A substation insulator porcelain bottle climbing type cleaning equipment and method

Abstract

This invention discloses a substation insulator porcelain insulator climbing cleaning device, belonging to the technical field of substation insulator porcelain insulator climbing cleaning devices. It includes at least two sets of openable and closable cleaning units, including opening and closing components, driving components, swinging components, and cleaning components; a clamping unit; and a climbing unit, including a climbing motor, a lead screw, a connecting rod, an upper sealing plate, and a lower sealing block. The beneficial effects of this invention are that it achieves multi-angle and multi-range swinging cleaning of the insulator porcelain, improving the cleaning coverage area, avoiding cleaning dead corners, and reducing wear on the porcelain insulator. It is particularly suitable for cleaning porcelain insulators of various complex shapes in substations. Furthermore, this device can achieve full-area cleaning from the bottom to the top of the insulator; it can achieve one-time cross-sweep cleaning without manual intervention and multiple disassembly and assembly.

Description

Technical Field

[0001] This invention relates to the technical field of substation insulating porcelain insulator climbing cleaning equipment, and in particular to a substation insulating porcelain insulator climbing cleaning equipment and method. Background Technology

[0002] Due to their structural characteristics, the insulating porcelain insulators widely used in power equipment are prone to accumulating dirt and grime on their exposed surfaces, forming a conductive film. In humid and harsh weather conditions, this contaminated area can easily lead to insulation flashover, insulation damage, increased losses, shortened equipment lifespan, or even complete failure. In severe cases, it can affect the safe operation of electrical equipment, causing unnecessary production losses and even large-scale power outages. Regular cleaning of the insulating porcelain insulators in substations is an effective measure to restore the original insulation level of the equipment and ensure the safe operation of the power system.

[0003] Currently, there are two main methods for cleaning porcelain insulators in substations: the first is the traditional manual cleaning method. Manual cleaning involves using a lifting platform to elevate on-site personnel to a suitable height, where workers directly clean the insulators with brushes and cloths. This method is labor-intensive, complex, inefficient, unsafe, time-consuming, and produces poor cleaning quality, with a high risk of falls. The second method is live-line water flushing. Live-line water flushing is a highly technical and demanding operation. Slight negligence during live-line water flushing can easily lead to accidents, and most workers lack the skills to perform this operation. Furthermore, the cleaning effect is not ideal, and it suffers from high costs, high safety risks, blind spots, secondary pollution of adjacent equipment, and water waste. Summary of the Invention

[0004] In view of the problems existing in the above or prior art, the present invention is proposed.

[0005] Therefore, the purpose of this invention is to provide a substation insulating porcelain insulator climbing cleaning device, which can solve the problem of difficult cleaning of insulating porcelain insulators and the lack of equipment for efficient cleaning of insulating porcelain insulators.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a substation insulating porcelain insulator climbing cleaning device, which includes at least two sets of openable and closable cleaning units, including an opening and closing component, a driving component disposed inside the opening and closing component, a swing component disposed on the top of the driving component, and a cleaning component disposed behind the swing component.

[0007] Both the opening / closing component and the driving component are annular;

[0008] The swinging component is a double-bar structure with an included angle α between the two bars. The value of the included angle α changes with the driving component, thereby adjusting the cleaning angle of the cleaning component.

[0009] As a preferred embodiment of the substation insulating porcelain insulator climbing cleaning device of the present invention, the swinging component includes an arc-shaped block disposed on the upper side of the driving component, multiple sets of swing rods hinged at equal intervals on the arc-shaped block, and multiple sets of rotating wheels disposed on the inner side of the opening and closing component.

[0010] The arc-shaped block has multiple sets of sliding grooves; the swing arm is slidably connected within the sliding grooves, thereby adjusting the cleaning angle of the sweeping component.

[0011] As a preferred embodiment of the substation insulating porcelain insulator climbing cleaning device of the present invention, the cleaning units are all connected together by a drive shaft;

[0012] A motor is connected to one side of the drive shaft;

[0013] The opening and closing component is an expandable and closable ring structure consisting of a quick-release handle and a quick-release pivot.

[0014] As a preferred embodiment of the substation insulating porcelain insulator climbing cleaning device of the present invention, there are at least two sets of clamping units, which are respectively arranged at different horizontal positions between the cleaning units;

[0015] The climbing unit includes a climbing motor, a lead screw disposed on one side of the climbing motor, connecting rods disposed on both sides of the lead screw, an upper sealing plate disposed on the top of the connecting rod, and a lower sealing block disposed on the bottom of the connecting rod;

[0016] The system includes a camera, a fan located on one side of the camera, a connecting plate located inside the cleaning unit, a protective plate located outside the cleaning unit, and a wire groove located outside the protective plate.

[0017] As a preferred embodiment of the substation insulating porcelain insulator climbing cleaning device of the present invention, the clamping unit includes a clamping claw, a connecting arm disposed on the rear side of the clamping claw, a fixed seat disposed on the rear side of the connecting arm, a reciprocating component disposed through the fixed seat, and an overhead plate disposed on the bottom side of the reciprocating component.

[0018] As a preferred embodiment of the substation insulating porcelain insulator climbing cleaning device of the present invention, the overhead plate is provided with two sets of sleeves;

[0019] The sleeve is slidably fitted onto the outside of the connecting rod.

[0020] As a preferred embodiment of the substation insulating porcelain insulator climbing cleaning device of the present invention, wherein: the bottom of the opening and closing part is further provided with a hinge ear;

[0021] The hinge lug is movably hinged to the connecting rod, and together with the hinge lug on the opposite side, controls the opening and closing of the opening and closing member.

[0022] As a preferred embodiment of the substation insulating porcelain insulator climbing cleaning device of the present invention, the clamping unit installed at the bottom layer is set on a fixed plate, and the fixed plate cooperates with the climbing motor to complete the climbing;

[0023] A bearing is fixedly installed in the middle of the overhead panel;

[0024] The bearing is threadedly connected to the lead screw.

[0025] As a preferred embodiment of the substation insulating porcelain insulator climbing cleaning device of the present invention, the fixing plate is slidably connected to the lead screw;

[0026] The connecting rod passes through the fixing plate and extends to the bottom of the lower sealing block.

[0027] To solve the above-mentioned technical problems, the present invention also provides the following technical solution: a method for cleaning porcelain insulators in substations by climbing, comprising unlocking and opening the opening and closing parts, placing the porcelain insulator to be cleaned inside it, and adjusting it to a suitable position;

[0028] The clamping unit causes the clamping claws to tightly hold the porcelain insulator;

[0029] The cleaning unit is started to perform cleaning work, and the fan is started at the same time to improve cleaning efficiency. The cleaning quality is checked using the camera.

[0030] After completing the current cleaning area, the gripper is released and the device moves to the next cleaning position via the climbing unit.

[0031] Repeat the above cleaning and moving steps until the entire porcelain insulator is thoroughly cleaned.

[0032] The beneficial effects of this invention are: multi-angle, multi-range oscillating cleaning of insulating porcelain insulators, improving cleaning coverage, avoiding cleaning dead spots, and reducing wear on the insulators. It is particularly suitable for cleaning porcelain insulators of various complex shapes in substations. Furthermore, this device can achieve full-area cleaning from the bottom to the top of the insulator; it can achieve one-time, cross-sectional cleaning without manual intervention or multiple disassembly and reassembly. Attached Figure Description

[0033] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the front structure of the substation insulating porcelain insulator climbing cleaning device of the present invention.

[0035] Figure 2 This is a schematic diagram of the cleaning unit structure of the substation insulating porcelain insulator climbing cleaning device of the present invention.

[0036] Figure 3 This is a schematic diagram of the clamping unit structure of the substation insulating porcelain insulator climbing cleaning device of the present invention.

[0037] Figure 4 This is a schematic diagram of the overall structure of the substation insulating porcelain insulator climbing cleaning device of the present invention.

[0038] Figure 5 This is a schematic diagram of the climbing unit structure of the substation insulating porcelain insulator climbing cleaning device of the present invention.

[0039] Figure 6 For the present invention Figure 5 Enlarged schematic diagram of the climbing unit structure at point A. Detailed Implementation

[0040] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0041] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0042] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single embodiment or an embodiment selectively excluded from other embodiments.

[0043] Example 1, referring to Figure 1This is the first embodiment of the present invention. This embodiment provides a substation insulating porcelain insulator climbing cleaning device, including at least two sets of openable and closable cleaning units 100, including an opening and closing member 101, a driving member 102 disposed inside the opening and closing member 101, a swing member 103 disposed on the top of the driving member 102, and a cleaning member 104 disposed behind the swing member 103.

[0044] Both the opening / closing component 101 and the driving component 102 are annular;

[0045] The swing member 103 is a double-rod structure with an included angle α between the two rods. The value of the included angle α changes with the drive member 102, thereby adjusting the cleaning angle of the sweeping member 104.

[0046] It should be noted that the cleaning unit 100 clamps the outside of the insulating porcelain insulator, using a snap-fit ​​method to clean the entire insulator. It includes symmetrical opening / closing components 101 on both sides, a driving component 102, and a swinging component 103. The opening / closing components 101, driving component 102, and swinging component 103 are all annular structures, facilitating a tight clamping action on the outside of the insulating porcelain insulator and improving the stability and reliability of the entire cleaning device. The front ends of the opposing opening / closing components 101 on both sides should have connecting ends to facilitate the opening and closing of the components, allowing for clamping and separation of the insulating porcelain insulator.

[0047] Preferably, a set of driving members 102 are slidably connected to the inner circumference of the opening / closing member 101, and a set of swing members 103 are connected to the driving members 102 via a keyway. The driving members 102 have an arc-shaped groove of a certain length. The swing members 103 have a double-rod structure, with one rod slidably connected to the arc-shaped groove via a keyway, and the other rod connected to the driving members 102. When the driving members 102 slide along the inner wall of the opening / closing member 101, one rod fixedly connected to the driving members 102 moves along the inner side of the opening / closing member 101, while the other rod connected to the driving members 102 via the keyway moves a step later. This changes the included angle α between the two rods of the swing members 103.

[0048] Preferably, both the opening / closing component 101 and the driving component 102 are annular;

[0049] Preferably, the opening / closing component 101 is a symmetrical semi-circular structure, which facilitates the opening / closing of the component 101 by means of its connecting end on one side. The driving component 102 is a quarter-ring structure with a smaller diameter and the same center position as the opening / closing component 101, to avoid motion interference when the two sets of driving components 102 slide within the opening / closing component 101.

[0050] Preferably, the swing member 103 is a double-bar structure with an included angle α between the two bars. The value of the included angle α changes with the drive member 102, thereby adjusting the cleaning angle of the cleaning member 104.

[0051] Preferably, in the swing element 10 3 As the drive component 102 moves along the side wall of the opening / closing component 101, the double-bar structure of the swing component 103 moves back and forth, causing the included angle α between the swing components 103 to change. The cleaning component 104 is fixedly engaged at the front end of the swing component 103. When the included angle α between the swing components 103 changes, it also changes the angle, causing the cleaning component 104 to swing. Because the angle of the swing component 103 can change, it can better fit different parts of the ceramic bottle, improving the cleaning coverage and effect. The multi-angle cleaning action helps remove dirt from different locations on the surface of the ceramic bottle, especially those hard-to-reach areas or areas with complex geometries. This is more effective than simple rotation in cleaning all corners of the ceramic bottle. Traditional clamp-type rotary cleaning may leave some blind spots due to the position of the rotation center. The swing design avoids this by changing the angle of the cleaning brush 104, ensuring that the entire surface of the ceramic bottle is cleaned. Furthermore, since the cleaning brush 104 can automatically adjust its angle according to the shape of the porcelain bottle surface, it can reduce unnecessary friction on the porcelain bottle surface, which helps to extend the service life of the porcelain bottle and the cleaning brush 104.

[0052] In summary, the design combining the swing element 103 and the cleaning brush 104 provides a more comprehensive, efficient, and adaptable cleaning solution, which is particularly suitable for cleaning porcelain insulators of various complex shapes in substations.

[0053] Example 2, refer to Figures 1-6 This is the second embodiment of the present invention, which differs from the first embodiment in that: the swing member 103 includes an arc-shaped block 103a disposed on the upper side of the driving member 102, multiple sets of swing rods 103b hinged at equal intervals on the arc-shaped block 103a, and multiple sets of rotating wheels 103c disposed on the inner side of the opening and closing member 101.

[0054] Multiple sets of sliding grooves 103a-1 are provided on the arc-shaped block 103a; the swing arm 103b is slidably connected in the sliding groove 103a-1, thereby adjusting the cleaning angle of the cleaning component 104.

[0055] Furthermore, all cleaning units 100 are connected together via a drive shaft M;

[0056] One side of the drive shaft M is connected to the motor N;

[0057] The opening and closing component 101 is an openable and closable ring structure consisting of a quick-release handle 101a and a quick-release pivot 101b.

[0058] Furthermore, at least two sets of clamping units 200 are respectively arranged at different horizontal positions between the cleaning units 100;

[0059] The climbing unit 300 includes a climbing motor 301, a lead screw 302 disposed on one side of the climbing motor 301, connecting rods 303 disposed on both sides of the lead screw 302, an upper sealing plate 304 disposed on the top of the connecting rods 303, and a lower sealing block 305 disposed on the bottom of the connecting rods 303.

[0060] The system includes a camera 400, a fan 500 mounted on one side of the camera 400, a connecting plate 600 mounted inside the cleaning unit 100, a protective plate 700 mounted outside the cleaning unit 100, and a protective plate 700 mounted on the protective plate.

[0061] The outer groove of 700 is 800.

[0062] Furthermore, the clamping unit 200 includes a clamping claw 201, a connecting arm 202 disposed on the rear side of the clamping claw 201, a fixing seat 203 disposed on the rear side of the connecting arm 202, a reciprocating member 204 disposed through the fixing seat 203, and an overhead plate 205 disposed on the bottom side of the reciprocating member 204.

[0063] Furthermore, two sets of sleeves 205a are provided on the overhead slab 205;

[0064] Sleeve 205a is slidably sleeved on the outside of connecting rod 303.

[0065] Furthermore, the bottom of the opening and closing component 101 is also provided with a hinge lug 101c;

[0066] The hinge ear 101c is movably hinged to the connecting rod 303, and controls the opening and closing of the opening and closing member 1201 with the hinge ear 101c on the opposite side.

[0067] Furthermore, the clamping unit 200 installed at the bottom layer is set on the fixed plate 900, and the fixed plate 900 cooperates with the climbing motor 301 to complete the climbing;

[0068] A bearing Q is fixedly installed in the middle of the overhead slab 205;

[0069] Bearing Q is threadedly connected to lead screw 302.

[0070] Furthermore, the fixed plate 900 is slidably connected to the lead screw 302;

[0071] The connecting rod 303 passes through the fixing plate 900 and extends to the bottom of the lower sealing block 305.

[0072] It should be noted that the swinging component 103 can control the sweeping component 104 to swing at multiple angles to clean the insulating porcelain bottle. In this embodiment, the swinging component 103 consists of an arc-shaped block 103a above the driving component 102, multiple sets of swing rods 103b hinged at equal intervals to the arc-shaped block 103a, and multiple sets of rotating wheels 103c disposed inside the opening and closing component 101. The arc-shaped block 103a is aligned with the center of the driving component 102 and has a smaller diameter. An arc-shaped sliding groove 103a-1 is provided through the end face of the arc-shaped block 103a. The swing rods 103b are slidably connected in the sliding groove 103a-1, thereby adjusting the cleaning angle of the sweeping component 104.

[0073] Preferably, in this embodiment, the driving component 102 is a quarter-tooth ring, and a set of pins is welded to the end face of the driving component 102. The pins are slidably connected in the sliding groove 103a-1 on the end face of the arc-shaped block 103a. When the driving component 102 rotates, the arc-shaped block 103a will move indirectly in the sliding groove 103a-1.

[0074] Preferably, in this embodiment, the swing arm 103b is a double-link structure, with the overlapping ends of the two links hinged to the cleaning brush 104. One link is hinged to one side of the arc-shaped block 103a, while the other link is hinged to the drive member 102. That is, one link moves with the drive member 102, while the other link moves with the arc-shaped block 103a.

[0075] Preferably, the cleaning units 100 are all connected together via a drive shaft M;

[0076] One side of the drive shaft M is connected to the motor N;

[0077] The drive shaft M, connected to one side of the drive unit 102, uses gear transmission to link all the drive units 102 together vertically. At the bottom of the drive shaft M, an inverted gear meshes with a motor N, which is a servo motor. When motor N operates, it drives the drive shaft M to rotate the drive units 102 at different positions. The arc-shaped block 103a slides under the traction of the sliding groove 103a-1, thereby pulling one set of connecting rods of the swing arm 103b to rotate, while the other set of connecting rods directly follows the drive unit 102. Ultimately, the swinging member 103 swings with the swing arm 103b, performing multi-angle cleaning.

[0078] Preferably, there are at least two sets of clamping units 200, which are respectively arranged at different horizontal positions between the cleaning units 100.

[0079] Preferably, to achieve the clamping function of the insulating porcelain insulator, two or more sets of clamping units 200 are required. After one set of clamping units 200 clamps the insulator, another set or more clamping units 200 are allowed to relax and then rise. The clamping unit 200 consists of two sets of arc-shaped insulated clamping claws 201, a connecting arm 202 fixedly engaged with the rear side of the clamping claws 201, a fixed seat 203 fixedly engaged with the rear side of the connecting arm 202, a reciprocating component 204 passing through the fixed seat 203, and a suspended plate 205 disposed on the bottom side of the reciprocating component 204.

[0080] Preferably, the reciprocating component 204 is a linear component that can be driven by a dual-head servo motor to rotate the ball screw, thereby driving the fixed seat on the ball screw to reciprocate, thus realizing the clamping and releasing function of the insulating porcelain bottle.

[0081] Preferably, the overhead plate 205 on the bottom side of the reciprocating component 204 is mounted on the climbing unit 300. Two sets of sleeves 205a are provided on both sides of the middle of the overhead plate 205, and two sets of connecting rods 303 are fitted inside the sleeves 205a to enable climbing movement. The climbing unit 300 consists of a climbing motor 301, a lead screw 302 located on one side of the climbing motor 301, connecting rods 303 located on both sides of the lead screw 302, an upper sealing plate 304 located at the top of the connecting rods 303, and a lower sealing block 305 located at the bottom of the connecting rods 303. A bearing Q is installed on the overhead plate 205, which, in conjunction with the lead screw 302, drives the overhead plate 205 to move. The difference is that the bottommost clamping unit 200 is fixedly mounted on the fixed plate 900, and the overhead plate 205 has the same structure as the fixed plate 900. A slot is provided in the middle of the fixed plate 900, through which the lead screw 302 passes without affecting its rotation. An upper sealing plate 304 and a lower sealing block 305 are respectively installed at the upper and lower ends of the connecting rods 303 on both sides of the lead screw 302. The upper sealing plate 304 and the lower sealing block 305 can limit the movement distance of the climbing unit 300 driving the clamping unit 200.

[0082] Preferably, displacement sensors can be installed on the overhead plate 205 and the fixed plate 900 to sense the displacement distance of the device. Furthermore, multiple positioning methods, such as laser ranging, infrared positioning, and multi-channel position sensors, can be used to assist the stepper motor in precise movement, improving clamping stability and the smoothness of climbing.

[0083] Preferably, the climbing principle is as follows: after the upper-level overhead plate 205 rotates and rises with the lead screw 302, the upper-level clamping unit 200 clamps the insulating porcelain bottle, and then the lower-level clamping unit 200 releases the clamping action. The climbing motor 301 drives the lead screw 302 to rotate, and then, with the cooperation of the bearing Q and the lead screw 302, and with the limit of the clamp and the insulating porcelain bottle, the climbing motor 301 pushes against the fixed plate 900 and moves upward, completing one climbing cycle.

[0084] Preferably, the system includes a camera 400, a fan 500 disposed on one side of the camera 400, a connecting plate 600 disposed inside the cleaning unit 100, a protective plate 700 disposed outside the cleaning unit 100, and a wire trough 800 disposed outside the protective plate 700.

[0085] Preferably, the fan 500 can be an upper turbine fan and a lower turbine fan. The strong airflow generated by the fan blows away the dust from the cleaning brush 104, greatly improving the cleaning effect. At the same time, the camera 400 of the upper and lower cleaning units 100 will detect the cleaning area in real time and use image recognition technology to determine whether the cleaning is complete. The connecting plate 600 can slide outward to expand the distance between the upper and lower cleaning units 100 as needed. The protective plate 700 has a motor N fixedly installed inside to improve its protection when opening and closing. The cable tray 800 is a flexible cable tray, which protects the cables that move with the moving parts.

[0086] In summary, this porcelain insulator cleaning equipment features a miniaturized and lightweight design, making it easy to carry, install on-site, and recycle. It is simple to operate and easy to store. The dual-brush head design allows for thorough cleaning not only of the insulator's grooves but also of the insulator cap, significantly improving cleaning efficiency and eliminating blind spots for comprehensive cleaning. Furthermore, the cleaning components are all located at the outermost edge of the machine, ensuring complete cleaning of the entire porcelain insulator from bottom to top. It can perform a single, sweeping cleaning operation without manual intervention or multiple disassembly and reassembly steps.

[0087] Example 3, referring to Figures 1-6 This is the third embodiment of the present invention, which differs from the previous two embodiments in that it includes unlocking and opening the opening and closing part 101, placing the porcelain insulator to be cleaned inside it, and adjusting it to a suitable position;

[0088] The clamping unit 200 causes the clamping claws 201 to tightly grip the porcelain insulator;

[0089] The cleaning unit 100 is started to carry out cleaning work, and the fan 500 is started at the same time to improve cleaning efficiency. The camera 400 is used to check the cleaning quality.

[0090] After completing the current cleaning area, release the gripper 201 and move to the next cleaning position via the climbing unit 300;

[0091] Repeat the above cleaning and moving steps until the entire porcelain insulator is thoroughly cleaned.

[0092] It should be noted that the specific steps are as follows: S1. The on-site operator manually moves the quick-release handle 101a of the upper and lower cleaning unit 100, unlocks and opens the upper and lower opening and closing parts 101 along the unlocking direction of the quick-release pivot 101b, forming an open gap, moves the porcelain insulator to be cleaned into the cleaning robot, and adjusts the position so that the porcelain insulator cleaning robot hugs and clings to the bottom of the porcelain insulator.

[0093] S2: After the porcelain insulator to be cleaned is moved into the cleaning robot, the reciprocating component 204 of the bottom clamping unit 200 rotates, causing the two sets of clamping claws 201 to simultaneously tighten inward, firmly gripping the groove of the porcelain insulator. Following the same steps, the reciprocating component 204 of the upper clamping unit 200 rotates and tightens inward, with the upper and lower clamping claws 201 simultaneously tightly gripping the groove of the porcelain insulator, allowing the cleaning robot to firmly adhere to the bottom of the porcelain insulator.

[0094] S3: On-site operators manually pull the quick-release handle 101a on the bottom cleaning unit 100 to lock the bottom opening and closing part 101 in the locking direction of the quick-release pivot 101b to form a closed ring structure. In the same way, they pull the quick-release handle 101a on the top cleaning unit 100 to lock the top opening and closing part 101 to form a closed ring structure, and then the cleaning work can begin.

[0095] After installation, A1: At the initial position of the porcelain insulator, start the motor N. The drive shaft M drives the drive unit 102 to rotate back and forth at regular intervals, causing the cleaning brush 104 on the swing arm 103b to swing at multiple angles, cleaning the dust adhering to the porcelain insulator from all directions. In the same process, the upper cleaning unit 100 also completes the cleaning operation simultaneously under the drive of the motor N and the drive shaft M.

[0096] A2: When the upper and lower cleaning unit 100 starts cleaning, the strong airflow generated by the fan 500 blows away the dust swept down by the brush, greatly improving the cleaning effect. At the same time, the camera 400 will detect the cleaning area in real time and use image recognition technology to determine whether it is clean.

[0097] A3: After the cleaning of the groove and cap of the porcelain insulator at the current position is completed, the cleaning unit 100 stops working, the reciprocating part 204 of the upper clamping unit 200 rotates in the opposite direction, driving the clamping claw 201 to loosen the clamped groove of the porcelain insulator and reach a safe distance. Then the climbing motor 301 starts, driving the upper clamping unit 200 to climb up to the next porcelain insulator groove position. The reciprocating part 204 of the upper clamping unit 200 rotates in the forward direction, driving the clamping arm to clamp the groove of the porcelain insulator again.

[0098] A4: Start the reciprocating component 204 of the bottom clamping unit 200 to rotate in the opposite direction. At the same time, drive the clamping claw 201 to loosen the groove of the clamped porcelain insulator and reach a safe distance. Then start the climbing motor 301. The upper clamping unit 200 is limited on the insulating porcelain insulator, which will cause the climbing motor 301 to move upward, thereby lifting the fixed plate 900. Finally, the bottom clamping unit 200 rises and completes the climbing process.

[0099] A5: Repeat steps S1 to S4 above until the entire porcelain insulator is cleaned. Then, reverse the descent process until the bottom of the porcelain insulator is reached. The cleaning robot is then disassembled and retrieved by on-site personnel.

[0100] Importantly, the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A substation insulating porcelain insulator climbing cleaning device, characterized in that: include, At least two sets of openable and closable cleaning units (100) include an opening and closing member (101), a driving member (102) disposed inside the opening and closing member (101), a swing member (103) disposed on the top of the driving member (102), and a cleaning member (104) disposed behind the swing member (103). Both the opening / closing component (101) and the driving component (102) are annular; The swing member (103) is a double rod structure with an included angle of α between the two rods. The value of the included angle α changes with the driving member (102), thereby adjusting the cleaning angle of the cleaning member (104). The swing member (103) includes an arc-shaped block (103a) disposed on the upper side of the drive member (102), multiple sets of swing rods (103b) hinged at equal intervals on the arc-shaped block (103a), and multiple sets of rotating wheels (103c) disposed on the inner side of the opening and closing member (101). The arc-shaped block (103a) has multiple sets of sliding grooves (103a-1); the swing arm (103b) is slidably connected in the sliding grooves (103a-1) to adjust the cleaning angle of the cleaning component (104); It also includes at least two sets of clamping units (200), which are respectively disposed at different horizontal positions between the cleaning units (100); The climbing unit (300) includes a climbing motor (301), a lead screw (302) disposed on one side of the climbing motor (301), connecting rods (303) disposed on both sides of the lead screw (302), an upper sealing plate (304) disposed on the top of the connecting rods (303), and a lower sealing block (305) disposed on the bottom of the connecting rods (303). The camera (400), a fan (500) disposed on one side of the camera (400), a connecting plate (600) disposed inside the cleaning unit (100), a protective plate (700) disposed outside the cleaning unit (100), and a wire groove (800) disposed outside the protective plate (700). The clamping unit (200) includes a clamping claw (201), a connecting arm (202) disposed on the rear side of the clamping claw (201), a fixed seat (203) disposed on the rear side of the connecting arm (202), a reciprocating member (204) disposed through the fixed seat (203), and a suspended plate (205) disposed on the bottom side of the reciprocating member (204). The clamping unit (200) installed at the bottom layer is set on the fixing plate (900), and the fixing plate (900) cooperates with the climbing motor (301) to complete the climbing. A bearing (Q) is fixedly installed in the middle of the overhead plate (205); The bearing (Q) is threadedly connected to the lead screw (302).

2. The substation insulating porcelain insulator climbing cleaning device as described in claim 1, characterized in that: The cleaning units (100) are all connected together via a drive shaft (M); The drive shaft (M) is connected to a motor (N) on one side. The opening and closing component (101) is an openable and closable ring structure consisting of a quick-release handle (101a) and a quick-release pivot (101b).

3. The substation insulating porcelain insulator climbing cleaning device as described in claim 2, characterized in that: Two sets of sleeves (205a) are provided on the overhead plate (205); The sleeve (205a) is slidably sleeved on the outside of the connecting rod (303).

4. The substation insulating porcelain insulator climbing cleaning device as described in claim 3, characterized in that: The bottom of the opening and closing member (101) is also provided with a hinge lug (101c). The hinge (101c) is movably hinged to the connecting rod (303) and controls the opening and closing of the opening and closing member (101) with the hinge (101c) on the opposite side.

5. The substation insulating porcelain insulator climbing cleaning device as described in claim 4, characterized in that: The fixed plate (900) is slidably connected to the lead screw (302); The connecting rod (303) passes through the fixing plate (900) and extends to the bottom of the lower sealing block (305).

6. A method for cleaning insulating porcelain insulators in substations by clinging to them, characterized in that: Including the substation insulating porcelain insulator climbing cleaning device as described in any one of claims 1 to 5, and, Unlock and open the opening and closing part (101), place the porcelain insulator to be cleaned inside it, and adjust it to the appropriate position; The clamping unit (200) causes the clamping claws (201) to tightly grip the porcelain insulator; The cleaning unit (100) is started to carry out cleaning work, and the fan (500) is started at the same time to improve cleaning efficiency. The cleaning quality is checked by the camera (400). After completing the current cleaning area, release the gripper (201) and move to the next cleaning position via the climbing unit (300); Repeat the above cleaning and moving steps until the entire porcelain insulator is thoroughly cleaned.

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