Transverse duplex insulator string cleaning robot

Abstract

The invention relates to the technical field of power transmission line insulator cleaning, and discloses a transverse duplex insulator string cleaning robot which comprises a machine body, a walking assembly, two clamping assemblies and two cleaning assemblies, and the whole transverse duplex insulator string cleaning robot is of a symmetrical structure which is transversely symmetrical and longitudinally symmetrical; the clamping assembly comprises an inner guide plate and two clamping arms, and the position of the cleaning robot on the string can be adjusted and aligned through the clamping assembly during string loading, so that the cleaning robot is placed in the center of two rod-shaped insulator strings in the transversely-arranged duplex insulator string after string loading; the walking assembly comprises two walking wheels, a plurality of walking teeth are evenly distributed on the peripheries of the walking wheels, the walking wheels and the rod-shaped insulator string form a gear-rack meshing-like form after string loading, and when the walking wheels rotate, the cleaning robot can flexibly and stably walk on the transverse duplex insulator string to be cleaned. In the reciprocating walking process of the cleaning robot, the cleaning assemblies at the two ends can complete cleaning of all insulators on the duplex insulator chain.

Description

Technical Field

[0001] The present invention relates to the technical field of transmission line insulator cleaning, and particularly to a cleaning robot for horizontally arranged double-connected insulator strings. Background Art

[0002] An insulator string refers to a component that combines two or more insulators and flexibly suspends a wire, and is usually used to suspend the wire and insulate the wire from the tower and the ground. There are various installation forms of insulator strings in engineering practice. The horizontally arranged double-connected insulator string is one of them, which includes two rod-shaped insulator strings that are parallel to each other and are basically arranged in a horizontal direction.

[0003] With the long-term operation of the power grid, the accumulation of dirt on the surface of transmission line insulators will lead to frequent flashover accidents, seriously affecting the safe operation of power equipment. Therefore, it is often necessary to clean the surface of insulators. Traditional cleaning methods such as manual cleaning and floor-mounted lifting platform cleaning all have the problem of low cleaning efficiency. Forms such as high-altitude operation and live-line operation during cleaning make manual cleaning have great safety hazards. The topographical environment differences at the geographical locations where insulators are located also lead to problems such as poor adaptability of ground cleaning equipment. With the development of intelligent technology, there are also automated cleaning robots to replace manual labor to complete the cleaning work of insulator strings at present. However, the existing cleaning robots generally have defects such as complex structures, large volume and weight, slow movement, and unstable operation. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a cleaning robot for horizontally arranged double-connected insulator strings, which has a simple structure, light weight, small volume, flexible and stable movement, can replace the traditional manual cleaning method and is dedicated to the cleaning of horizontally arranged double-connected insulator strings, with high cleaning efficiency and strong adaptability to the geographical environment.

[0005] The purpose of the present invention is achieved by the following technical solutions: A horizontally-mounted double-insulator string cleaning robot includes a body, a walking assembly, two clamping assemblies, and two cleaning assemblies; the body includes two cross beams and two longitudinal beams, and the cross beams are fixedly connected to the longitudinal beams so that the body has a horizontally symmetric and longitudinally symmetric cross-shaped structure in the top view direction. The two cross beams are symmetrically arranged on both sides of the horizontal symmetry plane of the body, and the two longitudinal beams are symmetrically arranged on both sides of the longitudinal symmetry plane of the body; the clamping assembly includes an inner guide plate and two clamping arms. The two clamping arms are parallel to each other and symmetrically arranged on both sides of the horizontal symmetry plane of the body. Pivot pins are provided on both clamping arms, and the two pivot pins are respectively rotatably connected to the ends of the two cross beams. The inner guide plate is arranged at one end of the clamping arm close to the longitudinal symmetry plane of the body, and the inner guide plate is fixedly connected to both clamping arms. A torsion spring is arranged between the clamping arm and the cross beam, and the torsion spring is used to provide an elastic force for the inner guide plate to swing downward. The two clamping assemblies are symmetrically arranged along the longitudinal symmetry plane of the body; the walking assembly includes a double-output motor and two wheel axles. The double-output motor is fixedly installed at the center of the body, and the two wheel axles are symmetrically arranged on both sides of the double-output motor. The axis of the wheel axle is arranged in the horizontal direction and is located in the horizontal symmetry plane of the body. One end of each of the two wheel axles is fixedly connected to the two output ends of the double-output motor respectively, and a walking wheel is fixedly sleeved on the other end of each of the two wheel axles. The walking wheel is arranged between the two clamping arms in the clamping assembly, and a plurality of walking teeth are evenly distributed in the circumferential direction on the outer circumference of the walking wheel; the inner guide plate and the walking wheel are adapted to the structure of the insulator string to be cleaned; the two cleaning assemblies are symmetrically arranged along the horizontal symmetry plane of the body, and the cleaning assemblies are fixedly connected to the ends of the two longitudinal beams respectively. The cleaning assembly has a symmetric structure that is symmetric along the longitudinal symmetry plane of the body. The overall structure of this cleaning robot is light and simple, and it can be conveniently lifted onto and off the string by a drone; at the same time, the overall structure of this cleaning robot is horizontally symmetric and longitudinally symmetric. When lifting onto the string, the position of the cleaning robot on the string can be adjusted and aligned through the clamping assembly, so that after lifting onto the string, the cleaning robot is placed at the center position between the two rod-shaped insulator strings in the horizontally-mounted double-insulator string, and the central planes of the two walking wheels in the thickness direction respectively coincide with the axes of the two rod-shaped insulator strings, so as to ensure the stable posture of the cleaning robot after lifting onto the string; the walking wheels on the same side are adapted to the structure of the rod-shaped insulator string, and the two form a form similar to the meshing of a gear and a rack. Driven by the double-output motor, the cleaning robot can walk back and forth on the horizontally-mounted double-insulator string to be cleaned, and the walking is flexible and stable. During the reciprocating walking process of the cleaning robot, the cleaning assemblies at both ends can complete the cleaning of each insulator on the double-insulator string.

[0006] Further, the clamping assembly further includes an outer guide plate. One end of each of the two clamping arms away from the inner guide plate is fixedly connected to the outer guide plate. The position of the outer guide plate is adapted to the shape of the insulator string to be cleaned. The outer guide plate plays an auxiliary stabilizing role. On the one hand, the two outer guide plates symmetrically abut against both sides of the double-circuit insulator string, forming an auxiliary supporting structure. On the other hand, the outer guide plate provided can also make the center of gravity of the entire cleaning robot sink below the top position of the double-circuit insulator string, which is beneficial to maintaining the stable placement of the cleaning robot after it climbs onto the string.

[0007] Specifically, the cleaning assembly includes two cleaning devices. Each cleaning device includes a cleaning motor and a cleaning ring. The cleaning ring is in a semi-circular ring shape. The axis position of the cleaning ring is adapted to the axis position of the insulator string to be cleaned. The two cleaning rings are respectively arranged at the ends of the two longitudinal beams. The cleaning motor is used to drive the cleaning ring to rotate around its center. A flow channel is opened in the cleaning ring, and a plurality of cleaning ports are opened on the inner side of the cleaning ring. All the plurality of cleaning ports are communicated with the flow channel. In the initial state, the opening of the cleaning ring faces downward, which is convenient for the cleaning robot to climb onto and off the horizontally placed double-circuit insulator string. When cleaning is required, water is pumped into the flow channel, and at the same time, the cleaning ring is reciprocally rotated to realize the flushing of each part on the circumference of the insulator at the position directly opposite to the cleaning ring.

[0008] Specifically, the cleaning assembly further includes a cleaning frame, and each cleaning device further includes a cleaning table. The cleaning frame is fixedly connected to the ends of the two longitudinal beams. The tops of the two cleaning tables are respectively fixedly connected to the two ends of the cleaning frame. The bottoms of the two cleaning tables are both provided with semi-circular openings. The axis of the semi-circular opening is perpendicular to the transverse symmetry plane of the machine body and parallel to the longitudinal symmetry plane of the machine body. The symmetry axes of the two semi-circular openings in the vertical direction are respectively located in the central planes in the thickness directions of the two traveling wheels. The cleaning ring is coaxially adapted to the semi-circular opening, and the cleaning ring is rotatably connected to the cleaning table.

[0009] Specifically, a plurality of roller bearings are rotatably arranged on the cleaning table. The plurality of roller bearings are divided into two groups and respectively abut against the inner side and the outer side of the cleaning ring to realize the rotatable connection between the cleaning ring and the cleaning table.

[0010] Specifically, a limiting block is fixedly arranged on one side of the cleaning table close to the cleaning ring. The limiting block is arranged at the symmetry axis position of the semi-circular opening in the vertical direction. Blocks are fixedly arranged at both ends of the cleaning ring. The blocks are adapted to the limiting block to limit the rotation stroke of the cleaning ring and prevent it from coming off.

[0011] Specifically, the cleaning motor is fixedly installed on the cleaning frame, and a driving gear is fixedly sleeved on the output end of the cleaning motor. Two transmission gears are rotatably arranged on the cleaning table. The two transmission gears are symmetrically arranged on both sides of the driving gear and are both meshed with the driving gear. An external tooth surface is arranged on the outer side of the cleaning ring, and the two transmission gears are both meshed with the external tooth surface to ensure the smoothness and reliability of the transmission when the cleaning ring reciprocates and rotates.

[0012] The beneficial effects of the present invention are: The horizontally-mounted double-link insulator string cleaning robot includes a body, a walking assembly, two clamping assemblies, and two cleaning assemblies. The body includes a cross-shaped structure that is symmetric both horizontally and vertically, consisting of two cross beams and two longitudinal beams. The two clamping assemblies are symmetrically arranged on both sides of the longitudinal symmetry plane of the body, and the two cleaning assemblies are symmetrically arranged on both sides of the horizontal symmetry plane of the body, making the overall cleaning robot a symmetric structure that is symmetric both horizontally and vertically. The clamping assembly includes an inner guide plate and two clamping arms. The two clamping arms are parallel to each other and symmetrically arranged on both sides of the horizontal symmetry plane of the body. Pivot pins are provided on both clamping arms, and the two pivot pins are respectively rotatably connected to the ends of the two cross beams. The inner guide plate is arranged at one end of the clamping arm close to the longitudinal symmetry plane of the body, and the inner guide plate is fixedly connected to both clamping arms. A torsion spring for providing an elastic force to swing the inner guide plate downward is arranged between the clamping arm and the cross beam. When the cleaning robot is strung onto the insulator string, the position of the cleaning robot on the string can be adjusted and aligned through the clamping assembly, so that after being strung, the cleaning robot is placed at the central position between the two rod-shaped insulator strings in the horizontally-mounted double-link insulator string. The walking assembly includes a dual-output motor and two wheel axles. The dual-output motor is fixedly installed at the center of the body. The two wheel axles are symmetrically arranged on both sides of the dual-output motor. The axis of the wheel axle is arranged horizontally and located within the horizontal symmetry plane of the body. One end of each of the two wheel axles is fixedly connected to the two output ends of the dual-output motor respectively, and a walking wheel is fixedly sleeved on the other end of each of the two wheel axles. A number of walking teeth are circumferentially distributed on the outer circumference of the walking wheel. When the cleaning robot is strung onto the insulator string, through the position adjustment of the clamping assembly, the central planes of the two walking wheels in the thickness direction can respectively coincide with the axes of the two rod-shaped insulator strings. The walking wheels on the same side and the rod-shaped insulator string form a form similar to the meshing of a gear and a rack. Driven by the dual-output motor, the cleaning robot can reciprocally walk on the horizontally-mounted double-link insulator string to be cleaned, and the walking process is flexible and stable. The cleaning assembly is a symmetric structure symmetric about the longitudinal symmetry plane of the body, and it includes two cleaning devices. The cleaning device includes a cleaning motor and a cleaning ring. The cleaning ring is in a semi-circular ring shape, and the opening of the cleaning ring faces downward to facilitate the cleaning robot to be strung onto and taken off from the insulator string. When the cleaning robot is strung onto the insulator string, through the position adjustment of the clamping assembly, the cleaning ring can coincide with the axis of the rod-shaped insulator string opposite to it. Driven by the cleaning motor, the cleaning ring reciprocally rotates, and the circumferential parts of the insulator at the position directly opposite to the cleaning ring can be flushed. Combining with the reciprocating walking action of the cleaning robot, the overall cleaning of the horizontally-mounted double-link insulator string can be completed.

[0013] Generally speaking, the overall structure of the horizontally-mounted double-link insulator string cleaning robot is simple, light in weight, and small in size. It can be strung onto and taken off from the insulator string by an unmanned aerial vehicle, and it is convenient to be strung onto and taken off, without being restricted by the geographical environment. Its overall structure is symmetric both horizontally and vertically. When being strung onto the insulator string, it can automatically adjust its position, and remains flexible and stable in movement after being strung onto the insulator string. It can replace the traditional manual cleaning method and is dedicated to the cleaning of horizontally-mounted double-link insulator strings, with high cleaning efficiency and strong adaptability to the geographical environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 FIG. 1 is a schematic diagram of the overall structure of a horizontal double - string insulator string cleaning robot according to the present invention; Figure 2 FIG. 2 is a schematic diagram of the assembly structure of the body and the walking assembly in a horizontal double - string insulator string cleaning robot according to the present invention; Figure 3 FIG. 3 is a schematic diagram of the structure of the clamping assembly in a horizontal double - string insulator string cleaning robot according to the present invention; Figure 4 FIG. 4 is a schematic diagram of the assembly structure of the body and the clamping assembly in a horizontal double - string insulator string cleaning robot according to the present invention; Figure 5 FIG. 5 is a schematic diagram of the structure of the cleaning device in a horizontal double - string insulator string cleaning robot according to the present invention; Figure 6 FIG. 6 is Figure 5 a schematic cross - sectional structure diagram of the cleaning device shown in FIG. 5; Figure 7 FIG. 7 is a schematic diagram of the use state of the clamping assembly after the horizontal double - string insulator string cleaning robot is strung; Figure 8 FIG. 8 is a schematic diagram of the use state of the cleaning assembly after the horizontal double - string insulator string cleaning robot is strung; In the figures, 10 - body, 11 - cross beam, 12 - longitudinal beam, 20 - walking assembly, 21 - double - output motor, 22 - axle, 23 - walking wheel, 30 - clamping assembly, 31 - clamping arm, 32 - inner guide plate, 33 - outer guide plate, 34 - pin shaft, 35 - torsion spring, 40 - cleaning assembly, 41 - cleaning motor, 42 - cleaning ring, 43 - flow channel, 44 - cleaning port, 45 - driving gear, 46 - driven gear, 47 - roller bearing, 48 - stop block. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0015] The technical solutions of the present invention will be further described in detail below with reference to the drawings, but the protection scope of the present invention is not limited to the following description.

[0016] As Figures 1 to 6 shown in FIG. 1, a horizontal double - string insulator string cleaning robot includes a body 10, a walking assembly 20, two clamping assemblies 30, and two cleaning assemblies 40.

[0017] As Figure 2 shown in FIG. 2, the body 10 includes two cross beams 11 and two longitudinal beams 12. The cross beam 11 and the longitudinal beam 12 are fixedly connected so that the body 10 has a horizontally symmetric and longitudinally symmetric cross - shaped structure in the top - view direction. The symmetric center plane of the two cross beams 11 is the horizontal symmetry plane of the body 10, and the symmetric center plane of the two longitudinal beams 12 is the longitudinal symmetry plane of the body 10.

[0018] like Figure 1 , Figure 3 , Figure 4 As shown, two clamping assemblies 30 are symmetrically arranged along the longitudinal symmetric plane of the machine body 10. The clamping assembly 30 includes an inner guide plate 32 and two clamping arms 31, the two clamping arms 31 are parallel to each other, and the two clamping arms 31 are symmetrically arranged on both sides of the transverse symmetric plane of the machine body 10. Pins 34 are arranged on the two clamping arms 31, and the two pins 34 are rotatably connected to the ends of the two cross beams 11 respectively. The inner guide plate 32 is arranged at one end of the clamping arm 31 close to the longitudinal symmetric plane of the machine body 10, and the inner guide plate 32 is fixedly connected to the two clamping arms 31. A torsion spring 35 is arranged between the clamping arm 31 and the cross beam 11, and the torsion spring 35 is used to provide elastic force to swing the inner guide plate 32 downward.

[0019] like Figure 2 As shown, the walking assembly 20 includes a dual-output motor 21 and two wheel axles 22. The dual-output motor 21 is fixedly installed in the center of the body 10. The two wheel axles 22 are symmetrically arranged on both sides of the dual-output motor 21. The axes of the wheel axles 22 are arranged in the horizontal direction and are located in the transverse symmetry plane of the body 10. One ends of the two wheel axles 22 are respectively fixedly connected to the two output ends of the dual-output motor 21, and the other ends of the two wheel axles 22 are fixedly sleeved with walking wheels 23. The walking wheels 23 are arranged between the two clamping arms 31 in the above-mentioned clamping assembly 30, and a plurality of walking teeth are evenly distributed on the outer circumference of the walking wheels 23.

[0020] The inner guide plate 32 and the running wheel 23 are adapted to the structure of the double insulator string to be cleaned. Figure 7 , Figure 8 As shown, the double insulator string includes two rod-shaped insulator strings that are horizontally arranged and parallel to each other. After the cleaning robot is mounted on the strings, on the one hand, the two inner guide plates 32 are located between the two rod-shaped insulator strings, and under the action of the torsion spring 35, the two inner guide plates 32 are respectively pressed against the opposite sides of the two rod-shaped insulator strings; on the other hand, the central plane of the running wheel 23 in the thickness direction coincides with the axis of the rod-shaped insulator string, and at the same time, the pitch of the running teeth on the running wheel 23 matches the distance between adjacent insulators on the rod-shaped insulator string, and the running wheel 23 and the rod-shaped insulator string form a structure similar to the meshing of a gear rack.

[0021] Since the cleaning robot is designed in a light and simple manner, it can be directly hoisted by a drone through a rope. In the specific operation, first connect the rope to the bottom of the drone, set a hook at the bottom of the rope, hook the cleaning robot through the hook to achieve hoisting, make the drone take off to lift the cleaning robot, and adjust the hook's force position on the cleaning robot to make the cleaning robot basically horizontal. At this time, the two inner guide plates 32 in the cleaning robot are swung to the lowest position (such as Figure 1As shown); then the drone is controlled to hoist the cleaning robot to the approximate center position between the two rod-shaped insulator strings to be cleaned; then the drone is controlled to slowly descend, and during the descent process, under the action of the cleaning robot's own gravity, the two inner guide plates 32 gradually swing upward after contacting the rod-shaped insulator strings (it should be noted that it is difficult to achieve the cleaning robot flying to the center position completely aligned with the two rod-shaped insulator strings to be cleaned when controlling the drone, and the two inner guide plates 32 generally do not contact the two rod-shaped insulator strings at the same time during descent). Since the entire cleaning robot has a symmetrical structure in the horizontal and vertical directions, the elastic force of the two torsion springs 35 will automatically adjust to a balance during the gradual descent process, thereby allowing the cleaning robot to automatically align and center itself on the two rod-shaped insulator strings; until the drone completely places the cleaning robot on the double insulator string to be cleaned, as the drone continues to descend, the hook is separated from the cleaning robot, and then the drone is made to fly away to complete the stringing of the cleaning robot. Since the entire cleaning robot has a symmetrical structure in the horizontal and vertical directions, under the effect of the above-mentioned self-centering positioning, its geometric center and center of gravity are both located at the center position between the two rod-shaped insulator strings, which is conducive to achieving the central planes of the two running wheels 23 in the thickness direction coincident with the axes of the two rod-shaped insulator strings after being strung together, and is also conducive to the stable placement of the cleaning robot after being strung together. In addition, the two inner guide plates 32 respectively apply outward tension to the two rod-shaped insulator strings under the action of the torsion springs 35, which can further assist in clamping the cleaning robot and ensure its stability after being strung together.

[0022] After the cleaning robot is put on the string, the dual output motor 21 is started to drive the two side running wheels 23 to rotate through the two wheel shafts 22. The running wheels 23 and the rod-shaped insulator string form a structure similar to the meshing of gear racks. When the running wheels 23 rotate, the cleaning robot can be driven to walk flexibly on the double insulator string by toggling. Since the center planes of the two running wheels 23 in the thickness direction coincide with the axes of the two rod-shaped insulator strings, when walking in the above driving mode, it is helpful to keep the position of the cleaning robot stable when walking.

[0023] like Figure 1 As shown, the two cleaning assemblies 40 are symmetrically arranged along the transverse symmetric plane of the body 10, and the cleaning assemblies 40 are fixedly connected to the ends of the two longitudinal beams 12. At the same time, the cleaning assemblies 40 themselves are symmetrical structures symmetrical along the longitudinal symmetric plane of the body 10. When the cleaning robot moves back and forth, the cleaning assemblies 40 at both ends can complete the cleaning work of the double insulator string; after the cleaning robot is equipped with the cleaning assemblies 40, the overall structure is still symmetrical in the transverse and longitudinal directions, so as to avoid affecting the centering process when the cleaning robot is mounted on the string, and it is also beneficial to maintain the stability of the cleaning robot on the string during the cleaning operation.

[0024] After the cleaning is completed, control the drone to fly above the cleaning robot, hook the cleaning robot with the hook and lift it up to complete the work of removing the cleaning robot from the string.

[0025] According to the above, the overall structure of the horizontal double-insulator string cleaning robot is simple, light in weight, small in size, and flexible and stable in movement; it can replace the traditional manual cleaning method, reduce potential safety hazards, and has high cleaning efficiency; it is hoisted up and down by a drone, with simple operation, is not restricted by the geographical environment, and has strong adaptability.

[0026] Furthermore, as Figure 1 , Figure 3 , Figure 7 shown, the aforementioned clamping assembly 30 further includes an outer guide plate 33, and one end of each of the two clamping arms 31 away from the inner guide plate 32 is fixedly connected to the outer guide plate 33. The position of the outer guide plate 33 is adapted to the shape of the insulator string to be cleaned. After the cleaning robot is strung up, the inner guide plate 32 abuts against the inner sides of the two rod-shaped insulator strings, and the outer guide plate 33 abuts against the outer sides of the rod-shaped insulator strings at a slightly downward position in the horizontal direction. After the outer guide plate 33 is provided, the cleaning robot still has the aforementioned symmetrical structure. The outer guide plate 33 plays an auxiliary stabilizing role. On the one hand, the two outer guide plates 33 symmetrically abut against the outer sides of the double-insulator string to form an auxiliary supporting structure. On the other hand, the provided outer guide plate 33 can also make the center of gravity of the entire cleaning robot sink below the top position of the double-insulator string, which is beneficial to maintaining the stable placement of the cleaning robot after being strung up.

[0027] Furthermore, as Figure 1 , Figure 5 , Figure 6 , Figure 8 shown, the aforementioned cleaning assembly 40 includes two cleaning devices, and each cleaning device includes a cleaning motor 41 and a cleaning ring 42. The cleaning ring 42 is in a semi-circular ring shape, and the two cleaning rings 42 are respectively arranged at the ends of the two longitudinal beams 12. The semi-circular ring shape of the cleaning ring 42 is convenient for the cleaning ring to be strung up and down from above the insulator string to be cleaned when the opening faces downward. The axis position of the cleaning ring 42 is adapted to the axis position of the insulator string to be cleaned, so that after the cleaning robot is strung up, the axes of the two cleaning rings 42 coincide with the axes of the two rod-shaped insulator strings respectively. A flow channel 43 is opened in the cleaning ring 42, and a number of cleaning ports 44 are opened on the inner side of the cleaning ring 42. The number of cleaning ports 44 are all communicated with the flow channel 43. By pumping pressurized water into the flow channel 43, water can be sprayed out from each cleaning port 44 to wash the insulator opposite to it. The cleaning motor 41 can drive the cleaning ring 42 to rotate around its center. During cleaning, the cleaning ring 42 can be driven by the cleaning motor 41 to reciprocate and rotate, so as to realize the flushing of different positions on the circumference of the insulator.

[0028] During specific implementation: As Figure 1 ,Figure 5 , Figure 6 As shown in Figure 6 , the above-mentioned cleaning assembly 40 further includes a cleaning rack, and its cleaning device further includes a cleaning table. The cleaning rack is fixedly connected to the ends of both longitudinal beams 12. The tops of the two cleaning tables are respectively fixedly connected to the two ends of the cleaning rack. The bottoms of the two cleaning tables are both provided with semi-circular openings. The axis of the semi-circular opening is perpendicular to the transverse symmetry plane of the machine body 10 and parallel to the longitudinal symmetry plane of the machine body 10. The vertical symmetry axes of the two semi-circular openings are respectively located in the central planes in the thickness directions of the two traveling wheels 23; the cleaning ring 42 is coaxially adapted to the semi-circular opening, and the cleaning ring 42 is rotatably connected to the cleaning table. Specifically, a number of roller bearings 47 are rotatably arranged on the cleaning table. The number of roller bearings 47 is divided into two groups and respectively abuts against the inner side and the outer side of the cleaning ring 42 to realize the rotation of the cleaning ring 42 on the cleaning table.

[0029] A limiting block is fixedly arranged on one side of the cleaning table close to the cleaning ring 42. The limiting block is arranged at the position of the vertical symmetry axis of the semi-circular opening. The semi-circular opening faces downward, and the limiting block is located above the semi-circular opening. Blocks 48 are fixedly arranged at both ends of the cleaning ring 42, and both blocks 48 are adapted to the above-mentioned limiting block to limit the rotation stroke of the cleaning ring 42 to prevent the cleaning ring 42 from coming off.

[0030] The cleaning motor 41 is fixedly installed on the cleaning rack. A driving gear 45 is fixedly sleeved on the output end of the cleaning motor 41. Two transmission gears 46 are rotatably arranged on the cleaning table. The two transmission gears 46 are symmetrically arranged on both sides of the driving gear 45 and are both meshed with the driving gear 45. An external tooth surface is arranged on the outer side of the cleaning ring 42, and both transmission gears 46 are meshed with the external tooth surface. The cleaning motor 41 can drive the driving gear 45 to rotate. Then, under the meshing action, the two transmission gears 46 rotate accordingly. Then, under the meshing action, the cleaning ring 42 can be driven to rotate through the external tooth surface. Two transmission gears 46 are arranged for intermediate transmission to prevent the phenomenon of tooth disengagement when the cleaning ring 42 is at two extreme positions (the limiting positions of the block 48 and the limiting block), and at the same time, the smoothness and reliability of the transmission are increased.

[0031] During implementation, the two cleaning assemblies 40 of the cleaning robot act synchronously, and the two cleaning devices in the cleaning assembly 40 act synchronously in opposite directions. Thus, during the cleaning operation, the cleaning robot can always maintain an axially and longitudinally completely symmetric form, thereby ensuring its stability.

[0032] The above are only the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein, should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be changed within the scope of the concept described herein through the above teachings or the techniques or knowledge in related fields. Any changes and variations made by those skilled in the art without departing from the spirit and scope of the present invention shall fall within the protection scope of the appended claims of the present invention.

Claims

1. A robot for cleaning a horizontal double insulator string, characterized in that: It includes a machine body, a walking assembly, two clamping assemblies and two cleaning assemblies. The machine body comprises two cross beams and two longitudinal beams, wherein the cross beams are fixedly connected to the longitudinal beams so that the machine body is in a tic-tac-toe structure that is transversely symmetrical and longitudinally symmetrical in a top view direction, the two cross beams are symmetrically arranged on both sides of the transverse symmetry plane of the machine body, and the two longitudinal beams are symmetrically arranged on both sides of the longitudinal symmetry plane of the machine body; The clamping assembly comprises an inner guide plate and two clamping arms, the two clamping arms are parallel to each other and symmetrically arranged on both sides of the transverse symmetry plane of the machine body, the two clamping arms are provided with pins, the two pins are rotatably connected to the ends of the two cross beams respectively, the inner guide plate is provided at one end of the clamping arm close to the longitudinal symmetry plane of the machine body, the inner guide plate is fixedly connected to the two clamping arms, a torsion spring is provided between the clamping arm and the cross beam, the torsion spring is used to provide elastic force to swing the inner guide plate downward, and the two clamping assemblies are symmetrically arranged along the longitudinal symmetry plane of the machine body; The walking assembly comprises a dual-output motor and two wheel axles, wherein the dual-output motor is fixedly mounted at the center of the machine body, and the two wheel axles are symmetrically arranged on both sides of the dual-output motor, and the axes of the wheel axles are arranged in the horizontal direction and located in the transverse symmetry plane of the machine body, and one end of the two wheel axles is fixedly connected to the two output ends of the dual-output motor respectively, and the other ends of the two wheel axles are fixedly sleeved with walking wheels, and the walking wheels are arranged between the two clamping arms in the clamping assembly, and a plurality of walking teeth are evenly distributed on the circumference of the outer circumference of the walking wheels; The inner guide plate and the running wheel are adapted to the structure of the insulator string to be cleaned; The two cleaning assemblies are symmetrically arranged along the transverse symmetric plane of the machine body, the cleaning assemblies are fixedly connected to the ends of the two longitudinal beams, and the cleaning assemblies present a symmetrical structure symmetrical along the longitudinal symmetric plane of the machine body.

2. The horizontal double insulator string cleaning robot according to claim 1, characterized in that: The clamping assembly also includes an outer guide plate, and one end of the two clamping arms away from the inner guide plate is fixedly connected to the outer guide plate, and the position of the outer guide plate is adapted to the shape of the insulator string to be cleaned.

3. A horizontal double insulator string cleaning robot according to claim 1 or 2, characterized in that: The cleaning assembly includes two cleaning devices, each of which includes a cleaning motor and a cleaning ring. The cleaning ring is in a semicircular shape, and the axis position of the cleaning ring is adapted to the axis position of the insulator string to be cleaned. The two cleaning rings are respectively arranged at the ends of the two longitudinal beams, and the cleaning motor is used to drive the cleaning ring to rotate around its center. A flow channel is provided in the cleaning ring, and a plurality of cleaning ports are provided on the inner side of the cleaning ring, and the plurality of cleaning ports are all communicated with the flow channel.

4. The horizontal double insulator string cleaning robot according to claim 3 is characterized in that: The cleaning assembly also includes a cleaning rack, and the cleaning device also includes a cleaning table, the cleaning rack is fixedly connected to the ends of the two longitudinal beams, the tops of the two cleaning tables are respectively fixedly connected to the two ends of the cleaning rack, and the bottom ends of the two cleaning tables are respectively provided with semicircular openings, the axes of the semicircular openings are perpendicular to the transverse symmetry plane of the machine body and parallel to the longitudinal symmetry plane of the machine body, and the symmetry axes of the two semicircular openings in the vertical direction are respectively located in the central planes in the thickness directions of the two walking wheels; The cleaning ring is coaxially matched with the semicircular opening, and the cleaning ring is rotatably connected to the cleaning table.

5. The horizontal double insulator string cleaning robot according to claim 4, characterized in that: A plurality of roller bearings are rotatably arranged on the cleaning table, and the plurality of roller bearings are divided into two groups and respectively abut against the inner side and the outer side of the cleaning ring.

6. The horizontal double insulator string cleaning robot according to claim 4, characterized in that: A limit stop is fixedly provided on one side of the cleaning table close to the cleaning ring, and the limit stop is arranged at the symmetry axis position of the semicircular opening in the vertical direction. Stop blocks are fixedly provided at both ends of the cleaning ring, and the stop blocks are adapted to the limit stop.

7. The horizontal double insulator string cleaning robot according to claim 4, characterized in that: The cleaning motor is fixedly mounted on the cleaning rack, a driving gear is fixedly sleeved at the output end of the cleaning motor, two transmission gears are rotatably arranged on the cleaning table, the two transmission gears are symmetrically arranged on both sides of the driving gear and are meshed with the driving gear, an external tooth surface is arranged on the outer side of the cleaning ring, and the two transmission gears are meshed with the external tooth surface.

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