Suspension insulator replacement device and control method thereof

Abstract

The application provides a suspension insulator replacement device and a control method thereof. The suspension insulator replacement device comprises a rack, a walking device, a direction adjusting device, a tensioning device, a first storage device and a second storage device. The walking device is used for reciprocating movement along the extension direction of the insulator string; the tensioning device is used for tensioning the insulator string; the first storage device is used for storing old insulators; the second storage device is used for storing new insulators; the direction adjusting device comprises a rotating device, a pin shaft dismounting and mounting device and an insulator clamping device; the rotating device is used for driving the pin shaft dismounting and mounting device and the insulator clamping device to rotate synchronously; the pin shaft dismounting and mounting device is used for dismounting and mounting the pin shaft for connection; and the insulator clamping device is used for clamping the old insulator to the first storage device or clamping the new insulator from the second storage device to an installation position. The suspension insulator replacement device and the control method thereof can automatically replace the insulator, reduce manual operation, improve work efficiency and ensure production safety.

Description

Technical Field

[0001] This invention relates to the field of power maintenance equipment technology, and in particular to a suspension insulator replacement device and its control method. Background Technology

[0002] Insulators are frequently used in high-voltage equipment. Multiple insulators are connected to form insulator strings. When an insulator is damaged, it needs to be replaced. Current technology typically uses manual methods to replace insulators. This method is not only labor-intensive and inefficient, but also poses a significant safety risk due to the high-voltage location of the equipment and the surrounding high-voltage environment, making it difficult to guarantee the personal safety of the operators. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and to provide a suspension insulator replacement device and its control method, so as to solve the problems of low insulator replacement efficiency and easy to cause safety accidents in the prior art.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] In a first aspect, the present invention provides a suspension insulator replacement device, comprising: a frame and a traveling device, a directional device, a tensioning device, a first storage device, and a second storage device respectively disposed on the frame; the traveling device is used to reciprocate along the extension direction of the insulator string when clamping the insulator string; the tensioning device is used to tension the insulator string when replacing the insulator; the first storage device is used to store the old insulator that has been replaced; the second storage device is used to store the new insulator to be replaced; the directional device includes a rotating device, a pin shaft disassembly and assembly device, and an insulator clamping device; the rotating device is used to drive the pin shaft disassembly and assembly device and the insulator clamping device to rotate synchronously; the pin shaft disassembly and assembly device is used to disassemble or install the pin shaft connecting the insulator; the insulator clamping device is used to clamp the old insulator that has been disassembled to the first storage device, or to clamp the new insulator from the second storage device to the installation position.

[0006] Furthermore, the frame includes a support surface, which includes a first support surface and a second support surface. The first support surface and the second support surface are arranged perpendicularly to each other to form a cross-shaped support surface. The walking device is disposed on the first support surface, and the first storage device and the second storage device are respectively disposed on the second support surface on both sides of the first support surface.

[0007] Furthermore, the first storage device and the second storage device are symmetrically arranged with respect to the first support surface. The first storage device and the second storage device each include a support leg and a receiving frame. One end of the support leg is fixedly connected to the second support surface, and the other end of the support leg is fixedly connected to the receiving frame. The receiving frame is provided with a receiving groove for accommodating the insulator, and the distance between the receiving frame and the support surface gradually decreases from the end away from the first support surface to the end closer to the first support surface.

[0008] Furthermore, the receiving groove of the receiving frame near the first support surface is provided with an elastic stop device, and the receiving frame away from the first support surface is provided with a limiting device.

[0009] Furthermore, the number of the walking devices is two sets, namely a first walking device and a second walking device, with the two sets of walking devices located on the first support surface on both sides of the second support surface; the two sets of walking devices each include a Y-shaped fixed frame, a first telescopic device, a walking mechanism, and a second telescopic device; the Y-shaped fixed frame includes a base frame and a first side frame and a second side frame respectively connected to both sides of the base frame; the first telescopic device is fixed to the frame and drivenly connected to the Y-shaped frame, so that the walking device can move in a direction closer to or away from the first support surface along the vertical direction of the first support surface; a second telescopic device is provided on the inner side wall of the base frame, the first side frame, and the second side frame, and each second telescopic device is drivenly connected to one of the walking mechanisms; when the second telescopic device is fully extended, it is used to clamp the insulator string with the walking mechanism; when the walking mechanism clamps the insulator string, it is used to reciprocate along the extension direction of the insulator string.

[0010] Furthermore, the walking mechanism includes a connecting plate, a mounting base, and a conveying mechanism; the connecting plate is connected to the second telescopic device and the mounting base respectively, and the conveying mechanism is disposed on the mounting base; the conveying mechanism includes a conveyor belt drive device and a conveyor belt, the conveyor belt drive device is used to drive the conveyor belt, the conveyor belt has a concave surface that cooperates with the insulator, and the concave surface is provided with protrusions at intervals, the protrusions protruding from the concave surface.

[0011] Furthermore, the tensioning device includes a bidirectional slide rail, and a first tensioning device and a second tensioning device disposed on the bidirectional slide rail; the bidirectional slide rail is fixed to the first support surface between the first traveling device and the second traveling device; the first tensioning device and the second tensioning device are slidably connected to the bidirectional slide rail respectively;

[0012] The first tensioning device includes a third telescopic device and a first clamping mechanism. The third telescopic device is used to drive the first clamping mechanism to reciprocate along the vertical direction of the first support surface. The first clamping mechanism is used to clamp or release the insulator.

[0013] The second tensioning device includes a fixed base, a rotating base, a rotary drive device, a second clamping mechanism and a third clamping mechanism respectively disposed at both ends of the rotating base, and a telescopic device for the second clamping mechanism and a telescopic device for the third clamping mechanism; the fixed base and the bidirectional slide rail are slidably connected; one end of the rotating base and one end of the fixed base are rotatably connected, and the other end of the fixed base is provided with a slot, the other end of the rotating base being used to engage the slot so that the clamping directions of the third clamping mechanism and the second clamping mechanism are parallel; the rotary drive device is used to drive the rotating base so that one end of the rotating base engages with or rotates out of the slot; the telescopic device for the second clamping mechanism is used to drive the second clamping mechanism to reciprocate along the vertical direction of the first support surface, and the telescopic device for the third clamping mechanism is used to drive the third clamping mechanism to reciprocate along the vertical direction of the first support surface.

[0014] Furthermore, the steering device also includes a linear motion mechanism and a support. The linear motion mechanism is fixed to the first support surface and is used to drive the support to reciprocate along a direction parallel to the bidirectional slide rail. The rotating device is mounted on the support, and the pin assembly / disassembly device and the insulator clamping device are respectively fixed to both sides of the rotating device.

[0015] The pin assembly / disassembly device includes a fourth telescopic device and a mounting head driven by the fourth telescopic device; the first mounting end of the mounting head is provided with a pin disassembly mechanism, which includes a detection device and a telescopic rod device; the detection device is used to detect whether the pin abuts against the detection device; the telescopic rod device includes a telescopic rod and a telescopic rod driving device, which is used to drive the telescopic rod to extend and insert into the mounting hole of the pin head; the second mounting end of the mounting head is provided with a pin mounting mechanism, the first mounting end and the second mounting end are perpendicularly arranged, and the pin mounting mechanism is used to apply force to the head of the pin, thereby connecting two adjacent insulators together;

[0016] The insulator clamping device includes a fifth telescopic device, a sixth telescopic device, and a gripper; the fifth telescopic device is disposed on the support and is used to drive the sixth telescopic device to extend and retract along a driving direction perpendicular to the fourth telescopic device; the sixth telescopic device is used to drive the gripper to extend and retract along a driving direction parallel to the fourth telescopic device.

[0017] Secondly, the present invention also provides a control method for a suspension insulator replacement device, used to control the aforementioned suspension insulator replacement device, comprising the following steps:

[0018] The suspension insulator replacement equipment is hung on the insulator string, and the traveling device is controlled to clamp the insulator string.

[0019] Control the walking device to drive the suspension insulator replacement equipment to a preset position;

[0020] The tensioning device is controlled to clamp two insulators adjacent to the insulator to be disassembled;

[0021] Control the rotating device to rotate, control the pin removal and assembly device to first remove the pin on the metal cap side of the insulator, control the insulator clamping device to clamp the insulator to be removed, and then control the pin removal and assembly device to remove the pin on the connecting rod side of the insulator.

[0022] Control the rotating device to rotate, and control the insulator clamping device to place the disassembled old insulator into the first storage device;

[0023] The rotating device is controlled to rotate, and the insulator clamping device is controlled to clamp the new insulator in the second storage device to the installation position.

[0024] The rotating device is controlled to rotate, and the pin assembly / disassembly device is controlled to first install the pin on the insulating side of the insulator, and then install the pin on the metal cap side of the insulator.

[0025] Furthermore, when it is necessary to replace two adjacent insulators, the control pin removal and installation device first removes the insulator at the first position near the metal cap end of the two insulators, and then removes the insulator at the second position adjacent to it.

[0026] The control device first installs the insulator at the first position. After the insulator at the first position is installed, the control device tightens the insulator at the first position, and then installs the insulator at the second position.

[0027] According to the technical solution of this invention, the suspension insulator replacement equipment and its control method provided by this invention can automatically replace insulators, eliminating the tediousness and safety risks of manual replacement. In this invention, the traveling device clamps the insulator string, allowing the entire equipment to be suspended on the insulator string. The traveling device can drive the entire equipment to move back and forth along the extension direction of the insulator string, so that the equipment reaches the position of the insulator to be replaced. The directional device can automatically install and remove the pins connecting the insulators. The tensioning device can keep the disconnected insulator string in a taut state during insulator installation and removal, facilitating the installation and removal of the insulators. The old insulators removed are stored in a first storage device, while the new insulators to be replaced are stored in a second storage device. The suspension insulator replacement equipment provided by this invention can automatically replace insulators, eliminating the need for operators to climb onto high-voltage equipment to perform any operations. This improves the efficiency of insulator replacement, reduces the labor intensity of personnel, and ensures personnel safety. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of a suspension insulator replacement device according to an embodiment of the present invention (including the insulator string).

[0029] Figure 2 This is a structural schematic diagram (including insulator strings) from another perspective of the suspension insulator replacement device according to an embodiment of the present invention.

[0030] Figure 3 This is a top view of the suspension insulator replacement device according to an embodiment of the present invention.

[0031] Figure 4 This is a schematic diagram of the paper insulator from one perspective, according to an embodiment of the present invention.

[0032] Figure 5 This is a schematic diagram of the paper insulator from another perspective, representing an embodiment of the present invention.

[0033] Figure 6 This is a schematic diagram of the structure of the first storage device according to an embodiment of the present invention.

[0034] Figure 7 for Figure 6 An enlarged schematic diagram of the structure at point A.

[0035] Figure 8 This is a schematic diagram of the structure of the second storage device according to an embodiment of the present invention.

[0036] Figure 9 This is a schematic diagram of the guiding device according to an embodiment of the present invention.

[0037] Figure 10This is a schematic diagram of the walking mechanism according to an embodiment of the present invention.

[0038] Figure 11 This is a schematic diagram of the tensioning device according to an embodiment of the present invention (rotating seat unscrewing out of the slot).

[0039] Figure 12 This is a schematic diagram of the tensioning device according to an embodiment of the present invention (rotating seat screwed into the slot).

[0040] Figure 13 This is a schematic diagram of the orientation device according to an embodiment of the present invention.

[0041] Figure 14 This is a schematic diagram of the pin assembly / disassembly device according to an embodiment of the present invention.

[0042] Figure 15 for Figure 14 Enlarged schematic diagram of the structure at point B.

[0043] Figure 16 This is a schematic diagram of the structure of an insulator string according to an embodiment of the present invention.

[0044] The meanings of the labels in the attached diagram are as follows:

[0045] 1. Insulator string; 11. Old insulator; 12. New insulator; 13. Insulator; 131. Insulating component; 132. Connecting rod; 133. Body part; 134. Connecting part; 1341. Notch; 1342. Pin hole; 14. Insulator A; 15. Insulator B; 16. Insulator C; 17. Insulator D;

[0046] 2. Traveling device; 21. First traveling device; 210. Y-shaped fixed frame; 211. First side frame; 212. Second side frame; 213. Base frame; 214. First telescopic device; 215. Traveling mechanism; 2151. Connecting plate; 2152. Mounting base; 2153. Conveyor belt drive device; 2154. Conveyor belt; 2155. Protrusion; 216. Second telescopic device; 22. Second traveling device;

[0047] 3. First storage device; 31. Receiving rack; 311. Receiving slot; 34. Elastic stop device; 32. Support leg; 33. Limiting device;

[0048] 4. Second storage device; 41. Guiding device; 410. Guide block; 411. First guide plate; 412. Second guide plate;

[0049] 5. Frame; 51. First support surface; 52. Second support surface;

[0050] 6. Tensioning device; 61. Bidirectional slide rail; 62. First tensioning device; 621. First clamping mechanism; 622. Third telescopic device; 63. Second tensioning device; 631. Fixed base; 6311. Slot; 632. Rotating base; 633. Fixed gear; 634. Telescopic device of second clamping mechanism; 635. Second clamping mechanism; 636. Third clamping mechanism; 637. Telescopic device of third clamping mechanism; 638. Moving gear;

[0051] 7. Orientation device; 71. Linear motion mechanism; 72. Support; 73. Rotating device; 731. Gear rail; 732. Rotating end cover; 733. Rotating gear; 734. Rotating motor; 735. Drive gear; 74. Pin shaft disassembly and assembly device; 741. Fourth telescopic device; 742. Telescopic rod drive device; 743. Telescopic rod; 744. Detection device; 745. Mounting head; 746. Mounting head drive device; 747. Pin shaft mounting mechanism; 75. Insulator clamping device; 751. Sixth telescopic device; 752. Fifth telescopic device; 753. Gripper. Detailed Implementation

[0052] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0054] like Figures 1 to 3 As shown, the suspension insulator replacement equipment of this embodiment includes a frame 5 and a traveling device 2, a steering device 7, a tensioning device 6, a first storage device 3, and a second storage device 4, each respectively mounted on the frame 5. Figure 4 and Figure 5As shown, the insulator 13 in this embodiment includes an insulating member 131, a metal cap located on one side of the insulating member 131, and a connecting rod 132 located on the other side of the insulating member 131. The metal cap includes a body portion 133 and a connecting portion 134. The body portion 133 is disposed close to the insulating member 131. A notch 1341 is provided on the circumferential side wall of the connecting portion 134, and a pin hole 1342 is provided on the other side wall corresponding to the notch 1341. When two insulators 13 are installed, the connecting rod 132 of one insulator 13 enters the interior of the connecting portion 134 through the notch 1341. The pin passes through the pin hole 1342 and the connecting rod 132 of the adjacent insulator 13, thereby connecting the two insulators 13 together. Due to the above-mentioned structural design of the insulator 13, the notch 1341 of the insulators 13 in the insulator string 1 is aligned at the beginning of installation.

[0055] The traveling device 2 is used to reciprocate along the extension direction of the insulator string 1 when clamping the insulator string 1; the tensioning device 6 is used to tension the insulator string 1 when replacing the insulator 13; the first storage device 3 is used to store the old insulator 11 that has been replaced; the second storage device 4 is used to store the new insulator 12 to be replaced; the orientation device 7 includes a rotating device 73, a pin shaft disassembly and assembly device 74, and an insulator clamping device 75; the rotating device 73 is used to drive the pin shaft disassembly and assembly device 74 and the insulator clamping device 75 to rotate synchronously; the pin shaft disassembly and assembly device 74 is used to disassemble or install the pin shaft connecting the insulator 13; the insulator clamping device 75 is used to clamp the old insulator 11 that has been disassembled to the first storage device 3, or to clamp the new insulator 12 from the second storage device 4 to the installation position.

[0056] like Figure 3 As shown, the frame 5 in this embodiment includes a support surface, which includes a first support surface 51 and a second support surface 52. The first support surface 51 and the second support surface 52 are arranged perpendicularly to each other to form a cross-shaped support surface. The walking device 2 is disposed on the first support surface 51, and the first storage device 3 and the second storage device 4 are respectively disposed on the second support surface 52 on both sides of the first support surface 51.

[0057] like Figures 6 to 9 As shown, the first storage device 3 and the second storage device 4 are symmetrically arranged. The first storage device 3 and the second storage device 4 each include a support leg 32 and a receiving frame 31. One end of the support leg 32 is fixedly connected to the second support surface 52, and the other end of the support leg 32 is fixedly connected to the receiving frame 31; as shown... Figure 1As shown, the receiving frame 31 is provided with a receiving groove 311 for receiving insulators, and the distance between the receiving frame 31 and the supporting surface gradually decreases from the end away from the first supporting surface 51 to the end closer to the first supporting surface 51. That is, the receiving frame 31 is higher on the outside and lower on the inside, and is inclined towards the first supporting surface 51 to facilitate the placement and removal of insulators. An elastic stop device 34 is provided in the receiving groove 311 at the end of the receiving frame 31 closer to the first supporting surface 51, and a limiting device 33 is provided at the end of the receiving frame 31 away from the first supporting surface 51. When the insulator 13 is placed into the receiving groove 311, the elastic stop device 34 is pressed against the bottom of the receiving groove 311 by force, so that the insulator 13 can enter the receiving groove 311. After the insulator 13 is placed, the external force disappears, and the elastic stop device 34 is returned to the outside of the receiving groove 311 by elastic force, so as to block the insulator 13 and prevent the insulator 13 from slipping. The limiting device 33 at the end of the receiving frame 31 away from the first support surface 51 is used to prevent the insulator 13 from falling off from that end. The second storage device 4 also includes a guide device 41, which is used to arrange the pin of the new insulator 12 parallel to the receiving groove 311, with the pin facing towards the side closer to the first storage device 3. In this embodiment, the guiding device 41 is a synchronous belt device. The synchronous belt device is set in a direction parallel to the receiving groove 311. The synchronous belt of the synchronous belt device is provided with a guide block 410. The end of the guide block 410 away from the first storage device 3 is provided with a first guide plate 411, and the end closer to the first storage device 3 is provided with a second guide plate 412. The protruding length of the first guide plate 411 is greater than the protruding length of the second guide plate 412. The first guide plate 411 is used to insert into the notch 1341 of the metal cap of the insulator 13. The second guide plate 412 is used to abut against the metal cap on the opposite side of the notch 1341 to restrict the direction of the new insulator 12 in the receiving groove 311, so as to facilitate the installation work after the insulator clamping device 75 clamps the new insulator 12.

[0058] like Figure 3 and Figure 10As shown, this embodiment has two sets of walking devices 2, namely a first walking device 21 and a second walking device 22, which are located on the first support surface 51 on both sides of the second support surface 52. Each set of walking devices 2 includes a Y-shaped fixed frame 210, a first telescopic device 214, a walking mechanism 215, and a second telescopic device 216. The Y-shaped fixed frame 210 includes a base frame 213 and a first side frame 211 and a second side frame 212 connected to both sides of the base frame 213. The first telescopic device 214 is fixed to the frame 5 and drivenly connected to the Y-shaped frame, enabling the walking device 2 to move along the vertical direction of the first support surface 51 towards or away from it. A second telescopic device 216 is provided on the inner wall of the base frame 213, the first side frame 211, and the second side frame 212, and each second telescopic device 216 is drivenly connected to a walking mechanism 215. When the second telescopic device 216 is fully extended, it is used to clamp the insulator string 1 by the walking mechanism 215. The traveling mechanism 215 is used to reciprocate along the extension direction of the insulator string 1 when clamping the insulator string 1. In this embodiment, the first telescopic device 214 and the second telescopic device 216 can be devices such as electric cylinders, hydraulic cylinders, or pneumatic cylinders.

[0059] The traveling mechanism 215 includes a connecting plate 2151, a mounting base 2152, and a conveying mechanism. The connecting plate 2151 is connected to the second telescopic device 216 and the mounting base 2152 respectively. The conveying mechanism is mounted on the mounting base 2152. The conveying mechanism includes a conveyor belt drive device 2153 and a conveyor belt 2154. The conveyor belt drive device 2153 drives the conveyor belt 2154 for transmission. The conveyor belt 2154 has a concave surface that mates with the insulator 13. Protrusions 2155 are spaced apart on the concave surface and protrude from the concave surface. The conveyor belt drive device 2153 can be a motor. In this embodiment, the traveling mechanism 215 is a conveyor belt device. The motor drives the conveyor belt 2154 to move, and the conveyor belt 2154 presses against the insulator 13. Through friction, the entire device moves along the extension direction of the insulator string 1. To enhance the walking power of the walking device 2, the conveyor belt 2154 is designed in an arc shape suitable for the surface of the insulator 13, and a protrusion 2155 is provided to increase the friction between the conveyor belt 2154 and the insulator 13. In this embodiment, the conveyor belt 2154 is a rubber conveyor belt.

[0060] The two walking devices 2 and the two storage devices are symmetrically arranged with respect to the center of the support surface, which makes it easier for the equipment to maintain balance, thereby making the equipment run more smoothly and reliably.

[0061] like Figure 11 and Figure 12As shown, the tensioning device 6 in this embodiment includes a bidirectional slide rail 61 and a first tensioning device 62 and a second tensioning device 63 disposed on the bidirectional slide rail 61. The bidirectional slide rail 61 is fixed on a first support surface 51 between the first traveling device 21 and the second traveling device 22. The first tensioning device 62 and the second tensioning device 63 are slidably connected to the bidirectional slide rail 61, that is, both the first tensioning device 62 and the second tensioning device 63 can reciprocate along the bidirectional slide rail 61 to reach their respective desired positions.

[0062] The first tensioning device 62 includes a third telescopic device 622 and a first clamping mechanism 621. The third telescopic device 622 drives the first clamping mechanism 621 to reciprocate along the vertical direction of the first support surface 51. The first clamping mechanism 621 is used to clamp or release the insulator 13. When the first tensioning device 62 needs to clamp the insulator 13, the first clamping mechanism 621 opens, the third telescopic device 622 extends away from the first support surface 51, and the first clamping mechanism 621 closes to clamp the insulator 13. The third telescopic device 622 can be an electric cylinder, a hydraulic cylinder, or a pneumatic cylinder, etc., and the first clamping mechanism 621 can be a pneumatic cylinder gripper 753.

[0063] The second tensioning device 63 includes a fixed base 631, a rotating base 632, a rotary drive device, a second clamping mechanism 635 and a third clamping mechanism 636 respectively disposed at both ends of the rotating base 632, and a second clamping mechanism telescopic device 634 and a third clamping mechanism telescopic device 637. The fixed base 631 and the bidirectional slide rail 61 are slidably connected. One end of the rotating base 632 is rotatably connected to one end of the fixed base 631. The other end of the fixed base 631 is provided with a slot 6311. The other end of the rotating base 632 can be rotated into the slot 6311 so that the clamping directions of the third clamping mechanism 636 and the second clamping mechanism 635 are parallel, or rotated out of the slot 6311 so that the clamping directions of the third clamping mechanism 636 and the second clamping mechanism 635 are perpendicular. The rotary drive device is used to drive the rotating base 632 so that one end of the rotating base 632 is engaged into or unscrewed from the slot 6311. The second clamping mechanism telescopic device 634 is used to drive the second clamping mechanism 635 to reciprocate along the vertical direction of the first support surface, and the third clamping mechanism telescopic device 637 is used to drive the third clamping mechanism 636 to reciprocate along the vertical direction of the first support surface. In this embodiment, the second clamping mechanism 635 and the third clamping mechanism 636 can be pneumatic grippers, and the second clamping mechanism telescopic device 634 and the third clamping mechanism telescopic device 637 can be electric cylinders, hydraulic cylinders, or pneumatic cylinders, etc. The rotary drive device in this embodiment includes a motor (not shown), a fixed gear 633, and a moving gear 638. The fixed gear 633 is located between the second clamping mechanism telescopic device 634 and the rotating seat 632, and is fixedly connected to the rotating seat 632. The moving gear 638 is located between the third clamping mechanism telescopic device 637 and the rotating seat 632, and is rotatably connected to the third clamping mechanism telescopic device 637, while meshing with the fixed gear 633. The motor drives the moving gear 638 to rotate. Since the fixed gear 633 remains stationary, the moving gear 638 rotates around the fixed gear 633, thus allowing the end of the rotating seat 632 to screw into or out of the slot 6311. The rotation of the third clamping mechanism 636 does not affect the second clamping mechanism 635; that is, regardless of the state of the third clamping mechanism 636, the second clamping mechanism 635 will not rotate. Figure 16As shown, the purpose of the third clamping mechanism 636 is to facilitate the simultaneous installation and removal of two adjacent insulators 13, such as insulators B and C in the middle position. Insulator B is located to the left of insulator C, and its left side is adjacent to insulator A. Insulator C's right side is adjacent to insulator D. Before removing insulator C, the first clamping mechanism 621 clamps the left side of insulator A (the clamping position is the side of the insulating part 131 that clamps insulator A away from the metal cap), and the second clamping mechanism 635 clamps insulator D (the clamping position is the body part 133 of the metal cap that clamps insulator D). At this time, the third clamping mechanism 636 is in the unscrewed state. When installing insulator 13, first install the right insulator 13. After the right insulator 13 is installed, screw the third clamping mechanism 636 into the slot 6311 so that the third clamping mechanism 636 clamps the newly installed insulator 13 (the clamping position is the body part 133 of the clamping metal cap), so that the insulator string 1 is always kept in a taut state, which facilitates the installation of insulator 13.

[0064] like Figures 13 to 15 As shown, the steering device 7 also includes a linear motion mechanism 71 and a support 72. The linear motion mechanism 71 is fixed to the first support surface and is used to drive the support 72 to reciprocate in a direction parallel to the bidirectional slide rail 61. The rotating device 73 is provided on the support 72, and the pin assembly / disassembly device 74 and the insulator clamping device 75 are respectively fixed on both sides of the rotating device 73. In this embodiment, the linear motion mechanism 71 can be a linear module, a slide rail, or a lead screw, etc.

[0065] The rotating device 73 includes a geared track 731, a rotating gear 733, a rotating end cover 732, a rotating motor 734, and a drive gear 735. The geared track 731, rotating gear 733, and rotating end cover 732 are all annular components with notches, the notches being less than 180°, meaning the annular component is a semi-ring (larger than a half-ring). The geared track 731 is fixed to the support 72. The rotating gear 733 is fitted around the geared track 731 for rotating along its outer circumference. The rotating end cover 732 is fixedly connected to the rotating gear 733 and rotates with it. The rotating motor 734 is fixed to the support 72 and drives the drive gear 735 to rotate. The drive gear 735 drives the rotating gear 733 to rotate, thereby causing the pin assembly / disassembly device 74 and the insulator clamping device 75, which are fixedly connected to the rotating gear 733, to rotate synchronously.

[0066] The pin removal and installation device 74 includes a fourth telescopic device 741 and a mounting head 745 drivenly connected to the fourth telescopic device 741. A pin removal mechanism is provided on the first mounting end of the mounting head 745, which includes a detection device 744 and a telescopic rod 743. The detection device 744 is used to detect whether the pin abuts against the detection device 744; in this embodiment, the detection device 744 is a contact sensor. The front end of the pin removal mechanism can be configured as a mating surface matching the insulator 13, so that the detection device 744 can smoothly contact the end of the pin to be removed. The telescopic rod 743 includes a telescopic rod 743 and a telescopic rod driving device 742. The telescopic rod driving device 742 is used to drive the telescopic rod 743 to extend and insert into the mounting hole of the pin head. For example, the telescopic rod driving device 742 can be a motor, and the telescopic rod 743 can be a screw; the motor drives the gear teeth, and the gear teeth drive the screw to extend or retract. A pin mounting mechanism 747 is provided on the second mounting end of the mounting head 745. The first and second mounting ends are arranged perpendicularly. The pin mounting mechanism 747 is used to apply force to the head of the pin, thereby connecting two adjacent insulators 13 together. A mounting head drive device 746 is fixedly connected to the drive end of the fourth telescopic device 741. The mounting head drive device 746 can be a motor or the like. The mounting head drive device 746 is driven by the mounting head 745 and is used to drive the mounting head 745 to rotate, so that the pin removal mechanism or telescopic rod 743 moves towards the insulator 13, thereby completing the task of removing or installing the pin. The fourth telescopic device 741 is used to drive the mounting head 745 to extend or retract.

[0067] The insulator clamping device 75 includes a fifth telescopic device 752, a sixth telescopic device 751, and a gripper 753. The fifth telescopic device 752, mounted on the support 72, drives the sixth telescopic device 751 to extend and retract in a direction perpendicular to the fourth telescopic device 741. The sixth telescopic device 751 drives the gripper 753 to extend and retract in a direction parallel to the fourth telescopic device 741. The fourth telescopic device 741, the fifth telescopic device 752, and the sixth telescopic device 751 can all be electric cylinders, hydraulic cylinders, or pneumatic cylinders. The driving directions of the fifth telescopic device 752 and the sixth telescopic device 751 are perpendicular to each other, and the driving direction of the sixth telescopic device 751 is parallel to the driving direction of the fourth telescopic device 741 to ensure that the clamping direction of the insulator 13 is consistent with the disassembly and assembly direction of the pin. The linear motion mechanism 71 and the bidirectional slide rail 61 are arranged side by side.

[0068] This invention also provides a control method for a suspension insulator replacement device, used to control the aforementioned suspension insulator replacement device, comprising the following steps:

[0069] S1. Hang the suspension insulator replacement equipment on the insulator string 1, control the first telescopic device 214 of the traveling device 2 to extend so that the insulator string 1 is within the clamping range of the traveling mechanism 215; control the second telescopic device 216 to extend, and the conveyor belt 2154 of the traveling mechanism 215 clamps the insulator string 1.

[0070] The installation of suspension insulator replacement equipment can be completed using drones and other equipment, eliminating manual operation, improving work efficiency, and reducing the intensity of manual labor.

[0071] S2. Control the walking device 2 to drive the suspension insulator replacement equipment to a preset position. That is, control the conveyor belt drive device 2153 to drive the conveyor belt 2154 to move, and the walking device 2 moves along the extension direction of the insulator string 1. When it moves near the insulator 13 to be removed, control the walking device 2 to stop moving.

[0072] When the insulator 13 that needs to be replaced is close to one end of the insulator string 1, the first telescopic device 214 and the second telescopic device 216 of the traveling device 2 on the side close to the insulator 13 are both retracted, so that the traveling device 2 on that side is located below the insulator string 1. The other traveling device 2 on the opposite side is used to travel, so that the tensioning device 6 and the steering device 7 travel to the insulator 13 to be replaced and replace it.

[0073] S3, control the tensioning device 6 to clamp the two insulators 13 adjacent to the insulator 13 to be disassembled.

[0074] For example, when only one insulator 13 needs to be replaced, the first tensioning device 62 is moved to the insulator 13 adjacent to the left side of the original insulator 13, the third telescopic device 622 extends, and the first clamping mechanism 621 clamps the side of the insulating part 131 of the insulator 13 away from the metal cap. The second tensioning device 63 is moved to the insulator 13 adjacent to the right side of the insulator 13 to be removed, and the second clamping mechanism 635 clamps the body part 133 of the metal cap of the adjacent insulator 13.

[0075] If two adjacent insulators 13 need to be replaced simultaneously, the tensioning device 6 clamps the two insulators 13 that are adjacent to these two insulators 13 on the left and right sides respectively, and the clamping position is the same as the clamping position mentioned above. At this time, the third clamping mechanism 636 is rotated out of the slot 6311.

[0076] S4. Control the rotation device 73 to rotate, control the pin removal and assembly device 74 to first remove the pin on the metal cap side of the insulator 13, control the insulator clamping device 75 to clamp the insulator 13 to be removed, and then control the pin removal and assembly device 74 to remove the pin on the connecting rod 132 side of the insulator 13.

[0077] Specifically, in this embodiment, the mounting head 745 is first rotated so that the pin removal mechanism faces the side closer to the insulator 13. The fourth telescopic device 741 is extended, and the rotating device 73 is rotated, causing the pin removal mechanism to rotate accordingly. When the detection device 744 contacts the pin to be removed, the rotating device 73 stops rotating, and the telescopic rod 743 extends and inserts into the pin on the metal cap side of the insulator 13. The fourth telescopic device 741 is then retracted a certain distance, causing the pin to disengage from the insulator 13 adjacent to the right side of the insulator 13 to be removed, but the pin is not completely pulled out.

[0078] The support 72 moves to the left along the linear motion mechanism 71 to the side of the connecting rod 132 of the insulator 13. At this time, the jaws 753 of the insulator clamping device 75 can open so that the insulator 13 can pass through the jaws 753. The fourth telescopic device 741 is extended and the rotating device 73 is rotated. After the detection device 744 contacts the pin, the rotating device 73 stops rotating. The telescopic rod 743 is inserted into the pin for disassembly. At this time, the insulator clamping device 75 clamps the metal cap body 133 of the insulator 13 to be disassembled to prevent the insulator 13 from falling.

[0079] S5. Control the rotation device 73 to rotate and control the insulator clamping device 75 to place the disassembled old insulator 11 into the first storage device 3.

[0080] S6. Control the rotation device 73 to rotate, and control the insulator clamping device 75 to clamp the new insulator 12 in the second storage device 4 to the installation position.

[0081] At this time, the detection device 744 needs to cooperate. After the insulator clamping device 75 clamps the new insulator 12, the sixth telescopic device 751 retracts, the rotating device 73 rotates, the fourth telescopic device 741 extends, and when the pin and the detection device 744 come into contact, the insulator clamping device 75 places the new insulator 12 into the installation position, waiting to be connected with the two adjacent insulators 13.

[0082] S7. Control the rotation device 73 to rotate, and control the pin installation / removal device 74 to first install the pin on the insulating part 131 side of the insulator 13, and then install the pin on the metal cap side of the insulator 13. When installing the pin on the insulating part 131 side, the sixth telescopic device 751 drives the gripper 753 to extend forward, so that the connecting rod 132 of the new insulator 12 enters the notch 1341 of the adjacent left insulator 13. At this time, since the connecting part 134 of the new insulator 12 abuts against the connecting rod 132 of the adjacent right insulator 13, when the new insulator is pushed forward, the new insulator is tilted, so that the connecting rod 132 of the adjacent right insulator 13 is located on the notch 1341 side of the new insulator 12. At this time, retract the sixth telescopic device 751, so that the connecting rod 132 of the adjacent right insulator 13 enters the notch 1341 of the new insulator 12.

[0083] When only one insulator 13 needs to be installed, the tensioning device 6 still keeps the insulator string 1 taut. Rotate the mounting head 745 so that the pin mounting mechanism 747 faces the insulator 13. Drive the pin in to connect the two insulators 13.

[0084] When two consecutive insulators 13 need to be installed, the right insulator 13 is installed first. After the right insulator 13 is installed, the third clamping mechanism 636 is screwed into the slot 6311 to clamp the newly installed insulator 13 to maintain the tension of the insulator string 1. Then the remaining insulator 13 is installed.

[0085] The suspension insulator replacement equipment and its control method according to the present invention can realize automatic replacement of insulators, reduce manual operation, and improve the safety and efficiency of replacement work.

[0086] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0087] The above embodiments merely illustrate preferred implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention should be determined by the appended claims.

Claims

1. A suspension insulator replacement device, characterized in that, include: The frame and the traveling device, steering device, tensioning device, first storage device and second storage device respectively disposed on the frame; The traveling device is used to reciprocate along the extension direction of the insulator string when clamping it; the tensioning device is used to tension the insulator string when replacing the insulator; the first storage device is used to store the old insulator that has been replaced; the second storage device is used to store the new insulator to be replaced; the orientation device includes a rotating device, a pin shaft disassembly and assembly device, and an insulator clamping device; the rotating device is used to drive the pin shaft disassembly and assembly device and the insulator clamping device to rotate synchronously; the pin shaft disassembly and assembly device is used to disassemble or install the pin that connects the insulator; the insulator clamping device is used to clamp the old insulator that has been disassembled to the first storage device, or to clamp the new insulator from the second storage device to the installation position.

2. The suspension insulator replacement device according to claim 1, characterized in that, The frame includes a support surface, which includes a first support surface and a second support surface. The first support surface and the second support surface are arranged perpendicularly to each other to form a cross-shaped support surface. The walking device is disposed on the first support surface, and the first storage device and the second storage device are respectively disposed on the second support surface on both sides of the first support surface.

3. The suspension insulator replacement device according to claim 2, characterized in that, The first storage device and the second storage device are symmetrically arranged with respect to the first support surface. The first storage device and the second storage device each include a support leg and a receiving frame. One end of the support leg is fixedly connected to the second support surface, and the other end of the support leg is fixedly connected to the receiving frame. The receiving frame is provided with a receiving groove for accommodating the insulator, and the distance between the receiving frame and the support surface gradually decreases from the end away from the first support surface to the end closer to the first support surface.

4. The suspension insulator replacement device according to claim 3, characterized in that, An elastic stop device is provided in the receiving groove at one end of the receiving frame near the first support surface, and a limiting device is provided at the other end of the receiving frame away from the first support surface.

5. The suspension insulator replacement device according to claim 2, characterized in that, The number of walking devices is two sets, namely a first walking device and a second walking device, and the two sets of walking devices are respectively located on the first support surface on both sides of the second support surface. The two sets of walking devices each include a Y-shaped fixed frame, a first telescopic device, a walking mechanism, and a second telescopic device. The Y-shaped fixed frame includes a base frame and a first side frame and a second side frame respectively connected to both sides of the base frame. The first telescopic device is fixed to the frame and driven to the Y-shaped frame, so that the walking device can move in a direction closer to or away from the first support surface along the vertical direction of the first support surface. A second telescopic device is provided on the inner side wall of the base frame, the first side frame, and the second side frame, and each second telescopic device is driven to one of the walking mechanisms. When the second telescopic device is fully extended, it is used to clamp the insulator string with the walking mechanism. When the walking mechanism clamps the insulator string, it is used to reciprocate along the extension direction of the insulator string.

6. The suspension insulator replacement device according to claim 5, characterized in that, The traveling mechanism includes a connecting plate, a mounting base, and a conveying mechanism; the connecting plate is connected to the second telescopic device and the mounting base respectively, and the conveying mechanism is disposed on the mounting base; the conveying mechanism includes a conveyor belt drive device and a conveyor belt, the conveyor belt drive device is used to drive the conveyor belt, the conveyor belt has a concave surface that cooperates with the insulator, and the concave surface is provided with protrusions at intervals, the protrusions protruding from the concave surface.

7. The suspension insulator replacement device according to claim 5, characterized in that, The tensioning device includes a bidirectional slide rail, and a first tensioning device and a second tensioning device disposed on the bidirectional slide rail; the bidirectional slide rail is fixed to the first support surface between the first traveling device and the second traveling device; the first tensioning device and the second tensioning device are slidably connected to the bidirectional slide rail respectively; The first tensioning device includes a third telescopic device and a first clamping mechanism. The third telescopic device is used to drive the first clamping mechanism to reciprocate along the vertical direction of the first support surface. The first clamping mechanism is used to clamp or release the insulator. The second tensioning device includes a fixed base, a rotating base, a rotary drive device, a second clamping mechanism and a third clamping mechanism respectively disposed at both ends of the rotating base, and a telescopic device for the second clamping mechanism and a telescopic device for the third clamping mechanism; the fixed base and the bidirectional slide rail are slidably connected; one end of the rotating base and one end of the fixed base are rotatably connected, and the other end of the fixed base is provided with a slot, the other end of the rotating base being used to engage the slot so that the clamping directions of the third clamping mechanism and the second clamping mechanism are parallel; the rotary drive device is used to drive the rotating base so that one end of the rotating base engages with or rotates out of the slot; the telescopic device for the second clamping mechanism is used to drive the second clamping mechanism to reciprocate along the vertical direction of the first support surface, and the telescopic device for the third clamping mechanism is used to drive the third clamping mechanism to reciprocate along the vertical direction of the first support surface.

8. The suspension insulator replacement device according to claim 7, characterized in that, The steering device further includes a linear motion mechanism and a support. The linear motion mechanism is fixed to the first support surface and is used to drive the support to reciprocate along a direction parallel to the bidirectional slide rail. The rotating device is provided on the support, and the pin assembly / disassembly device and the insulator clamping device are respectively fixed on both sides of the rotating device. The pin assembly / disassembly device includes a fourth telescopic device and a mounting head drivenly connected to the fourth telescopic device; the first mounting end of the mounting head is provided with a pin disassembly mechanism, which includes a detection device and a telescopic rod device. The detection device is used to detect whether the pin abuts against the detection device; the telescopic rod device includes a telescopic rod and a telescopic rod driving device, the telescopic rod driving device is used to drive the telescopic rod to extend and insert into the mounting hole of the pin head; the second mounting end of the mounting head is provided with a pin mounting mechanism, the first mounting end and the second mounting end are arranged perpendicularly, the pin mounting mechanism is used to apply force to the head of the pin, so that the pin connects two adjacent insulators; The insulator clamping device includes a fifth telescopic device, a sixth telescopic device, and a gripper; the fifth telescopic device is disposed on the support and is used to drive the sixth telescopic device to extend and retract along a driving direction perpendicular to the fourth telescopic device; the sixth telescopic device is used to drive the gripper to extend and retract along a driving direction parallel to the fourth telescopic device.

9. A control method for a suspension insulator replacement device, characterized in that, For controlling the suspension insulator replacement equipment as described in any one of claims 1 to 8, the following steps are included: The suspension insulator replacement equipment is hung on the insulator string, and the traveling device is controlled to clamp the insulator string. Control the walking device to drive the suspension insulator replacement equipment to a preset position; The tensioning device is controlled to clamp two insulators adjacent to the insulator to be disassembled; Control the rotating device to rotate, control the pin removal and assembly device to first remove the pin on the metal cap side of the insulator, control the insulator clamping device to clamp the insulator to be removed, and then control the pin removal and assembly device to remove the pin on the connecting rod side of the insulator. Control the rotating device to rotate, and control the insulator clamping device to place the disassembled old insulator into the first storage device; The rotating device is controlled to rotate, and the insulator clamping device is controlled to clamp the new insulator in the second storage device to the installation position. The rotating device is controlled to rotate, and the pin assembly / disassembly device is controlled to first install the pin on the insulating side of the insulator, and then install the pin on the metal cap side of the insulator.

10. The control method for the suspension insulator replacement equipment according to claim 9, characterized in that, When it is necessary to replace two adjacent insulators, the control pin removal and installation device first removes the insulator at the first position near the metal cap end of the two insulators, and then removes the insulator at the second position adjacent to it. The control device first installs the insulator at the first position. After the insulator at the first position is installed, the control device tightens the insulator at the first position, and then installs the insulator at the second position.

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