An outdoor insulator intelligent detection and cleaning robot system

Abstract

The utility model discloses an outdoor insulator intelligence detection and cleaning robot system relates to robot technical field, and it is including: main body frame, including first frame and second frame, one side of first frame and second frame articulate, and the other side of first frame and second frame are connected through buckle, be provided with first motion module on first frame, be provided with second motion module on second frame, and first motion module and second motion module are mutually symmetrical, install power module, image module and control module on first frame or second frame, salt density sampling module is installed on the upper end of first frame or the upper end of second frame, resistance value detection module is installed on the upper end of first frame or the upper end of second frame, a plurality of cleaning module are installed in the lower end of main body frame around, the utility model discloses can realize the automation detection and cleaning to insulator, is favorable to liberate manpower, improve operation efficiency and guarantee personal safety.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to an intelligent detection and cleaning robot system for outdoor insulators. Background Technology

[0002] With the continuous improvement of voltage levels and line mileage of power transmission and transformation lines, insulators are exposed to environmental pollutants such as dust, salt spray, rain, snow, and bird droppings during line operation. Their surfaces are prone to accumulating dirt and adsorbing salt, resulting in a significant increase in salt density, water density, and ash density values, and a decline in insulation performance. On high-voltage, ultra-high-voltage, and extra-high-voltage lines, surface contamination may even cause flashover and tripping accidents, seriously threatening the safe and stable operation of the power grid. Therefore, insulators need to be inspected and cleaned regularly.

[0003] However, the inspection and cleaning of insulators currently rely heavily on manual labor, which is labor-intensive, inefficient, and dangerous. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the prior art. This invention provides an intelligent detection and cleaning robot system for outdoor insulators, which can automatically detect and clean insulators, thereby freeing up manpower, improving work efficiency, and ensuring personal safety.

[0005] This utility model provides an intelligent detection and cleaning robot system for outdoor insulators, including:

[0006] The main frame includes a first frame and a second frame. One side of the first frame is hinged to the second frame, and the other side of the first frame is connected to the second frame by a snap-fit. A first motion module is provided on the first frame, and a second motion module is provided on the second frame. The first motion module and the second motion module are symmetrical to each other. A power supply module, an image module, and a control module are installed on the first frame or the second frame.

[0007] A salt density sampling module, wherein the salt density sampling module is installed at the upper end of the first frame or the upper end of the second frame;

[0008] A resistance detection module is installed at the upper end of the first frame or the upper end of the second frame.

[0009] Multiple cleaning modules are mounted around the lower end of the main frame.

[0010] Specifically, the salt density sampling module includes a salt density sampling head, a first drive motor, and a first support frame. The first support frame is fixedly mounted on the first frame or the second frame, the first drive motor is fixedly mounted on the first support frame, and the salt density sampling head is mounted on the output shaft of the first drive motor. The output shaft of the first drive motor is parallel to the axial direction of the main frame, and the salt density sampling head is perpendicular to the output shaft of the first drive motor.

[0011] Specifically, the resistance detection module includes a resistance detection head, a second support frame, and a second drive motor. The second support frame is fixedly mounted on the first frame or the second frame, and the second drive motor is fixedly mounted on the second support frame. The resistance detection head is mounted on the output shaft of the second drive motor via an auxiliary bracket. The output shaft of the second drive motor is parallel to the axial direction of the main frame, and the resistance detection head is perpendicular to the output shaft of the second drive motor.

[0012] Specifically, the resistance detection head includes a first electrode rod and a second electrode rod, which are installed on the auxiliary support at intervals and are parallel to each other.

[0013] Specifically, the first motion module is mounted on the first frame via a first mounting plate, with one end of the first mounting plate fixed to the upper end of the first frame and the other end of the first mounting plate fixed to the lower end of the first frame.

[0014] The first motion module includes a first power motor, a first support, a first drive gear, a first driven gear, and a first climbing belt. The first power motor and the first support are both fixedly mounted on the first mounting plate. The first drive gear is connected to the output end of the first power motor through a first drive shaft. The first driven gear is connected to the first support through a first driven shaft. The first climbing belt meshes with the first drive gear and the first driven gear. The first climbing belt is located beside the first mounting plate and is parallel to the length direction of the first mounting plate.

[0015] Multiple first climbing boards are equidistantly arranged on the outer side of the first climbing belt.

[0016] Specifically, the second motion module is mounted on the second frame via a second mounting plate, with one end of the second mounting plate fixed to the upper end of the second frame and the other end of the second mounting plate fixed to the lower end of the second frame.

[0017] The second motion module includes a second power motor, a second support, a second drive gear, a second driven gear, and a second climbing belt. The second power motor and the second support are both fixedly mounted on the second mounting plate. The second drive gear is connected to the output end of the second power motor through a second drive shaft. The second driven gear is connected to the second support through a second driven shaft. The second climbing belt meshes with the second drive gear and the second driven gear. The second climbing belt is located beside the second mounting plate and is parallel to the length direction of the second mounting plate.

[0018] Multiple second climbing boards are equidistantly arranged on the outer side of the second climbing belt.

[0019] Specifically, any of the cleaning modules includes a cleaning bracket, a cleaning brush head, and a cleaning motor. The cleaning bracket is fixedly mounted on the main frame, the cleaning brush head is rotatably mounted in the cleaning bracket, the cleaning motor is fixedly mounted on the cleaning bracket, and the output end of the cleaning motor is fixedly connected to the cleaning brush head.

[0020] Specifically, the cleaning module is provided with four cleaning brush heads, which are evenly distributed around the geometric center of the main frame.

[0021] Specifically, the first frame has multiple first spare mounting holes at its upper and lower ends, and the second frame has multiple second spare mounting holes at its upper and lower ends.

[0022] Specifically, the first frame includes a first upper arc-shaped plate, a first lower arc-shaped plate, and a plurality of first connecting rods. One end of the plurality of first connecting rods is fixedly connected to the first upper arc-shaped plate, and the other end of the plurality of first connecting rods is fixedly connected to the first lower arc-shaped plate.

[0023] The second frame includes a second upper arc-shaped plate, a second lower arc-shaped plate, and a plurality of second connecting rods. One end of the plurality of second connecting rods is fixedly connected to the second upper arc-shaped plate, and the other end of the plurality of second connecting rods is fixedly connected to the second lower arc-shaped plate.

[0024] One end of the first upper arc-shaped plate is hinged to the second upper arc-shaped plate, and the other end of the first upper arc-shaped plate is connected to the second upper arc-shaped plate by a first buckle; one end of the first lower arc-shaped plate is hinged to the second lower arc-shaped plate, and the other end of the first lower arc-shaped plate is connected to the second lower arc-shaped plate by a second buckle.

[0025] Compared with the prior art, the beneficial effects of this utility model are:

[0026] This utility model discloses an intelligent outdoor insulator inspection and cleaning robot system. The main frame integrates a motion module, a power supply module, an image module, a control module, a salt density sampling module, a resistance detection module, and multiple cleaning modules. It can perform multiple operations such as image recognition, salt density sampling, resistance detection, and cleaning simultaneously while climbing insulators. It has a high degree of intelligence and can achieve automated inspection and cleaning of insulators, which helps to free up manpower, improve work efficiency, and ensure personal safety. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the deployed state of the outdoor insulator intelligent detection and cleaning robot system in this embodiment of the utility model;

[0029] Figure 2 This is a schematic diagram of the working status of the outdoor insulator intelligent detection and cleaning robot system in this embodiment of the utility model;

[0030] Figure 3 This is a schematic diagram of the salt density sampling module in an embodiment of this utility model;

[0031] Figure 4 This is a schematic diagram of the resistance detection module in an embodiment of this utility model;

[0032] Figure 5 This is a schematic diagram of the structure of the first motion module in an embodiment of this utility model;

[0033] Figure 6 This is a schematic diagram of the cleaning module in an embodiment of this utility model;

[0034] Figure 7 This is a schematic diagram of the main frame structure in an embodiment of this utility model.

[0035] In the attached diagram, 10 is the main frame; 11 is the first frame; 111 is the first upper arc-shaped plate; 112 is the first lower arc-shaped plate; 113 is the first connecting rod; 12 is the second frame; 121 is the second upper arc-shaped plate; 122 is the second lower arc-shaped plate; 123 is the second connecting rod; 13 is the hinge rod; 14 is the lifting ring; 21 is the first motion module; 211 is the first mounting plate; 212 is the first power motor; 213 is the first support; 214 is the first driving gear; 215 is the first driven gear; 216 is the first climbing belt; 217 is the... 1. Climbing board; 22. Second motion module; 31. Power supply module; 32. Image module; 33. Control module; 34. Third mounting plate; 40. Salt density sampling module; 41. Salt density sampling head; 42. First drive motor; 43. First support frame; 50. Resistance detection module; 51. Resistance detection head; 511. First electrode rod; 512. Second electrode rod; 52. Second support frame; 53. Second drive motor; 54. Auxiliary bracket; 60. Cleaning module; 61. Cleaning bracket; 62. Cleaning brush head; 63. Cleaning motor. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0037] This utility model provides an intelligent detection and cleaning robot system for outdoor insulators. Figure 1 This diagram shows the deployed state of the outdoor insulator intelligent detection and cleaning robot system according to an embodiment of the present invention. Figure 2This diagram illustrates the working state of an outdoor insulator intelligent detection and cleaning robot system according to an embodiment of the present invention. The system includes: a main frame 10, comprising a first frame 11 and a second frame 12, with one side of the first frame 11 hinged to the second frame 12 and the other side of the first frame 11 connected to the second frame 12 via snap-fit ​​connections; a first motion module 21 mounted on the first frame 11 and a second motion module 22 mounted on the second frame 12, the first motion module 21 and the second motion module 22 being symmetrical to each other; a power supply module 31, an image module 32, and a control module 33 mounted on the first frame 11 or the second frame 12; a salt density sampling module 40 mounted on the upper end of the first frame 11 or the upper end of the second frame 12; a resistance detection module 50 mounted on the upper end of the first frame 11 or the upper end of the second frame 12; and multiple cleaning modules 60 mounted around the lower end of the main frame 10.

[0038] This utility model's outdoor insulator intelligent detection and cleaning robot system integrates a motion module, a power supply module 31, an image module 32, a control module 33, a salt density sampling module 40, a resistance detection module 50, and multiple cleaning modules 60 on its main frame 10. It can perform multiple operations such as image recognition, salt density sampling, resistance detection, and cleaning simultaneously while climbing insulators. It has a high degree of intelligence and can achieve automated detection and cleaning of insulators, which is conducive to freeing up manpower, improving work efficiency, and ensuring personal safety.

[0039] Moreover, the first frame 11 and the second frame 12 work together to hold most of the insulators; and through the cooperation of the first motion module 21 and the second motion module 22, stable climbing can be achieved.

[0040] In some specific embodiments, please refer to Figure 1 The first frame 11 and the second frame 12 are hinged together by a hinge rod 13. One side of the first frame 11 is hinged to both ends of the hinge rod 13, and one side of the second frame 12 is also hinged to both ends of the hinge rod 13, so that the first frame 11 and the second frame 12 can open and close with the hinge rod 13 as the pivot, which facilitates the main frame 10 to hold the insulator.

[0041] For details, please refer to Figure 1 The hinge rod 13 is provided with several lifting rings 14 on the side away from the center of the main frame 10, which facilitates the lifting of the outdoor insulator intelligent detection and cleaning robot system.

[0042] Figure 3A schematic diagram of the salt density sampling module in an embodiment of this utility model is shown. The salt density sampling module 40 includes a salt density sampling head 41, a first drive motor 42, and a first support frame 43. The first support frame 43 is fixedly mounted on the first frame 11 or the second frame 12. The first drive motor 42 is fixedly mounted on the first support frame 43. The salt density sampling head 41 is mounted on the output shaft of the first drive motor 42. The output shaft of the first drive motor 42 is parallel to the axial direction of the main frame 10, and the salt density sampling head 41 is perpendicular to the output shaft of the first drive motor 42. The salt density sampling head 41 can sweep across the surface of the insulator under the drive of the first drive motor 42, and achieve salt density sampling through direct contact with the surface of the insulator.

[0043] For details, please refer to Figure 3 The salt density sampling head 41 has a rod-shaped structure and is equipped with a miniature conductivity sensor or ion detection element. It can collect pollutant data on the surface of the insulator in real time when it is swept across the surface of the insulator, and transmit the pollutant data to the control module 33 for processing. The control module 33 contains a salt density analysis unit, which can effectively analyze the pollutant data.

[0044] Figure 4 A schematic diagram of the resistance detection module in an embodiment of this utility model is shown. The resistance detection module 50 includes a resistance detection head 51, a second support frame 52, and a second drive motor 53. The second support frame 52 is fixedly mounted on the first frame 11 or the second frame 12, and the second drive motor 53 is fixedly mounted on the second support frame 52. The resistance detection head 51 is mounted on the output shaft of the second drive motor 53 via an auxiliary bracket 54. The output shaft of the second drive motor 53 is parallel to the axial direction of the main frame 10, and the resistance detection head 51 is perpendicular to the output shaft of the second drive motor 53. The resistance detection head 51 can rotate to contact the surface of the insulator under the drive of the second drive motor 53 to perform resistance detection.

[0045] For details, please refer to Figure 4 The resistance detection head 51 includes a first electrode rod 511 and a second electrode rod 512, which are spaced apart and mounted on the auxiliary support 54, and are parallel to each other. When detecting resistance, the first electrode rod 511 and the second electrode rod 512 of the resistance detection head 51 contact the two ends of the insulator respectively, and apply a low-voltage DC test signal to them. The control module 33 collects the signal and calculates the resistance value, thereby evaluating the insulation state of the insulator.

[0046] Figure 5The diagram shows the structure of the first motion module in this embodiment of the present invention. The first motion module 21 is mounted on the first frame 11 via a first mounting plate 211. One end of the first mounting plate 211 is fixed to the upper end of the first frame 11, and the other end is fixed to the lower end of the first frame 11. The first motion module 21 includes a first power motor 212, a first support 213, a first driving gear 214, a first driven gear 215, and a first climbing belt 216. The first power motor 212 and the first support 213 are both fixedly mounted on the first frame 11. On the first mounting plate 211, the first driving gear 214 is connected to the output end of the first power motor 212 through the first driving shaft, and the first driven gear 215 is connected to the first support 213 through the first driven shaft. The first climbing belt 216 meshes with the first driving gear 214 and the first driven gear 215. The first climbing belt 216 is located on the side of the first mounting plate 211 and is parallel to the length direction of the first mounting plate 211. Multiple first climbing plates 217 are equidistantly arranged on the outer side of the first climbing belt 216.

[0047] The second motion module 22 has the same structure as the first motion module 21. The second motion module 22 is mounted on the second frame 12 via a second mounting plate. One end of the second mounting plate is fixed to the upper end of the second frame 12, and the other end of the second mounting plate is fixed to the lower end of the second frame 12. The second motion module 22 includes a second power motor, a second support, a second drive gear, a second driven gear, and a second climbing belt. The second power motor and the second support are both fixed on the second mounting plate. The second drive gear is connected to the output end of the second power motor via a second drive shaft. The second driven gear is connected to the second support via a second driven shaft. The second climbing belt meshes with the second drive gear and the second driven gear. The second climbing belt is located beside the second mounting plate and is parallel to the length direction of the second mounting plate. Multiple second climbing plates are equidistantly arranged on the outer side of the second climbing belt.

[0048] The first climbing plate 217 on the first climbing belt 216 and the second climbing plate on the second climbing belt cooperate with each other to ensure that the main frame 10 is stably attached to the insulator. With the synchronous drive of the first power motor 212 and the second power motor, the main frame 10 can stably climb the insulator. Furthermore, the first climbing belt 216 is located beside the first mounting plate 211, and the second climbing belt is located beside the second mounting plate, thus preventing the mounting plates from interfering with the operation of the climbing belts.

[0049] Figure 6A schematic diagram of the cleaning module in an embodiment of this utility model is shown. Each cleaning module 60 includes a cleaning bracket 61, a cleaning brush head 62, and a cleaning motor 63. The cleaning bracket 61 is fixedly mounted on the main frame 10. The cleaning brush head 62 is rotatably mounted within the cleaning bracket 61. The cleaning motor 63 is fixedly mounted on the cleaning bracket 61, and its output end is fixedly connected to the cleaning brush head 62. The cleaning brush head 62 rotates at high speed driven by the cleaning motor 63, enabling physical cleaning of the insulator surface.

[0050] For details, please refer to Figure 6 The cleaning module 60 is provided with four cleaning brush heads 62, which are evenly distributed around the geometric center of the main frame 10. The cleaning brush heads 62 of the four cleaning modules 60 can completely surround the insulator, achieving thorough cleaning of the insulator surface.

[0051] Figure 7 The diagram shows the structure of the main frame in an embodiment of the present invention. The first frame 11 has multiple first spare mounting holes at its upper and lower ends, and the second frame 12 has multiple second spare mounting holes at its upper and lower ends. This facilitates the addition of other functional modules as needed, such as infrared detection and partial discharge detection modules, which helps to improve the system's scalability and field adaptability.

[0052] In some specific embodiments, please refer to Figure 7 The first frame 11 includes a first upper arc-shaped plate 111, a first lower arc-shaped plate 112, and a plurality of first connecting rods 113. One end of the plurality of first connecting rods 113 is fixedly connected to the first upper arc-shaped plate 111, and the other end of the plurality of first connecting rods 113 is fixedly connected to the first lower arc-shaped plate 112. The second frame 12 includes a second upper arc-shaped plate 121, a second lower arc-shaped plate 122, and a plurality of second connecting rods 123. One end of the plurality of second connecting rods 123 is fixedly connected to the second upper arc-shaped plate 121, and the other end of the plurality of second connecting rods 123 is fixedly connected to the second lower arc-shaped plate 122. One end of the first upper arc-shaped plate 111 is hinged to the second upper arc-shaped plate 121, and the other end of the first upper arc-shaped plate 111 is connected to the second upper arc-shaped plate 121 by a first snap fastener. One end of the first lower arc-shaped plate 112 is hinged to the second lower arc-shaped plate 122, and the other end of the first lower arc-shaped plate 112 is connected to the second lower arc-shaped plate 122 by a second snap fastener. The first frame 11 and the second frame 12 have a simple structure, which can save a lot of weight.

[0053] Specifically, both the first frame 11 and the second frame 12 are lightweight, high-strength alloy frames that are sturdy, durable, and lightweight.

[0054] In some specific embodiments, the image module 32 is connected to a high-definition industrial camera, which, combined with deep learning algorithms, can automatically identify cracks, damage, and contamination levels on the surface of insulators; the control module 33 contains a communication unit that uses 5.8GHz band wireless communication technology, which has the characteristics of strong anti-interference ability, high transmission rate, and low latency. It is suitable for field application scenarios with complex on-site environments and high communication distance requirements, and supports remote control, data feedback, and real-time push of abnormal status, ensuring the intelligence and reliability of the system; the power supply module 31 includes a solar panel and a large-capacity lithium battery, which supports the combination of photovoltaic power supply and battery energy storage. It has the characteristics of low power consumption and high reliability, and can work continuously in high-voltage line environments where the mains power is difficult to cover, adapting to harsh conditions such as no power, wind, rain, and high humidity in the field.

[0055] For details, please refer to Figure 7 The power supply module 31, the image module 32, and the control module 33 are mounted on the first frame 11 or the second frame 12 via a third mounting plate 34, which is arranged along the axial direction of the main frame 10. The integration of the power supply module 31, image module 32, and control module 33 onto the same mounting plate avoids the complex wiring and maintenance difficulties caused by traditional multi-module connections, resulting in a compact structure, convenient deployment, and ease of mass production.

[0056] Please see Figure 1 and Figure 2 The method of using the outdoor insulator intelligent detection and cleaning robot system of this utility model is as follows:

[0057] First, the first frame 11 and the second frame 12 are opened; then, the first frame 11 and the second frame 12 are brought together to hug the insulator; then, the system climbs the insulator by itself through the first motion module 21 and the second motion module 22. At the same time, the system performs image recognition on the insulator through the image module 32, performs salt density sampling by direct contact with the surface of the insulator through the salt density sampling module 40, performs resistance detection by contact with the surface of the insulator through the resistance detection module 50, and performs physical cleaning on the insulator through the cleaning module 60.

[0058] This utility model's outdoor insulator intelligent detection and cleaning robot system integrates a motion module, a power supply module 31, an image module 32, a control module 33, a salt density sampling module 40, a resistance detection module 50, and multiple cleaning modules 60 on its main frame 10. It can perform multiple operations such as image recognition, salt density sampling, resistance detection, and cleaning simultaneously while climbing insulators. It has a high degree of intelligence and can achieve automated detection and cleaning of insulators, which is conducive to freeing up manpower, improving work efficiency, and ensuring personal safety.

[0059] Traditional robots are prone to slipping or becoming unstable when climbing insulators, especially on inclined or heavily contaminated insulators. This invention's intelligent outdoor insulator detection and cleaning robot system utilizes a first climbing plate 217 on a first climbing belt 216 and a second climbing plate on a second climbing belt to ensure stable attachment of the main frame 10 to the insulator. Furthermore, the synchronous drive of the first and second power motors allows the main frame 10 to stably climb the insulator.

[0060] Furthermore, this utility model's outdoor insulator intelligent detection and cleaning robot system adopts a modular design, supports a combination of photovoltaic power supply and battery energy storage, and features low power consumption and high reliability. It can operate continuously in high-voltage line environments where mains power is difficult to reach, and adapts to harsh conditions such as no power, wind, rain, and high humidity in the field. Moreover, the power supply module 31, image module 32, and control module 33 are integrated on the same mounting plate, avoiding the complex wiring and maintenance difficulties caused by traditional multi-module connections. The structure is compact, deployment is convenient, and it is conducive to mass production and promotion.

[0061] In addition, the communication unit adopts 5.8GHz band wireless communication technology, which has the characteristics of strong anti-interference ability, high transmission rate and low latency. It is suitable for field application scenarios with complex on-site environment and high communication distance requirements. It also supports remote control, data backhaul and real-time push of abnormal status, ensuring the intelligence and reliability of the system.

[0062] The above provides a detailed description of an intelligent outdoor insulator detection and cleaning robot system provided by the embodiments of this utility model. Specific examples have been used to illustrate the principle and implementation of this utility model. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. An intelligent detection and cleaning robot system for outdoor insulators, characterized in that, include: The main frame includes a first frame and a second frame. One side of the first frame is hinged to the second frame, and the other side of the first frame is connected to the second frame by a snap-fit. A first motion module is provided on the first frame, and a second motion module is provided on the second frame. The first motion module and the second motion module are symmetrical to each other. A power supply module, an image module, and a control module are installed on the first frame or the second frame. A salt density sampling module, wherein the salt density sampling module is installed at the upper end of the first frame or the upper end of the second frame; A resistance detection module is installed at the upper end of the first frame or the upper end of the second frame. Multiple cleaning modules are mounted around the lower end of the main frame.

2. The outdoor insulator intelligent detection and cleaning robot system as described in claim 1, characterized in that, The salt density sampling module includes a salt density sampling head, a first drive motor, and a first support frame. The first support frame is fixedly mounted on the first frame or the second frame. The first drive motor is fixedly mounted on the first support frame. The salt density sampling head is mounted on the output shaft of the first drive motor. The output shaft of the first drive motor is parallel to the axial direction of the main frame, and the salt density sampling head is perpendicular to the output shaft of the first drive motor.

3. The outdoor insulator intelligent detection and cleaning robot system as described in claim 1, characterized in that, The resistance detection module includes a resistance detection head, a second support frame, and a second drive motor. The second support frame is fixedly mounted on the first frame or the second frame, and the second drive motor is fixedly mounted on the second support frame. The resistance detection head is mounted on the output shaft of the second drive motor via an auxiliary bracket. The output shaft of the second drive motor is parallel to the axial direction of the main frame, and the resistance detection head is perpendicular to the output shaft of the second drive motor.

4. The outdoor insulator intelligent detection and cleaning robot system as described in claim 3, characterized in that, The resistance detection head includes a first electrode rod and a second electrode rod, which are installed on the auxiliary support at intervals and are parallel to each other.

5. The outdoor insulator intelligent detection and cleaning robot system as described in claim 1, characterized in that, The first motion module is mounted on the first frame via a first mounting plate. One end of the first mounting plate is fixed to the upper end of the first frame, and the other end of the first mounting plate is fixed to the lower end of the first frame. The first motion module includes a first power motor, a first support, a first drive gear, a first driven gear, and a first climbing belt. The first power motor and the first support are both fixedly mounted on the first mounting plate. The first drive gear is connected to the output end of the first power motor through a first drive shaft. The first driven gear is connected to the first support through a first driven shaft. The first climbing belt meshes with the first drive gear and the first driven gear. The first climbing belt is located beside the first mounting plate and is parallel to the length direction of the first mounting plate. Multiple first climbing boards are equidistantly arranged on the outer side of the first climbing belt.

6. The outdoor insulator intelligent detection and cleaning robot system as described in claim 1, characterized in that, The second motion module is mounted on the second frame via a second mounting plate. One end of the second mounting plate is fixed to the upper end of the second frame, and the other end of the second mounting plate is fixed to the lower end of the second frame. The second motion module includes a second power motor, a second support, a second drive gear, a second driven gear, and a second climbing belt. The second power motor and the second support are both fixedly mounted on the second mounting plate. The second drive gear is connected to the output end of the second power motor through a second drive shaft. The second driven gear is connected to the second support through a second driven shaft. The second climbing belt meshes with the second drive gear and the second driven gear. The second climbing belt is located beside the second mounting plate and is parallel to the length direction of the second mounting plate. Multiple second climbing boards are equidistantly arranged on the outer side of the second climbing belt.

7. The outdoor insulator intelligent detection and cleaning robot system as described in claim 1, characterized in that, Each of the cleaning modules includes a cleaning bracket, a cleaning brush head, and a cleaning motor. The cleaning bracket is fixedly mounted on the main frame, the cleaning brush head is rotatably mounted in the cleaning bracket, and the cleaning motor is fixedly mounted on the cleaning bracket. The output end of the cleaning motor is fixedly connected to the cleaning brush head.

8. The outdoor insulator intelligent detection and cleaning robot system as described in claim 7, characterized in that, The cleaning module is provided with four cleaning brush heads, which are evenly distributed around the geometric center of the main frame.

9. The outdoor insulator intelligent detection and cleaning robot system as described in claim 1, characterized in that, The first frame has multiple first spare mounting holes at its upper and lower ends, and the second frame has multiple second spare mounting holes at its upper and lower ends.

10. The outdoor insulator intelligent detection and cleaning robot system as described in claim 1, characterized in that, The first frame includes a first upper arc-shaped plate, a first lower arc-shaped plate, and a plurality of first connecting rods. One end of the plurality of first connecting rods is fixedly connected to the first upper arc-shaped plate, and the other end of the plurality of first connecting rods is fixedly connected to the first lower arc-shaped plate. The second frame includes a second upper arc-shaped plate, a second lower arc-shaped plate, and a plurality of second connecting rods. One end of the plurality of second connecting rods is fixedly connected to the second upper arc-shaped plate, and the other end of the plurality of second connecting rods is fixedly connected to the second lower arc-shaped plate. One end of the first upper arc-shaped plate is hinged to the second upper arc-shaped plate, and the other end of the first upper arc-shaped plate is connected to the second upper arc-shaped plate by a first buckle; one end of the first lower arc-shaped plate is hinged to the second lower arc-shaped plate, and the other end of the first lower arc-shaped plate is connected to the second lower arc-shaped plate by a second buckle.

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