Insulator cleaning device and insulator cleaning method

Abstract

The invention relates to an insulator cleaning device and an insulator cleaning method. The cleaning device comprises a movable platform arranged on a railway track, a multi-degree-of-freedom movement assembly arranged on the platform and a cleaning assembly connected with the tail end of the movement assembly. The cleaning assembly comprises a first cover body and a second cover body which are opened and closed through a driving mechanism, a cleaning cavity wrapping the insulator is formed when the first cover body and the second cover body are closed, and a nozzle is arranged on the inner wall of the cavity. The device is further provided with a water circulation assembly connected with the cleaning assembly, and the water circulation assembly is used for providing cleaning water and recycling sewage. Through combination of the rail moving platform and the multi-degree-of-freedom moving assembly, flexible moving and accurate positioning in a railway rail are achieved; by means of the closed cavity formed by the openable and closable cover body, efficient and dead-corner-free cleaning of the insulator is achieved; and through a closed-loop water circulation system, water resources are remarkably saved, and the problems that in the prior art, the cleaning effect is poor, water resources are wasted, and the automation degree is low are comprehensively solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rail transit facility maintenance, in particular to an insulator cleaning device and an insulator cleaning method. BACKGROUND

[0002] With the rapid growth of the operating mileage of electrified railways in China, the maintenance work of ensuring the safe and stable operation of the overhead contact system has become increasingly important. As a key insulating device, the overhead contact system insulator is exposed to the outdoors for a long time, and its surface is prone to accumulate dust, oil stains and other pollutants, which can cause accidents in a humid environment, seriously threatening the safety of railway power supply and train operation. Therefore, regular and effective cleaning of the insulator is a core task in the maintenance of the overhead contact system.

[0003] In related technologies, the cleaning of the overhead contact system insulator mainly relies on the following methods: first, manual high-altitude operation is adopted, and maintenance personnel use simple tools such as rags and brushes to wipe, which is not only inefficient, but also has a high risk of high-altitude operation; second, a high-pressure water washing vehicle is used, which takes a truck or a railcar as a platform, and an operator remotely controls a water gun or a mechanical arm to spray and wash the insulator. Although this method reduces the safety risk to a certain extent, its washing effect depends on the operator's experience, and the cleaning effect of stubborn dirt (such as carbonized oil sludge) that adheres firmly is limited, and a large amount of water is consumed during the washing process, and a large amount of wastewater is directly discharged into the line environment, which not only wastes water resources but also may cause pollution.

[0004] However, the above cleaning methods or related devices generally have the following problems: first, in terms of cleaning effect, pure water washing is difficult to remove complex stubborn dirt, and pure mechanical brushing has cleaning dead angles and efficiency bottlenecks; second, in terms of resource utilization, the traditional water washing vehicle adopts an "open loop" operation mode, which consumes a large amount of water and does not meet the green and environmentally friendly operation and maintenance requirements; finally, in terms of operation adaptability, non-rail vehicles have poor mobility in the railway corridor, and the positioning accuracy and automation level of existing equipment are insufficient, making it difficult to efficiently and accurately complete the cleaning task of dense insulator groups. SUMMARY

[0005] Therefore, it is necessary to provide an insulator cleaning device that is efficient, water-saving and can accurately operate to solve the problems of limited cleaning effect, serious water waste and insufficient automation in the prior art.

[0006] An insulator cleaning device, comprising:

[0007] a mobile platform configured to be arranged on a railway track;

[0008] a multi-degree-of-freedom motion assembly arranged on the mobile platform;

[0009] A cleaning assembly is connected to the end of the multi-degree-of-freedom movement assembly, and the cleaning assembly comprises a first cover body and a second cover body, the first cover body and the second cover body are connected through a driving mechanism, and are configured to open and close under the driving of the driving mechanism to form a chamber for wrapping and cleaning the insulator, and a nozzle is arranged on the inner wall of the first cover body and / or the second cover body;

[0010] A water circulation assembly is arranged on the moving platform and connected to the cleaning assembly, and is used to provide cleaning water and recycle sewage generated by cleaning.

[0011] In one of the embodiments, a water collecting structure is arranged below the second cover body;

[0012] The water circulation assembly comprises a pump assembly and a water tank assembly;

[0013] The pump assembly comprises a high-pressure water pump and a negative-pressure water suction pump;

[0014] The water tank assembly comprises a clean water tank and a sewage tank;

[0015] The high-pressure water pump is connected to the nozzle, and the water collecting structure is connected to the negative-pressure water suction pump;

[0016] The negative-pressure water suction pump is configured to suck and deliver the sewage in the water collecting structure to the sewage tank when the insulator cleaning device is working.

[0017] In one of the embodiments, the water tank assembly further comprises a filter element, the clean water tank and the sewage tank are connected through the filter element, and the filter element enables the liquid in the sewage tank to flow into the clean water tank after passing through the filter element.

[0018] In one of the embodiments, a water inlet is arranged on the clean water tank, and a water adding port is arranged on the sewage tank, and the water inlet is connected to the high-pressure water pump.

[0019] In one of the embodiments, the pump assembly further comprises an electric control element, and the electric control element is electrically connected to the high-pressure water pump, the negative-pressure water suction pump and the driving mechanism.

[0020] In one of the embodiments, a force sensor is arranged on the driving mechanism, the force sensor is electrically connected to the electric control element, and the electric control element is configured to receive the signal of the force sensor and start the high-pressure water pump when judging that the closing force between the first cover body and the second cover body reaches a preset value.

[0021] In one of the embodiments, the multi-degree-of-freedom motion assembly comprises a mechanical arm, the positioning accuracy of the mechanical arm is ≤±2mm, and the load is ≥50kg, and a positioning mechanism is arranged on the mechanical arm.

[0022] In one of the embodiments, two axially parallel brushes are arranged on the inner walls of the first cover body and / or the second cover body, and the bristles of the brushes are made of antistatic nylon material with a surface resistivity of 103-106Ω·cm.

[0023] In one of the embodiments, the first cover body and the second cover body are arc-shaped structures, and when the first cover body and the second cover body are closed, the radial section of the chamber has a non-linear profile corresponding to the outer profile of the insulator.

[0024] A method for cleaning an insulator, using the insulator cleaning device, the cleaning method comprises the following steps:

[0025] S01, moving the mobile platform to a working area;

[0026] S02, positioning the cleaning assembly to the insulator to be cleaned by the multi-degree-of-freedom motion assembly;

[0027] S03, controlling the driving mechanism to drive the first cover body and the second cover body to close to form a chamber wrapping the insulator;

[0028] S04, providing cleaning water to the nozzle by the water circulation assembly to clean the insulator.

[0029] The above insulator cleaning device effectively solves the problems of poor maneuverability and difficult positioning of traditional work vehicles in the railway corridor by combining the mobile platform arranged on the railway track with the multi-degree-of-freedom motion assembly, and realizes rapid and accurate positioning of the insulator. Further, by closing the cleaning chamber wrapping the insulator by the openable and closable cover bodies and combining the nozzles arranged on the inner walls, a closed work space is formed, which not only avoids water mist diffusion, but also realizes deep cleaning of the insulator in all directions without dead angles, significantly improving the cleaning effect on stubborn dirt. What is particularly important is that the introduction of the water circulation assembly integrating water supply and sewage recovery functions changes the traditional “open loop” flushing to a “closed loop” circulation mode, fundamentally eliminating water resource waste and realizing efficient and green cleaning work. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 The structure schematic diagram of the insulator cleaning device provided by one embodiment of the present application in a working state.

[0031] Figure 2A structure schematic diagram of a cleaning assembly in a closed state according to an embodiment of the present application.

[0032] Figure 3 A structure schematic diagram of a cleaning assembly in an open state according to an embodiment of the present application.

[0033] Figure 4 A structure schematic diagram of a water circulation assembly according to an embodiment of the present application.

[0034] Figure 5 A flowchart of a method for cleaning an insulator according to an embodiment of the present application.

[0035] Reference signs in the detailed description are as follows:

[0036] 100, mobile platform; 200, multi-degree-of-freedom motion assembly; 300, cleaning assembly; 400, water circulation assembly; 500, insulator; 600, railway track;

[0037] 310, first cover; 320, second cover; 330, chamber; 340, driving mechanism; 350, nozzle; 360, water collecting structure; 370, brush; 380, connecting seat;

[0038] 410, pump group mechanism; 420, water tank mechanism;

[0039] 411, high-pressure water pump; 412, negative pressure water pump; 413, electric control element;

[0040] 421, clean water tank; 422, sewage tank; 423, filter element; 424, water inlet; 425, water filling port. DETAILED DESCRIPTION

[0041] In order to make the above objectives, features and advantages of the present application more apparent and comprehensible, the specific embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, a lot of specific details are set forth in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0042] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0043] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0044] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0045] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0046] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0047] See Figure 1 , Figure 1 This diagram illustrates the structure of an insulator cleaning device in operation according to an embodiment of this application. The insulator cleaning device provided in this embodiment includes a mobile platform 100, a multi-degree-of-freedom motion component 200, a cleaning component 300, and a water circulation component 400. The mobile platform 100 is mounted on a railway track 600; the multi-degree-of-freedom motion component 200 is mounted on the mobile platform 100; the cleaning component 300 is connected to the end of the multi-degree-of-freedom motion component 200; and the water circulation component 400 is also mounted on the mobile platform 100 and connected to the cleaning component 300, used to provide cleaning water and recycle wastewater generated during cleaning.

[0048] Combination Figure 2 and Figure 3 , Figure 2 This is a schematic diagram of the cleaning component in its closed state. Figure 3 This is a schematic diagram of the cleaning assembly in its open state. The cleaning assembly includes a first cover 310 and a second cover 320. The first cover 310 and the second cover 320 are connected by a drive mechanism 340 and are configured to open and close to each other under the drive of the drive mechanism 340 to form a chamber 330 for wrapping and cleaning the insulator 500. Nozzles 350 are provided on the inner wall of the first cover and / or the second cover. Through this structural design, the cleaning assembly 300 can achieve rapid opening and closing of the first cover 310 and the second cover 320 under the control of the drive mechanism 340. When the cover is closed, it can tightly wrap the insulator 500 to form a closed cleaning chamber 330, effectively preventing water mist and sewage from splashing during the cleaning process. This not only improves the cleanliness of the working environment but also reduces the risk of impact on surrounding electrical equipment. The nozzles 350 arranged on the inner wall of the chamber 330 can spray high-pressure water at a specific angle and coverage area onto the surface of the insulator 500. Combined with the enclosed chamber 330 environment, the water flow can form turbulence and circulate within the limited space, thereby achieving all-round, thorough cleaning of the insulator 500 surface. This cleaning method significantly improves the ability to remove stubborn dirt such as firmly attached dust and oil.

[0049] The insulator cleaning device of this application integrates movement, positioning, cleaning, and water circulation functions to construct a highly coordinated automated operation system. The mobile platform 100 travels along the railway track 600, overcoming the limited mobility of traditional road vehicles in narrow track environments, providing a foundation for continuous, large-scale line-of-sight operations. The multi-degree-of-freedom motion component 200, mounted on the mobile platform 100, can flexibly and accurately deliver the cleaning component 300 to the spatially complex insulators 500. This design effectively solves the accessibility challenges posed by the dense equipment in the contact network and the varying installation positions of the insulators 500, ensuring subsequent refined cleaning. The cleaning component 300, as the functional unit directly performing the cleaning task, is connected to the end of the multi-degree-of-freedom motion component 200, ensuring controllable operating posture. Once the multi-degree-of-freedom motion component 200 accurately positions the cleaning component 300, the cleaning component 300 can perform efficient cleaning actions on the insulator 500. The water circulation component 400 is also located on the mobile platform 100. This component is not only responsible for providing a continuous and clean water source for the cleaning process, but more importantly, it enables the immediate recycling and treatment of wastewater after cleaning. This "clean as you go, recycle on-site" model transforms the traditional open-loop flushing into a closed-loop operation, fundamentally eliminating water waste and environmental pollution.

[0050] In one embodiment, the mobile platform 100 is equipped with an independent drive and control system, allowing operators to remotely control the platform to travel along the railway track 600 to the target work area at a preset speed (e.g., 15 km / h). This drive and control system enables the platform to start, stop, change speed, and precisely park, providing a stable positioning basis for subsequent automated cleaning operations.

[0051] In one embodiment, the drive mechanism 340 is a waterproof electric cylinder. This waterproof electric cylinder has a cylinder diameter of 40mm and a stroke of 100mm, providing sufficient driving force for the opening and closing of the first cover 310 and the second cover 320. Its opening and closing speed is not less than 90° / s, ensuring that the first cover 310 and the second cover 320 can quickly complete the closing and opening actions. Driven by the waterproof electric cylinder, the first cover 310 and the second cover 320 can achieve an opening and closing angle of 0-120°. Using a waterproof electric cylinder as the drive mechanism 340 provides a reliable guarantee for the stable operation of the device in outdoor humid, dusty, and potentially water-splashed conditions. Its excellent sealing performance effectively prevents moisture and contaminants from entering the interior, avoiding malfunctions caused by corrosion or insulation degradation.

[0052] According to some embodiments of this application, a total of 10-15 sets of nozzles 350 are provided on the inner walls of the first cover 310 and the second cover 320. Preferably, a total of 12 sets of nozzles 350 are provided on the inner walls of the first cover 310 and the second cover 320. This number of nozzles 350 is optimized to form a uniformly covering spray network along the axial and circumferential directions of the insulator 500. When the first cover 310 and the second cover 320 are closed, these nozzles 350 simultaneously spray high-pressure water from different angles and directions, achieving thorough cleaning of the surface of the insulator 500 without dead angles. This all-round coverage ensures that dirt, regardless of its attachment location, is directly impacted by the high-pressure water flow, thereby significantly improving the thoroughness of cleaning.

[0053] Continue reading Figure 2 In one embodiment, a water collection structure 360 ​​is provided below the second cover 320. Most of the wastewater after cleaning is confined within the chamber 330 and the water collection structure 360 ​​below it, greatly reducing water loss. Together with the water circulation component 400, this provides a guarantee for water reuse.

[0054] Continue reading Figure 4 , Figure 4 This is a schematic diagram of the water circulation assembly. In one embodiment, the water circulation assembly 400 includes a pump unit 410 and a water tank unit 420. The pump unit 410 includes a high-pressure water pump 411 and a negative-pressure water pump 412; the water tank unit 420 includes a clean water tank 421 and a wastewater tank 422. The high-pressure water pump 411 is connected to the nozzle 350, and the water collection structure 360 ​​is connected to the negative-pressure water pump 412. The negative-pressure water pump 412 is configured to pump wastewater from the water collection structure 360 ​​and transport it to the wastewater tank 422 when the insulator cleaning device is operating. In one embodiment, the volume of both the clean water tank 421 and the wastewater tank 422 is 0.75 m³. 3 .

[0055] The water circulation assembly 400 is designed to construct a complete closed-loop water treatment system. The high-pressure water pump 411 provides the high-pressure water flow required for cleaning. This high-pressure pump 411 is a high-pressure plunger pump with a rated pressure of up to 31.5 MPa and a rated flow rate of 20 L / min, ensuring that the working pressure of each set of nozzles 350 can be adjusted within the range of 10-30 MPa, thereby effectively impacting and removing stubborn dirt from the surface of the insulator 500. Furthermore, for ordinary floating dust, the nozzles 350 can use a lower pressure of 10-15 MPa for efficient rinsing; while for firmly bonded stubborn dirt, such as carbonized sludge, a high-pressure mode of 25-30 MPa can be used for powerful removal. Simultaneously, the negative-pressure water pump 412 has a flow rate of 24 L / min. The coordinated operation of the high-pressure water pump 411 and the negative-pressure water pump 412 can promptly remove the cleaned wastewater from the water collection structure 360, preventing wastewater overflow and ensuring a clean work site.

[0056] According to some embodiments of this application, the water tank mechanism 420 further includes a filter element 423, and the clean water tank 421 and the wastewater tank 422 are connected through the filter element 423. The filter element 423 allows the liquid in the wastewater tank 422 to flow into the clean water tank 421 after being treated by the filter element 423.

[0057] The compartmentalized design of the water tank mechanism 420 enables the tiered utilization of water resources. The wastewater tank 422 receives wastewater from the cleaning site, and after passing through the filter element 423, the clean water is transported to the clean water tank 421 for reuse. This design significantly improves the water resource utilization rate of the device, achieving a water saving rate of over 90% compared to traditional open-loop flushing methods. It significantly reduces the dependence on water sources for operations and is particularly suitable for railway sections with scarce water resources or inconvenient water access.

[0058] In one embodiment, the filter element 423 includes a stainless steel filter screen. This 200-mesh screen effectively intercepts and separates solid particles larger than 80 μm from the wastewater, including impurities such as silt, metal debris, aged coatings, and oil deposits washed off the surface of the insulator 500. This physical filtration method ensures a significant improvement in the water quality flowing from the wastewater tank 422 to the clean water tank 421, providing a clean working medium that meets the requirements for the high-pressure water pump 411 and nozzle 350. It also prevents impurities from causing wear or blockage to the pump valves and spray unit, ensuring the long-term reliability of the system.

[0059] The filter element 423 of this application is positioned between the clean water tank 421 and the wastewater tank 422, thus connecting the wastewater tank 422 and the clean water tank 421. While the negative pressure pump 412 continuously pumps wastewater to the wastewater tank 422, the wastewater, after preliminary sedimentation, can be purified by the filter element 423 under the drive of the transfer pump. The clean water then flows into the clean water tank 421 for later use. Specifically, in one embodiment, a low-pressure transfer pump can be installed on the connecting pipeline between the wastewater tank 422 and the filter element 423. When the liquid level in the wastewater tank 422 reaches a preset height, the transfer pump automatically starts, pumping the pre-sedimented upper layer of wastewater into the filter element 423 at a stable flow rate. This active pumping method ensures that the wastewater passes through the filter screen at a constant pressure and flow rate, which not only improves filtration efficiency but also avoids the problems of unstable flow rate or blockage that may occur due to complete reliance on liquid level differences. This process forms a continuous self-circulating purification process, supporting the continuous operation capability of the entire cleaning device.

[0060] Continue reading Figure 4 According to some embodiments of this application, a water inlet 424 is provided on the clean water tank 421, and a water filling port 425 is provided on the wastewater tank 422. The water inlet 424 is connected to the high-pressure water pump 411. The water inlet 424, located on the clean water tank 421 and directly connected to the inlet of the high-pressure water pump 411, ensures that the high-pressure water pump 411 can directly obtain filtered clean water from the clean water tank 421, reducing pressure loss and contamination risks that may occur in intermediate stages. The separate water filling port on the wastewater tank 422 provides a dedicated channel for initial water injection and necessary water replenishment during operation. Before operation begins, the operator can inject the required tap water or other clean water source into the device through this water filling port. The newly injected water will first be purified by the filter element 423 before entering the clean water tank 421, preventing unfiltered water from directly entering the high-pressure water pump 411 and protecting the pump and nozzle 350 from potential impurities.

[0061] In one embodiment, the pump assembly 410 further includes an electronic control element 413, which is electrically connected to the high-pressure water pump 411, the negative-pressure water pump 412, and the drive mechanism 340. The electronic control element 413 serves as the control center of the device and includes a programmable logic controller or a dedicated control module. This electronic control element 413 can precisely control the start / stop and pressure output of the high-pressure water pump 411, as well as the operating status of the negative-pressure water pump 412, according to a preset program or real-time commands. This centralized control method ensures the synchronization of water supply and pumping operations, avoiding internal pressure imbalances or intermittent water flow.

[0062] According to some embodiments of this application, a force sensor is provided on the drive mechanism 340. The force sensor is electrically connected to an electronic control element 413, which is configured to receive signals from the force sensor and, when it is determined that the closing force between the first cover 310 and the second cover 320 reaches a preset value, activate the high-pressure water pump 411. When the force value detected by the force sensor reaches a preset range (e.g., a set threshold within 0-500N), the electronic control element 413 determines that the first cover 310 and the second cover 320 are completely closed. This design ensures that the high-pressure water pump 411 is activated only after the cleaning chamber 330 is fully formed, fundamentally avoiding the risk of high-pressure water spraying outwards when the chamber is not fully enclosed. This not only prevents waste of water resources and the risk of splashing onto surrounding electrical equipment but also ensures the safety of operators.

[0063] Through the integrated control of the electronic control component 413, the device can flexibly switch between multiple operating modes. For example, for insulators 500 with different pollution levels, the operator can select the appropriate program, and the electronic control component 413 will automatically adjust the output pressure of the high-pressure water pump 411 and the suction intensity of the negative pressure water pump 412. This intelligent coordinated control enables the device to cope with various working conditions with the optimal parameter combination, minimizing energy consumption while ensuring cleaning quality.

[0064] According to some embodiments of this application, the multi-degree-of-freedom motion component 200 is connected to the cleaning component 300 via a connecting seat 380. This connecting seat 380 serves as a mechanical interface, enabling reliable connection and precise force transmission between the multi-degree-of-freedom motion component 200 and the cleaning component 300. Its structure not only withstands various dynamic loads generated during cleaning operations but also ensures positioning accuracy between the two, allowing the cleaning component 300 to accurately reproduce the motion trajectory of the robotic arm's end effector. The flange interface of the connecting seat 380 adopts a standardized design, facilitating quick replacement and maintenance of different models of the cleaning component 300, thus improving the equipment's versatility and maintainability. The connecting seat 380 typically has pre-reserved electrical and piping channels, providing the cleaning component 300 with power supply, control signals, and high-pressure water circuit interfaces. This integrated design avoids the problem of tangled external cables and pipes, ensuring that the multi-degree-of-freedom motion component 200 is not interfered with by pipelines when moving throughout the entire working space.

[0065] In one embodiment, the multi-degree-of-freedom motion component 200 includes a robotic arm with a repeatability of ≤±2mm and a load capacity of ≥50kg. The robotic arm is equipped with a positioning mechanism. This high repeatability ensures that the cleaning component 300 can be precisely guided to the predetermined cleaning position of each insulator 500. In the complex spatial environment of the overhead contact line, the installation positions and orientations of the insulators 500 vary. A positioning accuracy of ±2mm ensures precise alignment between the cleaning shroud and the insulators 500, creating the prerequisite for forming an effectively sealed cleaning chamber 330. This level of precision not only avoids the risk of mechanical collisions but also ensures that the high-pressure nozzle 350 can perform cleaning operations at the optimal operating distance and angle.

[0066] In addition, the positioning mechanism on the robotic arm includes visual recognition elements and distance sensing elements. The visual recognition elements are used to identify the type and spatial orientation of the insulator 500, while the distance sensing elements can accurately detect the relative distance between the cleaning assembly 300 and the surface of the insulator 500. The arrangement of these elements enables the robotic arm to correct its movement trajectory in real time, achieving reliable and precise docking even in cases of slight wobbling of the track flatcar or tolerances in the installation position of the insulator 500.

[0067] Continue to refer to 2 and Figure 3 In some embodiments of this application, two axially parallel brushes 370 are disposed opposite each other on the inner wall of the first cover 310 and / or the second cover 320, and the bristles of the brushes 370 have a surface resistivity of 10. 3 -10 6 The material is an antistatic nylon with a strength of Ω•cm. The brush 370 is driven by a waterproof motor, which is fixedly mounted on the inner or outer wall of the first cover 310 or the second cover 320. The two brushes 370 are arranged axially parallel to each other, forming a highly efficient mechanical cleaning unit. When the first cover 310 and the second cover 320 close and enclose the insulator 500, the two brushes 370 can simultaneously clamp and cover the cylindrical surface of the insulator 500 from both sides. Driven by the waterproof motor, the brushes 370 rotate at an adjustable speed (e.g., 50-250 rpm), and their bristles generate continuous scraping and friction against the surface of the insulator 500. This mechanical action, combined with the high-pressure water jet, effectively removes stubborn dirt with strong adhesion, such as carbonized sludge or hardened dust, achieving deep cleaning. In scenarios sensitive to static electricity, such as live-line work on overhead contact lines or near high-voltage environments, the use of anti-static nylon material for the brush bristles enhances the safety of the cleaning process and prevents potential damage to the insulation performance of insulators due to electrostatic discharge.

[0068] The waterproof motor driving the brush 370 is directly mounted on the enclosure, an integrated design that eliminates the need for a complex transmission mechanism. The motor's waterproof nature ensures reliable operation even in high-humidity cleaning environments, including direct spray conditions. Depending on the structural layout, the motor can be mounted on the inner wall of the enclosure for direct drive, or placed on the outer wall for transmission via a sealed shaft. Both methods prioritize compactness and ease of maintenance, ensuring the durability of the cleaning assembly 300 under long-term harsh conditions.

[0069] It should be noted that the first cover 310 and the second cover 320 are arc-shaped structures. When the first cover 310 and the second cover 320 are closed, the radial cross-section of the chamber 330 has a non-linear profile corresponding to the outer contour of the insulator 500. The non-linear profile design makes the inner surface of the chamber 330 and the outer surface of the insulator 500 form a relatively closed annular flow channel. When the high-pressure nozzle 350 is activated, the water flow forms a turbulent effect in this narrow space, which enhances the shearing force and peeling effect of the water flow on dirt. Especially for hard-to-clean areas such as the grooves of the insulator 500, the circumferential water flow can achieve all-round coverage and thoroughly remove stubborn dirt deposited in complex structures.

[0070] refer to Figure 5 This application also provides a method for cleaning insulators 500, which uses the above-mentioned insulator cleaning device for cleaning, and the cleaning method includes the following steps:

[0071] S01. Move the mobile platform 100 to the work area;

[0072] S02. The cleaning component 300 is positioned at the insulator 500 to be cleaned by the multi-degree-of-freedom motion component 200;

[0073] S03, the control drive mechanism 340 drives the first cover 310 and the second cover 320 to close, so as to form a cavity 330 that wraps the insulator 500;

[0074] S04. Cleaning water is supplied to the nozzle 350 through the water circulation assembly 400 to clean the insulator 500.

[0075] Specifically, after the mobile platform 100 travels along the railway track 600 to the work area, the multi-degree-of-freedom motion component 200, based on visual recognition and distance sensing elements, precisely guides the cleaning component 300 to the predetermined cleaning position on the insulator 500. Once the cleaning component 300 is in place, the drive mechanism 340 pushes the first cover 310 and the second cover 320 to close, forming a sealed chamber 330. During this process, a force sensor monitors the closing force in real time to ensure a reliable seal between the cover and the surface of the insulator 500 without excessive compression. After the sealed chamber 330 is formed, the device starts the high-pressure water pump 411 and the brush 370 according to a preset program. High-pressure water is sprayed from the annularly arranged nozzles 350, thoroughly rinsing the surface of the insulator 500; simultaneously, the brush 370 mechanically removes stubborn dirt. Throughout the process, the negative pressure water pump 412 works synchronously to promptly extract the sewage and transport it to the water circulation component 400, realizing a closed-loop operation mode of "cleaning-recycling-purification-reuse", which saves water resources to the maximum extent while ensuring the cleaning quality.

[0076] In addition, when the visual recognition element on the multi-degree-of-freedom motion component 200 detects carbonized oil stains on the surface of the insulator 500, a pre-treatment procedure can be performed first: control the nozzle 350 to continuously rinse the surface of the insulator 500 at a spray pressure of 20MPa for no less than 60 seconds. After the oil stains are fully soaked and initially loosened, the main cleaning procedure can be started to perform subsequent cleaning operations.

[0077] This device can automatically match and execute a preset combination of cleaning parameters based on the contamination level of the insulator 500 detected by the visual recognition element on the multi-degree-of-freedom motion component 200: for light contamination, pure water cleaning is performed by applying 10MPa water pressure to the nozzle 350 and setting the brush 370 rotation speed to 80rpm; for heavy contamination, enhanced cleaning is performed by applying 30MPa water pressure to the nozzle 350, setting the brush 370 rotation speed to 200rpm, and adding a special cleaning agent to the cleaning solution.

[0078] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0079] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An insulator cleaning device, characterized in that, The insulator cleaning device includes: Mobile platform, used to be set up on railway tracks; A multi-degree-of-freedom motion component is mounted on the mobile platform; A cleaning assembly is connected to the end of the multi-degree-of-freedom motion assembly. The cleaning assembly includes a first cover and a second cover. The first cover and the second cover are connected by a drive mechanism and are configured to open and close under the drive of the drive mechanism to form a chamber for wrapping and cleaning the insulator. Nozzles are provided on the inner wall of the first cover and / or the second cover. A water circulation component, mounted on the mobile platform and connected to the cleaning component, is used to provide cleaning water and recycle wastewater generated during cleaning.

2. The insulator cleaning device according to claim 1, characterized in that, A water collection structure is provided at the bottom of the second cover; The water circulation assembly includes: a pump unit and a water tank unit; The pump assembly includes: a high-pressure water pump and a negative-pressure water pump; The water tank mechanism includes: a clean water tank and a wastewater tank; The high-pressure water pump is connected to the nozzle, and the water collection structure is connected to the negative pressure water pump. The negative pressure water pump is configured to: when the insulator cleaning device is working, pump the sewage in the water collection structure and transport it to the sewage tank.

3. The insulator cleaning device according to claim 2, characterized in that, The water tank mechanism also includes a filter element. The clean water tank and the wastewater tank are connected through the filter element, which allows the liquid in the wastewater tank to flow into the clean water tank after passing through the filter element.

4. The insulator cleaning device according to claim 2, characterized in that, The clean water tank is equipped with a water inlet, and the wastewater tank is equipped with a water filling port. The water inlet is connected to the high-pressure water pump.

5. The insulator cleaning device according to claim 2, characterized in that, The pump assembly also includes an electrical control component, which is electrically connected to the high-pressure water pump, the negative-pressure water pump, and the drive mechanism.

6. The insulator cleaning device according to claim 5, characterized in that, A force sensor is provided on the drive mechanism. The force sensor is electrically connected to the electronic control element. The electronic control element is configured to receive the signal from the force sensor and start the high-pressure water pump when it is determined that the closing force between the first cover and the second cover reaches a preset value.

7. The insulator cleaning device according to claim 1, characterized in that, The multi-degree-of-freedom motion component includes a robotic arm with a repeatability accuracy of ≤±2mm and a load capacity of ≥50kg. The robotic arm is equipped with a positioning mechanism.

8. The insulator cleaning device according to claim 1, characterized in that, Two axially parallel brushes are disposed opposite each other on the inner wall of the first cover and / or the second cover, the bristles of the brushes having a surface resistivity of 10. 3 -10 6 Antistatic nylon material with Ω•cm.

9. The insulator cleaning device according to claim 1, characterized in that, The first cover and the second cover are arc-shaped structures. When the first cover and the second cover are closed, the radial cross section of the chamber has a non-linear profile corresponding to the outer contour of the insulator.

10. A method for cleaning insulators, characterized in that, The insulator cleaning device as described in any one of claims 1-9 is used for cleaning, and the cleaning method includes the following steps: S01. Move the mobile platform to the work area; S02. Position the cleaning component to the insulator to be cleaned using the multi-degree-of-freedom motion component; S03. Control the drive mechanism to drive the first cover and the second cover to close, so as to form a cavity to enclose the insulator; S04. Cleaning water is supplied to the nozzle through the water circulation assembly to clean the insulator.

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