Insulator unlocking and locking driving part and power transmission line insulator replacement device

Abstract

The application discloses a kind of insulator unlocking, locking driving part and transmission line insulator replacement device, the driving part includes two groups of the clamping block that can produce opening and closing action to hold one end of insulator string, two the clamping block is symmetrically arranged with mounting seat, mounting seat is along the direction of movement of w pin of insulator string two ends and is provided with sliding slot, driving slider is installed in sliding slot and can be driven to slide along the length direction of sliding slot by power source, the sliding track of driving slider and the movement track of w pin of insulator string two ends exist intersection, to switch w pin of insulator string two ends in locking and unlocking state can be pushed.The application can be unlocked, locked automatically to insulator string on transmission line, can be completed to the automatic unlocking, replacement, locking operation of insulator string, replacement efficiency is high, and operation risk is low.

Description

Technical Field

[0001] This invention relates to the field of power, specifically to an insulator unlocking and locking drive unit and a transmission line insulator replacement device. Background Technology

[0002] Insulators are devices installed between conductors at different potentials or between a conductor and a grounding component, capable of withstanding voltage and mechanical stress. Because insulator strings are susceptible to aging and damage, they require regular inspection and replacement.

[0003] Currently, replacing insulators requires manual labor to carry a large number of tools and climb the transmission tower for a long time before unlocking, replacing, and locking the insulator strings at high altitude. The excessive number of tools used in this process affects the movement of power workers and the replacement work. Furthermore, since some insulator strings are installed at an angle, the difficulty of unlocking, replacing, and locking the insulators is further increased, resulting in low replacement efficiency and high operational risks. Therefore, this issue urgently needs to be addressed. Summary of the Invention

[0004] To avoid and overcome the technical problems existing in the prior art, the present invention provides an insulator unlocking and locking drive unit. The present invention can automatically unlock and lock insulator strings on transmission lines. The present invention also provides a transmission line insulator replacement device using an insulator unlocking and locking drive unit, which can automatically unlock, replace, and lock insulator strings, achieving high replacement efficiency and low operational risk.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] An insulator unlocking and locking drive unit includes two sets of clamping blocks capable of opening and closing to hold one end of an insulator string. Mounting seats are symmetrically arranged on the two clamping blocks. Slide grooves are formed on the mounting seats along the movement direction of the W-pins at both ends of the insulator string. A drive slider is installed in the slide groove and can be driven by a power source to slide along the length of the slide groove. The drive slider and the W-pins at the ends of the insulator string are on the same straight line, thereby allowing the W-pins at both ends of the insulator string to switch between locked and unlocked states.

[0007] As a further aspect of the present invention: the clamping surfaces of the two clamping blocks are recessed with arc-shaped positioning grooves, and the two positioning grooves are closed to form an annular cavity to position the insulator string. The axis of the annular cavity is parallel to the axis of the insulator string. A drive wheel with an axis parallel to the axis of the insulator string is provided at the contact surface between the positioning groove and the insulator string. The two drive wheels are arranged opposite to each other and drive the insulator string to rotate around its own axis through rotational friction.

[0008] As a further embodiment of the present invention: a drive gear is installed in the mounting base, and a slider rack is provided on the drive slider along its length direction to mesh with the drive gear. The drive gear drives the drive slider to slide along the slide groove through the gear rack. The drive gear is the power source.

[0009] As a further embodiment of the present invention: the two clamping blocks are mounted on a base, and a guide groove is provided on the base along its length direction. A cylinder is provided in the base to drive the two clamping blocks to move towards or away from each other along the guide groove, thereby causing the two clamping blocks to perform an opening and closing clamping action; a pneumatic slide is provided on the clamping block along its length direction, and the pneumatic slide drives the mounting base to move along the length direction of the slide and then fixes it, so that the driving slider and the W pin are on the same straight line.

[0010] A transmission line insulator replacement device employing an insulator unlocking and locking drive unit, characterized in that it comprises:

[0011] A fixed platform is connected and secured to the transmission tower.

[0012] The insulator string has its two ends connected to the transmission tower and the cable respectively via connecting accessories;

[0013] The lifting assembly is mounted on a fixed platform and can lift the cable to allow the insulator string to be replaced to enter a relaxed state.

[0014] The replacement assembly is installed on a fixed platform and at least two sets are provided. One set of replacement assemblies is empty to facilitate the clamping and disassembly of the insulator string to be replaced, while the other set of replacement assemblies is pre-clamped with the new insulator string. The replacement assembly includes a connecting arm, and both ends of the connecting arm are fixed with a drive unit through a base.

[0015] The replacement robot is installed on a fixed platform and drives the two replacement components to leave or enter the working position of the insulator string.

[0016] As a further embodiment of the present invention: the transmission tower is connected to the upper end of the insulator string via an upper connecting accessory. A first groove is provided in the ball cup of the insulator at the top of the insulator string. The first groove has a first groove inlet in the horizontal direction so that the accessory ball head of the upper connecting accessory can be inserted into the first groove. A first W pin slides in the first groove and is in slidable engagement with the first groove. The first W pin can abut against the accessory ball head in the first groove to prevent the accessory ball head from exiting the first groove. The first W pin can exit the first groove to avoid the position of the accessory ball head so that the accessory ball head can exit the first groove.

[0017] The lower end of the insulator string is connected to the cable via a lower connecting accessory. The lower connecting accessory has a second groove in its ball cup. The second groove has a horizontal inlet for the lower ball head of the insulator at the lower end of the insulator string to be inserted into the second groove. The second W pin slides within the second groove. The second W pin can abut against the lower ball head of the insulator within the second groove to prevent the lower ball head of the insulator from exiting the second groove. The second W pin can also exit the second groove to avoid the position of the lower ball head of the insulator, allowing the lower ball head of the insulator to exit the second groove.

[0018] As a further embodiment of the present invention: a first clamping arm is provided on the fixed platform, the first clamping arm is hydraulically driven to produce an opening and closing action to clamp and fix the upper connecting accessory; a positioning robot is provided on the fixed platform, the driving end of the positioning robot is connected to a second clamping arm through a fixed cantilever, the second clamping arm is hydraulically driven to produce an opening and closing action to clamp and fix the lower connecting accessory.

[0019] As a further embodiment of the present invention: the connecting arm is provided with a connecting plate that connects to the replacement robot, and both the replacement robot and the positioning robot are six-axis robots.

[0020] As a further embodiment of the present invention: the lifting assembly includes an insulating fixing rod mounted on a fixed platform and arranged parallel to the insulator string. A slide rail is provided on the insulating fixing rod along the length direction of the rod. The lifting seat is mounted on the slide rail and is driven by a driving source to slide along the length direction of the slide rail. A storage groove is provided on the lifting seat. The lever is hinged to the storage groove so that it can be stored in the storage groove or popped out of the storage groove. When the lever is in the storage groove, its movement trajectory avoids the position of the cable. When the lever is outside the storage groove, its movement trajectory intersects with the position of the cable.

[0021] As a further embodiment of the present invention: a telescopic rod is also fixed on the fixed platform, which is arranged parallel to the insulating fixed rod. The driving end of the telescopic rod is connected to the lifting seat to drive the lifting seat to move along the slide rail. The telescopic rod is the driving source. There are two sets of lifting components, which are symmetrically arranged on both sides of the lower connecting accessory. The lever is in the shape of a hook with the tip pointing upward.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1. This invention can clamp and fix the end of the insulator string by opening and closing the clamping block. After clamping, the power source drives the slider to slide along the length of the groove to push the W pin at the end of the insulator to switch between locked and unlocked states. This can realize automatic unlocking and locking of the insulator string, improve replacement efficiency and reduce operation risk.

[0024] 2. The present invention has positioning grooves on the clamping surface of the clamping block. During the clamping process, the two sets of positioning grooves can close together to form an annular cavity corresponding to the diameter of the insulator string, thereby positioning the insulator string and preventing it from moving. After clamping and fixing, the two sets of drive wheels abut against the insulator string. When rotating, the friction force drives the insulator string to rotate around its own axis, thereby adjusting the rotation angle of the insulator string, so that the W pin and the drive slider are on the same straight line, accurately finding the position of the W pin, and improving the locking and unlocking efficiency.

[0025] 3. The present invention provides a drive gear on the mounting base. Through the gear and rack on the drive slider, the rotation of the gear can be converted into the linear motion of the drive slider, providing stable linear kinetic energy for the locking and unlocking process. The setting of the start slide facilitates the pre-adjustment of the position of the mounting base, so that the drive slider can be pre-adjusted with the position of the W pin.

[0026] 4. The drive unit of this invention is installed at both ends of the connecting arm, pre-fixing the insulator replacement device on the transmission tower, so that the insulator string to be replaced is within the working range of the replacement robot and the positioning robot. First, the first clamping arm and the second clamping arm are driven to clamp and fix the upper connecting accessory and the lower connecting accessory respectively. Then, the lifting component is driven to lift the cables on both sides of the lower connecting accessory, ensuring that the insulator string to be replaced is in a suspended and relaxed state. After the hand of the replacement robot moves the empty replacement component to the insulator string to be replaced, the drive unit can unlock the insulator string to be replaced. Then, the replacement robot moves the replacement component of the clamped and unlocked insulator string horizontally away, and another set of replacement robots can move the replacement component of the pre-clamped new insulator string to the predetermined working point. After the drive unit locks the new insulator string, the insulator string replacement device can be disassembled, completing the automatic unlocking, replacement, and locking operation of the insulator string. The replacement efficiency is high and the operation risk is low.

[0027] 5. This invention utilizes the cooperation between the W-pin and the bowl groove. When the W-pin is inserted into the bowl groove, it abuts against the ball head, preventing the ball head from leaving the bowl groove and thus locking the insulator string. When the W-pin is removed from the bowl groove, it provides space for the ball head to move, allowing the ball head to exit the bowl groove and unlocking the insulator string. Through the cooperation of the first clamping arm and the second clamping arm, the upper and lower connecting accessories are simultaneously clamped and fixed. In conjunction with the lifting component, this ensures that the insulator string is in a relaxed state, facilitating subsequent replacement.

[0028] 6. Before replacing the insulator string, the present invention first uses a cylinder to retract the lever into the storage slot, then starts the telescopic rod, which drives the lifting seat to slide along the length of the slide rail to below the cable. The cylinder then pops the lever out, and the telescopic rod drives the lifting seat to rise, ensuring that the lever hooks the cable during the rising process and thus lifts the cable. Attached Figure Description

[0029] Figure 1This is a schematic diagram of the structure of the present invention.

[0030] Figure 2 This is a structural schematic diagram from another perspective of the present invention.

[0031] Figure 3 for Figure 2 Enlarged view of point A in the middle.

[0032] Figure 4 for Figure 2 Enlarged view of point B in the middle.

[0033] Figure 5 This is a schematic diagram of the structure of the replaceable component in this invention.

[0034] Figure 6 for Figure 5 Enlarged view of point C in the middle.

[0035] Figure 7A This is a schematic diagram of the structure in the w-pin locked state in this invention.

[0036] Figure 7B This is a schematic diagram of the structure of the w pin in the unlocked state in this invention.

[0037] Figure 8 This is a schematic diagram of the lifting component in this invention.

[0038] In the picture:

[0039] 1. Fixed platform; 11. First gripping arm; 2. Replacement robot arm;

[0040] 3. Replace components; 31. Connecting arm; 311. Connecting plate; 32. Drive unit;

[0041] 321. Base; 322. Clamping block; 3221. Drive wheel; 3222. Positioning groove;

[0042] 323, Mounting base; 3231, Drive gear; 3232, Slide groove; 324, Drive slider;

[0043] 4. Positioning robot arm; 41. Fixed cantilever; 411. Second gripping arm;

[0044] 5. Insulator string; 51. Insulator upper ball cup;

[0045] 511. First W-pin; 512. First bowl groove; 52. Lower ball head of insulator;

[0046] 6. Lifting assembly; 61. Insulating fixing rod; 62. Slide rail;

[0047] 63. Lifting seat; 631. Pulley; 632. Storage slot; 64. Telescopic rod;

[0048] 7. Cables;

[0049] 8. Lower connecting accessory; 81. Accessory ball bowl; 811. Second bowl groove; 812. Second W pin;

[0050] 9. Connect the upper attachment; 91. Attachment ball head. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] Please see Figures 1-8 In this embodiment of the invention, an insulator unlocking and locking drive unit and a transmission line insulator replacement device include a fixed platform 1 detachably fixed on a transmission tower. After being fixed, the fixed platform 1 is positioned above the insulator string 5 to be replaced. Below the fixed platform 1, a set of positioning manipulators 4 and two sets of replacement manipulators 2 are fixed. One set of replacement manipulators 2 is idle, while the other set is pre-clamped with the new insulator string 5. The replacement manipulators 2 and the positioning manipulators 4 are preferably six-axis manipulators, and the movement trajectories of the positioning manipulators 4 and the replacement manipulators 2 avoid each other.

[0053] Multiple sets of binocular cameras can be installed below the fixed platform 1 to transmit on-site images in real time, facilitating remote control of replacement operations; the replacement device can be carried up the tower by a climbing robot and then fixed in place.

[0054] The gripping end of the positioning robot 4 is fixedly connected to one end of the fixed cantilever 41, and the other end of the fixed cantilever 41 is fixedly connected to the second gripping arm 411. After the fixed platform 1 is fixedly connected to the transmission tower, the second gripping arm 411 is hydraulically driven to grip and fix the lower connecting accessory 8. A first gripping arm 11 with three degrees of freedom is also provided below the fixed platform 1. After the fixed platform 1 is fixedly connected to the transmission tower, the first gripping arm 11 is hydraulically driven to grip and fix the upper connecting accessory 9.

[0055] Below the fixed platform 1, there is also a lifting assembly 6 arranged parallel to the insulator string 5 to be replaced. The lifting assembly 6 is symmetrically arranged on both sides of the insulator string 5 to be replaced, lifting the cables 8 on both sides of the connecting accessory 8.

[0056] The lifting assembly 6 includes an insulating fixing rod 61 arranged parallel to the insulator string 5 to be replaced. A slide rail 62 is provided along the length of the rod at the end of the insulating fixing rod 63 away from the fixed platform. A telescopic rod 64 arranged parallel to the insulating fixing rod 61 is also provided on the fixed platform 1. The lifting seat 63 is slidably engaged with the slide rail 62, and the lifting seat 63 is fixedly connected to the drive end of the telescopic rod 64.

[0057] The support seat 63 has a storage groove 632 on the side facing the cable 7. The lever 631 is hinged in the storage groove 632 and rotated by a cylinder. After rotating, the lever 631 can be retracted into the storage groove 632 or popped out of the storage groove 632. The lever 631 is in the shape of a hook with its tip pointing upward, which can lift the cable 7 from bottom to top.

[0058] Before replacing insulator string 5, first use a cylinder to retract the lever 631 into the storage slot 632. Then, activate the telescopic rod 64, which drives the lifting seat 63 to slide along the length of the slide rail 62 to below the cable 7. The cylinder then pops the lever 631 out, and the telescopic rod 64 drives the lifting seat 63 to rise, ensuring that the lever 631 hooks onto the cable 7 during its ascent, thereby lifting the cable 7. The connection direction between the lever 631 and the storage slot 632 is not limited to a hinge; a linear sliding fit between the lever 631 and the storage slot 632 is also possible.

[0059] When insulator string 5 is in operation, its upper end is connected to the transmission tower via upper connecting accessory 9, and its lower end is connected to cable 7 via lower connecting accessory 8. The upper end of insulator string 5 is provided with an upper insulator ball cup 51, and the lower end of insulator string 5 is provided with an insulator lower ball head 52.

[0060] The insulator's upper ball cup 51 has a first cup groove 512, with a first cup groove inlet in the horizontal direction. The accessory ball head 91, which is connected to the bottom of the accessory 9, can enter the first cup groove 512 horizontally through the first cup groove inlet. The first W pin 511 slides with the bottom surface of the first cup groove 512. A guide hole is provided on the opposite side of the first cup groove inlet on the upper ball cup 51 of the insulator, allowing the first W pin 511 to pass through and exit the first cup groove 512. When the first W pin 511 is in the first cup groove 512, it abuts against the accessory ball head 91, thus preventing the accessory ball head 91 from exiting the first cup groove 512 and locking the accessory ball head 91. After the first W pin 511 exits the first cup groove 512, it leaves room for the accessory ball head 91 to move, allowing the accessory ball head 91 to exit the first cup groove 512 from the first cup groove inlet.

[0061] The accessory ball cup 81 of the lower connecting accessory 8 has a second bowl groove 811. The second bowl groove 811 has a second bowl groove inlet in the horizontal direction. The lower ball head 52 of the insulator string 5 can be inserted into the second bowl groove 811 in the horizontal direction through the second bowl groove inlet. The second W pin 812 is slidably engaged with the bottom surface of the second bowl groove 811. The accessory ball cup 81 has a guide hole on the opposite side of the second bowl groove inlet for the second W pin 812 to pass through, so that the second W pin 812 can be withdrawn from the second bowl groove 811. The working principle of the second W pin 812 is the same as that of the first W pin 511, so it will not be described again.

[0062] Two sets of replacement manipulators 2 are respectively connected and fixed to two sets of replacement components 3. The replacement component 3 includes a connecting arm 31 connected to the replacement manipulator 2 via its own connecting plate 311. Two sets of bases 321 are respectively provided at both ends of the connecting arm 31. Guide grooves are opened on the bases 321 along their length direction. Two sets of clamping blocks 322 slide and cooperate on the guide grooves and are driven by the cylinder to move towards each other or away from each other, thereby clamping or releasing the insulator string 5.

[0063] The outer edge of the clamping block 322 is provided with a pneumatic slide along its length. The mounting base 323 is installed on the pneumatic slide and can slide along the pneumatic slide and then be fixed, thereby pre-adjusting the corresponding position of the mounting base 323 and the w pin.

[0064] Each clamping block 322 has a set of mounting seats 323 arranged accordingly, and the mounting seats 323 on the two clamping blocks 322 are symmetrically arranged. The mounting seat 323 is provided with a sliding groove 3232 along the movement direction of the first w pin 511 or the second w pin 812, and the drive slider 324 slides in the sliding groove 3232.

[0065] The mounting base contains a drive gear 3231 that is driven to rotate by a micro motor. The drive slider 324 and the drive gear 3231 have a slider rack that meshes with the drive gear 3231 on their mating surfaces. The rotation of the drive gear 3231 causes the drive slider 324 to slide along the slide groove 3232 through the gear rack, thereby pushing the w pin to lock or unlock.

[0066] The clamping surfaces of the two clamping blocks 322 are recessed with semi-annular positioning grooves 3222. When the two clamping blocks 322 clamp the insulator string 5, the two positioning grooves 3222 close together to form an annular cavity to position the insulator string 5. The axis of the annular cavity is parallel to the axis of the insulator string 5.

[0067] The positioning groove 3222 has a drive wheel 3221 with an axis parallel to the axis of the insulator string 5 installed on the contact surface with the insulator string 5. The two sets of drive wheels 3221 are arranged opposite each other and clamp the insulator string 5. A micro motor is provided on the clamping block 322 to drive the two sets of drive wheels 3221 to rotate. The drive wheel 3221 is a rubber wheel. When rotating, it drives the insulator string 5 to rotate around its own axis through friction until the drive slider 324 and the W pin at the end of the insulator string 5 are on the same straight line. The power source drives the drive slider 324 to push out the W pin, so that the insulator string 5 to be replaced is in the unlocked state. The same applies to the locked state.

[0068] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0069] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0070] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0071] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0072] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A device for replacing insulators of transmission lines, characterized in that, include: Fixed platform (1) is connected and fixed to the transmission tower; The insulator string (5) is connected at both ends to the transmission tower and the cable (7) respectively through connecting accessories; The lifting assembly (6) is installed on the fixed platform (1) and applies a lifting action to the cable (7) so that the insulator string (5) to be replaced enters a relaxed state; Replacement assembly (3) is installed on fixed platform (1) and at least two sets are provided. One set of replacement assembly (3) is left empty to facilitate clamping and disassembling the insulator string (5) to be replaced. The other set of replacement assembly (3) is pre-clamped with the new insulator string (5). Replacement assembly (3) includes connecting arm (31). Both ends of the connecting arm (31) are fixed with driving part (32) through base (321). The drive unit (32) includes two sets of clamping blocks (322) that perform opening and closing actions to clamp one end of the insulator string (5). Mounting seats (323) are symmetrically arranged on the two clamping blocks (322). The mounting seats (323) are provided with grooves (3232) along the movement direction of the w pins at both ends of the insulator string (5). The drive slider (324) is installed in the groove (3232) and is driven by the power source to slide along the length of the groove (3232). The drive slider (324) and the w pins at the end of the insulator string (5) are on the same straight line, thereby pushing the w pins at both ends of the insulator string (5) to switch between locked and unlocked states. The clamping surfaces of the two clamping blocks (322) are recessed with arc-shaped positioning grooves (3222). When the two positioning grooves (3222) are closed, they form an annular cavity to position the insulator string (5). The axis of the annular cavity is parallel to the axis of the insulator string (5). At the contact surface between the positioning groove (3222) and the insulator string (5), there are driving wheels (3221) with axes parallel to the axis of the insulator string (5). The two driving wheels (3221) are arranged opposite to each other and drive the insulator string (5) to rotate around its own axis through rotational friction. The mounting base (323) is equipped with a drive gear (3231). The drive slider (324) has a slider rack that meshes with the drive gear (3231) along its length. The drive gear (3231) drives the drive slider (324) to slide along the slide groove (3232) through the gear rack. The drive gear (3231) is the power source. The two clamping blocks (322) are mounted on the base (321). The base (321) has a guide groove along its length. A cylinder is installed in the base (321) to drive the two clamping blocks (322) to move towards each other or away from each other along the guide groove, so that the two clamping blocks (322) can perform opening and closing clamping actions. A pneumatic slide is provided on the clamping block (322) along its length. The pneumatic slide drives the mounting base (323) to move along the length of the slide and then fixes it, so that the driving slider (324) and the w pin are on the same straight line. The replacement robot (2) is installed on the fixed platform (1) and drives the two replacement components (3) to leave or enter the working position of the insulator string (5).

2. The transmission line insulator replacement device according to claim 1, characterized in that, The transmission tower is connected to the upper end of the insulator string (5) via the upper connecting accessory (9). The insulator ball cup (51) at the top of the insulator string (5) has a first cup groove (512). The first cup groove (512) has a first cup groove inlet in the horizontal direction so that the accessory ball head (91) of the upper connecting accessory (9) can be inserted into the first cup groove (512). The first W pin (511) slides in the first cup groove (512) and abuts against the accessory ball head (91) in the first cup groove (512) to prevent the accessory ball head (91) from exiting the first cup groove (512). The first W pin (511) exits the first cup groove (512) to avoid the position of the accessory ball head (91) so that the accessory ball head (91) exits the first cup groove (512). The lower end of the insulator string (5) is connected to the cable (7) through the lower connecting accessory (8). The accessory ball cup (81) of the lower connecting accessory (8) is provided with a second bowl groove (811). The second bowl groove (811) is provided with a second bowl groove entrance in the horizontal direction so that the lower ball head (52) of the insulator at the lower end of the insulator string (5) can be inserted into the second bowl groove (811). The second W pin (812) slides in the second bowl groove (811) and abuts against the lower ball head (52) of the insulator in the second bowl groove (811) to prevent the lower ball head (52) of the insulator from exiting the second bowl groove (811). The second W pin (812) exits the second bowl groove (811) so as to avoid the position of the lower ball head (52) of the insulator so that the lower ball head (52) of the insulator exits the second bowl groove (811).

3. The transmission line insulator replacement device according to claim 2, characterized in that, The fixed platform (1) is provided with a first clamping arm (11), which is hydraulically driven to perform an opening and closing action to clamp and fix the upper connecting accessory (9); the fixed platform (1) is provided with a positioning robot (4), the driving end of the positioning robot (4) is connected to the second clamping arm (411) through a fixed cantilever (41), and the second clamping arm (411) is hydraulically driven to perform an opening and closing action to clamp and fix the lower connecting accessory (8).

4. The transmission line insulator replacement device according to claim 3, characterized in that, The connecting arm (31) is provided with a connecting plate (311) that connects to the replacement robot (2). Both the replacement robot (2) and the positioning robot (4) are six-axis robots.

5. The transmission line insulator replacement device according to claim 1, characterized in that, The lifting assembly (6) includes an insulating fixing rod (61) installed on a fixed platform (1) and arranged parallel to the insulator string (5). A slide rail (62) is provided on the insulating fixing rod (61) along the length direction of the rod. The lifting seat (63) is installed on the slide rail (62) and is driven by a driving source to slide along the length direction of the slide rail (62). A storage groove (632) is provided on the lifting seat (63). The lever (631) is hinged to the storage groove (632) so that it can be stored in the storage groove (632) or popped out from the storage groove (632). When the lever (631) is in the storage groove (632), its movement trajectory avoids the position of the cable (7). When the lever (631) is outside the storage groove (632), its movement trajectory intersects with the position of the cable (7).

6. The transmission line insulator replacement device according to claim 5, characterized in that, The fixed platform (1) is also fixed with a telescopic rod (64) arranged parallel to the insulating fixed rod (61). The driving end of the telescopic rod (64) is connected to the lifting seat (63) to drive the lifting seat (63) to move along the slide rail (62). The telescopic rod (64) is the driving source. There are two sets of lifting components (6), which are symmetrically arranged on both sides of the lower connecting accessory (8). The lever (631) is in the shape of a hook with the tip pointing upward.

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