Outdoor GIS through pipe intelligent cleaning robot and use method of outdoor GIS through pipe intelligent cleaning robot

Abstract

The invention relates to the technical field of GIS through pipe cleaning, and discloses an outdoor GIS through pipe intelligent cleaning robot and a use method of the outdoor GIS through pipe intelligent cleaning robot. The intelligent cleaning robot for the outdoor GIS through pipe comprises a base and a cleaning mechanism. The cleaning mechanism is arranged on the base and comprises a swing assembly and a cleaning assembly, and the cleaning assembly is connected with the swing assembly; the extension direction of the cleaning assembly is always unchanged, the cleaning assembly comprises an extension part and a cleaning part which are connected, the extension direction of the extension part is consistent with that of the cleaning part, the cleaning part is provided with a cleaning face, the cleaning face extends in the circumferential direction of the cleaning part, the swing assembly and the extension part are matched with each other, and the cleaning part can achieve various complex movement tracks and actions. The extension direction of the cleaning assembly is not changed all the time, the cleaning face extends in the circumferential direction of the cleaning piece, the cleaning piece can stretch into the space between the to-be-cleaned pieces which are arranged in a stacked mode or are arranged at small intervals, and cleaning of the GIS through pipe in a complex arrangement mode is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of GIS pipe cleaning technology, and in particular to an outdoor GIS pipe intelligent cleaning robot and a method for using the outdoor GIS pipe intelligent cleaning robot. Background Art

[0002] Gas-insulated metal-enclosed switchgear (GIS) is a high-voltage power distribution device that encloses high-voltage electrical components such as circuit breakers, disconnectors, earthing switches, current transformers, voltage transformers, lightning arresters, and busbars within a metal casing. The casing is filled with a pressured insulating gas (such as sulfur hexafluoride) as an insulating and arc-extinguishing medium. GIS is often installed within substations to form GIS substations. The metal casing is often a through-tube structure. To improve substation space utilization, GIS through-tubes are often arranged in a rectangular array, with a limited distance between adjacent GIS through-tubes.

[0003] Currently, some outdoor GIS pipe cleaning robots have a cleaning mechanism mounted on a lifting mechanism, which is mounted on a base, and a moving mechanism located below the base, allowing for free movement and elevation of the cleaning mechanism. The cleaning mechanism has a U-shaped groove structure, with a brush head positioned on the inner wall of the groove. The inner wall of the groove fits against the GIS pipe to be cleaned. During cleaning, the inner wall rotates relative to the groove and the object to be cleaned, thereby cleaning the object. However, this configuration can only clean horizontally arranged GIS pipes with large spacing between them, and is difficult to adapt to more complex GIS pipe arrangements.

[0004] Therefore, there is an urgent need for an outdoor GIS pipe intelligent cleaning robot that can solve the problem of cleaning GIS pipes with complex arrangements, and realize the cleaning of GIS pipes arranged in rectangular arrays, and even the cleaning of GIS pipes with small spacing. Summary of the Invention

[0005] The purpose of the present invention is to provide an outdoor GIS pipe intelligent cleaning robot, which can solve the problem of cleaning GIS pipes with complex arrangements, and realize the cleaning of GIS pipes arranged in a rectangular array, and even the cleaning of GIS pipes with small spacing.

[0006] As conceived above, the technical solution adopted by the present invention is:

[0007] An outdoor GIS pipe intelligent cleaning robot, comprising:

[0008] base;

[0009] A cleaning mechanism is provided on the base, the cleaning mechanism comprising a cleaning assembly and a swing assembly, the cleaning assembly is connected to the swing assembly, and the swing assembly can change the position of the cleaning assembly;

[0010] The extension direction of the cleaning component remains unchanged. The cleaning component comprises an extension member and a cleaning member connected to each other. The extension direction of the extension member is consistent with that of the cleaning member. The cleaning member has a cleaning surface that extends along the circumference of the cleaning member.

[0011] As an optional solution for the outdoor GIS pipe-clearing intelligent cleaning robot, the extension piece is a retractable extension piece;

[0012] And / or, the cleaning member is detachably connected to the extension member.

[0013] As an optional solution for the outdoor GIS pipe cleaning robot, the swing assembly includes:

[0014] A first connecting seat connected to the base;

[0015] a second connecting seat connected to the cleaning assembly, wherein the plane where the second connecting seat is located is parallel to the plane where the first connecting seat is located;

[0016] Two swing linkage members are arranged in parallel, one end of each swing linkage member is rotatably connected to the first connecting seat, and the other end of each swing linkage member is rotatably connected to the second connecting seat;

[0017] A swing driving member, wherein the fixed end of the swing driving member is rotatably connected to the first connecting seat, and / or the output end of the swing driving member is rotatably connected to the second connecting seat, is used to drive the swing linkage member to swing.

[0018] As an optional solution for the outdoor GIS pipe-clearing intelligent cleaning robot, the swing linkage member includes a reinforcement portion and at least two connecting rods, and at least two of the connecting rods are fixedly connected through the reinforcement portion.

[0019] As an optional solution of the outdoor GIS pipe cleaning robot, the outdoor GIS pipe cleaning robot also includes a spraying mechanism for spraying cleaning liquid onto the object to be cleaned. The spraying mechanism includes:

[0020] a water tank, disposed in the base, for containing the cleaning liquid;

[0021] a water pump, connected to the water tank, for pumping out the cleaning fluid;

[0022] A spray pipe is connected to the water pump and is arranged along the circumference of the cleaning piece, and is used for spraying the cleaning liquid onto the piece to be cleaned or the cleaning piece.

[0023] As an optional solution for the outdoor GIS pipe-clearing intelligent cleaning robot, the spray mechanism also includes a connecting pipe and a connecting pipe reel. The connecting pipe is used to connect the water pump and the spray pipe. The connecting pipe reel is arranged on the base for storing the connecting pipe.

[0024] As an optional solution for the outdoor GIS pipe cleaning robot, the outdoor GIS pipe cleaning robot also includes a moving mechanism, which is arranged under the base and connected to the base. The moving mechanism includes a moving part and a chassis bracket. The moving part is arranged on both sides of the chassis bracket, and the moving part is used to drive the chassis bracket to move.

[0025] As an optional solution for the outdoor GIS pipe-clearing intelligent cleaning robot, the moving mechanism further includes a rotary drive component, which is arranged between the crawler moving component and the chassis bracket and is used to drive the base to rotate relative to the chassis bracket.

[0026] As an optional solution for the outdoor GIS pipe cleaning robot, the base includes:

[0027] base housing;

[0028] A lifting component, wherein the fixed end of the lifting component is connected to the base shell, and the output end of the lifting component is connected to the cleaning mechanism.

[0029] A method for using an outdoor GIS pipe cleaning robot, using the outdoor GIS pipe cleaning robot, the method for using the outdoor GIS pipe cleaning robot includes the following steps:

[0030] S1. Move the outdoor GIS pipe cleaning robot to a designated location, drive the swing assembly to move, and move the cleaning element to the element to be cleaned;

[0031] S2, driving the cleaning element to move and clean the element to be cleaned;

[0032] S3, after the cleaning member finishes cleaning the object to be cleaned, the cleaning member stops moving;

[0033] S4, driving the swing assembly to move the cleaning element out of the working position.

[0034] The beneficial effects of the present invention are:

[0035] The present invention proposes an outdoor GIS pipe intelligent cleaning robot, wherein a cleaning mechanism is arranged on a base, the cleaning mechanism includes a swinging assembly and a cleaning assembly, the cleaning assembly is connected to the swinging assembly, and the swinging assembly is used to change the position of the cleaning assembly; the extension direction of the cleaning assembly remains unchanged, the cleaning assembly includes a connected extension member and a cleaning member, the extension member and the extension direction of the cleaning member are consistent, the cleaning member has a cleaning surface, the cleaning surface extends along the circumference of the cleaning member, the cleaning surface contacts the member to be cleaned, the swinging assembly and the extension member are used to move the cleaning member to the member to be cleaned, the swinging assembly and the extension member cooperate with each other, and can enable the cleaning member to achieve a variety of complex motion trajectories and actions; the extension direction of the cleaning assembly remains unchanged, and the cleaning surface extends along the circumference of the cleaning member, so that the cleaning assembly can extend the cleaning member between the stacked or smaller-spaced members to be cleaned, and clean the members to be cleaned, thereby realizing the cleaning of members to be cleaned in a complex arrangement. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a first structural diagram of the outdoor GIS pipe-clearing intelligent cleaning robot provided by an embodiment of the present invention;

[0037] Figure 2 is a first structural schematic diagram of a cleaning mechanism provided by an embodiment of the present invention;

[0038] Figure 3 This is a second structural diagram of the outdoor GIS pipe-clearing intelligent cleaning robot provided by an embodiment of the present invention;

[0039] Figure 4 3 is a schematic diagram of the third structure of the outdoor GIS pipe-clearing intelligent cleaning robot provided by an embodiment of the present invention;

[0040] Figure 5 This is a first structural diagram of the moving mechanism provided by an embodiment of the present invention.

[0041] In the picture:

[0042] 1. Cleaning mechanism; 11. Cleaning assembly; 111. Extension member; 112. Cleaning member; 1121. Cleaning surface; 12. Swing assembly; 121. Swing drive member; 122. Swing linkage member; 1221. Reinforcement member; 1222. Connecting rod; 123. First connecting seat; 124. Second connecting seat; 125. Hydraulic hose reel;

[0043] 2. Spray mechanism; 21. Water tank; 22. Spray pipe; 23. Connecting pipe reel;

[0044] 3. Base; 31. Base shell; 32. Lifting assembly;

[0045] 4. Moving mechanism; 41. Moving part; 42. Chassis bracket; 43. Rotary driving part;

[0046] 5. Image capture component. DETAILED DESCRIPTION

[0047] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the present invention are further described below with reference to the accompanying drawings and through specific embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the drawings only show portions relevant to the present invention, not all of them.

[0048] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0049] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0050] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are used to refer to positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate description and simplify operation, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0051] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0052] Gas Insulated Switchgear (GIS) is a high-voltage power distribution device that encloses high-voltage electrical components such as circuit breakers, disconnectors, grounding switches, current transformers, voltage transformers, lightning arresters, and busbars in a metal casing, which is filled with a certain pressure of insulating gas (such as sulfur hexafluoride gas) as an insulating and arc-extinguishing medium. GIS is often installed inside a substation to form a GIS substation. The metal casing is mostly a through-tube structure. In order to improve the space utilization of the substation, the parts to be cleaned, i.e., GIS through-tubes, are mostly arranged in a rectangular array, and the distance between two adjacent parts to be cleaned is limited. This embodiment provides an outdoor GIS through-tube intelligent cleaning robot, which is used in a GIS substation to clean the GIS through-tubes, i.e., the parts to be cleaned.

[0053] An outdoor GIS pipe cleaning robot typically includes a moving assembly, a base, a spray assembly, and a cleaning assembly. The moving assembly is capable of moving the base and the structure connected to it; the spray assembly is capable of spraying cleaning fluid onto the cleaning assembly; and the cleaning assembly is capable of cleaning the object to be cleaned, i.e., the GIS pipe. Existing outdoor GIS pipe cleaning robots also include a lifting mechanism, with the cleaning assembly connected to the lifting mechanism. The cleaning assembly has a U-shaped groove structure, with a brush provided on the inner wall of the U-shaped groove. The inner wall of the U-shaped groove can rotate relative to the U-shaped groove. When the object to be cleaned needs to be cleaned, the lifting mechanism clamps the object to be cleaned within the U-shaped groove. The cleaning mechanism is activated, and the inner wall of the U-shaped groove rotates relative to the object to be cleaned to clean the object to be cleaned. However, when the above arrangement is used to clean objects arranged in a rectangular array or when the distance between two adjacent objects to be cleaned is limited, the cleaning assembly may be unable to clean the upper layer of the object to be cleaned or the cleaning assembly may be unable to clamp into one of the two adjacent objects to be cleaned with a limited distance. Therefore, existing cleaning devices for objects to be cleaned are unable to clean objects to be cleaned in more complex and compact arrangements.

[0054] In order to solve the problem of cleaning the parts to be cleaned in complex arrangement, such as Figure 1-Figure 5As shown, in this embodiment, the outdoor GIS pipe-passing intelligent cleaning robot includes a base 3 and a cleaning mechanism 1, and the cleaning mechanism 1 is arranged on the base 3. The cleaning mechanism 1 includes a swinging component 12 and a cleaning component 11, and the cleaning component 11 is connected to the swinging end of the swinging component 12, and the swinging component 12 can change the position of the cleaning component 11; the extension direction of the cleaning component 11 remains unchanged, and the cleaning component 11 includes an extension member 111 and a cleaning member 112, and the input end of the extension member 111 is connected to the swinging end of the swinging component 12, and the cleaning member 112 is connected to the output end of the extension member 111, and the extension direction of the extension member 111 and the cleaning member 112 are consistent; the cleaning member 112 includes a cleaning surface 1121, and the cleaning surface 1121 extends along the circumference of the cleaning member 112, and the swinging component 12 and the extension member 111 are connected. 111 is used to move the cleaning member 112 to the part to be cleaned. The swinging member 12 can enable the cleaning member 11 to accurately clean the designated part to be cleaned between the parts to be cleaned in different rows. The extension direction of the cleaning member 11 remains unchanged. The cleaning surface 1121 is arranged circumferentially along the cleaning member 112, which can make it easier for the cleaning member 112 to be inserted into two adjacent parts to be cleaned with a smaller gap. The extension direction of the cleaning member 11 remains unchanged, and the extension member 111 is consistent with the extension direction of the cleaning member 112. The cleaning operation can be performed along the direction of the part to be cleaned, which better fits the shape and position of the part to be cleaned, making the cleaning work more efficient. When it is necessary to clean the parts to be cleaned, the swing assembly 12 provides the cleaning member 112 with flexible angle adjustment and positioning functions, the extension member 111 increases the cleaning range of the cleaning member 112 and can adapt to different positions, and the cleaning surface 1121 extends along the circumference of the cleaning member 112, so that the cleaning member 112 can extend above or below the middle part to be cleaned in the upper and lower stacked arrangement and clean the parts to be cleaned. Therefore, among the cleaning member 112, the extension member 111 and the swing assembly 12, the swing assembly 12 and the extension member 111 are used to move the cleaning member 112 to the part to be cleaned, and the swing assembly 12 and the extension member 111 cooperate with each other to enable the cleaning member 112 to achieve a variety of complex motion trajectories and movements. At the same time, the special design of the cleaning member 112 allows the cleaning member 112 to be inserted into the parts to be cleaned that are arranged in a stacked arrangement, in a matrix arrangement, or with a small gap between adjacent parts to be cleaned, thereby achieving the cleaning of parts to be cleaned in a complex arrangement.

[0055] Optionally, in this embodiment, the cleaning member 112 is a brush roller. The bristles densely covered on the surface of the brush roller can contact the object to be cleaned over a large area. When the brush roller rolls, it can cover the outer wall of the object to be cleaned over a larger area, cleaning it in all directions. It can effectively remove dust, debris, and light oil stains from various parts of the outer wall of the object to be cleaned, ensuring that there are no dead angles in the cleaning, and improving cleaning efficiency and quality. The bristles of the brush roller have a certain degree of flexibility and elasticity, and can penetrate into the tiny gaps and uneven areas on the inner wall of the through-tube to clean out the dirt hidden in these locations. This is difficult for other more rigid cleaning members 112 to do, and can better meet the cleaning needs of equipment with higher cleanliness requirements. In other embodiments, the cleaning member 112 can also be a sponge cleaning member or a cleaning cloth cleaning member. As long as it can clean the object to be cleaned, no further details will be given.

[0056] Preferably, in this embodiment, the extension member 111 is retractable, allowing its length to be adjusted as needed. For closely spaced pipes, the extension member 111 retracts to avoid collision with adjacent pipes. For widely spaced pipes, the extension member 111 extends, allowing the cleaning member 112 to reach the designated area, ensuring effective cleaning in all layouts. When the outdoor GIS pipe cleaning robot is not in operation, the retractable extension member 111 retracts, reducing the overall size of the cleaning device and facilitating storage and transportation within confined spaces.

[0057] Specifically, in this embodiment, the cleaning member 112 and the extension member 111 are detachably connected. Depending on the cleaning task and requirements, cleaning members 112 or extension members 111 of different specifications, materials, or functions may be required. The detachable connection allows the user to flexibly replace the appropriate component according to the actual situation to achieve the best cleaning effect and work efficiency. When the cleaning member 112 or extension member 111 is damaged, malfunctions, or worn, the detachable connection allows maintenance personnel to easily separate the two and repair or replace the specific problematic component separately without having to disassemble or replace the entire device or related components. This greatly reduces the cost and difficulty of maintenance, shortens maintenance time, and improves the maintainability of the equipment.

[0058] Preferably, in this embodiment, the cleaning component 11 also includes a cleaning part motor, which is arranged at the output end of the swing component 12. The cleaning part motor drives the cleaning part 112 to rotate, thereby realizing the cleaning of the part to be cleaned by the cleaning part 112. With the cleaning part motor driving the cleaning part 112 to rotate for cleaning, the operator no longer needs to manually operate the cleaning tool frequently, which greatly reduces the workload and labor intensity of manual operation, and reduces the difficulty and fatigue of the operator's work; the GIS pipe may be in a higher position or there is a certain safety risk, and manual direct cleaning operation may be dangerous. By driving the cleaning part to rotate with the cleaning part motor, the operator can control it in a relatively safe position, reducing the chance of direct contact with dangerous environment by personnel and improving the safety of operation.

[0059] It should be noted here that the cleaning part motor is an existing structure, and setting a cleaning part motor in the outdoor GIS pipe-passing intelligent cleaning robot is a conventional setting in this field. In this embodiment, any control system and communication harness in the existing technology can be used, and any connection method in the existing technology can be used to connect to the cleaning part. As long as the cleaning part motor drives the cleaning part 112 to rotate, no further detailed introduction will be given.

[0060] Alternatively, as Figure 1-Figure 3As shown, in this embodiment, the swing assembly 12 includes a first connecting seat 123, a second connecting seat 124, a swing driving member 121 and two swing linkage members 122 arranged in parallel; the first connecting seat 123 is connected to the base 3, the second connecting seat 124 is connected to the cleaning assembly 11, and the plane where the second connecting seat 124 is located is parallel to the plane where the first connecting seat 123 is located. One end of each swing linkage member 122 is rotatably connected to the first connecting seat 123, and the other end of each swing linkage member 122 is rotatably connected to the second connecting seat 124; the fixed end of the swing driving member 121 is rotatably connected to the first connecting seat 123, and the output end of the swing driving member 121 is rotatably connected to the second connecting seat 124. The swing driving member 121 can drive the swing linkage member 122 to swing, and the extension and retraction of the swing driving member 121 can drive the rotation of the swing linkage member 122. The rotation of the swing linkage member 122 will also drive the rotation of the swing driving member 121. Repeating the above arrangement can realize the swinging of the swing assembly 12, thereby driving the movement of the cleaning mechanism 1. The expansion and contraction of the swing drive member 121 and the rotation of the swing linkage member 122 cooperate with each other, allowing the swing assembly 12 to achieve complex swinging motion, rather than simple linear motion or single-directional rotation. The swing assembly 12 can better cooperate with the extension member 111 to move the cleaning member 112 to the designated part to be cleaned and clean the part to be cleaned. In other embodiments, the fixed end of the swing drive member 121 can be rotationally connected only to the first connecting seat 123, or the output end of the swing drive member 121 can be rotationally connected only to the second connecting seat 124, as long as the swing drive member 121 can drive the swing linkage member 122 to swing. When the swing driving member 121 is extended and retracted to drive the swing linkage member 122 to rotate, the two parallel swing linkage members 122 can evenly disperse the forces from different directions, making the forces on the entire swing assembly 12 more balanced in all directions, thereby enhancing the stability of the structure and reducing deformation or shaking caused by uneven forces. The swing linkage member 122 has a high anti-distortion and anti-deformation ability, and can better maintain the overall shape and position relationship of the swing assembly 12. Even when subjected to a large load or external force, it can effectively prevent damage or failure of the structure, ensuring the reliable operation of the swing assembly 12. Specifically, as Figure 1-Figure 3As shown, in this embodiment, the swing linkage 122 includes a reinforcement portion 1221 and at least two connecting rods 1222. The at least two connecting rods 1222 are fixedly connected by the reinforcement portion 1221. The connecting rods 1222 are parallel to each other. One end of each connecting rod 1222 is rotatably connected to the first connecting seat 123, and the other opposite end of each connecting rod 1222 is rotatably connected to the second connecting seat 124. The reinforcement portion 1221 can form a support between any two of the multiple connecting rods 1222, effectively preventing the swing linkage 122 from excessively deforming during the drive of the swing drive member 121 and the movement of the cleaning assembly 11. In particular, when the swing assembly 12 performs frequent swinging movements, the swing linkage 122 may be subjected to forces in different directions. The reinforcement portion 1221 can share these forces, making the structure more stable. The presence of the reinforcement portion 1221 also increases the overall rigidity of the swing assembly 12.

[0061] Alternatively, as Figure 1-Figure 2 As shown, in this embodiment, the swing linkage 122 includes a reinforcement portion 1221 and two connecting rods 1222. The two connecting rods 1222 are fixedly connected by the reinforcement portion 1221. The two parallel connecting rods 1222 form a symmetrical force-bearing structure. During the swinging process, the load from the cleaning component 11 can be evenly distributed, avoiding structural tilt or deformation caused by unilateral force. Compared with providing more than two parallel connecting rods 1222, providing only two parallel connecting rods 1222 can also save costs and avoid functional redundancy of the connecting rod 1222 structure. In other embodiments, the connecting rods 1222 can be provided with three, four, or five, etc., as long as they can cooperate with the swing drive member 121 to achieve the change of the position of the cleaning component 11.

[0062] Preferably, if Figure 1-Figure 2 As shown, in this embodiment, reinforcement portion 1221 is a rectangular metal plate. Rectangular metal plates generally have high strength and rigidity, and their rectangular shape allows for more uniform force transmission across the metal plate. When swing assembly 12 is operating, the rectangular metal plate evenly distributes the force exerted by swing linkage 122, preventing stress concentration. This improves the mechanical properties and load-bearing capacity of the entire structure, extending the service life of swing assembly 12.

[0063] Optionally, in this embodiment, the swing drive member 121 is a hydraulic cylinder, which can achieve precise control of the piston rod extension speed and displacement by precisely controlling the flow rate and pressure of the oil. This allows the swing assembly 12 to accurately adjust the swing amplitude, frequency and speed according to different cleaning needs, achieve complex swinging motions, better cooperate with the extension member, and accurately move the cleaning member 112 to the part to be cleaned, thereby improving the accuracy and efficiency of cleaning. The movement process of the hydraulic cylinder is relatively smooth, which can reduce the impact and vibration during the swinging process. When the swing assembly 12 swings frequently, the smooth movement helps to maintain the anti-twisting and anti-deformation capabilities of the swing linkage 122, maintain the overall shape and positional relationship of the swing assembly 12, and enhance the structural stability. In other embodiments, the swing drive member 121 can also be replaced by a cylinder or an electric push rod, as long as it can drive the cleaning mechanism 1 to swing.

[0064] Specifically, in this embodiment, the swing assembly 12 also includes a hydraulic station and a hydraulic pipe. The hydraulic station is arranged in the base 3. One end of the hydraulic pipe is connected to the hydraulic station, and the other end of the hydraulic pipe is connected to the fixed end of the hydraulic cylinder. The hydraulic station can generate high-pressure oil and transport the oil to the hydraulic cylinder through the hydraulic pipe. High-power power transmission can be achieved with a smaller pipe diameter, so that the hydraulic station can provide power to the hydraulic cylinder.

[0065] It should be noted here that the hydraulic station is an existing structure, and setting up a hydraulic station in the outdoor GIS pipe-through intelligent cleaning robot is a conventional setting in this field. In this embodiment, any method of the existing technology can be used to connect the hydraulic pipe to the hydraulic cylinder, as long as it can provide power for the hydraulic cylinder, and no further detailed introduction will be given.

[0066] Preferably, if Figure 1-Figure 3 As shown, in this embodiment, the swing assembly 12 also includes a hydraulic pipe reel 125, which is arranged on the base 3. The hydraulic pipe can be wound on the hydraulic pipe reel 125. When there is no need to use an excessively long hydraulic pipe, the hydraulic pipe reel 125 can be used to wind the hydraulic pipe into a regular disc, thereby avoiding the entanglement, knotting and confusion caused by the arbitrary placement of excessively long hydraulic pipes. The provision of the hydraulic pipe reel 125 can save space and make the working environment more tidy and orderly.

[0067] Optionally, in this embodiment, the hydraulic hose reel 125 includes a hydraulic hose rack, a hydraulic hose reel, and a hydraulic hose reeling member. The hydraulic hose rack is mounted on the base 3, the hydraulic hose reel is mounted on the hydraulic hose rack, and the hydraulic hose reel can be wound around the hydraulic hose reel. The hydraulic hose reeling member is connected to the hydraulic hose reel and drives the hydraulic hose reel to reel, thereby storing the hydraulic hose. In other embodiments, the hydraulic hose reel 125 can also have other structures, as long as it can store the hydraulic hose. In some other embodiments, the swing assembly 12 can also be replaced with a crank-rocker structure, which includes a crank, a rod, a rocker, and a rack that are connected to each other. The rocker is connected to the cleaning assembly 11. The crank is the active member, performing a full rotation, and the rocker is the driven member, performing a reciprocating swing. When the crank performs uniform circular motion around a fixed axis, the rod drives the rocker to swing within a certain angle range, thereby changing the position of the cleaning assembly 11. In other embodiments, the swing assembly 12 may also be a cam mechanism or a rack and pinion mechanism. Figures 1-4 As shown, in this embodiment, the outdoor GIS pipe-passing intelligent cleaning robot further includes a spray mechanism 2 for spraying cleaning liquid onto the parts to be cleaned. The spray mechanism 2 includes a water tank 21, a water pump, and a spray pipe 22. The water tank 21 is disposed within the base 3 and is used to contain the cleaning liquid. The water pump is connected to the water tank 21 and is used to extract the cleaning liquid. The spray pipe 22 is connected to the water pump and is disposed circumferentially of the cleaning member 112 for spraying the cleaning member 112 onto the parts to be cleaned or onto the cleaning member 112. The spray pipe 22 is disposed circumferentially of the cleaning member to ensure that all parts of the parts to be cleaned are covered by the cleaning liquid, avoiding blind spots in cleaning, ensuring cleaning quality, and ensuring that the parts to be cleaned are thoroughly cleaned. The water pump provides power for the cleaning liquid, causing it to be sprayed from the spray pipe 22 at a certain pressure and flow rate. This pressurized spraying can generate a strong impact force, which can more efficiently decompose and remove dirt, saving cleaning time and labor costs.

[0068] Alternatively, as Figure 1-Figure 3As shown, in this embodiment, there are two spray pipes 22, and the two spray pipes 22 are arranged relative to each other along the circumference of the cleaning part 112. The two relatively arranged spray pipes 22 can spray cleaning liquid to the part to be cleaned from two relative directions at the same time, which can cover more areas around the part to be cleaned and reduce blind spots in cleaning. The relatively arranged spray pipes 22 can flush it from different angles so that the cleaning liquid can reach every corner, thereby achieving more comprehensive and thorough cleaning. The power energy consumption required for the two spray pipes 22 during operation is relatively low, and there is no need to provide a large amount of cleaning liquid flow and pressure for multiple spray pipes 22. Fewer spray pipes 22 mean that the consumption of cleaning liquid during the cleaning process is relatively small, which can effectively reduce the procurement and use costs of the cleaning liquid, and achieve the optimization of operating costs while ensuring a certain cleaning effect. In other embodiments, the spray pipes 22 can be set to three, four or five, etc., as long as it can achieve spraying of the part to be cleaned.

[0069] Preferably, if Figure 1-Figure 3 As shown, in this embodiment, the spray pipe 22 is bent toward the cleaning direction. When cleaning the object to be cleaned, a portion of the cleaning liquid is sprayed directly onto the object to be cleaned, while the remaining portion is sprayed onto the cleaning object 112. This keeps the cleaning object 112 moist and clean, better utilizing its mechanical cleaning function, which cooperates with the chemical cleaning function of the cleaning liquid to improve overall cleaning efficiency. The bent spray pipe 22 allows the cleaning liquid to be sprayed onto the object to be cleaned and the cleaning object 112 from different angles, providing a more comprehensive and detailed flushing of the object surface.

[0070] Preferably, in this embodiment, a rotating part is provided at the input end of the spray pipe 22, which can change the spraying direction of the spray pipe 22, so that the spray pipe 22 can control the spraying direction according to actual needs, and can accurately spray the cleaning liquid to the designated area. By changing the spraying direction, the spraying water can form impact forces in different directions on the target surface. For stubborn stains attached to the surface of the object to be cleaned, the spray angle can be adjusted to allow the water flow to impact the stains at a more appropriate angle and force, making it easier to be washed away, thereby improving the cleaning effect.

[0071] Optionally, in this embodiment, the rotating element includes a stator, a rotor, a sealing assembly, bearings, and electrical connection components. The stator is connected to a fixed portion at the input end of the cleaning assembly, while the rotor is connected to the spray pipe 22 and can rotate relative to the stator. The sealing assembly ensures that liquid does not leak during rotation, while the bearings support the rotor's rotational motion. The electrical connection components provide power and signal transmission to the motor and other devices that drive the spray pipe 22. When the direction of rotation of the spray element needs to be changed, the motor connected to the electric rotary joint is controlled to rotate the rotor relative to the stator, thereby rotating the spray pipe 22 connected to the rotor. Simultaneously, the sealing assembly ensures that cleaning liquid is stably delivered from the pipe to the spray pipe 22 during rotation without leakage. This configuration integrates rotation and liquid delivery functions, resulting in a compact structure that effectively saves space. It can rotate 360 degrees without restriction, allowing the spray pipe 22 to spray the pipe surface in all directions. Electrical control allows for precise angular positioning and automated control, improving cleaning efficiency and quality. In other embodiments, the rotating member may also be a rotating structure driven by a hydraulic motor or a rack and pinion rotating structure, etc., as long as the rotation of the spray pipe 22 can be achieved.

[0072] Preferably, if Figure 1-Figure 3 As shown, in this embodiment, the spray mechanism 2 also includes a connecting pipe and a connecting pipe reel 23. One end of the connecting pipe is connected to the water pump, and the other end is connected to the spray pipe 22. The connecting pipe reel 23 is arranged on the base 3. The connecting pipe can be wound on the connecting pipe reel 23. When there is no need to use an excessively long connecting pipe, the connecting pipe reel 23 can be used to wind the connecting pipe into a regular disc shape to avoid the situation where the excessively long connecting pipe is placed arbitrarily and causes entanglement, knotting and confusion. The setting of the connecting pipe reel 23 can save space and make the working environment more tidy and orderly.

[0073] Optionally, in this embodiment, the connecting pipe reel 23 includes a connecting pipe frame, a connecting pipe reel, and a connecting pipe winding member. The connecting pipe frame is mounted on the base 3, the connecting pipe reel is mounted on the connecting pipe frame, the connecting pipe can be wound around the connecting pipe reel, and the connecting pipe winding member is connected to the connecting pipe reel and drives the connecting pipe reel to wind, thereby storing the connecting pipe. In other embodiments, the connecting pipe reel 23 can also have other structures, as long as it can store the hydraulic pipe.

[0074] It should be noted here that the connecting pipe reel 23 is an existing structure, and setting a connecting pipe reel 23 in the outdoor GIS pipe-clearing intelligent cleaning robot is a conventional setting in this field. In this embodiment, any connecting part in the existing technology can be used, and any connection method in the existing technology can be used to connect to the base 3. As long as the storage function of the connecting pipe is realized, it will not be introduced in detail.

[0075] Specifically, if Figure 3-Figure 5 As shown, in this embodiment, the GIS pipe cleaning device also includes a moving mechanism 4, which is arranged below the base 3 and connected to the base 3. The moving mechanism 4 includes a moving part 41 and a chassis bracket 42. The moving part 41 is connected to the chassis bracket 42, and the chassis bracket 42 is connected to the base 3. The moving part 41 is driven to move by a power motor, thereby driving the base 3 and the structure on the base 3 to move, thereby realizing the movement of the cleaning mechanism 1 and improving the flexibility of the GIS pipe cleaning device.

[0076] Alternatively, as Figure 3-Figure 5 As shown, in the present embodiment, the movable part 41 is a rubber track. The rubber track has excellent elasticity and can effectively absorb and cushion the vibrations and impacts generated during driving. When the rubber track contacts the ground, it can be well fitted according to the shape and undulations of the ground, providing good grip, ensuring that the equipment can maintain stable driving and operation under various road conditions, such as muddy, slippery, soft ground, etc., and is not prone to slipping. Compared with tracks made of some other materials, the rolling resistance of the rubber track is smaller. This means that the energy required to be consumed by the equipment during driving is relatively small, which can reduce fuel consumption or electricity consumption, thereby saving operating costs, and at the same time, it also helps to improve the endurance of the equipment. In other embodiments, the movable part 41 can also be a wheel, as long as the structure set on the chassis bracket 42 can be realized.

[0077] Preferably, if Figure 3-Figure 5 As shown, in this embodiment, the mobile mechanism 4 also includes a rotary drive member 43, which is arranged between the chassis bracket 42 and the base 3. The rotary drive member 43 can drive the base 3 to rotate relative to the chassis bracket 42, thereby realizing a 360° rotation of the cleaning mechanism 1 relative to the track, so that the equipment can quickly adjust the operating direction without moving the position of the chassis bracket 42 to adapt to cleaning needs in different directions.

[0078] It should be noted here that the rotary drive member 43 is an existing structure, and setting a rotary drive member 43 in the outdoor GIS pipe-clearing intelligent cleaning robot is a conventional setting in this field. In this embodiment, any connecting member in the existing technology can be used, and any connection method in the existing technology can be used to connect to the chassis bracket 42. As long as the base 3 can be rotated relative to the chassis bracket 42, no further detailed introduction will be given.

[0079] Specifically, if Figure 3-Figure 5As shown, in this embodiment, the base 3 includes a base shell 31, which accommodates the water tank 21, water pump, hydraulic station, etc. The base shell 31 generally has a certain shape and size, and can be optimized according to the shape and size of components such as the water tank 21, water pump, and hydraulic station, so that these components can be closely arranged together and the space inside the base shell 31 can be fully utilized. If these components are not contained in the base shell 31, they may be scattered in different locations of the equipment. In order to ensure the normal operation and mutual connection of each component, it is necessary to separately divide a certain space for each component inside the equipment, and also reserve sufficient space for the connection and operation between components. By centrally placing them all in the base shell 31, the originally scattered space requirements can be centralized, and unified planning and utilization can be carried out, thereby effectively reducing the overall space occupancy.

[0080] Specifically, if Figure 1-Figure 3 As shown, in this embodiment, the base 3 also includes a lifting component 32, the fixed end of the lifting component 32 is connected to the base shell 31, and the output end of the lifting component 32 is connected to the cleaning mechanism 1. The cleaning mechanism 1 can easily adjust the height and can flexibly change the cleaning position according to the height requirements of different cleaning scenes and objects.

[0081] Alternatively, as Figure 1-Figure 3 As shown, in this embodiment, the lifting component 32 is a lifting mast. The lifting mast can achieve flexible height adjustment within a wide range, ranging from several meters to tens of meters. This can meet the requirements of high-altitude operations or equipment installation height in different scenarios, and can be more suitable for cleaning items to be cleaned at higher locations. The lifting mast adopts a telescopic structure, consisting of multiple nested tubular structures. The lifting mast can be extended in sequence when raised, and the lifting mast can be retracted and nested when lowered, without taking up too much space. This structure makes the lifting mast more convenient for transportation and storage. In other embodiments, the lifting component 32 can also be a cylinder or an electric push rod, etc., as long as it can achieve the lifting and lowering of the cleaning mechanism 1.

[0082] Preferably, in this embodiment, the outdoor GIS pipe-passing intelligent cleaning robot also includes a control mechanism, which is arranged in the base 3 and is electrically connected to the cleaning mechanism 1, the spray mechanism 2, the lifting assembly 32, and the mobile mechanism 4. The control mechanism can drive the cleaning mechanism 1 to realize the driving of the swing assembly 12 and the cleaning member 112; the control mechanism can also control the spray mechanism 2 to drive the water pump to pump the cleaning fluid from the water tank 21 and spray the cleaning fluid from the spray pipe 22; the control mechanism can also control the lifting and lowering of the lifting assembly 32; the control mechanism can also control the forward and backward movement of the mobile member 41 and the rotation of the base 3 driven by the rotary drive member 43, and the cleaning mechanism 1, the spray mechanism 2, the lifting assembly 32, and the mobile mechanism 4 are all electrically connected to the control mechanism, thereby realizing centralized control of the key parts of the entire cleaning device. The operator can conveniently issue instructions to each mechanism by simply operating the control mechanism, without having to operate different mechanisms separately, which greatly simplifies the operation process and improves work efficiency.

[0083] Preferably, if Figure 3 As shown, in this embodiment, the outdoor GIS pipe-passing intelligent cleaning robot also includes an image capture component 5. The image capture component 5 is arranged on the swing end of the swing component 12. The image capture component 5 can collect images and videos of the cleaning component 112 and the vicinity of the cleaning component 112. The image capture component 5 is electrically connected to the display. The display can display the images and videos collected by the image capture component 5. The operator can observe the situation of the cleaning component 112 and the vicinity in real time through the display to understand whether the cleaning device is working properly. During the cleaning process, abnormal conditions such as damage to the cleaning component 112 may occur. The image capture component 5 can capture these problems in time and feed back to the display. The operator can take quick measures to avoid further damage to the cleaning component or affecting the cleaning effect. After the cleaning is completed, the staff can intuitively see the cleaning status of the cleaning component to be cleaned through the images and videos displayed on the display, judge whether the expected cleaning standards have been met, and determine whether secondary cleaning is required.

[0084] It should be noted here that the image capture component 5 and the display are existing structures. Setting the image capture component 5 and the display in the outdoor GIS pipe-clearing intelligent cleaning robot is a conventional setting in this field. In this embodiment, any connecting component in the existing technology can be used, and any connection method in the existing technology can be used to connect to the cleaning mechanism 1. As long as real-time observation of the cleaning component 112 and the surrounding situation can be achieved, no further detailed introduction will be given.

[0085] Preferably, in this embodiment, when it is necessary to clean the parts to be cleaned, the moving mechanism 4 is driven to move the outdoor GIS pipe intelligent cleaning robot to the vicinity of the area where the designated parts to be cleaned are located, and the lifting component 32 is driven to lift the cleaning mechanism 1 so that the cleaning part 112 is at the same height as the designated parts to be cleaned, and the driving base 3 is driven to rotate relative to the chassis bracket 42 so that the cleaning part 112 is directed towards the designated parts to be cleaned, thereby achieving rough positioning of the cleaning part 112 and the designated parts to be cleaned.

[0086] This embodiment also provides a method for using an outdoor GIS pipe cleaning robot, which is applied to the outdoor GIS pipe cleaning robot. Specifically, the method for using the outdoor GIS pipe cleaning robot includes the following steps:

[0087] S1. Move the outdoor GIS pipe cleaning robot to a designated location, drive the swing assembly 12 to move, and move the cleaning element 112 to the part to be cleaned;

[0088] S2, driving the cleaning element 112 to move and clean the object to be cleaned;

[0089] S3, after the cleaning member 112 finishes cleaning the object to be cleaned, the cleaning member 112 stops moving;

[0090] S4, driving the swing assembly 12 to move the cleaning element 112 out of the working position.

[0091] By using the above-mentioned method of using the outdoor GIS pipe-clearing intelligent cleaning robot, through the cooperation of the swing component 12, the extension part 111 and the cleaning part 112, it is possible to clean the parts to be cleaned in a complex arrangement.

[0092] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. An outdoor GIS pipe cleaning robot, characterized in that: include: Base (3); A cleaning mechanism (1) is arranged on the base (3), the cleaning mechanism (1) comprising a cleaning component (11) and a swing component (12), the cleaning component (11) being connected to the swing component (12), and the swing component (12) being capable of changing the position of the cleaning component (11); The extension direction of the cleaning component (11) remains unchanged. The cleaning component (11) comprises an extension member (111) and a cleaning member (112) connected to each other. The extension direction of the extension member (111) is consistent with that of the cleaning member (112). The cleaning member (112) has a cleaning surface (1121) extending along the circumference of the cleaning member (112).

2. The outdoor GIS pipe cleaning robot according to claim 1 is characterized in that: The extension piece (111) is a retractable extension piece (111); And / or, the cleaning member (112) is detachably connected to the extending member (111).

3. The outdoor GIS pipe cleaning robot according to claim 1 is characterized in that: The swing assembly (12) comprises: A first connecting seat (123) connected to the base (3); A second connecting seat (124) is connected to the cleaning assembly (11), and the plane where the second connecting seat (124) is located is parallel to the plane where the first connecting seat (123) is located; Two swing linkage members (122) are arranged in parallel, one end of each of the swing linkage members (122) is rotatably connected to the first connecting seat (123), and the other opposite end of each of the swing linkage members (122) is rotatably connected to the second connecting seat (124); A swing driving member (121), wherein the fixed end of the swing driving member (121) is rotationally connected to the first connecting seat (123), and / or the output end of the swing driving member (121) is rotationally connected to the second connecting seat (123), and is used to drive the swing linkage member (122) to swing.

4. The outdoor GIS pipe cleaning robot according to claim 3 is characterized in that: The swing linkage member (122) comprises a reinforcement portion (1221) and at least two connecting rods (1222), and the at least two connecting rods (1222) are fixedly connected via the reinforcement portion (1222).

5. The outdoor GIS pipe cleaning robot according to any one of claims 1 to 4, characterized in that: The outdoor GIS pipe-passing intelligent cleaning robot further comprises a spraying mechanism (2) for spraying cleaning liquid onto the parts to be cleaned, and the spraying mechanism (2) comprises: a water tank (21), disposed in the base (3) and used to contain the cleaning liquid; a water pump, connected to the water tank (21), for pumping out the cleaning liquid; A spray pipe (22) is connected to the water pump and is arranged along the circumference of the cleaning part (112) for spraying the cleaning liquid onto the part to be cleaned or the cleaning part (112).

6. The outdoor GIS pipe cleaning robot according to claim 5 is characterized in that: The spray mechanism (2) further comprises a connecting pipe and a connecting pipe reel (23), wherein the connecting pipe is used to connect the water pump and the spray pipe (22), and the connecting pipe reel (23) is arranged on the base (3) and is used to receive the connecting pipe.

7. The outdoor GIS pipe cleaning robot according to any one of claims 1 to 4, characterized in that: The outdoor GIS pipe-clearing intelligent cleaning robot further comprises a moving mechanism (4), wherein the moving mechanism (4) is arranged below the base (3) and connected to the base (3), and the moving mechanism (4) comprises a moving part (41) and a chassis bracket (42), wherein the moving part (41) is arranged on both sides of the chassis bracket (42), and the moving part (41) is used to drive the chassis bracket (42) to move.

8. The outdoor GIS pipe cleaning robot according to claim 7 is characterized in that: The moving mechanism (4) further comprises a rotary driving member (43), wherein the rotary driving member (43) is arranged between the base (3) and the chassis bracket (42) and is used for driving the base (3) to rotate relative to the chassis bracket (42).

9. The outdoor GIS pipe-clearing intelligent cleaning robot according to any one of claims 1 to 4, wherein the base (3) comprises: Base housing (31); A lifting component (32), wherein a fixed end of the lifting component (32) is connected to the base shell (31), and an output end of the lifting component (32) is connected to the cleaning mechanism (1).

10. A method for using an outdoor GIS pipe cleaning robot, characterized in that: Utilizing the outdoor GIS pipe cleaning robot according to any one of claims 1 to 9, a method for using the outdoor GIS pipe cleaning robot comprises the following steps: S1, moving the outdoor GIS pipe intelligent cleaning robot to a designated position, driving the swing component (12) to move, and moving the cleaning element (112) to the part to be cleaned; S2, driving the cleaning member (112) to move and clean the member to be cleaned; S3, after the cleaning member (112) has finished cleaning the object to be cleaned, the movement of the cleaning member (112) is stopped; S4, driving the swing assembly (12) to move the cleaning element (112) out of the working position.

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