CN107088543B - Liquid spraying system of insulator cleaning and decontamination robot - Google Patents

Abstract

The liquid spraying system of the insulator cleaning and decontamination robot comprises a trolley, a shell and a wireless control device, wherein a cleaning agent tank, a pure water tank, a high-pressure pump, a filter, a flow controller and a power supply are arranged in the trolley, a three-way valve is connected between one end of the filter and the cleaning agent tank and the pure water tank, the other end of the filter is connected with the water inlet end of the high-pressure pump, the water outlet end of the high-pressure pump is connected with the flow controller through a water outlet pipe, a safety valve, a check valve and a pressure reducing valve are respectively arranged on the water outlet pipe, the power supply is connected with the high-pressure pump through a switch, the wireless receiving device is wirelessly connected with the wireless control device, the wireless receiving device is connected with the three-way valve through a switching unit, a water spraying pipe is connected between the flow controller and a plurality of spray heads, the wireless control device can be used for controlling the opening and closing of the high-pressure pump through the switch, and the wireless control device can be used for controlling the three-way valve through the switching unit, therefore, the cleaning agent injection and the water flushing switching after cleaning can be realized, and the high-pressure water pressure safety is ensured.

Description

Liquid spraying system of insulator cleaning and decontamination robot

Technical Field

The invention relates to a liquid spraying system, in particular to a liquid spraying system of an insulator cleaning and decontamination robot.

Background

The insulator is an insulating element used for connecting a lead and an iron tower on an overhead high-voltage transmission line, and because an insulator string is exposed in the atmosphere for a long time, the surface of an insulator bottle string can generate dust deposition and dirt and snow and ice, so that the short circuit of the line is easily caused, the insulating property of the insulator of the line is reduced, the surface of the insulator is clean, and the conventional manual cleaning mode is adopted, so that the operation risk is high, the efficiency is low, and the difficulty is high. With the need of humanized operation popularization and the development of intelligent robots, more and more intelligent robots are applied to power line inspection or equipment detection at present. The existing intelligent robot can climb up and down along an insulator string and clean and decontaminate the insulator, but the existing intelligent robot can only spray cleaning agent or purified water alone, and the cleaning agent and the purified water are sprayed together, so that the switching of the cleaning agent and the purified water cannot be realized. In addition, the existing intelligent cleaning robot is difficult to endure outdoor severe conditions for a long time, the working time is limited after charging, the existing intelligent cleaning robot cannot be exposed to the outdoor environment for a long time to work, the cost of the existing intelligent cleaning robot is high, the existing intelligent cleaning robot for the insulators is of a detachable structure, the insulators are mounted on the insulators to be cleaned during use, the robot is detached by workers after cleaning is completed and is moved to the next group of insulators to be cleaned, and the intelligent cleaning robot which is not required to be detached cannot be mounted on each group of insulators in a matched mode. The insulator cleaning robot generally needs several hours to complete the complete cleaning of a group of insulators, in order to improve the working efficiency and save the labor cost, a worker does not watch on the site after mounting the cleaning robot on all the insulators on one power transmission tower, but continues to mount the cleaning robot on other power transmission towers, and returns to dismount the cleaning robot after mounting a plurality of power transmission towers, so that lawless persons can ride the robot, the case that the lawless persons clean the robot after mounting the cleaning robot and leaving the stolen insulator cleaning robot is generated before, and huge economic loss is caused to power enterprises.

Disclosure of Invention

The invention aims to provide a liquid spraying system of an insulator cleaning and decontamination robot with an anti-theft function.

In order to achieve the purpose, the invention is realized by the following technical scheme: the cleaning agent tank, the pure water tank, the high-pressure pump, the filter, the flow controller and the power supply are installed in the trolley, a three-way valve is connected between one end of the filter and the cleaning agent tank and the pure water tank, the other end of the filter is connected with the water inlet end of the high-pressure pump, the water outlet end of the high-pressure pump is connected with the flow controller through a water outlet pipe, a safety valve, a check valve and a pressure reducing valve are respectively arranged on the water outlet pipe, the power supply is connected with the high-pressure pump through a switch, a wireless receiving device is arranged on the switch and is wirelessly connected with the wireless control device, the wireless receiving device is connected with the three-way valve through a switching unit, a plurality of spray nozzles are arranged on the shell, a spray pipe is connected between the flow controller and the plurality of spray nozzles, the shell is annular, an annular slide rail is installed on the shell, a plurality of slide blocks are installed on the slide rail in a matched mode, and a gear ring is installed on the periphery of the slide rail, each slide block is provided with a walking motor, an output shaft of the walking motor is provided with a driving gear, the driving gear is meshed with the gear ring, each slide block is provided with an electric telescopic rod and a camera, the spray head is arranged on the corresponding electric telescopic rod, the shell is formed by mutually buckling two arc-shaped plates, the two arc-shaped plates are respectively provided with a section of arc-shaped slide rail, the two sections of arc-shaped slide rails are mutually spliced into an annular slide rail, one ends of the two arc-shaped plates mutually buckled with each other are mutually hinged, the other ends of the two arc-shaped plates are connected through an electric control lock catch, the electric control lock catch comprises a connecting plate connected with one arc-shaped plate, the connecting plate is provided with a limiting through hole, the other arc-shaped plate is provided with a lock box, the lock box is provided with a lock, the connecting plate can be inserted into the slot, a driving motor is arranged in the lock box, the output shaft of the driving motor is meshed with a driven rack through a driving gear, the driven rack is arranged on a guide rod, a guide plate is arranged in the lockset box and is matched with a guide rod, a driving motor drives the guide rod to ascend through a driving gear and a driven rack, the lower end of the guide rod is connected with a lock tongue, a lock tongue actuating spring is arranged between the lock tongue and the guide plate, when the driving motor does not rotate, spring bolt actuating spring can promote the spring bolt decline and reset, when the connecting plate inserts in the slot, the spring bolt can insert in the spacing through-hole, spring bolt one side is domatic, when the connecting plate inserts to the slot, connecting plate tip and domatic contact, set up external power source interface and unblock button on the tool to lock box, external power source interface is connected with driving motor's power input end, unblock button can start driving motor after driving motor circular telegram, the last password control ware that sets up of driving motor, the break-make of driving motor circuit can be controlled to the password control ware, password control ware's password input circuit is connected with the password input ware. The sliding block is internally provided with a plurality of fixed grooves, a C-shaped accommodating groove, a first sliding groove and a second sliding groove respectively, the C-shaped accommodating groove is communicated with the first sliding groove and the second sliding groove respectively, the bottom of the electric telescopic rod is provided with a supporting plate which is positioned in the fixed grooves, the side wall of the supporting plate is provided with a rack along the length direction, one end of the C-shaped accommodating groove is provided with a gear, the gear is meshed with the rack, a driving wheel is coaxially arranged on the gear, the driving wheel is connected with one end of a driving belt, a transitional wheel is arranged in the accommodating groove, a first wedge block is arranged in the first sliding groove, a second wedge block is arranged in the second sliding groove, one end of the first wedge block, which is provided with an inclined surface, is contacted with the inclined surface of the second wedge block, the other end of the first wedge block is connected with a pull rod, the end part of the pull rod extends out of the sliding block, the spring is arranged on the pull rod, the two ends of the spring are respectively fixedly connected with the side wall of the first sliding groove and the first wedge block, and the spring always provides the first wedge block, the other end of drive belt is walked around the ferryboat and is connected with the one end of second wedge, and the other end fixed connection extension spring of second wedge, the extension spring is fixed on the holding tank lateral wall of C shape, and the extension spring gives the second wedge pulling force all the time, and second wedge lateral part installation stopper, the spacing groove is seted up to the layer board lateral wall, and the stopper is located the spacing inslot. The end part of the pull rod extending out of the slide block is provided with a stop block. The lateral part of the limiting block is provided with an inclined plane, the side wall of the limiting groove is provided with an inclined plane, and the inclined plane of the limiting block is matched with the inclined plane of the limiting groove. The password input device comprises a shell, a circular through hole is formed in the top surface of the shell, a rotating sleeve is installed in the circular through hole and can lift and rotate relative to the shell in the circular through hole, a limiting block is arranged on the periphery of the bottom of the rotating sleeve, when the limiting block rises to a limit position, the limiting block can be in contact with the shell outside the circular through hole, a sealing plate is arranged on the top surface of the rotating sleeve and is made of transparent materials, a convex ring is arranged on the inner wall of the shell, a first spring is installed on the top surface of the convex ring, the top of the first spring is connected with a ring-shaped gasket, the ring-shaped gasket is in contact with the bottom surface of the rotating sleeve, a plurality of supports are arranged on the inner wall of the convex ring at intervals, each support is connected with a supporting plate, a lead screw is installed on the top surface of the supporting plate, a screw sleeve matched with the lead screw is installed on the lead screw, the periphery of the screw sleeve is connected with a rotating disc through a one-way bearing, a second spring is installed between the screw sleeve and the supporting plate, and an annular pressing block is arranged above the rotating disc, annular briquetting is connected with the shrouding, when the rotating sleeve moves down, the annular briquetting can promote the carousel together to move down, carousel lateral wall periphery sets up the ratchet, the supporting pawl of rotating sleeve inner wall installation and ratchet, install the reduction torsional spring in the pivot of pawl, rotating sleeve can drive the carousel and allow rotatory direction rotation to one-way bearing after pawl and the ratchet meshing, the carousel top surface sets up a plurality of blocks, each block is annular align to grid at the carousel top surface, carousel bottom surface installation lug, the casing installation diaphragm of bulge loop below, the diaphragm top surface is equipped with a plurality of password input buttons, each password input button is annular align to grid at the diaphragm top surface, the quantity of password input button is the same with the quantity of block, the carousel is along with rotating sleeve when moving down together, a password input button can be pressed to the lug. The transverse plate can lift in the shell, the transverse plate is in contact with the bottom surface of the convex ring when rising to the limit position, the lug can press one password input button after the rotary plate descends, the lug cannot contact the password input button after the transverse plate descends, a tension spring is arranged between the transverse plate and the bottom of the shell, guide rails with bright stripes parallel to each other are arranged at the bottom of the shell, rollers matched with the guide rails are arranged on each guide rail, supporting rods are arranged on each roller, the upper end of each supporting rod is hinged with the bottom surface of the transverse plate, the two supporting rods are connected through a transverse shaft, a transverse shaft sleeve is arranged on the transverse shaft and can rotate around the axis of the transverse shaft, a lock shell is arranged on the outer wall of one side of the shell, a lock cylinder opened and closed by using a key is arranged on the lock shell, a crank is arranged on a rotating part of the lock cylinder, the crank is hinged with one end of a connecting rod, the other end of the connecting rod is hinged with the transverse shaft sleeve, the key can drive the crank to swing, and the lower end of the supporting rod can be pushed or pulled by the connecting rod when the crank swings, the guide rail is provided with an arc-shaped positioning groove, when the support rod is vertical to the transverse plate, the roller is positioned in the arc-shaped positioning groove, and the transverse plate is contacted with the bottom surface of the convex ring at the moment.

The invention has the advantages that: the wireless control device can be used for controlling the opening and closing of the high-pressure pump through the switch so as to control whether the liquid is sprayed or not. The three-way valve can be controlled by the wireless control device through the switching unit, so that the spraying of the cleaning agent and the water flushing switching after cleaning can be realized. The filter, the flow controller, the safety valve, the check valve and the pressure reducing valve realize the functions of filtering, flow control, pressure relief and the like, thereby ensuring the safety of high-pressure water pressure. The wireless controller and the wireless receiving device realize the start-up, stop and switching of functions of a liquid spraying system of the cleaning and decontamination robot. When the cleaning robot is detached, an external power supply is required and a password is input, so that the cleaning robot can be effectively prevented from being stolen by lawbreakers.

Drawings

FIG. 1 is a schematic view of the structure of the present invention;

FIG. 2 is a schematic view of the A-direction structure of FIG. 1;

FIG. 3 is an enlarged view of the structure of FIG. 2 from the direction B;

FIG. 4 is an enlarged view of part I of FIG. 3;

FIG. 5 is another state diagram of FIG. 4;

FIG. 6 is a schematic diagram of the connection relationship of the present invention;

FIG. 7 is a flow chart of the present invention;

FIG. 8 is an enlarged view of the direction C of FIG. 2;

FIG. 9 is a schematic diagram of a preferred configuration of the password input device of the present invention;

FIG. 10 is a schematic cross-sectional view of D-D of FIG. 9;

FIG. 11 is a schematic cross-sectional view E-E of FIG. 10;

FIG. 12 is a schematic view of the structure of FIG. 10 after the cross plate has been moved downward;

FIG. 13 is an enlarged view of the structure of FIG. 10 from direction F;

fig. 14 is a schematic view of the structure enlarged in the direction of G in fig. 12.

Detailed Description

The liquid spraying system of the insulator cleaning and decontamination robot comprises a trolley 16, a shell 17 and a wireless control device 14, wherein a cleaning agent tank 1, a pure water tank 2, a high-pressure pump 9, a filter 8, a flow controller 5 and a power supply 12 are arranged in the trolley 16, a three-way valve 7 is connected between one end of the filter 8 and the cleaning agent tank 1 and the pure water tank 2, the other end of the filter 8 is connected with the water inlet end of the high-pressure pump 9, the water outlet end of the high-pressure pump 9 is connected with the flow controller 5 through a water outlet pipe, a safety valve 13, a check valve 3 and a pressure reducing valve 4 are respectively arranged on the water outlet pipe, the power supply 12 is connected with the high-pressure pump 9 through a switch 11, a wireless receiving device 10 is arranged on the switch 11, the wireless receiving device 10 is wirelessly connected with the wireless control device 14, the wireless receiving device 10 is connected with the three-way valve 7 through a switching unit 30, a plurality of spray nozzles 6 are arranged on the shell, and a water spraying pipe 15 is connected between the flow controller 5 and the spray nozzles 6, the shell 17 is circular, an annular slide rail 19 is arranged on the shell 17, a plurality of slide blocks 20 are arranged on the slide rail 19 in a matching manner, a gear ring 21 is arranged on the periphery of the slide rail 19, a walking motor 22 is arranged on each slide block 20, a driving gear 23 is arranged on an output shaft of the walking motor 22, the driving gear 23 is meshed with the gear ring 21, an electric telescopic rod 18 and a camera 24 are arranged on each slide block 20, a spray head 6 is arranged on the corresponding electric telescopic rod 18, the shell 1 is formed by mutually buckling two arc-shaped plates, one section of arc-shaped slide rail is respectively arranged on the two arc-shaped plates, the two sections of arc-shaped slide rails are mutually spliced into the annular slide rail 19, one ends of the two arc-shaped plates mutually buckled with the shell 1 are mutually hinged, the other ends of the two arc-shaped plates are connected through an electric control lock catch, the electric control lock catch comprises a connecting plate 201 connected with one arc-shaped plate, a limiting through hole 202 is arranged on the connecting plate 201, and a lock box 203 is arranged on the other arc-shaped plate, an inserting slot 204 is arranged on a lockset box 203, a connecting plate 201 can be inserted into the inserting slot 204, a driving motor 205 is arranged in the lockset box 203, an output shaft of the driving motor 205 is meshed with a driven rack 207 through a driving gear 206, the driven rack 207 is arranged on a guide rod 208, a guide plate 211 is arranged in the lockset box 203, the guide plate 211 is matched with the guide rod 208, the driving motor 205 drives the guide rod 208 to ascend through the driving gear 206 and the driven rack 207, the lower end of the guide rod 208 is connected with a bolt 209, a bolt actuating spring 212 is arranged between the bolt 209 and the guide plate 211, when the driving motor 205 does not rotate, the bolt actuating spring 212 can push the bolt 209 to descend and reset, when the connecting plate 201 is inserted into the inserting slot 204, the bolt 209 can be inserted into a limiting through hole 202, a slope surface 210 is arranged on one side of the bolt 209, when the connecting plate 201 is inserted into the inserting slot 204, the end part of the connecting plate 201 is contacted with the slope surface 210, an external power interface 213 and an unlocking button 216 are arranged on the lockset box 203, the external power interface 213 is connected with a power input end of the driving motor 205, the unlocking button 216 can start the driving motor 205 after the driving motor 205 is powered on, the driving motor 205 is provided with a password controller 215, the password controller 215 can control the on-off of a circuit of the driving motor 205, and a password input circuit of the password controller 215 is connected with a password input device. The cleaning agent tank 1 is filled with cleaning agent, and the purified water tank 2 is filled with purified water. The invention can use the wireless control device 14 to control the opening and closing of the high-pressure pump 9 through the switch 11, thereby controlling whether to spray liquid. The wireless control device 14 can also be used to control the three-way valve 7 via the switching unit 30, so that the cleaning agent injection and the water flushing after cleaning can be switched. The filter 8, the flow controller 5, the safety valve 13, the check valve 3 and the pressure reducing valve 4 realize the functions of filtering, flow control, pressure relief and the like, thereby ensuring the safety of high-pressure water pressure. The wireless controller 14 and the wireless receiving device 10 realize the start-stop and switching of the liquid spraying system function of the cleaning and decontamination robot. The spray head 6 is a high-pressure nozzle, the number of the high-pressure nozzles is 3-8, the spray pipe 15 is a high-temperature high-pressure pipe, and the spray pipe 15 is connected with the flow controller 5 through a quick connector. The travel motor 22 drives the spray head 6 and the camera 24 to move along the slide rail 19, so that rotary spraying is realized. The camera 24 can be connected to a cell phone or computer of a ground worker. The camera 24 can transmit the cleaning condition on the insulator string to a worker on the ground. When the cleaning robot is used, the shell 17 is fixed on the robot, and the shell 17 can move along the insulator string along with the cleaning robot. During the installation, the staff opens two arcs of casing 1, embraces the insulator from both sides, then inserts slot 204 with connecting plate 201 in, the insulator cleans scrubbing robot this moment and installs on the insulator promptly, can drive casing 1 and remove along insulator chain after the robot starts, cleans insulator surface. When the robot needs to be detached, a worker needs to butt the output interface of the mobile power supply with the external power supply interface 213 to supply power to the driving motor 205, then inputs a correct password through the password input unit to unlock the driving motor 205, and after unlocking, the worker presses the unlocking button 216 to start the driving motor 205, pull out the bolt 209 from the limiting through hole 202 through the driving guide rod 208, so that the cleaning robot can be detached from the insulator by separating the two arc plates of the shell 1. The structure can effectively improve the anti-theft performance of the insulator cleaning robot, in addition, the external power supply interface 213 can also adopt a special interface with a non-standard shape to be connected with a special mobile power supply carried by a worker, the special mobile power supply carried by the worker can become a key for unlocking, and the difficulty of stealing the insulator cleaning robot by lawbreakers is further increased. The camera 41 may transmit video information to a cell phone or computer of a surface worker through the remote module. The walking motor 39 can rotate through the drive driving gear 40, makes the slider 37 move along the slide rail 36 to make the camera 41 can monitor insulator string and the brush of decontaminating, when the robot climbs the top of insulator string, or the brush of decontaminating breaks down and cleans the scrubbing thoroughly, can be known by subaerial staff, thereby control the robot and make the action of pertinence. The driving roller 4, the invention and the invention 43 with the limiting rings arranged at the upper end and the lower end can fix the cleaning brush and prevent the cleaning brush from falling off when the cleaning robot moves.

The sliding block 20 is internally provided with a plurality of fixing grooves 25, a C-shaped accommodating groove 26, a first sliding groove 27 and a second sliding groove 28, the C-shaped accommodating groove 26 is communicated with the first sliding groove 27 and the second sliding groove 28, the bottom of the electric telescopic rod 18 is provided with a supporting plate 29, the supporting plate 29 is positioned in the fixing groove 25, the side wall of the supporting plate 29 is provided with a rack 31 along the length direction, one end of the C-shaped accommodating groove 26 is internally provided with a gear 32, the gear 32 is meshed with the rack 31, the gear 32 is coaxially provided with a driving wheel 33, the driving wheel 33 is connected with one end of a driving belt 34, the accommodating groove 26 is internally provided with a transition wheel 35, the first sliding groove 27 is internally provided with a first wedge block 36, the second sliding groove 28 is internally provided with a second wedge block 37, one end of the first wedge block 36 provided with an inclined plane is contacted with an inclined plane of the second wedge block 37, the other end of the first wedge block 36 is connected with a pull rod 38, the end part of the pull rod 38 extends out of the sliding block 20, the pull rod 38 is provided with a spring 39, the two ends of the spring 39 are fixedly connected with the side wall of the first sliding groove 27 and the first wedge-shaped block 36 respectively, the spring 39 always pushes the first wedge-shaped block 36, the other end of the transmission belt 34 bypasses the transition wheel 35 to be connected with one end of the second wedge-shaped block 37, the other end of the second wedge-shaped block 37 is fixedly connected with the tension spring 40, the tension spring 40 is fixed on the side wall of the C-shaped accommodating groove 26, the tension spring 40 always pulls the second wedge-shaped block 37, a limiting block 41 is installed on the side portion of the second wedge-shaped block 37, a limiting groove 42 is formed in the side wall of the supporting plate 29, and the limiting block 41 is located in the limiting groove 42. When the electric telescopic rod 18 is connected with the sliding block 20, the supporting plate 29 is pushed to enable the supporting plate 29 to enter the fixing groove 25, in the entering process, the rack 31 on the supporting plate 29 drives the gear 32 to rotate, so that the driving wheel 33 drives the second wedge-shaped block 37 to move through the driving belt 34, when the inclined plane of the second wedge-shaped block 37 moves along the inclined plane of the first wedge-shaped block 36, the limiting block 41 on the second wedge-shaped block 37 enters the limiting groove 42 on the supporting plate 29, the supporting plate 29 is fixed in the fixing groove 25, and the electric telescopic rod 18 and the sliding block 20 are fixed. When the electric telescopic rod 18 is separated from the sliding block 20, the pull rod 38 is pulled to enable the limiting block 41 on the second wedge-shaped block 37 to be separated from the limiting groove 42, the second wedge-shaped block 37 is restored to the original position under the action of the tension spring 40, the transmission belt 34 drives the gear 32 to rotate reversely through the transmission wheel 33, the supporting plate 29 is enabled to be separated from the fixing groove 25, and therefore the electric telescopic rod 18 is conveniently separated from the sliding block 20. The structure facilitates the installation and the disassembly between the electric telescopic rod 18 and the sliding block 20, and the electric telescopic rod can be conveniently separated, stored and carried and is convenient to clean after being assembled.

The end of the pull rod 38 extending beyond the slide 20 is fitted with a stop 43. This structure can prevent the pull rod 38 from completely entering the first slide groove 27 and facilitate pulling of the pull rod 38.

The lateral part of the limiting block 41 is provided with an inclined plane, the side wall of the limiting groove 42 is provided with an inclined plane, and the inclined plane of the limiting block 41 is matched with the inclined plane of the limiting groove 42. The structure can ensure that the inclined surfaces of the limiting block 41 and the limiting groove 42 are mutually attached to provide buffering when the limiting block 41 enters the limiting groove 42, and the limiting block 41 and the limiting groove 42 are prevented from being collided.

The password input device of the invention can adopt various types of password input devices such as an electronic password input device, a mechanical password input device and the like, and the mechanical password input device has better reliability relatively because the outdoor environment is relatively severe and the radiation and the interference near the power transmission line are stronger, so as to avoid the password stealing by lawbreakers in a peeping or video recording way, the preferred structure of the password input device of the invention is as follows: the password input device comprises a shell 101, a circular through hole 102 is formed in the top surface of the shell 101, a rotary sleeve 103 is installed in the circular through hole 102, the rotary sleeve 103 can lift and rotate relative to the shell 101 in the circular through hole 102, a limit block 104 is arranged on the periphery of the bottom of the rotary sleeve 103, when the limit block 104 rises to a limit position, the limit block 104 can be contacted with the shell 101 on the outer side of the circular through hole 102, a seal plate 105 is arranged on the top surface of the rotary sleeve 103, the seal plate 105 is made of transparent materials, a convex ring 106 is arranged on the inner wall of the shell 101, a first spring 113 is installed on the top surface of the convex ring 106, the top of the first spring 113 is connected with an annular gasket 116, the annular gasket 116 is contacted with the bottom surface of the rotary sleeve 103, a plurality of supports 107 are arranged on the inner wall of the convex ring 106 at intervals, each support 107 is connected with a support plate 108, a lead screw 109 is installed on the top surface of the support plate 108, a screw 110 matched with the lead screw 109 is installed on the lead screw 109, the periphery of the screw 110 is connected with a rotary table 112 through a one-way bearing 111, a second spring 115 is arranged between the screw sleeve 110 and the supporting plate 108, an annular pressing block 114 is arranged above the rotary table 112, the annular pressing block 114 is connected with the sealing plate 105, when the rotary sleeve 103 moves downwards, the annular pressing block 114 can push the rotary table 112 to move downwards together, ratchets 121 are arranged on the periphery of the outer side wall of the rotary table 112, pawls 122 matched with the ratchets 121 are arranged on the inner wall of the rotary sleeve 103, a reset torsion spring 123 is arranged on a rotating shaft of the pawls 122, after the pawls 122 are meshed with the ratchets 121, the rotary sleeve 103 can drive the rotary table 112 to rotate towards the direction which is allowed to rotate by the one-way bearing 111, a plurality of code blocks 117 are arranged on the top surface of the rotary table 112, each code block 117 is annularly and uniformly arranged on the top surface of the rotary table 112, a transverse plate 119 is arranged in the shell 101 below the convex ring 106, a plurality of code input buttons 120 are arranged on the top surface of the transverse plate 119, each code input button 120 is annularly and uniformly arranged on the top surface of the transverse plate 119, the number of the code input buttons 120 is the same as the number of the code blocks 117, the knob 118 is able to depress a code entry button when the dial 112 moves down with the rotating sleeve 103. The code block 17 is printed or engraved with the contents of code, confirmation, cancellation, etc., the user can see the contents of the code block 17 on the rotary disc 12 inside the shell 1 through the transparent sealing plate 5, the visual angle of the code block 17 is concentrated above the sealing plate 5, and the user can only observe the contents, and others cannot see the contents from the side. When inputting a password, a user rotates the rotary sleeve 3 in the direction of meshing the pawl 22 and the ratchet 21, the rotary table 12 can be driven to rotate by the pawl 22 and the ratchet 21, the character code to be input is rotated to an input position, then the rotary sleeve 3 is pressed, and the convex block 18 on the bottom surface of the rotary table 12 presses the password input button 20 at the corresponding position to complete one-digit character code input. During the downward movement of the rotary disk 12, the threaded sleeve 10 rotates relative to the screw rod 9, at this time, the relative rotation direction between the rotary disk 12 and the threaded sleeve 10 is the direction in which the one-way bearing 11 allows rotation, so the rotary disk 12 cannot rotate when moving downward, after the input of the character code is finished, the user releases the rotary sleeve 3, the rotary sleeve 3 is lifted and reset under the action of the first spring 13, the rotary disk 12 is lifted and reset under the action of the second spring 15, during the lifting of the rotary disk 12, the threaded sleeve 10 rotates reversely, at this time, the relative rotation direction between the rotary disk 12 and the threaded sleeve 10 is the locking direction of the one-way bearing 11, so the rotary disk 12 rotates together with the threaded sleeve 10, the rotation of the threaded sleeve 10 stops after reaching the top limit position, at this time, the relative rotation direction between the rotary disk 12 and the threaded sleeve 10 is changed into the direction in which the one-way bearing 11 allows rotation, so the rotary disk 12 continues to rotate for a period under the inertia effect, the pawl 22 and ratchet 21 do not engage during rotation of the dial 12. When a next character code needs to be input, the user rotates the rotary sleeve 3 in the direction in which the pawl 22 is engaged with the ratchet 21 again, so as to drive the rotary disc 12 to rotate, and the next character code is transferred to the input position for inputting. The rotation speed and time of the rotary disk 12 after each character input are related to the speed of the user for releasing the rotary sleeve 3, so that the angle at which the rotary disk 12 stops after rotating is uncertain, and a lawbreaker cannot deduce the content of the character by recording the angle of rotation of the rotary sleeve 3 when inputting the character next time. The invention can disturb the position of the character code after inputting one digit of the password, has stronger anti-interference and anti-peeping performance compared with the prior password input device, and can greatly enhance the safety of the password lock. The password input button 20 of the present invention may be internally installed with various circuits, electromagnetic or electronic components to generate signals, for example, a metal contact may be installed in the password input button 20, a switch circuit board may be installed below the password input button 20, and after the password input button 20 is pressed, the metal contact may conduct the corresponding circuit of the switch circuit board to output password information to the password controller 215 of the driving motor 205.

In order to further improve the security of the password input device, the following structure can be adopted: the transverse plate 19 can be lifted in the shell 1, the transverse plate 19 is contacted with the bottom surface of the convex ring 6 when lifted to the limit position, at the moment, the lug 18 can press a password input button after the rotating disc 12 is lifted, the lug 18 cannot be contacted with the password input button after the transverse plate 19 is lifted, the tension spring 24 is arranged between the transverse plate 19 and the bottom of the shell 1, the bottom of the shell 1 is provided with guide rails 25 with bright stripes parallel to each other, each guide rail 25 is provided with a roller 26 matched with the guide rail, each roller 26 is provided with a support rod 27, the upper end of each support rod 27 is hinged with the bottom surface of the transverse plate 19, the two support rods 27 are connected through a transverse shaft 28, the transverse shaft 28 is provided with a transverse shaft sleeve 29, the transverse shaft sleeve 29 can rotate around the axis of the transverse shaft 28, the outer wall of one side of the shell 1 is provided with a lock shell 30, the lock core 32 opened and closed by a key 31 is arranged on the lock shell 30, a crank 33 is arranged on the rotating part of the lock core 32, and the crank 33 is hinged with one end of a connecting rod 34, the other end of the connecting rod 34 is hinged with the cross shaft sleeve 29, the key 31 can drive the crank 33 to swing, the crank 33 can push or pull the lower end of the supporting rod 27 through the connecting rod 34 when swinging, the guide rail 25 is provided with an arc-shaped positioning groove 35, when the supporting rod 27 is vertical to the transverse plate 19, the roller 26 is positioned in the arc-shaped positioning groove 35, and at the moment, the transverse plate 19 is contacted with the bottom surface of the convex ring 6. This structure uses key 31 to drive diaphragm 19 and goes up and down, and only when diaphragm 19 rose to top extreme position, lug 18 could contact password input button and input the password, and consequently this structure can realize the second grade safety lock function, before the password of input trick lock promptly, must use key 31 earlier to rise diaphragm 19 and just can input the password, possess key 31 alone or know the password alone and all can't unblock. In this structure, after diaphragm 19 rises, connecting rod 34 is perpendicular with diaphragm 19, and the gyro wheel 26 of connecting rod 34 tip is located arc positioning groove 35 and plays the positioning action, prevents that connecting rod 34 from unexpected slope, and connecting rod 34 forms the support to diaphragm 19 from diaphragm 19 bottom this moment, and 6 bottom surfaces of bulge loops contact with diaphragm 19 top surface periphery, and this structure can prevent to take place to incline when the diaphragm is pressed by lug 18, guarantees that lug 18 can be accurate presses password input button 20.

Claims (4)

1. Insulator cleans scrubbing robot hydrojet system, its characterized in that: comprises a trolley (16), a shell (17) and a wireless control device (14), wherein a cleaning agent tank (1), a pure water tank (2), a high-pressure pump (9), a filter (8), a flow controller (5) and a power supply (12) are arranged in the trolley (16), a three-way valve (7) is connected between one end of the filter (8) and the cleaning agent tank (1) as well as the pure water tank (2), the other end of the filter (8) is connected with the water inlet end of the high-pressure pump (9), the water outlet end of the high-pressure pump (9) is connected with the flow controller (5) through a water outlet pipe, a safety valve (13), a check valve (3) and a pressure reducing valve (4) are respectively arranged on the water outlet pipe, the power supply (12) is connected with the high-pressure pump (9) through a switch (11), a wireless receiving device (10) is arranged on the switch (11), the wireless receiving device (10) is wirelessly connected with the wireless control device (14), the wireless receiving device (10) is connected with the three-way valve (7) through a switching unit (30), the casing is provided with a plurality of spray heads (6), a spray pipe (15) is connected between the flow controller (5) and the plurality of spray heads (6), the casing (17) is annular, an annular slide rail (19) is installed on the casing (17), a plurality of slide blocks (20) are installed on the slide rail (19) in a matching way, a gear ring (21) is installed on the periphery of the slide rail (19), a walking motor (22) is installed on each slide block (20), a driving gear (23) is installed on an output shaft of the walking motor (22), the driving gear (23) is meshed with the gear ring (21), an electric telescopic rod (18) and a camera (24) are installed on each slide block (20), the spray heads (6) are installed on the corresponding electric telescopic rods (18), the casing (1) is formed by mutually buckling two arc-shaped plates, one section of arc-shaped slide rail is installed on each of the two arc-shaped slide rails, and the two sections of arc-shaped slide rails are mutually spliced into an annular slide rail (19), one ends of two arc plates buckled with each other of a shell (1) are hinged with each other, the other ends of the two arc plates are connected with each other through an electric control lock catch, the electric control lock catch comprises a connecting plate (201) connected with one arc plate, a limiting through hole (202) is formed in the connecting plate (201), a lock box (203) is installed on the other arc plate, a slot (204) is formed in the lock box (203), the connecting plate (201) can be inserted into the slot (204), a driving motor (205) is installed in the lock box (203), an output shaft of the driving motor (205) is meshed with a driven rack (207) through a driving gear (206), the driven rack (207) is installed on a guide rod (208), a guide plate (211) is arranged in the lock box (203), the guide plate (211) is matched with the guide rod (208), the driving motor (205) drives the guide rod (208) to ascend through the driving gear (206) and the driven rack (207), the lower end of the guide rod (208) is connected with a lock tongue (209), a spring bolt actuating spring (212) is arranged between the spring bolt (209) and the guide plate (211), when the driving motor (205) does not rotate, the spring bolt actuating spring (212) can push the spring bolt (209) to descend and reset, when the connecting plate (201) is inserted into the slot (204), the spring bolt (209) can be inserted into the limiting through hole (202), one side of the spring bolt (209) is a slope surface (210), when the connecting plate (201) is inserted into the slot (204), the end part of the connecting plate (201) is contacted with the slope surface (210), an external power interface (213) and an unlocking button (216) are arranged on the lockset box (203), the external power interface (213) is connected with the power input end of the driving motor (205), the unlocking button (216) can start the driving motor (205) after the driving motor (205) is electrified, a password controller (215) is arranged on the driving motor (205), and the password controller (215) can control the on-off of the circuit of the driving motor (205), the password input circuit of the password controller (215) is connected with the password input device;

the sliding block (20) is internally provided with a plurality of fixing grooves (25), a C-shaped accommodating groove (26), a first sliding groove (27) and a second sliding groove (28), the C-shaped accommodating groove (26) is respectively communicated with the first sliding groove (27) and the second sliding groove (28), the bottom of the electric telescopic rod (18) is provided with a supporting plate (29), the supporting plate (29) is positioned in the fixing grooves (25), the side wall of the supporting plate (29) is provided with a rack (31) along the length direction, one end of the C-shaped accommodating groove (26) is internally provided with a gear (32), the gear (32) is meshed with the rack (31), the gear (32) is coaxially provided with a driving wheel (33), the driving wheel (33) is connected with one end of a driving belt (34), the accommodating groove (26) is internally provided with a transition wheel (35), a first wedge-shaped block (36) is arranged in the first sliding groove (27), a second wedge-shaped block (37) is arranged in the second sliding groove (28), one end of the first wedge-shaped block (36) provided with an inclined plane is contacted with an inclined plane of the second wedge-shaped block (37), the other end of the first wedge-shaped block (36) is connected with a pull rod (38), the end part of the pull rod (38) extends out of the slide block (20), a spring (39) is arranged on the pull rod (38), the two ends of the spring (39) are respectively and fixedly connected with the side wall of the first sliding groove (27) and the first wedge-shaped block (36), the spring (39) always pushes the first wedge-shaped block (36), the other end of the transmission belt (34) bypasses the ferryboat (35) and is connected with one end of the second wedge-shaped block (37), the other end of the second wedge-shaped block (37) is fixedly connected with a tension spring (40), the tension spring (40) is fixed on the side wall of the C-shaped accommodating groove (26), the tension spring (40) always pulls the second wedge-shaped block (37), a limit block (41) is arranged on the side part of the second wedge-shaped block (37), a limit groove (42) is provided on the side wall of the supporting plate (29), the limiting block (41) is positioned in the limiting groove (42);

the password input device comprises a shell (101), a circular through hole (102) is formed in the top surface of the shell (101), a rotating sleeve (103) is installed in the circular through hole (102), the rotating sleeve (103) can lift and rotate relative to the shell (101) in the circular through hole (102), a limiting block (104) is arranged on the periphery of the bottom of the rotating sleeve (103), when the limiting block (104) rises to a limit position, the limiting block (104) can be in contact with the shell (101) on the outer side of the circular through hole (102), a sealing plate (105) is arranged on the top surface of the rotating sleeve (103), the sealing plate (105) is made of a transparent material, a convex ring (106) is arranged on the inner wall of the shell (101), a first spring (113) is installed on the top surface of the convex ring (106), the top of the first spring (113) is connected with an annular gasket (116), the annular gasket (116) is in contact with the bottom surface of the rotating sleeve (103), a plurality of supports (107) are arranged on the inner wall of the convex ring (106) at intervals, each support (107) is connected with a supporting plate (108), a screw rod (109) is installed on the top surface of the supporting plate (108), a threaded sleeve (110) matched with the screw rod (109) is installed on the screw rod (109), the periphery of the threaded sleeve (110) is connected with a rotary table (112) through a one-way bearing (111), a second spring (115) is installed between the threaded sleeve (110) and the supporting plate (108), an annular pressing block (114) is arranged above the rotary table (112), the annular pressing block (114) is connected with a sealing plate (105), when the rotary sleeve (103) moves downwards, the annular pressing block (114) can push the rotary table (112) to move downwards together, a ratchet (121) is arranged on the periphery of the outer side wall of the rotary table (112), a pawl (122) matched with the ratchet (121) is installed on the inner wall of the rotary sleeve (103), a reset torsion spring (123) is installed on the rotating shaft of the pawl (122), after the pawl (122) is meshed with the ratchet (121), the rotary sleeve (103) can drive the rotary table (112) to rotate towards the direction which the one-way bearing (111) allows rotation, the top surface of the rotary table (112) is provided with a plurality of character blocks (117), each character block (117) is uniformly arranged on the top surface of the rotary table (112) in an annular manner, a convex block (118) is arranged on the bottom surface of the rotary table (112), a transverse plate (119) is arranged in the shell (101) below the convex ring (106), the top surface of the transverse plate (119) is provided with a plurality of password input buttons (120), each password input button (120) is uniformly arranged on the top surface of the transverse plate (119) in an annular manner, the number of the password input buttons (120) is the same as that of the character blocks (117), and when the rotary table (112) moves down along with the rotary sleeve (103), one password input button can be pressed down by the convex block (118).

2. The liquid spraying system of the insulator cleaning and decontamination robot as claimed in claim 1, wherein: the end of the pull rod (38) extending out of the slide block (20) is provided with a stop block (43).

3. The liquid spraying system of the insulator cleaning and decontamination robot as claimed in claim 1, wherein: the side part of the limiting block (41) is provided with an inclined plane, the side wall of the limiting groove (42) is provided with an inclined plane, and the inclined plane of the limiting block (41) is matched with the inclined plane of the limiting groove (42).

4. The cleaning arm of the insulator cleaning and decontamination robot as claimed in claim 1, wherein: the transverse plate (119) can lift in the shell (101), the transverse plate (119) is in contact with the bottom surface of the convex ring (106) when rising to the limit position, at the moment, a code input button can be pressed down by the convex block (118) after the rotary table (112) descends, the convex block (118) cannot be in contact with the code input button after the transverse plate (119) descends, a tension spring (124) is arranged between the transverse plate (119) and the bottom of the shell (101), guide rails (125) with parallel bright stripes are arranged at the bottom of the shell (101), rollers (126) matched with the guide rails are arranged on each guide rail (125), supporting rods (127) are arranged on each roller (126), the upper ends of the supporting rods (127) are hinged with the bottom surface of the transverse plate (119), the two supporting rods (127) are connected through a transverse shaft (128), a transverse shaft sleeve (129) is arranged on the transverse shaft (128), the transverse shaft sleeve (129) can rotate around the axis of the transverse shaft (128), a lock shell (130) is arranged on one side of the shell (101), a lock cylinder (132) opened and closed by using a key (131) is installed on a lock shell (130), a crank (133) is installed on a rotating component of the lock cylinder (132), the crank (133) is hinged to one end of a connecting rod (134), the other end of the connecting rod (134) is hinged to a cross shaft sleeve (129), the key (131) can drive the crank (133) to swing, the crank (133) can push or pull the lower end of a supporting rod (127) through the connecting rod (134) when swinging, an arc-shaped positioning groove (135) is formed in a guide rail (125), when the supporting rod (127) is perpendicular to a transverse plate (119), an idler wheel (126) is located in the arc-shaped positioning groove (135), and the transverse plate (119) is in contact with the bottom surface of a convex ring (106).

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