Insulator detection robot

Abstract

The invention provides an insulator detection robot. The insulator detection robot comprises an arm unfolding frame, two mechanical arm mechanisms, two adjusting assemblies and a zero value detection device. Wherein the extension arm frame extends along a first direction of the arrangement of the insulators. The two mechanical arm mechanisms are sequentially connected to the arm unfolding frame in the first direction, and the two mechanical arm mechanisms can move in the first direction. And the two mechanical arm mechanisms are respectively clamped on the metal connecting sections at the two sides of the insulator to be detected. The two adjusting assemblies are both connected to the arm unfolding frame and connected with the two mechanical arm mechanisms correspondingly, and the two adjusting assemblies can drive the corresponding mechanical arm mechanisms to move in the first direction. The zero value detection device is installed on the arm unfolding frame and located between the two mechanical arm mechanisms. In addition, the zero value detection device can apply preset voltage to the metal connecting section through the mechanical arm mechanism. Through the arrangement, the problem that the surface of the insulator to be detected is possibly damaged in the insulator detection process can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of insulator detection, and in particular to an insulator detection robot. Background Art

[0002] Insulators are a critical electrical component of transmission lines. Because they are exposed outdoors for long periods of time, they can be affected by adverse factors such as lightning, dust, and natural aging. This can lead to a decrease in insulation resistance, seriously impacting the safe operation of transmission lines. Therefore, regular inspections of insulators are necessary to identify possible internal insulation faults or defects.

[0003] To minimize the impact on power users and avoid power outages for maintenance, power operations and maintenance departments are increasingly using robots to perform live insulator inspections. Currently, the most commonly used insulator inspection robots are tracked robots. These robots must climb along the surface of the insulators being tested, which inevitably damages the surface. This is especially true when the insulators are coated with RTV, which can easily cause scratches and peeling, impacting insulator performance.

[0004] Therefore, there is an urgent need for an insulator inspection robot that will not damage the surface of the insulator to be tested during inspection. Summary of the Invention

[0005] The present application provides an insulator inspection robot to solve the problem in the prior art that the insulator inspection robot may damage the surface of the insulator to be inspected during the inspection process.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] The present application provides an insulator inspection robot, comprising: an arm frame, the arm frame extending along a first direction, which is the arrangement direction of the insulators; two robotic arm mechanisms, the two robotic arm mechanisms are sequentially connected to the arm frame along the first direction, and both robotic arm mechanisms can move along the first direction; and the two robotic arm mechanisms can respectively clamp the metal connecting sections on both sides of the insulator to be tested; two adjustment components, the two adjustment components are both connected to the arm frame, the two adjustment components are respectively connected to the two robotic arm mechanisms, and can drive the corresponding robotic arm mechanisms to move along the first direction; a zero-value detection device, the zero-value detection device is installed on the arm frame and is located between the two robotic arm mechanisms; and the zero-value detection device can apply a preset voltage to the metal connecting section through the robotic arm mechanism; wherein the robotic arm mechanism comprises a base, a detection arm and a drive component; the detection arm is rotatably connected to the base, the drive component is installed on the base, and can drive the detection arm to swing back and forth along the first direction.

[0008] As an optional embodiment, a high-voltage output port is provided at one end of the detection arm away from the extension arm frame; the zero-value detection device is connected to two high-voltage cables, which are respectively passed through different detection arms and extend to the high-voltage output ports of the corresponding detection arms; and the live part of the high-voltage cable can be in contact with the metal connecting section to apply a preset voltage to the metal connecting section.

[0009] As an optional embodiment, the driving assembly includes: a first driving motor, which is installed on the base body; a transmission assembly, which is connected between the first driving motor and the detection arm, and the transmission assembly can drive the detection arm to swing back and forth along the first direction.

[0010] As an optional embodiment, the transmission assembly includes: a worm connected to the output end of the first drive motor; a worm wheel meshingly connected to the worm, and the worm wheel is connected to the detection arm.

[0011] As an optional embodiment, the adjustment assembly includes: a driving rod, the length direction of the driving rod is a first direction, and the driving rod is rotatably connected to the bottom of the boom frame; a movable part, the movable part is sleeved on the driving rod; and the movable part is fixedly connected to the base body; a second driving motor is installed on the boom frame, and the second driving motor drives the driving rod to rotate.

[0012] As an optional embodiment, the adjustment component also includes: a first insulating gear, the first insulating gear is connected to the output end of the second drive motor; a second insulating gear, the second insulating gear is connected to the drive rod, and the second insulating gear is meshed with the first insulating gear.

[0013] As an optional embodiment, the base body includes a support base; the detection arm includes a rotating shaft, the rotating shaft passes through the support base, and the axial direction of the rotating shaft is perpendicular to the first direction.

[0014] As an optional embodiment, the detection arm also includes: a swing seat, which passes through the seat body and can be deflected relative to the seat body under the drive of the driving component; an arm body, which is connected to the swing seat; a clamping component, which is connected to the top of the arm body, the clamping component is arranged at the top of the arm body, and the clamping component can be used to clamp or loosen the metal connecting section.

[0015] As an optional embodiment, the detection arm further includes: a lifting assembly, the lifting assembly is connected between the arm body and the swing seat, and the lifting assembly can drive the arm body to rise and fall along the height direction of the detection arm.

[0016] As an optional embodiment, the lifting assembly includes: a lifting sleeve, which is fixedly connected to the swing seat; a lifting rod, which is embedded in the lifting sleeve and can move along the height direction of the detection arm; and the lifting rod is connected to the arm body; a driving structure, which is connected to the lifting rod and can drive the lifting rod to move along the height direction of the detection arm.

[0017] As an optional embodiment, the clamping assembly includes: two claws, which can be clamped on the metal connecting section; a connecting frame, the two sides of which are respectively connected to the two claws, and can drive the two claws to move closer to or away from each other; a driving member, which is connected to the connecting frame and is used to drive the connecting frame to move along the height direction of the detection arm.

[0018] The insulator inspection robot provided in the present application includes an arm frame, two robotic arm mechanisms, two adjustment components and a zero-value detection device. The arm frame extends along a first direction, which is the arrangement direction of the insulators. The two robotic arm mechanisms are sequentially connected to the arm frame along the first direction, and both robotic arm mechanisms can move along the first direction. In addition, the two robotic arm mechanisms are respectively clamped on the metal connecting sections on both sides of the insulator to be tested. The two adjustment components are both connected to the arm frame, and the two adjustment components are respectively connected to the two robotic arm mechanisms and can drive the corresponding robotic arm mechanisms to move along the first direction. The zero-value detection device is installed on the arm frame and is located between the two robotic arm mechanisms. In addition, the zero-value detection device can apply a preset voltage to the metal connecting section through the robotic arm mechanism.

[0019] In addition, the mechanical arm mechanism includes a base, a detection arm and a driving assembly. The detection arm is rotatably connected to the base, and the driving assembly is installed on the base and can drive the detection arm to swing back and forth along a first direction.

[0020] By providing two adjustment assemblies, the movement of the two robotic arm mechanisms in the first direction can be independently adjusted. This allows the two robotic arm mechanisms to alternately move in the first direction to clamp different metal connecting segments, thereby enabling continuous testing of each insulator in conjunction with a zero-value detection device. Furthermore, the distance between the two robotic arm mechanisms can be adjusted using the adjustment assemblies to accommodate testing of different insulator strings.

[0021] At the same time, since the robotic arm mechanism only clamps the metal connection sections on both sides of the insulator to be tested during operation and does not directly contact the surface of the insulator, it can avoid wear on the insulator surface during operation and affect the performance of the insulator after measurement.

[0022] Moreover, when there is sag (bending) locally in the insulator string to be tested, the detection arm can adjust its angle under the drive of the driving component so that the detection arm and the metal connection end fit more closely. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1 A schematic diagram of the insulator inspection robot in use provided in an embodiment of the present application;

[0025] Figure 2 A schematic diagram of the three-dimensional structure of an insulator inspection robot provided in an embodiment of the present application;

[0026] Figure 3 A schematic diagram of the structure of the robotic arm mechanism provided in an embodiment of the present application;

[0027] Figure 4 A schematic diagram of a portion of the internal structure of the robotic arm mechanism provided in an embodiment of the present application;

[0028] Figure 5 A schematic diagram of the structure of the adjustment assembly provided in an embodiment of the present application at an angle;

[0029] Figure 6 A schematic diagram of the structure of the adjustment assembly provided in an embodiment of the present application at another angle;

[0030] Figure 7 A schematic structural diagram of the clamping assembly provided in an embodiment of the present application in a clamped state;

[0031] Figure 8 A schematic structural diagram of the clamping assembly provided in an embodiment of the present application in a released state;

[0032] Figure 9 A schematic diagram of the structure of the lifting assembly provided in an embodiment of the present application in a raised state;

[0033] Figure 10 This is a schematic structural diagram of the lifting assembly provided in an embodiment of the present application in a descending state.

[0034] Description of reference numerals:

[0035] 10-insulator string; 11-insulator; 12-metal connecting section;

[0036] 100- robotic arm mechanism;

[0037] 110 - seat body; 111 - slide groove; 112 - support seat; 113 - through hole; 114 - motor mounting seat;

[0038] 120 - Detection arm; 121 - Swing seat; 122 - Arm body; 123 - Rotating shaft; 124 - Clamping assembly; 1241 - Claw body; 1241a - First claw body; 1241b - Second claw body; 1242 - Connecting frame; 12421 - First connecting rod; 12422 - Second connecting rod; 12423 - Matching rod; 1243 - Driving member; 12431 - Clamping motor; 12432 - Transmission screw; 1244 - Guide sleeve; 125 - Lifting assembly; 1251 - Lifting sleeve; 1252 - Lifting rod; 126 - Motor sleeve; 127 - High-voltage output port;

[0039] 130-driving assembly; 131-first driving motor; 132-transmission assembly; 1321-worm; 1322-worm wheel; 13221-center shaft;

[0040] 200- extension arm frame; 210- guide rail; 220- support ear plate; 230- partition column; 240- cavity;

[0041] 300-adjustment assembly; 310-driving rod; 320-movable part; 330-second driving motor; 340-first insulating gear; 350-second insulating gear;

[0042] 400-Zero value detection device. DETAILED DESCRIPTION

[0043] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0044] In modern power transmission systems, overhead transmission lines are key pathways for energy transmission, and insulators are core components that ensure their safe and stable operation. Insulators not only insulate electrical equipment or conductors, but also provide support for the conductors and isolate the current.

[0045] Transmission line insulators are primarily classified into three types: porcelain, glass, and organic composite. Porcelain insulators are subject to long-term exposure to external factors such as wind disturbances, air pollution, and alternating hot and cold temperatures, which can gradually degrade their insulation and mechanical properties. These factors can cause gaps to form in the porcelain components, leading to cracks in the sheds and ultimately complete failure of the insulator.

[0046] Therefore, regular inspection of porcelain insulators in use to detect possible internal insulation faults or defects is one of the important tasks of the power operation and maintenance department.

[0047] To detect insulation defects within porcelain insulators, the industry typically uses a power outage inspection method, which involves manually performing inspections after the line is powered off. While this method poses no safety risks, it requires a power outage, resulting in low detection efficiency, high economic costs, and the insulator cannot be inspected at any time.

[0048] Grid companies, however, are keen to develop live-testing technologies to minimize the impact on power users. Consequently, power operations and maintenance departments are increasingly utilizing robots for live-testing insulators. Currently, the most commonly used insulator inspection robots are tracked robots. These robots must crawl along the surface of the insulators being tested. During this process, the tracks come into contact with the edges of the insulator sheds, inevitably damaging the surface. This is especially true when the insulators are coated with RTV coating, which can easily cause scratches and detachment, impacting insulator performance.

[0049] Therefore, there is an urgent need for an insulator inspection robot that will not damage the surface of the insulator to be tested during inspection.

[0050] In view of this, the present application provides an insulator inspection robot, comprising an arm frame, two robotic arm mechanisms, two adjustment components and a zero-value detection device. The arm frame extends along a first direction, which is the arrangement direction of the insulators. The two robotic arm mechanisms are sequentially connected to the arm frame along the first direction, and both robotic arm mechanisms can move along the first direction. In addition, the two robotic arm mechanisms are respectively clamped on the metal connecting sections on both sides of the insulator to be tested. The two adjustment components are both connected to the arm frame, and the two adjustment components are respectively connected to the two robotic arm mechanisms, and can drive the corresponding robotic arm mechanisms to move along the first direction. The zero-value detection device is installed on the arm frame and is located between the two robotic arm mechanisms. In addition, the zero-value detection device can apply a preset voltage to the metal connecting section through the robotic arm mechanism.

[0051] In addition, the mechanical arm mechanism includes a base, a detection arm and a driving assembly. The detection arm is rotatably connected to the base, and the driving assembly is installed on the base and can drive the detection arm to swing back and forth along a first direction.

[0052] By providing two adjustment assemblies, the movement of the two robotic arm mechanisms in the first direction can be independently adjusted. This allows the two robotic arm mechanisms to alternately move in the first direction to clamp different metal connecting segments, thereby enabling continuous testing of each insulator in conjunction with a zero-value detection device. Furthermore, the distance between the two robotic arm mechanisms can be adjusted using the adjustment assemblies to accommodate testing of insulators of varying thicknesses.

[0053] At the same time, since the robotic arm mechanism only clamps the metal connection sections on both sides of the insulator to be tested when working, and does not directly contact the surface of the insulator, it can avoid wear on the insulator surface during work and affect the insulator performance.

[0054] Moreover, when there is sag (bending) locally in the insulator string to be tested, the detection arm can adjust the forward and backward swing angle along the first direction under the drive of the driving component, so that the detection arm and the metal connection end fit more closely and the detection accuracy is higher.

[0055] The contents of this application will be described in detail below with reference to the accompanying drawings so that those skilled in the art can understand the contents of this application more clearly and in detail.

[0056] It should be noted that in the embodiment of the present application, as shown in the figure, the X-axis direction in the figure can be represented as the first direction, that is, the length direction of the boom frame. The Y-axis direction can be represented as the width direction of the boom frame. The Z-axis direction can be represented as the height direction of the insulator inspection robot.

[0057] Figure 1 Schematic diagram of the insulator inspection robot in use provided in an embodiment of the present application. Figure 2 This is a schematic diagram of the three-dimensional structure of the insulator detection robot provided in the embodiment of the present application. Figure 1 and Figure 2 As shown, the insulator inspection robot provided in the embodiment of the present application can be used to inspect the insulation performance of each insulator on an insulator string 10. The insulator string 10 includes a plurality of insulators 11 arranged along a first direction, and each insulator 11 is connected by a metal connecting section 12.

[0058] The insulator inspection robot includes an arm support frame 200, two robotic arm mechanisms 100, two adjustment assemblies 300, and a zero-value detection device 400. The arm support frame 200 extends along a first direction (the X-axis). The first direction represents the arrangement direction of the insulators 11. The two robotic arm mechanisms 100 are sequentially connected to the arm support frame 200 along the first direction, and both robotic arm mechanisms 100 are movable in the first direction. The zero-value detection device 400 is mounted on the arm support frame 200 and located between the two robotic arm mechanisms 100. Furthermore, the zero-value detection device 400 provides a preset voltage for insulator 11 inspection. Thus, by adjusting the movement of the robotic arm mechanisms 100 on the arm support frame 200, internal insulation fault detection can be performed on different insulators 11 arranged in the first direction.

[0059] The two mechanical arm mechanisms 100 can respectively clamp the metal connecting sections 12 on both sides of the insulator to be tested. In this way, the zero value detection device 400 can apply a preset voltage to the insulator to be tested through the mechanical arm mechanisms 100 to detect its insulation performance.

[0060] It is understandable that the above-mentioned preset voltage is less than the breakdown voltage of the insulator 11 and higher than the rated voltage of the insulator 11. For example, the preset voltage may be 1.5 times, 2 times, or 3 times the rated voltage, etc., which is not specifically limited here. By measuring the leakage current of the insulator to be tested during the application of the preset voltage, the capacitance value of the insulator 11 can be obtained, and by comparing it with the standard capacitance value, the insulation performance of the insulator 11 can be detected. It should be noted that in this process, the zero value detection device 400 and the robotic arm mechanism 100 are insulated from each other, and the two robotic arm mechanisms 100 are also insulated from each other.

[0061] Both adjustment assemblies 300 are connected to the boom frame 200 and are respectively connected to the two robotic arm mechanisms 100, driving the corresponding robotic arm mechanisms 100 to move in the first direction. By providing two adjustment assemblies 300, the movement of the two robotic arm mechanisms 100 in the first direction can be independently adjusted. Consequently, the alternating movement of the two robotic arm mechanisms 100 in the first direction enables continuous testing of the insulation performance of each insulator 11 in the first direction. Furthermore, the spacing between the two robotic arm mechanisms 100 can be appropriately adjusted based on the thickness of the insulators 11.

[0062] With the above arrangement, since the gripping portion of the robotic arm mechanism 100 is only the metal connecting sections 12 between the insulators 11, and does not contact the surface of the insulators 11, the inspection robot in the embodiment of the present application can not only quickly and safely inspect the performance of the insulators 11 while the grid is energized, but also does not damage the surface of the insulators 11 during the inspection process, thereby avoiding affecting the performance of the insulators 11 after inspection.

[0063] Continue to refer to Figure 2 As shown, the robotic arm mechanism 100 may include a base 110, a detection arm 120, and a drive assembly 130. The detection arm 120 is rotatably connected to the base 110. Furthermore, the detection arm 120 can clamp the metal connecting segments 12 on both sides of the insulator to be tested. The drive assembly 130 is mounted on the base 110 and can drive the detection arm 120 to swing back and forth in a first direction.

[0064] Since the insulator string 10 bears the weight of the conductor as well as external loads such as wind, ice and snow, these loads may cause the insulator string 10 to bend under the action of gravity. Where there is sag, the axes of the front and rear insulators 11 may not be aligned.

[0065] Through the above arrangement, when sag (bending) occurs locally in the insulator string 10 to be tested, the detection arm 120 can adjust its forward and backward swing angle along the first direction under the drive of the drive assembly 130, and adapt to the bent metal connecting section 12 through a small range of swing, so that the detection arm 120 and the metal connecting section 12 can fit tightly together, and the obtained detection result is more accurate.

[0066] The specific structure of the driving assembly 130 is described in detail below.

[0067] Figure 3 A schematic structural diagram of the robotic arm mechanism provided in an embodiment of the present application. Figure 4 This is a schematic diagram of the internal structure of a portion of the robotic arm mechanism provided in the embodiment of the present application. Figure 3 and Figure 4 As shown, the driving assembly 130 includes a first driving motor 131 and a transmission assembly 132 .

[0068] The first drive motor 131 is mounted on the base 110. The transmission assembly 132 is connected between the first drive motor 131 and the detection arm 120, and can drive the detection arm 120 to swing back and forth in a first direction. It is understood that the transmission assembly 132 can be a worm gear structure, or other transmission structure such as a gear set structure, as long as it can achieve the transmission of rotational power between the first drive motor 131 and the detection arm 120.

[0069] In this way, the transmission component 132 can be used to decelerate and increase the torque of the power output by the first drive motor 131. At the same time, through the reasonable arrangement of the transmission component 132, the spatial layout of the insulator detection robot can be more flexible, and the insulator detection robot can be miniaturized and lightweight.

[0070] As another embodiment, without considering the space occupied, the detection arm 120 can also be directly driven by the first drive motor 131 to swing back and forth along the first direction. In this way, the number of transmission structures and parts can be reduced.

[0071] Exemplarily, the transmission assembly 132 may include a worm 1321 and a worm wheel 1322. The worm 1321 is connected to the output end of the first drive motor 131, and the first drive motor 131 can drive the worm 1321 to rotate. The worm wheel 1322 is meshed with the worm 1321, and the worm wheel 1322 is connected to the detection arm 120, so that the worm wheel 1322 can transmit rotational power to the detection arm 120, thereby driving the detection arm 120 to swing back and forth in the first direction.

[0072] Specifically, such as Figure 2As shown, the first drive motor 131 can be vertically mounted on the base body 110 through the motor mounting bracket 114, so that the extension direction of the first drive motor 131 can be arranged in the height direction of the insulator detection robot to reduce the space occupied by the first drive motor 131 on the boom frame 200.

[0073] Through power transmission between the first drive motor 131 and the worm gear 1322, and the coordination between the worm 1321 and the worm gear 1322, the rotational force of the first drive motor 131 in the height direction (Z-axis) is converted into rotational force in a direction perpendicular to the height direction (Y-axis), achieving a 90° staggered axis transmission, allowing the detection arm 120 to swing back and forth in the first direction. This reduces the space occupied by the drive assembly 130 on the base 110 and overcomes the limitations of the first drive motor 131's installation position.

[0074] Continue to refer to Figure 3 and Figure 4 As shown, in some embodiments, the base 110 includes a support base 112. The detection arm 120 can be mounted on the base 110 by being connected to the support base 112. The detection arm 120 can include a rotation shaft 123. The rotation shaft 123 can be inserted through the support base 112, and the axial direction of the rotation shaft 123 is perpendicular to the first direction. In this way, when the drive assembly 130 needs to drive the detection arm 120 to rotate, the driving power can be transmitted to the rotation shaft 123, and the rotation of the rotation shaft 123 can realize the rotation of the detection arm 120.

[0075] Specifically, the worm gear 1322 can drive the central shaft 13221 passing through the worm gear 1322 to rotate, and drive the rotating shaft 123 to rotate through the central shaft 13221. It can be understood that the central shaft 13221 and the rotating shaft 123 are coaxially arranged.

[0076] Exemplarily, the support seats 112 are arranged in pairs and are arranged on opposite sides of the seat body 110 perpendicular to the first direction, that is, on opposite sides in the width direction of the seat body 110. The rotation shaft 123 can be a non-through shaft to avoid affecting the internal structural layout of the detection arm 120. In other words, two rotation shafts 123 can also be provided, and the two rotation shafts 123 are respectively connected to opposite sides of the detection arm 120 perpendicular to the first direction (Y-axis direction). The two rotation shafts 123 correspond one-to-one to the two support seats 112, and the two rotation shafts 123 are respectively rotatably connected to the two support seats 112. In this way, the detection arm 120 can be made to swing back and forth more stably along the first direction.

[0077] It is understandable that the rotating shaft 123 and the supporting seat 112 can be connected via a bearing to achieve relative rotation therebetween.

[0078] As an optional embodiment, the detection arm 120 also includes a swing seat 121, an arm body 122 and a clamping assembly 124. The swing seat 121 can pass through the seat body 110 and can be deflected relative to the seat body 110 under the drive of the driving assembly 130. The arm body 122 is connected to the swing seat 121 and can be driven by the swing seat 121 to deflect together. Specifically, the rotating shaft 123 can be embedded in the swing seat 121 and can drive the swing seat 121 to rotate. The clamping assembly 124 is connected to the top of the arm body 122, that is, the end of the arm body 122 away from the arm frame 200. In addition, the clamping assembly 124 can be used to clamp or loosen the metal connecting section 12.

[0079] In some embodiments, the base body 110 may be provided with a through hole 113, through which the swing base 121 may pass and swing back and forth along the first direction within the through hole 113. It should be noted that to avoid an excessively large tilt angle, the size of the through hole 113 is slightly larger than the outer wall size of the swing base 121.

[0080] The specific structure of the adjustment assembly 300 is described in detail below.

[0081] Figure 5 A schematic diagram of the structure of the adjustment component provided in an embodiment of the present application at an angle. Figure 6 A schematic diagram of the structure of the adjustment component provided in an embodiment of the present application at another angle.

[0082] Reference Figure 5 and Figure 6 As shown, the adjustment assembly 300 includes a drive rod 310, a movable member 320, and a second drive motor 330. The length of the drive rod 310 is oriented in a first direction and is rotatably connected to the bottom of the boom frame 200. The movable member 320 is sleeved on the drive rod 310 and fixedly connected to the base 110. The second drive motor 330 is mounted on the boom frame 200 and can drive the drive rod 310 to rotate.

[0083] Therefore, when the second driving motor 330 drives the driving rod 310 to rotate, the movable member 320 can move along the length direction of the driving rod 310 and further drive the seat body 110 connected thereto to move along the first direction on the boom frame 200 .

[0084] The driving rod 310 may be a screw rod, and the movable member 320 may be connected to the driving rod 310 via a threaded connection, so that the driving rod 310 can drive the movable member 320 to move along the first direction through the cooperative transmission of the threaded screw. In addition, the movable member 320 may be configured as an L-shaped connecting block.

[0085] The adjustment assembly 300 further includes a first insulating gear 340 and a second insulating gear 350. The first insulating gear 340 is connected to the output end of the second drive motor 330. The second insulating gear 350 is connected to the drive rod 310 and meshes with the first insulating gear 340.

[0086] In this way, the second drive motor 330 can drive the first insulating gear 340 to rotate. Through the transmission of the first insulating gear 340 and the second insulating gear 350, the movement of the base body 110 in the first direction can be further precisely controlled. In addition, because the insulator inspection robot of the embodiment of the present application is used in a live environment, the lead screw is made of a conductive material. The provision of the first insulating gear 340 and the second insulating gear 350 can achieve electrical isolation, thereby preventing the lead screw from accidentally contacting a conductive part, which could cause the motor to malfunction or even burn out, thereby improving the safety of the motor operation.

[0087] For example, the second drive motor 330 can be connected to the boom frame 200 via the support lug 220. To save space, the second drive motor 330 extends in the first direction. In this case, the second drive motor 330 and the drive rod 310 are arranged side by side in the height direction.

[0088] Specifically, the second drive motor 330 and the gear assembly structure formed by the first insulating gear 340 and the second insulating gear 350 are respectively disposed on either side of the support lug 220. The gear assembly structure is disposed on the side of the support lug 220 away from the drive rod 310. The first insulating gear 340 and the second insulating gear 350 are disposed side by side along the height direction of the support lug 220, thereby enabling power transmission between the drive motor and the drive rod 310.

[0089] Continue to refer to Figure 5 As shown, the boom frame 200 includes two independent cavities 240, which are separated by a partition column 230. The movable parts 320 of the two robotic arm mechanisms 100 are respectively arranged in different cavities 240. Figure 5 Taking the paper direction in FIG. 1 as an example, the base body 110 located on the left side in the first direction can pass through the cavity 240 on the left side, and the base body 110 located on the right side in the first direction can pass through the cavity 240 on the right side.

[0090] A guide rail 210 is also provided on the boom frame 200. The guide rail 210 extends along a first direction, and the base 110 can slide along the guide rail 210. In this way, the base 110 can move along the extending direction of the guide rail 210 without deflection.

[0091] As an implementation method, Figure 6As shown, the guide rail 210 may be raised on the surface of the arm frame 200 facing the insulator 11, that is, raised on the top of the arm frame 200. The bottom of the base 110 may be provided with a slide groove 111 (see Figure 6 As shown), the slide groove 111 can be slidably connected to the guide rail 210.

[0092] As another embodiment, the guide rail 210 may also be a groove recessed in the surface of the boom frame 200. The bottom of the base 110 may be provided with a protrusion, which may be slidably connected to the groove.

[0093] It is understandable that the guide rail 210 can be provided as one or more. When the guide rail 210 is provided as a plurality, all the guide rails 210 are arranged side by side along the width direction of the boom frame 200. The number thereof is not limited here.

[0094] Figure 7 This is a schematic structural diagram of the clamping assembly provided in an embodiment of the present application in a clamped state. Figure 8 This is a schematic structural diagram of the clamping assembly provided in an embodiment of the present application in a released state.

[0095] Reference Figure 7 and Figure 8 As shown, the clamping assembly 124 may include two claws 1241 , a connecting frame 1242 and a driving member 1243 .

[0096] The claws 1241 can be clamped onto the metal connecting section 12. The connecting frame 1242 is connected to the two claws 1241 on both sides, and can drive the two claws 1241 toward or away from each other. The driving member 1243 is connected to the connecting frame 1242 and is used to drive the connecting frame 1242 to move along the height direction of the detection arm 120.

[0097] In this way, under the drive of the driving member 1243, the two claws 1241 can be moved closer to or farther away from each other through the cooperation between the connecting frame 1242 and the claws 1241, so that the detection arm 120 can clamp and release the metal connecting section 12.

[0098] Exemplarily, the connecting frame 1242 may include a first connecting rod 12421, a second connecting rod 12422, and a coupling rod 12423, which are sequentially connected. The two claw bodies 1241 are respectively a first claw body 1241a and a second claw body 1241b. The first connecting rod 12421 is rotatably connected to the first claw body 1241a, and the second connecting rod 12422 is rotatably connected to the second claw body 1241b.

[0099] The driving member 1243 is connected to the matching rod 12423 and can drive the matching rod 12423 to move along the height direction of the detection arm 120, so that the matching rod 12423 can drive the first connecting rod 12421 and the second connecting rod 12422 to move upward together, and realize the opening and closing of the first claw body 1241a and the second claw body 1241b.

[0100] The clamping assembly 124 further includes a guide sleeve 1244, which is fixedly connected to the top end of the arm body 122, and the driving member 1243 is disposed in the guide sleeve 1244. The guide sleeve 1244 can keep the connecting frame 1242 moving in the height direction without deflection.

[0101] The other ends of the first claw body 1241a and the second claw body 1241b can be rotatably connected to the end of the guide sleeve 1244 away from the arm body 122 respectively, so as to achieve the approach and distance between the first claw body 1241a and the second claw body 1241b.

[0102] Exemplarily, the driving member 1243 may include a clamping motor 12431 and a transmission screw 12432. The extension direction of the transmission screw 12432 is the height direction of the detection arm 120. The transmission screw 12432 is connected to the output end of the clamping motor 12431 and can rotate under the drive of the clamping motor 12431. The matching rod 12423 is provided with a threaded hole. When the transmission screw 12432 rotates, the matching rod 12423 can be driven to move up and down along the extension direction of the transmission screw 12432, thereby driving the claw body 1241 to move. The outside of the clamping motor 12431 can be provided with a motor sleeve 126 to protect the motor.

[0103] It is understandable that the driving member 1243 can also adopt other transmission mechanisms that can achieve up and down linear motion, such as the combination of gears and racks, or hydraulic and pneumatic cylinder structures, which are not specifically limited here.

[0104] Figure 9 This is a schematic structural diagram of the lifting assembly provided in an embodiment of the present application in a raised state. Figure 10 This is a schematic structural diagram of the lifting assembly provided in an embodiment of the present application in a descending state.

[0105] Reference Figure 9 and Figure 10 As shown, the detection arm 120 further includes a lifting assembly 125. The lifting assembly 125 is connected between the arm body 122 and the swing seat 121, and the lifting assembly 125 can drive the arm body 122 to rise and fall along the height direction of the detection arm 120.

[0106] By providing a lifting assembly 125, the arm 122 can be raised and lowered along the height direction of the detection arm 120. When the insulator inspection robot needs to move along the first direction to inspect the next insulator 11, the two claws 1241 in one of the robotic arm mechanisms 100 can be controlled to release, and the arm 122 can be lowered to separate from the surface of the metal connecting section 12. When the arm 122 is lowered to a suitable height, the adjustment assembly 300 can be used to adjust the displacement of the robotic arm mechanism 100 in the first direction to correspond to the next insulator 11. It can be understood that the suitable height means that at this time, the clamping assembly 124 at the top of the arm 122 will not contact or interfere with the insulator 11.

[0107] The lifting assembly 125 includes a lifting sleeve 1251 and a lifting rod 1252. The lifting sleeve 1251 is fixedly connected to the swing seat 121. The lifting rod 1252 is embedded in the lifting sleeve 1251 and can move along the height direction of the detection arm 120. The lifting rod 1252 can be extended and retracted relative to the lifting sleeve 1251. In addition, the lifting rod 1252 is connected to the arm body 122. When the lifting rod 1252 moves downward relative to the lifting sleeve 1251, it can drive the arm body 122 to move downward together, thereby realizing the descent of the detection arm 120. Conversely, the detection arm 120 can be raised to be close to the metal connecting section 12, which will not be described in detail here.

[0108] The lifting assembly 125 further includes a driving structure (not shown in the figures), which is connected to the lifting rod 1252 and can drive the lifting rod 1252 to move along the height direction of the detection arm 120 .

[0109] The driving structure can be a lifting motor, and the lifting rod 1252 can be connected to the lifting sleeve 1251 through a thread. Alternatively, the driving structure can also be a hydraulic cylinder or a pneumatic cylinder to drive the lifting rod 1252 to move up and down relative to the lifting sleeve 1251.

[0110] It is understood that in the inspection state, the clamping assemblies 124 of the two robotic arm mechanisms 100 are both clamped to the metal connecting section 12. When the insulator inspection robot needs to be moved, the two claws 1241 of one of the robotic arm mechanisms 100 can be released before the inspection arm 120 is controlled to descend. Alternatively, the two claws 1241 of one of the robotic arm mechanisms 100 can be released simultaneously with the inspection arm 120 being controlled to descend. This is not limited herein.

[0111] When controlling the clamping assembly 124 and the lifting assembly 125 simultaneously, for example, the clamping assembly 124 releases while the lifting assembly 125 controls the inspection arm 120 to descend; or the lifting assembly 125 controls the inspection arm 120 to ascend while the clamping assembly 124 clamps. In this case, the lifting assembly 125 can share the clamping motor 12431 in the clamping assembly 124. The clamping motor 12431 can be equipped with bidirectional output terminals, connected to the lifting rod 1252 and the transmission screw 12432, respectively. This reduces the number of drive devices, improves drive efficiency, and further reduces the weight of the insulator inspection robot.

[0112] Continue to refer to Figure 7 and Figure 8 As shown, as an embodiment, a high-voltage output port 127 may be provided at the end of the detection arm 120 away from the extension arm frame 200. The high-voltage output port 127 may be provided on the side of the guide sleeve 1244 that contacts the metal connecting section 12. Alternatively, the high-voltage output port 127 may be provided on the inner wall surface of the claw body 1241, as long as it can contact the metal connecting section 12, and is not specifically limited herein.

[0113] The zero-value detection device 400 is connected to two high-voltage cables (not shown). The two high-voltage cables can be respectively installed in different detection arms 120 and extend to the high-voltage output ports 127 of the corresponding detection arms 120. In addition, the live parts of the high-voltage cables can contact the metal connecting section 12 to apply a preset voltage to the metal connecting section 12.

[0114] In this way, driven by the detection arm 120 , the two high-voltage cables can contact the metal connecting sections 12 on the adjacent sides of the insulator to be tested, thereby applying high voltage to the insulator to be tested and testing its insulation performance.

[0115] It is understood that the live portion of the high-voltage cable is coated with an insulating layer to insulate the zero-value detection device 400 from the detection arm 120, and the two detection arms 120 from each other. This isolates the current in the live portion, preventing it from being conducted through the cable to other components and causing leakage or short circuits, thereby improving the safety of the robot.

[0116] In some embodiments, two high-voltage cables may extend from opposite sides of the zero-value detection device 400 in the first direction and pass through the detection arms 120 on the corresponding sides. This makes the wiring of the high-voltage cables more reasonable and less likely to get tangled during movement.

[0117] The insulator inspection robot provided by the embodiment of the present application has at least the following technical effects:

[0118] When the insulator inspection robot clamps the insulator string 10, it only spans one insulator 11. Compared with a robot that needs to span two or three insulators 11, only the creepage distance of one insulator 11 is sacrificed during the measurement process, and the impact on the insulation strength of the insulator string 10 to be tested can be minimized.

[0119] Furthermore, the insulator inspection robot does not need to walk along the surface of the insulator being tested, which can damage the surface. It also does not require flipping or rotating to advance, free from working space constraints. The dual robotic arms also significantly reduce the size and weight of the insulator inspection robot.

[0120] In addition, the insulator inspection robot is also provided with a driving component 130 that can fine-tune the angle of the inspection arm 120 , so that when there is sag in the insulator string 10 to be inspected, the robot can also achieve normal clamping by fine-tuning the inspection arm 120 .

[0121] It should be noted that references in this specification to "one embodiment," "an embodiment," "an exemplary embodiment," "some embodiments," and the like indicate that the described embodiment may include a particular feature, structure, or characteristic, but not necessarily every embodiment includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0122] Generally speaking, terms should be understood, at least in part, based on the context in which they are used. For example, as used herein, the term "one or more" can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense, depending at least in part on the context. Similarly, terms such as "a," "an," or "the" can also be understood to convey either singular or plural usage, depending at least in part on the context.

[0123] It should be readily understood that “on,” “above,” and “over” in this application should be interpreted in the broadest manner, such that “on” means not only “directly on something,” but also includes “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above” or “over,” but also includes “above” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0124] Additionally, spatially relative terms, such as "below," "beneath," "beneath," "above," and the like, may be used herein for ease of description to describe the relationship of one element or feature to other elements or features as depicted in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90° or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An insulator inspection robot, characterized in that: include: An extension arm frame, wherein the extension arm frame extends along a first direction, and the first direction is an arrangement direction of the insulators; Two robotic arm mechanisms, the two robotic arm mechanisms are sequentially connected to the arm support along the first direction, and both of the robotic arm mechanisms are movable along the first direction; and the two robotic arm mechanisms can respectively clamp the metal connecting sections on both sides of the insulator to be tested; Two adjustment assemblies, both of which are connected to the boom stand, are respectively connected to the two robotic arm mechanisms, and can drive the corresponding robotic arm mechanisms to move along the first direction; a zero-value detection device, the zero-value detection device being mounted on the boom frame and located between the two robotic arm mechanisms; and the zero-value detection device being capable of applying a preset voltage to the metal connecting section through the robotic arm mechanisms; Wherein, the robotic arm mechanism includes a base, a detection arm and a drive assembly; the detection arm is rotatably connected to the base, and the drive assembly is installed on the base and can drive the detection arm to swing back and forth along the first direction.

2. The insulator inspection robot according to claim 1, characterized in that: A high-voltage output port is provided at one end of the detection arm away from the extension arm frame; The zero-value detection device is connected to two high-voltage cables, which are respectively passed through different detection arms and extend to the high-voltage output ports of the corresponding detection arms; Furthermore, the live portion of the high-voltage cable may be in contact with the metal connecting section to apply a preset voltage to the metal connecting section.

3. The insulator inspection robot according to claim 1, characterized in that: The drive assembly includes: a first drive motor, the first drive motor being mounted on the base; A transmission assembly is connected between the first drive motor and the detection arm, and the transmission assembly can drive the detection arm to swing back and forth along the first direction.

4. The insulator inspection robot according to claim 3, characterized in that: The transmission assembly comprises: a worm connected to an output end of the first drive motor; A worm wheel is meshed with the worm and connected to the detection arm.

5. The insulator inspection robot according to any one of claims 1 to 4, characterized in that: The adjustment component includes: a driving rod, the length direction of the driving rod being in the first direction and being rotatably connected to the bottom of the boom frame; A movable member, the movable member being sleeved on the driving rod; and the movable member being fixedly connected to the base; The second drive motor is installed on the boom frame, and the second drive motor drives the drive rod to rotate.

6. The insulator inspection robot according to claim 5, characterized in that: The adjustment component also includes: a first insulating gear connected to an output end of the second driving motor; The second insulating gear is connected to the driving rod and meshes with the first insulating gear.

7. The insulator inspection robot according to any one of claims 1 to 4, characterized in that: The seat body includes a support seat; The detection arm includes a rotation shaft, the rotation shaft is passed through the support seat, and the axial direction of the rotation shaft is perpendicular to the first direction.

8. The insulator inspection robot according to any one of claims 1 to 4, characterized in that: The detection arm also includes: a swing seat, the swing seat passing through the seat body and capable of deflecting relative to the seat body under the drive of the drive assembly; an arm body connected to the swing seat; A clamping assembly is connected to the top end of the arm body and can be used to clamp or release the metal connecting section.

9. The insulator inspection robot according to claim 8, characterized in that: The detection arm also includes: A lifting component is connected between the arm body and the swing seat, and the lifting component can drive the arm body to rise and fall along the height direction of the detection arm.

10. The insulator inspection robot according to claim 9, characterized in that: The lifting assembly comprises: A lifting sleeve, the lifting sleeve being fixedly connected to the swing seat; A lifting rod, which is embedded in the lifting sleeve and can move along the height direction of the detection arm; and the lifting rod is connected to the arm body; A driving structure is connected to the lifting rod and can drive the lifting rod to move along the height direction of the detection arm.

11. The insulator inspection robot according to claim 8, characterized in that: The clamping assembly comprises: two claws, the two claws being capable of clamping the metal connecting section; A connecting frame, the two sides of which are respectively connected to the two claws and capable of driving the two claws to move closer to or away from each other; A driving member is connected to the connecting frame and is used to drive the connecting frame to move along the height direction of the detection arm.

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