Cleaning equipment for radiator of power transformer

Abstract

The invention discloses cleaning equipment for a power transformer radiator. The cleaning equipment comprises a bearing unit, a mechanical arm unit, a cleaning unit and a controller. The bearing unit comprises a fixing assembly, a first moving frame and a second moving frame, and the fixing assembly is arranged close to the radiator; the first moving frame is movably arranged on the fixing assembly in the first direction. The second moving frame is movably arranged on the first moving frame in the second direction; the mechanical arm unit is rotatably arranged on the second moving frame; the cleaning unit comprises a cleaning main body and at least two nozzles, and the cleaning main body is rotatably arranged at the tail end arm section of the mechanical arm unit; the at least two nozzles are rotatably arranged on the cleaning main body so as to be suitable for spraying cleaning media on the two sides of the cooling fins; the controller is used for controlling the bearing unit, the mechanical arm unit and the cleaning unit to operate. According to the device, automatic comprehensive cleaning of the radiator can be achieved, the cleaning efficiency and the cleaning effect are remarkably improved, and the safety of the cleaning process is improved.

Description

Technical Field

[0001] This application relates to the field of transformer radiator cleaning technology, and in particular to a cleaning device for power transformer radiators. Background Technology

[0002] In power systems with voltage levels of 500kV and above, forced oil circulation transformers are key equipment. They change AC voltage through the principle of electromagnetic induction. Their main structure includes a primary coil, secondary coil, core, and a forced oil circulation cooling system. This system relies on an oil pump to drive transformer oil through a radiator, combined with forced air cooling by a fan, to dissipate the heat generated during high-capacity operation. To improve heat dissipation efficiency, the outer wall of the radiator is typically equipped with densely packed, evenly spaced cooling fins, with gaps between the fins to enhance airflow and heat exchange.

[0003] In related technologies, forced oil circulation transformers are often exposed to outdoor environments for extended periods. The surface of the radiator fins easily attracts dust, catkins, and other floating debris, and can even be partially blocked by large foreign objects. For the wall-mounted radiator structure commonly used in 500kV transformers, the limited installation space restricts inspection access, further exacerbating the dust accumulation problem. Dust accumulation hinders heat conduction from the radiator fins, leading to abnormally high transformer oil temperatures. This not only increases additional losses and reduces load capacity but also accelerates the aging of insulation materials, threatening safe operation and shortening the lifespan of the equipment. Currently, there is a lack of specialized cleaning equipment for the radiator fin structure of forced oil circulation transformers above 500kV. Manual cleaning suffers from low efficiency, potential insulation safety hazards, and limited power outage windows leading to extended maintenance cycles, making efficient and safe cleaning and maintenance difficult to achieve. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. Therefore, one objective of this application is to provide a cleaning device for power transformer radiators, aiming to solve the problems of low efficiency and insufficient safety in transformer radiator cleaning methods.

[0005] This application discloses a cleaning device for a power transformer radiator. The cleaning device includes a support unit, a robotic arm unit, a cleaning unit, and a controller. The support unit includes a fixed component, a first movable frame, and a second movable frame. The fixed component is positioned close to the radiator. The first movable frame is movably mounted on the fixed component along a first direction. The second movable frame is movably mounted on the first movable frame along a second direction. The robotic arm unit is rotatably mounted on the second movable frame and includes multiple sequentially connected arm sections, with adjacent arm sections adapted to rotate relative to each other. The cleaning unit includes a cleaning body and at least two nozzles. The cleaning body is rotatably mounted on the end arm section of the robotic arm unit. The at least two nozzles are rotatably mounted on the cleaning body to spray cleaning medium on both sides of the heat sink fins. The controller is used to control the operation of the support unit, the robotic arm unit, and the cleaning unit.

[0006] According to some embodiments of this application, the cleaning body includes a first mounting part and a second mounting part. The first mounting part is rotatably disposed on the end arm section; the second mounting part is disposed on the first mounting part and is adapted to move relative to the first mounting part in a third direction; the nozzle is rotatably disposed on the second mounting part.

[0007] According to some embodiments of this application, a first mounting part is provided with a first drive gear, and a second mounting part is provided with a rack extending in a third direction. The first drive gear and the rack are connected to each other to drive the second mounting part to move relative to the first mounting part in a third direction.

[0008] According to some embodiments of this application, the nozzle has an extension, the end of which has at least one spray nozzle, and the extension is adapted to extend into the gap of the heat dissipation fins.

[0009] According to some embodiments of this application, the cleaning equipment further includes a visible light camera and an infrared camera. The visible light camera is mounted on a fixed component or an end arm and is used to acquire real-time images of the radiator's shape. The infrared camera is mounted on a fixed component or an end arm and is used to acquire real-time images of the radiator's temperature distribution. Both the visible light camera and the infrared camera are connected to a controller.

[0010] According to some embodiments of this application, the controller includes a processing module, a planning module, and an execution module; the processing module is used to obtain the dirt distribution characteristics of the radiator from the topographic image and the hot spot distribution characteristics of the radiator from the temperature distribution image; the planning module is used to generate a cleaning path and cleaning parameters based on the dirt distribution characteristics and the hot spot distribution characteristics; the execution module is used to control the movement of the cleaning component and perform the cleaning action according to the cleaning path and the cleaning parameters.

[0011] According to some embodiments of this application, the processing module includes an edge definition unit, a feature analysis unit, a data fusion unit, and a region division unit. The edge definition unit is used to extract the geometric information of the radiator from the topography image and determine the cleaning operation boundary based on the geometric information. The feature analysis unit is used to extract dirt distribution features from the topography image and hotspot distribution features from the temperature distribution image. The data fusion unit is used to spatially register and overlay the dirt distribution features and hotspot distribution features, and generate a key cleaning map containing dirt distribution information and temperature distribution information based on the cleaning operation boundary. The region division unit is used to divide the key cleaning map into multiple sub-regions to be cleaned. Specifically, the planning module is used to generate corresponding cleaning paths and cleaning parameters based on the dirt distribution features and temperature distribution features of each sub-region to be cleaned. The execution module is used to control the movement of the cleaning components and execute cleaning actions according to the cleaning path and cleaning parameters corresponding to each sub-region to be cleaned.

[0012] According to some embodiments of this application, the controller further includes a judgment module, which is used to determine whether the cleaning effect meets the preset cleaning standard based on the real-time acquired morphology image and temperature distribution image.

[0013] According to some embodiments of this application, the controller further includes an anomaly identification module, which is used to monitor the operating status of the cleaning equipment in order to identify and handle abnormal conditions during the operation of the cleaning equipment.

[0014] According to some embodiments of this application, the controller further includes a wireless communication module for signal interaction between the cleaning equipment and an external system.

[0015] The cleaning equipment for power transformer radiators according to this application has the following technical advantages compared with the prior art:

[0016] (1) Significantly improved safety and reliability: The cleaning equipment performs cleaning operations automatically and operates efficiently in the event of a power outage. There is no need to consider the safety distance from live equipment and no manual intervention is required, which fully ensures the controllability and safety of the entire cleaning process. (2) Refined and optimized cleaning effect: The main cleaning actuator adopts a bionic robotic arm design. Its multi-degree-of-freedom movement can closely fit the complex structure of the heat dissipation fins, achieving three-dimensional cleaning without dead angles; the nozzle can be precisely linked with the movement trajectory of the robotic arm to ensure that the flow rate and coverage of the cleaning medium are dynamically matched with the shape of the fins, effectively solving the problems of uneven water flow distribution and cleaning blind spots in traditional flushing. (3) Significantly improved operation and maintenance efficiency: The automated cleaning mode replaces traditional manual operation, which significantly reduces labor intensity and labor costs; combined with IoT remote control technology, operation and maintenance personnel can view the cleaning status and control it in real time through terminal equipment in the main control room or safe area, which minimizes the transformer power outage maintenance time and improves the availability and operating efficiency of power equipment. (4) Enhanced system adaptability and practicality: The modular architecture enables the device to quickly adapt to the heat dissipation fin layout of different transformer models; moreover, in the event of a power outage, the device reduces the stringent requirements on the insulation level of the cleaning equipment itself, which not only simplifies the system structure but also effectively controls the manufacturing cost, thereby improving the product's economic efficiency and promotional application value.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of a cleaning device for a power transformer radiator according to some embodiments of this application; Figure 2 This is an assembly diagram of a robotic arm unit and a cleaning unit according to some embodiments of this application; Figure 3 This is a schematic diagram of the structure of a cleaning unit according to some embodiments of this application; Figure 4 This is a schematic diagram of a drive system for a carrier unit according to some embodiments of this application; Figure 5 This is a schematic diagram of the drive system of a robotic arm unit according to some embodiments of this application; Figure 6 This is a schematic diagram of the control flow of a cleaning device according to some embodiments of this application.

[0019] Figure label: First belt drive mechanism 11; first drive motor 12; first moving frame 13; second belt drive mechanism 14; second drive motor 15; second moving frame 16; first servo motor 17; Robotic arm unit 20; rotating platform 21; first arm section 22; middle arm section 23; last arm section 24; second servo motor 25; third servo motor 26; fourth servo motor 27; Cleaning unit 30; first mounting part 31; second mounting part 32; nozzle 33; rack 34; first drive gear 35; second drive gear 36. Detailed Implementation

[0020] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0021] The following is for reference. Figures 1-6 This application describes a cleaning apparatus for a power transformer radiator according to an embodiment of the present application.

[0022] This application discloses a cleaning device for a power transformer radiator. The cleaning device includes a support unit, a robotic arm unit 20, a cleaning unit 30, and a controller. The support unit includes a fixed component, a first movable frame 13, and a second movable frame 16. The fixed component is disposed close to the radiator. The first movable frame 13 is movably disposed on the fixed component along a first direction. The second movable frame 16 is movably disposed on the first movable frame 13 along a second direction. The robotic arm unit 20 is rotatably disposed on the second movable frame 16 and includes multiple sequentially connected arm sections, with adjacent arm sections adapted to rotate relative to each other. The cleaning unit 30 includes a cleaning body and at least two nozzles 33. The cleaning body is rotatably disposed on the end arm section 24 of the robotic arm unit 20. The at least two nozzles 33 are rotatably disposed on the cleaning body to spray cleaning medium on both sides of the heat sink fins. The controller is used to control the operation of the support unit, the robotic arm unit 20, and the cleaning unit 30.

[0023] According to the cleaning equipment for power transformer radiators of this application, the fixed component of the carrying unit is located near the radiator, specifically on the radiator or on the radiator's mounting bracket, providing an installation foundation for other structures and ensuring the stability of the cleaning process; when the first moving frame 13 moves relative to the fixed component in the first direction, it can drive the second moving frame 16, the robotic arm unit 20, and the cleaning unit 30 to move in the first direction; when the second moving frame 16 moves relative to the first moving frame 13 in the second direction, it can drive the robotic arm unit 20 and the cleaning unit 30 to move in the second direction; the carrying unit can realize the movement and cleaning range of the cleaning components to cover the entire area of ​​the radiator to be cleaned. The robotic arm unit 20 is the core execution component. Its design simulates manual cleaning actions and aims to drive the cleaning unit 30 to achieve complex movements in three-dimensional space to achieve high-adhesion cleaning of the complex surface of the heat sink fins. When the robotic arm unit 20 rotates relative to the second moving frame 16, it can drive the cleaning unit 30 to rotate relative to the second moving frame 16. When the relative rotation occurs between the various arm sections of the robotic arm unit 20, it can further drive the cleaning unit 30 to move relative to the heat sink. The robotic arm unit 20 can adjust its specific cleaning area and cleaning angle by moving the cleaning components. The cleaning unit 30's main body and end arm 24 are rotatable relative to each other, allowing for initial adjustment of the cleaning medium's spray angle to expand the cleaning range and adapt to cleaning areas of different shapes. This results in covering more and more detailed cleaning areas, reducing blind spots, and improving cleaning efficiency. The nozzle 33 is also rotatable relative to the cleaning body, enabling further fine adjustment of the spray angle to ensure the cleaning medium accurately impacts the dirt on the radiator surface. At least two nozzles 33 are provided on the cleaning body, allowing for the spraying of cleaning medium onto both sides of the heat sink fins, simultaneously cleaning both sides of the fins, reducing blind spots and improving cleaning efficiency. The heat sink fins are the main cleaning structure of the radiator. Furthermore, the controller can control the carrying unit, robotic arm unit 20, and cleaning unit 30 separately to achieve automated cleaning and improve cleaning quality. It should be noted that the controller described in this embodiment can have a built-in cleaning system, which can be calibrated by relevant personnel according to actual conditions, for example, developed according to customer needs.

[0024] According to the cleaning equipment for power transformer radiators disclosed in this application, by setting up a support unit and a robotic arm unit 20, and utilizing the connection relationship and relative movement between the structures, the cleaning unit 30 can achieve flexible and complex movement, enabling comprehensive cleaning of all areas of the radiator. Simultaneously, both the cleaning body and the nozzles 33 of the cleaning unit 30 have rotational freedom, allowing adjustment of the spray direction of the cleaning medium for precise and efficient cleaning. Furthermore, the two nozzles 33 of the cleaning unit 30 can perform targeted cleaning on both sides of each heat dissipation fin, achieving thorough cleaning without blind spots and significantly improving cleaning efficiency. The cleaning equipment of this application enables automated cleaning, replacing traditional manual operations, significantly improving cleaning efficiency, reducing labor intensity and labor costs, and simultaneously enhancing the safety and stability of the cleaning process.

[0025] In some embodiments, such as Figure 1 As shown, the first direction is vertical, and the second direction is horizontal; the rotation axis of the robotic arm unit 20 relative to the second moving frame 16 is perpendicular to the plane containing the first and second directions. Figure 3 As shown, the rotation axis of the cleaning body relative to the end arm 24 is parallel to the rotation axis of the nozzle 33 relative to the cleaning body.

[0026] In some embodiments, such as Figure 1 As shown, the supporting unit further includes a first driving assembly and a second driving assembly. The first driving assembly connects the fixed assembly and the first movable frame 13, adapted to drive the first movable frame 13 to move relative to the fixed assembly along a first direction. The second driving assembly connects the first movable frame 13 and the second movable frame 16, adapted to drive the second movable frame 16 to move relative to the first movable frame 13 along a second direction. Specifically, as... Figure 1 As shown, the first drive assembly includes a first belt drive mechanism 11 and a first drive motor 12. The first belt drive mechanism 11 includes a first drive pulley and a first drive belt. The output shaft of the first drive motor 12 is connected to the first drive pulley and drives it to rotate. When the first drive pulley rotates, it drives the first drive belt to move. The first moving frame 13 is disposed on the first drive belt and is adapted to move along the first drive belt in a first direction. Further, as... Figure 1 As shown, the first belt drive mechanism 11 is constructed in two sets and arranged in parallel. Two corresponding first movable frames 13 are also provided. The first drive pulleys of the two sets of first belt drive mechanisms 11 are connected by a coupling mechanism and rotate coaxially under the drive of the first drive motor 12, thereby driving the two first movable frames 13 to move synchronously. Figure 1As shown, the second drive assembly includes a second belt drive mechanism 14 and a second drive motor 15. The two ends of the second belt drive mechanism 14 are respectively mounted on two first movable frames 13, and the second drive motor 15 is mounted on one of the first movable frames 13. The second belt drive mechanism 14 includes a second drive pulley and a second drive belt. The output shaft of the second drive motor 15 is connected to the second drive pulley and drives it to rotate. When the second drive pulley rotates, it drives the second drive belt to move. The first movable frame 13 is mounted on the second drive belt and is adapted to move along the second direction with the second drive belt.

[0027] Both the first drive motor 12 and the second drive motor 15 can be stepper motors, and both are equipped with stepper motor drivers. The stepper motor drivers are connected to the controller, and the controller sends control commands to the stepper motor drivers. The stepper motors are rotated through the stepper motor controller to realize the movement control of the first moving frame 13 and the second moving frame 16.

[0028] In some embodiments, relative rotation between the robotic arm unit 20 and the second movable frame 16, between the robotic arm unit 20 and the cleaning unit 30, and between adjacent arm segments of the robotic arm unit 20 is achieved by providing drive servos. Specifically, as shown in the figure... Figure 2 As shown, a first servo motor 17 is mounted on the second moving frame 16. A rotating platform 21 is mounted on the output end of the first servo motor 17. Multiple arm segments of the robotic arm unit 20 are mounted on the rotating platform 21. The first servo motor 17 drives the rotating platform 21 to rotate, thereby causing the robotic arm unit 20 to rotate relative to the second moving frame 16. A second servo motor 25 is mounted between the first arm segment 22 of the robotic arm unit 20 and the rotating platform 21. The output end of the second servo motor 25 is connected to the first arm segment 22 to drive the first arm segment 22 to drive the other arm segments to rotate relative to the rotating platform 21. Furthermore, at least one intermediate arm segment 23 is mounted between the first arm segment 22 and the last arm segment 24 of the robotic arm unit 20. A third servo motor 26 is mounted between any two adjacent arm segments. The third servo motor 26 is fixedly mounted on one arm segment, and its output end is connected to the other arm segment to drive the two arm segments to rotate relative to each other. In addition, a fourth servo motor 27 is provided on the end arm segment 24 of the robotic arm unit 20. The output end of the fourth servo motor 27 is connected to the cleaning body to drive the cleaning body to rotate relative to the robotic arm unit 20.

[0029] In some embodiments, the first servo motor 17 has a rotation angle range of 360°, enabling the robotic arm unit 2020 to rotate continuously 360°. The second servo motor 25 and the third servo motor 26 have rotation angle ranges of 270°, enabling a wide range of movement angles in three-dimensional space, simulating the degrees of freedom of a human arm to adapt to different inclinations and depths of the heat sink fins. The fourth servo motor 27 has a rotation angle range of 360°, driving the cleaning unit 30 to swing 180°, thereby reciprocating to clean the gaps in the heat sink fins. The multi-degree-of-freedom design of the robotic arm unit 20 allows the nozzle 33 at the end to cover all surfaces and gaps of the heat sink fins with a flexible trajectory similar to that of a real person.

[0030] Among them, the first servo motor 17, the second servo motor 25, the third servo motor 26 and the fourth servo motor 27 are all connected to the controller. The controller sends control commands to each servo motor, and controls the deformation of the robotic arm unit 20 and its rotation relative to the bearing unit through each servo motor, thereby controlling the rotation of the cleaning component relative to the robotic arm unit 20, and realizing the movement control of the cleaning component to perform cleaning operations.

[0031] Furthermore, in some embodiments, such as Figure 2 As shown, the output rotation axis of the first servo motor 17 is perpendicular to the plane containing the first and second directions; the output rotation axes of the multiple third servo motors 26 in the robotic arm unit 20 are arranged parallel to each other and are all parallel to the plane containing the first and second directions; the output rotation axis of the second servo motor 25 is arranged parallel to the output rotation axis of the third servo motor 26. Therefore, when the first servo motor 17 rotates, the robotic arm unit 20 can drive the cleaning component to move in the plane directly opposite the radiator to adjust the cleaning area; when the second servo motor 25 and / or the third servo motor 26 rotate, the structural shape and extension angle of the robotic arm unit 20 change, thereby driving the cleaning component to move in the plane perpendicular to the area to be cleaned on the radiator, so that it approaches or moves away from the radiator, thereby adjusting the distance from the radiator or the depth of insertion into the gaps between the heat sink fins, thus adjusting the cleaning range and cleaning intensity, achieving precise and efficient cleaning of dirt.

[0032] According to some embodiments of this application, the cleaning body includes a first mounting portion 31 and a second mounting portion 32. The first mounting portion 31 is rotatably disposed on the end arm 24; the second mounting portion 32 is disposed on the first mounting portion 31 and is adapted to move relative to the first mounting portion 31 along a third direction; the nozzle 33 is rotatably disposed on the second mounting portion 32. In this embodiment, by providing the first mounting portion 31 and the second mounting portion 32, the cleaning body can realize the movement of the nozzle 33 relative to the end arm 24 of the robotic arm unit 20 along a third direction, which can further improve the flexibility of the nozzle 33, adjust the distance between the nozzle 33 and the radiator surface, and allow the nozzle 33 to penetrate into the gaps of the heat sink fins, thereby improving the cleaning effect. The third direction can be configured to be parallel to the extension direction of the end arm 24 or at a certain angle.

[0033] According to some embodiments of this application, the first mounting part 31 is provided with a first drive gear 35, and the second mounting part 32 is provided with a rack 34 extending in a third direction. The first drive gear 35 and the rack 34 are connected in a cooperative manner to drive the second mounting part 32 to move relative to the first mounting part 31 in a third direction. In this embodiment, the relative movement of the nozzle 33 relative to the end arm 24 in a third direction is achieved by utilizing the cooperative structure of the first drive gear 35 and the rack 34, which is simple in structure and highly efficient in control.

[0034] Specifically, such as Figure 3 As shown, a first cavity is formed inside the first mounting portion 31, and a second mounting portion 32 is disposed within the first cavity. A rack 34 is disposed on the outer wall of the second mounting portion 32, and a first drive gear 35 is disposed on the inner wall of the first mounting portion 31. The first drive gear 35 is engaged with the rack 34. When the first drive gear 35 rotates, the drive rack 34 drives the second mounting portion 32 to move relative to the first mounting portion 31 in a third direction. In some embodiments, racks 34 are provided on both the upper and lower outer walls of the second mounting portion 32, and the first mounting portion 31 is provided with a plurality of first drive gears 35 that engage with the racks 34. The first drive gears 35 can simultaneously support and drive the second mounting portion 32. Furthermore, the second mounting portion 32 forms a second cavity, and a portion of the nozzle 33 is disposed within the second cavity and rotatably connected to the wall of the second mounting portion 32. A second drive gear 36 is provided at the connection point. When the second drive gear 36 rotates, it drives the nozzle 33 to rotate relative to the second mounting portion 32. A portion of the nozzle 33 extends out of the second cavity to be suitable for spraying cleaning medium onto the radiator, thereby preventing the wall of the second mounting portion 32 from obstructing the spray range.

[0035] In some embodiments, both the first drive gear 35 and the second drive gear 36 can be driven by a drive component such as a motor. The drive component is connected to a controller, and the controller sends control commands to the drive component to achieve movement control of the nozzle 33.

[0036] According to some embodiments of this application, the nozzle 33 has an extension, the end of which has at least one spray nozzle. The extension is adapted to extend into the gaps between the heat sink fins. In this embodiment, by providing the extension, the spray nozzle can extend into the gaps between the heat sink fins, thereby directly targeting areas of dirt accumulation (such as the fin roots or bends), and removing dirt through high-pressure impact, improving the cleaning effect. The extension can shorten the distance between the spray nozzle and the dirt, reducing energy loss and allowing the cleaning medium to contact the dirt at a higher speed, improving the decontamination efficiency. Simultaneously, the extension can be designed as a slender structure to adapt to heat sink fins of different depths, reaching into narrow gaps to ensure that the nozzle 33 reaches both sides of the heat sink fins. Specifically, as... Figure 3 As shown, the extension of the nozzle 33 is rotatably connected to the second mounting part 32, and multiple spray nozzles can be provided at the outer end of the extension to improve cleaning efficiency.

[0037] In some embodiments, the nozzle 33 and the cleaning body are detachably connected. In this embodiment, the detachable connection between the nozzle 33 and the cleaning body facilitates replacement and maintenance of the nozzle 33, thereby improving the adaptability and flexibility of this application. In specific applications, nozzles 33 of different specifications, spray angles, or flow rates can be matched and installed according to different cleaning needs (such as different dust densities, different fin gaps) to optimize the cleaning effect. Specifically, in some embodiments, the nozzle 33 has a first mating part, and the cleaning body has a second mating part. The first mating part and the second mating part cooperate to achieve a detachable connection between the nozzle 33 and the cleaning body. The first mating part and the second mating part can be constructed as a threaded fit structure, a snap-fit ​​fit structure, etc.

[0038] According to some embodiments of this application, the cleaning unit 30 further includes a water supply component, a solenoid water valve, and a regulating valve. The water supply component is connected to the nozzle 33 to supply cleaning medium to the nozzle 33. The solenoid water valve and the regulating valve are disposed in the water supply component. The solenoid water valve controls the on / off state (open) and off / closed state (close) to instantly start and stop the water output from the nozzle 33. The regulating valve controls the opening degree to control the flow rate, velocity, and pressure of the water supply. Furthermore, a controller is connected to the solenoid water valve and the regulating valve to send control commands to them, thereby controlling the output of the cleaning medium. This embodiment can achieve efficient response and precise control.

[0039] According to some embodiments of this application, the cleaning equipment further includes a visible light camera and an infrared camera. The visible light camera is mounted on the fixed component or the end arm 24 to acquire real-time images of the radiator's shape. The infrared camera is mounted on the fixed component or the end arm 24 to acquire real-time images of the radiator's temperature distribution. Both the visible light camera and the infrared camera are connected to a controller. In this embodiment, by setting up the visible light camera, real-time images of the radiator's shape can be acquired, thereby obtaining the radiator's status information, such as geometric features and dirt distribution, to accurately identify the location of stains and dust accumulation on the radiator's surface. By setting up the infrared camera, real-time images of the radiator's temperature distribution can be acquired, thereby obtaining the radiator's temperature distribution information to accurately locate local areas of abnormal temperature on the radiator. Both the visible light camera and the infrared camera are connected to a controller, which can receive the images acquired in real-time by the visible light camera and the infrared camera, accurately determine the areas that need to be cleaned, and guide and control the cleaning operation to achieve precise cleaning and avoid resource waste and unnecessary damage to the radiator caused by blind cleaning.

[0040] According to some embodiments of this application, the controller includes a processing module, a planning module, and an execution module; the processing module is used to obtain the dirt distribution characteristics of the radiator from the topographic image and the hot spot distribution characteristics of the radiator from the temperature distribution image; the planning module is used to generate a cleaning path and cleaning parameters based on the dirt distribution characteristics and the hot spot distribution characteristics; the execution module is used to control the movement of the cleaning component and perform the cleaning action according to the cleaning path and the cleaning parameters.

[0041] In this embodiment, the processing module can accurately obtain the dirt distribution characteristics of the radiator from the topographic image and the hot spot distribution characteristics from the temperature distribution image. This allows the controller to have a comprehensive and detailed understanding of the actual situation on the radiator surface, thereby accurately locating dirt and hot spots and providing a reliable basis for precise cleaning operations. The dirt distribution characteristics include the uniformity of dirt distribution, the thickness or density of dirt in each area, and the type of dirt. The temperature distribution characteristics include the uniformity of temperature distribution and the distribution areas of abnormal temperatures. The planning module generates cleaning paths and cleaning parameters based on the dirt distribution characteristics and hot spot distribution characteristics. It can determine the appropriate cleaning method for different areas of the radiator based on their actual conditions. For example, for areas with severe dirt accumulation, a denser cleaning path and stronger cleaning force are planned; for areas with localized overheating or abnormal heat generation, the cleaning is ensured to cover key areas, effectively solving heat dissipation problems, avoiding safety hazards caused by thermal runaway, and improving overall cleaning accuracy. The execution module controls the movement of the cleaning components and executes cleaning actions according to the cleaning path and cleaning parameters, enabling automated cleaning and improving cleaning efficiency and safety. This embodiment can improve the accuracy and efficiency of cleaning, and realize automated cleaning operations.

[0042] According to some embodiments of this application, the processing module includes an edge definition unit, a feature analysis unit, a data fusion unit, and a region division unit. The edge definition unit is used to extract the geometric information of the radiator from the topography image and determine the cleaning operation boundary based on the geometric information. The feature analysis unit is used to extract dirt distribution features from the topography image and hotspot distribution features from the temperature distribution image. The data fusion unit is used to spatially register and overlay the dirt distribution features and hotspot distribution features, and generate a key cleaning map containing dirt distribution information and temperature distribution information based on the cleaning operation boundary. The region division unit is used to divide the key cleaning map into multiple sub-regions to be cleaned. Specifically, the planning module is used to generate corresponding cleaning paths and cleaning parameters based on the dirt distribution features and temperature distribution features of each sub-region to be cleaned. The execution module is used to control the movement of the cleaning components and execute cleaning actions according to the cleaning path and cleaning parameters corresponding to each sub-region to be cleaned.

[0043] In this embodiment, by setting an edge demarcation unit, geometric information of the radiator can be extracted from the topographic image. This geometric information includes the radiator's size, shape, boundaries, and the shape and distribution of the heat dissipation fins. This enables automated and accurate identification and determination of the cleaning boundary, avoiding over-cleaning or missed areas caused by traditional manual demarcation, and adapting to the complex structural forms of the radiator. By setting a feature analysis unit to simultaneously acquire the characteristics of dirt distribution and hotspot distribution, and using a data fusion unit to achieve organic integration of dual-modal data through spatial registration technology, cleaning decisions can simultaneously consider the degree of physical contamination and the impact of thermal performance. Moreover, the key cleaning map generated based on feature overlay can intuitively present the dirt-temperature coupling distribution pattern. Further, the region division unit can achieve region division, providing data support for differentiated cleaning strategies. Furthermore, the planning module generates corresponding cleaning paths and cleaning parameters for each sub-region to be cleaned, and the execution module performs automated cleaning operations for each sub-region to be cleaned according to the corresponding cleaning paths and cleaning parameters, ensuring effective and accurate cleaning of each sub-region while maintaining cleaning quality. This embodiment utilizes a regionalized precision cleaning strategy to reduce unnecessary cleaning areas. Combined with parameter optimization, it can reduce energy consumption, extend equipment lifespan, and reduce the risk of secondary pollution.

[0044] According to some embodiments of this application, the controller further includes a judgment module. This judgment module is used to determine whether the cleaning effect meets a preset cleaning standard based on real-time acquired morphology and temperature distribution images. The preset cleaning standard can be calibrated according to actual conditions. In this embodiment, the addition of a judgment module to the controller, by analyzing the morphology and temperature distribution images collected by the visible light camera and infrared camera in real time, assesses whether the cleaning effect meets the standard. This improves the accuracy of cleaning quality control, reduces ineffective operations, and shortens the overall cleaning cycle. This embodiment utilizes the judgment module to achieve quantitative evaluation of the cleaning effect, avoiding subjective errors from manual judgment and ensuring stable and reliable cleaning quality. The judgment module and the controller form a closed-loop system, realizing an automated "monitoring-analysis-decision-execution" process, reducing manual intervention, and improving the intelligence level of the cleaning operation.

[0045] The judgment module has preset cleaning standards, including stain area thresholds and temperature thresholds. By comparing the feature data of the current morphology image and temperature distribution image with the preset cleaning standards in real time, it determines whether the cleaning effect meets the standards. When the real-time acquired stain feature data and temperature feature data are lower than the preset cleaning standards, the area is judged to be cleaned successfully, and the cleaning operation for that area can be ended. When the real-time acquired stain feature data and temperature feature data are not lower than the preset cleaning standards, the area is judged to be cleaned unsuccessfully, and the cleaning operation needs to continue. The comparison process of the judgment module can evaluate the cleaning effect after the cleaning operation is completed, or it can provide real-time evaluation feedback during the cleaning process, forming a closed-loop feedback control for the cleaning operation.

[0046] In some embodiments, the judgment module can judge the cleaning effect for each sub-area to be cleaned to determine whether the cleaning of the sub-area to be cleaned meets the standards; only after a sub-area to be cleaned meets the standards will the execution module begin the cleaning operation for the next sub-area to be cleaned. Further, the judgment module can judge the cleaning effect for all areas of the radiator to determine whether all areas have met the standards; after all areas have met the standards, the radiator cleaning is considered complete, and the cleaning operation can end; if any area fails to meet the standards, the execution module can begin the cleaning operation for that area.

[0047] According to some embodiments of this application, the controller further includes an anomaly identification module. This module monitors the operating status of the cleaning equipment to identify and handle abnormal conditions during operation. In this embodiment, the anomaly identification module continuously monitors the operating status of the cleaning equipment. When any component's operating parameters become abnormal or a component malfunctions, it can quickly identify the anomaly and issue an alarm or directly output a stop-operation command to the execution module, thereby preventing abnormal conditions from affecting the safe operation of the cleaning equipment and ensuring its continuous, safe, and stable operation.

[0048] According to some embodiments of this application, the controller further includes a wireless communication module for signal interaction between the cleaning equipment and an external system. In this embodiment, by providing a wireless communication module, operators can obtain the operating data of the cleaning equipment through an external system, send control signals to the controller, and receive feedback signals. This enables wireless communication between the cleaning equipment and the external system, improving equipment management efficiency and enhancing the convenience and controllability of cleaning operations.

[0049] In some embodiments, the controller uses a microcontroller as its control core. The microcontroller establishes a wireless communication link by configuring a Wi-Fi module. After accessing the network, it continuously subscribes to a cloud server or local server based on the MQTT (Message Queuing Telemetry Transport, a communication protocol based on a publish / subscribe model). The publish / subscribe model of MQTT is suitable for the controller's command issuance and status reporting. In addition, the controller is matched with a host computer application (APP or web terminal): the mobile application (APP) provides a human-machine interface for maintenance personnel; the control logic in the APP is responsible for issuing control commands (such as start, stop, and setting cleaning path) to the MQTT backend, while listening to and displaying the real-time status of the device reported by the microcontroller (such as location, water pressure, and fault codes), realizing remote monitoring and operation.

[0050] Specifically, such as Figure 4 As shown, Figure 4 The diagram shows the drive system of the carrier unit. The microcontroller sends PWM control signals to two stepper motor drivers to drive the two stepper motors (first drive motor 12, second drive motor 15). The microcontroller receives real-time feedback signals of the current position of the motors or mechanical system to achieve closed-loop control. The drive system of the carrier unit also includes overcurrent and overvoltage protection devices, a switching power supply, and a step-down power supply. The 220V AC power, after passing through the overcurrent and overvoltage protection devices, enters the switching power supply and is converted into 60V DC power as the main power supply of the system. The output 60V DC power is divided into two branches: one directly supplies the stepper motor drivers to provide driving energy for the motors; the other enters the step-down power supply module, which further steps down the voltage to a stable 5V DC power, specifically for powering the microcontroller.

[0051] like Figure 5 As shown, Figure 5 The diagram shows the drive system of the robotic arm unit 20. The drive system of the robotic arm unit 20 also includes an overcurrent and overvoltage protection device, a switching power supply, and a multi-channel switching power supply. After the 220V AC power passes through the overcurrent and overvoltage protection device, it enters the switching power supply and is converted into 24V DC power. The output 24V DC power is distributed to each servo motor and microcontroller through the multi-channel switching power supply. The microcontroller and each servo motor are connected for communication, exchange signals, receive control commands, and execute actions.

[0052] According to the cleaning equipment for power transformer radiators of this application, the control process for cleaning the transformer radiator is as follows: Figure 6 As shown, the specific control flow is as follows: S1. Equipment starts up and performs system initialization and self-test: Executes the initialization program, checks the status of the cleaning equipment, and determines whether there are any abnormalities or faults. If the self-test fails, a fault report will be made and the operating data will be recorded; When the self-test passes, it enters the standby waiting command state and continues to execute step S2 after waiting for external command input. S2. Receive instructions and determine the type of instruction: Receive instructions sent by the user or host computer, and enter different modes according to the type of instruction. There are three types of instructions: automatic cleaning mode, manual cleaning mode, and emergency stop. Upon receiving an automatic cleaning command, perform the following steps: S2.11 Path planning and positioning: Based on the real-time acquired topographic images and temperature distribution images, determine the cleaning area and cleaning task; automatically plan the cleaning path and cleaning parameters based on the cleaning area and cleaning task, and determine the starting position of each mechanical component such as motors and servos; S2.12, Perform cleaning operations: According to the planned cleaning path and cleaning parameters, the cleaning unit 30 is controlled to perform cleaning operations; S2.13 Real-time monitoring status: During the cleaning operation, the status of the cleaning equipment is continuously monitored to determine if any abnormalities are present. Continue the cleaning operation if no abnormalities are found; When an anomaly occurs, it enters a pause state and attempts to resume: If the recovery is successful, return to perform the cleaning operation; If the recovery fails, the fault will be reported and the running data will be recorded; S2.14, Inspection completion status: During the cleaning operation, check the completion status of the cleaning operation in the current cleaning sub-area: If the cleaning operation in the current cleaning sub-area is not completed, continue to execute steps S2.12-S2.14; If the cleaning operation in the current sub-area has been completed, then check the completion status of the cleaning operation in all cleaning areas: If the cleaning work in all cleaning areas is not completed, then continue to execute steps S2.11-S2.14 for the unfinished areas; If the cleaning work in all cleaning areas has been completed, the cleaning work ends and the cleaning equipment is returned to its original position. The task is reported as completed and the operating data is recorded. When the received instruction is in manual cleaning mode, perform the following steps: S2.21. Control the cleaning unit 30 to perform cleaning operations according to the received instructions: The system directly receives and responds to manual commands (such as remote control or button control) in real time, and controls the cleaning unit 30 to perform cleaning operations in real time according to the manual commands; S2.22 After the cleaning operation is completed, the operation is finished and the equipment is put back in its original position. The task is reported as completed and the operation data is recorded. When receiving an emergency stop instruction, perform the following steps: S2.31, Control the cleaning unit 30 to stop the cleaning operation, finish the operation and return to its original position, report the task completion and record the operation data.

[0053] The cleaning equipment for power transformer radiators according to this application has the following technical advantages compared with the prior art: (1) Significantly improved safety and reliability: The cleaning equipment performs cleaning operations automatically and operates efficiently in power outage environments. It does not require consideration of the safety distance from live equipment and does not require manual intervention, thus ensuring the controllability and safety of the entire cleaning process. (2) Refined and optimized cleaning effect: The main cleaning actuator adopts a bionic robotic arm design. Its multi-degree-of-freedom motion can closely fit the complex structure of the heat sink fins, achieving three-dimensional cleaning without dead angles. The nozzle 33 can be precisely linked with the movement trajectory of the robotic arm to ensure that the flow rate and coverage of the cleaning medium are dynamically matched with the shape of the heat sink fins, effectively solving the problems of uneven water flow distribution and blind spots in traditional rinsing. (3) Improved operation and maintenance efficiency The efficiency is greatly improved: the automated cleaning mode replaces the traditional manual operation, which significantly reduces the labor intensity and labor cost; combined with the Internet of Things remote control technology, the operation and maintenance personnel can view the cleaning status and control it in real time through the terminal equipment in the main control room or safe area, which minimizes the transformer power outage maintenance time and improves the availability and operating efficiency of power equipment; (4) Enhanced system adaptability and practicality: the modular architecture enables the device to quickly adapt to the heat dissipation fin layout of different transformer models; moreover, in the power outage environment, the device reduces the stringent requirements on the insulation level of the cleaning equipment itself, which not only simplifies the system structure, but also effectively controls the manufacturing cost, and improves the economic efficiency and promotion application value of the product.

[0054] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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. Therefore, they should not be construed as limitations on this application.

[0055] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0056] In the description of this application, "multiple" means two or more.

[0057] In the description of this application, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them.

[0058] In the description of this application, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0059] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0060] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A cleaning device for power transformer radiators, characterized in that, include: The support unit includes a fixing component, a first movable frame, and a second movable frame, wherein the fixing component is disposed near the heat sink; The first movable frame is movably disposed on the fixed component along a first direction; the second movable frame is movably disposed on the first movable frame along a second direction. A robotic arm unit is rotatably mounted on the second movable frame. The robotic arm unit includes a plurality of sequentially connected arm sections, and two adjacent arm sections are adapted to rotate relative to each other. A cleaning unit, comprising a cleaning body and at least two nozzles, wherein the cleaning body is rotatably disposed on the end arm section of the robotic arm unit; At least two of the nozzles are rotatably mounted on the cleaning body to be adapted to spray cleaning medium on both sides of the heat dissipation fins; A controller is used to control the operation of the carrying unit, the robotic arm unit, and the cleaning unit.

2. The cleaning equipment for power transformer radiators according to claim 1, characterized in that, The cleaning body includes: A first mounting part is rotatably mounted on the end arm section; A second mounting portion is disposed on the first mounting portion and is adapted to move relative to the first mounting portion in a third direction; the nozzle is rotatably disposed on the second mounting portion.

3. The cleaning equipment for power transformer radiators according to claim 2, characterized in that, The first mounting part is provided with a first drive gear, and the second mounting part is provided with a rack extending in a third direction. The first drive gear is engaged with the rack to drive the second mounting part to move relative to the first mounting part in a third direction.

4. The cleaning equipment for power transformer radiators according to claim 2, characterized in that, The nozzle has an extension, the end of which has at least one spray nozzle, and the extension is adapted to extend into the gap of the heat dissipation fins.

5. The cleaning equipment for power transformer radiators according to claim 1, characterized in that, Also includes: A visible light camera, which is mounted on the fixed component or the end arm, is used to acquire real-time images of the radiator's shape. An infrared camera, which is mounted on the fixed component or the end arm, is used to acquire real-time temperature distribution images of the radiator; Both the visible light camera and the infrared camera are connected to the controller.

6. The cleaning equipment for power transformer radiators according to claim 5, characterized in that, The controller includes: The processing module is used to obtain the dirt distribution characteristics of the radiator from the topography image and the hot spot distribution characteristics of the radiator from the temperature distribution image; The planning module is used to generate cleaning paths and cleaning parameters based on the dirt distribution characteristics and the hotspot distribution characteristics; The execution module is used to control the movement of the cleaning component and perform cleaning actions according to the cleaning path and the cleaning parameters.

7. The cleaning equipment for power transformer radiators according to claim 6, characterized in that, The processing module includes: An edge delineation unit is used to extract the geometric information of the radiator from the topography image and determine the cleaning operation boundary based on the geometric information; The feature analysis unit is used to extract dirt distribution features from the morphology image and hot spot distribution features from the temperature distribution image; The data fusion unit is used to spatially register and overlay the dirt distribution features with the hotspot distribution features, and generate a key cleaning map containing dirt distribution information and temperature distribution information based on the cleaning operation boundary. A region division unit is used to divide the key cleaning map into multiple sub-regions to be cleaned; wherein... The planning module is specifically used to generate corresponding cleaning paths and cleaning parameters based on the dirt distribution characteristics and temperature distribution characteristics of each of the sub-regions to be cleaned. The execution module is specifically used to control the movement of the cleaning component and perform cleaning actions according to the cleaning path and cleaning parameters corresponding to each of the sub-areas to be cleaned.

8. The cleaning equipment for power transformer radiators according to claim 6, characterized in that, The controller further includes a judgment module, used to judge whether the cleaning effect meets the preset cleaning standard based on the real-time acquired morphology image and temperature distribution image.

9. The cleaning equipment for power transformer radiators according to claim 6, characterized in that, The controller further includes an anomaly identification module, used to monitor the operating status of the cleaning equipment in order to identify and handle abnormal conditions during the operation of the cleaning equipment.

10. The cleaning equipment for power transformer radiators according to claim 6, characterized in that, The controller further includes a wireless communication module for signal interaction between the cleaning equipment and external systems.

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