Overlapped insulator climbing device and method

Abstract

The invention relates to an overlapped insulator climbing device and a climbing method. The device comprises a frame, a frame opening and closing mechanism, a frame self-locking mechanism, a screw lead lifting mechanism and a grasping mechanism, wherein frame opening and closing mechanism is arranged on the frame and comprises an opening and closing motor output shaft clamp (21), an opening and closing link rod (22) and a power mechanism A (23); the opening and closing link rod (22) is arranged at the output shaft of the power mechanism A (23); the frame self-locking mechanism is additionally arranged on the frame; the screw lead lifting mechanism comprises a screw lead (41) and a power mechanism B (42); both the screw lead (41) and the power mechanism B (42) are arranged on the frame; the screw lead (41) is additionally arranged at the output end of the power mechanism B (42); and the grasping mechanism is arranged on the screw lead (41) in a matched mode. The climbing device disclosed by the invention has the advantages of being smart and compact, high in climbing speed, long in endurance time, broad in application scope and the like.

Description

technical field [0001] The invention relates to the technical field of insulator detection and cleaning robot climbing, in particular to an overlapping insulator climbing device and method. Background technique [0002] Insulators are an important part of high-voltage transmission lines, and their insulation directly affects the safe operation of high-voltage transmission lines. However, insulators in high-voltage transmission lines are often under strong electric fields and strong mechanical stress, and because insulators are directly exposed to the atmosphere, after experiencing strong temperature changes and wind and rain, the probability of failure is very high. Therefore, regular inspection of insulators Detection and cleaning are important tasks to eliminate potential safety hazards and ensure power safety. [0003] At present, insulator inspection and decontamination are mostly carried out manually, but this method requires a lot of labor intensity, low work efficien...

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Problems solved by technology

However, the current hanging insulator detection and cleaning robot has an imperfect internal climbing mechanism, and the following problems exist in actual use: 1) The climbing mechanism has too high requirements on the shape and position error of the insulator string, which is difficult to apply In actual operation, the practicability and applicability are extremely poor; 2). During the climbing process of the robot, the climbing mechanism will wear or scratch the anti-fouling coating on the surface of the insulator, destroying the integrity of the anti-fouling coating on the insulator; 3 ), the overall design of the climbing mechanism is too ideal, there are too few driving motors in the climbing mechanism, too few degrees of freedom, and the multiple clamping load-bearing parts in the climbing mechanism do not consider the error of the actual insulator sheet, so that the climbing mechanism The action control effect is very poor, which reduces the control stability and poor safety; 4) The climbing mechanism in the existing robots is very difficult to install to the insulator string, wasting precious working time

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