A machine tool and a control method thereof

Abstract

The application belongs to the technical field of vertical insulator cleaning, and particularly relates to a mother machine for collecting and releasing an insulator cleaning robot and a control method thereof, which specifically comprises the following steps: acquiring position information of a sequence of insulators to be cleaned, searching for paths between all mother machines and a terminal point, and selecting a path with the minimum cost function value as a moving path; lowering a collecting and releasing docking mechanism to the lowest position, acquiring the inclination of a longitudinal moving assembly, adjusting the longitudinal moving assembly to a horizontal state, raising the collecting and releasing docking mechanism, pushing the insulator cleaning robot to a predetermined position of the collecting and releasing docking mechanism by a chain conveyor, clamping the lowermost discharge gap by the lowermost gripper of the insulator cleaning robot, and performing cleaning work; sequentially releasing subsequent insulator cleaning robots, and cleaning corresponding insulators to be cleaned; and acquiring the working state of the insulator cleaning robot, and recycling the insulator cleaning robot that has completed the work. The application shortens the transfer time between multiple insulators, and greatly improves the efficiency compared with manual auxiliary robot work.

Description

Technical Field

[0001] This invention belongs to the field of vertical insulator cleaning technology, specifically relating to a mother machine for deploying and retracting insulator cleaning robots and its control method. Background Technology

[0002] As a key hub in the power system, substations contain a large number of insulators used to support and isolate conductors, and the cleanliness of their surfaces directly determines the safe and stable operation of the power grid. Manual cleaning has low investment costs, but it has significant drawbacks: extremely low work efficiency, requiring manual cleaning of each insulator; high work risk, as substations have a high-voltage electrical environment, and manual operation can easily cause safety accidents; and high labor intensity, requiring workers to work for long periods of time in complex substation environments.

[0003] Invention patent CN202211634884.7 discloses a substation insulator cleaning and inspection system and method, including a mobile device, a lifting device, a first fastener with a cleaning mechanism and a second fastener with a detection execution mechanism. It can clean and inspect substation insulators, improving work efficiency, work effect and safety. However, it cannot clean multiple insulators at the same time, and cannot realize the autonomous movement of the main machine and the automatic completion of the collaborative operation of the sub-robots for deployment and retrieval. Summary of the Invention

[0004] The purpose of this invention is to provide a mother machine for a robot for launching and recovering insulators and its control method.

[0005] A mother machine for launching and retrieving an insulator cleaning robot includes a tracked mobile chassis on which an insulator cleaning robot transport mechanism is mounted. A launching and retrieving docking mechanism is provided on one side of the tracked mobile chassis via a fixed bracket. The insulator cleaning robot carrying mechanism includes a chain conveyor belt with multiple flexible fixed bases on it, on which the insulator cleaning robot can be placed. The take-up and docking mechanism includes a lateral moving component at the bottom and a scissor lift platform mounted thereon. A longitudinal moving component is provided at the top of the scissor lift platform. A leveling component is installed between the scissor lift platform and the longitudinal moving component to adjust the tilt of the longitudinal moving component relative to the scissor lift platform. The longitudinal moving component can dock with the chain conveyor belt for the insulator cleaning robot to move its position.

[0006] Adjacent fixed bases are arranged at a preset distance on a chain conveyor belt, and the top of the base is provided with a limiting protrusion that is adapted to the bottom of the insulator cleaning robot.

[0007] The longitudinal movement component includes a longitudinal platform, on which a docking platform is slidably connected.

[0008] The leveling assembly includes several lifting mechanisms, which are respectively arranged at the bottom of the front and rear ends of the longitudinal platform, and the top of the lifting mechanism is rotatably connected to the bottom of the longitudinal platform; The longitudinal platform is also equipped with a tilt angle measurement module, which can measure the tilt of the longitudinal moving component.

[0009] A control method for a mother machine used for deploying and retrieving an insulator cleaning robot, comprising the following steps: S1. Obtain the substation map and the location information of the insulator sequence to be cleaned, construct a three-dimensional map, take the base of the first insulator to be cleaned as the endpoint, search all paths from the machine to the endpoint, calculate the cost function value of each path, and select the path with the smallest cost function value as the machine movement path. S2. The mother machine's take-up and docking mechanism is lowered to the lowest position and moves until the horizontal distance between it and the first insulator base to be cleaned meets the preset distance threshold. The tilt of the longitudinal moving component is obtained, the leveling response time constraint is calculated, and within the leveling response time constraint, the longitudinal moving component is adjusted to a horizontal state. The take-up and docking mechanism is raised to the first preset take-up and docking position. The chain conveyor belt is conveyed in the forward direction, pushing the first insulator cleaning robot placed on the fixed base to the predetermined position of the take-up and docking mechanism. S3. The take-up and release docking mechanism rises to the same height as the base of the first insulator to be cleaned, and instructs the gripper at the bottom of the first insulator cleaning robot to clamp the discharge gap at the bottom of the first insulator to be cleaned, thus completing the release of the first cleaning robot. The first insulator cleaning robot then performs cleaning operations on the first insulator to be cleaned. S4. Repeat S2-S3 to release the subsequent insulator cleaning robots in sequence to clean the corresponding insulators to be cleaned. S5. Obtain the operating status of the insulator cleaning robot and retrieve the insulator cleaning robot that has completed its work.

[0010] The steps described in S5 for obtaining the operating status of the insulator cleaning robot and retrieving the insulator cleaning robot after it has completed its work are as follows: The take-up and docking mechanism moves to the bottom of the insulator cleaning robot that has completed its work, supporting the base of the insulator cleaning robot. The grippers of the insulator cleaning robot that has completed its work release the insulator, and the take-up and docking mechanism descends to the second preset take-up and docking position. The longitudinal moving component is adjusted to tilt towards the chain conveyor belt at a preset angle, so that the rear of the insulator cleaning robot slides onto the chain conveyor belt. The chain conveyor belt runs in the opposite direction for one unit distance, retrieving the insulator cleaning robot that has completed its work to the fixed base.

[0011] In S2, the tilt angle of the longitudinal moving component is obtained, and the leveling response time constraint is calculated, specifically as follows: If the tilt angle of the longitudinal moving component is greater than the tilt angle threshold, the leveling response time constraint is calculated by the following model: , in, To balance the response time, Let the moment of inertia of the table be . For maximum angular acceleration, This is the stiffness coefficient of the hydraulic system. , These are the tilt degree and tilt angle threshold of the docking platform, respectively.

[0012] The specific calculation method for the cost function value in S1 is as follows: , in, Let cost function be Total distance traveled. To the number of obstacle avoidance attempts, The cost factor for each obstacle avoidance attempt. For steering angle, As a result of the terrain slope, , , , These are the weighting coefficients.

[0013] In S3, the lowermost gripper of the first insulator cleaning robot is instructed to grip the lowermost discharge gap of the first insulator to be cleaned, and the gripping force of the gripper satisfies the following constraints: , in, For clamping force, For the quality of the insulator cleaning robot (5), It is the acceleration due to gravity. The coefficient of friction between the gripper and the insulator. Where is the radius of the insulator.

[0014] The first preset retraction position is lower than the second preset retraction position.

[0015] Compared with the prior art, the present invention has the following advantages: This application, through a collaborative design of autonomous navigation of the mother machine and automatic deployment and retrieval of the sub-robots, eliminates the need for frequent manual intervention in the cleaning of multiple insulators, significantly reducing the labor intensity of operation and maintenance personnel and the risks of working in high-voltage environments; By adopting a multi-sub-robot parallel operation and mother-machine sequential deployment mode, the next robot can be deployed without waiting for a single sub-robot to complete its work. Combined with the high mobility of the tracked chassis, the transfer time between multiple insulators is shortened, and the efficiency is greatly improved compared with manual assistance in robot operation. The tracked mobile chassis can adapt to complex terrains such as unpaved roads and slopes within substations. The environmental perception system integrates the advantages of lidar and ultrasonic radar to achieve dual protection of three-dimensional environmental modeling and close-range obstacle avoidance. The retraction and docking platform integrates a triple alignment mechanism of hydraulic automatic leveling, lateral fine adjustment, and front and rear slide rail fine adjustment. It has small height adjustment error and high horizontal distance adjustment accuracy, ensuring that the sub-robot can accurately dock with insulators even in inclined and uneven working environments. This application is highly scalable and widely applicable. After the height of the docking platform is adjusted, it can be adapted to column-type insulators of different heights and specifications. It is compatible with the size and interface of existing mainstream insulator cleaning robots, without the need to modify existing equipment, thereby improving the reliability and operation and maintenance efficiency of insulator cleaning. Attached Figure Description

[0016] Figure 1 This is a structural diagram of the main machine for a robot used for loading and unloading insulators for cleaning. Figure 2 This is a structural diagram of the main machine for a robot used for loading and unloading insulators for cleaning. Figure 3 This is a structural diagram of the main machine for a robot used for loading and unloading insulators for cleaning. Figure 4 This is a structural diagram of the main machine for a robot used for loading and unloading insulators for cleaning. Figure 5 This is a structural diagram of the transport mechanism for the insulator cleaning robot. Figure 6 This is a diagram of the overall structure of the launching and docking mechanism.

[0017] The components represented by the various reference numerals in the diagram are: 1. Tracked mobile chassis; 2. Insulator cleaning robot transport mechanism; 201. Chain conveyor belt; 202. Fixed base; 2021. Limiting protrusion; 3. Fixed bracket; 4. Retraction and docking mechanism; 401. Lateral movement component; 402. Scissor lift platform; 4021. Scissor lift component; 4022. Hydraulic rod; 4023. Support platform; 403. Leveling component; 404. Longitudinal movement component; 4041. Longitudinal platform; 4042. Longitudinal slide rail; 4043. Telescopic cylinder; 4044. Docking platform; 5. Insulator cleaning robot. Detailed Implementation

[0018] Example To further understand the content of this invention, the invention will be described in detail with reference to the embodiments.

[0019] This embodiment provides a mother machine for deploying and retrieving the insulator cleaning robot 5, combined with... Figures 1-4 It includes a tracked mobile chassis 1, on which an insulator cleaning robot transport mechanism 2 is mounted, and a take-up and docking mechanism 4 is provided on one side of the tracked mobile chassis 1 via a fixed bracket 3.

[0020] The following is combined with Figure 1 The structure of the tracked mobile chassis 1 is described in detail.

[0021] Specifically, in this embodiment, the tracked mobile chassis 1 serves as the mobile carrier of the mother machine, possessing omnidirectional movement and on-the-spot turning capabilities. It can adapt to unpaved roads within the substation, such as gravel roads and damaged cement roads. Through the built-in navigation module and drive system, it achieves flexible and stable autonomous navigation and positioning, ensuring that the mother machine accurately moves to the target insulator position in complex station environments.

[0022] Furthermore, the tracked mobile chassis 1 is equipped with an environmental perception system, which includes a forward-facing lidar and visible light imaging module, and a circumferential ultrasonic ranging radar array. The forward-facing lidar and visible light imaging module are installed at the front of the deployment and docking mechanism 4. The lidar can scan the three-dimensional contour of the surrounding environment in real time, and the visible light imaging module captures environmental image information for real-time perception of the surrounding environment and dynamic construction of a three-dimensional map, providing accurate data support for the mother machine's autonomous path planning, such as avoiding equipment obstacles, selecting the optimal route, and navigation. The circumferential ultrasonic ranging radar array is evenly distributed around the tracked mobile chassis 1, with one array each at the front, back, left, and right. It can detect the distance between the mother machine and surrounding equipment, walls, and other obstacles in real time. When the distance is less than the safety threshold, it sends a signal to the central control system to avoid collisions. This application also includes a central control system integrated in a control box inside the tracked mobile chassis 1, which consists of a data processing module and a communication module. The data processing module receives environmental data transmitted by the environmental perception system, analyzes and processes it to generate path planning instructions. The communication module realizes signal transmission between the central control system and various structures of the mother machine. The central control system as a whole is used to process environmental perception information, plan the operation path, control the movement of the chassis, and coordinate the action sequence of the sub-insulator cleaning robot carrying mechanism 2 and the take-up and docking mechanism 4 to complete the take-up and docking actions of the sub-robot and ensure that all components work together.

[0023] The insulator cleaning robot carrying mechanism 2 includes a chain conveyor belt 201, on which multiple flexible fixed bases 202 are provided, and the insulator cleaning robot 5 can be placed on the fixed bases 202.

[0024] Specifically, see Figure 5 Adjacent fixed bases 202 are arranged at a preset distance on the chain conveyor belt 201, and the top of the base is provided with a limiting protrusion 2021 that is adapted to the bottom of the insulator cleaning robot 5.

[0025] Furthermore, in this embodiment, the fixed base 202 is made of wear-resistant rubber, and the drive motor of the chain conveyor belt 201 is a stepper motor, which can precisely control the conveying speed and displacement of the conveyor belt; the two fixed bases 202 are arranged on the chain conveyor belt 201 with a spacing of 15cm. The top of the base is provided with a limiting protrusion 2021 that is adapted to the bottom of the insulator cleaning robot 5. The limiting protrusion 2021 can cooperate with the bottom of the insulator cleaning robot 5 to ensure that the insulator cleaning robot 5 is limited on the base during transportation, so as to avoid shaking or falling due to the movement of the mother machine.

[0026] As a further preferred option, the height of the docking platform 4044 is greater than the height of the chain conveyor belt 201 during transportation, which can better limit the position of the insulator cleaning robot 5 on the chain conveyor belt 201 during transportation.

[0027] The take-up and docking mechanism 4 includes a horizontal moving component 401 at the bottom and a scissor lift platform 402 mounted thereon. A vertical moving component 404 is mounted on the top of the scissor lift platform 402. A leveling component 403 is installed between the scissor lift platform 402 and the vertical moving component 404 to adjust the tilt of the vertical moving component 404 relative to the scissor lift platform 402. The vertical moving component 404 can dock with the chain conveyor belt 201 for moving the position of the insulator cleaning robot 5.

[0028] Specifically, see Figure 6 In this embodiment, the lateral movement component 401 can drive the entire take-up and docking mechanism 4 to move laterally by ±10cm under the drive of the central control system, finely adjusting the distance with the insulator to be cleaned, and ensuring that the insulator cleaning robot 5 is aligned with the insulator.

[0029] The platform of the scissor lift platform 402 on the lateral moving assembly 401 is made of lightweight alloy material. The scissor lift platform 402 includes a scissor lift assembly 4021 whose bottom is slidably connected to the lateral moving assembly 401. It is driven by a hydraulic rod 4022 to achieve lifting and can achieve height adjustment within the range of 0.5-3m. It is used to transport and receive the insulator cleaning robot 5 delivered by the insulator cleaning robot carrier mechanism 2, and to complete its release and retrieval operations at the insulator base. Furthermore, the top of the scissor lift assembly 4021 is slidably connected to the support platform 4023. A leveling assembly 403 is provided on the support platform 4023 and connected to the longitudinal moving assembly 404.

[0030] The longitudinal moving component 404 includes a longitudinal platform 4041, on which a docking platform 4044 is slidably connected. A tilt angle measuring module is also installed on the longitudinal platform 4041, which can measure the tilt of the longitudinal moving component 404. Furthermore, the tilt angle measuring module of this application can use an angle sensor or other existing angle measuring technology that can achieve this function, and this application does not impose any restrictions. The platform of the docking platform 4044 is used to place the insulator cleaning robot 5. The platform is also provided with a limiting protrusion 2021 adapted to the insulator cleaning robot 5 to ensure the fixation of the insulator cleaning robot 5 during transportation.

[0031] Furthermore, a longitudinal slide rail 4042 is provided on the longitudinal platform 4041, which works in conjunction with the docking platform 4044 to provide guidance. The slide rail is 50cm long and has a movement accuracy of ±0.5cm. Telescopic bars are provided on both sides of the docking platform 4044, which can drive the docking platform 4044 to move longitudinally and adjust the distance between the cleaning robot and the insulator, so that the gripper of the insulator cleaning robot 5 can successfully grip the insulator.

[0032] Preferably, the leveling component 403 includes several lifting mechanisms, which are respectively arranged at the bottom of the front and rear ends of the longitudinal platform 4041, and the top of the lifting mechanism is rotatably connected to the bottom of the longitudinal platform 4041; when the machine machine has an angular deviation due to the road surface tilt, the tilt of the longitudinal moving component 404 is detected, the lifting mechanism is activated, and the longitudinal moving component 404 is automatically adjusted to keep it level.

[0033] A control method for a mother machine used for deploying and retrieving an insulator cleaning robot 5, comprising the following steps: S1. Obtain the substation map and the location information of the sequence of insulators to be cleaned, construct a three-dimensional map, take the base of the first insulator to be cleaned as the endpoint, search all paths from the machine to the endpoint, calculate the cost function value of each path, and select the path with the smallest cost function value as the machine's movement path.

[0034] Before operation, the 3D map of the substation and the task list are uploaded to the central control system of the machine. The machine starts from the charging pile, switches to operation mode, and the environmental perception system starts working. The lidar and visible light imaging module work together to construct a 3D environmental map, and the circumferential ultrasonic radar monitors the surroundings in real time. The machine moves autonomously along the movement path. When passing through gravel sections, the tracks absorb the bumps, and the chassis remains stable. A path planning algorithm based on multi-factor weight optimization is adopted, and the specific calculation method of its cost function value is as follows: , in, Let cost function be Total distance traveled. To the number of obstacle avoidance attempts, The cost factor for each obstacle avoidance attempt. For steering angle, As a result of the terrain slope, , , , These are the weighting coefficients.

[0035] This function achieves a balance between travel distance, obstacle avoidance cost, smooth steering, and terrain adaptability by dynamically adjusting weights, ensuring that the mother machine moves efficiently and safely in complex station environments.

[0036] S2. The mother machine's take-up and docking mechanism 4 is lowered to the lowest position and moves until the horizontal distance between it and the first insulator base to be cleaned meets the preset distance threshold. The tilt of the longitudinal moving component 404 is obtained, the leveling response time constraint is calculated, and within the leveling response time constraint, the longitudinal moving component 404 is adjusted to a horizontal state. The take-up and docking mechanism 4 rises to the first preset take-up and docking position, and the chain conveyor belt 201 conveys in the forward direction, pushing the first insulator cleaning robot 5 placed on the fixed base 202 to the predetermined position of the take-up and docking mechanism 4.

[0037] Specifically, to ensure a smooth transportation process, the mother machine's take-up and drop-off mechanism 4 is lowered to its lowest position and moves until the horizontal distance to the first insulator base to be cleaned meets a preset distance threshold, at which point it stops and fine-tuning begins. After the mother machine stops moving, the tilt angle of the longitudinal moving component 404 is acquired, and the leveling response time constraint is calculated, specifically: Obtain the tilt angle of the docking platform 4044 of the longitudinal moving component 404. If the tilt angle is greater than the tilt angle threshold, the leveling response time constraint is calculated by the following model: , in, To balance the response time, Let the moment of inertia of the table be . For maximum angular acceleration, This is the stiffness coefficient of the hydraulic system. , These are the tilt degree and tilt angle threshold of the docking platform, respectively.

[0038] The take-up and release mechanism 4 rises to the first preset take-up and release position. The height of the first preset take-up and release position is less than or equal to the height of the chain conveyor belt 201. The mother machine is in the following state: Figure 1 As shown, as a further preferred embodiment, the height of the first preset take-up and put-down position is less than the height of the chain conveyor belt 201, so as to ensure that the chain conveyor belt 201 can deliver the first insulator cleaning robot 5 to the docking platform 4044 during transport. The chain conveyor belt 201 transports in the forward direction, pushing the first insulator cleaning robot 5 placed on the fixed base 202 to the predetermined position of the take-up and put-down docking mechanism 4, as shown. Figure 2 As shown.

[0039] Preferably, in order to maximize the load-bearing capacity of the mother machine, two insulator cleaning robots 5 can be placed on the chain conveyor belt 201 and one insulator cleaning robot 5 can be placed on the docking platform 4044 before the mother machine departs.

[0040] S3. The take-up and release docking mechanism 4 rises to the same height as the base of the first insulator to be cleaned, and instructs the gripper at the bottom of the first insulator to be cleaned 5 to clamp the discharge gap at the bottom of the first insulator to be cleaned, thus completing the release of the first cleaning robot. The first insulator cleaning robot 5 then performs cleaning operations on the first insulator to be cleaned.

[0041] The scissor lift assembly 4021 is activated, raising the first insulator cleaning robot 5 at a speed of 0.1 m / s. The forward-facing laser radar provides real-time height data. When the docking platform 4044 reaches the same height as the top of the base of the first insulator to be cleaned, the scissor lift assembly 4021 stops.

[0042] Based on the insulator axis information captured by the lidar, the central control system controls the lateral movement component 401 and the longitudinal movement component 404 to make fine adjustments, ensuring that the axis of the first insulator cleaning robot 5 is completely parallel to the insulator axis, and that the distance between the grippers and the insulator surface meets the clamping requirements. This minimizes the final alignment error between the first insulator cleaning robot 5 and the first insulator to be cleaned. Evaluate by the following formula: , In the formula: For lidar ranging error, For ultrasonic ranging error, For motor encoder positioning error, This refers to visual positioning error.

[0043] By fine-tuning the tilt, lateral movement component 401, and longitudinal movement component 404, the final alignment error is controlled within ±1.5cm, ensuring that the first insulator cleaning robot 5 can dock with the first insulator to be cleaned.

[0044] The first insulator cleaning robot 5 executes the clamping command, and the electric grippers begin to move, clamping the first insulator to be cleaned at the lowest discharge gap position. Figure 3 As shown, the clamping force of the grippers satisfies the following constraints: , in, For clamping force, For the quality of the insulator cleaning robot (5), It is the acceleration due to gravity. The coefficient of friction between the gripper and the insulator. Where is the radius of the insulator.

[0045] If the clamping force meets the constraint requirements, the bottom of the first insulator cleaning robot 5 cooperates with the limiting protrusion 2021 on the docking platform 4044. The limiting protrusion 2021 limits the first insulator cleaning robot 5, completing the release of the first insulator cleaning robot 5. The first insulator cleaning robot 5 immediately starts the cleaning operation, sprays cleaning fluid, and autonomously cleans the surface of the insulator. This cleaning process is existing technology. For example, see invention patent: CN121649167A.

[0046] S4. Repeat S2-S3 to release the subsequent insulator cleaning robot 5 in sequence to clean the corresponding insulators to be cleaned.

[0047] After transporting the first insulator cleaning robot 5, the take-up and docking mechanism 4 returns to its lowest point. Upon reaching the next insulator to be cleaned, it rises again, as if... Figure 4 As shown, the process of S2-S3 is repeated to release the subsequent insulator cleaning robot 5 in sequence to clean the corresponding insulators to be cleaned.

[0048] S5. Obtain the working status of insulator cleaning robot 5 and retrieve the insulator cleaning robot 5 that has completed its work.

[0049] Specifically, the take-up and release docking mechanism 4 moves to the bottom of the insulator cleaning robot 5 that has completed its work, supports the base of the insulator cleaning robot 5 that has completed its work, the grippers of the insulator cleaning robot 5 that has completed its work release the insulator, the take-up and release docking mechanism 4 descends to the second preset take-up and release position, the longitudinal moving component 404 is adjusted to tilt towards the chain conveyor belt 201 at a preset angle, so that the rear of the insulator cleaning robot 5 slides onto the chain conveyor belt 201, the chain conveyor belt 201 runs in the opposite direction for one unit distance, and the insulator cleaning robot 5 that has completed its work is retrieved to the fixed base 202.

[0050] Preferably, the first preset retraction position is lower than the second preset retraction position, the height of the first preset retraction position is less than that of the chain conveyor belt 201, and the height of the second preset retraction position is greater than that of the chain conveyor belt 201.

[0051] Further, the specific process is as follows: the first insulator cleaning robot 5 reaches the preset cleaning time and completes the cleaning of the first insulator to be cleaned. The mother machine returns to the first insulator to be cleaned. After the docking platform 4044 is aligned, the bottom of the first insulator cleaning robot 5 cooperates with the limiting protrusion 2021 on the docking platform 4044. The gripper of the first insulator cleaning robot 5 is released. After descending, the conveyor belt reverses and transports the robot to the fixed base 202. The second sub-robot and other sub-robots that have completed their work are retrieved in sequence. After all five insulator cleaning robots have been recovered, the central control system summarizes the operation data: total cleaning time for all insulators, average cleaning time per insulator, cleanliness test results, and equipment fault records. The operation data is uploaded to the substation operation and maintenance management platform. The machine switches to return mode, selects a return route that does not overlap with the operation path, and moves at low speed when passing through the cleaned insulator area. The environmental perception system continuously monitors to avoid interference. The machine stops next to the charging pile, automatically connects to the charging interface, and the central control system shuts down unnecessary modules and switches to sleep mode.

[0052] Based on the assignment data, the pass rate Q for this assignment is calculated using the following formula: , In the formula, To achieve the desired pass rate for this assignment, the preset pass threshold is 95%. The number of cleanliness-compliant work objects, in this embodiment, is defined as follows: the residual dirt on the surface of the insulator after cleaning is ≤0.03 mg / cm³. 2 ; This represents the total number of insulators to be cleaned in this task. This refers to the number of insulators that were not cleaned due to equipment failure, work interruption, or other reasons.

[0053] Substitute the data into the formula to calculate the result, and compare it with the qualified threshold.

[0054] The pass rate of this operation, the average time spent on a single operation object, the total operation time, the cleanliness test data of each object, and the equipment fault-free operation records are integrated into the "Insulator Cleaning Operation Effect Evaluation Report" and synchronized to the substation operation and maintenance management system.

[0055] Based on the equipment operating parameters of this operation, it is recommended that subsequent operations in the same scenario use the same equipment configuration and operating parameters.

Claims

1. A host machine for a retraction and extension insulator cleaning robot, characterized by, It includes a tracked mobile chassis (1), on which an insulator cleaning robot carrying mechanism (2) is mounted, and a take-up and docking mechanism (4) is provided on one side of the tracked mobile chassis (1) through a fixed bracket (3). The insulator cleaning robot carrying mechanism (2) includes a chain conveyor belt (201) on which multiple flexible fixed bases (202) are provided, and the insulator cleaning robot (5) can be placed on the fixed bases (202). The take-up and docking mechanism (4) includes a horizontal moving component (401) at the bottom and a scissor lift platform (402) set thereon. A longitudinal moving component (404) is set on the top of the scissor lift platform (402). A leveling component (403) is installed between the scissor lift platform (402) and the longitudinal moving component (404) to adjust the tilt of the longitudinal moving component (404) relative to the scissor lift platform (402). The longitudinal moving component (404) can dock with the chain conveyor belt (201) for the insulator cleaning robot (5) to move position.

2. The host machine for a retraction and extension insulator cleaning robot according to claim 1, wherein, Adjacent fixed bases (202) are arranged at a preset distance on the chain conveyor belt (201), and the top of the fixed base (202) is provided with a limiting protrusion (2021) that is adapted to the bottom of the insulator cleaning robot (5).

3. The host machine for a retraction and extension insulator cleaning robot according to claim 1, wherein, The longitudinal moving component (404) includes a longitudinal platform (4041) on which a docking platform (4044) is slidably connected.

4. The mother machine for launching and recovering an insulator cleaning robot according to claim 1, characterized in that, The leveling assembly (403) includes several lifting mechanisms, which are respectively arranged at the bottom of the front and rear ends of the longitudinal platform (4041), and the top of the lifting mechanism is rotatably connected to the bottom of the longitudinal platform (4041). The longitudinal platform (4041) is also equipped with a tilt angle measurement module, which can measure the tilt of the longitudinal moving component (404).

5. A control method for a mother machine of an insulator loading and unloading cleaning robot, used to control the mother machine of the insulator loading and unloading cleaning robot as described in any one of claims 1-4, characterized in that, Includes the following steps: S1. Obtain the substation map and the location information of the insulator sequence to be cleaned, construct a three-dimensional map, take the base of the first insulator to be cleaned as the endpoint, search all paths from the machine to the endpoint, calculate the cost function value of each path, and select the path with the smallest cost function value as the machine movement path. S2. The mother machine's take-up and docking mechanism (4) is lowered to the lowest position and moves until the horizontal distance between it and the first insulator base to be cleaned meets the preset distance threshold. The tilt of the longitudinal moving component (404) is obtained, the leveling response time constraint is calculated, and within the leveling response time constraint, the longitudinal moving component (404) is adjusted to a horizontal state. The take-up and docking mechanism (4) is raised to the first preset take-up and docking position. The chain conveyor belt (201) is forward-transmitted, pushing the first insulator cleaning robot (5) placed on the fixed base (202) to the predetermined position of the take-up and docking mechanism (4). S3. The take-up and release docking mechanism (4) rises to the same height as the base of the first insulator to be cleaned, and instructs the bottom claw of the first insulator cleaning robot (5) to hold the bottom discharge gap of the first insulator to be cleaned, and completes the release of the first cleaning robot. The first insulator cleaning robot (5) performs cleaning operations on the first insulator to be cleaned. S4. Repeat S2-S3 to release the subsequent insulator cleaning robot (5) in sequence to clean the corresponding insulators to be cleaned. S5. Obtain the working status of the insulator cleaning robot (5) and retrieve the insulator cleaning robot (5) that has completed its work.

6. The mother machine control method for a robot for loading and unloading insulators according to claim 5, characterized in that, The steps described in S5 for obtaining the operating status of the insulator cleaning robot (5) and retrieving the insulator cleaning robot (5) that has completed its work are as follows: The take-up and release docking mechanism (4) moves to the bottom of the insulator cleaning robot (5) that has completed the work, supports the base of the insulator cleaning robot (5) that has completed the work, the gripper of the insulator cleaning robot (5) that has completed the work releases the insulator, the take-up and release docking mechanism (4) descends to the second preset take-up and release position, adjusts the longitudinal moving component (404) to tilt towards the chain conveyor belt (201) at a preset angle, so that the rear of the insulator cleaning robot (5) slides onto the chain conveyor belt (201), the chain conveyor belt (201) runs in the opposite direction for one unit distance, and retrieves the insulator cleaning robot (5) that has completed the work to the fixed base (202).

7. A mother machine control method for a robot for loading and unloading insulators according to claim 5, characterized in that, In S2, the tilt angle of the longitudinal moving component (404) is obtained, and the leveling response time constraint is calculated, specifically as follows: If the tilt angle of the longitudinal moving component (404) is greater than the tilt angle threshold, the leveling response time constraint is calculated by the following model: ， in, To balance the response time, Let the moment of inertia of the table be . For maximum angular acceleration, This is the stiffness coefficient of the hydraulic system. , These are the tilt degree and tilt angle threshold of the docking platform, respectively.

8. A mother machine control method for a robot for loading and unloading insulators according to claim 5, characterized in that, The specific calculation method for the cost function value in S1 is as follows: ， in, Let cost function be Total distance traveled. To the number of obstacle avoidance attempts, The cost factor for each obstacle avoidance attempt. For steering angle, As a result of the terrain slope, , , , These are the weighting coefficients.

9. A mother machine control method for a robot for loading and unloading insulators according to claim 5, characterized in that, In S3, the first insulator cleaning robot (5) is instructed to use its lowest gripper to hold the lowest discharge gap of the first insulator to be cleaned. The gripping force of the gripper satisfies the following constraints: ， in, For clamping force, For the quality of the insulator cleaning robot (5), It is the acceleration due to gravity. The coefficient of friction between the gripper and the insulator. Where is the radius of the insulator.

10. A mother machine control method for a robot for loading and unloading insulators according to claim 5, characterized in that, The first preset retraction position is lower than the second preset retraction position.

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