High-voltage cable insulator replacement and removal operation robot based on visual identification

Abstract

The invention relates to a high-voltage cable insulator replacement and removal operation robot based on visual identification, which comprises bottom frames, a multi-degree-of-freedom manipulator, an insulator climbing mechanism, an insulator horizontal pushing manipulator and an insulator clamping mechanism, bottom plates are fixed at the upper ends of the two bottom frames respectively, and arc-shaped gaps are formed in the close sides of the two bottom plates; the two ends, close to one side, of the two bottom plates are locked or unlocked and separated through automatic locking mechanisms respectively, the two multi-degree-of-freedom manipulators are installed on the upper portions of the two bottom plates respectively, the two bottom plates are provided with supporting frames respectively, the two insulator climbing mechanisms are installed on the two supporting frames respectively, and the two moving mechanisms are arranged at the two notches. The two groups of insulator horizontal pushing manipulators are respectively arranged on the two moving mechanisms, the two groups of insulator clamping mechanisms are respectively arranged in the two groups of underframes, and the multi-degree-of-freedom manipulator is provided with a cable walking unit. The device has the advantages that the device can walk along a cable and avoid insulators, can climb along the insulators, and can split the single insulators one by one.

Description

Technical Field

[0001] This invention relates to the field of high-voltage cable insulator maintenance technology, and in particular to a high-voltage cable insulator replacement and removal robot based on vision recognition. Background Technology

[0002] During insulator replacement, the unique spatial structure between insulators allows for manual control and improved efficiency. However, there is currently a gap in the market for robots in this field. Analysis indicates that a two-wheeled walking robot is most suitable for this purpose, enabling it to move securely along the railway line and effectively overcome obstacles.

[0003] Because the opening directions formed by the ball head and cup head of adjacent insulators are different, the direction of the changing claw needs to be adjusted to adapt to their respective opening directions when working with adjacent insulators. To meet this requirement, Chinese patent "CN201510967364" proposes a W-pin disassembly and assembly composite end effector for a suspension insulator replacement robot. This solution achieves precise positioning by aligning the working arm with the ball head and cup head using a wire guide, and uses a guide rail for docking. However, the robot's working arm suffers from inefficiency due to its inability to quickly position the ball head and cup head, resulting in low operational efficiency.

[0004] Furthermore, the integration of the end effector is crucial during insulator replacement, as excessive stacking of end effectors can hinder the efficient and high-speed operation of the entire robot's control system. To address this need, Chinese patent "CN202011383939" proposes a robot for live-line replacement of tension single-piece insulators for ultra-high voltage lines. This design includes a rotating cylinder, a hydraulic telescopic rod, and a fixing rod at the end effector. However, this device is also quite complex, failing to effectively solve the problem of poor versatility of the insulator replacement robot's end effector and increasing the robot's load in the air.

[0005] In addition, since the insulators are suspended below the crossarm of the tower, the problem of how to climb to the upper insulators needs to be considered when replacing them, but existing robots cannot achieve the climbing function.

[0006] Therefore, it is necessary to develop a vision-based robot for replacing and removing high-voltage cable insulators to solve the aforementioned technical problems. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a high-voltage cable insulator replacement and removal robot based on vision recognition, which effectively overcomes the defects of the prior art.

[0008] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A vision-based robot for replacing and removing high-voltage cable insulators includes two sets of hollowed-out base frames, two sets of multi-degree-of-freedom manipulators, two sets of insulator climbing mechanisms, two sets of insulator pushing manipulators, and two sets of insulator clamping mechanisms. The two sets of base frames are spaced apart, and each set has a base plate fixed to its upper end. The sides of the two base plates that are close to each other are coaxially provided with arc-shaped notches. The two ends of the sides of the two base plates that are close to each other are locked or unlocked by an automatic locking mechanism. The two sets of multi-degree-of-freedom manipulators are respectively mounted on the upper, away sides of the two base plates. A separate support frame is provided. Two sets of the aforementioned insulator climbing mechanisms are respectively mounted on the upper ends of the two aforementioned support frames. Two sets of moving mechanisms are provided at the notches of the two aforementioned base plates. Two sets of the aforementioned insulator pushing manipulators are respectively mounted on the two aforementioned moving mechanisms. Two sets of the aforementioned insulator clamping mechanisms are respectively mounted in the two sets of the aforementioned base frames. The aforementioned multi-degree-of-freedom manipulators, the two sets of insulator climbing mechanisms, the two sets of insulator pushing manipulators, and the two sets of insulator clamping mechanisms are each equipped with a camera. The aforementioned cameras are connected to a machine vision recognition system. The end of the aforementioned multi-degree-of-freedom manipulator is equipped with a cable traveling unit that can be detachably coupled with the high-voltage cable and travels along it.

[0009] Based on the above technical solution, the present invention can be further improved as follows.

[0010] Furthermore, the two base plates are respectively provided with arc-shaped tracks on the edges of the notches on their adjacent sides, and arc-shaped racks are respectively provided on the upper part of the two base plates corresponding to the outer perimeter of the notches. The moving mechanism includes an arc-shaped slider, a positioning plate on the slider, a first motor on the positioning plate, the main shaft of the first motor passing downward through the slider and extending to the outside of the slider, and a gear that meshes with the racks is coaxially mounted on the main shaft of the first motor.

[0011] Furthermore, the aforementioned support frame is a fan-shaped plate member, and its lower end is mounted on the upper end of the aforementioned base plate via a connecting frame, with the two aforementioned support frames distributed coaxially.

[0012] Furthermore, each set of the aforementioned insulator climbing mechanisms is provided with two components. The aforementioned insulator climbing mechanism includes a first arm, a second arm, an electric telescopic unit, a first rotary drive device, and a first electric gripper. One end of the first arm is hinged to the upper end of the aforementioned support frame via a pin. The aforementioned first rotary drive device is drivenly connected to the aforementioned pin and is used to drive the aforementioned first arm to swing up and down. One end of the aforementioned second arm is hinged to the other end of the aforementioned first arm. The aforementioned electric telescopic unit is connected between the aforementioned first arm and the aforementioned second arm and is used to drive the aforementioned second arm to swing up and down. The aforementioned first electric gripper is installed at the other end of the aforementioned second arm, and the aforementioned camera is installed at the other end of the aforementioned second arm.

[0013] Furthermore, the aforementioned insulator pushing manipulator includes a horizontally arranged electric telescopic arm, a second rotary drive device, and a U-shaped clamp. The second rotary drive device is mounted on the aforementioned moving mechanism. The electric telescopic arm is horizontally arranged, with one end fixedly connected to the second rotary drive device and the other end extending toward the center of the aforementioned notch. The clamp is mounted on the other end of the electric telescopic arm, and the other end of the electric telescopic arm is equipped with the aforementioned camera.

[0014] Furthermore, the aforementioned insulator clamping mechanism includes a lifting mechanism, a mounting plate, two slide rails, a horizontal pushing mechanism, a fixed base, and a second electric gripper. The lifting mechanism is mounted on the base plate, the mounting plate is horizontally arranged in the base frame and connected to the lifting mechanism, the two slide rails are horizontally arranged and fixed at the lower end of the mounting plate at a horizontal interval, the slide rails of the two sets of insulator clamping mechanisms are parallel and extend in opposite directions, the upper end of the fixed base is slidably assembled with the two slide rails through a sliding block, the horizontal pushing mechanism is mounted on the lower end of the mounting plate and connected to the fixed base, and is used to drive the fixed base to move horizontally along the slide rails, the second electric gripper is respectively mounted on the side of the two sets of fixed bases that are close to each other, and the camera is respectively mounted on the side of the two sets of fixed bases that are close to each other.

[0015] Furthermore, the aforementioned lifting mechanism includes a lead screw motor and two sets of scissor-type connecting frames. The lead screw motor is mounted on the aforementioned base plate, with its lead screw extending vertically downward and penetrating the aforementioned mounting plate. The lower end of the lead screw is threaded into a nut in the aforementioned mounting plate. The two sets of aforementioned scissor-type connecting frames are respectively connected between the two ends of the aforementioned mounting plate and the aforementioned base plate.

[0016] Furthermore, a connecting frame is installed at the lower end of the aforementioned base frame, corresponding to the part below the aforementioned fixed seat.

[0017] Furthermore, the aforementioned cable-walking unit includes a third motor, a strip-shaped first support plate, a strip-shaped first limiting plate, a fourth motor, a fifth motor, a drive wheel, and a driven wheel. The third motor is mounted at the end of the multi-degree-of-freedom manipulator, and its motor shaft is perpendicularly connected and fixed to the middle of one side of the first support plate. The fourth motor is mounted at one end of one side of the first support plate, and its motor shaft passes through the first support plate and is coaxially connected and fixed to the drive wheel. The driven wheel has a hollow rotating shaft coaxially at its center, and the rotating shaft is fixedly mounted at the other end of the other side of the first support plate. The fifth motor is mounted at the other end of one side of the first support plate, and its motor shaft passes through the first support plate and the rotating shaft. One end of the first limiting plate is perpendicularly connected and fixed to the motor shaft of the fifth motor. An electromagnet is rotatably mounted at the end of the drive wheel. The first limiting plate is a metal plate that can be attracted to a magnet. The fifth motor is used to drive the first limiting plate to rotate to the other end near the electromagnet and attract or separate from the electromagnet.

[0018] Furthermore, the aforementioned automatic locking mechanism includes a sixth motor, a locking screw, a chuck clamp, and a hollow locking sleeve. Two sets of the aforementioned sixth motors are respectively mounted on the upper ends of one of the aforementioned base plates near the other base plate. One end of the aforementioned locking screw is coaxially connected and fixed to the motor shaft of the aforementioned sixth motor. Two sets of the aforementioned chuck clamps are respectively mounted on the upper ends of the other of the aforementioned base plates near one of the base plates. The inner wall of the aforementioned locking sleeve is provided with a thread adapted to the aforementioned locking screw. The aforementioned locking sleeve is sleeved on the outside of the aforementioned locking screw and is threadedly engaged with each other. A key block is provided at the lower end of one end of the aforementioned locking sleeve. The key block is slidably engaged with a keyway adapted to the upper end of one of the aforementioned base plates. The aforementioned sixth motor is used to drive the aforementioned locking screw to rotate, thereby driving the aforementioned locking sleeve to move axially to the clamping center of the aforementioned chuck clamp, or to move to separate from the aforementioned chuck clamp. The aforementioned chuck clamp is used to clamp the end of the aforementioned locking sleeve.

[0019] The beneficial effects of this invention are: it can enable walking along the cable and avoiding insulators, while also being able to climb along the insulators and effectively disassemble individual insulators one by one. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the high-voltage cable insulator replacement and removal robot based on vision recognition according to the present invention. Figure 2 This is a partial top view of the vision recognition-based high-voltage cable insulator replacement and removal robot of the present invention after removing the insulator climbing mechanism and support frame. Figure 3 This is a schematic diagram of the insulator climbing mechanism in the vision recognition-based high-voltage cable insulator replacement and removal robot of the present invention. Figure 4 This is a schematic diagram of the structure of the insulator pushing manipulator and the base frame in the vision recognition-based high-voltage cable insulator replacement and removal robot of the present invention. Figure 5 This is a top view of the structure of the high-voltage cable insulator replacement and removal robot based on vision recognition according to the present invention.

[0021] The attached diagram lists the components represented by each number as follows: 1. Base frame; 2. Multi-degree-of-freedom manipulator; 3. Insulator climbing mechanism; 4. Insulator pushing manipulator; 5. Insulator clamping mechanism; 6. Moving mechanism; 7. Cable walking unit; 8. Automatic locking mechanism; 11. Base plate; 12. Support frame; 31. First arm; 32. Second arm; 33. Electric telescopic unit; 34. First rotary drive device; 35. First electric gripper; 41. Electric telescopic arm; 42. Clamping device; 51. Lifting mechanism; 52. Mounting plate; 53. Slide rail; 54. Pushing mechanism; 55. Fixed seat; 56. Second electric gripper; 61. Slider; 62. First motor; 63. Gear; 71. Third motor; 72. First support plate; 73. First limit plate; 74. Fourth motor; 75. Fifth motor; 76. Driving wheel; 77. Driven wheel; 81. Sixth motor; 82. Locking screw; 83. Chuck clamp; 84. Locking sleeve; 111. Rail; 112. Rack; 511. Screw motor; 512. Scissor-type connecting frame. Detailed Implementation

[0022] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0023] Example like Figure 1 , 2 As shown in Figures 3, 4, and 5, the high-voltage cable insulator replacement and removal robot based on vision recognition in this embodiment includes two sets of hollowed-out base frames 1, two sets of multi-degree-of-freedom manipulators 2, two sets of insulator climbing mechanisms 3, two sets of insulator pushing manipulators 4, and two sets of insulator clamping mechanisms 5. The two sets of base frames 1 are spaced apart, and base plates 11 are fixed to the upper ends of the two sets of base frames 1 respectively. The two base plates 11 have coaxial arc-shaped notches on their adjacent sides. The two ends of the adjacent sides of the two base plates 11 are locked or unlocked by a set of automatic locking mechanisms 8. The two sets of multi-degree-of-freedom manipulators 2 are respectively installed on the upper, distant sides of the two base plates 11. Support frames 12 are provided on the base plate 11. Two sets of the above-mentioned insulator climbing mechanisms 3 are respectively installed on the upper ends of the two support frames 12. Two sets of moving mechanisms 6 are provided at the notches of the two base plates 11. Two sets of the above-mentioned insulator pushing manipulators 4 are respectively installed on the two moving mechanisms 6. Two sets of the above-mentioned insulator clamping mechanisms 5 are respectively installed in the two sets of the base frames 1. The above-mentioned multi-degree-of-freedom manipulators 2, the two sets of insulator climbing mechanisms 3, the two sets of insulator pushing manipulators 4 and the two sets of insulator clamping mechanisms 5 are respectively equipped with cameras. The cameras are connected to a machine vision recognition system. The end of the above-mentioned multi-degree-of-freedom manipulators 2 is equipped with a cable traveling unit 7 that can be detachably matched with the high-voltage cable and travels along it.

[0024] The high-voltage cable insulator replacement and removal robot based on vision recognition in this embodiment is based on an existing machine vision recognition system (which is prior art and will not be described in detail here). It uses a camera to capture images and feeds them back to the control system, thereby controlling the operation of various electrical components in the device (multi-degree-of-freedom manipulator 2, two sets of insulator climbing mechanisms 3, two sets of insulator pushing manipulators 4, and two sets of insulator clamping mechanisms 5). The specific process is as follows: Before operation, the robotic arms are hoisted to a high altitude, and the two sets of multi-degree-of-freedom robotic arms 2 are controlled to operate, so that the cable-walking unit 7 is placed on the high-voltage cable (distributed back and forth along the direction of the high-voltage cable). The rest of the robot is suspended below the multi-degree-of-freedom robotic arms 2 (that is, below the cable). The cable-walking unit 7 moves along the cable until it approaches the vertically hanging insulator string suspended above the cable. At this point, the multi-degree-of-freedom robotic arm 2 in front controls the cable-walking unit 7 to detach from the cable and move past the connection point between the insulator string and the cable, so that the detached cable-walking unit 7 falls back onto the front section of the high-voltage cable (that is, the two cable-walking units 7 are placed in front of and behind the insulator string respectively). At this time, the two cable-walking units 7 are stably engaged with the high-voltage cable and will not detach. Next, the automatic locking mechanisms 8 at both ends of the two base plates 11 that are close to each other unlock and separate, realizing the separation of the two base frames 1. With the operation of the two sets of multi-degree-of-freedom manipulators 2, the two sets of base frames 1 move upward after separation until the high-voltage cable crosses the gap between the two base frames 1. At this time, the two base frames 1 move to the lower ends of the insulator string and hug both sides of the insulator string respectively. Then, the automatic locking mechanisms 8 at both ends of the two base plates 11 that are close to each other relock, so that the two base frames 1 are connected as one. Next, the two sets of insulator climbing mechanisms 3 can capture the insulator string under the guidance of the machine vision system and climb along the insulator string, thereby adjusting the height of the two sets of insulator pushing manipulators 4 and the two sets of insulator clamping mechanisms 5.During disassembly, the process begins with the W-pin cup head hanging ring at the bottom of the insulator string. Specifically, one or both sets of the two insulator clamping mechanisms 5 clamp and hold the W-pin cup head hanging ring tightly, and slightly lift the W-pin cup head hanging ring, causing the ball head at the bottom of the upper insulator to move downwards a certain distance (this distance allows the ball head to disengage from the groove at the top of the inner cavity of the cup head at the top of the lower insulator). Then, one or both sets of the two insulator pushing manipulators 4 move under the guidance of the machine vision system. This movement can be adjusted in the horizontal direction by the moving mechanism 6. Then, through the multi-degree-of-freedom adjustment and movement of the insulator pushing manipulator 4, the end of the manipulator captures the ball head connected to the bottom of the upper insulator, and drives the ball head of the insulator to translate relative to the W-pin cup head hanging ring, so that the insulator ball head is translated and disengaged from one side of the W-pin cup head hanging ring. Next, the insulator clamping mechanism 5 and the insulator pushing machine... The robotic arm 4 releases its gripper and climbs to a certain height. Following the aforementioned steps, the insulator clamping mechanism 5 clamps the lowest insulator and slightly lifts it, causing the ball head at the lower end of the adjacent insulator above to move downwards a certain distance (this distance disengages the ball head from the groove at the top of the inner cavity of the cup head at the upper end of the lower insulator). One or both sets of the two sets of insulator-pushing robotic arms 4 move under the guidance of the machine vision system. This movement can be adjusted in the horizontal direction by the moving mechanism 6. The multi-degree-of-freedom adjustment and movement of the insulator-pushing robotic arm 4 allows the end of the robotic arm to capture the ball head connected to the lower end of the upper insulator, and drives the ball head of the insulator to translate relative to the cup head of the lower insulator, causing the insulator to detach from the ball head on one side of the cup head of the lower insulator. Next, the climbing continues, and the insulators are removed one by one according to the aforementioned steps. Overall, the structural design is reasonable, enabling movement along the cable while avoiding insulators, climbing along insulators, and disassembling individual insulators one by one.

[0025] In a preferred embodiment, the two base plates 11 are respectively provided with arc-shaped tracks 111 on the edges of the notches on the sides that are close to each other. The upper parts of the two base plates 11 are respectively provided with arc-shaped racks 112 on the sides corresponding to the outer periphery of the notches. The moving mechanism 6 includes an arc-shaped slider 61. The slider 61 is provided with a positioning plate. The positioning plate is equipped with a first motor 62. The main shaft of the first motor 62 passes downward through the slider 61 and extends to the outside of the slider 61. The main shaft of the first motor 62 is coaxially equipped with a gear 63 that meshes with the rack 112.

[0026] In the above implementation scheme, since the slider 61 is a fan-shaped annular component and its lower end is slidably assembled with the track 111, after the two base frames 1 are locked together, the tracks 111 on the two base frames 1 are at the same horizontal position and on a circumference (the two racks 112 are also on the same circumference and coaxially distributed with the track 111). Therefore, when the first motor 62 drives the gear 63 to rotate, the gear 63 will move along the arc-shaped rack 112 around the track 111. When it moves to the docking point of the two tracks 111, the slider 61 can smoothly slide and engage with the end of the other track 111 and smoothly pass over the docking point, thereby achieving 360° circumferential movement. This allows for adjustment of the horizontal orientation of the insulator pushing robot 4. The overall design is ingenious, and the orientation adjustment is very smooth. It should be noted that the entire process is carried out under the guidance of a machine vision system.

[0027] Of course, in this embodiment, an intermediate support consisting of two fan-shaped annular plates can be set between the base plate 11 and the support frame 12. The two annular plates are respectively installed above the two base plates 11, and the two sets of moving mechanisms 6 can be respectively installed at the notches of the annular plates and the base plates 11. Specifically, the aforementioned track 111 and rack 112 are also set in the intermediate support, so that the two sets of insulator pushing manipulators 4 are at different heights.

[0028] In this embodiment, the support frame 12 is a fan-shaped plate member, and its lower end is mounted on the upper end of the base plate 11 through a connecting frame. The two support frames 12 are coaxially distributed.

[0029] In a preferred embodiment, each set of the above-mentioned insulator climbing mechanism 3 is provided with two. The insulator climbing mechanism 3 includes a first arm 31, a second arm 32, an electric telescopic unit 33, a first rotary drive device 34, and a first electric gripper 35. One end of the first arm 31 is hinged to the upper end of the support frame 12 by a pin. The first rotary drive device 34 is connected to the pin and is used to drive the first arm 31 to swing up and down. One end of the second arm 32 is hinged to the other end of the first arm 31. The electric telescopic unit 33 is connected between the first arm 31 and the second arm 32 and is used to drive the second arm 32 to swing up and down. The first electric gripper 35 is installed at the other end of the second arm 32. The other end of the second arm 32 is equipped with the camera.

[0030] In the above implementation scheme, the two sets of four insulator climbing mechanisms 3 are distributed at the four right angles of the same rectangle. During climbing, the two insulator climbing mechanisms 3 located on opposite diagonals climb one point simultaneously, while the other two insulator climbing mechanisms 3 alternately climb another point. This alternation allows for effective climbing along the insulator string. More specifically, the first rotary drive device 34 can adjust the pitch angle of the first arm 31, and the electric telescopic unit 33 can adjust the pitch angle of the second arm 32. Combined with the first electric gripper 35, any insulator can be easily captured, clamped, and held.

[0031] Among them, the electric telescopic unit 33 can be an electric push rod of a suitable model, and the first rotary drive device 34 can be a structure of motor + transmission gear. Specifically, the motor is connected to a transmission gear, the pin shaft is connected to a transmission gear, and the two transmission gears mesh.

[0032] Of course, the insulator climbing mechanism 3 mentioned above, except for the first electric gripper 35, can be replaced by a commercially available multi-degree-of-freedom robot. The first electric gripper 35 can also be a commercially available electrically opening and closing gripper. All grippers use arc-shaped clamps to match the contour shape of the insulator, making the gripping more stable.

[0033] In a preferred embodiment, the aforementioned insulator pushing manipulator 4 includes a horizontally arranged electric telescopic arm 41, a second rotary drive device, and a U-shaped clamp 42. The second rotary drive device is mounted on the aforementioned moving mechanism 6. The electric telescopic arm 41 is horizontally arranged, with one end fixedly connected to the second rotary drive device and the other end extending toward the center of the aforementioned notch. The clamp 42 is mounted on the other end of the electric telescopic arm 41, and the aforementioned camera is mounted on the other end of the electric telescopic arm 41.

[0034] In the above implementation scheme, the second rotary drive device can slightly adjust the angle and orientation of the electric telescopic arm 41. With the extension of the electric telescopic arm 41, the locking piece 42 can move from the side to lock the rod of the ball head at the lower end of the insulator (the ball head is connected and fixed to the center of the lower end of the insulator through a vertical rod). With the extension, the ball head can be pushed to move horizontally.

[0035] The second rotary drive device can adopt a motor + turntable structure, and the electric telescopic arm 41 can adopt an electric push rod of a suitable model.

[0036] In a preferred embodiment, the insulator clamping mechanism 5 includes a lifting mechanism 51, a mounting plate 52, two slide rails 53, a horizontal pushing mechanism 54, a fixed seat 55, and a second electric gripper 56. The lifting mechanism 51 is mounted on the base plate 11. The mounting plate 52 is horizontally arranged in the base frame 1 and connected to the lifting mechanism 51. The two slide rails 53 are horizontally arranged and fixed at a distance from each other at the lower end of the mounting plate 52. The slide rails 53 of the two sets of insulator clamping mechanisms 5 are arranged in parallel and extend in opposite directions. The upper end of the fixed seat 55 is slidably assembled with the two slide rails 53 through a slide block (e in the figure). The horizontal pushing mechanism 54 is mounted on the lower end of the mounting plate 52 and connected to the fixed seat 55, and is used to drive the fixed seat 55 to move along the slide rails 53. The second electric gripper 56 is installed on the side of the two sets of fixed seats 55 that are close to each other, and the camera is installed on the side of the two sets of fixed seats 55 that are close to each other.

[0037] In the above implementation scheme, during use, the flat-pushing mechanism 54 pushes the fixed seat 55 to slide along the slide rail 53, thereby bringing the second electric gripper 56 closer to the insulator until the insulator enters the gripping range of the second electric gripper 56. The second electric gripper 56 quickly clamps and holds the insulator. Then, the lifting mechanism 51 drives the mounting plate 52 and the lower slide rail 53, the flat-pushing mechanism 54, the fixed seat 55, and the second electric gripper 56 to be raised to a certain height as a whole, thereby causing the gripped insulator to move upward. This causes the ball head at the lower end of the adjacent insulator above to move downward relative to the cup head at the upper end of the insulator that has been gripped by the second electric gripper 56, so that the ball head disengages from the groove in the bend. Combined with the flat-pushing manipulator 4 pushing the upper insulator, the lower insulator can be removed. The design is very ingenious, and the disassembly process is smooth.

[0038] In this embodiment, the pushing mechanism 54 can be an electric push rod of the appropriate model or an electric linear module of the appropriate model.

[0039] In this embodiment, the second electric gripper 56 can be a commercially available electric opening and closing gripper. The grippers are all arc-shaped clamps that match the contour shape of the insulator, making the clamping more stable.

[0040] In a preferred embodiment, the lifting mechanism 51 includes a lead screw motor 511 and two sets of scissor-type connecting frames 512. The lead screw motor 511 is mounted on the base plate 11, and its lead screw extends vertically downward and passes through the mounting plate 52. The lower end of the lead screw is threaded into the nut in the mounting plate 52. The two sets of scissor-type connecting frames 512 are respectively connected between the two ends of the mounting plate 52 and the base plate 11.

[0041] In the above implementation scheme, when the lead screw motor 511 is running, it will drive the mounting plate 52, which is in contact with the lead screw thread of the lead screw motor 511, to move up and down. The two sets of scissor-type connecting brackets 512 play an auxiliary lifting and lowering role to prevent the mounting plate 52 from falling off.

[0042] The aforementioned lifting mechanism 51 can also be replaced by multiple electric lifting rods.

[0043] In this embodiment, end boxes (represented by c in the figure) that can move up and down relative to the slide rail 53 are nested at both ends of the slide rail 53. The end boxes are fixed in the base frame 1. When the slide rail 53 is driven to rise and fall, the slide rail 53 rises and falls relative to the end boxes. The design of the end boxes can prevent the upper end of the fixed seat 55 from detaching from the slide rail 53 when it moves.

[0044] In this embodiment, a connecting frame (represented by A in the figure) is installed at the lower end of the base frame 1 corresponding to the part below the fixed seat 55. After the insulator is disassembled, the flat pushing mechanism 54 pushes the fixed seat 55 to slide back along the slide rail 53, the second electric gripper 56 moves to the top of the connecting frame, and then releases the insulator, which can then fall into the connecting frame.

[0045] In this embodiment, a winch can be designed in the base frame 1 and connected to the connecting frame. The connecting frame can be lowered from the air to the ground or raised to be close to the base frame 1 for connecting the insulator.

[0046] In a preferred embodiment, the cable-walking unit 7 includes a third motor 71, a strip-shaped first support plate 72, a strip-shaped first limiting plate 73, a fourth motor 74, a fifth motor 75, a drive wheel 76, and a driven wheel 77. The third motor 71 is mounted at the end of the multi-degree-of-freedom manipulator 2, and its motor shaft is perpendicularly connected and fixed to the middle of one side of the first support plate 72. The fourth motor 74 is mounted at one end of one side of the first support plate 72, and its motor shaft passes through the first support plate 72 and is coaxially connected and fixed to the drive wheel 76. The center of the driven wheel 77... A hollow rotating shaft is coaxially provided, and the rotating shaft is fixedly mounted on the other end of the other side of the first support plate 72. The fifth motor 75 is mounted on the other end of one side of the first support plate 72, and its motor shaft passes through the first support plate 72 and the rotating shaft. One end of the first limiting plate 73 is perpendicularly connected and fixed to the motor shaft of the fifth motor 75. An electromagnet is rotatably mounted on the end of the drive wheel 76. The first limiting plate 73 is a metal plate that can be attracted to a magnet. The fifth motor 75 is used to drive the first limiting plate 73 to rotate to the other end close to the electromagnet, and attract or separate from the electromagnet.

[0047] In the above implementation scheme, when it is necessary to release the cable, the third motor 71 operates, driving the first support plate 72 to rotate to a vertical position. At the same time, the electromagnet is de-energized, and the fifth motor 75 drives the first limit plate 73 to rotate, causing the first limit plate 73 to rotate away from the drive wheel 76. At this time, in conjunction with the operation of the multi-degree-of-freedom manipulator 2, the cable traveling unit 7 can be disengaged from the high-voltage cable (that is, during the movement process, the high-voltage cable is disengaged from the side of the drive wheel 76 and the driven wheel 77 away from the first support plate 72). When it is necessary to reconnect with the high-voltage cable, the multi-degree-of-freedom manipulator 2 operates, causing the cable traveling unit 7 to move to a position where the high-voltage cable passes through the drive wheel 76 and the driven wheel 77. The robot moves between the two wheels from the side furthest from the first support plate 72. Next, the fifth motor 75 drives the first limiting plate 73 to move to the other end and approach the electromagnet. The electromagnet is energized and attracts the first limiting plate 73, thus placing the high-voltage cable within a closed annular area. Then, the third motor 71 operates, driving the first support plate 72 to rotate horizontally, so that the groove of the driving wheel 76 is embedded in the upper surface of the high-voltage cable, and the groove of the driven wheel 77 is embedded in the lower surface of the high-voltage cable. Next, the fourth motor 74 drives the driving wheel 76 to rotate, allowing the robot to walk along the high-voltage cable. The overall structural design is very ingenious, enabling the entire robot to walk smoothly along the high-voltage cable.

[0048] In a preferred embodiment, the automatic locking mechanism 8 includes a sixth motor 81, a locking screw 82, a chuck clamp 83, and a hollow locking sleeve 84. Two sets of the sixth motors 81 are respectively mounted on the upper ends of one of the base plates 11 near the other base plate 11. One end of the locking screw 82 is coaxially connected and fixed to the motor shaft of the sixth motor 81. Two sets of chuck clamps 83 are respectively mounted on the upper ends of the other base plate 11 near one of the base plates 11. The inner wall of the locking sleeve 84 is provided with a connection to the upper... The locking screw 82 is fitted with a thread, and the locking sleeve 84 is sleeved on the outside of the locking screw 82 and threadedly engaged with it. A key block is provided at the lower part of one end of the locking sleeve 84. The key block is slidably engaged with a keyway adapted to the upper end of one of the base plates 11. The sixth motor 81 is used to drive the locking screw 82 to rotate, thereby driving the locking sleeve 84 to move axially to near the clamping center of the chuck clamp 83, or to move to separate from the chuck clamp 83. The chuck clamp 83 is used to clamp the end of the locking sleeve 84.

[0049] In the above implementation scheme, after the two sets of base frames 1 are moved and raised by the multi-degree-of-freedom manipulator 2 to cross the high-voltage cable, the two sets of base frames 1 are distributed on both sides of the insulator string at the same height and close to each other. Next, the sixth motor 81 drives the locking screw 82 to rotate, thereby driving the locking sleeve 84 to move towards the chuck clamp 83 on the opposite base frame 1 until the end of the locking sleeve 84 extends into the clamping center of the chuck clamp 83. The chuck clamp 83 immediately runs to clamp the locking sleeve 84, thus achieving a tight connection between the two sets of base frames 1. When unlocking and separating, the sixth motor 81 runs in the opposite direction, the chuck clamp 83 releases the locking sleeve 84, and the locking sleeve 84 moves away from the chuck clamp 83 along the locking screw 82.

[0050] Of course, the aforementioned sixth motor 81, locking screw 82 and locking sleeve 84 can be replaced by a telescopic device with a long straight rod with a structure similar to the locking sleeve 84 (the telescopic device drives the rod to extend or retract toward or away from the chuck clamp 83).

[0051] It is particularly important to emphasize that all electrical components in this embodiment are electrically connected to a processor, which is connected to a power source and electrically connected to a control terminal via a communication device. The control terminal can receive image information captured by the camera and issue control commands to each electrical component, thereby realizing the overall automated and intelligent operation of the robot.

[0052] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0054] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0055] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0056] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0057] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A high-voltage cable insulator replacement and removal robot based on vision recognition, characterized in that: It includes two sets of hollowed-out base frames (1), two sets of multi-degree-of-freedom manipulators (2), two sets of insulator climbing mechanisms (3), two sets of insulator pushing manipulators (4), and two sets of insulator clamping mechanisms (5). The two sets of base frames (1) are spaced apart. The upper ends of the two sets of base frames (1) are respectively fixed with base plates (11). The two base plates (11) are respectively provided with arc-shaped notches on the side that is close to each other. The two ends of the side that is close to each other are respectively locked or unlocked by a set of automatic locking mechanisms (8). The two sets of multi-degree-of-freedom manipulators (2) are respectively installed on the upper part of the two base plates (11) on the side that is far from each other. The two sets of base plates (11) are respectively provided with support frames (12). The insulator climbing mechanism (3) is mounted on the upper end of the two support frames (12). Two sets of moving mechanisms (6) are provided at the notches of the two base plates (11). Two sets of insulator pushing manipulators (4) are mounted on the two moving mechanisms (6). Two sets of insulator clamping mechanisms (5) are mounted in the two base frames (1). The multi-degree-of-freedom manipulator (2), the two sets of insulator climbing mechanisms (3), the two sets of insulator pushing manipulators (4) and the two sets of insulator clamping mechanisms (5) are each equipped with a camera. The camera is connected to a machine vision recognition system. The end of the multi-degree-of-freedom manipulator (2) is equipped with a cable walking unit (7) that can be detachably coupled with the high-voltage cable and walks along it.

2. The high-voltage cable insulator replacement and removal robot based on vision recognition according to claim 1, characterized in that: The two base plates (11) are respectively provided with arc-shaped tracks (111) on the edge of the notch on one side that are close to each other. The upper part of the two base plates (11) is respectively provided with arc-shaped racks (112) on the outer side of the notch. The moving mechanism (6) includes an arc-shaped slider (61). The slider (61) is provided with a positioning plate. The positioning plate is equipped with a first motor (62). The main shaft of the first motor (62) passes downward through the slider (61) and extends to the outside of the slider (61). The main shaft of the first motor (62) is coaxially equipped with a gear (63) that meshes with the rack (112).

3. The high-voltage cable insulator replacement and removal robot based on vision recognition according to claim 1, characterized in that: The support frame (12) is a fan-shaped plate component, and its lower end is mounted on the upper end of the base plate (11) through a connecting frame. The two support frames (12) are coaxially distributed.

4. The high-voltage cable insulator replacement and removal robot based on vision recognition according to claim 3, characterized in that: Each set of insulator climbing mechanisms (3) has two components. The insulator climbing mechanism (3) includes a first arm (31), a second arm (32), an electric telescopic unit (33), a first rotary drive device (34), and a first electric gripper (35). One end of the first arm (31) is hinged to the upper end of the support frame (12) by a pin. The first rotary drive device (34) is connected to the pin and is used to drive the first arm (31) to swing up and down. One end of the second arm (32) is hinged to the other end of the first arm (31). The electric telescopic unit (33) is connected between the first arm (31) and the second arm (32) and is used to drive the second arm (32) to swing up and down. The first electric gripper (35) is installed on the other end of the second arm (32). The other end of the second arm (32) is equipped with the camera.

5. A high-voltage cable insulator replacement and removal robot based on vision recognition according to claim 1, characterized in that: The insulator pushing manipulator (4) includes a horizontally arranged electric telescopic arm (41), a second rotary drive device, and a U-shaped clamp (42). The second rotary drive device is mounted on the moving mechanism (6). The electric telescopic arm (41) is horizontally arranged, with one end fixedly connected to the second rotary drive device and the other end extending toward the center of the notch. The clamp (42) is mounted on the other end of the electric telescopic arm (41), and the camera is mounted on the other end of the electric telescopic arm (41).

6. The high-voltage cable insulator replacement and removal robot based on vision recognition according to claim 1, characterized in that: The insulator clamping mechanism (5) includes a lifting mechanism (51), a mounting plate (52), two slide rails (53), a horizontal pushing mechanism (54), a fixed base (55), and a second electric gripper (56). The lifting mechanism (51) is mounted on the base plate (11). The mounting plate (52) is horizontally arranged in the base frame (1) and connected to the lifting mechanism (51). The two slide rails (53) are horizontally arranged and fixed at parallel intervals at the lower end of the mounting plate (52). Two sets of insulator clamping mechanisms (56) are also included. The slide rails (53) are all arranged in parallel and extend in opposite directions. The upper end of the fixed seat (55) is slidably assembled with the two slide rails (53) through a slide block. The flat pushing mechanism (54) is mounted on the lower end of the mounting plate (52) and connected to the fixed seat (55) to drive the fixed seat (55) to move along the slide rail (53). The second electric gripper (56) is installed on the side of the two sets of fixed seats (55) that are close to each other. The camera is installed on the side of the two sets of fixed seats (55) that are close to each other.

7. A high-voltage cable insulator replacement and removal robot based on vision recognition according to claim 6, characterized in that: The lifting mechanism (51) includes a lead screw motor (511) and two sets of scissor-type connecting frames (512). The lead screw motor (511) is mounted on the base plate (11), and its lead screw extends vertically downward and passes through the mounting plate (52). The lower end of the lead screw is threaded with the nut in the mounting plate (52). The two sets of scissor-type connecting frames (512) are respectively connected between the two ends of the mounting plate (52) and the base plate (11).

8. A high-voltage cable insulator replacement and removal robot based on vision recognition according to claim 6, characterized in that: A connecting frame is installed at the lower end of the base frame (1) corresponding to the part below the fixed seat (55).

9. A high-voltage cable insulator replacement and removal robot based on vision recognition according to any one of claims 1 to 8, characterized in that: The cable walking unit (7) includes a third motor (71), a strip-shaped first support plate (72), a strip-shaped first limiting plate (73), a fourth motor (74), a fifth motor (75), a driving wheel (76), and a driven wheel (77). The third motor (71) is mounted at the end of the multi-degree-of-freedom manipulator (2). The motor shaft of the third motor (71) is vertically connected and fixed to the middle of one side of the first support plate (72). The fourth motor (74) is mounted at one end of one side of the first support plate (72). Its motor shaft passes through the first support plate (72) and is coaxially connected and fixed to the driving wheel (76). The driven wheel (77) contains... The coaxial part has a hollow rotating shaft, which is fixedly mounted on the other end of the first support plate (72). The fifth motor (75) is mounted on the other end of the first support plate (72), and its motor shaft passes through the first support plate (72) and the rotating shaft. One end of the first limiting plate (73) is perpendicularly connected and fixed to the motor shaft of the fifth motor (75). The end of the drive wheel (76) is rotatably equipped with an electromagnet. The first limiting plate (73) is a metal plate that can be attracted to a magnet. The fifth motor (75) is used to drive the first limiting plate (73) to rotate to the other end close to the electromagnet and attract or separate from the electromagnet.

10. A high-voltage cable insulator replacement and removal robot based on vision recognition according to any one of claims 1 to 8, characterized in that: The automatic locking mechanism (8) includes a sixth motor (81), a locking screw (82), a chuck clamp (83), and a hollow locking sleeve (84). Two sets of the sixth motors (81) are respectively mounted on the upper ends of one of the base plates (11) near the other base plate (11). One end of the locking screw (82) is coaxially connected and fixed to the motor shaft of the sixth motor (81). Two sets of chuck clamps (83) are respectively mounted on the upper ends of the other base plate (11) near one of the base plates (11). The inner wall of the locking sleeve (84) is provided with a locking mechanism. The locking sleeve (84) is fitted with a thread that is compatible with the locking screw (82). The locking sleeve (84) is sleeved on the locking screw (82) and threaded together. A key block is provided at the lower part of one end of the locking sleeve (84). The key block is slidably fitted with a keyway that is compatible with the upper end of one of the base plates (11). The sixth motor (81) is used to drive the locking screw (82) to rotate, thereby driving the locking sleeve (84) to move axially to the clamping center near the chuck clamp (83), or to separate from the chuck clamp (83). The chuck clamp (83) is used to clamp the end of the locking sleeve (84).

Images