Climbing mechanism and robot for vertical insulator chain detection and climbing detection method of climbing mechanism and robot

Abstract

The invention belongs to the field of insulator quality detection robots in overhead transmission lines, and discloses a climbing mechanism for vertical insulator string detection, a robot and a climbing detection method thereof, the climbing mechanism comprises a ball spline, the vertical upward direction is used as the height direction, and the ball spline extends along the height direction; the spline shaft mounting plate is fixedly connected to the lower surface of the ball spline in a sleeving manner; the claw plate is movably connected to the upper surface of the ball spline in a sleeving mode through a spline nut sleeve; the rubber gasket is fixedly mounted on the lower surface of the claw plate; a first driving mechanism is arranged on the spline shaft mounting plate, connected with the claw plate and used for driving the claw plate to move on the ball spline in the height direction. The climbing mechanism can accurately move up and down along the insulator through the first driving mechanism, the climbing mechanism can accurately rotate along the insulator through the second driving mechanism, and the climbing mechanism can climb on the insulator through cooperation of the two driving mechanisms.

Description

Technical Field

[0001] The present invention belongs to the field of robots for detecting the quality of insulators in overhead power transmission lines, and in particular relates to a climbing mechanism for detecting a vertical insulator string, a robot and a climbing detection method thereof. Background Art

[0002] As my country's smart grid construction continues to accelerate, the proportion of ultra-high and ultra-high voltage (UHV) lines in the overall power system is gradually increasing. Insulators, as specialized insulation components of overhead transmission lines, play a crucial role in ensuring the normal operation of these lines. Insulator inspection robots are a crucial component of intelligent power system inspections, and their development and application are crucial for ensuring the safe operation of transmission lines.

[0003] Traditional manual inspection methods suffer from low efficiency, high risk, and significant environmental constraints. Drone aerial inspections rely primarily on high-precision image acquisition equipment onboard drones to perform insulator inspections. However, drones are susceptible to weather conditions such as wind, and are limited by safety distances, resulting in low inspection accuracy. Furthermore, they require high operator remote control skills. Insulator inspection robots, on the other hand, can perform insulator status inspections at high altitudes and in high-voltage environments, significantly improving inspection efficiency, accuracy, and safety while reducing operational costs.

[0004] At present, the crawling modes of insulator inspection robots are mainly divided into four types: wheeled, tracked, multi-legged and hybrid, each with its own characteristics: wheeled robots have a simple structure and fast moving speed, but have high requirements for the flatness of the insulator surface and are difficult to cross obstacles; tracked robots have strong obstacle crossing capabilities and can adapt to complex terrain, but have a complex structure, slow moving speed and are prone to causing secondary damage to the insulator surface; multi-legged robots are highly flexible and can adapt to complex terrain and narrow spaces, but have a complex structure, are difficult to control and have a slow moving speed. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides a climbing mechanism, a robot and a climbing detection method for vertical insulator string detection, which can achieve stable movement in various types of insulator strings without causing secondary damage to the insulator strings, thereby achieving efficiency and quality of insulator detection work.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] Example 1

[0008] A climbing mechanism for a vertical insulator string, comprising:

[0009] a ball spline extending in the height direction with the vertically upward direction as the height direction;

[0010] A spline shaft mounting plate, which is fixedly sleeved on the lower surface of the ball spline;

[0011] a claw plate movably sleeved on the upper surface of the ball spline via a spline nut sleeve;

[0012] a rubber gasket fixedly mounted on the lower surface of the claw plate;

[0013] A first driving mechanism is provided on the spline shaft mounting plate, the driving mechanism being connected to the claw plate and configured to drive the claw plate to move along the height direction on the ball spline;

[0014] A second driving structure is provided on the spline shaft mounting plate, and the second driving mechanism is connected to the claw plate. When the claw plate moves along the height direction to the vicinity of the insulator, the second driving mechanism is used to drive the claw plate to rotate along its circumferential direction on the ball spline, so that the claw plate bypasses the insulator and continues to move along the height direction.

[0015] Preferably, the ball spline is fixedly mounted on the spline shaft mounting plate by screws.

[0016] Preferably, the first driving mechanism comprises,

[0017] The first motor is fixedly mounted on the spline shaft mounting plate through the winding wheel mounting seat,

[0018] The first winding wheel is fixedly sleeved on the free end of the first motor.

[0019] A second winding wheel is mounted on top of the ball spline through the first winding wheel seat,

[0020] The winding line has one end wound around the first winding wheel and the other end passing through the ball spline and the claw plate and wound around the second winding wheel.

[0021] Furthermore, it also includes a third winding wheel, which is installed on the first guide wheel seat through the second winding wheel seat, and the third winding wheel is located near the fourth winding wheel, and the third winding wheel also constrains the winding.

[0022] Preferably, the second driving mechanism comprises,

[0023] A first steering gear is mounted on the spline shaft mounting plate,

[0024] The first gear is fixedly sleeved on the free end of the first steering gear,

[0025] The second gear is rotatably sleeved on the ball spline, and the first gear and the second gear are meshed for transmission.

[0026] A climbing detection robot includes a hexagonal prism frame, two pairs of climbing mechanisms as described above, and three detection modules.

[0027] Each pair of the climbing mechanisms are symmetrically mounted on the hexagonal frame and arranged in a rectangular shape on the hexagonal frame. The three detection modules are mounted on the hexagonal frame and arranged in a triangular shape on the hexagonal frame. The three detection modules are spaced apart near the three climbing mechanisms.

[0028] Preferably, each of the detection modules includes:

[0029] A lifting mechanism is provided above the spline shaft mounting plate and is lifted and lowered in the height direction or in the reverse direction;

[0030] The detection mechanism includes an endoscope camera, which is installed on the lifting unit of the lifting mechanism through a mounting component, and the shooting unit of the endoscope camera corresponds to the insulator.

[0031] Preferably, the lifting mechanism includes:

[0032] A second motor, a fixed end of which is fixed to the first bracket plate through a motor bracket, the first bracket plate having a first bracket collar, the first bracket collar being sleeved on the lower horizontal column of the hexagonal prism frame;

[0033] The first rack synchronous pulley is fixedly sleeved on the free end of the second motor,

[0034] The second rack synchronous pulley is rotatably sleeved on the connecting member, which has a connecting ring. The connecting ring is sleeved on the upper horizontal column 28 of the hexagonal prism frame, and the upper horizontal column 28 of the hexagonal prism frame and the lower horizontal column of the hexagonal prism frame are both located on one of the vertical surfaces of the hexagonal prism, so that the first rack synchronous pulley and the second rack synchronous pulley are on the vertical surface.

[0035] The rack synchronous belt is wound around the first rack synchronous belt pulley and the second rack synchronous belt pulley and is arranged along the height direction.

[0036] Preferably, the detection mechanism further includes:

[0037] An endoscope camera mounting frame is rotatably mounted on the rack synchronous belt via a connecting block, and a fixed end of the endoscope camera is rotatably mounted on the endoscope camera mounting frame.

[0038] Preferably, the endoscope camera mounting bracket comprises,

[0039] a first mounting bracket, which is rotatably mounted on the upper surface of the connecting member via a second steering gear;

[0040] a second mounting frame, which is rotatably mounted on the upper surface of the other end of the first mounting frame via a third steering gear;

[0041] The endoscope camera is rotatably mounted on the vertical side of the second mounting bracket via a fourth servo.

[0042] Preferably, the climbing robot further comprises three positioning rubber strip structures, which are mounted on the hexagonal prism frame and arranged in a triangular shape on the hexagonal prism frame and extend in the height direction, and each of the positioning rubber strip mechanisms is located near each of the climbing mechanisms.

[0043] Preferably, each of the positioning strip mechanisms includes:

[0044] A cylindrical connecting column extending in the height direction, with its top connected to the upper horizontal column 28 and its bottom connected to the lower horizontal column;

[0045] The positioning adjustment column has a fixed end connected to the circumferential surface of the cylindrical connecting column and extends in the opposite direction along the circumferential surface of the cylindrical connecting column. The end of the telescopic end of the positioning adjustment column is connected to the positioning rubber strip mounting plate, and the positioning rubber strip mounting plate extends in the height direction. The positioning rubber strip mounting plate is fixed with a positioning rubber strip, and the positioning rubber strip extends along the extension direction of the positioning rubber strip itself.

[0046] A climbing inspection method for a vertical insulator string, using the robot described above to perform climbing inspection upward in a height direction, comprises the following steps:

[0047] S1 installation robot: Several pairs of claw plates are placed on the upper surface of one of the insulators in the insulator string, and this insulator serves as the starting insulator;

[0048] S2 Robot climbing: After completing step S1, climb as follows:

[0049] S2.1 Move one pair of claw plates synchronously in the height direction, while the other pair of claw plates rests on the starting insulator until they reach the lower surface of the insulator adjacent to the starting insulator. The adjacent insulator serves as the adjacent insulator, and the pair of claw plates then bypasses the adjacent insulator and rests on the upper surface of the adjacent insulator.

[0050] S2.2. Climb the multiple pairs of claw plates in the same manner as in step S2.1. During the climbing, the remaining claw plates remain inactive and rest on the upper surfaces of the corresponding insulators until all claw plates rest on the upper surfaces of adjacent insulators to complete the climbing action between one insulator string.

[0051] S3 robot inspection: During the crawling process, the endoscope camera lens is always facing the direction of the corresponding insulator skirt, and the condition of the insulator skirt is detected in real time during crawling; and after the robot crawls over an insulator string, it first drives the detection module up and down to the predetermined height through the lifting mechanism, and then realizes the multi-angle rotation of the endoscope camera through the detection mechanism to realize the inspection of the corresponding insulator.

[0052] Preferably, in the above detection method, in step S2.1, one of the pair of claw plates moves in the height direction in the following manner:

[0053] S2.1.1 First, drive the first drive mechanism of the climbing mechanism so that the claw plate of the climbing mechanism rises from its starting insulator in the height direction to the lower surface of the adjacent insulator. Then, drive the second drive mechanism so that the claw plate of the climbing mechanism rotates horizontally relative to the lower surface of the insulator until a first gap exists in the horizontal direction between the claw plate and the lower surface of the insulator.

[0054] S2.1.2 Next, drive the first drive mechanism again to cause the claw plate to continue to rise in the height direction until it reaches the upper surface of the adjacent insulator. Then, drive the second drive mechanism again to cause the claw plate to rotate ±90° relative to the upper surface of the insulator, relative to the horizontal rotation in step S2.1.1, until a second gap exists in the horizontal direction between the claw plate and the upper surface of the insulator.

[0055] S2.1.3 Furthermore, the first mechanism is driven in the reverse direction so that the claw plate moves in the reverse direction along the height direction until the claw plate contacts the upper surface of the adjacent insulator, that is, the claw plate rests on the upper surface of the adjacent insulator.

[0056] Compared with the prior art, the present invention has the following beneficial effects:

[0057] 1. The present invention enables the climbing mechanism to achieve precise up and down movement along the insulator through the first driving mechanism, and enables the climbing mechanism to achieve precise rotation along the insulator through the second driving mechanism. The two driving mechanisms cooperate to enable the climbing mechanism to have the following steps: rising in the height direction - until it contacts the lower surface of the adjacent insulator - the claw plate rotates horizontally relative to the lower surface of the insulator until a first gap exists in the horizontal direction between the claw plate and the lower surface of the insulator - the claw plate rotates ±90° relative to the above-mentioned horizontal rotation relative to the upper surface of the insulator until a second gap exists in the horizontal direction between the claw plate and the upper surface of the insulator - the first mechanism is driven in the reverse direction, so that the claw plate moves in the opposite direction in the height direction until it rests on the upper surface of the adjacent insulator, so as to ensure that the climbing mechanism can perform a climbing operation on the insulator; rubber gaskets are provided on the claw plates to protect the insulators, prevent the claw plates from causing secondary damage to the insulator surface during the climbing process, and ensure that the claw plates do not collide with the insulator surface when moving, thereby further protecting the insulator;

[0058] (2) The robot of the present invention, through the coordinated cooperation of the four climbing mechanisms in the beneficial effect (1), makes one pair of claw plates move synchronously in the height direction, while the other pairs of claw plates are placed on the starting insulator until they reach the lower surface of the insulator adjacent to the starting insulator, and then the multiple pairs of claw plates are climbed in the above manner, and when climbing, the remaining claw plates are kept prohibited and placed on the upper surface of the corresponding insulator until all the claw plates are placed on the upper surface of the adjacent insulators to complete the climbing action between an insulator string, so that the entire robot can complete the climbing of multiple insulator spacings without interruption, that is, it can climb on the insulator string, and during the climbing process, the insulator is detected by using the detection module, thereby significantly improving the detection and maintenance efficiency.

[0059] (3) The present invention enables the robot to adapt to insulator strings of different diameters through the coordinated action of symmetrically arranged positioning rubber strips, wire springs, and positioning adjustment columns, ensuring stable climbing on the surfaces of insulators of different sizes.

[0060] (4) The present invention is equipped with three sets of high-resolution endoscopic cameras and an endoscopic camera mounting frame formed by a first mounting plate and a second mounting plate. The endoscopic camera mounting frame acts as a flexible robotic arm and can realize multi-angle and multi-directional detection of the insulator string. The robotic arm is controlled by the second servo, the third servo and the fourth servo from multiple dimensions respectively, and can accurately adjust the position and angle of the camera, ultimately ensuring that all surfaces and internal areas of the insulator are covered, overcoming the problem of limited viewing angle in traditional detection methods and significantly improving the comprehensiveness and accuracy of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 Schematic diagram of the structure of the climbing mechanism of the present invention;

[0062] Figure 2 It is a structural schematic diagram of the positioning strip mechanism in the present invention;

[0063] Figure 3 Schematic diagram of the structure of the detection module in the present invention;

[0064] Figure 4 for Figure 3 Schematic diagram of the structure of part A;

[0065] Figure 5 Schematic diagram of the position of the second rack synchronous pulley in the detection module of the present invention;

[0066] Figure 6 This is a partial structural diagram of the lifting mechanism in the detection module of the present invention;

[0067] Figure 7 Schematic diagram of the structure of the robot in the present invention;

[0068] Figure 8 A schematic diagram of the state of the robot on the insulator string in the present invention;

[0069] Figure 9 This is a schematic diagram of the robot climbing to the top of the insulator string in the present invention;

[0070] Figure 10 This is a flow chart of the climbing detection method of the present invention;

[0071] Figure 11 This is a flow chart of the climbing mechanism in the process of climbing an insulator string in the present invention.

[0072] In the figure: rubber gasket 1; claw plate 2; third winding wheel 3; second winding wheel 4; first winding wheel seat 5; hexagonal prism frame 6; insulator string 7; insulator 71; spline nut sleeve 8; ball spline 9; first winding wheel 10; winding wheel mounting seat 11; first motor 12; first servo 13; spline shaft mounting plate 14; first gear 15; fifth winding wheel 16; fourth winding wheel 17; second gear 18; positioning adjustment column fixed end 19; positioning adjustment column telescopic end 20; line spring 21; plug screw 22; positioning rubber strip mounting plate 23; endoscope camera mounting plate Mounting seat 24; endoscope camera 25; fourth servo 26; second mounting bracket 27; upper horizontal column 28; first mounting bracket 29; mounting shaft 30; cylindrical connecting column 31; connecting member 32; connecting member waist groove 321; connecting ring 322; connecting block 33; second servo 34; toothed fixing block 35; fixing block 36; rack timing belt 37; third servo 38; second rack timing pulley 39; first bracket collar 40; motor bracket 41; first rack timing pulley 42; second motor 43; first bracket plate 44; stabilizing connecting column 45, winding wire 46. DETAILED DESCRIPTION

[0073] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following examples are combined with the accompanying drawings to specifically illustrate the technical solutions of the present invention. It should be noted that the description of these implementation methods is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0074] like Figure 1 As shown, a climbing mechanism for a vertical insulator string comprises:

[0075] a ball spline 9, with the vertical upward direction as the height direction, extending along the height direction;

[0076] A spline shaft mounting plate 14 is fixedly sleeved on the lower surface of the ball spline 9;

[0077] The claw plate 2 is movably connected to the upper surface of the ball spline 9 through the spline nut sleeve 8. Specifically, the claw plate 2 is connected to the spline nut sleeve 8 by screws, and the spline nut sleeve 8 is movably connected to the ball spline 9, so that the claw plate 2 can move on the ball spline 9 along with the spline nut sleeve 8;

[0078] The rubber gasket 1 is fixedly mounted on the lower surface of the claw plate 2 to prevent the claw plate 2 from causing secondary damage to the insulator surface during climbing;

[0079] A first driving mechanism is provided on the spline shaft mounting plate 14, and the driving mechanism is connected to the claw plate 2, and is used to drive the claw plate 2 to move along the height direction on the ball spline 9;

[0080] A second driving structure is provided on the spline shaft mounting plate 14, and the second driving mechanism is connected to the claw plate 2. When the claw plate 2 moves along the height direction to the vicinity of the insulator, the second driving mechanism drives the claw plate 2 to rotate along its circumferential direction on the ball spline 9, so that the claw plate 2 bypasses the insulator and continues to move along the height direction.

[0081] The ball spline 9 is fixedly mounted on the spline shaft mounting plate 14 by screws.

[0082] The first driving mechanism includes,

[0083] The first motor 12 is fixedly mounted on the spline shaft mounting plate 14 through the winding wheel mounting seat 11.

[0084] The first winding wheel 10 is fixedly sleeved on the free end of the first motor 12.

[0085] The second winding wheel 4 is mounted on the top of the ball spline 9 through the first winding wheel seat 5.

[0086] One end of the winding wire 46 is wound around the first winding wheel 10 , and the other end passes through the ball spline 9 and the claw plate 2 and is wound around the second winding wheel 4 .

[0087] Furthermore, the third winding wheel 3 is mounted on the first winding wheel seat 5 via the second winding wheel seat, and the third winding wheel 3 is located near the second winding wheel 4, and the third winding wheel 3 also constrains the winding line 46;

[0088] The fourth spool 17 and the fifth spool 16 are mounted on one end of the lower surface of the spline shaft mounting plate 14 through a spool mounting seat, and the fifth spool 16 and the second spool 4 are symmetrically arranged on the ball spline 9, and the fourth spool 17 and the third spool 3 are symmetrically arranged on the ball spline 9. One end of the wire 46 goes along the first spool 10, the fifth spool 16, the fourth spool 17, the third spool 3 to the second spool 4, and then goes around the second spool 4 to the first spool 10, forming a winding path, and the claw plate 2 and the rubber gasket 1 pass through and are connected to the wire 46 located between the fourth spool 17 and the third spool 3 (mainly by fixing the claw plate 2 and the rubber gasket 1 to the wire 46 respectively by screws).

[0089] The second driving mechanism includes,

[0090] The first steering gear 13 is mounted on the spline shaft mounting plate 14.

[0091] The first gear 15 is fixedly sleeved on the free end of the first steering gear 13.

[0092] The second gear 18 is rotatably sleeved on the ball spline 9, and the first gear 15 and the second gear 18 are engaged for transmission.

[0093] Example 2

[0094] like Figure 2-9 As shown, a climbing detection robot includes a hexagonal frame 6 (the hexagonal frame includes an upper hexagon composed of six upper horizontal columns 28, a lower hexagon composed of six lower horizontal columns, and a plurality of vertical columns, and the connection between each two adjacent upper horizontal columns 28 and the top of a column is called an upper connection node, and the connection between each two adjacent lower horizontal columns and the top of a column is called a lower connection node), two pairs of climbing mechanisms as described above, and three detection modules.

[0095] Each pair of the climbing mechanisms are symmetrically mounted on the hexagonal frame 6 (specifically: the spline shaft mounting plate 14 is fixed to the lower connecting node of the hexagonal frame 6 by bolts, and the first winding wheel seat 5 is fixed to the upper connecting node of the hexagonal frame 6 by bolts), and are arranged in a rectangular shape on the hexagonal frame 6. The three detection modules are mounted on the hexagonal frame and arranged in a triangular shape on the hexagonal frame. The three detection modules are spaced apart near the three climbing mechanisms.

[0096] Each detection module includes a lifting mechanism, which is arranged above the spline shaft mounting plate 14 and is lifted and lowered in the height direction or in the reverse direction; a detection mechanism, which includes an endoscope camera 25, which is mounted on the lifting unit of the lifting mechanism through a mounting component, and the imaging unit of the endoscope camera 25 corresponds to the insulator;

[0097] Specifically, the lifting mechanism includes a second motor 43, a fixed end of which is fixed to a first bracket plate 44 through a motor bracket 41, and a first bracket collar 40 is provided on the first bracket plate 44, and the first bracket collar 40 is sleeved on the lower horizontal column of the hexagonal prism frame 6; a first rack synchronous pulley 42, which is fixedly sleeved on the free end of the second motor 43, and a second rack synchronous pulley 39, which is rotatably sleeved on the connecting member 32, (it should be noted that the connecting member 32 has a connecting member waist groove 321, and the connecting member waist groove 321 is arranged along the height direction, and the second rack synchronous pulley 39 is rotatably arranged in the connecting member waist groove 321 through the mounting shaft 30);

[0098] The connecting member 32 has a connecting ring 322, which is sleeved on the upper horizontal column 28 of the hexagonal prism frame, and the upper horizontal column 28 of the hexagonal prism frame and the lower horizontal column of the hexagonal prism frame are both located on one of the vertical surfaces of the hexagonal prism, so that the first rack synchronous pulley 42 and the second rack synchronous pulley 39 are located on the vertical surface, and the rack synchronous belt 37 is connected to the first rack synchronous pulley 42 and the second rack synchronous pulley 39 and is arranged in the height direction. The purpose is to mainly drive the second electric The free end of the machine 43 starts to rotate, thereby driving the first rack synchronous pulley 42 to rotate, and under the connection of the rack synchronous belt 37, driving the second rack synchronous pulley 39 to rotate, so that the rack synchronous belt 37 can be operated. Since the detection mechanism including the endoscope camera 25 is installed on the rack synchronous belt 37, the detection mechanism including the endoscope camera 25 can be moved in the height direction, and then the endoscope camera 37 can take pictures of the insulator in the height direction for subsequent detection.

[0099] The detection mechanism also includes an endoscope camera mounting bracket, which is rotatably mounted on the rack timing belt 37 through a connecting block 33 (specifically, a toothed fixing block 35 and a fixing block 36 (the fixing block has no teeth) are screwed together on the rack timing belt 7, and the two surround the rack timing belt 37 and are fixed by screws, while the connecting block 33 is fixed to the fixing block 36 by screws). The fixed end of the endoscope camera 25 is rotatably mounted on the endoscope camera mounting bracket. Specifically, the endoscope camera mounting bracket includes a first mounting bracket. The first mounting bracket 29 is rotatably mounted on the upper surface of the connecting member via a second servo 34. The second mounting bracket 27 is rotatably mounted on the upper surface of the other end of the first mounting bracket 29 via a third servo 38. The endoscope camera 25 is rotatably mounted on the vertical side surface of the second mounting bracket via a fourth servo 26 (primarily, the endoscope camera mounting base 24 is mounted on the free end of the fourth servo 26, and the endoscope camera is mounted on the endoscope camera mounting base 24, with the imaging end of the endoscope camera 25 extending out of the camera mounting base 24).

[0100] More specifically: A second servo 34 is mounted on the lower surface of the connecting block 33, and the free end of the second servo 34 extends in the height direction until it protrudes from the upper surface of the connecting block 33, and the lower surface of one end of the first mounting frame 29 is fixedly sleeved on the portion of the free end of the second servo 34 protruding from the connecting block 33, so that the first mounting frame 29 can rotate horizontally along the upper surface of the connecting block 33; a third servo 38 is mounted on the lower surface of the other end of the first mounting frame 29, and the free end of the third servo 38 extends in the height direction until it protrudes from the upper surface of the first mounting frame 29, and the lower surface of one end of the second mounting frame 27 is fixedly sleeved on the portion of the free end of the third servo 38 protruding from the connecting block 33. The second mounting frame 27 is rotated horizontally along the upper surface of the first mounting frame 29 on a portion of the first mounting frame 29; the second mounting frame 27 has a thickness direction, and a fourth servo 26 is mounted on one vertical side surface of one end of the second mounting frame 27. The free end of the fourth servo 26 extends along the thickness direction until it protrudes from the other vertical side surface of one end of the second mounting frame 27, and the fixing portion of the endoscope camera 25 is fixedly sleeved on the portion of the free end of the fourth servo 26 that protrudes from the other vertical side surface of one end of the second mounting frame 27 by a set screw, so that the endoscope camera 25 can rotate along the vertical side surface of the second mounting frame 27; the main purpose is to have several rotation modes:

[0101] (1) Start the rotation of the second steering gear 34 so that its free end begins to rotate, thereby causing the first mounting bracket 29 to rotate horizontally along the upper surface of the connecting block 33;

[0102] (2) starting the rotation of the third servo 38 so that its free end begins to rotate, thereby causing the second mounting frame 27 to rotate horizontally along the upper surface of the first mounting frame 29;

[0103] (3) starting the rotation of the fourth servo 26 so that its free end begins to rotate, thereby causing the endoscope camera 25 to rotate along the vertical side of the second mounting bracket 27;

[0104] By combining the above three methods, the endoscope camera 25 can perform multi-angle rotational detection relative to the insulator, avoiding areas on the insulator that are not photographed, that is, missed detection, and the shooting angles of the three endoscope cameras 292 can cover the insulator.

[0105] In addition, a stable connecting column 45 is installed on the first bracket plate 44 and the connecting block 33. The stable connecting column 45 extends in the height direction and the opposite direction. The purpose is to ensure the stability of the entire detection module when the detection mechanism moves in the height direction and the opposite direction.

[0106] The climbing robot also includes three positioning strip structures, which are installed on the hexagonal prism frame 6 and arranged in a triangular shape on the hexagonal prism frame 6 and extend in the height direction. Each of the positioning strip mechanisms is located near each of the climbing mechanisms, and the three detection modules are staggered with the three positioning strip structures; specifically: each positioning strip mechanism includes a cylindrical connecting column 31, which extends in the height direction, and its top is connected to the upper horizontal column 28, and its bottom is connected to the lower horizontal column; two positioning adjustment columns, which are arranged parallel in the height direction, and the positioning adjustment column fixed end 19 of each positioning adjustment column is connected to the circumference of the cylindrical connecting column 31, and extends in the opposite direction along the circumference of the cylindrical connecting column 31, and the end of the telescopic end 20 of the positioning adjustment column is connected to the positioning strip mounting plate 23, and the positioning strip mounting plate 23 extends in the height direction, and the positioning strip is fixed on the positioning strip mounting plate 23, and the positioning strip extends along the extension direction of the positioning strip itself; more The body is: a telescopic end chamber is formed inside the telescopic end 20 of the positioning adjustment column, and it extends along the extension direction of the telescopic end 20 of the positioning adjustment column and is open to the end of the telescopic end 20 of the positioning adjustment column. A plug screw 22 (with a diameter of 8 mm) is provided inside the telescopic end chamber. The tip of the plug screw 22 extends out of the opening and is fixed to the positioning rubber strip mounting plate 23. A wire spring 21 is also sleeved on the plug screw 22, and one end of the wire spring 21 is connected to the positioning rubber strip mounting plate 23; the purpose is to utilize the synergistic effect of the wire spring 21 and the positioning adjustment column, that is, the positioning rubber strip mounting plate 23 can squeeze the wire spring 21 or release the wire spring 21, so that the wire spring 21 moves along the extension direction of the plug screw 22 itself, or makes the telescopic end 20 of the positioning adjustment column move relative to the fixed end 19 of the positioning adjustment column relative to the extension direction of the telescopic end 20 of the positioning adjustment column, so that the robot can adapt to insulator strings of different sizes (mainly different diameters).

[0107] like Figure 10-11 As shown, a climbing detection method for a vertical insulator string is provided, wherein the robot described in Example 2 is used to perform climbing detection upward in a height direction, and the method includes the following steps:

[0108] S1 installation robot: Several pairs of claw plates are placed on the upper surface of one of the insulators in the insulator string, and this insulator serves as the starting insulator;

[0109] S2 Robot climbing: After completing step S1, climb as follows:

[0110] S2.1 Move one pair of claw plates synchronously in the height direction, while the other pair of claw plates rests on the starting insulator until they reach the lower surface of the insulator adjacent to the starting insulator. The adjacent insulator serves as the adjacent insulator, and the pair of claw plates then bypasses the adjacent insulator and rests on the upper surface of the adjacent insulator.

[0111] The way one claw plate of a pair of claw plates moves in height is as follows:

[0112] S2.1.1 First, drive the first drive mechanism of the climbing mechanism so that the claw plate of the climbing mechanism rises from its starting insulator in the height direction to the lower surface of the adjacent insulator. Then, drive the second drive mechanism so that the claw plate of the climbing mechanism rotates horizontally relative to the lower surface of the insulator until a first gap exists in the horizontal direction between the claw plate and the lower surface of the insulator.

[0113] S2.1.2 Next, drive the first drive mechanism again to cause the claw plate to continue to rise in the height direction until it reaches the upper surface of the adjacent insulator. Then, drive the second drive mechanism again to cause the claw plate to rotate ±90° relative to the upper surface of the insulator, relative to the horizontal rotation in step S2.1.1, until a second gap exists in the horizontal direction between the claw plate and the upper surface of the insulator.

[0114] S2.1.3 Furthermore, the first mechanism is driven in the reverse direction to move the claw plate in the reverse direction in the height direction until the claw plate contacts the upper surface of the adjacent insulator, that is, the claw plate rests on the upper surface of the adjacent insulator;

[0115] S2.2. Climb the multiple pairs of claw plates in the same manner as in step S2.1. During the climbing, the remaining claw plates remain inactive and rest on the upper surfaces of the corresponding insulators until all claw plates rest on the upper surfaces of adjacent insulators to complete the climbing action between one insulator string.

[0116] S3 robot inspection: During the crawling process, the endoscope camera lens is always facing the direction of the corresponding insulator skirt, and the condition of the insulator skirt is detected in real time during crawling; and after the robot crawls over an insulator string, it first drives the detection module up and down to the predetermined height through the lifting mechanism, and then realizes the multi-angle rotation of the endoscope camera through the detection mechanism to realize the inspection of the corresponding insulator.

[0117] The above-mentioned embodiments are preferred cases of the present invention and are not intended to limit the scope of protection of the present invention. Various deformations or modifications that can be made by ordinary technicians in this field without creative work within the scope of the attached claims are still within the scope of protection of this patent.

Claims

1. A climbing mechanism for a vertical insulator string, characterized in that: include: a ball spline extending in the height direction with the vertically upward direction as the height direction; A spline shaft mounting plate, which is fixedly sleeved on the lower surface of the ball spline; a claw plate movably sleeved on the upper surface of the ball spline via a spline nut sleeve; a rubber gasket fixedly mounted on the lower surface of the claw plate; A first driving mechanism is provided on the spline shaft mounting plate, the driving mechanism being connected to the claw plate and configured to drive the claw plate to move along the height direction on the ball spline; A second driving structure is provided on the spline shaft mounting plate, and the second driving mechanism is connected to the claw plate. When the claw plate moves along the height direction to the vicinity of the insulator, the second driving mechanism is used to drive the claw plate to rotate along its circumferential direction on the ball spline, so that the claw plate bypasses the insulator and continues to move along the height direction.

2. The climbing mechanism according to claim 1, characterized in that: The first driving mechanism includes: The first motor is fixedly mounted on the spline shaft mounting plate through the winding wheel mounting seat, The first winding wheel is fixedly sleeved on the free end of the first motor. A second winding wheel is mounted on top of the ball spline through the first winding wheel seat, The winding line has one end wound around the first winding wheel and the other end passing through the ball spline and the claw plate and wound around the second winding wheel.

3. The climbing mechanism according to claim 1, characterized in that: The second driving mechanism includes: A first steering gear is mounted on the spline shaft mounting plate, The first gear is fixedly sleeved on the free end of the first steering gear, The second gear is rotatably sleeved on the ball spline, and the first gear and the second gear are meshed for transmission.

4. A climbing detection robot, characterized in that: include, A hexagonal prism frame, two pairs of climbing mechanisms according to any one of claims 1 to 3, and three detection modules. Each pair of the climbing mechanisms are symmetrically mounted on the hexagonal frame and arranged in a rectangular shape on the hexagonal frame. The three detection modules are mounted on the hexagonal frame and arranged in a triangular shape on the hexagonal frame. The three detection modules are spaced apart near the three climbing mechanisms.

5. The climbing detection robot according to claim 4, characterized in that: Each of the detection modules includes: A lifting mechanism is provided above the spline shaft mounting plate and is lifted and lowered in the height direction or in the reverse direction; The detection mechanism includes an endoscope camera, which is installed on the lifting unit of the lifting mechanism through a mounting component, and the shooting unit of the endoscope camera corresponds to the insulator.

6. The climbing detection robot according to claim 4, characterized in that: The detection mechanism also includes: An endoscope camera mounting frame is rotatably mounted on the rack synchronous belt via a connecting block, and a fixed end of the endoscope camera is rotatably mounted on the endoscope camera mounting frame.

7. The climbing detection robot according to claim 4, characterized in that: The climbing robot also includes three positioning rubber strip structures, which are installed on the hexagonal prism frame and arranged in a triangular shape on the hexagonal prism frame and extend in the height direction. Each of the positioning rubber strip mechanisms is located near each of the climbing mechanisms.

8. The climbing detection robot according to claim 4, characterized in that: Each of the positioning strip mechanisms includes: A cylindrical connecting column extending in the height direction, with its top connected to the upper horizontal column 28 and its bottom connected to the lower horizontal column; The positioning adjustment column has a fixed end connected to the circumferential surface of the cylindrical connecting column and extends in the opposite direction along the circumferential surface of the cylindrical connecting column. The end of its telescopic end is connected to the positioning rubber strip mounting plate, and the positioning rubber strip mounting plate extends along the height direction. The positioning rubber strip is fixed on the positioning rubber strip mounting plate, and the positioning rubber strip extends along the extension direction of the positioning rubber strip itself.

9. A climbing detection method for a vertical insulator string, using the robot according to any one of claims 4 to 8 to perform climbing detection upward in a height direction, characterized in that: The following steps are involved: S1 installation robot: Several pairs of claw plates are placed on the upper surface of one of the insulators in the insulator string, and this insulator serves as the starting insulator; S2 Robot climbing: After completing step S1, climb as follows: S2.1 Move one pair of claw plates synchronously in the height direction, while the other pair of claw plates rests on the starting insulator until they reach the lower surface of the insulator adjacent to the starting insulator. The adjacent insulator serves as the adjacent insulator, and the pair of claw plates then bypasses the adjacent insulator and rests on the upper surface of the adjacent insulator. S2.

2. Climb the multiple pairs of claw plates in the same manner as in step S2.

1. During the climbing, the remaining claw plates remain inactive and rest on the upper surfaces of the corresponding insulators until all claw plates rest on the upper surfaces of adjacent insulators to complete the climbing action between one insulator string. S3 robot inspection: During the crawling process, the endoscope camera lens is always facing the direction of the corresponding insulator skirt, and the condition of the insulator skirt is detected in real time during crawling; and after the robot crawls over an insulator string, it first drives the detection module up and down to the predetermined height through the lifting mechanism, and then realizes the multi-angle rotation of the endoscope camera through the detection mechanism to realize the inspection of the corresponding insulator.

10. The detection method according to claim 9, characterized in that: In step S2.1, one of the pair of claw plates is moved in the height direction as follows: S2.1.1 First, drive the first drive mechanism of the climbing mechanism so that the claw plate of the climbing mechanism rises from its starting insulator in the height direction to the lower surface of the adjacent insulator. Then, drive the second drive mechanism so that the claw plate of the climbing mechanism rotates horizontally relative to the lower surface of the insulator until a first gap exists in the horizontal direction between the claw plate and the lower surface of the insulator. S2.1.2 Next, drive the first drive mechanism again to cause the claw plate to continue to rise in the height direction until it reaches the upper surface of the adjacent insulator. Then, drive the second drive mechanism again to cause the claw plate to rotate ±90° relative to the upper surface of the insulator, relative to the horizontal rotation in step S2.1.1, until a second gap exists in the horizontal direction between the claw plate and the upper surface of the insulator. S2.1.3 Furthermore, the first mechanism is driven in the reverse direction so that the claw plate moves in the reverse direction along the height direction until the claw plate contacts the upper surface of the adjacent insulator, that is, the claw plate rests on the upper surface of the adjacent insulator.

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