invention;

[0025] Figure 2 This is the second three-dimensional diagram of the present invention;

[0026] Figure 3 This is the front view of the present invention;

[0027] Figure 4 This is a top view of the present invention;

[0028] Figure 5 This is a top view of the clamping component;

[0029] Figure 6 This is a cross-sectional view of the clamping component;

[0030] Figure 7 for Figure 1 Enlarged view of section A in the image;

[0031] Figure 8 A 3D view of the secondary guide rail of the cleaning component after it moves along the main guide rail;

[0032] Figure 9 This is the left view of the present invention;

[0033] Figure 10 This is a diagram showing the working state of the present invention;

[0034] Figure 11 This is a front view of the cleaning component of the present invention moving along the axial direction of the insulator string;

[0035] Figure 12 This is a front view showing the invention placed on a transport robot;

[0036] Figure 13 Top view of the main guide rail;

[0037] Figure 14 A side view of the extended motor housing;

[0038] Figure 15 This is a side view of the housing of the auxiliary rotary motor;

[0039] Figure 16 A top view showing the painting motor and paintbrush mounted on the work assembly;

[0040] In the diagram: 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. Clamping 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 guide rail, 41. Guide rail box, 42. Working head, 421. Air hole, 422. Groove, 43. Secondary guide rail, 431. Through hole, 432. External gear, 44. Extension motor housing, 45. Main rotary motor, 46. Main rotary gear, 47. Slide groove, 48. Extension motor, 49. Extension gear, 5. Camera, 6. Secondary rotary motor housing, 61. Secondary rotary motor, 62. Secondary rotary gear, 7. Insulator string, 8. Transport robot, 9. Painting motor, 91. Painter. Detailed Implementation

[0041] like Figures 1 to 16 As shown, the present invention includes a base 1, a clamping assembly 2, a lifting assembly 3, a working assembly, a camera 5, and a coating assembly. The structure, working principle, and working method of the working robot of the present invention will be described in detail below with reference to the accompanying drawings.

[0042] like Figures 1 to 16 As shown, the high-voltage electrical equipment insulator live-line working robot includes a base 1, a clamping assembly 2, a lifting assembly 3, and a working assembly, as follows: 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.

[0043] like Figures 1 to 6As shown, the clamping assembly 2 includes clamping rods 21, clamps 22, and a clamping drive mechanism. Two clamping rods 21 are symmetrically arranged, with one end rotatably connected to the base 1. The clamps 22 have a C-shaped structure with a central angle of 180 degrees. The clamps 22 are fixed to the other end of the clamping rods 21, and their outer arc surface contacts and is fixed to the other end of the clamping rods 21. The clamping drive mechanism, located on the base 1, drives the clamping rods 21 to swing, with the two clamping rods 21 swinging in opposite directions. When the clamping rods 21 swing, they drive the clamps 22 to rotate. When the two clamps 22 contact and form a complete circle, they cooperate to clamp the insulator string located between them. At this time, the clamping assembly 2 firmly clamps the insulator string, realizing the placement of the clamping assembly 2 on the insulator string. Specifically, as shown... Figure 6 As shown, the inner arc surface of the clamp 22 has a skirt groove 221. After the two clamps 22 clamp the insulator string, the skirt of the insulator string extends into the skirt groove 221. The clamping drive mechanism includes a clamping motor 23 and a clamping gear 211, as shown. Figure 3 As shown, the clamping motor 23 is fixed to the bottom of the base 1, as... Figure 6 As shown, a clamping gear 211 is fixed to one end of a clamping rod 21, and the clamping gears 211 on both clamping rods 21 are meshed together. 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 but in opposite directions. The rotation center of the clamping rod 21 is the center of the clamping gear 211. Before clamping the insulator string, as... Figure 5 As shown, the clamping drive mechanism separates the two clamps 22, and then the insulator string is placed between the two clamps 22. Subsequently, the clamping drive mechanism moves the two clamps 22 closer together, as shown. Figure 4 As shown, the two clamps 22 continue to contact and form a complete circle, clamping the insulator string. At this point, the installation of the robot on the insulator string is complete. Figure 1 As shown, a mounting cavity 11 is provided on the base 1, which extends through the side of the base 1. One end of the clamping rod 21 and the clamping gear 211 are both located inside the mounting cavity 11.

[0044] like Figures 1 to 3As shown, the lifting assembly 3 includes a first swing arm 31, a second swing arm 32, a first lifting motor 13, and a second lifting motor 33. One end of the first swing arm 31 is hinged to a base ear plate 12 on the top of the base 1. One end of the second swing arm 32 is hinged to the other end of the first swing arm 31. The other end of the second swing arm 32 has a swing arm ear plate 321. The first lifting motor 13 is fixed to the base ear plate 12 on the top of the base 1, driving the first swing arm 31 to swing relative to the base 1. The second lifting motor 33 is fixed to the other end of the first swing arm 31, driving the second swing arm 32 to swing relative to the first swing arm 31. The working assembly is located on the swing arm 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. Figure 11 As shown, by adjusting the height of the working component, it is positioned at the desired working height; by adjusting its lateral position, it is aligned concentrically with the insulator string, thus achieving proper positioning. The highest point of the insulator string skirts is the starting point of the operation. From this starting point, with each movement of the lifting component 3, the working component moves downwards by one working distance, as shown... Figure 10 As shown, the working component should be aligned concentrically with the insulator string for each working interval it moves.

[0045] like Figures 1 to 4 , Figures 7 to 9 As shown, the working assembly includes a main guide rail 4, a working head 42, a secondary guide rail 43, and an air pump. The main guide rail 4 has a C-shaped structure with a central angle of 180 degrees. A secondary guide rail 43 is slidably mounted at each end of the main guide rail 4, and the main guide rail 4 and the secondary guide rail 43 form 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 aligned. The working head 42 is slidably connected to the support rail, and its initial position is within the main guide rail 4. The main guide rail 4 has a main drive mechanism that drives the working head 42 to slide relative to the main guide rail 4, and an extension drive mechanism that drives the secondary guide rail 43 to slide relative to the main guide rail 4. The secondary guide rail 43 has an auxiliary drive mechanism that drives the working head 42 to slide relative to the secondary guide rail 43. Specifically, as shown... Figure 7 , Figure 8 As shown, a guide rail box 41 is fixed on the outer arc surface of the main guide rail 4. The main guide rail 4 is hinged to the swing arm ear plate 321 through the guide rail box 41. The swing arm ear plate 321 has a leveling motor 34 that drives 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 relative to the swing arm ear plate 321 in the vertical plane. At this time, 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 and the clamp 22 are coaxially arranged.

[0046] like Figure 13As shown, the main drive mechanism includes a main rotary motor 45 and a main rotary gear 46. The main rotary motor 45 is fixed inside 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 extends into the slide groove 47 on the main guide rail 4, where it 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 disposed in the slide groove 47. After the main rotary motor 45 is started, the main rotary gear 46 rotates, thereby driving the working head 42, which meshes with it, to rotate, that is, the working head 42 slides relative to the main guide rail 4 along the arc direction.

[0047] like Figure 7 , Figure 8 and Figure 14 As shown, the extension drive mechanism includes an extension motor housing 44, an extension motor 48, and an extension gear 49. The extension motor housing 44 is fixed to the outer arc surface of the main guide rail 4, the extension motor 48 is fixed inside the extension motor housing 44, and the extension gear 49 is fixed to the output end of the extension motor 48. Figure 8 As shown, the extension gear 49 meshes with the external teeth 432 on the outer arc surface of the secondary guide rail 43. After the extension motor 48 is started, the extension gear 49 rotates, which in turn drives the secondary guide rail 43 to rotate. At this time, the secondary guide rail 43 slides along the main guide rail 4 in an arc direction. To avoid the extension motor housing 44, as shown... Figure 2 As shown, a strip-shaped through hole 431 is provided on the outer arc surface of the secondary guide rail 43. 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 secondary guide rail 43 is C-shaped, and the main guide rail 4 is located inside the secondary guide rail 43. The extension drive mechanism is used to drive the secondary guide rail 43 to move along the main guide rail 4, thereby causing the support rail to unfold.

[0048] like Figure 8 , Figure 15 As shown, the auxiliary drive mechanism includes a secondary rotary motor housing 6, a secondary rotary motor 61, and a secondary rotary gear 62. The secondary rotary motor housing 6 is fixed to the bottom of the secondary guide rail 43, the secondary rotary motor 61 is fixed inside the secondary rotary motor housing 6, and the secondary rotary gear 62 is fixed to the output end of the secondary rotary motor 61. The bottom of the working head 42 has external teeth that mesh with the secondary rotary 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, meshing 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 relative to the auxiliary guide rail 43 in an arc direction. When the main drive mechanism can no longer drive the working head 42 to slide relative to the main guide rail 4, the auxiliary drive 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.

[0049] like Figure 7 , Figure 8 As shown, the inner arc portion of the working head 42 extends out of the slide groove 47. 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 an air pump located on the base 1 via an air pipe. When the air pump operates, air is drawn in through the air hole 421 to adsorb dust from the surface of the insulator string. The camera 5 is used to capture images of the insulator string surface. Figure 8 As shown, the inner arc surface of the working head 42 is provided with a groove 422. After the main guide 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. A gap is formed between the insulator string and the working head, and dust on the surface of the insulator string flows into the air hole 421 in the gap.

[0050] When a defect is detected on the surface of the insulator string via camera 5, the present invention also includes a coating assembly to coat the surface of the insulator string with RTV (roasted silicone rubber). Figure 16 As shown, the coating assembly includes a coating motor 9, a brush 91, and a paint supply mechanism. The coating motor 9 is fixed to the top of the working head 42, and the brush 91 is fixed to the output end of the coating motor 9. The brush 91 is in working condition when the coating motor 9 drives the brush 91 towards the insulator string, and in non-working condition when the coating motor 9 drives the brush 91 away from the insulator string. The paint supply mechanism is used to supply paint to the brush 91. The paint supply mechanism includes an RTV storage tank, a pump, and pipelines. The pump draws RTV from the RTV storage tank and delivers it to the brush 91 through the pipelines.

[0051] The clamping rod 21, clamp 22, first swing rod 31, second swing rod 32, cleaning head 42, main guide rail 4 and auxiliary guide rail 43 are all made of insulating material, so that the present invention can perform cleaning and testing operations whether the disconnecting switch is energized or de-energized.

[0052] In use, this invention can be transported to the vicinity of the insulator string by a person or a walking robot. For this purpose, as follows... Figures 1 to 3 As shown, a square positioning rod 14 is provided at the bottom of the base 1, such as... Figure 12 As shown, the positioning rod 14 is inserted into the positioning hole 81 on the transport robot 8, at which point the base 1 is in contact with the top of the transport robot 8. After the transport robot 8 moves to the vicinity of the insulator string, the working robot of the present invention is raised until the clamping assembly 2 is at the same height as the lower end of the insulator string. Then, by moving the transport robot 8, the clamps 22 are moved to both sides of the insulator string. Subsequently, the clamping drive mechanism is activated, so that the two clamps 22 clamp the insulator string. At this point, the working robot has been temporarily assembled with the insulator string. Then, the transport robot 8 is moved away from the insulator string.

[0053] The working principle of this invention is described below:

[0054] (1) In the non-working state, the present invention is in a folded state, and the height of the lifting component 3 is at its 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, realizing the assembly of the present invention with the insulator string; (3) The present invention can be transported to the vicinity of the insulator string by a person or a transport robot with walking function, and then the insulator string is clamped by the clamping component 2, at which time the present invention changes from the non-working state to the working state; (4) The present invention uses air suction to remove dust from 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 discover the defects on the surface of the insulator string; (5) The lifting component 3 is set to lift the working component to the starting position of the operation. The work component moves stepwise from the starting point of the work. Under the action of the lifting component 3, the work component moves one work distance at a time, and after each work distance, the work component performs a cleaning and inspection operation. At each work position (i.e., the position where the work component stops after moving one work distance), the work head 42 rotates 360 degrees relative to the insulator string. When the work component moves from the starting point to the end point along the length of the insulator string, the cleaning and inspection of the entire insulator string can be achieved. (6) When a defect is found on the surface of the insulator string, the coating component can be activated to perform RTV coating on the skirts 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 transport robot.

[0055] The following describes the working method of a live-line working robot for insulators of high-voltage electrical equipment according to the present invention, including the following steps:

[0056] S1. The transport robot 8 moves the work robot to the side of the insulator string 7, clamps the bottom end of the insulator string 7 to be worked on by the clamping component 2, and then the transport robot 8 moves away from the insulator string 7.

[0057] S2. The lifting component 3 is used to position the working component at the starting point of the operation. The starting point of the working component is located at the highest point of the insulator string 7 skirt.

[0058] S3. Extend the auxiliary guide rail 43 of the working component, drive the working head 42 to slide along the main guide rail 4 through the main drive mechanism, and start the air pump to allow the dust on the surface of the insulator string to enter the air hole 421 to clean the insulator string 7. At the same time, turn on the camera 5 to obtain the surface image of the insulator string 7 to detect surface defects of the insulator string 7.

[0059] S4. When the end of the working head 42 moves to the position of the auxiliary drive mechanism, the auxiliary drive 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.

[0060] S5. Drive the secondary guide rail 43 back to its initial position;

[0061] S6. The lifting component 3 moves the working component downward by one working distance.

[0062] S7. Perform steps S3-S6 until the entire insulator string has been cleaned and inspected.

[0063] S8. When defects are found on the surface of the insulator string skirts during inspection, the lifting assembly is used to lift the working assembly to the corresponding height, and the coating assembly is used to perform RTV spraying on the defective skirt position.

[0064] S9. The clamping assembly is released from the insulator string, and the working robot is removed from the insulator string.

[0065] In operation, this invention uses a clamping assembly to hold the bottom of the insulator string, at which point the working robot is relatively fixed to the insulator string. Then, the working component is placed at the highest point of the insulator string and activated to clean and inspect the uppermost part of the insulator string for surface defects. A lifting assembly drives the working component to gradually move downwards, performing a cleaning and inspection operation each time it moves down a certain distance, until the entire insulator string is cleaned and inspected. Throughout the cleaning and inspection process, the working robot remains fixed at the bottom of the insulator string and moves autonomously along the length of the insulator string, eliminating the need for manual adjustment of the working component's position. This invention relies on the fact that the working component is fixed at the bottom of the insulator string, its working head can rotate 360 ​​degrees, and the working component can move stepwise along the length of the insulator string, thus enabling automated cleaning and inspection of the entire insulator string. When surface defects are found on the insulator string, an RTV coating can be applied to the insulator string skirts using a coating assembly to eliminate the surface defects.

Claims

1. A live working robot for high voltage electrical equipment insulators, characterized in that, The utility model provides a kind of insulator string cleaning device, including base, clamping assembly, lifting assembly and work assembly, the clamping assembly includes clamping rod, clamp and clamping drive mechanism, the clamping rod is two, and the clamping rod is rotationally connected with base one end, the clamp is fixed in the other end of clamping rod, the clamping drive mechanism is located on base and drives the swing of clamping rod, and the swing direction of two clamping rods is always opposite, when two the clamp encloses whole circular annular, two clamps are clamped to insulator string by cooperation;The work assembly includes main guide rail, work head, sub guide rail and air pump, the main guide rail is C-shaped structure, two ends of the main guide rail are slidably installed with one sub guide rail respectively and main guide rail and sub guide rail form support rail, the work head is slidably connected with support rail and the initial position of work head is located in main guide rail, the main guide rail is provided with main drive mechanism for driving work head to slide relative to main guide rail and extension drive mechanism for driving sub guide rail to slide relative to main guide rail, the sub guide rail is provided with auxiliary drive mechanism for driving work head to slide relative to sub guide rail, the circular-arc inner wall of work head is provided with air hole and camera, the air hole is connected with air pump located on base by air pipe, air hole inhales when air pump works, and dust on the surface of insulator string is adsorbed, the camera is used to shoot the surface image of insulator string;The lifting assembly is located between main guide rail and base for driving main guide rail to approach or away from base, and the main guide rail is concentrically arranged with insulator string when work assembly is in working condition.

2. The live-line robot for high-voltage electrical equipment insulator according to claim 1, characterized in that, The inner circular arc surface of the clamp is provided with an umbrella skirt groove, after the two clamps clamp the insulator string, the umbrella skirt of the insulator string extends into the umbrella skirt groove.

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

4. The live-line robot for high-voltage electrical equipment insulator according to claim 1, characterized in that, The lifting assembly includes a first swing rod, a second swing rod, a first lifting motor and a second lifting motor, one end of the first swing rod is hingedly connected with the base, one end of the second swing rod is hingedly connected with the other end of the first swing rod, the other end of the second swing rod is hingedly connected with the main guide rail, the first lifting motor is fixed on the base to drive the swing of the first swing rod relative to the base, the second lifting motor is fixed on the other end of the first swing rod to drive the swing of the second swing rod relative to the first swing rod, the other end of the second swing rod is provided with a leveling motor for driving the swing of the main guide rail relative to the second swing rod, the action of the leveling motor enables the main guide rail to be concentrically arranged with the insulator string.

5. The live-line robot for high-voltage electrical equipment insulator according to claim 4, characterized in that, The outer circular arc surface of the main guide rail is provided with a guide rail box, the guide rail box is hingedly connected with the other end of the second swing rod, 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, the main rotating gear is fixed at the output end of the main rotating motor, the outer tooth of the outer circular arc surface of the work head is meshed with the main rotating gear.

6. The live-line robot for high-voltage electrical equipment insulator according to claim 5, characterized in that, The inner circular arc surface of the main guide rail is provided with a sliding groove, the outer circular arc part of the work head is located in the sliding groove and is slidably connected with the sliding groove, the inner circular arc part of the work head extends out of the sliding groove, and the sub guide rail is located on the outer side of the main guide rail.

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

8. The live-line robot for high-voltage electrical equipment insulator according to claim 1, characterized in that, The auxiliary drive mechanism comprises an auxiliary rotary motor shell, an auxiliary rotary motor and an auxiliary rotary gear, the auxiliary rotary motor shell is fixed on the bottom of the auxiliary guide rail, the auxiliary rotary motor is fixed in the auxiliary rotary motor shell, and the auxiliary rotary gear is fixed on the output end of the auxiliary rotary motor, and the bottom of the work head also has external teeth meshing with the auxiliary rotary gear.

9. The live-line robot for high-voltage electrical equipment insulator according to claim 1, characterized in that, The coating assembly comprises a coating motor, a coating brush and a coating supply mechanism, the coating motor is fixed on the top of the work head, the coating brush is fixed on the output end of the coating motor, the coating brush is in working state when the coating motor drives the coating brush to move towards the insulator string, and the coating supply mechanism is used to supply coating to the coating brush.

10. The working method of the high-voltage electrical equipment insulator live working robot according to claim 9, characterized in that, The method comprises the following steps: S1, clamping the lowermost end of the insulator string to be worked by the clamping assembly; S2, locating the work assembly at the work starting point by the lifting assembly, and the work starting point of the work assembly is located at the highest point of the insulator string umbrella skirt; S3, extending the auxiliary guide rail of the work assembly, driving the work head to slide along the main guide rail by the main drive mechanism, starting the air pump to make the dust on the surface of the insulator string enter the air hole to clean the insulator string, and at the same time, starting the camera to obtain the surface image of the insulator string to detect the surface defects of the insulator string; S4, when the end of the work head moves to the position of the auxiliary drive mechanism, the auxiliary drive mechanism is started to drive the work head to slide along the auxiliary guide rail until the work head returns to the initial position; S5, driving the auxiliary guide rail to return to the initial position; S6, moving the work assembly downward by one work interval by the lifting assembly; S7, executing steps S3-S6 until the cleaning and detection work of the whole insulator string are completed; S8, when it is found that there are defects on the surface of the insulator string umbrella skirt through detection, lifting the work assembly to the corresponding height by the lifting assembly, and spraying RTV on the defective umbrella skirt position by the coating assembly; S9, loosening the insulator string by the clamping assembly, and taking down the work robot from the insulator string.

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