Self-balancing strain insulator string detection robot and application method thereof

Abstract

This invention discloses a self-balancing tension insulator string inspection robot and its application method, including a chassis, a center of gravity adjustment device, a support platform device, an insulator inspection device, and a clamping device. The center of gravity adjustment device is connected to the upper side of the chassis, and two support platform devices are symmetrically connected to the front and rear sides of the chassis. Multiple sets of insulator inspection devices are connected to the bottom surface of the chassis and / or the support platform devices. The clamping devices are connected to the clamping devices respectively. The support platform devices can extend and retract and can rotate horizontally with the chassis. The clamping devices can simultaneously clamp the front and rear end faces and side walls of cylindrical insulators and can be opened to a horizontal state. Suspended below the tension insulator string by the clamping devices, it can inspect insulators with different skirt spacings and string spacings, and operates stably. During inspection, the insulation resistance value of multiple insulators can be inspected at one time, and the robot can quickly move to the next inspection unit. After one string is inspected, the robot can quickly transfer to another string.

Description

Technical Field

[0001] This invention relates to the field of power transmission line inspection robots, specifically to a self-balancing tension insulator string inspection robot and its application method. Background Technology

[0002] Most faults in ultra-high voltage (UHV) power grids are caused by poor insulation, and insulators in UHV transmission lines are the weakest link in the line insulation. Insulators are the most widely used components in UHV transmission lines. Although their structure is simple and their cost is relatively low, their importance is no less than that of any other equipment or device. Ultra-high voltage (UHV) transmission line insulators are exposed to the atmosphere for extended periods and operate in harsh environments characterized by strong electric fields, high mechanical stress, and drastic weather changes. Solid, liquid, and gaseous contaminants accumulate on the surface of the electrical insulation. Under adverse weather conditions such as fog, dew, drizzle, and melting ice (snow), the electrical strength of the insulators is significantly reduced. This not only risks flashover under overvoltage but, more seriously, can lead to internal cracks, surface damage, and reduced insulation resistance due to external forces during long-term operation, resulting in low- or zero-value insulators. The insulation performance of the entire string of insulators will drastically decline, causing transmission line insulation flashover under operating voltage. Unplanned outages of UHV transmission lines due to this pose a significant threat to the stable operation of the power grid and result in substantial socio-economic losses. Therefore, using autonomous robots for live-line inspection offers significant economic benefits and effectively reduces operational risks. However, current research on the stability, safety, and accuracy of live-line inspection robots for porcelain insulators in UHV environments remains insufficient. Summary of the Invention

[0003] The purpose of this invention is to provide a self-balancing tension insulator string inspection robot and its application method that can stably, quickly, and accurately inspect tension insulators.

[0004] The self-balancing tension insulator string inspection robot provided by this invention adopts the following technical solution: it includes a chassis, a center of gravity adjustment device, a support platform device, an insulator inspection device, and a clamping device; the center of gravity adjustment device is connected to the upper side of the chassis, two support platform devices are symmetrically connected to the front and rear sides of the chassis, multiple sets of insulator inspection devices are connected to the bottom surface of the chassis and / or the support platform devices, and the clamping devices are respectively connected to the two support platform devices; the support platform devices can extend and retract forward and backward and can rotate horizontally with the chassis; the clamping devices can simultaneously clamp the front and rear end faces and side walls of cylindrical insulators and can be opened to a horizontal state.

[0005] In one embodiment of the above technical solution, the center of gravity adjustment device includes a guide rod, a rack, a balance block, a spur gear, and a servo motor; the rack has an overall elongated oval shape, with transmission teeth on the inner wall of one side along its length, and connecting blocks symmetrically arranged at the center of the top surfaces on both sides along its length; the balance block includes a rectangular block and connecting sleeves symmetrically arranged on the bottom surfaces on both sides along its length; the bottom surface of the rectangular block is fixed to the connecting block, and two guide rods pass through the connecting sleeves respectively, with the ends of the two guide rods connected to support blocks respectively; the rack is arranged about the center plane of the width direction of the top surface of the chassis, and the support blocks are fixed to the top surface of the chassis; the servo motor is fixed at the center position inside the chassis, and its output axis extends upward beyond the top plate of the chassis, and is connected to the spur gear through a coupling, with the spur gear engaging with the rack.

[0006] In one embodiment of the above technical solution, the support platform device includes a lead screw and slider device, an AK series power module, a module mounting base, a connecting base, and a guide rod; the lead screw and slider device is arranged horizontally, with a servo motor connected to the inner end of the lead screw, and the slider on the lead screw is a T-shaped nut; the AK series power module is embedded in the module mounting base, and a horizontal guide rod is connected to the inner side of the module mounting base; the top of the connecting base is connected and fixed to the T-shaped nut, and the bottom surface is connected and fixed to the top surface of the module mounting base, with the guide rod located below the lead screw.

[0007] In one embodiment of the above technical solution, when the support platform device is assembled with the chassis, the servo motor is fixed inside the chassis, the lead screw extends out of the chassis, and the guide rod extends into the chassis.

[0008] In one embodiment of the above technical solution, the insulator detection device has two sets installed on the housing. Each set includes a servo motor and a detection probe. The housing is a cuboid with an opening on the top and a planar dimension smaller than that of the chassis. Two U-shaped grooves are provided on one side along the length direction, symmetrical about the center plane of the length direction. The two servo motors are horizontally fixed inside the housing, and the two detection probes are perpendicularly connected to the output shaft of the servo motors and extend into the corresponding U-shaped grooves. The planar dimension of the housing is smaller than that of the bottom surface of the chassis, and a rectangular hole is opened on the bottom surface of the chassis corresponding to the inner cavity of the housing, so that the inner cavity of the chassis communicates with the inner cavity of the housing.

[0009] In one embodiment of the above technical solution, the insulator testing device further includes two sets of servo motors respectively installed on the support platform device, each set having a servo motor fixed inside the module mounting base, with its output shaft extending vertically to connect to the testing probe.

[0010] In one embodiment of the above technical solution, the clamping device includes a plate frame, thin cylinders, a front sliding rod, a rear sliding rod, a front pressure plate, a rear pressure plate, a connecting plate assembly, and an inner pressure plate; the plate frame includes two side plates and a cover plate and a bottom plate between them; two thin cylinders are arranged horizontally on the left and right sides, fixed to the underside of the cover plate, and respectively connected to the front sliding rod and the rear sliding rod; the front pressure plate has an overall V-shaped shape, located between the two side plates of the plate frame, with its top two sides fitted onto the front sliding rod and provided with inclined sliding grooves; the corners are rotatably hinged to the two side plates of the plate frame via pins; the bottom plate of the plate frame has a rear end with the middle of the width direction... A connecting plate assembly with three hinge pins (front, middle, and rear) is installed at the location. The pins at the rear end of the connecting plate assembly are hinged to the inner pressure plate. There are two rear pressure plates, placed on the left and right sides of the connecting plate assembly, respectively, and fitted onto the rear slide rod, and hinged to the other two pins of the connecting plate assembly. An inclined sliding groove is provided on the rear pressure plate at the connection position of the rear slide rod. A U-shaped carbon plate is provided between the rear ends of the two rear pressure plates to connect the two rear pressure plates into a whole. The two ends of the front slide rod and the rear slide rod pass through the side plates of the plate frame, and horizontal sliding grooves are provided on the side plates. The AK series power module is connected to the top plate of the plate frame.

[0011] In one embodiment of the above technical solution, the connecting plate assembly includes a hinge seat, a connecting plate, and a connecting plate frame. The connecting plate and the connecting plate frame are H-shaped frames. The two ends of the connecting plate are respectively hinged to the connecting seat and the connecting plate frame through the pins. A pin is arranged at the rear of the connecting plate frame.

[0012] In one embodiment of the above technical solution, the inner pressure plate includes a pressure plate and a connecting sleeve disposed on its lower side. The inner end of the pressure plate is hinged to the rear pressure plate via a pin, and the connecting sleeve is clamped between the rear end of the connecting plate frame and hinged via a pin disposed on the connecting plate frame.

[0013] The method for inspecting tension insulator strings using the aforementioned robot provided by this invention includes the following steps:

[0014] I. Single string detection

[0015] (1) Staff members carried the robot up the tower and clamped the robot’s two clamping devices to the end face and inner wall of the lower part of the first and third insulating skirts near the tower end of the side string insulator respectively;

[0016] (2) Make the detection probes of the insulator detection device press against the column heads between the insulator skirts, and simultaneously detect the insulation resistance values ​​of the three insulators 1, 2 and 3;

[0017] (3) The detection probes of the insulator detection device are opened to the horizontal position;

[0018] (4) Keep the front clamping device clamped, and loosen the rear clamping device from the insulator skirt and open it to a horizontal position;

[0019] (5) The AK series power module of the front support platform device works to make the rear support platform device rotate with the rear clamping device to the position corresponding to the fifth insulator skirt in front of the front clamping device and clamp the fifth insulator skirt.

[0020] (6) Repeat step (2) to check the insulation resistance of the next three insulators;

[0021] (8) Repeat steps (3)-(5) to complete the resistance test of each insulator in a single string of insulators;

[0022] II. Serial-to-Serial Conversion

[0023] Keep the clamping device at the end of the single string clamped, release the other clamping device and open it to a horizontal position. The AK series power module of the support platform device corresponding to the clamping clamping device is activated, causing the released clamping device to rotate 90°. The screw and slider device of the support platform device is activated, so that the clamping device is located directly above the first insulator of the second string.

[0024] 3. Refer to steps one and two to test each subsequent string of insulators in sequence;

[0025] In the above steps, when the robot changes position, the servo motor of the center of gravity adjustment device works to adjust the position of the balance block to maintain the overall balance of the robot.

[0026] This robot is suspended below tension insulator strings via a gripping device. The support platform for the gripping device can extend and retract relative to the chassis, allowing the robot to inspect insulator strings with varying spacing and even insulators with different string pitches. The gripping device can simultaneously clamp the front, rear, and side walls of the cylindrical insulator skirts, ensuring the robot's operational stability. The support platform can rotate horizontally with the chassis, and the gripping device can be opened to a horizontal position, allowing the robot to rotate 180° using one support platform as support. During inspection, the robot can test the insulation resistance of multiple insulators simultaneously and quickly move to the next inspection unit. After inspecting one string, the robot can rotate 90° using one support platform as support, and then, through the extension and retraction of the support platform, quickly transfer the entire robot to an adjacent string for rapid inspection. Throughout the robot's operation, a center-of-gravity adjustment device ensures the robot's overall balance at all times. No missed inspections occur during the entire inspection process. Attached Figure Description

[0027] Figure 1 This is an isometric structural diagram of an embodiment of the present invention (the clamping device is in a clamping state).

[0028] Figure 2 for Figure 1 Enlarged structural diagram after removing the clamping device.

[0029] Figure 3 for Figure 2 An enlarged schematic diagram of the insulator detection device connected to the bottom of the central chassis.

[0030] Figure 4 This is an enlarged structural schematic diagram of the center of gravity adjustment device in this embodiment.

[0031] Figure 5 This is an enlarged structural diagram of the support platform in this embodiment.

[0032] Figure 6 for Figure 1 Enlarged structural diagram of the clamping device.

[0033] Figure 7 for Figure 6 A schematic diagram of the structure after removing the top plate of the frame.

[0034] Figure 8 for Figure 7 A schematic diagram of the structure after removing the sliding rod.

[0035] Figure 9 A schematic diagram of the structure when the clamping device is opened to its limit.

[0036] Figure 10 This is a schematic diagram of the detection status on the tension insulator string in this embodiment. Detailed Implementation

[0037] like Figure 1 As shown, the self-balancing tension insulator string inspection robot disclosed in this embodiment includes a chassis 1, an insulator inspection device 2, a center of gravity adjustment device 3, a support platform device 4, and a clamping device 5.

[0038] The chassis 1 is a rectangular box with a rectangular hole on its bottom plate. Both the top plate and the bottom plate are detachably assembled with the side plates by fasteners. The length of the bottom plate is less than the length of the top plate, and a round hole is provided in the center of the top plate.

[0039] Combination Figures 1 to 3 It can be seen that:

[0040] The insulator testing device 2 has four sets, including a servo motor DJ and a testing probe 21.

[0041] Two sets of insulator testing devices are mounted on the bottom surface of chassis 1 via housing 22. Housing 22 is a cuboid with an opening on the top, and its planar dimensions are larger than the rectangular holes on the bottom surface of the chassis. Two U-shaped grooves, symmetrical about the center plane of the length direction, are provided on one side of the housing. Two servo motors DJ are horizontally fixed inside housing 1, and two testing probes 21 are perpendicularly connected to the output shafts of the servo motors and extend into the corresponding U-shaped grooves. During assembly with chassis 1, the upper end of housing 22 is fastened to the outer perimeter of the rectangular holes on the bottom plate of chassis 1, thus connecting the inner cavity of the chassis with the inner cavity of the housing.

[0042] The other two sets of insulator testing devices 2 are installed on the support platform 4.

[0043] Combination Figure 1 , Figure 2 and Figure 4 It can be seen that:

[0044] The center of gravity adjustment device 3 includes a rack 31, a balance block 32, a guide rod 33, a spur gear 34, and a servo motor DJ.

[0045] The rack 31 has an overall elongated oval shape, with transmission teeth on the inner wall of one side along its length, and connecting blocks 311 symmetrically arranged in the middle of the top surfaces on both sides along its length. The balance block 32 includes a rectangular block 321 and connecting sleeves 322 symmetrically arranged on the bottom surfaces on both sides along its length.

[0046] The bottom surface of the rectangular block 321 is fixed to the top surface of the connecting block 311, making the balance block 32 and the rack 31 an integral part. Two guide rods 33 pass through the connecting sleeve 322 respectively, and the ends of the two guide rods are connected to the support block 323 respectively.

[0047] At this point, the rack 31, the balance block 32, and the guide rod 33 form an integral assembly. The rack 31 of this integral assembly is arranged with respect to the center plane of the width direction of the top surface of the chassis, and the support block 323 is symmetrically fixed to the top surface of the chassis 1.

[0048] The servo motor DJ is fixed in the center of the chassis 1. Its output shaft extends from a circular hole on the top plate of the chassis and is connected to a spur gear 34 via a coupling. The spur gear meshes with the transmission teeth of the rack 31. When the servo motor operates, the spur gear drives the rack to move the balance block back and forth stably on the top of the chassis, changing its position and thus adjusting the center of gravity.

[0049] Combination Figure 1 , Figure 2 and Figure 5 It can be seen that:

[0050] The support platform device 4 includes a lead screw and slider device, an AK series power module, a module mounting base, a connecting base, and a guide rod.

[0051] The lead screw and slider device is arranged horizontally, with the inner end of the lead screw 41 connected to the servo motor DJ, and the slider 42 on the lead screw is a T-shaped nut.

[0052] The AK series power module 43 is an outsourced component, which is vertically embedded in the module mounting base 44. A horizontal guide rod 45 is connected to the inner side of the outer wall of the module mounting base 44.

[0053] The top of the connecting seat 46 is connected and fixed to the T-nut 42, and the bottom surface is connected and fixed to the top surface of the module mounting seat 44. The guide rod 45 is located below the lead screw 41. At this point, the support platform is assembled into a single unit.

[0054] When the support platform device 4 is assembled with the chassis 1, the servo motor DJ is fixed inside the chassis 1, the lead screw 41 extends out of the chassis, and the guide rod 45 extends into the chassis.

[0055] When the servo motor is working, the rotational motion of the lead screw is converted into the linear motion of the T-nut along the lead screw. The connecting seat, which is integrated with the T-nut, drives the module mounting seat to move back and forth, changing its relative position with the chassis, thereby changing the length of the robot body (the total length of the chassis + two support platforms).

[0056] The servo motors DJ of the other two sets of insulator detection devices 2 are installed inside the module mounting base 44, with the output shafts extending out of the module mounting base and vertically connected to the detection probes 21.

[0057] The four sets of insulator testing devices can test the insulation resistance of three adjacent insulators at the same time.

[0058] Combination Figure 1 , Figures 6 to 9 It can be seen that:

[0059] The clamping device 5 includes a plate frame 51, a thin cylinder 52, a front sliding rod 53, a rear sliding rod 54, a front pressure plate 55, a rear pressure plate 56, an inner pressure plate 57, and a connecting plate assembly.

[0060] The frame 51 includes two side plates and a top plate and a bottom plate between them, and a connecting plate assembly is provided at the rear end of the center surface of the bottom plate in the width direction.

[0061] Two thin cylinders 52 are arranged horizontally on the left and right sides and fixed to the underside of the cover plate, respectively connected to the front sliding rod 53 and the rear sliding rod 54.

[0062] The front pressure plate 55 is V-shaped and is located between the two side plates of the plate frame 51. The top two sides are fitted onto the front sliding rod 53 and are provided with inclined sliding grooves. The corners are rotatably hinged to the two side plates of the plate frame 51 by pins. The two ends of the front sliding rod 53 pass through the two side plates of the plate frame 51 respectively, and horizontal sliding grooves are provided on the side plates.

[0063] The front sides of the front pressure plate 55 and the rear pressure plate 56 are respectively limited by the two ends of the bottom plate of the frame 51.

[0064] When the thin cylinder 52 drives the front sliding rod 53 to slide back and forth along the horizontal sliding groove on the side plate of the plate frame, the front sliding rod 53 drives the front pressure plate 55 to rotate in the front and back direction.

[0065] The inner pressure plate 57 includes a pressure plate and a connecting sleeve on its lower front side.

[0066] The connecting plate assembly includes a hinge seat 58, a connecting plate 59, and a connecting plate frame 510. The hinge seat 58 is hinged to the connecting plate 59 via a pin. The front end of the connecting plate is hinged to an H-shaped connecting plate frame 510 via a pin. The rear end of the connecting plate frame is hinged to a connecting sleeve on the lower side of the inner pressure plate 57 via a pin.

[0067] There are two rear pressure plates 56, which are placed on the left and right sides of the connecting plate assembly and the inner pressure plate 57, respectively. They are respectively fitted on the rear slide rod 54 and the pin between the hinge seat 58 and the connecting plate 59, and are hinged to the front end of the pressure plate of the inner pressure plate 57 through the pin.

[0068] An inclined groove is provided on the rear pressure plate 56 at the connection position of the rear slide rod 54.

[0069] A U-shaped carbon plate 511 is connected between the rear ends of the two rear pressure plates 56.

[0070] When the thin cylinder 52 drives the rear sliding rod 54 to slide back and forth along the horizontal sliding groove on the side plate of the plate frame, the rear sliding rod 54 drives the rear pressure plate 56 and the inner pressure plate 57 to rotate back and forth.

[0071] The working principle of the clamping device is as follows:

[0072] Two thin-walled cylinders drive the front and rear sliding rods to slide back and forth respectively. When the front sliding rod slides forward to its limit position, the front pressure plate rotates backward to the clamping position limited by the bottom plate of the frame, pressing the front end face of the cylindrical insulator skirt. When the rear sliding rod slides backward to its limit position, the rear pressure plate rotates forward to the clamping position limited by the bottom plate of the frame, pressing the rear end opening face of the insulator skirt. At the same time, the inner pressure plate rotates forward to the end, pressing the inner wall of the insulator skirt. In other words, the clamping device achieves stable clamping of the insulator skirt by simultaneously clamping the insulator with the front, rear, and inner pressure plates. Figure 1 As shown and Figures 6 to 8 As shown.

[0073] When the front and rear sliding rods slide in opposite directions to their extreme positions, the front pressure plate, rear pressure plate, and inner pressure plate all loosen the insulator skirts and are in their maximum open state. Figure 9 As shown, at this time, the clamping device is located entirely below the insulator skirt.

[0074] The working process of this robot is as follows:

[0075] (1) Staff members carried the robot up the tower and clamped the robot’s two clamping devices to the end face and inner wall of the lower part of the first and third insulating skirts near the tower end of the side string insulator respectively;

[0076] (2) Ensure that the detection probes of the insulator testing device are pressed evenly onto the posts between the insulator skirts, and simultaneously detect the insulation resistance values ​​of insulators 1, 2, and 3. Figure 10 As shown.

[0077] (3) The detection probes of the insulator detection device are opened to the horizontal position;

[0078] (4) Keep the front clamping device clamped, and loosen the rear clamping device from the insulator skirt and open it to a horizontal position;

[0079] (5) The AK series power module of the front support platform device works to make the rear support platform device rotate with the rear clamping device to the position corresponding to the fifth insulator skirt in front of the front clamping device and clamp the fifth insulator skirt.

[0080] (6) Repeat step (2) to check the insulation resistance of the next three insulators;

[0081] (8) Repeat steps (3)-(5) to complete the resistance test of each insulator in a single string of insulators;

[0082] (9) Keep the clamping device at the end of the string in a clamped state, while the other clamping device is released and opened to a horizontal state;

[0083] (10) The AK series power module of the support platform device corresponding to the clamping device in the clamping state in step (9) works to make the released clamping device rotate 90°.

[0084] (11) The screw and slider device of the support platform device in step (10) is working, so that the clamping device in step (10) is located directly above the first insulator of the second string;

[0085] (12) Refer to steps (2)-(8) to test the second string of insulators;

[0086] (13) Complete the testing of all insulator strings by referring to the above steps.

[0087] In the above steps, when the robot changes position, the servo motor of the center of gravity adjustment device works to adjust the position of the balance block to maintain the overall balance of the robot.

[0088] After all insulator strings have been inspected, the clamping device releases the insulator skirts to remove the robot.

[0089] This robot is suspended below tension insulator strings via a gripping device. The support platform for the gripping device can extend and retract relative to the chassis, allowing the robot to inspect insulator strings with varying spacing and even different string pitches. The gripping device can simultaneously clamp the front, rear, and side walls of the cylindrical insulator skirts, ensuring the robot's operational stability. The support platform can rotate horizontally with the chassis, and the gripping device can be opened to a horizontal position, allowing the robot to rotate 180° with one support platform as support, quickly moving to the next inspection unit. One inspection unit can simultaneously inspect the insulation resistance of multiple insulators. After inspecting one string, the robot can rotate 90° with one support platform as support, and then, through the extension and retraction of the support platform, quickly transfer the entire robot to an adjacent string for rapid inspection. Throughout the robot's operation, a center-of-gravity adjustment device ensures its overall balance at all times. No missed inspections occur during the entire inspection process.

Claims

1. A self-balancing tension insulator string inspection robot, characterized in that: It includes a chassis, a center of gravity adjustment device, a support platform device, an insulator detection device, and a clamping device; The center of gravity adjustment device is connected to the upper side of the chassis, the two support platform devices are symmetrically connected to the front and rear sides of the chassis, multiple sets of insulator detection devices are connected to the bottom surface of the chassis and / or the support platform devices, and the two support platform devices are respectively connected to clamping devices. The support platform can extend and retract forward and backward and can rotate horizontally with the chassis; the clamping device can simultaneously clamp the front and rear end faces and side walls of the cylindrical insulator and can be opened to a horizontal state. The center of gravity adjustment device includes a guide rod, a rack, a balance block, a spur gear, and a servo motor. The rack has an overall elongated oval shape, with transmission teeth on the inner wall of one side along its length, and connecting blocks symmetrically arranged in the center of the top surfaces on both sides along its length. The balance block includes a rectangular block and connecting sleeves symmetrically arranged on the bottom surfaces on both sides along its length. The bottom surface of the rectangular block is fixed to the connecting block, and two guide rods pass through the connecting sleeves respectively, with the ends of the two guide rods connected to support blocks. The rack is arranged about the center plane of the width direction of the top surface of the chassis, and the support blocks are fixed to the top surface of the chassis. The servo motor is fixed at the center position inside the chassis, and its output axis extends upwards out of the top plate of the chassis. It is connected to the spur gear through a coupling, and the spur gear engages with the rack. The support platform device includes a lead screw and slider device, an AK series power module, a module mounting base, a connecting base, and a guide rod. The lead screw and slider device is horizontally arranged, with a servo motor connected to the inner end of the lead screw, and the slider on the lead screw is a T-shaped nut. The AK series power module is embedded in the module mounting base, and a horizontal guide rod is connected to the inner side of the module mounting base. The top of the connecting base is connected and fixed to the T-shaped nut, and the bottom surface is connected and fixed to the top surface of the module mounting base. The guide rod is located below the lead screw.

2. The self-balancing tension insulator string inspection robot as described in claim 1, characterized in that: When the support platform device is assembled with the chassis, the servo motor is fixed inside the chassis, the lead screw extends out of the chassis, and the guide rod extends into the chassis.

3. The self-balancing tension insulator string inspection robot as described in claim 1, characterized in that: The insulator testing device has two sets mounted on the housing. Each set includes a servo motor and a testing probe. The housing is a cuboid with an opening on the top and a planar dimension smaller than that of the chassis. Two U-shaped grooves are provided on one side along the length direction, symmetrical about the center plane of the length direction. The two servo motors are horizontally fixed inside the housing. The two testing probes are perpendicularly connected to the output shafts of the servo motors and extend into the corresponding U-shaped grooves. The housing is fixed to the bottom of the chassis with a planar dimension smaller than that of the top side. A rectangular hole is opened on the bottom of the chassis corresponding to the inner cavity of the housing, so that the inner cavity of the chassis is connected to the inner cavity of the housing.

4. The self-balancing tension insulator string inspection robot as described in claim 3, characterized in that: The insulator testing device also includes two sets of servo motors respectively installed on the support platform device. The servo motors of each set are fixed in the module mounting base, and the output shafts extend vertically to connect to the testing probes.

5. The self-balancing tension insulator string inspection robot as described in claim 1, characterized in that: The clamping device includes a plate frame, a thin cylinder, a front sliding rod, a rear sliding rod, a front pressure plate, a rear pressure plate, a connecting plate assembly, and an inner pressure plate; The plate frame includes two side plates and a cover plate and a bottom plate between them. Two thin cylinders are arranged horizontally on the left and right sides and fixed to the underside of the cover plate, respectively connecting to the front sliding rod and the rear sliding rod. The front pressure plate is V-shaped and is located between the two side plates of the plate frame. The top two sides are fitted onto the front sliding rod and are provided with inclined sliding grooves. The corners are rotatably hinged to the two side plates of the plate frame through pins. A connecting plate assembly with three front, middle and rear hinge pins is set at the middle position of the width direction of the rear end of the bottom plate of the plate frame. The pins at the rear end of the connecting plate assembly are hinged to the inner pressure plate. There are two rear pressure plates, which are placed on the left and right sides of the connecting plate assembly, respectively, and are fitted onto the rear slide rod and hinged to the other two pins of the connecting plate assembly; an inclined slide groove is provided on the rear pressure plate at the connection position of the rear slide rod; a U-shaped carbon plate is provided between the rear ends of the two rear pressure plates to connect the two rear pressure plates into a whole. The two ends of the front sliding rod and the rear sliding rod pass through the two side plates of the plate frame, and horizontal sliding grooves are provided on the side plates; the AK series power module is connected to the top plate of the plate frame.

6. The self-balancing tension insulator string inspection robot as described in claim 5, characterized in that: The connecting plate assembly includes a hinge seat, a connecting plate, and a connecting plate frame. The connecting plate frame is an H-shaped frame. Both ends of the connecting plate are hinged to the connecting seat and the connecting plate frame respectively through the pins. A pin is arranged at the rear of the connecting plate frame.

7. The self-balancing tension insulator string inspection robot as described in claim 6, characterized in that: The inner pressure plate includes a pressure plate and a connecting sleeve disposed on its lower side. The inner end of the pressure plate is hinged to the rear pressure plate by a pin. The connecting sleeve is clamped between the rear end of the connecting plate frame and the connecting plate frame by a pin.

8. A method for inspecting tension insulator strings using the robot described in any one of claims 1-7, comprising the following steps: I. Single string detection (1) The staff carried the robot up the tower and clamped the robot’s two clamping devices to the end face and inner wall of the lower part of the first and third insulating skirts near the tower end of the side string insulator respectively; (2) Make the detection probes of the insulator detection device press against the column heads between the insulator skirts, and simultaneously detect the insulation resistance values ​​of the three insulators 1, 2 and 3; (3) The detection probe of the insulator detection device is opened to the horizontal position; (4) Keep the front clamping device clamped, and loosen the rear clamping device from the insulator skirt and open it to a horizontal position; (5) The AK series power module of the front support platform device works to make the rear support platform device rotate with the rear clamping device to the position corresponding to the fifth insulator skirt in front of the front clamping device and clamp the fifth insulator skirt. (6) Repeat step (2) to test the insulation resistance of the next three insulators; (8) Repeat steps (3)-(5) to complete the resistance test of each insulator in a single string of insulators; II. Serial-to-Serial Conversion Keep the clamping device at the end of the single string clamped, release the other clamping device and open it to a horizontal position. The AK series power module of the support platform device corresponding to the clamping clamping device is activated, causing the released clamping device to rotate 90°. The screw and slider device of the support platform device is activated, so that the clamping device is located directly above the first insulator of the second string.

3. Refer to steps one and two to test each subsequent string of insulators in sequence; In the above steps, when the robot changes position, the servo motor of the center of gravity adjustment device works to adjust the position of the balance block to maintain the overall balance of the robot.

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