Insulator string cleaning device based on unmanned aerial vehicle

Abstract

The insulator string cleaning device comprises an unmanned aerial vehicle body, a liquid carrying box, a mechanical arm, a rotary cleaning mechanism, a high-definition camera, a first ultrasonic distance measuring sensor and a control system, and the rotary cleaning mechanism comprises a driving assembly, a mounting base, a first arc-shaped clamping jaw, a second arc-shaped clamping jaw and a cleaning assembly. The first arc-shaped clamping jaw and the second arc-shaped clamping jaw are driven to do opening and closing actions through the driving assembly, a circular ring is formed when the first arc-shaped clamping jaw and the second arc-shaped clamping jaw are closed, the cleaning assembly is arranged in the sliding groove in a sliding mode, and a plurality of nozzles are evenly distributed on the upper end face and the lower end face of the first arc-shaped clamping jaw and the second arc-shaped clamping jaw. The high-definition camera is arranged on the unmanned aerial vehicle body, the cleaning assembly is controlled by the control system to conduct cleaning operation on the surface of a porcelain bowl on an insulator string, the unmanned aerial vehicle body carries the rotary cleaning mechanism to conduct high-altitude cleaning operation, manual operation is replaced with automatic equipment, and the operation safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electrical equipment maintenance, and in particular to an insulator string cleaning device based on a drone. Background Art

[0002] With the development of my country's industry, the rapid increase in the transportation mileage of electrified railways, and the continuous increase in residents' electricity consumption, the capacity and voltage of the power supply network have also been increasing accordingly, which requires the power supply system to have higher safety and operational stability. In the power supply system, high-voltage insulators are an important component, and their maintenance status is very important to the safe operation of the line. Due to long-term exposure to the environment, a layer of conductive dirt will form on its surface, which will cause flashover and other accidents, posing a great threat to the normal operation of the power grid.

[0003] The Chinese patent with application number CN202111247086.4 discloses a flushing device for a high-altitude live insulator string, which flies a drone with a main cleaning mechanism to the vicinity of the insulator string to be cleaned, collects video information through the camera on the drone, and transmits it to the display so that the staff can obtain the position of the main cleaning mechanism. The staff turns on the motor-driven water pump in the main cleaning mechanism to spray the water in the distilled water tank from the water spray pipe to clean the insulator string. However, in the above technical scheme, only the water spraying method is used to flush the insulator string, which has a weak cleaning effect on the insulator string, and the water spray pipe can only flush a certain area on the side of the insulator string facing the main cleaning mechanism at a time. If the insulator string is to be cleaned 360 degrees, the direction of the drone needs to be adjusted multiple times, thereby adjusting the water spraying direction of the water spray pipe, and even the drone needs to rotate 180 degrees around the insulator string to clean the back of the insulator string, resulting in low cleaning efficiency of the insulator string. Summary of the invention

[0004] In view of the above shortcomings, the present invention provides an insulator string cleaning device based on a drone, thereby overcoming the technical problems existing in the background technology, and cleaning the insulator string at high altitude by carrying a cleaning device on a drone. The cleaning device can realize the rapid positioning and clamping of the insulator string, and scrub the porcelain bowl on the insulator by a surrounding cleaning method, thereby improving the cleaning efficiency. At the same time, the risk of accidental falling and electric shock of workers working at high altitude is reduced by replacing manual operations with automated mechanical equipment. The specific technical scheme is as follows:

[0005] An insulator string cleaning device based on a drone, used for live cleaning of insulator strings, comprises a drone body and a liquid carrying tank and a mechanical arm mounted on the drone body;

[0006] The invention also comprises a rotary cleaning mechanism, wherein the rotary cleaning mechanism comprises a driving component, a mounting seat, a first arc-shaped clamping jaw, a second arc-shaped clamping jaw and a cleaning assembly, wherein the mounting seat is mounted at the end of the mechanical arm, the first arc-shaped clamping jaw and the second arc-shaped clamping jaw are both rotatably mounted on the mounting seat, a plurality of nozzles are evenly distributed on the upper and lower end surfaces of the first arc-shaped clamping jaw and the second arc-shaped clamping jaw, the nozzles are connected with the liquid carrying tank through the infusion assembly, a slide groove is arranged on the inner arc surface of the first arc-shaped clamping jaw and the second arc-shaped clamping jaw, the driving component is mounted on the mounting seat, and an output end thereof is connected with the first arc-shaped clamping jaw and the second arc-shaped clamping jaw, and the first arc-shaped clamping jaw and the second arc-shaped clamping jaw are driven to open and close through the driving assembly, and a circular ring is formed when the first arc-shaped clamping jaw and the second arc-shaped clamping jaw are closed, and the cleaning assembly is slidably arranged in the slide groove;

[0007] It also includes a high-definition camera, a first ultrasonic ranging sensor and a control system, wherein the high-definition camera is mounted on the drone body, and the first ultrasonic ranging sensor is mounted on the mounting seat to detect the distance between the rotating cleaning mechanism and the insulator string;

[0008] The high-definition camera, the first ultrasonic distance measuring sensor and the cleaning component are all electrically connected to the control system.

[0009] Preferably, the cleaning assembly includes a sliding seat, a dual-axis motor, a driving wheel, a driven wheel, a universal ball, a first brush base, a second brush base and a cleaning brush, the sliding seat is arranged in the slide groove, the dual-axis motor is vertically arranged in the sliding seat, and its two output shafts respectively pass through the upper and lower ends of the sliding seat and are connected to the driving wheel, the driven wheel is rotatably arranged at the upper and lower ends of the sliding seat, and the central axis of the driven wheel is parallel to the central axis of the driving wheel, the universal ball is rotatably arranged on the end surface of the sliding seat and supported on the groove surface of the slide groove, the first brush base and the second brush base are installed at opposite ends of the sliding seat, the bottom end surfaces of the first brush base and the second brush base are located on the end surfaces of the first arc-shaped clamping jaw and the second arc-shaped clamping jaw, the cleaning brushes are both arranged on the first brush base and the second brush base, and the dual-axis motor is wirelessly connected to the control system.

[0010] Preferably, the infusion assembly includes a pressure pump, a first infusion tube, a three-way joint, a second infusion tube and a third infusion tube, the pressure pump is connected to the liquid carrying tank, the three-way joint is arranged on the mounting base, one end of the three-way joint is connected to the pressure pump through the first infusion tube, the other two ends of the three-way joint are respectively connected to the two second infusion tubes arranged in the mounting base, the other end of the second infusion tube is connected to the third infusion tube, the two third infusion tubes are respectively arranged in the first arc-shaped jaw and the second arc-shaped jaw, and are connected to the nozzle, and the pressure pump is electrically connected to the control system.

[0011] Preferably, the nozzle is a high-pressure nozzle.

[0012] Preferably, the mounting seat is provided with a mounting cavity, the upper cavity wall and the lower cavity wall of the mounting cavity are penetrated with a first through hole, a second through hole and a third sliding groove, the first arc-shaped clamping jaw is rotatably mounted in the first through hole through a first connecting column, and the second arc-shaped clamping jaw is rotatably mounted in the second through hole through a second connecting column;

[0013] The driving component includes a connecting rod, a pulling rod and an electric push rod. The connecting rod is provided at the tail of the first arc-shaped jaw and the second arc-shaped jaw. The other ends of the two connecting rods are rotatably connected. The pulling rod is connected to the hinges of the two connecting rods. The electric push rod is installed on the mounting seat. The output end of the electric push rod is connected to the pulling rod. The pulling rod is slidably arranged in the third sliding groove. The first arc-shaped jaw and the second arc-shaped jaw are driven to open and close by the electric push rod. The electric push rod is electrically connected to the control system.

[0014] Preferably, a thermal infrared imaging camera is provided at one end of the robotic arm close to the mounting seat, and the thermal infrared imaging camera is electrically connected to the control system.

[0015] Preferably, a clamping support portion is provided at the bottom end of the liquid carrying tank, and the clamping support portion includes a first adjusting cylinder, a second adjusting cylinder, a telescopic push rod, an electric clamp and a second ultrasonic ranging sensor; the first adjusting cylinder is fixedly mounted on the bottom of the liquid carrying tank, a plurality of limiting slide grooves are arranged inside the first adjusting cylinder, and a limiting convex strip matched with the limiting slide groove is arranged on the second adjusting cylinder to enable the second adjusting cylinder to slide in the first adjusting cylinder; the telescopic push rod is respectively mounted on opposite sides of the first adjusting cylinder, the output end of the telescopic push rod is connected to the protruding end of the second adjusting cylinder, the electric clamp is mounted on the end of the second adjusting cylinder, the second ultrasonic ranging sensor is mounted on the top of the protruding end of the second adjusting cylinder, and the telescopic push rod, the electric clamp and the second ultrasonic ranging sensor are all electrically connected to the control system.

[0016] Preferably, insulating rubber is provided in the electric clamp, a pressure sensor is provided in the insulating rubber, and the pressure sensor is electrically connected to the control system.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The insulator string cleaning device based on a drone provided by the present invention performs high-altitude cleaning operations by carrying a rotating cleaning mechanism on the drone body, and replaces manual operations with automated equipment, thereby improving the safety of operations. The cleaning device can quickly locate and clamp the insulator string, and scrub the porcelain bowl on the insulator in a circumferential cleaning manner, thereby improving the efficiency of insulator cleaning. At the same time, drone flight is more efficient and faster than operators climbing to designated locations to perform operations, thereby solving the technical problems in the prior art that workers are required to climb to perform live cleaning on insulators, resulting in low inefficiency in insulator cleaning, and there is a risk of accidental falling and electric shock for workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0020] Figure 1 It is a structural schematic diagram of the present invention;

[0021] Figure 2 It is a structural schematic diagram of the rotary cleaning mechanism in the present invention.

[0022] Figure 3 for Figure 1 A is a partial enlarged schematic diagram of the middle part.

[0023] Figure 4 It is a schematic structural diagram of the clamping support part in the present invention.

[0024] Figure 5 It is a bottom view of the sliding seat in the present invention.

[0025] 100-UAV body, 200-liquid tank, 210-boosting pump, 220-first infusion tube, 300-mechanical arm, 400-rotating cleaning mechanism, 410-mounting seat, 411-mounting cavity, 412-first through hole, 413-second through hole, 414-third slide groove, 415-first connecting column, 416-second connecting column, 417-pulling rod, 420-first arc-shaped clamping claw, 430-second arc-shaped clamping claw, 440-cleaning assembly, 441-sliding seat, 442-driving wheel, 443 -driven wheel, 444-universal ball, 445-first brush base, 446-second brush base, 447-cleaning brush, 450-nozzle, 460-slideway, 500-high-definition camera, 600-first ultrasonic ranging sensor, 700-thermal infrared imaging camera, 800-clamping support part, 810-first adjusting cylinder, 820-second adjusting cylinder, 821-limiting convex strip, 830-telescopic push rod, 840-electric clamping claw, 841-insulating rubber, 850-second ultrasonic ranging sensor. DETAILED DESCRIPTION

[0026] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0028] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If the terms "first", "second", "third" are described, they are only used for the purpose of description and distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0030] like Figures 1 to 5 As shown, an embodiment of the present invention provides an insulator string cleaning device based on a drone, which is used for live cleaning of an insulator string, comprising a drone body 100, a liquid carrying tank 200 and a mechanical arm 300, wherein the mechanical arm 300 is mounted on the top of the drone body 100, and the liquid carrying tank 200 is fixedly arranged on the bottom of the drone body 100, and further comprising a rotating cleaning mechanism 400, a high-definition camera 500, a first ultrasonic ranging sensor 600 and a control system;

[0031] Preferably, the outer surfaces of the drone body 100 and the robotic arm 300 are coated with an insulating coating, the control system may be a microcontroller, and the microcontroller is connected to the flight control system of the drone body 100, and the liquid tank 200 contains an insulator live cleaning agent, which is a prior art and is easily purchased on the market, so it will not be described in detail here.

[0032] In some preferred embodiments, the rotary cleaning mechanism 400 includes a driving component, a mounting seat 410, a first arc-shaped clamping jaw 420, a second arc-shaped clamping jaw 430 and a cleaning assembly 440. The mounting seat 410 is mounted on the end of the mechanical arm 300. The first arc-shaped clamping jaw 420 and the second arc-shaped clamping jaw 430 are both rotatably mounted on the mounting seat 410. The upper and lower end surfaces of the first arc-shaped clamping jaw 420 and the second arc-shaped clamping jaw 430 are evenly distributed with a plurality of nozzles 450. It is worth mentioning that the nozzle 450 is a high-pressure nozzle. The nozzle 450 is The infusion assembly is communicated with the liquid carrying box 200, and a slide groove 460 is provided on the inner arc surface of the first arc-shaped clamping jaw 420 and the second arc-shaped clamping jaw 430. The driving component is installed on the mounting seat 410, and its output end is connected with the first arc-shaped clamping jaw 420 and the second arc-shaped clamping jaw 430. The first arc-shaped clamping jaw 420 and the second arc-shaped clamping jaw 430 are driven by the driving assembly to open and close. When the first arc-shaped clamping jaw 420 and the second arc-shaped clamping jaw 430 are closed, a circular ring is formed, and the cleaning assembly 440 is slidably arranged in the slide groove 460;

[0033] In some preferred embodiments, the mounting seat 410 is provided with a mounting cavity 411, and the upper cavity wall and the lower cavity wall of the mounting cavity 411 are penetrated with a first through hole 412, a second through hole 413 and a third slide groove 414, the first arc-shaped clamping jaw 420 is rotatably mounted in the first through hole 412 through a first connecting column 415, and the second arc-shaped clamping jaw 430 is rotatably mounted in the second through hole 413 through a second connecting column 416; the driving component includes a connecting rod, a pulling rod 417 and an electric push rod, and the tails of the first arc-shaped clamping jaw 420 and the second arc-shaped clamping jaw 430 are both provided with The connecting rod and the other ends of the two connecting rods are rotatably connected, the pulling rod 417 is connected to the hinges of the two connecting rods, the electric push rod is installed on the mounting seat 410, the output end of the electric push rod is connected to the pulling rod 417, the pulling rod 417 is slidably arranged in the third slide groove 414, and the first arc-shaped clamp 420 and the second arc-shaped clamp 430 are driven by the electric push rod to open and close, the electric push rod is electrically connected to the control system, and the first arc-shaped clamp 420 and the second arc-shaped clamp 430 are controlled by the control system to clamp the insulator string.

[0034] In some preferred embodiments, the cleaning assembly 440 includes a sliding seat 441, a dual-axis motor, a driving wheel 442, a driven wheel 443, a universal ball 444, a first brush base 445, a second brush base 446 and a cleaning brush 447. The sliding seat 441 is arranged in the slide groove 460, and the dual-axis motor is vertically arranged in the sliding seat 441, and its two output shafts respectively pass through the upper and lower ends of the sliding seat 441 and are connected to the driving wheel 442. The driven wheel 443 is rotatably arranged at the upper and lower ends of the sliding seat 441, and the central axis of the driven wheel 443 is parallel to the central axis of the driving wheel 442. The universal ball 444 is rotatably arranged on the sliding seat 441. The first brush base 445 and the second brush base 446 are installed at the opposite ends of the sliding seat 441, and the bottom end surfaces of the first brush base 445 and the second brush base 446 are located on the end surfaces of the first arc-shaped clamping jaw 420 and the second arc-shaped clamping jaw 430. The first brush base 445 and the second brush base 446 are both provided with the cleaning brush 447. The dual-axis motor is wirelessly connected to the control system, and the cleaning component 440 is controlled by the control system to slide back and forth on the slide 460 to clean the surface of the porcelain bowl on the insulator string.

[0035] In some preferred embodiments, the infusion assembly includes a pressure pump 210, a first infusion tube 220, a three-way connector, a second infusion tube and a third infusion tube. The pressure pump 210 is connected to the liquid carrying box 200, and the three-way connector is arranged on the mounting seat 410. One end of the three-way connector is connected to the pressure pump 210 through the first infusion tube 220, and the other two ends of the three-way connector are respectively connected to the two second infusion tubes arranged in the mounting seat 410, and the other end of the second infusion tube is connected to the third infusion tube. The two third infusion tubes are respectively arranged in the first arc-shaped clamp 420 and the second arc-shaped clamp 430, and are connected to the nozzle 450. The pressure pump 210 is electrically connected to the control system, and the control system controls the infusion assembly to pump cleaning fluid to clean the insulator string.

[0036] Furthermore, the first infusion tube 220 and the second infusion tube are both corrosion-resistant hoses, and the third infusion tube is provided with a plurality of openings, each opening being correspondingly connected to a nozzle 450. When in use, the diameter of the circle formed by the first arc-shaped clamping jaw 420 and the second arc-shaped clamping jaw 430 needs to be slightly larger than the diameter of the interval between two adjacent porcelain bowls of the insulator string, so as to facilitate the sliding of the cleaning assembly 440 in the slide groove 460;

[0037] The dual-axis motor drives the two driving wheels 442 to rotate, thereby enabling the cleaning component 440 to slide quickly in the annular groove. The universal ball 444 is used to support the sliding seat 441 to ensure that the sliding seat 441 does not contact the bottom end of the groove 460, thereby improving the smoothness and stability of the movement of the cleaning component 440. There are at least two universal beads 444. In order to enable the cleaning brush 447 to better clean the insulator string, the cleaning brush 447 is in an arc shape with a low inside and a high outside, so that the cleaning brush 447 can better fit the surface of the insulator and improve the cleaning effect of the cleaning brush 447. Preferably, the cleaning brush 447 can also be arranged on the outer side of the sliding seat 441 for rotating and brushing the gap between two adjacent insulators on the insulator string. It should be noted that the first brush base 445 and the second brush base 446 are at a certain distance from the upper and lower end surfaces of the first arc-shaped clamp 420, so that the cleaning component 440 will not collide with the nozzle 450 when moving. Similarly, the first brush base 445 and the second brush base 446 are at a certain distance from the upper and lower end surfaces of the second arc-shaped clamp 430.

[0038] The high-definition camera 500 is installed on the drone body 100 and faces the direction in which the mechanical arm 300 extends. The high-definition camera 500 is electrically connected to the control system and is used to obtain a real-time image of the insulator string to locate the insulator string to be cleared.

[0039] The first ultrasonic ranging sensor 600 is installed on the top of the mounting base 410, and is used to detect the real-time distance between the rotating cleaning mechanism 400 and the insulator string. The first ultrasonic ranging sensor 600 is electrically connected to the control system, and transmits the real-time distance to the control system, so that the control system can more accurately control the rotating cleaning mechanism 400 to clean the insulator string.

[0040] In some preferred embodiments, a thermal infrared imaging camera 700 is provided at one end of the robotic arm 300 close to the mounting seat 410 , and the thermal infrared imaging camera 700 is electrically connected to the control system.

[0041] Among them, by setting the thermal infrared imaging camera 700, the cleaning effect of the insulator string can be judged in real time. If the cleaning effect is not up to standard, the staff can operate the device to clean the insulator string again.

[0042] In some preferred embodiments, a clamping support portion 800 is provided at the bottom of the liquid carrying tank 200, and the clamping support portion 800 includes a first adjustment cylinder 810, a second adjustment cylinder 820, a telescopic push rod 830, an electric clamp 840, and a second ultrasonic ranging sensor 850. The first adjustment cylinder 810 is fixedly installed at the bottom of the liquid carrying tank 200, and a plurality of limiting slide grooves are provided inside the first adjustment cylinder 810. The second adjustment cylinder 820 is provided with a limiting convex strip 821 adapted to the limiting slide groove so that the second adjustment cylinder 8 20 is slidably arranged in the first adjusting cylinder 810, the telescopic push rod 830 is respectively installed on the opposite sides of the first adjusting cylinder 810, the output end of the telescopic push rod 830 is connected to the protruding end of the second adjusting cylinder 820, the electric clamp 840 is installed at the end of the second adjusting cylinder 820, the second ultrasonic ranging sensor 850 is installed at the top of the protruding end of the second adjusting cylinder 820, and the telescopic push rod 830, the electric clamp 840 and the second ultrasonic ranging sensor 850 are all electrically connected to the control system.

[0043] Among them, by setting the clamping support part 800, when the device cleans the insulator string, the insulator string can be clamped by the electric clamp 840. At this time, the rotor of the drone body 100 can be stopped appropriately, and the drone body 100 can be stopped on the clamping support part 800. In order to improve the carrying capacity of the clamping support part 800, the first adjustment cylinder 810, the second adjustment cylinder and the electric clamp 840 are all made of high-strength carbon fiber material, and their exteriors are coated with insulating coatings. Preferably, an insulating rubber 841 is also provided in the electric clamp 840 to increase the friction between the electric clamp 840 and the insulator string. A pressure sensor is provided in the insulating rubber 841, and the pressure sensor is electrically connected to the control system. The clamping force of the electric clamp 840 on the insulator string is collected in real time through the pressure sensor. Specifically, the electric clamp 840 is preferably clamped on the interval between two adjacent insulators of the insulator string. The number of the limiting slide groove and the limiting convex strip 821 are both four. The four limiting slide grooves are evenly distributed on the two vertical inner side walls of the first adjusting cylinder 810, and the four limiting convex strips 821 are evenly distributed on the two vertical side walls of the second adjusting cylinder 820. By arranging the limiting slide groove and the limiting convex strip 821, the bearing capacity of the clamping support part 800 is increased.

[0044] In summary, the drone-based insulator string cleaning device provided by the present invention performs high-altitude cleaning operations by carrying a rotating cleaning mechanism on the drone body, and replaces manual operations with automated equipment, thereby improving the safety of operations. The cleaning device can quickly locate and clamp the insulator string, and scrub the porcelain bowl on the insulator in a circumferential cleaning manner, thereby improving the cleaning efficiency. At the same time, drone flight is more efficient and faster than operators climbing to designated locations to perform operations, which solves the technical problems in the prior art that workers are required to climb up to perform live cleaning on insulators, resulting in low inefficiency in insulator cleaning, and there is a risk of accidental falling and electric shock for workers.

[0045] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An insulator string cleaning device based on a drone, used for live cleaning of an insulator string, comprising a drone body (100) and a liquid carrying tank (200) and a mechanical arm (300) mounted on the drone body (100), characterized in that: The mechanical arm (300) further comprises a rotary cleaning mechanism (400), wherein the rotary cleaning mechanism (400) comprises a driving component, a mounting seat (410), a first arc-shaped clamping jaw (420), a second arc-shaped clamping jaw (430) and a cleaning assembly (440), wherein the mounting seat (410) is mounted at the end of the mechanical arm (300), the first arc-shaped clamping jaw (420) and the second arc-shaped clamping jaw (430) are both rotatably mounted on the mounting seat (410), and a plurality of nozzles (450) are evenly distributed on the upper and lower end surfaces of the first arc-shaped clamping jaw (420) and the second arc-shaped clamping jaw (430), and the nozzles (450) are connected to the infusion assembly through the infusion assembly. The first arc-shaped clamping jaw (420) and the second arc-shaped clamping jaw (430) are connected to the liquid carrying box (200); a slide groove (460) is arranged on the inner arc surface of the first arc-shaped clamping jaw (420) and the second arc-shaped clamping jaw (430); the driving component is installed on the mounting seat (410); the output end of the driving component is connected to the first arc-shaped clamping jaw (420) and the second arc-shaped clamping jaw (430); the first arc-shaped clamping jaw (420) and the second arc-shaped clamping jaw (430) are driven by the driving component to open and close; when the first arc-shaped clamping jaw (420) and the second arc-shaped clamping jaw (430) are closed, a circular ring is formed; and the cleaning component (440) is slidably arranged in the slide groove (460); It also includes a high-definition camera (500), a first ultrasonic distance measuring sensor (600) and a control system, wherein the high-definition camera (500) is mounted on the drone body (100), and the first ultrasonic distance measuring sensor (600) is mounted on the mounting seat (410) to detect the distance between the rotating cleaning mechanism (400) and the insulator string; The high-definition camera (500), the first ultrasonic distance measuring sensor (600) and the cleaning component (440) are all electrically connected to the control system.

2. The insulator string cleaning device based on a drone according to claim 1 is characterized in that: The cleaning assembly (440) comprises a sliding seat (441), a dual-axis motor, a driving wheel (442), a driven wheel (443), a universal ball (444), a first brush base (445), a second brush base (446) and a cleaning brush (447). The sliding seat (441) is arranged in the sliding groove (460). The dual-axis motor is vertically arranged in the sliding seat (441). The two output shafts thereof respectively pass through the upper and lower ends of the sliding seat (441) and are connected to the driving wheel (442). The driven wheel (443) is rotatably arranged at the upper and lower ends of the sliding seat (441), and the central axis of the driven wheel (443) is aligned with the driving wheel (44 2), the universal ball (444) is rotatably arranged on the end face of the sliding seat (441) and supported on the groove face of the sliding groove (460), the first brush base (445) and the second brush base (446) are installed at the opposite ends of the sliding seat (441), the bottom end faces of the first brush base (445) and the second brush base (446) are located on the end faces of the first arc-shaped clamping jaw (420) and the second arc-shaped clamping jaw (430), the first brush base (445) and the second brush base (446) are both provided with the cleaning brush (447), and the dual-axis motor is wirelessly connected to the control system.

3. The insulator string cleaning device based on a drone according to claim 1 is characterized in that: The infusion assembly comprises a pressure pump (210), a first infusion tube (220), a three-way connector, a second infusion tube and a third infusion tube. The pressure pump (210) is connected to the liquid carrying box (200). The three-way connector is arranged on the mounting seat (410). One end of the three-way connector is connected to the pressure pump (210) through the first infusion tube (220). The other two ends of the three-way connector are respectively connected to two second infusion tubes arranged in the mounting seat (410). The other end of the second infusion tube is connected to the third infusion tube. The two third infusion tubes are respectively arranged in the first arc-shaped clamp (420) and the second arc-shaped clamp (430), and are connected to the nozzle (450). The pressure pump (210) is electrically connected to the control system.

4. The insulator string cleaning device based on a drone according to claim 1 is characterized in that: The nozzle (450) is a high-pressure nozzle.

5. The insulator string cleaning device based on a drone according to claim 1 is characterized in that: The mounting seat (410) is provided with a mounting cavity (411), and the upper cavity wall and the lower cavity wall of the mounting cavity (411) are penetrated by a first through hole (412), a second through hole (413) and a third sliding groove (414); the first arc-shaped clamping jaw (420) is rotatably mounted in the first through hole (412) via a first connecting column (415), and the second arc-shaped clamping jaw (430) is rotatably mounted in the second through hole (413) via a second connecting column (416); The driving component includes a connecting rod, a pulling rod (417) and an electric push rod. The connecting rod is provided at the tail of the first arc-shaped clamp (420) and the second arc-shaped clamp (430). The other ends of the two connecting rods are rotatably connected. The pulling rod (417) is connected to the hinges of the two connecting rods. The electric push rod is installed on the mounting seat (410). The output end of the electric push rod is connected to the pulling rod (417). The pulling rod (417) is slidably arranged in the third sliding groove (414). The first arc-shaped clamp (420) and the second arc-shaped clamp (430) are driven to open and close by the electric push rod. The electric push rod is electrically connected to the control system.

6. The insulator string cleaning device based on a drone according to claim 1, characterized in that: A thermal infrared imaging camera (700) is provided at one end of the mechanical arm (300) close to the mounting seat (410), and the thermal infrared imaging camera (700) is electrically connected to the control system.

7. The insulator string cleaning device based on a drone according to claim 1, characterized in that: The bottom end of the liquid carrying box (200) is provided with a clamping support part (800), and the clamping support part (800) includes a first adjusting cylinder (810), a second adjusting cylinder (820), a telescopic push rod (830), an electric clamping claw (840) and a second ultrasonic distance measuring sensor (850). The first adjusting cylinder (810) is fixedly installed at the bottom of the liquid carrying box (200), and a plurality of limiting sliding grooves are arranged inside the first adjusting cylinder (810). The second adjusting cylinder (820) is provided with limiting convex strips (821) adapted to the limiting sliding grooves so that the second adjusting cylinder (820) can slide. The telescopic push rod (830) is installed in the first adjusting cylinder (810), the telescopic push rod (830) is installed on the opposite sides of the first adjusting cylinder (810), the output end of the telescopic push rod (830) is connected to the protruding end of the second adjusting cylinder (820), the electric clamp (840) is installed at the end of the second adjusting cylinder (820), the second ultrasonic ranging sensor (850) is installed at the top of the protruding end of the second adjusting cylinder (820), and the telescopic push rod (830), the electric clamp (840) and the second ultrasonic ranging sensor (850) are all electrically connected to the control system.

8. The insulator string cleaning device based on a drone according to claim 7 is characterized in that: An insulating rubber (841) is disposed inside the electric clamp (840), a pressure sensor is disposed inside the insulating rubber (841), and the pressure sensor is electrically connected to the control system.

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