Automatic insulator cleaning device

Abstract

The invention relates to an automatic insulator cleaning device, and belongs to the technical field of insulator cleaning. The automatic insulator cleaning device comprises a moving module, a lifting module, a cleaning module, a control module and a first power module, the cleaning module is arranged on the lifting module, the cleaning module moves up and down along an insulator in the lifting process of the lifting module to complete automatic cleaning of the insulator, the automatic insulator cleaning device further comprises a vision module, and the vision module is connected with the control module. The image acquisition module is used for acquiring the image of the insulator cleaned by the cleaning module and sending the image to the control module, the control module is used for judging the cleaning effect of the cleaning module according to the received image of the insulator, and if the cleaning effect meets the requirement, the lifting module is controlled to act and move to the next cleaning position; and if the cleaning effect does not meet the requirement, the cleaning module is controlled to continue cleaning. The problem that in the prior art, a worker cannot check the insulator cleaning effect in real time, and consequently the worker has great blindness in the cleaning process is solved.

Description

Technical Field

[0001] The invention relates to an automatic insulator cleaning device, belonging to the technical field of insulator cleaning. Background Art

[0002] With the continuous development of the power industry, more and more AC substations and DC converter stations are put into operation, and insulators are widely used in substations and DC converter stations. The electrical performance of insulators will be affected by the contamination of the outer surface of the insulator. Therefore, the outer surface of the insulator needs to be cleaned regularly. At present, the cleaning of the dirt on the outer surface of the insulator is mostly done by manually controlling high-pressure water guns and wiping with rags during power outages and maintenance. The above two cleaning methods will cause the workers to consume more physical energy and have greater risks of working at heights.

[0003] In order to solve the problems of high physical exertion of workers and high risk of working at high altitude, the Chinese patent application document with the authorization announcement number CN211385983U discloses an automatic cleaning device for high altitude insulators, which includes a mobile device, a lifting device, a telescopic device, a cleaning device, a visual system and a control system. The automatic cleaning device for high altitude insulators collects the position information of the high altitude insulators through the visual system, and then feeds the collected information back to the control system, the control system processes and analyzes the collected information and locates the insulator to be cleaned, and the control system cleans the high altitude insulators by controlling the mobile device, the lifting device, the telescopic device and the cleaning device to work together. Although the automatic cleaning device for high altitude insulators avoids the safety problems of manual operation and the problems of high physical exertion of workers, the workers cannot check the cleaning effect of the insulators in real time, which will lead to the problems of multiple cleaning of some positions of the insulators and inadequate cleaning of some positions. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic insulator cleaning device, which is used to solve the problem in the prior art that workers cannot view the insulator cleaning effect in real time, resulting in great blindness when cleaning.

[0005] To achieve the above purpose, the technical solution provided by the present invention is:

[0006] An automatic insulator cleaning device comprises a moving module, a lifting module, a cleaning module, a control module and a first power supply module. The cleaning module is arranged on the lifting module. During the lifting process of the lifting module, the cleaning module is moved up and down along the insulator to complete the automatic cleaning of the insulator. The device also comprises a visual module, which is connected to the control module and is used to collect the image of the insulator after cleaning by the cleaning module and send it to the control module. The control module is used to judge the cleaning effect of the cleaning module according to the received insulator image. If the cleaning effect meets the requirements, the lifting module is controlled to move to the next cleaning position; if the cleaning effect does not meet the requirements, the cleaning module is controlled to continue cleaning.

[0007] The present invention uses a visual module to take photos and analyze the cleaned insulators. If the cleaning effect meets the requirements, the lifting module is controlled to move to the next cleaning position; if the cleaning effect does not meet the requirements, the cleaning module is controlled to continue cleaning. Compared with the prior art, the present invention solves the problem that the staff cannot check the cleaning effect of the insulators in real time, which leads to great blindness when cleaning.

[0008] Furthermore, the automatic insulator cleaning device also includes an annular retractable bracket for being mounted on the insulator to be cleaned, and the cleaning module includes a high-pressure nozzle and a high-pressure water pipe. The high-pressure nozzle is arranged on the annular retractable bracket, and the high-pressure water pipe is used to provide a water source for the high-pressure nozzle.

[0009] Furthermore, the visual module includes at least two cameras, both of which are arranged at different positions of the annular retractable bracket through a mounting bracket, and the positions of the cameras are higher than the high-pressure nozzle.

[0010] The visual module of the present invention comprises at least two cameras, so that all positions of the insulator can be photographed, and the position of the camera is higher than the high-pressure nozzle to prevent water from being sprayed out and affecting the shooting effect.

[0011] Furthermore, the annular retractable bracket is formed by buckling two arc-shaped parts.

[0012] The annular telescopic bracket of the present invention is composed of two arc-shaped parts buckled together, and can be installed at any position of the insulator, and the installation is convenient.

[0013] Furthermore, the lifting module adopts a multi-stage arm, one end of which is connected to the annular retractable bracket and the other end is rotatably assembled on the moving module.

[0014] The lifting module of the present invention adopts a multi-stage arm, one end of which is connected to a ring-shaped retractable bracket, and the other end is rotatably assembled on the moving module. The cleaning module can rotate in any direction around the multi-stage arm to reach various positions of the insulator for cleaning, and the operation method is more flexible.

[0015] Furthermore, there are multiple high-pressure nozzles, which are evenly distributed on the circumference of the annular retractable bracket.

[0016] The high-voltage nozzles of the present invention are evenly distributed, so that workers can clean the outer surface of the insulator more thoroughly.

[0017] Furthermore, the control module is used to control the water spraying pressure of the high-pressure nozzle according to the cleaning effect of the insulator. If the cleaning effect is not good, the water spraying pressure of the high-pressure nozzle is increased.

[0018] The water spraying pressure of the high-pressure nozzle of the present invention can be adjusted manually and freely, so as to prevent the insulator from being damaged by excessive water spraying pressure of the high-pressure nozzle, and the insulator from being not cleaned thoroughly by too low water spraying pressure.

[0019] Furthermore, the high-pressure water pipe is provided with a water pipe joint for connecting to an internal water tank or an external water tank, and the internal water tank is used to be arranged on the mobile module.

[0020] The high-pressure water pipe of the present invention is provided with a water pipe joint for connecting an internal water tank or an external water tank. The internal water tank is arranged on the mobile module, and the water intake method is more flexible, which can avoid the problem of being unable to clean due to lack of water source in remote areas.

[0021] Furthermore, the mobile module is a small car, including a body chassis part, and the first power supply module is arranged on the body chassis part to supply power to the small car and the control module.

[0022] Furthermore, the high-pressure water pipe is fixed on the lifting module.

[0023] The high-pressure water pipe of the present invention is fixed on the lifting module, which can prevent the high-pressure water pipe from swinging arbitrarily. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the automatic insulator cleaning device of the present invention;

[0025] Figure 2 It is a structural schematic diagram of a cleaning module in the automatic insulator cleaning device of the present invention;

[0026] Figure 3 It is a structural schematic diagram of a ring-shaped retractable bracket in the automatic insulator cleaning device of the present invention;

[0027] In the figure: 1. slewing mechanism; 2. control module; 3. high-pressure water pipe; 4. boom cylinder; 5. multi-stage boom; 6. hydraulic support; 7. cleaning module; 8. chassis; 9. external water pipe connector; 10. hydraulic system; 11. first power supply module;

[0028] 20. Second power supply module; 21. Vision module; 22. High-pressure nozzle; 23. Ring-shaped retractable bracket; 24. Square water pipe. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0030] Embodiment of the insulator automatic cleaning device:

[0031] The automatic insulator cleaning device proposed by the present invention includes a moving module, a lifting module, a cleaning module, a control module and a first power supply module. The cleaning module is arranged on the lifting module. During the lifting process of the lifting module, the cleaning module is moved up and down along the insulator to complete the automatic cleaning of the insulator. The device also includes a visual module, which is connected to the control module and is used to collect the image of the insulator after cleaning by the cleaning module and send it to the control module. The control module is used to judge the cleaning effect of the cleaning module according to the received insulator image. If the cleaning effect meets the requirements, the lifting module is controlled to move to the next cleaning position; if the cleaning effect does not meet the requirements, the cleaning module is controlled to continue cleaning. The present invention uses the visual module to take pictures and analyze the insulators it cleans. Compared with the prior art, the present invention solves the problem that the staff cannot check the cleaning effect of the insulator in real time, which leads to great blindness of the staff when cleaning.

[0032] The following is combined with Figure 1-3 , the insulator automatic cleaning device of the present invention is specifically described, and the technical solution of the present invention is specifically described as follows:

[0033] The specific structure of the automatic insulator cleaning device of the present invention is as follows: Figure 1 As shown, the specific structure of the cleaning module in the automatic insulator cleaning device of the present invention is as follows Figure 2As shown, in this embodiment, the mobile module adopts a trolley, including a chassis part 8, a first power module 11 is arranged on the chassis part 8, a slewing mechanism 1 is used to realize 360° free operation around the trolley, and the first power module 11 is used to power the trolley, the control module 2 and the hydraulic system 10. The lifting module adopts a multi-stage arm 5, one end of which is connected to the annular retractable bracket 23, and the other end is rotatably assembled on the mobile module (chassis part 8). The cleaning module 7 can rotate in any direction around the multi-stage arm 5, so as to reach various positions of the insulator for cleaning, and the operation method is more flexible. The hydraulic system 10 is mainly composed of a hydraulic pump, a valve group, an accumulator, a hydraulic motor and other hydraulic components, and mainly includes two parts: a pumping hydraulic system and an arm hydraulic system. The pumping hydraulic system includes a main pumping oil circuit system, a distribution valve oil circuit system, a stirring oil circuit system and a water pump oil circuit system. The boom hydraulic system includes a boom cylinder 4, which is connected to a hydraulic support 6. The boom cylinder 4 drives the deployment and retraction of the multi-stage boom 5 through the hydraulic support 6. After the external water pipe connector 9 is connected to the water supply tank, it is sent to the delivery pipe through the pumping hydraulic system and sprayed out through the high-pressure nozzle 22. In order to put the annular retractable bracket 23 on the insulator to be cleaned, the annular retractable bracket 23 can be set into a circular ring shape, but the circular ring shape needs to be put on from the top of the insulator, which is inconvenient. In this embodiment, the annular retractable bracket 23 is composed of two arc-shaped parts that are buckled together and can be put on from any position of the insulator, which is convenient. The cleaning module 7 includes a high-pressure nozzle 22 and a high-pressure water pipe 3. The high-pressure nozzle 22 is set on the annular retractable bracket 23. There are multiple high-pressure nozzles 22, which are evenly distributed on the circumference of the annular retractable bracket 23. The specific connection position of the high-pressure nozzle 22 is as follows. Figure 3 As shown, the square water pipe 24 is connected to the high-pressure water pipe 3; the high-pressure water pipe 3 is used to provide a water source for the high-pressure nozzle 22. The high-pressure water pipe 3 is provided with an external water pipe connector 9 for connecting to an internal water tank or an external water tank. The internal water tank is provided on the mobile module (the chassis part 8). The high-pressure water pipe 3 is fixed on the lifting module (the multi-stage arm 5) to prevent the high-pressure water pipe 3 from swinging arbitrarily. The control module 2 is used to control the water spraying pressure of the high-pressure nozzle 22 according to the cleaning effect of the insulator. If the cleaning effect is not good, the water spraying pressure of the high-pressure nozzle 22 is increased.

[0034] The visual module 21 of the present invention is connected to the control module 2. The visual module 21 includes at least two cameras, so that each position of the insulator can be photographed, and the position of the camera is higher than the high-pressure nozzle 22 to prevent water from being sprayed out and affecting the shooting effect. The second power module 20 is used to power the camera. The visual module 21 is used to collect the image of the insulator after cleaning by the cleaning module 7 and send it to the control module 2. The control module 2 is used to judge the cleaning effect of the cleaning module 7 based on the received insulator image. If the cleaning effect meets the requirements, the lifting module (multi-stage arm 5) is controlled to move to the next cleaning position; if the cleaning effect does not meet the requirements, the cleaning module 7 is controlled to continue cleaning.

[0035] When an insulator needs to be cleaned, the present invention controls the trolley to move near the insulator to be cleaned, and then controls the multi-stage arm to move the annular retractable bracket thereon to the side of the insulator, then opens the two arc-shaped pieces of the annular retractable bracket to be sleeved on the insulator, and controls the multi-stage arm to move the annular retractable bracket to the cleaning position. After reaching the cleaning position, the control module controls the high-pressure nozzle to work according to the set water spraying pressure and duration, and after reaching the set working duration, controls the camera to collect the image of the insulator after cleaning by the cleaning module, and then sends the collected insulator image to the control module. The control module determines the cleaning effect of the cleaning module based on the received insulator image. If the cleaning effect meets the requirements, the lifting module is controlled to move to the next cleaning position; if the cleaning effect does not meet the requirements, the cleaning module is controlled to continue cleaning.

Claims

1. An automatic insulator cleaning device, comprising a moving module, a lifting module, a cleaning module, a control module and a first power module, wherein the cleaning module is arranged on the lifting module, and the cleaning module is moved up and down along the insulator during the lifting process of the lifting module to complete the automatic cleaning of the insulator, characterized in that: It also includes a visual module, which is connected to the control module and is used to collect the image of the insulator after cleaning by the cleaning module and send it to the control module. The control module is used to judge the cleaning effect of the cleaning module according to the received insulator image. If the cleaning effect meets the requirements, the lifting module is controlled to move to the next cleaning position; if the cleaning effect does not meet the requirements, the cleaning module is controlled to continue cleaning.

2. The automatic insulator cleaning device according to claim 1, characterized in that: The automatic insulator cleaning device also includes an annular retractable bracket for sleeved on the insulator to be cleaned, and the cleaning module includes a high-pressure nozzle and a high-pressure water pipe. The high-pressure nozzle is arranged on the annular retractable bracket, and the high-pressure water pipe is used to provide a water source for the high-pressure nozzle.

3. The automatic insulator cleaning device according to claim 2, characterized in that: The visual module includes at least two cameras, both of which are arranged at different positions of the annular retractable bracket through a mounting bracket, and the positions of the cameras are higher than the high-pressure nozzle.

4. The automatic insulator cleaning device according to claim 2, characterized in that: The annular retractable bracket is formed by buckling two arc-shaped parts.

5. The automatic insulator cleaning device according to claim 2, characterized in that: The lifting module adopts a multi-stage arm frame, one end of which is connected to a ring-shaped retractable bracket, and the other end is rotatably assembled on the moving module.

6. The automatic insulator cleaning device according to claim 2, characterized in that: There are multiple high-pressure nozzles, which are evenly distributed on the circumference of the annular retractable bracket.

7. The automatic insulator cleaning device according to claim 2, characterized in that: The control module is used to control the water spraying pressure of the high-pressure nozzle according to the cleaning effect of the insulator. If the cleaning effect is not good, the water spraying pressure of the high-pressure nozzle is increased.

8. The automatic insulator cleaning device according to claim 2, characterized in that: The high-pressure water pipe is provided with a water pipe joint for connecting to an internal water tank or an external water tank, and the internal water tank is arranged on the mobile module.

9. The automatic insulator cleaning device according to claim 1, characterized in that: The mobile module is a small car, which includes a body chassis part. The first power supply module is arranged on the body chassis part and is used to supply power to the small car and the control module.

10. The automatic insulator cleaning device according to claim 2, characterized in that: The high-pressure water pipe is fixed on the lifting module.

Images