Insulator metamorphic robot mechanism based on secondary metamorphic and using method

Abstract

The invention relates to the field of insulator robots, in particular to an insulator metamorphic robot mechanism based on secondary metamorphism and a using method, and a secondary metamorphic clamping mechanism comprises a secondary metamorphic clamping mechanism and a metamorphic epicyclic bevel gear train clamping mechanism. The secondary metamorphic clamping mechanisms are arranged at the far ends of the metamorphic epicyclic bevel gear train clamping mechanisms and used for clamping insulator umbrella skirts, the metamorphic epicyclic bevel gear train clamping mechanisms are used for clamping insulator steel caps, and the two sets of secondary metamorphic clamping mechanisms achieve clamping jaw rotation and clamping jaw movement in the metamorphic epicyclic bevel gear train clamping mechanisms through epicyclic bevel gear trains. In the clamping process, a clamping jaw of the secondary metamorphic clamping mechanism moves to drive the secondary metamorphic clamping mechanism to complete clamping of an insulator umbrella skirt and then continuously moves to complete clamping of an insulator steel cap, finally the robot is fixed to an insulator chain, the adaptability to the size of an insulator is high, the stable clamping capacity is provided, and the working efficiency is improved. The robot is protected against deviation when moving on the insulator chain, and the stress condition is good.

Description

Technical Field

[0001] The present invention relates to the field of insulator string detection automation in the electric power industry, and particularly designs an insulator metamorphosis robot mechanism based on a secondary metamorphosis and a use method thereof. Background Art

[0002] Insulators are essential hardware in the electric power industry. They usually play the role of mechanical fixation and electrical insulation in transmission lines. Due to long-term exposure to harsh working environments, insulator strings will experience performance degradation. Once damaged, they will cause large-scale power outages and cause huge losses. Therefore, regular inspection of insulators is an important task in the power industry. Since the working environment of many insulator strings is very complex, such as high altitude, high voltage / ultra-high voltage, etc., transmission line maintenance workers urgently need a robot to assist in live inspection and maintenance of high-voltage transmission and transformation facilities.

[0003] Facing the complex working environment, the existing insulator robots are usually divided into two types. One type achieves adaptability to complex environments through complex mechanisms and drives, but increases the weight of the robot. The other type uses a simple mechanism to improve the usability of the robot, but is prone to deviation and jamming during movement. Therefore, an insulator metamorphosis robot mechanism based on secondary metamorphosis is proposed. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide an insulator metamorphosis robot mechanism based on secondary metamorphosis and a method of use, which realizes the joint clamping of the insulator shed and the steel cap by the insulator inspection robot in a multi-level metamorphosis manner, meets the operational requirements of good adaptability, compact structure, lightweight, and not easy to deviate or get stuck, and improves operational efficiency.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an insulator metamorphosis robot mechanism based on secondary metamorphosis, including two groups of secondary metamorphosis clamping mechanisms and a moving mechanism, the two groups of secondary metamorphosis clamping mechanisms are symmetrically installed on both sides of the moving mechanism, and are used to alternately clamp the insulator umbrella skirt and the steel cap to fix the robot body.

[0006] The secondary metamorphic cell clamping mechanism comprises a secondary metamorphic cell clamping mechanism and a metamorphic cell epicyclic bevel gear system clamping mechanism, and the secondary metamorphic cell clamping mechanism is arranged at the far end of the metamorphic cell epicyclic bevel gear system clamping mechanism.

[0007] Preferably, the secondary cell clamping mechanism comprises an umbrella skirt clamping plate, a clamping plate return spring, an umbrella skirt support plate, a steel wire rope, a connecting spring and a steel wire rope roller;

[0008] The umbrella skirt support plate is connected with the variable cell epicyclic bevel gear system clamping mechanism through the guide rail on one side of the variable cell epicyclic bevel gear system clamping mechanism, cylindrical slide grooves are arranged at both ends of the umbrella skirt support plate, two groups of umbrella skirt clamping plates are respectively arranged in the cylindrical slide grooves at the upper and lower ends of the umbrella skirt support plate, the clamping plate reset spring is arranged in the cylindrical slide groove of the umbrella skirt support plate, the two ends of the steel wire rope are respectively connected with the upper and lower ends of the umbrella skirt clamping plate, two groups of steel wire rope rollers with parallel axes are arranged in the middle position of the umbrella skirt support plate, the steel wire rope passes through the middle gap of the two groups of steel wire rope rollers, one end of the connecting spring is connected to the middle of the steel wire rope, and the other end of the connecting spring is connected to the hook at the top of the clamping claw.

[0009] Preferably, the side edge of the umbrella skirt clamping plate is formed with a cylindrical guide rail that cooperates with the cylindrical slide groove at the end of the umbrella skirt support plate. The umbrella skirt clamping plate can form an adjustable sliding connection structure under the cooperation of its own two cylindrical guide rails and the cylindrical slide groove at the end of the umbrella skirt support plate.

[0010] Preferably, the clamping plate reset spring is located between the bottom of the cylindrical slide groove of the umbrella skirt support plate and the bottom of the cylindrical guide rail of the umbrella skirt clamping plate, and the clamping plate reset spring is a compression spring with a preload force.

[0011] Preferably, the said metamorphic epicyclic bevel gear system clamping mechanism comprises an umbrella skirt support plate, a lead screw nut bevel gear, a bevel gear rack, a lead screw, a driving bevel gear, a motor and a clamping claw;

[0012] The umbrella skirt support plate is fixedly connected to the moving mechanism, the motor is fixed to the umbrella skirt support plate through a motor bracket, the driving bevel gear is connected to the output end of the motor, the bevel gear frame is connected to one side of the motor bracket, the lead screw nut bevel gear is installed on the surface of the bevel gear frame through a bearing, the lead screw nut bevel gear is meshed and connected with the driving bevel gear, and a threaded hole matching with a lead screw is formed at the center of the lead screw nut bevel gear shaft, one end of the lead screw is connected to the threaded hole, and the other end of the lead screw is fixedly connected to the clamp.

[0013] Preferably, a linear guide is provided on the surface of the umbrella skirt support plate, and guide grooves matching the linear guide are provided on the sides of the clamp and the bevel gear frame, and the linear guide on the surface of the umbrella skirt support plate is connected to the sliding grooves on the clamp and the bevel gear frame.

[0014] Preferably, the clamping jaw and the bevel gear rack cooperate to form a guide for the clamping jaw, the end of the clamping jaw is arc-shaped, and the midpoint of the arc-shaped portion of the clamping jaw is on the same horizontal line as the connecting spring and the lead screw.

[0015] Preferably, the shed support plate is provided with a plurality of groups of arc-shaped grooves, and the spacing between the plurality of groups of arc-shaped grooves is consistent with the spacing between two adjacent groups of insulator sheds.

[0016] Preferably, the moving mechanism includes a driving gear box, a moving rack and a transmission gear. The two groups of the moving racks are arranged in parallel in the middle of the surface of the driving gear box through a track. The two groups of the moving racks are staggered up and down. The transmission gear is connected to the output end of the driving gear box, and the transmission gear is meshed with the two groups of moving racks at the same time.

[0017] A method for using an insulator metamorphosis robot mechanism based on a secondary metamorphosis comprises the following steps:

[0018] Step S1, the secondary metamorphic clamping mechanism, the clamping claw, the lead screw, the lead screw nut bevel gear and the bevel gear rack are relatively stationary as a whole fixedly connected together;

[0019] Step S2, the motor drives the driving bevel gear. At this time, the friction between the lead screw and the lead screw nut bevel gear makes the lead screw and the lead screw nut bevel gear relatively stationary. At this time, the secondary cell clamping mechanism, the clamping claw, the lead screw, the lead screw nut bevel gear and the bevel gear rack are relatively stationary and rotate together around the central axis of the driving bevel gear, close to the insulator steel cap;

[0020] Step S3, when the straight part of the side of the clamping jaw contacts the insulator steel cap, the motor continues to drive the driving bevel gear, and the bevel gear frame stops rotating, the lead screw nut bevel gear rotates driven by the driving bevel gear, the lead screw cooperates with the lead screw nut bevel gear, and the lead screw moves laterally under the cooperation of the lead screw nut bevel gear, and the clamping jaw approaches the insulator steel cap during the lateral movement;

[0021] Step S4, the secondary metamorphic clamping mechanism in the present invention touches the edge of the insulator shed before the metamorphic epicyclic bevel gear system clamping mechanism, and the shed support plate stops moving. At this time, the clamping claw continues to move horizontally under the drive of the lead screw, and is continuously pulled by the lead screw to move toward the steel cap;

[0022] Step S5, the clamping claw pulls the connecting spring to move, the connecting spring pulls the middle of the wire rope to move, and the two ends of the wire rope pull the shed clamping plate to overcome the resistance of the clamping plate reset spring and move toward the middle of the shed support plate, thereby clamping the insulator shed;

[0023] Step S6, the clamping jaw stops moving after contacting the insulator steel cap, and is relatively stationary with the insulator steel cap. At this time, the bevel gear rack, the clamping jaw, the insulator steel cap, the shed, and the shed support plate are fixedly connected to each other;

[0024] Step S7, when the secondary metamorphic clamping mechanism connected to the moving rack or the secondary metamorphic clamping mechanism connected to the right moving rack clamps the insulator, the moving rack connected to the unclamped secondary metamorphic clamping mechanism on the other side moves in the same direction driven by the driving gear to complete the moving task on the insulator string.

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

[0026] 1. The insulator metamorphosis robot mechanism based on secondary metamorphosis of the present invention aims to solve the problems of deviation and jamming of the insulator robot during movement on the insulator string. The insulator shed, steel cap and spring are used as control constraints, and a secondary metamorphosis mechanism is adopted to realize the four main movements of single motor completion, namely, rotation of the gripper, approach to the shed, clamping of the shed and clamping of the steel cap.

[0027] 2. The present invention ensures the structural rigidity of the robot in the single-side clamping state during movement through the double clamping of the umbrella skirt and the steel cap, reduces lateral rotation, and thus reduces the deviation of the robot. At the same time, under the double clamping, the clamping claws of the steel cap do not need to provide too much positive pressure, reducing the problem of the screw pair getting stuck.

[0028] 3. In the present invention, the shed support plate and the clamp are connected by a spring. When the clamp is released, the tension of the spring enables the clamp to stably leave the steel cap, which also reduces the problem of the clamp getting stuck.

[0029] 4. The metamorphic mechanism adopted in the present invention has a compact structure and stable power, which effectively reduces the complexity of the mechanism and its own quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of an insulator metamorphosis robot mechanism based on a secondary metamorphosis according to the present invention;

[0031] Figure 2 It is a structural schematic diagram of the moving mechanism in the present invention;

[0032] Figure 3 The structure diagram of the secondary cell clamping mechanism in the present invention is shown in FIG. Figure 1 ;

[0033] Figure 4 The structure of the secondary cell clamping mechanism in the present invention is shown in FIG. Figure 1 ;

[0034] Figure 5 The structure of the secondary cell clamping mechanism in the present invention is shown in FIG. Figure 2 ;

[0035] Figure 6 The structure diagram of the secondary cell clamping mechanism in the present invention is shown in FIG. Figure 2 ;

[0036] Figure 7 It is a structural schematic diagram of the insulator cell robot in the present invention when clamping the insulator steel cap on one side;

[0037] Figure 8 It is a schematic structural diagram of the secondary cell clamping mechanism of the present invention when clamping an insulator.

[0038] In the figure: 1. secondary metamorphic clamping mechanism; 11. secondary metamorphic clamping mechanism; 111. umbrella skirt clamping plate; 112. clamping plate reset spring; 113. umbrella skirt support plate; 114. wire rope; 115. connecting spring; 116. wire rope roller; 12. metamorphic epicyclic bevel gear system clamping mechanism; 121. umbrella skirt support plate; 122. screw nut bevel gear; 123. bevel gear rack; 124. screw; 125. driving bevel gear; 126. motor; 127. clamping claw; 2. moving mechanism; 21. driving gear box; 22. moving rack; 23. transmission gear. DETAILED DESCRIPTION

[0039] 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.

[0040] like Figure 1 - Figure 8 As shown, an insulator metamorphosis robot mechanism based on secondary metamorphosis provided by the present invention includes two groups of secondary metamorphosis clamping mechanisms 1 and a moving mechanism 2. The two groups of secondary metamorphosis clamping mechanisms 1 are symmetrically installed on both sides of the moving mechanism 2, and are used to alternately clamp the insulator shed and the steel cap to fix the robot body.

[0041] The secondary metamorphic cell clamping mechanism 1 comprises a secondary metamorphic cell clamping mechanism 11 and a metamorphic cell epicyclic bevel gear system clamping mechanism 12 . The secondary metamorphic cell clamping mechanism 11 is arranged at the far end of the metamorphic cell epicyclic bevel gear system clamping mechanism 12 .

[0042] The secondary cell clamping mechanism 11 includes an umbrella skirt clamping plate 111, a clamping plate return spring 112, an umbrella skirt support plate 113, a steel wire rope 114, a connecting spring 115 and a steel wire rope roller 116;

[0043] The shed support plate 113 is connected to the shed epicyclic bevel gear system clamping mechanism 12 through the guide rail on one side of the shed epicyclic bevel gear system clamping mechanism 12. Both ends of the shed support plate 113 are provided with cylindrical slide grooves. Two groups of shed clamping plates 111 are respectively arranged in the cylindrical slide grooves at the upper and lower ends of the shed support plate 113. The clamping plate reset spring 112 is arranged in the cylindrical slide groove of the shed support plate 113. Both ends of the wire rope 114 are respectively connected to the upper and lower groups of shed clamping plates 111. Two groups of wire rope rollers 116 with parallel axes are arranged in the middle position of the shed support plate 113. The wire rope 114 passes through In the middle gap of the two groups of wire rope rollers 116, one end of the connecting spring 115 is connected to the middle of the wire rope 114, and the other end of the connecting spring 115 is connected to the hook at the top of the clamping jaw 127 of the variable cell epicyclic bevel gear system clamping mechanism 12. When the clamping jaw 127 moves laterally, the clamping jaw 127 pulls the connecting spring 115, and the connecting spring 115 pulls the middle part of the wire rope 114. The wire rope 114 simultaneously pulls the two groups of shed clamping plates 111 to make the shed clamping plates 111 move laterally in opposite directions along the cylindrical slide groove at the end of the shed support plate 113. The shed clamping plates 111 that move laterally in opposite directions can be clamped outside the insulator shed.

[0044] The side of the umbrella skirt clamping plate 111 is formed with a cylindrical guide rail that cooperates with the cylindrical slide groove at the end of the umbrella skirt supporting plate 113. The umbrella skirt clamping plate 111 can form an adjustable sliding connection structure under the cooperation of its own two cylindrical guide rails and the cylindrical slide groove at the end of the umbrella skirt supporting plate 113. After the umbrella skirt clamping plate 111 is pulled, it can move under the support of the umbrella skirt supporting plate 113. The clamping plate reset spring 112 is located between the bottom of the cylindrical slide groove of the umbrella skirt supporting plate 113 and the bottom of the cylindrical guide rail of the umbrella skirt clamping plate 111. The clamping plate reset spring 112 is a compression spring with a preload force. When the umbrella skirt clamping plate 111 is pulled and moved, it will push the clamping plate reset spring 112 to make the clamping plate reset spring 112 compressed and deformed. When the umbrella skirt clamping plate 111 is no longer pulled, the clamping plate reset spring 112 returns to its initial state, and the umbrella skirt clamping plate 111 is reset under the pushing action of the clamping plate reset spring 112.

[0045] The variable cell epicyclic bevel gear system clamping mechanism 12 includes an umbrella skirt support plate 121, a screw nut bevel gear 122, a bevel gear rack 123, a screw 124, a driving bevel gear 125, a motor 126 and a clamping claw 127;

[0046] The umbrella skirt support plate 121 is fixedly connected to the moving mechanism 2, the motor 126 is fixed to the umbrella skirt support plate 121 through the motor bracket, the driving bevel gear 125 is connected to the output end of the motor 126, the bevel gear frame 123 is connected to one side of the motor bracket, the screw nut bevel gear 122 is installed on the surface of the bevel gear frame 123 through a bearing, the screw nut bevel gear 122 is meshed with the driving bevel gear 125, and the center of the screw nut bevel gear 122 is formed with a threaded hole that matches the screw 124. One end is connected to the threaded hole, and the other end of the lead screw 124 is fixedly connected to the clamping jaw 127. When the wire rope 114 needs to be pulled, the motor 126 drives the driving bevel gear 125, and the lead screw nut bevel gear 122 rotates under the drive of the driving bevel gear 125. The lead screw 124 cooperates with the lead screw nut bevel gear 122, and the lead screw 124 moves laterally under the cooperation of the lead screw nut bevel gear 122. The clamping jaw 127 approaches the insulator steel cap during the lateral movement, and the clamping jaw 127 pulls the wire rope 114 during the movement.

[0047] A linear guide is provided on the surface of the umbrella skirt support plate 113, and guide grooves matching the linear guide are provided on the sides of the clamping jaws 127 and the bevel gear frame 123. The linear guide on the surface of the umbrella skirt support plate 113 is connected with the sliding grooves on the clamping jaws 127 and the bevel gear frame 123. The clamping jaws 127 can maintain a stable lateral movement state during the pulling process of the lead screw 124.

[0048] The clamping jaw 127 and the bevel gear frame 123 cooperate to form a guide for the clamping jaw 127. The end of the clamping jaw 127 is arc-shaped. The midpoint of the arc-shaped part of the clamping jaw 127 is on the same horizontal line as the connecting spring 115 and the lead screw 124. The clamping jaw 127 can cooperate with the insulator steel cap so that the clamping jaw 127 can be connected to the insulator steel cap to form a fixed clamping relationship.

[0049] A plurality of groups of arc grooves are provided on the shed support plate 121, and the spacing between the plurality of groups of arc grooves is consistent with the spacing between two adjacent groups of insulator sheds. During the initial alignment, the shed support plate 121 can be connected to the insulator shed by snapping, thereby forming a fixed connection state, thereby ensuring the setting stability of the insulator shed.

[0050] The moving mechanism 2 includes a driving gear box 21, a moving rack 22 and a transmission gear 23. Two groups of moving racks 22 are arranged in parallel in the middle of the surface of the driving gear box 21 through a track. The two groups of moving racks 22 are staggered up and down. The transmission gear 23 is connected to the output end of the driving gear box 21. The transmission gear 23 is meshed with the two groups of moving racks 22 at the same time. After a group of secondary metamorphic clamping mechanisms 1 is set, the driving gear box 21 drives the transmission gear 23 to rotate, and the two groups of moving racks 22 move. When one group of moving racks 22 is fixed in position, the relative positions of the driving gear box 21 and the other group of moving racks 22 change. When the secondary metamorphic clamping mechanism 1 on one side clamps the insulator steel cap, the moving rack 22 connected to the secondary metamorphic clamping mechanism 1 on the other side that is not clamped moves under the drive of the transmission gear 23, thereby realizing movement on the insulator string.

[0051] The method of using the insulator metamorphosis robot mechanism based on secondary metamorphosis is as follows: the secondary metamorphosis clamping mechanism 11, the clamping jaws 127, the screw 124, the screw nut bevel gear 122 and the bevel gear frame 123 are relatively still as a whole connected together, and the motor 126 drives the driving bevel gear 125. At this time, the friction between the screw 124 and the screw nut bevel gear 122 makes the screw 124 and the screw nut bevel gear 122 relatively still. At this time, the secondary metamorphosis clamping mechanism 11, the clamping jaws 127, the screw 124, the screw nut bevel gear 122 and the bevel gear frame 123 are relatively still, and rotate together around the central axis of the driving bevel gear 125, close to the insulator steel cap, when the straight part of the side of the clamping jaw 127 contacts the insulator When the insulator steel cap is reached, the motor 126 continues to drive the driving bevel gear 125, and the screw nut bevel gear 122 rotates under the drive of the driving bevel gear 125. At this time, the bevel gear frame 123 stops rotating, and the screw 124 cooperates with the screw nut bevel gear 122. The screw 124 moves laterally under the cooperation of the screw nut bevel gear 122, and the clamping jaw 127 approaches the insulator steel cap during the lateral movement. The secondary metamorphic clamping mechanism 11 of the present invention touches the edge of the insulator shed before the metamorphic epicyclic bevel gear system clamping mechanism 12, and the shed support plate 113 stops moving. At this time, the clamping jaw 127 continues to drive the clamping jaw 127 to move laterally under the drive of the screw 124, and the clamping jaw 127 moves laterally and is continuously pulled by the screw 124 to move toward the steel cap;

[0052] The clamping jaw 127 pulls the connecting spring 115 to move, and the connecting spring 115 pulls the middle of the steel wire rope 114 to move. The two ends of the steel wire rope 114 pull the shed clamping plate 111 to overcome the resistance of the clamping plate reset spring 112 and move toward the middle of the shed support plate 113, thereby clamping the insulator shed. After the clamping jaw 127 contacts the insulator steel cap, it stops moving and remains relatively still with the insulator steel cap. At this time, the bevel gear frame 123, the clamping jaw 127, the insulator steel cap and the shed and the shed support plate 121 are fixedly connected to each other. When the secondary metamorphic clamping mechanism 1 connected to the moving rack 22 clamps the insulator steel cap, the moving rack 22 connected to the secondary metamorphic clamping mechanism 1 on the other side that is not clamped moves in the same direction under the drive of the transmission gear 23, completing the movement on the insulator string.

[0053] The invention can effectively realize the tasks of clamping the shed skirt and the steel cap of the insulator string and moving on the insulator string, and has good adaptability, compact structure, light weight, and effectively reduces the problems of deviation and jamming.

[0054] 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. An insulator metamorphic robot mechanism based on a secondary metamorphic cell, characterized in that: It includes two sets of secondary metamorphic clamping mechanisms and a moving mechanism. The two sets of secondary metamorphic clamping mechanisms are symmetrically installed on both sides of the moving mechanism and are used to alternately clamp the insulator shed and the steel cap to fix the robot body. The secondary metamorphic cell clamping mechanism comprises a secondary metamorphic cell clamping mechanism and a metamorphic cell epicyclic bevel gear system clamping mechanism, and the secondary metamorphic cell clamping mechanism is arranged at the far end of the metamorphic cell epicyclic bevel gear system clamping mechanism.

2. The insulator metamorphosis robot mechanism based on secondary metamorphosis according to claim 1 is characterized in that: The secondary cell clamping mechanism includes an umbrella skirt clamping plate, a clamping plate return spring, an umbrella skirt support plate, a steel wire rope, a connecting spring and a steel wire rope roller; The umbrella skirt support plate is connected with the variable cell epicyclic bevel gear system clamping mechanism through the guide rail on one side of the variable cell epicyclic bevel gear system clamping mechanism, cylindrical slide grooves are arranged at both ends of the umbrella skirt support plate, two groups of umbrella skirt clamping plates are respectively arranged in the cylindrical slide grooves at the upper and lower ends of the umbrella skirt support plate, the clamping plate reset spring is arranged in the cylindrical slide groove of the umbrella skirt support plate, two ends of the steel wire rope are respectively connected with the upper and lower groups of umbrella skirt clamping plates, two groups of steel wire rope rollers with parallel axes are arranged in the middle position of the umbrella skirt support plate, the steel wire rope passes through the middle gap of the two groups of steel wire rope rollers, one end of the connecting spring is connected to the middle of the steel wire rope, and the other end of the connecting spring is connected to the hook at the top of the clamping claw.

3. The insulator metamorphosis robot mechanism based on secondary metamorphosis according to claim 2 is characterized in that: The side of the umbrella skirt clamping plate is formed with a cylindrical guide rail that cooperates with the cylindrical slide groove at the end of the umbrella skirt support plate. The umbrella skirt clamping plate can form an adjustable sliding connection structure under the cooperation of its own two cylindrical guide rails and the cylindrical slide groove at the end of the umbrella skirt support plate.

4. The insulator metamorphosis robot mechanism based on secondary metamorphosis according to claim 2 is characterized in that: The clamping plate reset spring is located between the bottom of the cylindrical slide groove of the umbrella skirt support plate and the bottom of the cylindrical guide rail of the umbrella skirt clamping plate. The clamping plate reset spring is a compression spring with a preload force.

5. The insulator metamorphosis robot mechanism based on secondary metamorphosis according to claim 1, characterized in that: The clamping mechanism of the metamorphic epicyclic bevel gear system includes an umbrella skirt support plate, a screw nut bevel gear, a bevel gear rack, a screw, a driving bevel gear, a motor and a clamping claw; The umbrella skirt support plate is fixedly connected to the moving mechanism, the motor is fixed to the umbrella skirt support plate through a motor bracket, the driving bevel gear is connected to the output end of the motor, the bevel gear frame is connected to one side of the motor bracket, the lead screw nut bevel gear is installed on the surface of the bevel gear frame through a bearing, the lead screw nut bevel gear is meshed and connected with the driving bevel gear, and a threaded hole matching with a lead screw is formed at the center of the lead screw nut bevel gear shaft, one end of the lead screw is connected to the threaded hole, and the other end of the lead screw is fixedly connected to the clamp.

6. The insulator metamorphosis robot mechanism based on secondary metamorphosis according to claim 2 or 5, characterized in that: The surface of the umbrella skirt support plate is provided with a linear guide rail, and the sides of the clamping claw and the bevel gear frame are provided with guide grooves matching the linear guide rail. The linear guide rail on the surface of the umbrella skirt support plate is connected with the sliding grooves on the clamping claw and the bevel gear frame.

7. The insulator metamorphosis robot mechanism based on secondary metamorphosis according to claim 6 is characterized in that: The clamping jaw and the bevel gear frame cooperate to form a guide for the clamping jaw, the end of the clamping jaw is arc-shaped, and the midpoint of the arc-shaped part of the clamping jaw is on the same horizontal line as the connecting spring and the lead screw.

8. The insulator metamorphosis robot mechanism based on secondary metamorphosis according to claim 6, characterized in that: The shed support plate is provided with a plurality of groups of arc grooves, and the spacing between the plurality of groups of arc grooves is consistent with the spacing between two adjacent groups of insulator sheds.

9. The insulator metamorphosis robot mechanism based on secondary metamorphosis according to claim 1, characterized in that: The moving mechanism includes a driving gear box, a moving rack and a transmission gear. The two groups of moving racks are arranged in parallel in the middle of the surface of the driving gear box through a track. The two groups of moving racks are staggered up and down. The transmission gear is connected to the output end of the driving gear box, and the transmission gear is meshed with the two groups of moving racks at the same time.

10. A method for using an insulator metamorphosis robot mechanism based on a secondary metamorphosis according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step S1, the secondary metamorphic clamping mechanism, the clamping claw, the lead screw, the lead screw nut bevel gear and the bevel gear rack are relatively stationary as a whole fixedly connected together; Step S2, the motor drives the driving bevel gear. At this time, the friction between the lead screw and the lead screw nut bevel gear makes the lead screw and the lead screw nut bevel gear relatively stationary. At this time, the secondary cell clamping mechanism, the clamping claw, the lead screw, the lead screw nut bevel gear and the bevel gear rack are relatively stationary and rotate together around the central axis of the driving bevel gear, close to the insulator steel cap; Step S3, when the straight part of the side of the clamping jaw contacts the insulator steel cap, the motor continues to drive the driving bevel gear, and the bevel gear frame stops rotating, the lead screw nut bevel gear rotates driven by the driving bevel gear, the lead screw cooperates with the lead screw nut bevel gear, and the lead screw moves laterally under the cooperation of the lead screw nut bevel gear, and the clamping jaw approaches the insulator steel cap during the lateral movement; Step S4, the secondary metamorphic clamping mechanism in the present invention touches the edge of the insulator shed before the metamorphic epicyclic bevel gear system clamping mechanism, and the shed support plate stops moving. At this time, the clamping claw continues to move horizontally under the drive of the lead screw, and is continuously pulled by the lead screw to move toward the steel cap; Step S5, the clamping claw pulls the connecting spring to move, the connecting spring pulls the middle of the wire rope to move, and the two ends of the wire rope pull the shed clamping plate to overcome the resistance of the clamping plate reset spring and move toward the middle of the shed support plate, thereby clamping the insulator shed; Step S6, the clamping claw stops moving after contacting the insulator steel cap, and is relatively stationary with the insulator steel cap. At this time, the bevel gear frame, the clamping claw, the insulator steel cap, the shed and the shed support plate are fixedly connected; Step S7, when the secondary metamorphic clamping mechanism connected to the moving rack clamps the insulator, the moving rack connected to the secondary metamorphic clamping mechanism on the other side that is not clamped moves under the drive of the transmission gear to complete the movement on the insulator string.

Images