Substation insulating bushing cable-dropping type cleaning robot operation method and cleaning robot

Abstract

This invention belongs to the field of power equipment maintenance technology. It proposes a method for operating a substation insulating bushing cleaning robot using a cable descent mechanism and the cleaning robot itself. An auxiliary rod is used to place the cable descent mechanism at the top of the insulating bushing, and the clamping component of the cable descent mechanism clamps the outer surface of the cylindrical part at the top of the insulating bushing. One end of the cable descent rope is placed on the ground and connected to the cleaning mechanism. The cable descent rope is retracted, lifting the cleaning mechanism to the cleaning position on the insulating bushing. The cleaning mechanism is activated, and the rising and falling of the cable descent rope drives the cleaning mechanism to clean the insulator layer by layer. Through the cable descent control, the robot can be installed and removed from the insulating bushing, reducing the crawling ability and control requirements of the cleaning mechanism on the insulating bushing, improving the cleaning adaptability of insulating bushings of different diameters, and solving the problems of complex robot structure and poor adaptability.

Description

Technical Field

[0001] This invention belongs to the field of power equipment maintenance technology, and in particular relates to a method for operating a substation insulating bushing cable-drop cleaning robot and the cleaning robot itself. Background Technology

[0002] Regularly cleaning insulating bushings during power outages is a necessary part of substation maintenance. Transformers and incoming / outgoing bushings are exposed to the external environment and are the primary targets for substation pollution flashover prevention and maintenance. Currently, workers stand on the ground or a lifting platform, holding long insulated rods with electric brushes at the end for sweeping, or manually use water sprayers for rinsing. This method is physically demanding and inefficient. Large vehicle-mounted water washing equipment is bulky and difficult to access the confined spaces of GIS substations, and is also limited by road conditions, making it difficult to reach all work points flexibly. Using a cleaning robot can solve the problems of low efficiency of manual work and the difficulty of accessing confined spaces for large vehicle-mounted water washing equipment.

[0003] Traditional substation insulating bushing cleaning robots still require hoisting equipment to install and remove the cleaning mechanism from the insulating bushing. After installation, the cleaning mechanism needs to have the ability to crawl on the insulating bushing to complete the cleaning of the entire insulating bushing. The structure is complex, the control is difficult, and it cannot adapt to the crawling requirements of insulating bushings with different diameters. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a method for operating a substation insulating bushing cable-descent cleaning robot and a cleaning robot in general. By controlling the cable descent mechanism, the robot can be installed and removed from the insulating bushing, reducing the crawling ability and control requirements of the cleaning mechanism on the insulating bushing, improving the cleaning adaptability of insulating bushings of different diameters, and solving the problems of complex robot structure and poor adaptability.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a method for operating a substation insulating bushing cable-drop cleaning robot, employing the following technical solution: A method for operating a substation insulating bushing cleaning robot using a cable descent mechanism, the robot comprising a cable descent mechanism, a cleaning mechanism connected to the cable descent mechanism, and an auxiliary rod mounted on the cable descent mechanism; the cable descent mechanism is equipped with a clamping assembly and a cable descent rope; the method includes: The auxiliary rod places the descent mechanism at the top of the insulating sleeve, and the clamping component of the descent mechanism clamps the outer surface of the cylinder at the top of the insulating sleeve; One end of the descent rope of the descent mechanism is placed on the ground and connected to the cleaning mechanism. The descent rope is then retrieved to lift the cleaning mechanism to the cleaning position of the insulating sleeve. The cleaning mechanism is activated, and the descent ropes lift and lower the cleaning mechanism to clean the insulators layer by layer. After the cleaning operation is completed, the rappelling rope of the rappelling mechanism descends to bring the cleaning mechanism to the ground; the rappelling mechanism is then removed using an auxiliary pole.

[0006] To achieve the above objectives, in a second aspect, the present invention also provides a substation insulating bushing descent-type cleaning robot, which adopts the following technical solution: A descent substation insulating bushing cleaning robot includes a descent mechanism, a cleaning mechanism connected to the descent mechanism, and an auxiliary rod disposed on the descent mechanism. The rappelling mechanism includes a rappelling frame, an auxiliary connector and a drive assembly mounted on the rappelling frame; the auxiliary rod is connected to the auxiliary connector, and a clamping assembly is provided at each end of the rappelling frame, and a rappelling rope is provided on the drive assembly.

[0007] Furthermore, guide grooves are provided at both ends of the rappelling frame, and multiple guide wheels are provided in the guide grooves. A rappelling rope is provided in the guide grooves at both ends of the rappelling frame, and the rappelling rope is mounted on the guide wheels.

[0008] Furthermore, the drive assembly includes a motor and a winch support frame mounted on the rappelling frame; a first winch and a second winch are rotatably mounted on the winch support frame, the first winch is connected to the output shaft of the motor, and a first gear and a second gear are respectively mounted on the first winch and the second winch, which mesh with each other; rappelling ropes are wound around the first winch and the second winch respectively.

[0009] Furthermore, the clamping assembly includes a telescopic member disposed on the cable descent frame, a V-shaped frame disposed on the telescopic member, and a first guide wheel and a second guide wheel disposed at both ends of the V-shaped frame, wherein the first guide wheel and the second guide wheel are perpendicular to each other on the axis.

[0010] Furthermore, an elastic layer is provided on the inner wall of the V-shaped frame.

[0011] Furthermore, two first guide wheels are embedded in the left and right sides of the V-shaped frame, and the first guide wheels are hinged to the slots of the V-shaped frame through pins; a guide shaft is provided between the two first guide wheels, one end of the guide shaft is hinged to the pin, and the other end passes through the spring bracket on the back of the V-shaped frame, and a spring is provided inside the spring bracket.

[0012] Furthermore, the cleaning mechanism includes two guide rails, which are semi-circular guide rails. The two ends of the two guide rails are connected by a first connector and a second connector, respectively. An axial guide component is provided at each end of each guide rail, and each guide rail is equipped with a cleaning mechanism. A lifting ring and an arc-shaped rack are provided on both sides of the guide rail.

[0013] Furthermore, the axial guide assembly includes a support rod disposed on the guide rail, a fixing block disposed on the support rod, and a guide rod connected to the fixing block by a spring.

[0014] Furthermore, the cleaning mechanism includes a support plate connected to a guide rail via a support wheel. A first servo motor is mounted on the support plate, and a first gear meshing with the arc-shaped rack is mounted on the output shaft of the first servo motor. A second servo motor and a third servo motor are slidably mounted on the support plate via a slider and a slide rail. A spur rack is mounted on the support plate, and a second gear meshing with the spur rack is mounted on the second servo motor. A brush is rotatably mounted on the third servo motor, and a bevel gear is mounted on the brush, which meshes with a gear on the output shaft of the third servo motor.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention innovatively provides a method for operating a substation insulating bushing cable-descent cleaning robot. The method involves placing a cable-descent mechanism on the top of the insulating bushing using an auxiliary rod, with the clamping component of the cable-descent mechanism gripping the outer surface of the cylindrical part of the top of the insulating bushing. One end of the cable-descent rope is placed on the ground and connected to the cleaning mechanism. Retraction of the cable-descent rope lifts the cleaning mechanism to the cleaning position on the insulating bushing. The cleaning mechanism is activated, and the rising and falling of the cable-descent rope drives the cleaning mechanism to clean the insulator layer by layer. Through the cable-descent control, the robot can be installed and removed from the insulating bushing, reducing the crawling ability and control requirements of the cleaning mechanism on the insulating bushing, improving the cleaning adaptability to insulating bushings of different diameters, and solving the problems of complex robot structure and poor adaptability.

[0016] 2. This invention innovatively provides a robot that achieves stable installation on the insulating bushing through the adaptive adjustment capability of the clamping component perpendicular to the bushing axis. It also enables the cable-type lifting and lowering of the cleaning mechanism, reducing installation requirements, improving flexibility, and solving the problem that traditional substation insulating bushing cleaning robots require hoisting equipment to install the cleaning mechanism. The structure is simple and the control requirements are low.

[0017] 3. This invention innovatively provides a robot and designs a cleaning mechanism, including two semi-circular guide rails. The two ends of the two guide rails are connected by a first connector and a second connector, respectively. An axial guide component is set at each end of each guide rail, and each guide rail is equipped with a cleaning mechanism. By using the two semi-circular guide rails that are hinged to each other, the insulating sleeve is cleaned in a wrapping manner, which improves the cleaning effect and solves the problem of the insulating sleeve being wrapped around.

[0018] 4. This invention innovatively provides a robot and designs a cleaning mechanism. Through the cooperation of three servo motors, the circumferential movement, radial movement and brush rotation of the cleaning mechanism are realized respectively. The structure is compact, improves the adaptability to the diameter of the insulating sleeve, and solves the problem of cleaning the insulating sleeve layer by layer. Attached Figure Description

[0019] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0020] Figure 1 This is a schematic diagram of the robot mechanism according to Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the cable descent mechanism in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the rope driving assembly of Embodiment 1 of the present invention; Figure 4 This is the clamping component of Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the cleaning mechanism in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the axial guide assembly of Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the cleaning mechanism in Embodiment 1 of the present invention; The components include: 1. A rappelling mechanism; 11. Auxiliary connector; 12. A rappelling frame; 121. Guide groove; 122. Guide wheel; 13. Drive assembly; 131. Motor; 132. Winch support frame; 133. First winch; 134. Second winch; 135. First gear; 136. Second gear; 14. Clamping assembly; 141. Telescopic component; 142. V-shaped frame; 143. Pin; 144. Spring bracket; 145. Guide shaft; 146. First guide wheel; 147. Second guide wheel; 148. Elastic layer; 15. Rappelling rope; 2. Cleaning mechanism; 21. 21. Guide rail; 22. First connecting piece; 23. Lifting ring; 24. Arc rack; 25. Axial guide assembly; 251. Support rod; 252. Fixing block; 253. Spring; 254. Guide rod; 26. Cleaning mechanism; 261. Support plate; 262. Support wheel; 263. First servo motor; 264. First gear; 265. Slider; 266. Slide rail; 267. Straight rack; 268. Second servo motor; 269. Second gear; 2610. Third servo motor; 2611. Bevel gear; 2612. Brush; 27. Second connecting piece; 3. Auxiliary rod; 4. Insulating sleeve. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0023] Insulating bushings are critical support equipment in substations. Long-term exposure to the outdoor environment makes their surfaces prone to accumulating industrial dust, salt, bird droppings, and other contaminants. In humid weather conditions such as fog, dew, and rain, these contaminants dissolve or become damp, increasing the surface conductivity of the insulators and potentially causing flashover accidents. Therefore, regular power outage cleaning of insulating bushings is a necessary part of substation maintenance. With technological advancements and breakthroughs in power technology, substations have been gradually upgraded, transforming open substations into GIS indoor substations. However, transformers and incoming / outgoing bushings remain exposed to the external environment, becoming the primary focus of substation flashover prevention and maintenance.

[0024] Currently, the cleaning of substation insulating bushings mainly relies on manual labor or large-scale water flushing equipment. Workers stand on the ground or on a lifting platform, holding long insulating rods with electric brushes at the end for sweeping, or manually using water spray heads for rinsing. This requires workers to hold heavy cleaning tools for extended periods, resulting in significant physical exertion and low work efficiency. Large-scale vehicle-mounted water flushing equipment, carrying treated deionized water or high-resistivity water, is used with high-pressure water guns for rinsing. However, this large-scale equipment is bulky and difficult to access the confined spaces of GIS substations. Furthermore, it is limited by road conditions and cannot flexibly reach all work points. In addition, this method usually requires large-capacity water supply vehicles, resulting in long on-site preparation time, which is difficult to meet the requirements of short planned power outage windows and rapid response times in substations.

[0025] To solve at least one of the above problems, such as Figure 1 As shown, one embodiment of the present invention provides a substation insulating bushing cable descent cleaning robot, including a cable descent mechanism 1, a cleaning mechanism 2 connected to the cable descent mechanism 1, and an auxiliary rod 3 disposed on the cable descent mechanism 1, etc.

[0026] During operation, the descent mechanism 1 in the robot is lifted and fixed to the upper end of the insulating sleeve 4 by the auxiliary rod 3. Then, the cleaning mechanism 2, using its own weight, performs a top-down cleaning operation, achieving continuous movement along the insulator string. The descent mechanism 1 is installed and fixed at the top of the insulating sleeve, hanging on the upper surface of the top insulator in a ring-like manner, providing descent support for the robot. The cleaning mechanism 2 is fixedly suspended at the lower ends of the descent ropes on the left and right sides of the descent mechanism 1. The cleaning mechanism 2 is a symmetrical ring structure that hugs the insulating sleeves 4 of different diameters, achieving circumferential cleaning. The descent mechanism 1 uses ropes to carry the cleaning mechanism 2 to move axially up and down along the insulator, achieving axial layer-by-layer cleaning of the insulating sleeve 4.

[0027] like Figure 2 and Figure 3 As shown, the rappelling mechanism 1 includes an auxiliary connector 11, a rappelling frame 12, a drive assembly 13, a clamping assembly 14, and a rappelling rope 15, etc.

[0028] The auxiliary connector 11 is used to connect with the auxiliary rod 3, and can be connected by bolts or other means; the auxiliary connector 11 and the drive assembly 13 are both located in the middle of the rappelling frame 12; the two ends of the rappelling frame 12 are respectively provided with clamping assemblies 14; the rappelling rope 15 is provided on the drive assembly 13.

[0029] like Figure 2 As shown, guide grooves 121 are respectively provided at both ends of the rappelling frame 12, and multiple guide wheels 122 are arranged in the guide grooves 121. A rappelling rope 15 is arranged in each of the guide grooves 121 at both ends of the rappelling frame 12, and the rappelling rope 15 is mounted on the guide wheels 122. The symmetrical arrangement of the rappelling ropes 15 ensures the stability of the lifting of the cleaning mechanism 2. The rappelling ropes 15 are embedded in the middle of the rappelling frame 12, and the multiple guide wheels 122 on the rappelling frame 12 can change the direction of the rappelling ropes 15, preventing friction between the rappelling ropes 15 and the rappelling frame 12, thus protecting the rappelling ropes 15.

[0030] like Figure 3As shown, the drive assembly 13 includes a motor 131 mounted on the rappelling frame 12 and a winch support frame 132. A first winch 133 and a second winch 134 are rotatably mounted on the winch support frame 132. The first winch 133 is connected to the output shaft of the motor 131. A first gear 135 and a second gear 136 are respectively mounted on the first winch 133 and the second winch 134, and the first gear 135 and the second gear 136 mesh. A rappelling rope 15 is wound around the first winch 133 and the second winch 134. Through the meshing of the first gear 135 and the second gear 136, the same motor 131 drives the rappelling rope 15, resulting in a simple structure and ensuring synchronous lifting and lowering of the rappelling rope 15.

[0031] like Figure 4 As shown, the clamping assembly 14 includes a telescopic member 141 disposed on the cable descent frame 12, a V-shaped frame 142 disposed on the telescopic member 141, and a first guide wheel 146 and a second guide wheel 147 disposed at both ends of the V-shaped frame 142. The first guide wheel 146 and the second guide wheel 147 are perpendicular to each other and are used for circumferential guidance and arc-shaped guidance on the outer surface of the cylindrical outer surface of the top end of the insulating sleeve 4, respectively. An elastic layer 148 is disposed on the inner wall of the V-shaped frame 142. The elastic layer 148 can be a rubber layer to reduce damage to the upper surface of the insulating sleeve during clamping.

[0032] Optionally, two first guide wheels 146 are embedded in the left and right sides of the V-shaped frame 142, and the first guide wheels 146 are hinged to the slot of the V-shaped frame 142 through a pin 143. A guide shaft 145 is provided between the upper and lower first guide wheels 146. One end of the guide shaft 145 is hinged to the pin 143, and the other end passes through the spring bracket 144 on the back of the V-shaped frame 142. A spring is provided inside the spring bracket 144 and passes through the guide shaft 145. When the first guide wheels 146 are subjected to pressure, they can extend and retract through the guide shaft 145 and the spring in the spring bracket 144, thereby improving adaptability.

[0033] The telescopic component 141 can be an electric push rod, a hydraulic telescopic rod, or a pneumatic telescopic rod. The V-shaped frame 142 can be adapted to the outer surface of the cylindrical part at the top of the insulating sleeve 4.

[0034] Optionally, the cable descent frame 12 is U-shaped, with two clamping components 14 symmetrically distributed on the left and right sides of the front end of the cable descent frame 12. The clamping components 14 can move radially, automatically center and clamp the sleeve, and adapt to sleeves of different diameters. When the clamping components 14 move radially, they can slowly rise along the upper surface of the insulator at the top of the sleeve under the action of the second guide wheel 147 at its bottom, ensuring the left and right balance of the cable descent mechanism 1. The cable descent mechanism 1 is located in the middle of the cable descent frame 12, which can realize the lifting and lowering of the cleaning mechanism 2. The auxiliary rod 3 is located on the outside of the cable descent frame 12, and the ground personnel use the auxiliary rod 3 to install the cable descent mechanism 1 as a whole on the top of the sleeve.

[0035] When ground personnel install the rappelling mechanism 1, the second guide wheel 147 is used to place the rappelling mechanism 1 on the upper surface of the insulating sheet at the top of the sleeve. The telescopic component 141 drives the V-shaped frame 142 to move radially along the sleeve. At this time, the second guide wheel 147 plays an overall supporting role.

[0036] Since the surface of the bushing insulator is raised in the middle, when the clamping components 14 on the left and right sides gradually approach the cylindrical surface of the bushing in the radial direction, the clamping components 14 can be slowly lifted along the upper surface of the insulator under the action of the second guide wheel 147, so as to ensure the left and right balance of the cable descent mechanism 1 and its perpendicularity to the axis of the insulating bushing, and provide support for the hoisting and cleaning mechanism 2.

[0037] When the clamping assembly 14 approaches the cylindrical surface of the sleeve, the first guide wheel 146 on the clamping assembly 14 first contacts the cylindrical surface of the sleeve. Under the action of the first guide wheels 146 on both sides, the clamping assembly 14 is gradually centered, improving the concentricity between the clamping assembly 14 and the sleeve. When the clamping assembly 14 begins to clamp the sleeve, under external pressure, the first guide wheel 146 gradually retracts outward under the action of the guide shaft, spring and spring bracket. After the first guide wheel 146 retracts, the rubber on the surface of the V-shaped frame 142 begins to contact the cylindrical surface of the sleeve. Under the action of the micro telescopic parts 141 on both sides, the rubber begins to deform, clamping the sleeve and realizing the centering and clamping of the clamping assembly 14.

[0038] Optionally, the second guide wheel 147 and the first guide wheel 146 are made of non-metallic materials such as nylon and POM to avoid scratching the sleeve.

[0039] like Figure 5 As shown, the cleaning mechanism 2 includes a guide rail 21, a first connecting piece 22, a lifting ring 23, an arc-shaped rack 24, an axial guide assembly 25, a cleaning mechanism 26, and a second connecting piece 27.

[0040] The cleaning mechanism 2 includes two guide rails 21, which are semi-circular guide rails. The two ends of the two guide rails 21 are connected by a first connector 22 and a second connector 27, respectively. An axial guide component 25 is provided at each end of each guide rail 21, and each guide rail 21 is provided with a cleaning mechanism 26.

[0041] The guide rail 21 is provided with a lifting ring 23 and an arc-shaped rack 24 on both sides. The lifting ring 23 is connected to the descent rope 15, and the arc-shaped rack 24 is used to connect to the cleaning mechanism 26. The first connecting member 22 and the second connecting member 27 can adopt a structure such as a pin.

[0042] like Figure 6 As shown, the axial guide assembly 25 includes a support rod 251 disposed on the guide rail 21, a fixing block 252 disposed on the support rod 251, and a guide rod 254 connected to the fixing block 252 by a spring 253.

[0043] like Figure 7 As shown, the cleaning mechanism 26 includes a support plate 261, a support wheel 262, a first servo motor 263, a first gear 264, a slider 265, a slide rail 266, a spur rack 267, a second servo motor 268, a second gear 269, a third servo motor 2610, a bevel gear 2611, and a brush 2612, etc.

[0044] The support plate 261 is slidably connected to the guide rail 21 via the support wheel 262. The first servo motor 263 is mounted on the support plate 261, and the output shaft of the first servo motor 263 is provided with a first gear 264 that meshes with the arc-shaped rack 24. The second servo motor 268 and the third servo motor 2610 are slidably mounted on the support plate 261 via the slider 265 and the slide rail 266, respectively. The support plate 261 is provided with a spur rack 267, and the second servo motor 268 is provided with a second gear 269 that meshes with the spur rack 267. The third servo motor 2610 is rotatably mounted with a brush 2612, and the brush 2612 is provided with a bevel gear 2611, which meshes with a gear on the output shaft of the third servo motor 2610.

[0045] The cleaning mechanism 2 is divided into left and right parts. The left and right cleaning mechanisms 2 form a ring structure through the hinge shaft, which encircles insulator strings of different diameters in the middle, and can adapt to bushing cleaning operations within a certain diameter range.

[0046] Optionally, sliders 265 and slide rails 266 are provided on both sides of the support plate 261. The third servo motor 2610 drives the brush to rotate through a bevel gear. The radial feed of the brush 2612 is realized through the second servo motor 268 to adapt to insulating sleeves of different diameters.

[0047] Based on the robot, one embodiment of the present invention provides a working method for a substation insulating bushing descent cleaning robot, including: S1. Ground personnel use auxiliary rod 3 to lift the rappelling mechanism 1 and place it on the upper surface of the insulator sheet at the top of the insulating sleeve 4.

[0048] S2, Ground personnel remote control rappelling mechanism 1, uses the clamping components on the left and right sides to clamp the outer surface of the cylindrical body at the top of the insulating sleeve 4.

[0049] S3. Ground personnel remotely control the rappelling mechanism 1 to place the rappelling rope on the ground.

[0050] S4. Ground personnel attach the cleaning mechanism 2 to the rappelling rope, and remotely control the rappelling mechanism 1 to lift the cleaning mechanism 2 to the cleaning position at the bottom or top of the insulating sleeve 4.

[0051] S5. Remotely start the cleaning mechanism 2, and under the action of the cable descent mechanism 1, realize the insulator layer by layer cleaning operation from top to bottom or from bottom to top.

[0052] S6. After the cleaning operation is completed, the descent mechanism 1 sends the cleaning mechanism 2 to the ground and uses the auxiliary rod 3 to remove the descent mechanism 1.

[0053] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A substation insulating bushing rope descent type cleaning robot operation method, characterized by, The robot used includes a descent mechanism, a cleaning mechanism connected to the descent mechanism, and an auxiliary rod mounted on the descent mechanism; the descent mechanism is equipped with a clamping assembly and a descent rope; the method includes: The auxiliary rod places the descent mechanism at the top of the insulating sleeve, and the clamping component of the descent mechanism clamps the outer surface of the cylinder at the top of the insulating sleeve; One end of the descent rope of the descent mechanism is placed on the ground and connected to the cleaning mechanism. The descent rope is then retrieved to lift the cleaning mechanism to the cleaning position of the insulating sleeve. The cleaning mechanism is activated, and the descent ropes lift and lower the cleaning mechanism to clean the insulators layer by layer. After the cleaning operation is completed, the rappelling rope of the rappelling mechanism descends to bring the cleaning mechanism to the ground; the rappelling mechanism is then removed using an auxiliary pole.

2. Substation insulating bushing rope descent type cleaning robot, characterized in that, It includes a descent mechanism, a cleaning mechanism connected to the descent mechanism, and an auxiliary rod disposed on the descent mechanism; The rappelling mechanism includes a rappelling frame, an auxiliary connector and a drive assembly mounted on the rappelling frame; the auxiliary rod is connected to the auxiliary connector, and a clamping assembly is provided at each end of the rappelling frame, and a rappelling rope is provided on the drive assembly.

3. The substation insulating bushing index cleaning robot of claim 2, wherein, The cable descent frame has guide grooves at both ends, and multiple guide wheels are installed in the guide grooves. Cable descent ropes are installed in the guide grooves at both ends of the cable descent frame and are mounted on the guide wheels.

4. The substation insulating bushing index cleaning robot of claim 2, wherein, The drive assembly includes a motor and a winch support frame mounted on the rappelling frame; a first winch and a second winch are rotatably mounted on the winch support frame, the first winch is connected to the output shaft of the motor, a first gear and a second gear are respectively mounted on the first winch and the second winch, and the first gear and the second gear mesh; rappelling ropes are wound around the first winch and the second winch respectively.

5. The substation insulating bushing rope descent cleaning robot of claim 2, wherein, The clamping assembly includes a telescopic member disposed on the cable descent frame, a V-shaped frame disposed on the telescopic member, and a first guide wheel and a second guide wheel disposed at both ends of the V-shaped frame, wherein the first guide wheel and the second guide wheel are perpendicular to each other.

6. The substation insulating bushing index cleaning robot of claim 5, wherein, An elastic layer is provided on the inner wall of the V-shaped frame.

7. The substation insulating bushing rope descent cleaning robot of claim 5, wherein, Two first guide wheels are embedded in the left and right sides of the V-shaped frame, and the first guide wheels are hinged to the slot of the V-shaped frame through pins; a guide shaft is provided between the two first guide wheels, one end of the guide shaft is hinged to the pin, and the other end passes through the spring bracket on the back of the V-shaped frame, and a spring is provided inside the spring bracket.

8. The substation insulating bushing index cleaning robot of claim 2, wherein, The cleaning mechanism includes two guide rails, which are semi-circular. The two ends of the two guide rails are connected by a first connector and a second connector, respectively. An axial guide component is provided at each end of each guide rail, and each guide rail is equipped with a cleaning mechanism. A lifting ring and an arc-shaped rack are provided on both sides of the guide rail.

9. The substation insulating bushing descent cleaning robot as described in claim 8, characterized in that, The axial guide assembly includes a support rod disposed on the guide rail, a fixing block disposed on the support rod, and a guide rod connected to the fixing block by a spring.

10. The substation insulating bushing descent cleaning robot as described in claim 8, characterized in that, The cleaning mechanism includes a support plate connected to a guide rail via support wheels. A first servo motor is mounted on the support plate, and a first gear meshing with the arc-shaped rack is mounted on the output shaft of the first servo motor. A second servo motor and a third servo motor are slidably mounted on the support plate via a slider and a slide rail. A spur rack is mounted on the support plate, and a second gear meshing with the spur rack is mounted on the second servo motor. A brush is rotatably mounted on the third servo motor, and a bevel gear is mounted on the brush, which meshes with a gear on the output shaft of the third servo motor.

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