A single-piece suspension insulator replacement tool

Abstract

The present invention belongs to the technical field of suspension insulator operation, and particularly relates to a single-piece suspension insulator replacement operation tool. It includes a connecting base, an unloading component I, an unloading component II, a front clamp clamping body, a rear clamp clamping body and an insulating porcelain bottle adjustment device, wherein the unloading component I and the unloading component II are arranged on both sides of the connecting base, the front ends of the unloading components I and II are connected to the front clamp clamping body, and the rear ends are connected to the rear clamp clamping body, the front clamp clamping body and the rear clamp clamping body are used to clamp the steel cap of the insulator string, and the unloading components I and II synchronously drive the front clamp clamping body and the rear clamp clamping body to move closer to or away from each other; the insulating porcelain bottle adjustment device is arranged on the connecting base, and is used to adjust the position and posture of the single-piece insulator. The insulator replacement operation time of the present invention can be controlled within a reasonable range, the robot equipped with the insulator replacement tool is easy to control, and it has safety and reliability when replacing insulators.

Description

Technical Field

[0001] The invention belongs to the technical field of suspension insulator operation, and in particular relates to a single-piece suspension insulator replacement operation tool. Background Art

[0002] During operation, suspension insulators are subjected to long-term electromechanical loads, erosion by particles deposited on the surface and adverse weather conditions, which deteriorate the electromechanical performance of the insulators. Pollution flashover and lightning flashover may occur during operation, causing power outages. For suspension insulators used in large quantities in transmission lines or substations, traditional manual replacement operations are not only time-consuming and labor-intensive, but also prone to safety accidents. In particular, manual replacement of a single deteriorated insulator not only poses a safety hazard, but the replacement operation is also difficult to operate.

[0003] The use of robot technology can help to realize the automation of suspension insulator replacement, which can greatly reduce the labor intensity of personnel and reduce the cost of power grid operation and maintenance. It is of great significance to improve the level of power grid operation and maintenance, promote condition maintenance and smart grid construction. Summary of the invention

[0004] In view of the above problems, the object of the present invention is to provide a single-piece suspension insulator replacement tool, which utilizes dual mechanical arms to work together to replace a single piece of insulator.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A single-piece suspension insulator replacement tool comprises a connecting base, an unloading component I, an unloading component II, a front clamp clamping body, a rear clamp clamping body and an insulating porcelain bottle adjustment device, wherein the unloading component I and the unloading component II are arranged on both sides of the connecting base, the front ends of the unloading components I and the unloading components II are connected to the front clamp clamping body, and the rear ends are connected to the rear clamp clamping body, the front clamp clamping body and the rear clamp clamping body are used to clamp the steel cap of the insulator string, and the unloading components I and the unloading components II synchronously drive the front clamp clamping body and the rear clamp clamping body to move closer to or away from each other; the insulating porcelain bottle adjustment device is arranged on the connecting base and is used to adjust the posture of the single-piece insulator.

[0007] The unloading assembly I and the unloading assembly II have the same structure, and both include an unloading motor, a mounting frame, a gear transmission mechanism, a transverse guide rail, a left-handed nut I, a double-rotation screw and a right-handed nut I, wherein the mounting frame is connected to the connecting base, the transverse guide rail and the double-rotation screw are both arranged on the mounting frame along the front-back direction, and the double-rotation screw is rotatable; the left-handed nut I and the right-handed nut I are respectively connected to the two sections of reverse threads on the double-rotation screw, and the left-handed nut I and the right-handed nut I are respectively slidably connected to the transverse guide rail through two sliders; the left-handed nut I and the right-handed nut I are respectively connected to the rear fixture clamping body and the front fixture clamping body;

[0008] The unloading motor is arranged on a mounting frame, and an output end is connected with a double-rotation lead screw through a gear transmission mechanism.

[0009] The outer sides of the left-handed nut I and the right-handed nut I are connected with a support sleeve and a joint bolt in sequence, and the two joint bolts are respectively connected with the rear clamp clamping body and the front clamp clamping body.

[0010] A travel switch is arranged on the mounting frame.

[0011] The front fixture clamping body and the rear fixture clamping body have the same structure, both comprising a fixture body, a bidirectional linear drive mechanism, a left sliding fixture body and a right sliding fixture body, wherein the two ends of the fixture body are respectively connected to the unloading component I and the unloading component II; a dovetail groove is provided on the fixture body along the left and right directions, and the left sliding fixture body and the right sliding fixture body are slidably connected to the dovetail groove;

[0012] The bidirectional linear drive mechanism is arranged on the fixture body and connected with the left sliding card body and the right sliding card body. The bidirectional linear drive mechanism is used to drive the left sliding card body and the right sliding card body to move closer to or away from each other.

[0013] The front clamp clamping body and the rear clamp clamping body also include a core tool for clamping the insulator string rigid cap, the core tool includes an upper inner clamping ring, a left inner clamping ring and a right inner clamping ring, wherein the upper inner clamping ring is arranged on the clamp body and is located between the left sliding clamp body and the right sliding clamp body, and the left inner clamping ring and the right inner clamping ring are respectively arranged on the inner sides of the left sliding clamp body and the right sliding clamp body.

[0014] The bidirectional linear drive mechanism comprises a left-handed screw nut II, a clamping motor, a left-handed screw, a chain transmission mechanism, a right-handed screw and a right-handed screw nut II, wherein the left-handed screw and the right-handed screw are coaxially connected to the fixture body, the left-handed screw nut II and the right-handed screw nut II are respectively threadedly connected to the left-handed screw and the right-handed screw, and the left-handed screw nut II and the right-handed screw nut II are respectively connected to the left sliding card body and the right sliding card body;

[0015] The clamping motor is arranged on the fixture body, and the output end is connected with the left-hand screw or the right-hand screw through a chain transmission mechanism.

[0016] The insulating porcelain bottle adjustment device comprises an adjustment base and an adjustment component I and an adjustment component II arranged on the adjustment base;

[0017] The adjustment assembly I and the adjustment assembly II have the same structure, both comprising a horizontal adjustment mechanism and a vertical adjustment mechanism arranged on the horizontal adjustment mechanism. The horizontal adjustment mechanism is used to adjust the horizontal position of the monolithic insulator; the vertical adjustment mechanism is used to adjust the height position of the monolithic insulator.

[0018] The horizontal adjustment mechanism comprises a horizontal adjustment motor, a horizontal adjustment guide rail, a horizontal adjustment lead screw, a horizontal adjustment slide plate and a horizontal adjustment transmission mechanism, wherein the horizontal adjustment guide rail and the horizontal adjustment lead screw are arranged in parallel on the adjustment base, and the horizontal adjustment lead screw is rotatable; the horizontal adjustment slide plate is threadedly connected to the horizontal adjustment lead screw, and is slidably connected to the horizontal adjustment guide rail;

[0019] The horizontal adjustment motor is arranged on the adjustment base, and the output end is connected with the horizontal adjustment screw through a horizontal adjustment transmission mechanism.

[0020] The vertical adjustment mechanism comprises a vertical adjustment motor, a vertical adjustment transmission mechanism, a vertical adjustment bidirectional lead screw, a vertical adjustment slider I, a vertical adjustment guide rail, a vertical adjustment slider II and two sets of support wheels, wherein the vertical adjustment bidirectional lead screw and the vertical adjustment guide rail are arranged in parallel on the horizontal adjustment mechanism and are perpendicular to the movement direction of the horizontal adjustment mechanism;

[0021] The vertical adjustment slider I and the vertical adjustment slider II are respectively connected with two sections of reverse threads on the vertical adjustment bidirectional lead screw; the vertical adjustment slider I and the vertical adjustment slider II are both slidably connected with the vertical adjustment guide rail; two sets of support wheels are respectively rotatably arranged on the vertical adjustment slider I and the vertical adjustment slider II;

[0022] The vertical adjustment motor is arranged on the horizontal adjustment mechanism, and the output end is connected with the vertical adjustment bidirectional lead screw through the vertical adjustment transmission mechanism.

[0023] The connecting base comprises a connecting frame, a guide column and a compression spring, wherein two guide columns are slidably connected to both sides of the connecting frame, the upper ends of the two guide columns on one side are connected to the unloading assembly I, and the upper ends of the two guide columns on the other side are connected to the unloading assembly II;

[0024] A compression spring is sleeved on each of the guide columns, and the lower end is axially limited by a limiting nut.

[0025] The advantages and beneficial effects of the present invention are:

[0026] The single-piece suspension insulator replacement tool provided by the present invention is an important component of the substation suspension insulator detection and replacement robot system. According to the operation characteristics of the single-piece suspension insulator replacement, the double mechanical arms are used to work together to perform the single-piece insulator replacement task. The insulator replacement operation time can be controlled within a reasonable range. The robot equipped with the insulator replacement tool is easy to control and has safety and reliability when replacing insulators.

[0027] The present invention provides a single-piece suspension insulator replacement tool, which has the function of adjusting the position and posture of the insulator piece, making it convenient for a mechanical arm to disassemble and assemble the insulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of a single-piece suspension insulator replacement tool of the present invention;

[0029] Figure 2 It is a structural schematic diagram of the connection base in the present invention;

[0030] Figure 3 It is a structural schematic diagram of the unloading component I in the present invention;

[0031] Figure 4 It is a schematic structural diagram of the front and rear clamping bodies of the present invention;

[0032] Figure 5 It is a structural schematic diagram of the insulating porcelain bottle adjustment device in the present invention;

[0033] Figure 6 It is an axonometric diagram of the arrangement relationship between the insulating porcelain bottle adjustment device and the insulator string in the present invention;

[0034] Figure 7 It is a front view of the arrangement relationship between the insulating porcelain bottle adjustment device and the insulator string in the present invention;

[0035] Figure 8 for Figure 7 Side view of

[0036] In the figure: 1, connecting base, 101, connecting frame, 102, guide column, 103, limit nut, 104, compression spring, 2, unloading component I, 201, unloading motor, 202, mounting frame, 203, driving gear, 204, travel switch, 205, slider, 206, transverse guide rail, 207, support sleeve, 208, left-handed nut I, 209, double-rotation screw, 210, driven gear, 211, right-handed nut I, 212, rubber pad, 213, joint bolt, 3, unloading component II, 4, front fixture clamping body, 401, fixture body, 402, left-handed nut II, 403, clamping motor, 404, left-handed screw, 405, chain transmission mechanism, 406, right-handed screw, 4 07. Right-hand nut II, 408. Dovetail groove, 409. Left sliding card body, 410. Upper inner snap ring, 411. Left inner snap ring, 412. Right inner snap ring, 413. Right sliding card body, 5. Rear clamping body, 6. Insulating porcelain bottle adjustment device, 61. Adjustment base, 62. Adjustment assembly I, 63. Adjustment assembly II, 601. Horizontal adjustment motor, 602. Horizontal adjustment guide rail, 603. Horizontal adjustment screw, 604. Horizontal adjustment transmission mechanism, 605. Vertical adjustment motor, 606. Vertical adjustment transmission mechanism, 607. Vertical adjustment bidirectional screw, 608. Vertical adjustment slider I, 609. Vertical adjustment guide rail, 610. Vertical adjustment slider II, 611. Support wheel, 7. Insulator string. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] like Figure 1 As shown, an embodiment of the present invention provides a single-piece suspension insulator replacement work tool, including a connecting base 1, an unloading component Ⅰ2, an unloading component Ⅱ3, a front clamp clamping body 4, a rear clamp clamping body 5 and an insulating porcelain bottle adjustment device 6, wherein the unloading component Ⅰ2 and the unloading component Ⅱ3 are arranged on both sides of the connecting base 1, the front ends of the unloading components Ⅰ2 and the unloading components Ⅱ3 are connected to the front clamp clamping body 4, and the rear ends are connected to the rear clamp clamping body 5, the front clamp clamping body 4 and the rear clamp clamping body 5 are used to clamp the steel cap of the insulator string 7, and the unloading components Ⅰ2 and the unloading components Ⅱ3 synchronously drive the front clamp clamping body 4 and the rear clamp clamping body 5 to move closer to or away from each other; the insulating porcelain bottle adjustment device 6 is arranged on the connecting base 1, and is used for adjusting the posture of the single-piece insulator.

[0039] like Figure 2As shown, in the embodiment of the present invention, the connecting base 1 includes a connecting frame 101, a guide column 102 and a compression spring 104, wherein two guide columns 102 are slidably connected to both sides of the connecting frame 101, the upper ends of the two guide columns 102 on one side are connected to the unloading component Ⅰ2, and the upper ends of the two guide columns 102 on the other side are connected to the unloading component Ⅱ3; each guide column 102 is sleeved with a compression spring 104, and the lower end is axially limited by a limiting nut 103.

[0040] When the whole system is in operation, the main body of the replacement tool is installed on the posture adjustment mechanical arm. During the insulator replacement operation, if the two are rigidly connected, interaction forces will be generated between the components. If these forces are not released in time, the operation task will fail. The unloading component and the posture adjustment mechanical arm in the present invention are flexibly connected. The specific implementation method is to use four compression springs 104 to support the unloading component I2 and the unloading component II3, and the spring base is connected to one side of the upper part of the posture adjustment mechanical arm.

[0041] like Figure 3 As shown, in the embodiment of the present invention, the unloading assembly I2 and the unloading assembly II3 have the same structure, both of which include an unloading motor 201, a mounting frame 202, a gear transmission mechanism, a transverse guide rail 206, a left-handed screw nut I208, a double-rotation screw 209 and a right-handed screw nut I211, wherein the mounting frame 202 is connected to the connecting base 1, the transverse guide rail 206 and the double-rotation screw 209 are both arranged on the mounting frame 202 in the front-to-back direction, and the double-rotation screw 209 is rotatable; the left-handed screw nut Ⅰ208 and the right-handed nut Ⅰ211 are respectively connected to the two sections of reverse threads on the double-rotation screw 209, and the left-handed nut Ⅰ208 and the right-handed nut Ⅰ211 are respectively slidably connected to the transverse guide rail 206 through two sliders 205; the left-handed nut Ⅰ208 and the right-handed nut Ⅰ211 are respectively connected to the rear fixture clamping body 5 and the front fixture clamping body 4; the unloading motor 201 is arranged on the mounting frame 202, and the output end is connected to the double-rotation screw 209 through a gear transmission mechanism.

[0042] Furthermore, the outer sides of the left-handed nut I 208 and the right-handed nut I 211 are sequentially connected with a support sleeve 207 and a joint bolt 213, and the two joint bolts 213 are respectively connected to the rear fixture clamping body 5 and the front fixture clamping body 4. A travel switch 204 is provided on the mounting frame 202.

[0043] In the embodiment of the present invention, the unloading assembly I2 and the unloading assembly II3 are distributed on both sides of the insulator string 7. Both the unloading assembly I2 and the unloading assembly II3 adopt a configuration of a double-rotation screw 209 and two screw nuts. Among them, the unloading motor 201 and the gear pair form a gear transmission mechanism, and the double-rotation screw 209 serves as the output end of the gear transmission mechanism. The threads at both ends of the double-rotation screw 209 have opposite rotation directions and form a threaded match with the screw nuts of the corresponding rotation directions at both ends. During installation, the joint bolts 213 at both ends are connected to the corresponding front and rear clamping bodies. The guide rail slider moving pair is fixed on the mounting frame 202, and the left and right rotating screw nuts are connected to the corresponding sliders 205, so that the rotation of the gear transmission mechanism is converted into the movement of the screw nut slider. During operation, the gear transmission mechanism drives the double-rotation screw 209 to rotate, further drives the joint bolts 213 on both sides to move linearly and tighten the front and rear clamping bodies, thereby realizing the function of unloading the tension of the insulator string.

[0044] like Figure 4 As shown, in the embodiment of the present invention, the front fixture clamping body 4 and the rear fixture clamping body 5 have the same structure, both of which include a fixture body 401, a bidirectional linear drive mechanism, a left sliding fixture body 409 and a right sliding fixture body 413, wherein the two ends of the fixture body 401 are respectively connected to the unloading component Ⅰ2 and the unloading component Ⅱ3; a dovetail groove 408 is provided on the fixture body 401 along the left and right directions, and the left sliding fixture body 409 and the right sliding fixture body 413 are slidably connected to the dovetail groove 408; the bidirectional linear drive mechanism is arranged on the fixture body 401 and is connected to the left sliding fixture body 409 and the right sliding fixture body 413, and the bidirectional linear drive mechanism is used to drive the left sliding fixture body 409 and the right sliding fixture body 413 to move closer to or away from each other.

[0045] Furthermore, the front clamp clamping body 4 and the rear clamp clamping body 5 also include a core tool for clamping the rigid cap of the insulator string, the core tool includes an upper inner clamping ring 410, a left inner clamping ring 411 and a right inner clamping ring 412, wherein the upper inner clamping ring 410 is arranged on the clamp body 401 and is located between the left sliding clamp body 409 and the right sliding clamp body 413, and the left inner clamping ring 411 and the right inner clamping ring 412 are respectively arranged on the inner sides of the left sliding clamp body 409 and the right sliding clamp body 413.

[0046] Since the core tool is a split structure, different types of core tools can be installed in the front and rear clamping bodies, thus meeting the application requirements of porcelain or glass insulators of different models and specifications. The core tool inside the tool is designed with a split petal structure, which is conducive to tightening when under stress, ensuring its strength and reliability.

[0047] Specifically, the bidirectional linear drive mechanism includes a left-handed nut II 402, a clamping motor 403, a left-handed screw 404, a chain transmission mechanism 405, a right-handed screw 406 and a right-handed nut II 407, wherein the left-handed screw 404 and the right-handed screw 406 are coaxially connected to the fixture body 401, the left-handed nut II 402 and the right-handed nut II 407 are threadedly connected to the left-handed screw 404 and the right-handed screw 406 respectively, and the left-handed nut II 402 and the right-handed nut II 407 are connected to the left sliding card body 409 and the right sliding card body 413 respectively; the clamping motor 403 is arranged on the fixture body 401, and the output end is connected to the left-handed screw 404 or the right-handed screw 406 through the chain transmission mechanism 405.

[0048] In the embodiment of the present invention, the front and rear clamping bodies of the clamp are arranged front and back along the line direction of the insulator to be replaced. The clamping bodies of the clamps on both sides are reliably clamped by closing and clamping the corresponding steel caps, which is a prerequisite for replacing the single-piece insulator. The actuator of the clamping body of the clamp is a trapezoidal lead screw and a nut. The lead screw is divided into a left-handed lead screw and a right-handed lead screw. The corresponding nuts on both sides are respectively connected to the sliding clamp body, driving the corresponding sliding clamp body to tighten or loosen, thereby achieving the clamping of the steel caps on both sides of the insulator. The sliding clamp body includes a left sliding clamp body 409 and a right sliding clamp body 413, which realize sliding translation through the dovetail groove 408 on the clamp body 401. The power comes from the rotation of the forward and reverse rotation lead screws. The lead screw is connected to the servo motor through a pair of sprockets, and the motor mounting frame is fixedly connected to the clamp body frame. The core tool is embedded inside the fixture body 401 and the sliding fixture. The core tool in this structure is divided into three parts: an upper inner clamping ring 410, a left inner clamping ring 411 and a right inner clamping ring 412. By replacing inner clamping rings of different sizes, the replacement operation of insulator sheets of different models can be met.

[0049] like Figure 5-8 As shown, in the embodiment of the present invention, the insulating porcelain bottle adjustment device 6 includes an adjustment base 61 and an adjustment component I 62 and an adjustment component II 63 arranged on the adjustment base 61; the adjustment component I 62 and the adjustment component II 63 are arranged in parallel to support and adjust two adjacent monolithic insulators.

[0050] In the embodiment of the present invention, the adjustment component I 62 and the adjustment component II 63 have the same structure, both including a horizontal adjustment mechanism and a vertical adjustment mechanism connected from bottom to top, the horizontal adjustment mechanism is used to adjust the horizontal position of the monolithic insulator; the vertical adjustment mechanism is used to adjust the height position of the monolithic insulator.

[0051] like Figure 5As shown, in an embodiment of the present invention, the horizontal adjustment mechanism includes a horizontal adjustment motor 601, a horizontal adjustment guide rail 602, a horizontal adjustment screw 603, a horizontal adjustment slide plate and a horizontal adjustment transmission mechanism 604, wherein the horizontal adjustment guide rail 602 and the horizontal adjustment screw 603 are arranged in parallel on the adjustment base 61, and the horizontal adjustment screw 603 is rotatable; the horizontal adjustment slide plate is threadedly connected to the horizontal adjustment screw 603, and is slidingly connected to the horizontal adjustment guide rail 602; the horizontal adjustment motor 601 is arranged on the adjustment base 61, and the output end is connected to the horizontal adjustment screw 603 through the horizontal adjustment transmission mechanism 604.

[0052] like Figure 5 As shown, in an embodiment of the present invention, the vertical adjustment mechanism includes a vertical adjustment motor 605, a vertical adjustment transmission mechanism 606, a vertical adjustment bidirectional lead screw 607, a vertical adjustment slider I 608, a vertical adjustment guide rail 609, a vertical adjustment slider II 610 and two groups of support wheels 611, wherein the vertical adjustment bidirectional lead screw 607 and the vertical adjustment guide rail 609 are arranged in parallel on the horizontal adjustment slide of the horizontal adjustment mechanism, and are perpendicular to the movement direction of the horizontal adjustment mechanism; the vertical adjustment slider I 608 and the vertical adjustment slider II 610 are respectively connected to the two sections of reverse threads on the vertical adjustment bidirectional lead screw 607; the vertical adjustment slider I 608 and the vertical adjustment slider II 610 are both slidably connected to the vertical adjustment guide rail 609; the two groups of support wheels 611 are respectively rotatably arranged on the vertical adjustment slider I 608 and the vertical adjustment slider II 610; the vertical adjustment motor 605 is arranged on the horizontal adjustment slide of the horizontal adjustment mechanism, and the output end is connected to the vertical adjustment bidirectional lead screw 607 through the vertical adjustment transmission mechanism 606.

[0053] After the insulator string is unloaded, before the single insulator is replaced, the insulator to be replaced and the adjacent insulator need to be adjusted in position so that the single insulator can be taken out. In order to adjust the relative position of two adjacent single insulators, two support wheels 611 are used to hold the lower edge of the corresponding insulator. Figure 6-8 As shown. Adjustment components I 62 and II 63 are respectively arranged under each porcelain bottle to complete horizontal and vertical adjustment. The horizontal adjustment mechanism uses the lead screw to rotate and drive the nut to move along the linear guide rail, so that the support wheel 611 drives the insulator piece to complete horizontal adjustment; the vertical adjustment mechanism uses the lead screw to rotate and drive the nut to move relatively along the linear guide rail, so that the two support wheels 611 are close or far away, thus driving the insulator piece to rise or fall to complete vertical adjustment.

[0054] The present invention can complete the task of replacing a single-piece insulator with the assistance of a double robotic arm on a lifting platform. The insulator replacement operation time can be controlled within a reasonable range. The robot equipped with an insulator replacement tool is easy to control and has safety and reliability when replacing insulators. The robot has an insulator piece posture adjustment function, which facilitates the robotic arm to disassemble and assemble the insulator.

[0055] The front and rear clamping bodies of the present invention drive the core tool to move and clamp and hold the insulator steel cap; the unloading components on both sides act simultaneously to unload the tension force of the insulator string along the line direction; the insulating magnetic bottle adjustment device can adjust the posture of the insulator piece to be replaced and the adjacent insulator piece, so as to facilitate the disassembly and assembly of the insulator piece by the mechanical arm; the replacement operation tool is installed on the posture adjustment mechanical arm through the connecting base, and the four compression springs on the connecting base can passively comply to release the interaction force generated by the position deviation during operation.

[0056] A single-piece suspension insulator replacement tool provided in an embodiment of the present invention can complete the insulator replacement operation through the cooperation of various components. The specific operation process is:

[0057] 1) If a deteriorated insulator is found, the bucket of the boom truck moves to a certain position below the target insulator and prepares for replacement;

[0058] 2) The posture adjustment manipulator (multi-degree-of-freedom lifting mechanism) lifts the single-piece suspension insulator replacement tool and installs it on both sides of the insulator piece to be replaced;

[0059] 3) The two sets of unloading components move to realize the unloading of the tension of the insulator string;

[0060] 4) Under visual feedback, the gripper tool at the end of the collaborative robot arm is used to adjust the insulator segment to be replaced to the target position for the sales promotion operation;

[0061] 5) Use the sales promotion tool on the collaborative robot arm to complete the sales promotion operation on both sides of the insulator piece to be replaced;

[0062] 6) Under visual feedback, use the insulating magnetic bottle adjustment device to adjust the insulator piece to be replaced to the target position for removal;

[0063] 7) The claw tool at the end of the collaborative robot arm clamps the insulator piece and moves the insulator piece out along the planned trajectory;

[0064] 8) After the collaborative robot arm places the removed insulator piece, it grabs a new insulator piece and places it in along the original trajectory;

[0065] 9) Under visual feedback, use the gripper tool on the collaborative robot arm to adjust the new insulator piece to rotate to the planned target position;

[0066] 10) Use the push-pull tool on the collaborative robot arm to push in the spring pins on both sides of the replaced insulator piece in reverse order;

[0067] 11) The motor of the unloading assembly moves in the reverse direction, and the unloading assembly realizes the tensile loading of the insulator string;

[0068] 12) The posture adjustment robot arm (multi-degree-of-freedom lifting mechanism) carries the insulator replacement tool back, and the robot inspection and replacement operation is completed.

[0069] A single-piece suspension insulator replacement operation tool provided by the present invention is an important component of the substation suspension insulator detection and replacement robot system. According to the operation characteristics of single-piece suspension insulator replacement, dual robotic arms are used to work together to perform the single-piece insulator replacement operation task. The insulator replacement operation time can be controlled within a reasonable range. The robot equipped with the insulator replacement tool is easy to control and has safety and reliability when replacing insulators.

[0070] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A tool for replacing a single-piece suspension insulator, characterized in that: The invention comprises a connection base (1), an unloading component I (2), an unloading component II (3), a front clamp clamping body (4), a rear clamp clamping body (5) and an insulating porcelain bottle adjustment device (6), wherein the unloading component I (2) and the unloading component II (3) are arranged on both sides of the connection base (1), the front ends of the unloading components I (2) and the unloading components II (3) are connected to the front clamp clamping body (4), and the rear ends are connected to the rear clamp clamping body (5), the front clamp clamping body (4) and the rear clamp clamping body (5) are used to clamp the steel cap of the insulator string (7), and the unloading components I (2) and the unloading components II (3) synchronously drive the front clamp clamping body (4) and the rear clamp clamping body (5) to move closer to or farther from each other; the insulating porcelain bottle adjustment device (6) is arranged on the connection base (1) and is used to adjust the position of the single-piece insulator; The unloading assembly I (2) and the unloading assembly II (3) have the same structure, and both include an unloading motor (201), a mounting frame (202), a gear transmission mechanism, a transverse guide rail (206), a left-hand screw nut I (208), a double-rotation screw (209) and a right-hand screw nut I (211), wherein the mounting frame (202) is connected to the connecting base (1), the transverse guide rail (206) and the double-rotation screw (209) are both arranged on the mounting frame (202) along the front-rear direction, and the double-rotation screw (209) is arranged on the mounting frame (202) along the front-rear direction. The rotational screw (209) is rotatable; the left-handed nut I (208) and the right-handed nut I (211) are respectively connected to two sections of reverse threads on the double-rotational screw (209), and the left-handed nut I (208) and the right-handed nut I (211) are respectively slidably connected to the transverse guide rail (206) through two sliders (205); the left-handed nut I (208) and the right-handed nut I (211) are respectively connected to the rear fixture clamping body (5) and the front fixture clamping body (4); The unloading motor (201) is arranged on a mounting frame (202), and an output end is connected to a dual-rotation lead screw (209) via a gear transmission mechanism.

2. The single-piece suspension insulator replacement tool according to claim 1, characterized in that: The outer sides of the left-handed nut I (208) and the right-handed nut I (211) are respectively connected with a support sleeve (207) and a joint bolt (213), and the two joint bolts (213) are respectively connected with the rear clamp clamping body (5) and the front clamp clamping body (4); A travel switch (204) is provided on the mounting frame (202).

3. The single-piece suspension insulator replacement tool according to claim 1, characterized in that: The front fixture clamping body (4) and the rear fixture clamping body (5) have the same structure, and both include a fixture body (401), a bidirectional linear drive mechanism, a left sliding fixture body (409) and a right sliding fixture body (413), wherein the two ends of the fixture body (401) are respectively connected to the unloading component I (2) and the unloading component II (3); a dovetail groove (408) is provided on the fixture body (401) along the left and right directions, and the left sliding fixture body (409) and the right sliding fixture body (413) are slidably connected to the dovetail groove (408); The bidirectional linear drive mechanism is arranged on the fixture body (401) and is connected to the left sliding card body (409) and the right sliding card body (413). The bidirectional linear drive mechanism is used to drive the left sliding card body (409) and the right sliding card body (413) to move closer to or farther from each other.

4. The single-piece suspension insulator replacement tool according to claim 3, characterized in that: The front clamp clamping body (4) and the rear clamp clamping body (5) also include a core for clamping the rigid cap of the insulator string, and the core includes an upper inner clamping ring (410), a left inner clamping ring (411) and a right inner clamping ring (412), wherein the upper inner clamping ring (410) is arranged on the clamp body (401) and is located between the left sliding clamp body (409) and the right sliding clamp body (413), and the left inner clamping ring (411) and the right inner clamping ring (412) are respectively arranged on the inner sides of the left sliding clamp body (409) and the right sliding clamp body (413).

5. The single-piece suspension insulator replacement tool according to claim 3, characterized in that: The bidirectional linear drive mechanism comprises a left-handed screw nut II (402), a clamping motor (403), a left-handed screw (404), a chain transmission mechanism (405), a right-handed screw (406) and a right-handed screw nut II (407), wherein the left-handed screw (404) and the right-handed screw (406) are coaxially connected to the fixture body (401), the left-handed screw nut II (402) and the right-handed screw nut II (407) are respectively threadedly connected to the left-handed screw (404) and the right-handed screw (406), and the left-handed screw nut II (402) and the right-handed screw nut II (407) are respectively connected to the left sliding card body (409) and the right sliding card body (413); The clamping motor (403) is arranged on the clamp body (401), and the output end is connected to the left-hand screw (404) or the right-hand screw (406) via a chain transmission mechanism (405).

6. The single-piece suspension insulator replacement tool according to claim 1, characterized in that: The insulating porcelain bottle adjustment device (6) comprises an adjustment base (61) and an adjustment component I (62) and an adjustment component II (63) arranged on the adjustment base (61); The adjustment assembly I (62) and the adjustment assembly II (63) have the same structure, both comprising a horizontal adjustment mechanism and a vertical adjustment mechanism arranged on the horizontal adjustment mechanism, the horizontal adjustment mechanism is used to adjust the horizontal position of the monolithic insulator; the vertical adjustment mechanism is used to adjust the height position of the monolithic insulator.

7. The single-piece suspension insulator replacement tool according to claim 6, characterized in that: The horizontal adjustment mechanism comprises a horizontal adjustment motor (601), a horizontal adjustment guide rail (602), a horizontal adjustment screw (603), a horizontal adjustment slide plate and a horizontal adjustment transmission mechanism (604), wherein the horizontal adjustment guide rail (602) and the horizontal adjustment screw (603) are arranged in parallel on the adjustment base (61), and the horizontal adjustment screw (603) is rotatable; the horizontal adjustment slide plate is threadedly connected to the horizontal adjustment screw (603) and is slidably connected to the horizontal adjustment guide rail (602); The horizontal adjustment motor (601) is arranged on the adjustment base (61), and the output end is connected to the horizontal adjustment lead screw (603) via a horizontal adjustment transmission mechanism (604).

8. The single-piece suspension insulator replacement tool according to claim 6, characterized in that: The vertical adjustment mechanism comprises a vertical adjustment motor (605), a vertical adjustment transmission mechanism (606), a vertical adjustment bidirectional lead screw (607), a vertical adjustment slider I (608), a vertical adjustment guide rail (609), a vertical adjustment slider II (610) and two sets of support wheels (611), wherein the vertical adjustment bidirectional lead screw (607) and the vertical adjustment guide rail (609) are arranged in parallel on the horizontal adjustment mechanism and are perpendicular to the movement direction of the horizontal adjustment mechanism; The vertical adjustment slider I (608) and the vertical adjustment slider II (610) are respectively connected to two sections of reverse threads on the vertical adjustment bidirectional lead screw (607); the vertical adjustment slider I (608) and the vertical adjustment slider II (610) are both slidably connected to the vertical adjustment guide rail (609); two sets of support wheels (611) are respectively rotatably arranged on the vertical adjustment slider I (608) and the vertical adjustment slider II (610); The vertical adjustment motor (605) is arranged on the horizontal adjustment mechanism, and the output end is connected to the vertical adjustment bidirectional lead screw (607) via a vertical adjustment transmission mechanism (606).

9. The single-piece suspension insulator replacement tool according to claim 1, characterized in that: The connecting base (1) comprises a connecting frame (101), a guide column (102) and a compression spring (104), wherein two guide columns (102) are slidably connected to both sides of the connecting frame (101), the upper ends of the two guide columns (102) on one side are connected to the unloading component I (2), and the upper ends of the two guide columns (102) on the other side are connected to the unloading component II (3); A compression spring (104) is sleeved on each of the guide columns (102), and the lower end is axially limited by a limiting nut (103).

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