CN113241228B - Antifouling self-cleaning type line column type porcelain insulator - Google Patents
Antifouling self-cleaning type line column type porcelain insulator Download PDFInfo
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- CN113241228B CN113241228B CN202110599324.1A CN202110599324A CN113241228B CN 113241228 B CN113241228 B CN 113241228B CN 202110599324 A CN202110599324 A CN 202110599324A CN 113241228 B CN113241228 B CN 113241228B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B17/00—Insulators or insulating bodies characterised by their form
- H01B17/52—Insulators or insulating bodies characterised by their form having cleaning devices
- H01B17/525—Self-cleaning, e.g. by shape or disposition of screens
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B17/00—Insulators or insulating bodies characterised by their form
- H01B17/005—Insulators structurally associated with built-in electrical equipment
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B17/00—Insulators or insulating bodies characterised by their form
- H01B17/14—Supporting insulators
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B17/00—Insulators or insulating bodies characterised by their form
- H01B17/38—Fittings, e.g. caps; Fastenings therefor
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Abstract
The invention relates to the technical field of insulators, in particular to an antifouling self-cleaning type linear pole type porcelain insulator which comprises a porcelain insulator, a cleaning device, a stain recognition device and a driving device, wherein the cleaning device comprises a water cleaning assembly and a wind cleaning assembly, the stain recognition device comprises an image shooting device and an image analysis device, and the driving device is used for driving the cleaning device and the stain recognition device to move up and down along the outer surface of the porcelain insulator. The antifouling self-cleaning type line column type porcelain insulator comprises a porcelain insulator body, a cleaning device, a stain recognition device and a driving device, wherein the cleaning device sprays high-pressure water to the surface of the porcelain insulator body through a water cleaning component, and sprays high-pressure air to the surface of the porcelain insulator body through an air cleaning component, the cleaning device sprays high-pressure water and high-pressure air to the surface of the porcelain insulator body simultaneously, and the porcelain insulator body is cleaned in a double-cleaning mode, and can be cleaned in time, so that power failure caused by stains is avoided.
Description
Technical Field
The invention relates to the technical field of insulators, in particular to an antifouling self-cleaning line post type porcelain insulator.
Background
The insulator is a special insulating control and can play an important role in an overhead transmission line. Early-year insulators are mostly used for telegraph poles, and a plurality of disc-shaped insulators are hung at one end of a high-voltage wire connecting tower which is gradually developed, are used for increasing creepage distance and are usually made of glass or ceramics, namely insulators. The insulator should not fail due to various electromechanical stresses caused by changes in environmental and electrical loading conditions, otherwise the insulator will not function significantly and will compromise the service and operational life of the entire line. The porcelain insulator is an insulator made of electrical ceramics. The electrical ceramic is made by baking quartz, feldspar and clay as raw materials. The surface of the porcelain piece of the porcelain insulator is usually covered with porcelain glaze to improve the mechanical strength, prevent water infiltration and increase the surface smoothness. Among the various types of insulators, porcelain insulators are most commonly used. Dirty insulators are prone to flashover discharge, so the insulators must be cleaned and the original insulation level restored.
The patent with application number CN201921194689.0 discloses a isolator with self-cleaning function, including the mount pad and set up in a plurality of insulators at the mount pad top, the top welding of mount pad has the rack, one side of rack is equipped with the slider. The utility model discloses in, a terminal surface of drive gear has set up supporting gear, and the outside of insulator has set up the movable block, and the bottom of movable block has set up the teeth of a cogwheel, and the inboard of movable block has set up a plurality of brushes, adopts the benefit of this design to lie in: the driving motor can drive the driving gear to rotate, and then the supporting gear is driven to rotate, because the supporting gear is connected with the movable block through the meshing of the gear teeth, and then the movable block can be driven to rotate, and the driving gear is simultaneously followed to move up along the rack from the bottom, so that the brush ascends around the insulator in a rotating manner, and then the dust on the insulator is removed, self-cleaning is realized through the design, manual cleaning of workers is not needed, the working efficiency is improved, and the cleaning safety is also improved.
The insulator of the patent finishes the cleaning of the insulator through the self-cleaning device, and the service life of the insulator is prolonged. However, the surface of the insulator is only cleaned by the cleaning brush, which is difficult to clean, and the cleaning brush is always in contact with the surface of the insulator, which is easy to affect the insulating property of the insulator, the prior art cannot judge the stain condition of the insulator, and cannot judge whether the insulator needs to be cleaned, when the stain condition seriously affects the insulating property of the insulator, the cleaning may cause power failure.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art and provides an antifouling self-cleaning line column type porcelain insulator.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: the utility model provides an antifouling self-cleaning type line column type porcelain insulator, includes porcelain insulator, cleaning device, stain recognition device, drive arrangement, cleaning device includes clean subassembly of water, the clean subassembly of wind, the clean subassembly of water is used for spraying the high-pressure water to porcelain insulator surface, the clean subassembly of wind is used for spraying highly-compressed air to porcelain insulator surface, stain recognition device includes image shooting device and image analysis device, image shooting device is used for shooing the surface image of porcelain insulator, image analysis device is used for the stain condition and the judgement according to surface image analysis porcelain insulator surface whether need clean, drive arrangement is used for driving cleaning device and stain recognition device and moves about along porcelain insulator's surface.
Further, clean subassembly of water includes clean ring of water, high pressure water pump, water tank, a plurality of high pressure nozzle, the clean ring of water encircles the periphery that sets up at porcelain insulator, be provided with the rivers passageway in the clean ring of water, high pressure water pump is connected with the clean ring of water tank and water respectively to with the water suction in the water tank to the rivers passageway in, high pressure nozzle evenly distributed is on the inside wall of the clean ring of water and with rivers passageway intercommunication.
Furthermore, a soft water pipe is arranged between the high-pressure water pump and the water tank and communicated with the water tank through the soft water pipe, and the soft water pipe extends to the bottom of the water tank.
Further, the water cleaning assembly further comprises a water collector, the water collector is connected with the water tank through a pipeline, and the water collector is used for collecting rainwater.
Further, the bottom of the water tank is provided with a weigher which is used for measuring the weight of the water in the water tank.
Further, porcelain insulator includes connecting piece down, be provided with the supporting seat on the connecting piece down, the supporting seat supports in water tank and drive arrangement below.
Further, the clean subassembly of wind includes clean ring of wind, high compression pump, the clean ring of wind encircles the periphery that sets up at porcelain insulator, be provided with airflow channel in the clean ring of wind, air outlet ring channel has been seted up to airflow channel's inboard, high compression pump is used for exporting high-pressure air to airflow channel.
Further, the image shooting device comprises a support ring and a plurality of cameras, wherein the support ring is arranged on the periphery of the porcelain insulator in a surrounding mode, and the cameras are evenly distributed on the inner side wall of the support ring.
Further, drive arrangement includes motor, lead screw slider, guide bar, the motor is used for driving the lead screw and rotates, the lead screw drives the activity of lead screw slider, the guide bar is used for leading to the lead screw slider, makes the lead screw slider move about from top to bottom, cleaning device and stain recognition device set up on the lead screw slider.
The cleaning device is connected with the cleaning device, the stain recognition device and the driving device, and the control device is connected with the cleaning device, the stain recognition device and the driving device respectively and controls the cleaning device, the stain recognition device and the driving device.
The invention has the beneficial effects that: from the above description of the invention, it can be known that, compared with the prior art, the antifouling self-cleaning line column type porcelain insulator of the invention comprises a porcelain insulator, a cleaning device, a stain recognition device and a driving device, wherein the cleaning device sprays high-pressure water to the surface of the porcelain insulator through a water cleaning component and sprays high-pressure air to the surface of the porcelain insulator through an air cleaning component, the cleaning device sprays high-pressure water and high-pressure air to the surface of the porcelain insulator simultaneously, the surface of the porcelain insulator is cleaned through double cleaning, the cleaning device does not need to contact the surface of the porcelain insulator and does not influence the performance of the porcelain insulator, the stain recognition device shoots the surface image of the porcelain insulator through an image shooting device, the image analysis device analyzes the stain condition on the surface of the porcelain insulator and judges whether cleaning is needed or not, and the porcelain insulator can be cleaned in time, avoid causing power failure because of the stain, drive arrangement drive cleaning device and stain recognition device move about from top to bottom along porcelain insulator's surface to clean and stain discernment.
Drawings
FIG. 1 is a schematic front view of a post-type porcelain insulator for an antifouling self-cleaning type line according to a preferred embodiment of the invention;
FIG. 2 is an enlarged view of FIG. 1 at A;
FIG. 3 is an enlarged view of FIG. 1 at B;
FIG. 4 is a schematic top view of the water cleaning ring and high pressure jets in a preferred embodiment of the present invention;
FIG. 5 is a schematic top view of an image capture device in accordance with a preferred embodiment of the present invention;
reference numerals are as follows: 1. a porcelain insulator; 2. a cleaning device; 3. a stain recognition device; 4. a drive device 4; 11. a lower connecting member; 12. a supporting seat; 21. a water cleaning assembly; 22. a wind cleaning assembly; 31. an image capturing device; 32. an image analysis device; 41. a motor; 42. a screw rod; 43. a screw rod slide block; 44. a guide bar; 211. cleaning the ring with water; 212. a high pressure water pump; 213. a water tank; 214. a high pressure spray head; 215. a soft water pipe; 216. a water collector; 217. a weighing device; 221. a wind cleaning ring; 222. a high pressure air pump; 311. a support ring; 312. a camera is provided.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-5, a preferred embodiment of the invention, an antifouling self-cleaning type post insulator, comprises a porcelain insulator 1, a cleaning device 2, a stain recognition device 3 and a driving device 4, the cleaning device 2 comprises a water cleaning component 21 and an air cleaning component 22, wherein the water cleaning component 21 is used for spraying high-pressure water to the surface of the porcelain insulator 1, the wind cleaning component 22 is used for spraying high-pressure air to the surface of the porcelain insulator 1, the stain recognition device 3 comprises an image shooting device 31 and an image analysis device 32, the image shooting device 31 is used for shooting the surface image of the porcelain insulator 1, the image analysis device 32 is used for analyzing the stain condition of the surface of the porcelain insulator 1 according to the surface image and judging whether cleaning is needed or not, and the driving device 4 is used for driving the cleaning device 2 and the stain recognition device 3 to move up and down along the outer surface of the porcelain insulator 1.
The invention discloses an antifouling self-cleaning type line column type porcelain insulator which comprises a porcelain insulator 1, a cleaning device 2, a stain recognition device 3 and a driving device 4, wherein the cleaning device 2 sprays high-pressure water to the surface of the porcelain insulator 1 through a water cleaning component 21, and sprays high-pressure air to the surface of the porcelain insulator 1 through an air cleaning component 22, the cleaning device 2 simultaneously sprays high-pressure water and high-pressure air to the surface of the porcelain insulator 1, the surface of the porcelain insulator 1 is cleaned through double cleaning, the cleaning device 2 does not need to contact the surface of the porcelain insulator 1, the performance of the porcelain insulator 1 cannot be influenced, the stain recognition device 3 shoots a surface image of the porcelain insulator 1 through an image shooting device 31, the stain condition of the surface of the porcelain insulator 1 is analyzed through an image analysis device 32, whether cleaning is needed or not is judged, and the porcelain insulator 1 can be cleaned in time, avoid causing power failure because of the stain, drive arrangement 4 drive cleaning device 2 and stain recognition device 3 move about from top to bottom along porcelain insulator 1's surface to clean and stain discernment.
As a preferred embodiment of the present invention, it may also have the following additional technical features:
in this embodiment, the water cleaning assembly 21 includes a water cleaning ring 211, a high-pressure water pump 212, a water tank 213 and a plurality of high-pressure spray heads 214, the water cleaning ring 211 surrounds the periphery of the porcelain insulator 1, a water flow passage is provided in the water cleaning ring 211, the high-pressure water pump 212 is respectively connected with the water tank 213 and the water cleaning ring 211 so as to pump the water in the water tank 213 to the water flow passage, and the high-pressure spray heads 214 are uniformly distributed on the inner side wall of the water cleaning ring 211 and are communicated with the water flow passage. The water cleaning component 21 comprises a water cleaning ring 211, a high-pressure water pump 212, a water tank 213 and a plurality of high-pressure spray heads 214, when cleaning is carried out, the driving device 4 drives the water cleaning ring 211 and the high-pressure water pump 212 to move up and down on the periphery of the porcelain insulator 1, the high-pressure water pump 212 pumps water in the water tank 213 into a water flow channel of the water cleaning ring 211, and the water is sprayed onto the surface of the porcelain insulator 1 through the high-pressure spray heads 214 to impact stains, so that the cleaning effect is good.
In this embodiment, a soft water pipe 215 is disposed between the high pressure water pump 212 and the water tank 213 and is communicated with the water tank 213 through the soft water pipe 215, and the soft water pipe 215 extends to the bottom of the water tank 213. Since the high pressure water pump 212 moves up and down along with the water cleaning ring 211, a soft water pipe 215 is provided between the high pressure water pump 212 and the water tank 213 so that the high pressure water pump 212 moves, and the soft water pipe 215 extends to the bottom of the water tank 213 to draw water from the bottom of the water tank 213.
In this embodiment, the water cleaning assembly 21 further comprises a water collector 216, the water collector 216 is connected with the water tank 213 by a pipeline, and the water collector 216 is used for collecting rainwater. The water cleaning assembly 21 includes a water collector 216 connected to the water tank 213 through a pipe, and collects rainwater through the water collector 216 to supply the rainwater to the water tank 213, with high automation, and can conveniently supply water to the water tank 213.
In this embodiment, a weigher 217 is provided at the bottom of the water tank 213, and the weigher 217 measures the weight of the water in the water tank 213. The weigher 217 is arranged at the bottom of the water tank 213, the weigher 217 is used for measuring the weight of water in the water tank 213, and when the porcelain insulator 1 needs to be cleaned due to the fact that the water in the water tank 213 is not enough, water can be added into the water tank 213, and therefore cleaning can be carried out in time.
In this embodiment, the porcelain insulator 1 includes a lower connecting member 11, a support seat 12 is disposed on the lower connecting member 11, and the support seat 12 is supported below the water tank 213 and the driving device 4. The porcelain insulator 1 includes a lower connecting member 11, and a support base 12 is provided on the lower connecting member 11 so as to support the water tank 213 and the driving device 4 through the support base 12.
In this embodiment, the wind cleaning assembly 22 includes a wind cleaning ring 221 and a high pressure air pump 222, the wind cleaning ring 221 is disposed around the ceramic insulator 1, an air flow channel is disposed in the wind cleaning ring 221, an air outlet annular groove is disposed on the inner side of the air flow channel, and the high pressure air pump 222 is configured to output high pressure air to the air flow channel. The wind cleaning component 22 comprises a wind cleaning ring 221 and a high-pressure air pump 222, when cleaning is carried out, the driving device 4 drives the wind cleaning ring 221 and the high-pressure air pump 222 to move up and down on the periphery of the porcelain insulator 1, the high-pressure air pump 222 outputs high-pressure air to an air flow channel in the wind cleaning ring 221, the high-pressure air is sprayed onto the surface of the porcelain insulator 1 through an air outlet annular groove to impact stains, and the cleaning effect is improved greatly by matching with the water cleaning component 21.
In this embodiment, the image capturing device 31 includes a support ring 311 and a plurality of cameras 312, the support ring 311 is disposed around the porcelain insulator 1, and the cameras 312 are uniformly distributed on the inner side wall of the support ring 311. The image shooting device 31 comprises a support ring 311 and a plurality of cameras 312, when the stains are identified, the drive device 4 drives the support ring 311 to move up and down on the periphery of the porcelain insulator 1, and the cameras 312 shoot surface images of the porcelain insulator 1 to obtain the surface images of the porcelain insulator 1.
In this embodiment, the driving device 4 includes a motor 41, a screw rod 42, a screw rod slider 43, and a guide rod 44, where the motor 41 is configured to drive the screw rod 42 to rotate, the screw rod 42 drives the screw rod slider 43 to move, the guide rod 44 is configured to guide the screw rod slider 43, so that the screw rod slider 43 moves up and down, and the cleaning device 2 and the stain recognition device 3 are disposed on the screw rod slider 43. The driving device 4 comprises a motor 41, a screw rod 42, a screw rod sliding block 43 and a guide rod 44, the motor 41 drives the screw rod 42 to rotate, the screw rod 42 drives the screw rod sliding block 43 to move, and meanwhile, the guide rod 44 guides the screw rod sliding block 43, so that the cleaning device 2 and the stain recognition device 3 move up and down along with the screw rod sliding block 43.
In the present embodiment, the cleaning apparatus further includes a control device that is connected to the cleaning device 2, the stain recognition device 3, and the drive device 4, and controls the cleaning device 2, the stain recognition device 3, and the drive device 4. Establish electric connection through controlling means and cleaning device 2, stain recognition device 3, drive arrangement 4's electrical component to control cleaning device 2, stain recognition device 3, drive arrangement 4, intelligent degree is high, convenient to use.
The above additional technical features can be freely combined and used in superposition by those skilled in the art without conflict.
It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (7)
1. The utility model provides an antifouling self-cleaning molded lines way column type porcelain insulator which characterized in that: comprises a porcelain insulator (1), a cleaning device (2), a stain recognition device (3) and a driving device (4), the cleaning device (2) comprises a water cleaning component (21) and an air cleaning component (22), the water cleaning component (21) is used for spraying high-pressure water to the surface of the porcelain insulator (1), the wind cleaning component (22) is used for spraying high-pressure air to the surface of the porcelain insulator (1), the stain recognition device (3) comprises an image shooting device (31) and an image analysis device (32), the image shooting device (31) is used for shooting a surface image of the porcelain insulator (1), the image analysis device (32) is used for analyzing the stain condition on the surface of the porcelain insulator (1) according to the surface image and judging whether cleaning is needed or not, the driving device (4) is used for driving the cleaning device (2) and the stain recognition device (3) to move up and down along the outer surface of the porcelain insulator (1);
the water cleaning assembly (21) comprises a water cleaning ring (211), a high-pressure water pump (212), a water tank (213) and a plurality of high-pressure spray heads (214), the water cleaning ring (211) is arranged around the periphery of the porcelain insulator (1), a water flow channel is arranged in the water cleaning ring (211), the high-pressure water pump (212) is respectively connected with the water tank (213) and the water cleaning ring (211) so as to pump water in the water tank (213) into the water flow channel, and the high-pressure spray heads (214) are uniformly distributed on the inner side wall of the water cleaning ring (211) and are communicated with the water flow channel;
the wind cleaning assembly (22) comprises a wind cleaning ring (221) and a high-pressure air pump (222), the wind cleaning ring (221) is arranged on the periphery of the porcelain insulator (1) in a surrounding mode, an air flow channel is arranged in the wind cleaning ring (221), an air outlet annular groove is formed in the inner side of the air flow channel, and the high-pressure air pump (222) is used for outputting high-pressure air to the air flow channel;
image capture device (31) are including support ring (311) and a plurality of camera (312), support ring (311) encircle the periphery that sets up at porcelain insulator (1), camera (312) evenly distributed is on the inside wall of support ring (311).
2. The antifouling self-cleaning line post type porcelain insulator of claim 1, which is characterized in that: a soft water pipe (215) is arranged between the high-pressure water pump (212) and the water tank (213) and is communicated with the water tank through the soft water pipe (215), and the soft water pipe (215) extends to the bottom of the water tank (213).
3. The antifouling self-cleaning line post type porcelain insulator according to claim 1, characterized in that: the water cleaning assembly (21) further comprises a water collector (216), the water collector (216) is in pipeline connection with the water tank (213), and the water collector (216) is used for collecting rainwater.
4. The antifouling self-cleaning line post type porcelain insulator according to claim 1, characterized in that: the bottom of the water tank (213) is provided with a weigher (217), and the weigher (217) is used for measuring the weight of water in the water tank (213).
5. The antifouling self-cleaning line post type porcelain insulator according to claim 1, characterized in that: porcelain insulator (1) is including lower connecting piece (11), be provided with supporting seat (12) on lower connecting piece (11), supporting seat (12) support in water tank (213) and drive arrangement (4) below.
6. The antifouling self-cleaning type linear column type porcelain insulator according to claim 1, characterized in that: drive arrangement (4) are including motor (41), lead screw (42), lead screw slider (43), guide bar (44), motor (41) are used for driving lead screw (42) and rotate, lead screw (42) drive lead screw slider (43) activity, guide bar (44) are used for leading to lead screw slider (43), make lead screw slider (43) activity from top to bottom, cleaning device (2) and stain recognition device (3) set up on lead screw slider (43).
7. The antifouling self-cleaning line post type porcelain insulator according to claim 1, characterized in that: the cleaning device is characterized by further comprising a control device, wherein the control device is respectively connected with the cleaning device (2), the stain recognition device (3) and the driving device (4) and controls the cleaning device (2), the stain recognition device (3) and the driving device (4).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110599324.1A CN113241228B (en) | 2021-05-31 | 2021-05-31 | Antifouling self-cleaning type line column type porcelain insulator |
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| CN202110599324.1A CN113241228B (en) | 2021-05-31 | 2021-05-31 | Antifouling self-cleaning type line column type porcelain insulator |
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| CN112742764B (en) * | 2020-12-03 | 2022-12-02 | 刘正江 | 10kV line insulation protection device convenient to adjust |
| CN117583307B (en) * | 2023-12-20 | 2024-07-09 | 国网甘肃省电力公司电力科学研究院 | Intelligent belt cleaning device of telescopic pillar insulator |
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| KR100302479B1 (en) * | 1998-09-21 | 2001-09-22 | 이종훈 | Surface cleaning apparatus and method of aluminum wire for reducing corona generation |
| CN105336456A (en) * | 2015-11-21 | 2016-02-17 | 国网河南省电力公司南阳供电公司 | Insulator contamination removing device based on rain water collection |
| CN106680285B (en) * | 2016-11-17 | 2022-04-05 | 同济大学 | Method for recognizing insulator contamination state based on infrared image assisted visible light image |
| CN206276663U (en) * | 2016-11-30 | 2017-06-27 | 枣庄市鼎盛电气设备有限责任公司 | A kind of novel high-pressure live cleaning equipment |
| CN109225987B (en) * | 2018-09-17 | 2023-11-28 | 中国南方电网有限责任公司超高压输电公司曲靖局 | Intelligent composite insulator cleaning device |
| CN110355140A (en) * | 2019-09-03 | 2019-10-22 | 东莞市凯勒帝数控科技有限公司 | A kind of sub- automatic flushing device of overhead insulation |
| CN110523681B (en) * | 2019-10-10 | 2020-08-28 | 山东恒东实业集团有限公司 | Post insulator cleaning device of transformer substation |
| CN111530804B (en) * | 2020-05-07 | 2022-03-01 | 浙江大学台州研究院 | Robot based on insulator detection and cleaning and control method thereof |
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