GIS inner cavity cleaning robot and control device thereof

Abstract

The invention provides a GIS inner cavity cleaning robot and a control device thereof. The GIS inner cavity cleaning robot comprises a shell body, and an ash storage cavity used for containing a cleaned object and a first control piece are arranged in the shell body; the soft cleaning part is arranged on the shell body in a bendable manner and is communicated with the ash storage cavity; the adsorption assembly is arranged on the shell body and used for enabling the shell body to be adsorbed to the GIS inner cavity; the adsorption assembly comprises at least two adsorption discs, the adsorption discs are connected with the shell body, each adsorption disc is of a cylindrical structure and is provided with an annular contact surface, and the contact surfaces are attached to the GIS inner cavity; the control cable is in communication connection with the GIS inner cavity cleaning robot and used for supplying power to the GIS inner cavity cleaning robot and controlling the adsorption assembly; a negative pressure opening is formed in the adsorption disc and is communicated with the control cable. The problems that in the prior art, manual cleaning of GIS equipment is low in efficiency, safety and economical efficiency are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline cleaning robots, and in particular to a GIS inner cavity cleaning robot and a control device thereof. Background Art

[0002] GIS equipment (gas insulated switchgear) is usually composed of multiple compartments, including circuit breakers, disconnectors, current transformers and other components, and each component is tightly encapsulated in a metal cavity shell body, using SF6 gas for insulation. Although this design greatly improves the reliability and safety of the equipment, it also increases the difficulty of cleaning the internal cavity.

[0003] Traditional GIS equipment cleaning mostly uses manual cleaning. First, manual cleaning is inefficient because of the internal space limitations of GIS equipment, and narrow areas cannot be cleaned manually. Second, the decomposition products of SF6 gas remaining in GIS equipment are seriously toxic to the human body. Manual cleaning requires a lot of time to wait for the harmful gas to be fully discharged, which adds extra time and financial burden.

[0004] Due to the accumulation of costs and time, as well as the inability to thoroughly clean GIS equipment manually, GIS equipment is prone to long-term shutdown, seriously affecting the stability of the power system. Summary of the invention

[0005] The problem solved by the invention is that the manual cleaning GIS equipment in the prior art has low efficiency, low safety and low economy.

[0006] In order to solve the above problems, the present invention provides a GIS inner cavity cleaning robot, including a shell body, a soft cleaning part, a driving component, and an adsorption component. The shell body is provided with an ash storage chamber for accommodating the object to be cleaned and a first control component; the soft cleaning part can be flexibly provided on the shell body and communicated with the ash storage chamber; the adsorption component is provided on the shell body and is used to make the shell body adsorbed on the GIS inner cavity; the adsorption component includes at least two adsorption discs, which are connected to the shell body, and the adsorption discs have a cylindrical structure and a circular contact surface, and the contact surface fits the GIS inner cavity; the control cable is connected to the GIS inner cavity cleaning robot for communication, and is used to supply power to the GIS inner cavity cleaning robot and control the adsorption component; a negative pressure port is provided on the adsorption disc, and the negative pressure port is communicated with the control cable.

[0007] Compared with the prior art, the technical effects achieved by this technical solution are as follows: the shell body is mainly used to carry the parts of the GIS inner cavity cleaning robot, the soft cleaning parts are used to clean the narrow space inside the GIS equipment, the ash storage chamber is used to store the cleaned foreign matter, so that the foreign matter can be taken out by the GIS inner cavity cleaning robot, and the adsorption component is adsorbed on the inner wall of the GIS equipment through the internal negative pressure vacuum to ensure that the robot can clean any position of the GIS inner cavity, and the control cable is used to connect the power supply, control the movement direction of the GIS inner cavity cleaning robot and the working state of the adsorption component. When it is necessary to climb the GIS inner cavity wall, the control cable controls the exhaust, and the gas in the adsorption plate is extracted through the negative pressure port, forming a negative pressure vacuum environment inside the adsorption plate, so that the adsorption plate is adsorbed on the GIS inner cavity wall. The two adsorption plates disperse the effective area of ​​the negative pressure, which can optimize the adsorption effect of the robot on the inner wall of the GIS pipeline compared with the large-area exhaust duct of the prior art.

[0008] Furthermore, a first mounting position is provided on the shell body; the soft cleaning component includes a cleaning end and a traction wire, and the first control component is connected to the cleaning end through the traction wire; the soft cleaning component also includes a cleaning tube, one end of the cleaning tube is connected to the ash storage chamber, and the other end of the cleaning tube is provided with a cleaning end; a first branch pipe is provided at one end of the cleaning tube connected to the ash storage chamber, and the first branch pipe cooperates with the first mounting position; the cleaning end is arranged close to the first mounting position.

[0009] Compared with the prior art, the technical effect achieved by the present technical solution is as follows: the first mounting position is used to fix the cleaning tube on the shell body, and the first control component pulls the cleaning end through the traction wire to achieve the effect that the soft cleaning component can clean at multiple angles. The cleaning end is arranged close to the first mounting position, so that foreign matter can be quickly sucked into the ash storage chamber after being sucked into the cleaning end.

[0010] Furthermore, a second mounting position is provided on the shell body. A second branch pipe is provided at one end of the cleaning pipe connected to the ash storage chamber, one end of the second branch pipe is connected to the first branch pipe, and the other end cooperates with the second mounting position.

[0011] Compared with the prior art, the technical effect achieved by this technical solution is as follows: the second branch pipe is used to absorb part of the foreign matter that enters the first branch pipe, realize diversion suction, and prevent the first branch pipe from being blocked. At the same time, the diameter of the pipe at the intersection of the second branch pipe and the first branch pipe is wider, so that the overall structure of the cleaning pipe is stable and easy to fix.

[0012] Furthermore, the GIS inner cavity cleaning robot provided by the present invention also includes a first fixing member and a driving assembly, wherein the driving member is arranged on the shell body, and the driving member is used to drive the shell body to move; the driving assembly includes at least two driving wheels and a driving motor. The driving wheels are connected to the driving motor. The first fixing member is detachably connected to the shell body; the driving motor is detachably connected to the shell body through the first fixing member.

[0013] Compared with the prior art, the technical effect achieved by this technical solution is: the driving motor drives the driving wheel to rotate, and the driving wheel drives the GIS inner cavity cleaning robot to move. The first fixing member limits the movement of the driving motor to ensure that the driving motor will not fall off the GIS inner cavity cleaning robot during operation, and the first fixing member does not limit the movement of the driving wheel.

[0014] Furthermore, the driving assembly also includes a steering wheel. A bogie is also provided on the shell body, the bogie shaft is perpendicular to the shell body, and the bogie extends to a side away from the soft cleaning piece; the steering wheel is connected to the bogie through a fixing pin.

[0015] Compared with the existing technology, the technical effect achieved by this technical solution is: the bogie is used to install the steering wheel on the shell body, the steering wheel is used to realize the steering of the GIS inner cavity cleaning robot and support the GIS inner cavity cleaning robot, to prevent the GIS inner cavity cleaning robot from having excessive friction with the GIS inner cavity wall, causing the cleaning robot to be unable to walk.

[0016] Furthermore, a first lighting element is provided on the soft cleaning element, and / or a second lighting element is provided on the shell body.

[0017] Compared with the prior art, the technical effect achieved by this technical solution is as follows: the first lighting component is used to illuminate the narrow area inside the GIS equipment, and the second lighting component is used to illuminate the pipe wall of the GIS equipment in a large area.

[0018] Furthermore, a first camera is provided on the soft cleaning piece, and / or a second camera is provided on the shell body.

[0019] Compared with the existing technology, the technical effect achieved by this technical solution is: combined with the first lighting component, the first camera is used to transmit the image of a small area inside the GIS equipment to the outside through a control cable, which is convenient for manual observation; the second camera is used to transmit the overall image of the internal pipe wall of the GIS equipment to the outside through a control cable, which is convenient for manual observation.

[0020] Furthermore, the GIS inner cavity cleaning robot provided by the present invention also includes a wiping cleaning part, which is arranged on the shell body, and the wiping cleaning part is arranged on both sides of the bogie and / or on a side close to the driving motor.

[0021] Compared with the prior art, the technical effect achieved by the technical solution is as follows: the wiping cleaning part is used to wipe the cleaned area after the cleaning tube vacuums and cleans the inner wall of the GIS pipe, thereby achieving a further cleaning effect, and the wiping cleaning part is arranged in partitions on the shell body, which can further optimize the wiping effect without affecting the adsorption effect of the adsorption plate.

[0022] Furthermore, the present invention also provides a control device for controlling the GIS inner cavity cleaning robot provided by the present invention. The GIS inner cavity cleaning robot includes a control cable and a soft cleaning component. The control device includes: a vacuum pump, a vacuum pump switch, a robot control rod, a soft cleaning component control rod, a data processing module and an interactive screen. The vacuum pump is connected to the control cable; the vacuum pump switch is used to control the vacuum pump; the robot control rod is used to control the GIS inner cavity cleaning robot; the soft cleaning component control rod is used to control the soft cleaning component; the data processing module is used to collect and process the information transmitted by the GIS inner cavity cleaning robot; and the interactive screen is used to display the data image processed by the data processing module.

[0023] Compared with the prior art, the technical effect achieved by this technical solution is: through the manual operation of various switches and control levers on the control device, the GIS cavity cleaning robot can be operated to perform cleaning work inside the GIS equipment, and the situation inside the GIS equipment can also be observed in detail through the interactive screen. The vacuum pump is connected to the control cable to realize the vacuum function. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is one of the overall structural diagrams of the GIS inner cavity cleaning robot provided by the present invention; Figure 2 The second overall structural diagram of the GIS inner cavity cleaning robot provided by the present invention; Figure 3 The third overall structural diagram of the GIS inner cavity cleaning robot provided by the present invention; Figure 4 A connection diagram of the GIS inner cavity cleaning robot and the control device provided by the present invention; Figure 5 This is an overall diagram of the panel of the control device provided by the present invention.

[0025] Description of reference numerals: 100-GIS inner cavity cleaning robot; 110-shell body; 111-bogie; 112-second lighting component; 113-second camera; 114-first mounting position; 115-second mounting position; 116-ash storage cover; 117-fixing buckle; 120-soft cleaning component; 121-cleaning pipe; 122-cleaning end; 123-first branch pipe; 124-second branch pipe; 130-driving assembly; 131-driving wheel; 132-driving motor; 133-steering wheel; 141-adsorption plate; 142-negative pressure port; 150-control cable; 160-first fixing component; 200-control device; 201-interactive screen; 202-vacuum pump switch; 203-robot control lever; 204-soft cleaning component control lever; 301-first wiping area; 302-second wiping area. DETAILED DESCRIPTION

[0026] The object of the present invention is to provide a GIS inner cavity cleaning robot and a control device thereof, so as to achieve the effect of increasing the working efficiency, safety and economy of GIS equipment cleaning.

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0028] See also Figure 1-Figure 5 The present invention provides a GIS inner cavity cleaning robot 100, comprising a shell body 110, a soft cleaning part 120, a driving assembly 130, an adsorption assembly and a control cable 150. The shell body 110 is provided with an ash storage chamber for accommodating the object to be cleaned; the adsorption assembly is provided on the shell body 110, and is used to make the shell body 110 adsorbed on the GIS inner cavity; the adsorption assembly includes at least two adsorption discs 141, and the adsorption discs 141 are connected to the shell body 110, and the adsorption discs 141 have a cylindrical structure and a circular contact surface, and the contact surface fits the GIS inner cavity; the control cable 150 is connected to the GIS inner cavity cleaning robot 100 for communication, and is used to supply power to the GIS inner cavity cleaning robot 100 and control the adsorption assembly; a negative pressure port 142 is provided on the adsorption disc 141, and the negative pressure port 142 is connected to the control cable 150.

[0029] Specifically, the shell body 110 has a recurved structure to adapt to the inner wall environment of the pipeline.

[0030] Preferably, a silicone protective layer is also provided on the surface of the shell body 110 to avoid damaging the inner surface of the GIS cavity.

[0031] The shell body 110 is mainly used to carry the parts of the GIS inner cavity cleaning robot 100, the soft cleaning part 120 is used to clean the narrow space in the GIS equipment, the ash storage chamber is used to store the cleaned foreign matter, so that the foreign matter can be taken out by the GIS inner cavity cleaning robot 100, and the adsorption component is adsorbed on the inner wall of the GIS equipment through the internal negative pressure vacuum, so that the robot can clean any position of the GIS inner cavity. The adsorption plate 141 has a cylindrical structure and a circular contact surface. When the control cable 150 does not evacuate the negative pressure, the adsorption plate 141 is close to the inner cavity of the GIS equipment. The adsorption plate 141 can be made of a deformable soft rubber material, so that the adsorption plate 141 can be completely attached to the GIS cavity wall. When the GIS inner cavity cleaning robot 100 needs to climb the GIS inner cavity wall, the control cable 150 controls the air extraction, and the gas in the adsorption plate 141 is extracted through the negative pressure port 142, forming a negative pressure vacuum environment inside the adsorption plate 141, so that the adsorption plate 141 is adsorbed on the GIS inner cavity wall.

[0032] Specifically, the greater the gas flow rate flowing into the adsorption plate 141, the greater the adsorption force. However, when the gas flow rate exceeds a certain range, the gas flow rate is greater but the vacuum equipment, such as the control cable 150 in the present application, cannot extract the gas in time, and the negative pressure environment cannot be effectively formed. Therefore, the present application sets two adsorption plates 141 to disperse the effective area of ​​negative pressure. Compared with the large-area vacuum duct in the prior art, it can better optimize the adsorption effect of the robot on the inner wall of the GIS pipe.

[0033] like Figure 3 As shown, the shell body 110 is also provided with a first installation position 114. The soft cleaning member 120 is bendably provided on the shell body 110 and communicated with the ash storage chamber; the soft cleaning member 120 includes a cleaning end 122 and a traction wire, the first control member is connected to the cleaning end 122 through the traction wire, and a first branch pipe 123 is provided at one end of the cleaning pipe 121 communicating with the ash storage chamber, the first branch pipe 123 cooperates with the first installation position 114, and the cleaning end 122 is arranged close to the first installation position 114.

[0034] Specifically, one end of the cleaning tube 121 close to the cleaning end portion 122 has a foldable structure for easy bending, and in order to ensure the overall fixing strength of the cleaning tube 121 , the first branch tube 123 connected to the first installation position 114 does not have a foldable structure.

[0035] Preferably, the foldable structure on the cleaning tube 121 is made of polyvinyl chloride, and the first branch tube 123 is made of rubber.

[0036] The first mounting position 114 is used to fix the cleaning tube 121 on the shell body 110. The first control component pulls the cleaning end 122 through the traction wire to achieve the effect that the soft cleaning component 120 can clean at multiple angles. The cleaning end 122 is arranged close to the first mounting position 114, so that foreign matter can be sucked into the ash storage chamber quickly after being sucked into the cleaning end 122.

[0037] Continue to refer to Figure 3 The shell body 110 is also provided with a second installation position 115. The end of the cleaning pipe 121 communicating with the ash storage chamber is also provided with a second branch pipe 124, one end of the second branch pipe 124 is communicated with the first branch pipe 123, and the other end is matched with the second installation position 115.

[0038] Preferably, the second branch pipe 124 is made of rubber.

[0039] Specifically, a fixing buckle 117 is further provided on the shell body 110 , and the fixing buckle 117 is arranged on the same side as the cleaning tube 121 . The fixing buckle 117 is engaged with the second branch tube 124 to fix the second branch tube 124 , so that the cleaning tube 121 as a whole can be stably fixed on the shell body 110 .

[0040] The second branch pipe 124 is used to absorb some of the foreign matter that enters the first branch pipe 123, realize diverted suction, and prevent the first branch pipe 123 from being blocked. At the same time, the diameter of the pipe where the second branch pipe 124 and the first branch pipe 123 intersect and connect is wider, so that the overall structure of the cleaning pipe 121 is stable and easy to fix.

[0041] In addition, a detachable ash storage cover 116 is provided on the shell body 110, and the ash storage cover 116 is used to close the ash storage cavity. When the GIS inner cavity cleaning robot provided by the present invention completes the cleaning work, the operator can remove the ash storage cover 116 and clean the foreign matter in the ash storage cavity.

[0042] like Figure 1 As shown, the GIS inner cavity cleaning robot provided by the present invention is further provided with a wiping cleaning part on the shell body 110 , and the wiping cleaning part is specifically arranged on both sides of the bogie 111 and one side close to the driving motor 132 .

[0043] Specifically, the wiping and cleaning parts are the first wiping area 301 and the second wiping area 302. The wiping area in the prior art is mostly a single waist-shaped area. In order to avoid the steering wheel 133, the bogie 111 and the sensors on both sides of the bogie 111, the first wiping area 301 is provided with an arc-shaped avoidance boundary on the side close to the bogie 111. At the same time, in order to ensure the wiping area, the boundary line of the first wiping area 301 away from the bogie 111 is arranged in contact with the shell body 110. The second wiping area 302 is a waist-shaped area. The second wiping area 302 is used to wipe the middle part that the first wiping area 301 cannot wipe. At the same time, from the forward direction of the robot, the second wiping area 302 is arranged behind the adsorption disk 141, so that when the robot moves forward, the area where the adsorption disk 141 is located is partially kept dry. If the area where the adsorption disk 141 is located is too slippery, it will affect the adsorption effect of the adsorption disk 141, making it easy for the robot to slip on the inner cavity of the GIS, affecting the cleaning effect.

[0044] Preferably, the first wiping area 301 and the second wiping area 302 are made of a sticky material, which is not only convenient for installation of the wiping cloth, but also convenient for manual disassembly and cleaning after the cleaning work is completed, thereby achieving reusability.

[0045] The wiping cleaning part is used to wipe the cleaned area after the cleaning tube 121 vacuums and cleans the inner wall of the GIS pipe, thereby achieving a further cleaning effect. The wiping cleaning part is arranged in partitions on the shell body 110, which can further optimize the wiping effect without affecting the adsorption effect of the adsorption plate.

[0046] Refer again Figure 1The GIS inner cavity cleaning robot 100 provided by the present invention also includes a first fixing member 160 and a driving assembly 130. The driving assembly 130 is arranged on the shell body and is used to drive the shell body 110 to move. The driving assembly 130 includes at least two driving wheels 131 and a driving motor 132; the driving wheels 131 and the driving motor 132 are connected. The first fixing member 160 is detachably connected to the shell body 110; the driving motor 132 is detachably connected to the shell body 110 through the first fixing member 160.

[0047] The driving assembly 130 is used to drive the GIS inner cavity cleaning robot 100 to move in the GIS equipment. The driving motor 132 drives the driving wheel 131 to rotate, and the driving wheel 131 drives the GIS inner cavity cleaning robot 100 to move. The first fixing member 160 limits the movement of the driving motor 132 to ensure that the driving motor 132 will not fall off the GIS inner cavity cleaning robot 100 during operation, and the first fixing member 160 does not limit the movement of the driving wheel 131.

[0048] Reference Figure 2 The driving assembly 130 further includes a steering wheel 133. A bogie 111 is also provided on the shell body 110, and the rotating shaft of the bogie 111 is perpendicular to the shell body 110, and the bogie 111 extends to a side away from the soft cleaning member 120; the steering wheel 133 is connected to the bogie 111 through a fixing pin.

[0049] Specifically, the bogie 111 and the housing body 110 rotate relatively.

[0050] The bogie 111 is used to install the steering wheel 133 on the shell body 110. The steering wheel 133 is used to realize the steering of the GIS inner cavity cleaning robot 100 and support the GIS inner cavity cleaning robot 100 to prevent the GIS inner cavity cleaning robot 100 from being unable to move due to excessive friction with the GIS inner cavity wall.

[0051] The soft cleaning element 120 is provided with a first lighting element, and / or the shell body 110 is provided with a second lighting element 112 .

[0052] The first lighting element is used to illuminate a small area inside the GIS equipment, and the second lighting element 112 is used to illuminate a large area of ​​the pipe wall of the GIS equipment.

[0053] The soft cleaning piece 120 is provided with a first camera, and / or the shell body 110 is provided with a second camera 113 .

[0054] Combined with the first lighting component, the first camera is used to transmit the image of a small area within the GIS device to the outside through the control cable 150 for easy manual observation. The second camera 113 is used to transmit the overall image of the internal pipe wall of the GIS device to the outside through the control cable 150 for easy manual observation.

[0055] The GIS inner cavity cleaning robot 100 provided by the present invention further includes a detection component, which includes a posture sensor, an air cleanliness sensor, an obstacle avoidance sensor, a temperature sensor and / or a humidity sensor.

[0056] Preferably, the detection components are arranged on both sides of the bogie 111 , the adsorption plate 141 , and on both sides close to the control cable 150 .

[0057] Specifically, the obstacle avoidance sensor and the attitude sensor are arranged on both sides of the bogie 111 and / or on both sides close to the control cable 150 , and the temperature sensor and the humidity sensor are arranged on both sides of the adsorption plate 141 . The wiping cleaning part is arranged between the sensors arranged close to the control cable 150 .

[0058] The posture sensor is used to sense the real-time posture of the GIS inner cavity cleaning robot 100, the air cleanliness sensor is used to detect the air cleanliness inside the GIS equipment, the obstacle avoidance sensor is used to detect obstacles in the GIS inner cavity, the temperature sensor is used to detect the inner cavity temperature of the GIS, and the humidity sensor is used to detect the inner cavity humidity of the GIS.

[0059] In this embodiment, the obstacle avoidance sensor collects point cloud data of the inner wall of the GIS equipment, and the point cloud data is transmitted to the point cloud processing module by the control cable. The point cloud processing module screens, filters and separates the point cloud data, removes noise points, and calculates a height map of the point cloud data. The detected area is divided into a flat area and an obstacle area according to the calculated height map. The GIS inner cavity cleaning robot adjusts the driving direction and controls the moving speed through the flat area data, thereby reducing the difficulty of manual operation and ensuring that the GIS inner cavity cleaning robot is in a flat area to ensure the adsorption effect of the adsorption plate 141.

[0060] Preferably, the detection component also includes a mileage sensor. The positioning error of the mileage sensor is cumulative over time, but the GIS equipment is mainly a pipeline structure. Most areas inside the pipeline have a simple structure, and there are obstacle avoidance sensors to avoid obstacles, making the GIS inner cavity cleaning robot less likely to slip. Therefore, a mileage sensor and a posture sensor are used to combine the mileage information with the posture information to obtain the robot's real-time position information and improve positioning accuracy.

[0061] Reference Figure 4 and Figure 5The present invention further provides a control device 200 for controlling the GIS inner cavity cleaning robot 100 provided by the present invention. The GIS inner cavity cleaning robot 100 includes a control cable 150 and a soft cleaning component 120. The control device 200 includes a vacuum pump, a vacuum pump switch 202, a robot control rod 203, a soft cleaning component control rod 204, a data processing module and an interactive screen 201. The vacuum pump is connected to the control cable 150; the vacuum pump switch 202 is used to control the vacuum pump; the robot control rod 203 is used to control the GIS inner cavity cleaning robot 100; the soft cleaning component control rod 204 is used to control the soft cleaning component 120; the data processing module is used to collect and process the information transmitted by the GIS inner cavity cleaning robot 100; and the interactive screen 201 is used to display the data image processed by the data processing module.

[0062] By manually operating various switches and control levers on the control device 200, the GIS cavity cleaning robot 100 can be operated to perform cleaning work inside the GIS equipment, and the situation inside the GIS equipment can also be observed in detail through the interactive screen 201. The vacuum pump is connected to the control cable 150 to realize the vacuum function.

[0063] In summary, the present invention can achieve deep cleaning of the inner cavity of the GIS equipment by providing the soft cleaning part 120, and using the GIS inner cavity cleaning robot 100 to clean the GIS equipment can save time and economic costs.

[0064] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A GIS inner cavity cleaning robot (100), characterized in that: include: A shell body (110), wherein an ash storage chamber for accommodating objects to be cleaned and a first control component are provided in the shell body (110); A soft cleaning piece (120) is bendably disposed on the shell body (110) and is in communication with the ash storage chamber; An adsorption component, disposed on the shell body (110), and used to allow the shell body (110) to be adsorbed on the inner cavity of the GIS; The adsorption assembly comprises at least two adsorption discs (141), the adsorption discs (141) being connected to the shell body (110), the adsorption discs (141) having a cylindrical structure and a circular contact surface, the contact surface being in contact with the inner cavity of the GIS; A control cable (150) is communicatively connected to the GIS inner cavity cleaning robot (100) and is used to supply power to the GIS inner cavity cleaning robot (100) and to control the adsorption component; A negative pressure port (142) is provided on the adsorption disk (141), and the negative pressure port (142) is in communication with the control cable (150).

2. The GIS inner cavity cleaning robot (100) according to claim 1, characterized in that: The shell body (110) is also provided with a first installation position (114); The soft cleaning member (120) comprises a cleaning end (122) and a traction wire, and the first control member is connected to the cleaning end (122) via the traction wire; The soft cleaning member (120) further comprises a cleaning tube (121), one end of the cleaning tube (121) being in communication with the ash storage chamber, and the other end of the cleaning tube (121) being provided with the cleaning end portion (122); One end of the cleaning pipe (121) communicating with the ash storage chamber is provided with a first branch pipe (123), and the first branch pipe (123) cooperates with the first installation position (114); The cleaning end (122) is arranged close to the first mounting position (114).

3. The GIS inner cavity cleaning robot (100) according to claim 2, characterized in that: The shell body (110) is also provided with a second installation position (115); One end of the cleaning pipe (121) communicating with the ash storage chamber is further provided with a second branch pipe (124); one end of the second branch pipe (124) is communicated with the first branch pipe (123), and the other end cooperates with the second mounting position (115).

4. The GIS inner cavity cleaning robot (100) according to claim 1, characterized in that: It also includes a first fixing member (160) which is detachably connected to the shell body (110); A driving assembly (130), disposed on the shell body (110), and used to drive the shell body (110) to move; The driving assembly (130) comprises at least two driving wheels (131) and a driving motor (132); The driving wheel (131) is connected to the driving motor (132); The driving motor (132) is detachably connected to the shell body (110) via the first fixing member (160).

5. The GIS inner cavity cleaning robot (100) according to claim 4, characterized in that: The driving assembly (130) further comprises a steering wheel (133); A bogie (111) is also provided on the shell body (110), the rotation axis of the bogie (111) is perpendicular to the shell body (110), and the bogie (111) extends to a side away from the soft cleaning piece (120); The steering wheel (133) is connected to the bogie (111) via a fixing pin.

6. The GIS inner cavity cleaning robot (100) according to claim 5, characterized in that: The soft cleaning element (120) is provided with a first lighting element, and / or the shell body is provided with a second lighting element (112).

7. The GIS inner cavity cleaning robot (100) according to claim 6, characterized in that: The soft cleaning piece (120) is provided with a first camera, and / or the shell body is provided with a second camera (113).

8. The GIS inner cavity cleaning robot (100) according to any one of claims 5 to 7, characterized in that: It also comprises a wiping and cleaning part, wherein the wiping and cleaning part is arranged on the shell body (110), and the wiping and cleaning part is arranged on both sides of the bogie (111) and / or on a side close to the drive motor (132).

9. A control device (200) for controlling a GIS inner cavity cleaning robot (100) according to any one of claims 1 to 8, wherein the GIS inner cavity cleaning robot (100) comprises a control cable (150) and a soft cleaning component (120), characterized in that: The control device (200) comprises: a vacuum pump connected to the control cable; A vacuum pump switch (202), used for controlling the vacuum pump; A robot control rod (203), used for controlling the GIS inner cavity cleaning robot; A soft cleaning piece control rod (204) used for controlling the soft cleaning piece; A data processing module, used to collect and process information transmitted by the GIS inner cavity cleaning robot; The interactive screen (201) is used to display the data image processed by the data processing module.

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