Iron stepping robot for insulator zero value detection and detection method

Abstract

The invention relates to the technical field of zero-value insulator detection, in particular to an iron stepping robot for insulator zero-value detection and a detection method.The robot comprises a core body, leg structures and feet, and the core body is responsible for generating leg control instructions, conducting zero-value detection analysis on insulator voltage and outputting a detection result; each leg structure adopts a three-stage rotating shaft design, wherein a first rotating shaft is connected with the core body to control the robot to move along an insulator string. And the second rotating shaft is used for adjusting leg actions to adapt to insulators at different positions and angles. And the third rotating shaft is connected with the foot and is used for finely adjusting foot actions to ensure accurate contact with an insulator iron cap. And the foot parts are used for clamping an insulator iron cap, stably collecting voltage and transmitting the voltage to the core body for analysis. The robot realizes automation of insulator zero value detection, has the advantages of high detection efficiency, high precision, safety, reliability, strong adaptability and the like, and effectively replaces a traditional manual detection mode.

Description

Technical Field

[0001] The invention relates to the technical field of zero-value insulator detection, and in particular to a pedaling robot and a detection method for insulator zero-value detection. Background Art

[0002] Insulators play a vital role in the power system. They not only support the conductors, but also prevent current leakage, ensuring the safety and stability of power transmission. However, as the service time increases, insulators may be affected by aging, contamination and other environmental factors, resulting in a decrease in insulation performance and the appearance of zero-value insulators. Therefore, it is particularly important to regularly maintain and inspect insulators.

[0003] Insulator string voltage distribution detection is a direct and effective zero-value insulator detection method. This method usually uses a voltage acquisition probe to collect the distributed voltage of each insulator. Although the voltage acquisition probe made of metal material can ensure the collection of the distributed voltage of the insulator to be tested, the metal probe directly collides and contacts with the insulator iron cap, which may cause poor contact or even damage the insulator iron cap.

[0004] There may be a tiny gap between the voltage collection probe and the insulator cap. Although this gap is not easy to detect with the naked eye, it may cause the voltage collection probe to fail to form a good electrical contact with the insulator cap, thus affecting the accuracy of voltage collection. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a pedal robot and a detection method for insulator zero value detection in response to the above-mentioned deficiencies in the prior art, so as to solve at least one technical problem of insufficient mobility of insulator detection equipment, poor contact with insulators, damage to insulators, and low detection accuracy.

[0006] The objective of the present invention is achieved by the following technical solutions: In a first aspect, the present invention provides a robot for stepping on iron for insulator zero value detection, comprising a core body, a leg structure and a foot; the core body is connected to the foot through the leg structure; the core body is used to generate control instructions for the leg structure, and is used to perform zero value detection analysis on the collected insulator voltage to obtain a zero value detection result; the foot is used to collect the voltage on the insulator iron cap and transmit the collected insulator voltage to the core body; The leg structure includes a first rotating shaft, a second rotating shaft and a third rotating shaft which are connected in sequence; the first rotating shaft and the second rotating shaft, as well as the second rotating shaft and the third rotating shaft are connected by connecting rods; the first rotating shaft is also connected to the core body, and controls the pedaling robot to move along the insulator string according to control instructions; the second rotating shaft is used to control the leg structure to adjust the movement; the third rotating shaft is used to connect the foot, and is used to fine-tune the foot movement.

[0007] As a further improvement of the present invention, a clamp is provided on the foot, the clamp is installed on the foot through a clamp rotating shaft, and the clamp is used to clamp the insulator iron cap.

[0008] As a further improvement of the present invention, an electromagnet is arranged inside the foot, and the electromagnet is used to adjust the magnetic force according to the current. During the detection process, the current is increased to increase the magnetic force of the electromagnet, and the foot is adsorbed on the insulator iron cap; when the detection is completed, the current is reduced to reduce the magnetic force of the electromagnet, and the foot is separated from the insulator iron cap.

[0009] As a further improvement of the present invention, a foot visual imaging lens is also installed at the center position of the foot, and the foot visual imaging lens is used to monitor the position of the insulator cap in real time and assist the foot to approach the insulator cap to be detected.

[0010] As a further improvement of the present invention, stepper motors are disposed inside the first rotating shaft, the second rotating shaft and the third rotating shaft, and the stepper motors are used to drive the corresponding rotating shafts to perform angle control.

[0011] As a further improvement of the present invention, a central visual imaging lens is provided on one side of the core body, and the central visual imaging lens is used to monitor the position of the insulator in real time and correct the deviation during movement.

[0012] As a further improvement of the present invention, a voltage detection device, a visual sensing analysis device, a power supply and a data transmission system are integrated inside the core body; the voltage detection device is used to perform a step-down analysis on the collected insulator voltage to determine whether there are zero-value insulators in the current insulator string; the visual sensing analysis device is used to perform analysis based on the central visual imaging lens and the foot visual imaging lens to adjust the leg structure and / or foot movement; the data transmission system is used to upload the results obtained in the voltage detection device and the collected data.

[0013] As a further improvement of the present invention, the interior of the connecting rod includes a first wire and a second wire, the first wire is a power wire for driving the rotating shaft stepper motor; the second wire is a signal wire for transmitting a voltage signal.

[0014] As a further improvement of the present invention, both ends of the core body are connected to feet through leg structures.

[0015] In a second aspect, the present invention provides a method for detecting zero value of an insulator, which is implemented based on the above-mentioned iron-stepping robot for detecting zero value of an insulator, and comprises: Use the iron-stepping robot to detect the distributed voltage of the insulator string piece by piece from the cross-arm side to the conductor side, and obtain the voltage corresponding to each insulator piece respectively; After obtaining the voltage distribution data of the insulator string under test, the obtained voltage distribution data is compared with the corresponding data of the trained voltage distribution model of the normal insulator string; Based on the comparison results, determine whether there is a zero-value insulator at the corresponding position of the insulator.

[0016] The beneficial effects of the present invention are as follows: the iron-stepping robot provided by the present invention can automatically move along the insulator string through the leg structure, and automatically collect the voltage data on the insulator iron cap. It replaces the traditional manual detection method and significantly improves the detection efficiency. The leg structure adopts a three-level rotating shaft design, which, in conjunction with the connecting rod, can achieve fine control of the robot's movement and action, ensuring that the foot can accurately collect the voltage signal on the insulator iron cap. The design of the three-level rotating shaft and the connecting rod makes the robot have better stability and flexibility, and can maintain a good working state in complex environments (such as high altitude and narrow space), ensuring the reliability of the detection process.

[0017] Furthermore, the clamp can clamp the insulator cap to ensure stable contact between the foot and the cap. This physical clamping method avoids poor contact caused by robot movement or external factors (such as wind and vibration), thereby improving the stability and accuracy of voltage acquisition. After the clamp clamps the cap, it can effectively avoid accidental detachment or sliding between the foot and the cap, reduce the risk of short circuit or electric shock caused by accidental touch, improve operational safety, and effectively assist in clamping the insulator cap, and ensure gentle and firm fixation of the insulator cap to avoid damage to it.

[0018] Furthermore, the robot of the present invention can monitor the distributed voltage of the insulator in real time, and can accurately determine whether there are zero-value insulators in the insulator string, so as to timely discover insulator failures and prevent power system failures caused by insulator failures.

[0019] Furthermore, the design of wrapping the electromagnet inside the conductive rubber realizes the control of the magnetic force, ensures good contact of the foot during the voltage collection process, and improves the accuracy of data collection.

[0020] Furthermore, with the combination of the magnetic traction system and the visual sensing system, the iron-stepping robot can monitor the position of the insulator string in real time and automatically adjust its direction to correct deviations, avoid collisions, and ensure the accuracy of the detection process.

[0021] Furthermore, the central visual imaging lens can correct deviations during movement, monitor the position of the insulator porcelain parts in real time and actively avoid them to prevent collisions between the core body and the insulator porcelain parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 is a schematic diagram of a robot for insulator zero value detection in an embodiment of the present invention; Figure 2 1 is a schematic diagram of the details of the foot of the iron-stepping robot in an embodiment of the present invention, (a) is a state where the clamp is closed and retracted, and (b) is a state where the clamp is open; Figure 3 It is a schematic diagram of the process of the iron-stepping robot detecting a suspension insulator string in an embodiment of the present invention.

[0024] In the figure, 1-first rotating axis; 2-second rotating axis; 3-third rotating axis; 4-clamp; 5-foot; 6-central visual imaging lens; 7-core body; 8-foot visual imaging lens; 9-clamp rotating axis. DETAILED DESCRIPTION

[0025] In order to make the purpose and technical solution of the present invention clearer and easier to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and specific embodiments, wherein the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0027] Example 1 like Figure 1-Figure 3 As shown, the present embodiment provides a robot for stepping on iron for insulator zero value detection, which mainly includes a core body 7, a leg structure and a foot 5. The core body 7 is connected to the foot 5 through the leg structure. Specifically, both ends of the core body 7 in the present embodiment can be connected to the foot 5 through the leg structure. The foot 5 is used to collect the voltage on the insulator iron cap and transmit the collected insulator voltage to the core body 7. The core body 7 is used to generate control instructions for the leg structure, and is used to perform zero value detection analysis on the collected insulator voltage to obtain a zero value detection result.

[0028] In this embodiment, the foot 5 of the trampoline robot is a voltage collection probe capable of collecting the voltage of the insulator, and is made of conductive rubber, which not only ensures good electrical conductivity but also has a certain flexibility and can adapt to insulators of different shapes and sizes.

[0029] Further, a clamp 4 is provided on the foot 5, such as Figure 2 (a) Figure 2 (b) The clamp 4 is mounted on the foot 5 through the clamp shaft 9 to clamp the insulator cap. The outer layer of the clamp 4 is made of conductive rubber, which can effectively assist in clamping the insulator cap and ensure gentle and firm fixation of the insulator cap to avoid damage to it.

[0030] Furthermore, an electromagnet is arranged inside the foot 5, and the electromagnet is used to adjust the magnetic force according to the current. During the detection process, the current is increased to increase the magnetic force of the electromagnet, and the foot 5 is adsorbed on the insulator iron cap to prevent it from falling off due to vibration or other external forces; when the detection is completed, the current is reduced to reduce the magnetic force of the electromagnet, and the foot 5 is separated from the insulator iron cap to complete the detection task.

[0031] Specifically, the electromagnet inside the foot 5 of the iron-stepping robot is composed of an iron core and a coil. The iron core is made of soft magnetic material, and the coil is wound around the iron core. Its operating principle relies on Ampere's circuit law and Faraday's law of electromagnetic induction. When current flows through the coil of the electromagnet, the iron core is magnetized, and the magnetized iron core becomes a magnet, thereby attracting the insulator iron cap. The working state of the electromagnet can be controlled by adjusting the intensity or direction of the current flowing through the coil: when current flows through the coil, the foot 5 of the iron-stepping robot will attract the insulator iron cap; when the current stops, the magnetic field disappears, and the foot 5 of the iron-stepping robot is separated from the insulator iron cap.

[0032] When the foot 5 of the iron-stepping robot with a built-in electromagnet approaches the insulator iron cap, an obvious magnetic attraction will be generated. When the iron-stepping robot approaches the insulator iron cap, the foot 5 will actively seek the direction with the largest magnetic force in the space, move in that direction, and finally adsorb the insulator iron cap.

[0033] In addition, a miniature foot visual imaging lens 8 is installed at the center of the foot 5, and the foot visual imaging lens 8 is used to monitor the position of the insulator cap in real time, and assist the foot 5 to approach the insulator cap to be tested. Specifically, during the movement of the iron-stepping robot, the foot visual imaging lens 8 monitors the position of the insulator cap in real time, assists the foot 5 to approach the insulator cap to be tested, and is pressed against the insulator cap to be tested under the action of magnetic attraction.

[0034] The leg structure comprises a first rotating shaft 1, a second rotating shaft 2 and a third rotating shaft 3 which are connected in sequence; the first rotating shaft 1 and the second rotating shaft 2, and the second rotating shaft 2 and the third rotating shaft 3 are connected by connecting rods. The first rotating shaft 1 is also fixedly connected to the core body 7, and controls the iron-stepping robot to move along the insulator string according to the control instruction; the second rotating shaft 2 is used to control the leg structure to adjust the movement; the third rotating shaft (3) is used to connect the foot 5, and is used to fine-tune the movement of the foot 5.

[0035] Specifically, one end of the connecting rod is reliably connected to the corresponding connection part of the first rotating shaft 1 by means of a bolt with a hinged hole, and the other end is also connected to the installation part on the second rotating shaft 2 by means of a bolt with a hinged hole. This connection method allows a certain degree of relative rotation while ensuring the connection strength between the two to adapt to the angle change requirements of the leg structure during movement. The connection method between the second rotating shaft 2 and the third rotating shaft 3 is obtained in the same way. In addition, the interior of the connecting rod contains two sets of conductive systems, namely the first wire and the second wire. The first wire is the power wire for driving the rotating shaft stepper motor; the second wire is the signal wire for transmitting the voltage signal.

[0036] The first rotating shaft 1 is responsible for the flipping action of the leg of the iron-stepping robot, mainly realizing the movement function of the iron-stepping robot along the insulator string. The second rotating shaft 2 is responsible for realizing the adjustment of small movements and providing greater flexibility. The third rotating shaft 3 is responsible for realizing the fine-tuning of the movement of the foot 5, which requires a smaller step angle to ensure the precise contact between the foot 5 and the insulator iron cap. In this embodiment, the first rotating shaft 1, the second rotating shaft 2 and the third rotating shaft 3 are all provided with stepper motors. The three rotating shafts are all driven by high-precision stepper motors, which can achieve accurate angle control and rapid response, and effectively improve the working efficiency and stability of the robot.

[0037] Furthermore, a high-resolution central visual imaging lens 6 is provided on both sides of the core body 7 (i.e., the side close to the first rotating shaft) to monitor the position of the insulator porcelain parts in real time and actively avoid them, correct the deviation in movement, and avoid the core body 7 from colliding with the insulator porcelain parts.

[0038] The core body 7 of the iron-stepping robot is designed to be compact, with an outer shell made of insulating material, and an integrated voltage detection device, a visual sensing analysis device, a power supply and a data transmission system, which not only ensures the miniaturization of the iron-stepping robot, but also improves the overall stability and reliability of the system. The voltage detection device is used to perform a voltage reduction analysis on the collected insulator voltage to determine whether there is a zero-value insulator in the current insulator string; the visual sensing analysis device is used to perform analysis based on the central visual imaging lens 6 and the foot visual imaging lens 8 to adjust the leg structure and / or the movement of the foot 5; the data transmission system is used to upload the results obtained in the voltage detection device and the collected data, and the power supply is used to power the entire iron-stepping robot.

[0039] Specifically, the input circuit of the voltage detection device includes a capacitor voltage divider circuit and a surge suppression circuit. The capacitor voltage divider circuit can achieve voltage reduction and reduce the measured voltage to a range that is easy to measure. The surge suppression circuit can limit the amplitude of the impulse voltage at the moment of the measured voltage input to prevent excessive voltage from damaging the measuring device. Its core component is a metal oxide varistor, whose resistance changes exponentially with voltage. Under normal working voltage, the resistance value of the varistor is very high and almost non-conductive, but when the voltage exceeds its breakdown voltage, its resistance value will drop rapidly, forming a low-resistance channel that quickly conducts and shunts the excess voltage, thereby protecting the detection device. Once the surge voltage disappears, the varistor will return to its high resistance state and continue to protect the circuit to prevent the surge voltage at the moment of the measured voltage input from damaging the measuring device.

[0040] The working process of the pedaling robot in this embodiment is as follows Figure 3 As shown, specifically including: S1. Use a drone to carry the iron-stepping robot to the first insulator on the crossarm side, and let the two feet of the iron-stepping robot respectively adsorb the iron caps of the first insulator and the second insulator, and the clamps on the two feet are synchronously retracted to clamp the iron caps of the first insulator and the second insulator. The voltage signal of the first insulator is transmitted to the voltage detection device inside the core body through the two feet of the robot, and the collected voltage signal is measured; S2, after obtaining the voltage signal of the first insulator, the foot adsorbed on the iron cap of the second insulator does not move, the foot adsorbed on the iron cap of the first insulator is loosened due to the weakening of the magnetic force of the electromagnet, the clamp is opened, and the first rotating shaft of the iron-stepping robot is turned over, and the second rotating shaft and the third rotating shaft are coordinated to make it turn downward and adsorb on the iron cap of the third insulator, and at the same time, the clamp is closed to clamp the iron cap of the third insulator, and the voltage signal of the second insulator is collected and measured; S3, after obtaining the voltage signal of the second insulator, the foot adsorbed on the iron cap of the third insulator does not move, the foot adsorbed on the iron cap of the second insulator is released, and the foot-pedaling robot is turned over by the first rotating shaft and coordinated with the second rotating shaft and the third rotating shaft, so that it is turned down and adsorbed on the iron cap of the fourth insulator, and the voltage signal of the third insulator is collected and measured; S4, and so on, repeat the above steps until the whole string of insulators is tested; S5. After obtaining the voltage distribution data of the insulator string under test, compare it with the voltage distribution model of the good insulator string that has been tested and trained many times, and identify the value at a specific position where the voltage is significantly lower than the corresponding position of the good insulator string and the voltage at its adjacent position is higher than the corresponding position of the good insulator string. It can be determined that there is a zero-value insulator at this position; otherwise, it is considered that there is no zero-value insulator in the insulator string.

[0041] In this embodiment, according to DL / T 626-2015 "Deteriorated Suspension Insulator Inspection Procedure": "Under dry conditions, the insulation resistance value of insulators of voltage levels of 500kV and above is not less than 500MΩ, and the insulation resistance value of insulators of voltage levels of 330kV and below is not less than 300MΩ." According to actual measurements, the insulation resistance value of good insulators is greater than 11GΩ. Therefore, the insulation resistance value of good insulators is hundreds of times that of zero-value insulators, and the distributed voltage of zero-value insulators will be significantly lower than that of good insulators.

[0042] According to the above-mentioned method, the iron-stepping robot of this embodiment can not only greatly improve the efficiency of insulator detection, reduce labor costs and time investment, but also monitor the distributed voltage of the insulator in real time, and can accurately determine whether there are zero-value insulators in the insulator string, so as to timely discover insulator failures and prevent power system failures caused by insulator failures. The use of conductive rubber as the material of the iron-stepping robot's feet can effectively avoid hard contact between metal and the insulator iron cap, reduce the risk of wear and damage to the insulator iron cap, and extend the service life. The design of wrapping the electromagnet inside the conductive rubber realizes the control of the magnetic force, ensures good contact of the foot during the voltage collection process, and improves the accuracy of data collection. With the combination of the magnetic traction system and the visual sensing system, the iron-stepping robot can monitor the position of the insulator string in real time and automatically adjust the direction to correct deviations, avoid collisions, and ensure the accuracy of the detection process.

[0043] Example 2 This embodiment provides an insulator zero value detection method, which is implemented based on the iron-stepping robot for insulator zero value detection in the above embodiment 1, and includes: Use the iron-stepping robot to detect the distributed voltage of the insulator string piece by piece from the cross-arm side to the conductor side, and obtain the voltage corresponding to each insulator piece respectively; During this process, the voltage detection device will record the voltage value of each insulator one by one to form a set of voltage distribution data.

[0044] After obtaining the voltage distribution data of the insulator string under test, the obtained voltage distribution data is compared with the corresponding data of the trained voltage distribution model of the normal insulator string; The model data is established based on a large amount of historical detection data and experimental results, and has high accuracy and reliability. Through comparison, it can effectively identify data where the distributed voltage at a specific position is significantly lower than the distributed voltage at the corresponding position of a good insulator string. At the same time, its adjacent distributed voltage data is higher than the distributed voltage data at the corresponding position of a good insulator string. It can be determined that there is a zero-value insulator at this position.

[0045] Based on the comparison results, determine whether there is a zero-value insulator at the corresponding position of the insulator.

[0046] The detailed steps of detecting the zero-value insulators in the suspension insulator string in this embodiment are: S1. Use a drone to carry the iron-stepping robot to the first insulator on the crossarm side, and let the two feet of the iron-stepping robot respectively adsorb the iron caps of the first insulator and the second insulator, and the clamps on the two feet are synchronously retracted to clamp the iron caps of the first insulator and the second insulator. The voltage signal of the first insulator is transmitted to the voltage detection device inside the core body through the two feet of the robot, and the collected voltage signal is measured; S2, after obtaining the voltage signal of the first insulator, the foot adsorbed on the iron cap of the second insulator does not move, the foot adsorbed on the iron cap of the first insulator is loosened due to the weakening of the magnetic force of the electromagnet, the clamp is opened, and the first rotating shaft of the iron-stepping robot is turned over, and the second rotating shaft and the third rotating shaft are coordinated to make it turn downward and adsorb on the iron cap of the third insulator, and at the same time, the clamp is closed to clamp the iron cap of the third insulator, and the voltage signal of the second insulator is collected and measured; S3, after obtaining the voltage signal of the second insulator, the foot adsorbed on the iron cap of the third insulator does not move, the foot adsorbed on the iron cap of the second insulator is released, and the foot-pedaling robot is turned over by the first rotating shaft and coordinated with the second rotating shaft and the third rotating shaft, so that it is turned down and adsorbed on the iron cap of the fourth insulator, and the voltage signal of the third insulator is collected and measured; S4, and so on, repeat the above steps until the whole string of insulators is tested; S5. After obtaining the voltage distribution data of the insulator string under test, compare it with the voltage distribution model of the good insulator string that has been tested and trained many times, and identify the value at a specific position where the voltage is significantly lower than the corresponding position of the good insulator string and the voltage at its adjacent position is higher than the corresponding position of the good insulator string. It can be determined that there is a zero-value insulator at this position; otherwise, it is considered that there is no zero-value insulator in the insulator string.

[0047] In summary, the robot is carried to the first insulator on the crossarm side by a drone, and there is no need to manually climb the iron tower or other complex operations to place the robot, which greatly simplifies the preliminary preparation work and enables the detection work to be started more quickly and conveniently. It is especially suitable for some insulator string detection scenarios that are high and difficult to reach manually. The robot's two feet adsorb the insulator iron cap and collect voltage signals by clamping the clamps together, which can ensure good contact with the insulator and ensure that the collected voltage signal truly and accurately reflects the actual state of the insulator, providing a reliable data basis for subsequent zero-value judgment. The voltage distribution data of the insulator string under test is compared and analyzed with the voltage distribution model of the good insulator string that has been tested and trained many times. Based on the scientific and reasonable judgment logic, that is, observing the difference between the voltage at a specific position and the corresponding position of the good insulator string, the zero-value insulator is accurately identified, making the judgment result of the zero-value insulator more scientific and accurate, and effectively avoiding the occurrence of misjudgment and missed judgment.

Claims

1. A robot for insulator zero value detection, characterized in that: The invention comprises a core body (7), a leg structure and a foot (5); the core body (7) is connected to the foot (5) via the leg structure; the core body (7) is used to generate control instructions for the leg structure, and to perform zero-value detection analysis on the collected insulator voltage to obtain a zero-value detection result; the foot (5) is used to collect the voltage on the insulator iron cap and transmit the collected insulator voltage to the core body (7); The leg structure comprises a first rotating shaft (1), a second rotating shaft (2) and a third rotating shaft (3) which are connected in sequence; the first rotating shaft (1) and the second rotating shaft (2), and the second rotating shaft (2) and the third rotating shaft (3) are connected via connecting rods; the first rotating shaft (1) is also connected to a core body (7) to control the iron-stepping robot to move along an insulator string according to a control instruction; the second rotating shaft (2) is used to control the leg structure to adjust its movements; and the third rotating shaft (3) is used to connect to a foot (5) to fine-tune the movement of the foot (5).

2. The iron-stepping robot for insulator zero value detection according to claim 1, characterized in that: The foot (5) is provided with a clamp (4), the clamp (4) is mounted on the foot (5) via a clamp rotating shaft (9), and the clamp is used to clamp the insulator iron cap.

3. The iron-stepping robot for insulator zero value detection according to claim 2, characterized in that: An electromagnet is arranged inside the foot (5), and the electromagnet is used to adjust the magnetic force according to the current. During the detection process, the current is increased to increase the magnetic force of the electromagnet, and the foot (5) is adsorbed on the insulator iron cap; when the detection is completed, the current is reduced to reduce the magnetic force of the electromagnet, and the foot (5) is separated from the insulator iron cap.

4. The iron-stepping robot for insulator zero value detection according to claim 1, characterized in that: A foot visual imaging lens (8) is also installed at the center of the foot, and the foot visual imaging lens (8) is used to monitor the position of the insulator cap in real time and assist the foot (5) to approach the insulator cap to be detected.

5. The iron-stepping robot for insulator zero value detection according to claim 1, characterized in that: The first rotating shaft (1), the second rotating shaft (2) and the third rotating shaft (3) are each provided with a stepper motor, and the stepper motor is used to drive the corresponding rotating shaft to perform angle control.

6. The iron-stepping robot for insulator zero value detection according to claim 1, characterized in that: A central visual imaging lens (6) is provided on one side of the core body (7), and the central visual imaging lens (6) is used to monitor the position of the insulator in real time and correct deviations during movement.

7. The iron-stepping robot for insulator zero value detection according to claim 6, characterized in that: The core body (7) is internally integrated with a voltage detection device, a visual sensing analysis device, a power supply and a data transmission system; the voltage detection device is used to perform a voltage reduction analysis on the collected insulator voltage to determine whether there is a zero-value insulator in the current insulator string; the visual sensing analysis device is used to perform an analysis based on the central visual imaging lens (6) and the foot visual imaging lens (8) to adjust the leg structure and / or the movement of the foot (5); The data transmission system is used to upload the results and collected data obtained from the voltage detection device.

8. The iron-stepping robot for insulator zero value detection according to claim 1, characterized in that: The connecting rod includes a first wire and a second wire. The first wire is a power wire for driving the rotating shaft stepping motor; the second wire is a signal wire for transmitting a voltage signal.

9. The iron-stepping robot for insulator zero value detection according to any one of claims 1 to 8, characterized in that: Both ends of the core body (7) are connected to the foot (5) via the leg structure.

10. An insulator zero value detection method, implemented based on the iron-stepping robot for insulator zero value detection according to any one of claims 1 to 9, characterized in that: include: Use the iron-stepping robot to detect the distributed voltage of the insulator string piece by piece from the cross-arm side to the conductor side, and obtain the voltage corresponding to each insulator piece respectively; After obtaining the voltage distribution data of the insulator string under test, the obtained voltage distribution data is compared with the corresponding data of the trained voltage distribution model of the normal insulator string; Based on the comparison results, determine whether there is a zero-value insulator at the corresponding position of the insulator.

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