An automatic lifting insulator cleaning robot

Abstract

The utility model discloses an automatic lifting insulator cleaning robot, including movable car body, set up on the car body and be used for driving the cleaning mechanism up and down lifting mechanism, the utility model discloses a lifting mechanism and cleaning mechanism cooperation can with cleaning mechanism moves to corresponding insulator position and carries out cleaning, can carry out mechanical cleaning to various height's insulator, reduces manual labor intensity, in the cleaning process, through two half ring support of half ring shape and encircle insulator, and through the trolley and drive mechanism drive high pressure shower head along half ring support reciprocating slide to the even spray wash of insulator circumference is carried out, can guarantee to clean the insulator circumference in the cleaning process, can also avoid due to the too much water outlet and cause the spray wash water pressure to be too small to influence the cleaning effect, and the lifting mechanism drives the cleaning mechanism along the insulator axial movement to the overall cleaning of insulator axial is carried out.

Description

Technical Field

[0001] This utility model relates to the field of insulator cleaning technology, and in particular to an automatic lifting insulator cleaning robot. Background Technology

[0002] Insulators are critical components in power systems, primarily responsible for fixing conductors to live parts and ensuring sufficient electrical clearance between live conductors or between live conductors and grounded parts, thereby guaranteeing the safe and stable operation of the power grid. Although insulators themselves possess good moisture resistance and high insulation strength, over long-term operation, external environmental factors such as industrial emissions and dust particle accumulation can gradually accumulate dirt on their surface, forming a conductive layer that weakens their insulation capacity. Therefore, regular cleaning of insulators is particularly important.

[0003] Currently, cleaning of insulators on high-voltage lines mainly relies on aerial work platforms to transport personnel to high-altitude locations for cleaning. This method is dangerous, has limited cleaning effectiveness, low efficiency, and involves significant manual labor. Therefore, increasingly specialized equipment for cleaning insulators at heights is being applied to this work. For example, Chinese utility model patent CN209205893U discloses a glass insulator cleaning device, relating to the field of glass insulator technology. It includes a fixed box, with fixed rod sleeves on the upper and lower end faces and one side surface. A guide rod is fixed to one side surface of the fixed box, and a fixed frame is fixed to one end of the guide rod. Two semi-circular annular tubes are hinged to one surface of the fixed frame, and nozzles are provided on the circumferential surfaces of the two semi-circular annular tubes. A push plate is slidably fitted onto the surface of the guide rod. A motor is fixed to the inner surface of the fixed box, and a lead screw is fixed to one end of the motor's output shaft. One end of the lead screw is rotatably connected to the fixed frame, and the circumferential surface of the lead screw is threaded into the push plate. A push rod is hinged to each side of the push plate. This utility model uses an openable double semi-circular annular tube structure to clean insulators. The insulator is held in the middle of the annular tube, and the nozzles tilted inward can clean the surface and grooves of the insulator. However, the problem with the above-mentioned cleaning device is that, in order to achieve comprehensive circumferential cleaning of the insulator, multiple nozzles are set on the inner circumferential surface of the two semi-circular annular tubes to clean the insulator. However, this multiple cleaning solution will disperse the water pressure, resulting in too low a spray water pressure and affecting the cleaning effect. Utility Model Content

[0004] In order to solve the technical problems existing in the prior art, the present invention provides an automatic lifting insulator cleaning robot, which can not only ensure comprehensive cleaning of the insulator circumference, but also avoid the cleaning effect caused by insufficient water pressure due to too many water outlets.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an automatic lifting insulator cleaning robot, comprising a movable vehicle body, a cleaning mechanism mounted on the vehicle body, and a lifting mechanism for driving the cleaning mechanism to move up and down. The cleaning mechanism includes a fixed support, a first semi-ring bracket and a second semi-ring bracket respectively mounted on both sides of the fixed support. One end of the first semi-ring bracket and the second semi-ring bracket are rotatably mounted on the fixed support via a ring hinge shaft. The fixed support is provided with an opening and closing mechanism for driving the first semi-ring bracket and the second semi-ring bracket to open and close. The first semi-ring bracket and the second semi-ring bracket can be closed to form a cleaning space for the insulator to pass through. Both the first and second semi-ring supports are equipped with trolleys that can reciprocate along them and a drive mechanism for driving the trolleys to move. The trolleys are equipped with at least one high-pressure nozzle facing the cleaning space. A high-pressure spray washing system connected to the high-pressure nozzle is provided on the car body or fixed support.

[0006] Preferably, the lifting mechanism includes a hinge seat fixedly mounted on the vehicle body, an electric telescopic arm hinged to the hinge seat, and a drive cylinder for driving the electric telescopic arm to rotate around the hinge seat between the vehicle body and the electric telescopic arm.

[0007] Preferably, the end of the electric telescopic boom is provided with a second boom body that is hinged to it via a boom body hinge axis, and a third drive motor for driving the second boom body to rotate around the boom body hinge axis.

[0008] Preferably, the fixed support is located at the end of the second arm body, and a fourth drive motor is provided on the second arm body for driving the fixed support to rotate around the axis of the second arm body.

[0009] Preferably, it also includes a central control system that is connected to the vehicle body, the cleaning mechanism, and the lifting mechanism, and a visual guidance module that is connected to the central control system is provided on the fixed support.

[0010] Preferably, the opening and closing mechanism includes a first gear structure and a second gear structure respectively disposed on the hinge shafts of the two ring bodies. The first half-ring bracket and the second half-ring bracket are fixedly connected to the first gear structure and the second gear structure respectively. The first gear structure and the second gear structure mesh and rotate in opposite directions. A first drive motor is provided on the fixed support and is drivenly connected to either the first gear structure or the second gear structure.

[0011] Preferably, the drive mechanism includes a third gear mounted on the trolley and a second drive motor for driving the third gear to rotate. Both the first and second semi-ring supports are provided with rack structures arranged along their surfaces, and the third gear meshes with the rack structures.

[0012] Preferably, a lower protective baffle extending vertically downward is provided on the lower side of the first semi-ring bracket and the second semi-ring bracket, and the hose for connecting the high-pressure nozzle is located on the side of the lower protective baffle away from the cleaning space.

[0013] Compared with the prior art, this utility model provides an automatic lifting insulator cleaning robot, which has the following advantages: This invention, through the cooperation of a lifting mechanism and a cleaning mechanism, enables the cleaning mechanism to be moved to the corresponding insulator position for cleaning. It can mechanically clean insulators of various heights, reducing the intensity of manual labor. During the cleaning process, two semi-circular supports surround the insulator, and a high-voltage nozzle is driven to slide back and forth along the semi-circular supports by a pulley and a drive mechanism to uniformly spray the insulator around its circumference. The cleaning process ensures that the insulator is cleaned around its circumference while avoiding insufficient water pressure due to too many water outlets, which would affect the cleaning effect. At the same time, the lifting mechanism drives the cleaning mechanism to move along the insulator axis, thereby cleaning the insulator axially. Attached Figure Description

[0014] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a three-dimensional structural diagram of an automatic lifting insulator cleaning robot according to this utility model.

[0015] Figure 2 This is a front view structural schematic diagram of an automatic lifting insulator cleaning robot according to this utility model.

[0016] Figure 3 This is a top view schematic diagram of an automatic lifting insulator cleaning robot according to this utility model.

[0017] Figure 4 This is an enlarged structural diagram of the cleaning mechanism of an automatic lifting insulator cleaning robot according to this utility model.

[0018] Figure 5 This is a three-dimensional structural diagram of an automatic lifting insulator cleaning robot according to this utility model from another perspective.

[0019] In the diagram: 1-Vehicle body, 2-Fixed support, 3-First semi-ring bracket, 4-Second semi-ring bracket, 5-Pulley, 6-High-pressure nozzle, 7-Vision guidance module, 8-First gear structure, 9-Second gear structure, 10-First drive motor, 11-Third gear, 12-Electric telescopic arm, 13-Hinge seat, 14-Drive cylinder, 15-Second arm body, 16-Arm body hinge shaft, 17-Third drive motor, 18-Fourth drive motor, 101-Rack structure, 102-Lower protective baffle, 111-Second drive motor. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0021] See Figures 1-5 This utility model discloses an automatic lifting insulator cleaning robot, comprising a movable vehicle body 1, which moves via wheels or tracks. The vehicle body 1 is equipped with a cleaning mechanism for performing cleaning operations and a lifting mechanism for moving the cleaning mechanism to the positions of various insulators. The cooperation between the cleaning mechanism and the lifting mechanism enables the cleaning of insulators at high locations.

[0022] Specifically, the cleaning mechanism includes an L-shaped fixed support 2, a first semi-ring bracket 3 and a second semi-ring bracket 4 respectively disposed on both sides of the fixed support 2. The first semi-ring bracket 3 and the second semi-ring bracket 4 are symmetrically arranged. One end of each of the first semi-ring bracket 3 and the second semi-ring bracket 4 is rotatably mounted on the fixed support 2 via a ring hinge shaft. The fixed support 2 is provided with an opening and closing mechanism for driving the first semi-ring bracket 3 and the second semi-ring bracket 4 to open and close. The first semi-ring bracket 3 and the second semi-ring bracket 4 can be closed to form a passage for the insulator. The cleaning space has an opening for the insulator to pass through when the first half-ring bracket 3 and the second half-ring bracket 4 are opened relative to each other, and when the first half-ring bracket 3 and the second half-ring bracket 4 are closed relative to each other, the insulator can be held in the cleaning space. The first half-ring bracket 3 and the second half-ring bracket 4 are each provided with a trolley 5 that can move back and forth along it, and a drive mechanism for driving the trolley 5 to move. The trolley 5 is provided with a high-pressure nozzle 6 facing the cleaning space. The car body 1 is provided with a high-pressure spray washing system that is connected to the high-pressure nozzle 6. During operation, the opening and closing mechanism controls the first semi-ring support 3 and the second semi-ring support 4 to move back to back, creating an opening between them for the insulator to pass through. The lifting mechanism moves the cleaning mechanism to the corresponding insulator position. Then, the opening and closing mechanism controls the first semi-ring support 3 and the second semi-ring support 4 to move closer together, closing them to encircle the insulator within the cleaning space. The high-pressure spray system is activated, spraying cleaning fluid through high-pressure nozzles 6. The high-pressure cleaning fluid sprayed from the nozzles 6 cleans the outer wall of the insulator. During the cleaning process, the drive mechanism drives the trolley 5 to reciprocate along its respective semi-ring support. The high-pressure nozzles 6 on both sides of the semi-ring support can spray the insulator circumferentially for comprehensive cleaning. Simultaneously, the lifting mechanism drives the cleaning mechanism to move along the insulator axis, thus providing comprehensive axial cleaning. This process ensures comprehensive circumferential cleaning of the insulator while avoiding insufficient water pressure due to too many outlets, which would affect the cleaning effect.

[0023] See Figure 1 , Figure 3 , Figure 4 Regarding the specific structure of the opening and closing mechanism, it includes a first gear structure 8 and a second gear structure 9 respectively mounted on the hinge shafts of the two ring bodies. The first gear structure 8 and the second gear structure 9 mesh with each other. The first semi-ring support 3 and the second semi-ring support 4 are respectively fixedly mounted on the first gear structure 8 and the second gear structure 9. This arrangement allows the first semi-ring support 3 and the second semi-ring support 4 to maintain synchronous movement in opposite directions. The fixed support 2 is equipped with a first drive motor 10 that is driven and connected to the first gear structure 8. When the first drive motor 10 drives the first gear structure 8 and the second gear structure 9 to rotate, it can drive the first semi-ring support 3 and the second semi-ring support 4 to move in opposite directions, realizing the opening and closing between them.

[0024] Furthermore, to achieve automatic control, the entire cleaning robot also includes a central control system connected to the vehicle body 1, the cleaning mechanism, and the lifting mechanism. A vision guidance module 7, which communicates with the central control system, is installed on the fixed support 2. The vision guidance module 7 collects the position and status information of the insulators, thereby controlling the cleaning mechanism and the lifting mechanism to cooperate and achieve automatic cleaning, improving the automation level of the cleaning process, eliminating the need for human control on the vehicle body 1, and improving safety. Regarding the vision guidance module 7, this is existing technology, and reference can be made to the vision guidance technology solutions in existing patents such as CN211385983U, CN119819618A, and CN118180057B.

[0025] On the other hand, this embodiment can also be equipped with a remote control module and a remote controller, which can be operated remotely.

[0026] See Figure 4 In this embodiment, the driving mechanism includes a third gear 11 mounted on the trolley 5 and a second drive motor 111 for driving the third gear 11 to rotate. The outer rings of the first semi-ring bracket 3 and the second semi-ring bracket 4 are each provided with a rack structure 101 arranged along its surface. The third gear 11 meshes with the rack structure 101. When the second drive motor 111 drives the third gear 11 to rotate in both directions, it engages with the rack structure 101, thereby driving the trolley 5 to reciprocate along the semi-ring bracket.

[0027] For details on the specific structure of the lifting mechanism, please refer to [link / reference]. Figure 1 , Figure 2 It includes a hinge seat 13 fixedly mounted on the vehicle body 1, an electric telescopic arm 12 hinged to the hinge seat 13, and a drive cylinder 14 between the vehicle body 1 and the electric telescopic arm 12 for driving the electric telescopic arm 12 to rotate around the hinge seat 13. The drive cylinder 14 can drive the electric telescopic arm 12 to rotate around the hinge seat 13, and the electric telescopic arm 12 can extend and retract axially. The two cooperate with each other to adjust the position of the cleaning mechanism.

[0028] At the end of the electric telescopic boom 12, there is a second boom 15 hinged to it via a boom hinge shaft 16, and a third drive motor 17 for driving the second boom 15 to rotate around the boom hinge shaft 16. The rotation of the second boom 15 can further adjust the height of the insulator and adjust the tilt angle of the cleaning mechanism to match the tilt angle of the insulator.

[0029] To further improve the tilt adjustment range of the cleaning mechanism, please refer to... Figure 1 , Figure 2 , Figure 4The fixed support 2 is located at the end of the second arm 15, and a fourth drive motor 18 is provided on the second arm 15 to drive the fixed support 2 to rotate around the axis of the second arm 15. When the fourth drive motor 18 rotates, it can drive the cleaning mechanism to adjust the tilt angle in another direction, thereby meeting various usage requirements.

[0030] Regarding the electric telescopic boom 12, the electric telescopic boom 12 is existing technology and can adopt similar structures such as existing crane telescopic booms.

[0031] Regarding the connection structure between the high-pressure spray system and the high-pressure nozzle 6, in order to accommodate the extension and retraction of the electric telescopic arm 12, a telescopic pipe such as a spring tube can be used for connection.

[0032] Additionally, see Figure 4 In this embodiment, the first semi-ring bracket 3 and the second semi-ring bracket 4 are provided with a lower protective baffle 102 extending vertically downwards. The hose for connecting the high-pressure nozzle 6 is located on the side of the lower protective baffle 102 away from the cleaning space. This arrangement can prevent the hose from contacting the insulator during the movement of the trolley 5, thus improving safety.

[0033] This utility model discloses an automatic lifting insulator cleaning robot. Its specific working principle is as follows: During operation, the vehicle body 1 is moved to the underside of the insulator to be cleaned. The opening and closing mechanism controls the first semi-ring support 3 and the second semi-ring support 4 to move back to back, creating an opening between them for the insulator to pass through. The lifting mechanism moves the cleaning mechanism to the corresponding insulator position. Then, the opening and closing mechanism controls the first semi-ring support 3 and the second semi-ring support 4 to move closer together, closing them to encircle the insulator within the cleaning space. The high-pressure spray system is activated, spraying cleaning fluid through high-pressure nozzles 6. The high-pressure cleaning fluid sprayed from the high-pressure nozzles 6 cleans the outer wall of the insulator. During the cleaning process, the drive mechanism drives the trolley 5 to reciprocate along its respective semi-ring support. The high-pressure nozzles 6 on both sides of the semi-ring support spray and can thoroughly clean the circumference of the insulator. Simultaneously, the lifting mechanism drives the cleaning mechanism to move along the insulator's axial direction, thus thoroughly cleaning the insulator's axial direction.

[0034] In the description of this utility model, the terms "first," "second," "another," and "yet another" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of embodiments of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0035] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Furthermore, in the description of this utility model, unless otherwise stated, "multiple" means two or more.

[0036] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An automatic lifting insulator cleaning robot, comprising a movable vehicle body (1), a cleaning mechanism mounted on the vehicle body (1), and a lifting mechanism for driving the cleaning mechanism to move up and down, characterized in that: The cleaning mechanism includes a fixed support (2), a first half-ring bracket (3) and a second half-ring bracket (4) respectively located on both sides of the fixed support (2). One end of the first half-ring bracket (3) and the second half-ring bracket (4) are rotatably mounted on the fixed support (2) through a ring hinge shaft. The fixed support (2) is provided with an opening and closing mechanism for driving the first half-ring bracket (3) and the second half-ring bracket (4) to open and close. The first half-ring bracket (3) and the second half-ring bracket (4) can be closed to form a cleaning space for the insulator to pass through. The first half-ring bracket (3) and the second half-ring bracket (4) are each provided with a trolley (5) that can reciprocate along it, and a drive mechanism for driving the trolley (5) to move. The trolley (5) is provided with at least one high-pressure nozzle (6) facing the cleaning space. A high-pressure spray washing system connected to the high-pressure nozzle (6) is provided on the vehicle body (1) or the fixed support (2).

2. The automatic lifting insulator cleaning robot according to claim 1, characterized in that: The lifting mechanism includes a hinge seat (13) fixed on the vehicle body (1), an electric telescopic arm (12) hinged to the hinge seat (13), and a drive cylinder (14) for driving the electric telescopic arm (12) to rotate around the hinge seat (13) between the vehicle body (1) and the electric telescopic arm (12).

3. The automatic lifting insulator cleaning robot according to claim 2, characterized in that: The electric telescopic boom (12) has a second boom (15) hinged to it via a boom hinge shaft (16) and a third drive motor (17) for driving the second boom (15) to rotate around the boom hinge shaft (16).

4. The automatic lifting insulator cleaning robot according to claim 3, characterized in that: The fixed support (2) is located at the end of the second arm (15), and a fourth drive motor (18) is provided on the second arm (15) for driving the fixed support (2) to rotate around the axis of the second arm (15).

5. The automatic lifting insulator cleaning robot according to claim 1, characterized in that: It also includes a central control system that is connected to the vehicle body (1), the cleaning mechanism and the lifting mechanism, and a visual guidance module (7) that is connected to the central control system is provided on the fixed support (2).

6. The automatic lifting insulator cleaning robot according to claim 1, characterized in that: The opening and closing mechanism includes a first gear structure (8) and a second gear structure (9) respectively mounted on the hinge shafts of the two ring bodies. The first half-ring bracket (3) and the second half-ring bracket (4) are fixedly connected to the first gear structure (8) and the second gear structure (9) respectively. The first gear structure (8) and the second gear structure (9) mesh and rotate in opposite directions. The fixed support (2) is provided with a first drive motor (10) that is driven and connected to either the first gear structure (8) or the second gear structure (9).

7. The automatic lifting insulator cleaning robot according to claim 1, characterized in that: The drive mechanism includes a third gear (11) mounted on the trolley (5) and a second drive motor (111) for driving the third gear (11) to rotate. The first half-ring bracket (3) and the second half-ring bracket (4) are each provided with a rack structure (101) arranged along their surface. The third gear (11) meshes with the rack structure (101).

8. The automatic lifting insulator cleaning robot according to claim 1, characterized in that: A lower protective baffle (102) extending vertically downward is provided on the lower side of the first semi-ring bracket (3) and the second semi-ring bracket (4). The hose for connecting the high-pressure nozzle (6) is located on the side of the lower protective baffle (102) away from the cleaning space.

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