High-voltage cable insulator inspection and maintenance robot based on unmanned aerial vehicle on-line mode

Abstract

The invention discloses a high-voltage cable insulator inspection and maintenance robot based on an unmanned aerial vehicle on-line mode, which belongs to the technical field of robots and comprises a bottom bracket, a four-claw stepping mechanism, a pin plugging and unplugging mechanism, a mechanical arm mechanism, an inferior insulator detection mechanism and a clamp mechanism, the pin inserting and pulling mechanism comprises a centering moving mechanism, a gear rack push-out mechanism, a pin clamping mechanism and a lead screw sliding block lifting mechanism, the bottom support is connected with a four-claw stepping mechanism and a workbench, and the workbench is connected with the pin inserting and pulling mechanism, a mechanical arm mechanism, an inferior insulator detection mechanism and a clamp mechanism. The unmanned aerial vehicle is adopted to convey the robot device to the line, the insulator is detected and replaced through the robot device, and therefore the technical problems that in the prior art, manual high-altitude operation is mostly adopted for detecting and replacing the insulator, consumed time is long, efficiency is low, physical output is large, and the safety risk is high are solved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of robots, in particular to a high-voltage cable insulator inspection and maintenance robot based on an unmanned aerial vehicle online mode. BACKGROUND

[0002] As a core component in a power transmission line, an insulator plays a key role in insulation from the ground and mechanical support of the cable. Therefore, it is necessary to detect the zero value of the insulator in time and replace the low-performance insulator. However, the traditional power-off replacement operation mode of the deteriorated insulator is low in efficiency, and the live replacement operation has a great safety hazard. The traditional manual detection and replacement rely on live-line work, and there are risks such as electric shock and falling. The manual replacement is high in cost and low in efficiency. In addition, most of the current insulator aerial work robots only have one function of detection or replacement, and the detection and replacement need to be completed by different devices, and most of them cannot meet the demand of high towers of the power transmission line.

[0003] Considering the danger of aerial work, the application provides a high-voltage cable insulator inspection and maintenance robot based on an unmanned aerial vehicle online mode, that is, the robot is hung by the unmanned aerial vehicle to the high-voltage cable, and the online function is realized through the corresponding structure design, so as to complete the task of detecting and replacing the insulator. In addition, the application has both detection and replacement functions, can replace the deteriorated insulator immediately after detection, is higher in working efficiency, wider in application range and higher in safety. SUMMARY

[0004] The application aims to provide a high-voltage cable insulator inspection and maintenance robot based on an unmanned aerial vehicle online mode, and solve the technical problems that the current technology adopts manual aerial work to detect and replace the insulator, which is time-consuming, low in efficiency, high in physical consumption and high in safety risk.

[0005] To achieve the above-mentioned purpose, the application provides a high-voltage cable insulator inspection and maintenance robot based on an unmanned aerial vehicle online mode, which comprises a bottom support, a four-claw stepping mechanism, a plug-in pin mechanism, a mechanical arm mechanism, a poor-quality insulator detection mechanism and a clamp mechanism. The plug-in pin mechanism comprises a centering moving mechanism, a gear and rack pushing-out mechanism, a pin clamping mechanism and a screw rod and block lifting mechanism. The bottom support is connected with the four-claw stepping mechanism and a workbench. The workbench is connected with the plug-in pin mechanism, the mechanical arm mechanism, the poor-quality insulator detection mechanism and the clamp mechanism.

[0006] Preferably, the four-claw stepping mechanism comprises a claw body opening and closing mechanism, a two-claw fixed seat and a two-claw moving mechanism. Both the claw body opening and closing mechanisms are fixedly connected to the two-claw fixed seat. The two-claw fixed seat is fixedly connected to opposite edge positions of the bottom support. The two-claw moving mechanism is connected between the two two-claw fixed seats.

[0007] The claw body opening and closing mechanism comprises a fixed plate, a half claw body, a connecting rod one, a motor one, a gear one, a gear two and a swing rod, two arc-shaped limiting grooves and two horizontal limiting grooves are formed in the wall of the fixed plate, the two arc-shaped limiting grooves and the two horizontal limiting grooves are symmetrically arranged along the vertical center line, and one arc-shaped limiting groove and one horizontal limiting groove are located on one side of the vertical center line;

[0008] The motor one is fixedly connected to the fixed plate, the output end of the motor one is drivingly connected with the gear one, two gear twos are rotatably connected to the fixed plate, and the two gear twos are both fixedly connected with a swing rod; the gear one and one gear two are in meshing transmission, the two gear twos are in meshing transmission, and the two gear twos are symmetrically arranged along the vertical center line;

[0009] The connecting rod one is fixedly connected to the bottom of the two half claw bodies, the connecting rod one is provided with a limiting groove, a limiting column two is slidably connected in the limiting groove, the limiting column two is further fixedly connected to one end of the horizontal limiting groove away from the vertical center line, and the end of the connecting rod one is rotatably connected with a limiting column one, and the limiting column one is slidably connected in the arc-shaped limiting groove.

[0010] Preferably, the two-claw moving mechanism comprises a lead screw one, two sliding blocks one and a motor two, the motor two is fixedly connected to the bottom support, the output end of the motor two is drivingly connected with the lead screw one, and the lead screw one is threadedly connected with the two sliding blocks one.

[0011] The two claw body opening and closing mechanisms are fixedly connected to the two-claw fixed seat, and the two claw body opening and closing mechanisms are respectively fixedly connected to the two sliding blocks one.

[0012] Preferably, the middle part of the bottom support is connected with a workbench, the middle part of the workbench is arc-shaped, the horizontal panels on the two sides of the workbench are both connected with plug-in pin mechanisms, the plug-in pin mechanism comprises a centering moving mechanism, a gear and rack pushing mechanism, a pin clamping mechanism, a high-frequency micro-shock impact mechanism and a lead screw and sliding block mechanism, the centering moving mechanism is connected to the horizontal panel of the workbench, the gear and rack pushing mechanism is connected to the centering moving mechanism, the lead screw and sliding block mechanism is connected to the gear and rack pushing mechanism, and the high-frequency micro-shock impact mechanism and the pin clamping mechanism are further connected to the lead screw and sliding block mechanism.

[0013] The centering moving mechanism comprises a motor three, a rotating plate, a pull rod, a positioning sliding block one and a positioning sliding groove one, the motor three is fixedly connected to the horizontal panel of the workbench, the output end of the motor three is in transmission connection with the middle part of the rotating plate, the two ends of the rotating plate are hingedly connected with one end of the pull rod respectively, the other end of the pull rod is hingedly connected with the positioning sliding block one respectively, the positioning sliding block one is slidably connected to the positioning sliding groove one, the extension direction of the two positioning sliding grooves is parallel to the moving direction of the two claw moving mechanisms, and the positioning sliding groove one is fixedly connected to the horizontal panel of the workbench.

[0014] Preferably, a rack and pinion pushing mechanism is connected to the positioning sliding block one, the rack and pinion pushing mechanism comprises a rack, a positioning sliding block two, a positioning sliding groove two, a gear three and a motor four, the positioning sliding groove two and the motor four are fixedly connected to the positioning sliding block one, the positioning sliding block two is slidably connected to the positioning sliding groove two, the positioning sliding block two is arranged at the bottom of the rack, the rack is in mesh transmission with the gear three, and the gear three is in transmission connection with the output end of the motor four.

[0015] Preferably, one end of the rack close to the middle part of the workbench is fixedly connected with a lead screw two, the lead screw two is driven by a motor seven, a sliding block two is threadedly connected to the lead screw two, a pin clamping mechanism and a high-frequency micro-impact mechanism are fixedly connected to one side of the sliding block two on one horizontal panel of the workbench, the pin clamping mechanism is located above the high-frequency micro-impact mechanism, and only the high-frequency micro-impact mechanism is fixedly connected to one side of the sliding block two on another horizontal panel of the workbench.

[0016] The high-frequency micro-impact mechanism comprises an impact carrier, an impact fixed base, an impact drill motor, an impact ball, an impact ring, a connecting column, a movable column, an impact frame and an impact column, the impact carrier is arranged on one side of the sliding block two, the impact carrier is further fixedly connected with the impact drill motor, one end of the impact ball located on the center line is fixedly connected with a column body, and the column body is in transmission connection with the output end of the impact drill motor.

[0017] An annular groove one is arranged on the impact ball, a small ball body is fixedly connected in the annular groove one, an annular groove two is arranged in the impact ring, the small ball body is located in the annular groove two, a connecting column is fixedly connected to the top of the impact ring, the connecting column is inserted into the circular through hole of the movable column, the movable column is rotatably connected to the two sides of the impact frame, one end of the impact frame is slidably connected to the impact fixed base, the impact fixed base is fixedly connected to the impact carrier, and the front end of the impact frame is fixedly connected with the impact column; the annular groove one is obliquely arranged on the impact ball, and the center plane where the annular groove one is located passes through the ball center of the impact ball.

[0018] Preferably, the pin clamping mechanism comprises a pin clamping carrier plate, the pin clamping carrier plate is fixedly connected to the top of the impact frame, a fifth motor is fixedly connected to the pin clamping carrier plate, a pin clamping lead screw is drivingly connected to the output end of the fifth motor, a moving part is threadedly connected to the pin clamping lead screw, the two sides of the moving part are hingedly connected to one end of a first hinged connecting rod, the other end of the first hinged connecting rod is hingedly connected to a clamping connecting rod and a second hinged connecting rod, and the other end of the second hinged connecting rod is hingedly connected to the top of the stand.

[0019] Preferably, the poor insulator detection mechanism comprises a broken insulator camera recognition assembly, a resistance low value and zero value detection probe, a steering wheel three and a U-shaped support two, the steering wheel three is fixedly connected to a horizontal panel of the workbench, the output end of the steering wheel three is drivingly connected with the U-shaped support two, the resistance low value and zero value detection probe is fixedly connected to the U-shaped support two, and the broken insulator camera recognition assembly is fixedly connected to a side wall of the steering wheel three close to the middle of the workbench.

[0020] Preferably, the clamp mechanism comprises a hydraulic cylinder, two piston rods are output from the hydraulic cylinder, the two piston rods move towards or away from each other, the distal ends of the two piston rods are fixedly connected to a fixed rod of a telescopic sleeve rod, an end of a movable rod of the telescopic sleeve rod is fixedly connected with an arc-shaped half clamp body, the movable rod is embedded in the inside of the fixed rod, a side wall of the bottom of the fixed rod of the telescopic sleeve rod is fixedly connected with a gas cylinder, a gas rod is output from the gas cylinder, and the distal end of the gas rod is fixedly connected with the arc-shaped half clamp body.

[0021] A clamp rotating assembly is further arranged at the position of the hydraulic cylinder, the clamp rotating assembly comprises a sixth motor, the outer surface of the hydraulic cylinder is circular, a bearing support is rotatably connected to the outer surface of the hydraulic cylinder, a fifth gear is fixedly connected to the outer surface of the hydraulic cylinder, the sixth motor is fixedly connected to a horizontal panel of the workbench, the output end of the sixth motor is drivingly connected with a fourth gear, and the fourth gear is engaged with the fifth gear.

[0022] Preferably, the mechanical arm mechanism comprises a base, a steering wheel one, a U-shaped support one, and a steering wheel two, two mechanical arm mechanisms are arranged on the workbench, the base is fixedly connected to the horizontal surface of the workbench, the steering wheel one is fixedly connected to the base, the output end of the steering wheel one is drivingly connected with the U-shaped support one, the upper wall of the U-shaped support one located at the top is fixedly connected with the steering wheel two, the output end of the steering wheel two is drivingly connected with one end of a long support, and the other end of the long support is fixedly connected with a gripper carrier plate.

[0023] The clamping carrier plate is L-shaped, a wall body of the clamping device is fixedly connected with an air pump, one end of a clamping connecting rod connected with the air pump is hingedly connected with the air pump, and the other end of the clamping connecting rod is hingedly connected with a clamping connecting rod, and the middle part of the clamping connecting rod is hingedly connected with a wall body of the clamping carrier plate.

[0024] The high-voltage cable insulator inspection and maintenance robot based on the unmanned aerial vehicle online mode has the advantages and positive effects that:

[0025] (1) The robot device is transported by the unmanned aerial vehicle, and detection and replacement are performed by the robot device, so that the labor operation and maintenance cost is reduced;

[0026] (2) The detection and replacement are integrated, and multiple devices are not needed for detection and replacement tasks, so that the insulator maintenance work efficiency is improved;

[0027] (3) The unmanned aerial vehicle is cooperated with hoisting to be online, and is suitable for a hundred-meter tower scene of a power transmission line, and is free from the height limitation of a conventional boom truck;

[0028] (4) The work can be carried out under live line, and economic loss and safety risk caused by power failure are avoided.

[0029] The technical solutions of the present application will be further described in detail below with reference to the drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is a whole structure schematic view of the high-voltage cable insulator inspection and maintenance robot based on the unmanned aerial vehicle online mode of the present application;

[0031] Figure 2 It is an enlarged view of the two-claw moving mechanism of the present application;

[0032] Figure 3 It is a structure schematic view of the claw body opening and closing mechanism of the present application;

[0033] Figure 4 It is a structure schematic view of the claw body opening and closing mechanism of the present application from another perspective;

[0034] Figure 5 It is a structure schematic view of the plug pin structure of the present application;

[0035] Figure 6 It is a connection relationship schematic view of the gear and rack pushing-out mechanism, the pin clamping mechanism and the high-frequency micro-vibration impact mechanism of the present application;

[0036] Figure 7 It is a structure schematic view of the gear and rack pushing-out mechanism of the present application;

[0037] Figure 8 It is a structure schematic view of the pin clamping mechanism of the present application;

[0038] Figure 9 Structure diagram of the pin clamping mechanism of the application;

[0039] Figure 10 Structure diagram of the impact ball machine of the application;

[0040] Figure 11 Structure diagram of the impact ring of the application;

[0041] Figure 12 Structure diagram of the mechanical arm mechanism of the application;

[0042] Figure 13 Structure diagram of the zero-value insulator detection mechanism of the application;

[0043] Figure 14 Structure diagram of the clamp mechanism and clamp rotating assembly of the application.

[0044] Reference signs

[0045] 1, bottom support; 11, hanging rack; 2, four-jaw stepping mechanism; 21, jaw body opening and closing mechanism; 211, fixed plate; 2111, arc-shaped limiting groove; 2112, horizontal limiting groove; 212, half-jaw body; 2121, fixed jaw; 2122, movable jaw;

[0046] 213, connecting rod one; 214, limiting column one; 215, limiting column two; 216, motor one; 217, gear one; 218, gear two; 219, swing rod;

[0047] 22, two-jaw moving mechanism; 221, lead screw one; 222, sliding block one; 223, motor two; 23, two-jaw fixed seat;

[0048] 3, workbench; 4, plug-in pin mechanism; 41, centering moving mechanism; 411, motor three; 412, rotating plate; 413, pull rod; 414, positioning sliding block one; 415, positioning sliding groove one;

[0049] 42, gear and rack pushing-out mechanism; 421, rack; 4211, positioning sliding block two; 422, gear three; 423, motor four;

[0050] 43, pin clamping mechanism; 431, pin clamping carrier plate; 432, motor five; 433, pin clamping lead screw; 434, moving piece; 435, hinged connecting rod one; 436, hinged connecting rod two; 437, clamping connecting rod; 438, stand column;

[0051] 44, high-frequency microseismic impact mechanism; 441, impact load disc; 442, impact fixed seat; 443, impact drill motor; 444, impact ball; 4441, annular groove one; 4442, small ball body; 445, impact ring; 4451, connecting column; 4452, annular groove two; 446, movable column; 4461, circular through hole; 447, impact frame; 448, impact column;

[0052] 45, screw rod two; 46, sliding block two;

[0053] 5, mechanical arm mechanism; 51, base; 52, steering engine one; 53, U-shaped support one; 54, steering engine two; 55, long support; 56, gripper load disc; 57, air pump; 58, gripper connecting rod; 59, clamping connecting rod;

[0054] 6, poor insulator detection mechanism; 61, broken insulator camera recognition assembly; 62, resistance type low value zero value detection probe; 63, steering engine three; 64, U-shaped support two;

[0055] 7, clamp mechanism; 71, hydraulic cylinder barrel; 72, piston rod; 73, telescopic sleeve rod; 74, arc-shaped half clamp body; 75, air cylinder; 76, air rod;

[0056] 8, clamp rotating assembly; 81, gear four; 82, gear five; 83, motor six; 84, bearing support. DETAILED DESCRIPTION

[0057] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product is used, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "arrangement", "installation", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0058] In the present application, unless otherwise defined, all technical and scientific terms used herein have the same meaning as would be commonly understood by one of ordinary skill in the art to which this application belongs. If there is a conflict between the meanings of terms in the specification and those taught or suggested by the patentable subject matter described herein, the meanings in the specification are intended to control. In addition, the terms used herein are for the purpose of describing embodiments of the present application only and are not intended to limit the present application.

[0059] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0060] As shown in Figures 1-14 A high-voltage cable insulator inspection and maintenance robot based on unmanned aerial vehicle online mode, comprising a bottom support 1, a four-claw stepping mechanism 2, a plug pin mechanism 4, a mechanical arm mechanism 5, a poor-quality insulator detection mechanism 6 and a clamp mechanism 7, the plug pin mechanism 4 comprises a centering moving mechanism 41, a gear and rack 421 push-out mechanism, a pin clamping mechanism 43 and a screw rod and sliding block lifting mechanism, the bottom support 1 is connected with the four-claw stepping mechanism 2 and a workbench 3, the workbench 3 is connected with the plug pin mechanism 4, the mechanical arm mechanism 5, the poor-quality insulator detection mechanism 6 and the clamp mechanism 7.

[0061] The four-claw stepping mechanism 2 comprises a claw body opening and closing mechanism 21, a two-claw fixed seat 23 and a two-claw moving mechanism 22, both of the claw body opening and closing mechanisms 21 are fixedly connected to the two-claw fixed seat 23, the two-claw fixed seat 23 is fixedly connected to opposite edge positions of the bottom support 1, and the two-claw moving mechanism 22 is connected between the two two-claw fixed seats 23.

[0062] The claw body opening and closing mechanism 21 comprises a fixed plate 211, a half-claw body 212, a connecting rod 213, a motor 216, a gear 217, a gear 218 and a swing rod 219, two arc-shaped limiting grooves 2111 and two horizontal limiting grooves 2112 are formed in the wall of the fixed plate 211, the two arc-shaped limiting grooves 2111 and the two horizontal limiting grooves 2112 are respectively arranged symmetrically along the vertical center line, and one arc-shaped limiting groove 2111 and one horizontal limiting groove 2112 are located on one side of the vertical center line.

[0063] The motor 216 is fixedly connected to the fixed plate 211, the output end of the motor 216 is drivingly connected with the gear 217, the two gears 218 are respectively rotatably connected to the fixed plate 211, and the two gears 218 are both fixedly connected with the swing rod 219. The gear 217 is in meshing transmission with one gear 218, the two gears 218 are in meshing transmission, and the two gears 218 are arranged symmetrically along the vertical center line.

[0064] The bottom of the two half claw bodies is fixedly connected with a connecting rod one 213, the connecting rod one 213 is provided with a limiting groove, a limiting column two 215 is slidably connected in the limiting groove, the limiting column two 215 is also fixedly connected at one end of the horizontal limiting groove 2112 away from the vertical center line, and the end of the connecting rod one 213 is rotatably connected with a limiting column one 214, and the limiting column one 214 is slidably connected in the arc-shaped limiting groove 2111.

[0065] The two-claw moving mechanism 22 comprises a lead screw one 221, two sliding blocks one 222 and a motor two 223, the motor two 223 is fixedly connected on the bottom support 1, the output end of the motor two 223 is drivingly connected with the lead screw one 221, and the lead screw one 221 is threadedly connected with the two sliding blocks one 222.

[0066] The two-claw opening and closing mechanisms 21 are fixedly connected on the two-claw fixing seat 23, and the two-claw opening and closing mechanisms 21 are respectively fixedly connected on the two sliding blocks one 222.

[0067] The middle part of the bottom support 1 is connected with a workbench 3, the middle part of the workbench 3 is arc-shaped, the horizontal panels on the two sides of the workbench 3 are both connected with plug-in pin mechanisms 4, and the plug-in pin mechanisms 4 comprise a centering moving mechanism 41, a gear and rack pushing mechanism 42, a pin clamping mechanism 43, a high-frequency micro-impact mechanism 44 and a lead screw and sliding block mechanism, the centering moving mechanism 41 is connected on the horizontal panel of the workbench 3, the centering moving mechanism 41 is connected with the gear and rack pushing mechanism 42, the gear and rack pushing mechanism 42 is connected with the lead screw and sliding block mechanism, and the lead screw and sliding block mechanism is further connected with the high-frequency micro-impact mechanism 44 and the pin clamping mechanism 43.

[0068] Specifically, one side of the bottom support 1 is provided with a hanging rack 11, and the hook carried by the unmanned aerial vehicle can hook the hanging rack 11.

[0069] The centering moving mechanism 41 comprises a motor three 411, a rotating plate 412, a pull rod 413, a positioning sliding block one 414 and a positioning sliding groove one 415, the motor three 411 is fixedly connected on the horizontal panel of the workbench 3, the output end of the motor three 411 is drivingly connected with the middle part of the rotating plate 412, the two ends of the rotating plate 412 are respectively hingedly connected with one end of one pull rod 413, the other end of the pull rod 413 is respectively hingedly connected with the positioning sliding block one 414, the positioning sliding block one 414 is slidably connected in the positioning sliding groove one 415, the extension directions of the two positioning sliding grooves one 415 are parallel to the moving directions of the two-claw moving mechanism 22, and the positioning sliding groove one 415 is fixedly connected on the horizontal panel of the workbench 3.

[0070] The positioning slider one 414 is connected with a rack and pinion push-out mechanism 42, which comprises a rack 421, a positioning slider two 4211, a positioning sliding groove two, a gear three 422 and a motor four 423. The positioning sliding groove two and the motor four 423 are fixedly connected to the positioning slider one 414, the positioning slider two 4211 is slidably connected to the positioning sliding groove two, the positioning slider two 4211 is arranged at the bottom of the rack 421, the rack 421 is in meshing transmission with the gear three 422, and the gear three 422 is in transmission connection with the output end of the motor four 423.

[0071] One end of the rack 421 close to the middle of the workbench 3 is fixedly connected with a lead screw two 45 driven by a motor seven. The lead screw two 45 is threadedly connected with a sliding block two 46, one side of the sliding block two 46 on one horizontal panel of the workbench 3 is fixedly connected with a pin clamp mechanism 43 and a high-frequency micro-impact mechanism 44, the pin clamp mechanism 43 is located above the high-frequency micro-impact mechanism 44, and one side of the sliding block two 46 on the other horizontal panel of the workbench 3 is fixedly connected with only the high-frequency micro-impact mechanism 44.

[0072] The high-frequency micro-impact mechanism 44 comprises an impact carrier 441, an impact fixed base 442, an impact drill motor 443, an impact ball 444, an impact ring 445, a connecting column 4451, a movable column 446, an impact frame 447 and an impact column 448. The impact carrier 441 is arranged on one side of the sliding block two 46, and the impact drill motor 443 is further fixedly connected to the impact carrier 441. One end of the impact ball 444 located on the center line is fixedly connected with a column body, and the column body is in transmission connection with the output end of the impact drill motor 443.

[0073] The impact ball 444 is provided with an annular groove one 4441, a small ball body 4442 is fixedly connected in the annular groove one 4441, the impact ring 445 is provided with an annular groove two 4452, the small ball body 4442 is located in the annular groove two 4452, the connecting column 4451 is fixedly connected to the top of the impact ring 445 and is inserted into a circular through hole 4461 of the movable column 446, the movable column 446 is rotatably connected to the two sides of the impact frame 447, one end of the impact frame 447 is slidably connected to the impact fixed base 442, the impact fixed base 442 is fixedly connected to the impact carrier 441, and the front end of the impact frame 447 is fixedly connected with the impact column 448. The annular groove one 4441 is obliquely arranged on the impact ball 444, and a center plane where the annular groove one 4441 is located passes through the ball center of the impact ball 444.

[0074] The pin clamping mechanism 43 comprises a pin clamping carrier plate 431 fixedly connected to the top of the impact frame 447, a motor five 432 fixedly connected to the pin clamping carrier plate 431, a pin clamping lead screw 433 drivingly connected to the output end of the motor five 432, a moving piece 434 threadedly connected with the pin clamping lead screw 433, the two sides of the moving piece 434 hingedly connected with one end of a hinged connecting rod one 435, the other end of the hinged connecting rod one 435 hingedly connected with a clamping connecting rod 437 and a hinged connecting rod two 436, and the other end of the hinged connecting rod two 436 hingedly connected to the top of a vertical column 438.

[0075] The poor insulator detection mechanism 6 comprises a broken insulator camera recognition assembly, a resistance low value and zero value detection probe 62, a steering wheel three 63 and a U-shaped support two 64, the steering wheel three 63 is fixedly connected to a horizontal panel of the workbench 3, the output end of the steering wheel three 63 is drivingly connected with the U-shaped support two 64, the U-shaped support two 64 is fixedly connected with the resistance low value and zero value detection probe 62, and the broken insulator camera recognition assembly is fixedly connected to a side wall of the steering wheel three 63 close to the middle of the workbench 3.

[0076] The clamp mechanism 7 comprises a hydraulic cylinder barrel 71, two piston rods 72 output from the hydraulic cylinder barrel 71, the two piston rods 72 moving towards or away from each other, the distal ends of the two piston rods 72 fixedly connected with a fixed rod of a telescopic sleeve rod 73, the end of a movable rod of the telescopic sleeve rod 73 fixedly connected with an arc-shaped half clamp body 74, the movable rod embedded in the inside of the fixed rod, a gas cylinder 75 fixedly connected to the side wall of the bottom of the fixed rod of the telescopic sleeve rod 73, a gas rod 76 output from the gas cylinder 75, and the distal end of the gas rod 76 fixedly connected with the arc-shaped half clamp body 74.

[0077] The clamp mechanism 7 comprises a hydraulic cylinder barrel 71, two piston rods 72 output from the hydraulic cylinder barrel 71, the two piston rods 72 moving towards or away from each other, the distal ends of the two piston rods 72 fixedly connected with a fixed rod of a telescopic sleeve rod 73, the end of a movable rod of the telescopic sleeve rod 73 fixedly connected with an arc-shaped half clamp body 74, the movable rod embedded in the inside of the fixed rod, a gas cylinder 75 fixedly connected to the side wall of the bottom of the fixed rod of the telescopic sleeve rod 73, a gas rod 76 output from the gas cylinder 75, and the distal end of the gas rod 76 fixedly connected with the arc-shaped half clamp body 74.

[0078] The mechanical arm mechanism 5 comprises a base 51, a steering wheel one 52, a U-shaped support one 53 and a steering wheel two 54, two mechanical arm mechanisms 5 are arranged on the workbench 3, the base 51 is fixedly connected to the horizontal surface of the workbench 3, the base 51 is fixedly connected with the steering wheel one 52, the output end of the steering wheel one 52 is drivingly connected with the U-shaped support one 53, the upper wall body of the U-shaped support one 53 located at the top is fixedly connected with the steering wheel two 54, the output end of the steering wheel two 54 is drivingly connected with one end of a long support 55, and the other end of the long support 55 is fixedly connected with a gripper carrier plate 56.

[0079] The clamping carrier plate 56 is L-shaped, one wall of the clamping carrier plate 56 is fixedly connected with an air pump 57, one end of a clamping connecting rod 58 connected with the air pump 57 is hingedly connected, the other end of the clamping connecting rod 58 is hingedly connected with a clamping connecting rod 59, and the middle part of the clamping connecting rod 59 is hingedly connected with one wall of the clamping carrier plate 56.

[0080] The use process of the application is,

[0081] Step one, the unmanned aerial vehicle carries a hook, the hook hooks the hanger 11, the unmanned aerial vehicle takes off to move the device as a whole to the high-voltage cable position, and the high-voltage cable is located in the four claw bodies, then the four claw bodies are controlled to be closed, then the unmanned aerial vehicle slowly falls and is separated from the hanger 11, the device as a whole is moved under the action of gravity, the claw bodies are upward, and the bottom support 1 is horizontally parallel to the ground, so that the robot device successfully goes online. Specifically, one of the mechanical arm mechanisms of the robot device carries a qualified cable insulator to go online.

[0082] Step two, the two fixed claws 2121 are opened, the two movable claws 2122 are closed and fixed, the poor insulator detection mechanism 6 starts to work, the motor two 223 of the two-claw moving mechanism 22 is started, since the slider one 222 is fixed, the lead screw one 221 can move left and right, so that the bottom support 1 moves a certain distance to the right or to the left.

[0083] Then, the two fixed claws 2121 are closed, and the two movable claws 2122 are opened. The motor two 223 of the two-claw moving mechanism 22 works, so that the movable claw 2122 moves a distance to the right or to the left.

[0084] Then, the two fixed claws 2121 are opened, and the two movable claws 2122 are closed and fixed. The bottom support 1 moves a certain distance to the right or to the left again.

[0085] Then, the two fixed claws 2121 are closed, and the two movable claws 2122 are opened. This is repeated, so that the poor insulator detection mechanism 6 detects the insulators one by one.

[0086] Step three, after detecting the poor insulator, the clamping rotating assembly 8 rotates the arc-shaped half-clamping body 74 from vertical to the side close to the insulator, the hydraulic cylinder barrel 71 controls the two piston rods 72 to shrink towards each other, then the air cylinder 75 starts to control the air rod 76 to elongate, so that the two opposite arc-shaped half-clamping bodies 74 clamp the deteriorated insulator inward.

[0087] Step four, the mobile claw 2122 and fixed claw 2121 are closed and opened alternately, so that the plug pin mechanism 4 is opposite to the deteriorated insulator, the pin clamping mechanism 43 and the high-frequency micro-impact mechanism 44 are controlled by the rack and pinion push-out mechanism 42 to approach the insulator, the height of the pin clamping mechanism 43 and the high-frequency micro-impact mechanism 44 can be adjusted by the lead screw two 45. Then, the pin clamping mechanism 43 is started by the motor five 432 to drive the clamping connecting rod 437 to clamp the pin, and the opposite high-frequency micro-impact mechanism 44 is started by the impact drill motor 443 to drive the pin out, and then the pin is pulled out by the rack and pinion push-out mechanism 42.

[0088] Step five, the mobile claw 2122 and fixed claw 2121 are closed and opened alternately, so that the mechanical arm mechanism 5 is opposite to the deteriorated insulator, and the poor insulator is taken out by the mechanical arm mechanism 5, and the other mechanical arm mechanism 5 carries the qualified mechanical arm to the insulator installation position.

[0089] Then, the mobile claw 2122 and fixed claw 2121 are closed and opened alternately, so that the plug pin mechanism 4 is opposite to the deteriorated insulator again, and the pin is put into the qualified insulator by the pin clamping mechanism 43. Then, the high-frequency micro-impact mechanism 44 on the same side is moved by the lead screw two 45, so as to fix the pin on the qualified insulator.

[0090] Step six, all mechanisms are separated from the insulator, and the unmanned aerial vehicle hooks the hanger 11 again to collect the robot device.

[0091] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application and not to limit them, although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that: it can still modify or equivalently replace the technical solutions of the present application, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present application.

Claims

1. A high-voltage cable insulator inspection and maintenance robot based on drone deployment, characterized in that: The device includes a bottom support, a four-jaw stepping mechanism, a pin insertion and removal mechanism, a robotic arm mechanism, a substandard insulator detection mechanism, and a clamping mechanism. The pin insertion and removal mechanism includes a centering movement mechanism, a gear and rack ejection mechanism, a pin clamping mechanism, and a lead screw and slider lifting mechanism. The bottom support is connected to the four-jaw stepping mechanism and a worktable. The worktable is connected to the pin insertion and removal mechanism, the robotic arm mechanism, the substandard insulator detection mechanism, and the clamping mechanism.

2. The high-voltage cable insulator inspection and maintenance robot based on UAV deployment as described in claim 1, characterized in that: The four-jaw stepping mechanism includes a jaw opening and closing mechanism, a two-jaw fixed base, and a two-jaw moving mechanism. Both jaw opening and closing mechanisms are fixedly connected to the two-jaw fixed base. The two-jaw fixed base is fixedly connected to two opposite edges of the bottom bracket. The two-jaw moving mechanism is connected between the two two-jaw fixed bases. The claw opening and closing mechanism includes a fixed plate, a half claw, a connecting rod, a motor, a gear, a gear, and a swing rod. The wall of the fixed plate has two arc-shaped limiting grooves and two horizontal limiting grooves. The two arc-shaped limiting grooves and two horizontal limiting grooves are symmetrically arranged along the vertical center line. One arc-shaped limiting groove and one horizontal limiting groove are located on one side of the vertical center line. A motor is fixedly connected to the fixed plate. A gear is driven to the output end of the motor. Two gears are rotatably connected to the fixed plate. Each gear is also fixedly connected to a swing rod. The gear one meshes with one gear two and the two gears two mesh with each other. The two gears two are symmetrically arranged along the vertical center line. The bottom of the two semi-claw bodies is fixedly connected to a connecting rod 1. The connecting rod 1 has a limiting groove. The limiting groove is slidably connected to a limiting post 2. The limiting post 2 is also fixedly connected to the end of the horizontal limiting groove away from the vertical center line. The end of the connecting rod 1 is rotatably connected to the limiting post 1. The limiting post 1 is slidably connected in the arc-shaped limiting groove.

3. The high-voltage cable insulator inspection and maintenance robot based on UAV deployment as described in claim 2, characterized in that: The two-jaw moving mechanism includes a lead screw, two sliders, and a motor. The motor is fixedly connected to the bottom bracket. The output end of the motor is driven by the lead screw, and the lead screw is threadedly connected to the two sliders. The two claw opening and closing mechanisms are fixedly connected to the two claw fixing bases, and the two claw opening and closing mechanisms are respectively fixedly connected to the two sliders.

4. The high-voltage cable insulator inspection and maintenance robot based on UAV deployment as described in claim 1, characterized in that: A worktable is connected to the middle of the bottom support. The middle of the worktable is arc-shaped. Insertion and removal pin mechanisms are connected to the horizontal panels on both sides of the worktable. The insertion and removal pin mechanisms include a centering movement mechanism, a gear and rack ejection mechanism, a pin clamping mechanism, a high-frequency micro-vibration impact mechanism, and a lead screw and slider mechanism. The centering movement mechanism is connected to the horizontal panel of the worktable. The gear and rack ejection mechanism is connected to the centering movement mechanism. The lead screw and slider mechanism is connected to the gear and rack ejection mechanism. The high-frequency micro-vibration impact mechanism and the pin clamping mechanism are also connected to the lead screw and slider mechanism. The centering and moving mechanism includes a third motor, a rotating plate, a pull rod, a first positioning slider, and a first positioning groove. The third motor is fixedly connected to the horizontal panel of the worktable. The output end of the third motor is connected to the middle of the rotating plate. The two ends of the rotating plate are respectively hinged to one end of a pull rod, and the other end of the pull rod is respectively hinged to the first positioning slider. The first positioning slider is slidably connected to the first positioning groove. The extension direction of the two first positioning grooves is parallel to the moving direction of the two-jaw moving mechanism. The first positioning groove is fixedly connected to the horizontal panel of the worktable.

5. A high-voltage cable insulator inspection and maintenance robot based on unmanned aerial vehicle (UAV) deployment as described in claim 4, characterized in that: The positioning slider one is connected to a gear and rack ejection mechanism, which includes a rack, a positioning slider two, a positioning groove two, a gear three, and a motor four. The positioning slider one is fixedly connected to the positioning groove two and the motor four. The positioning slider two is slidably connected to the positioning groove two. The positioning slider two is located at the bottom of the rack. The rack meshes with the gear three for transmission. The gear three is connected to the output end of the motor four for transmission.

6. A high-voltage cable insulator inspection and maintenance robot based on unmanned aerial vehicle (UAV) deployment as described in claim 5, characterized in that: A lead screw 2 is fixedly connected to one end of the rack near the middle of the worktable. The lead screw 2 is driven by a motor 7. A slider 2 is threaded onto the lead screw 2. A pin clamping mechanism and a high-frequency micro-vibration impact mechanism are fixedly connected to one side of the slider 2 on one horizontal panel of the worktable. The pin clamping mechanism is located above the high-frequency micro-vibration impact mechanism. Only the high-frequency micro-vibration impact mechanism is fixedly connected to one side of the slider 2 on the other horizontal panel of the worktable. The high-frequency micro-vibration impact mechanism includes an impact carrier plate, an impact fixing seat, an impact drill motor, an impact ball, an impact ring, a connecting column, a movable column, an impact frame, and an impact column. The impact carrier plate is disposed on one side of the second slider. An impact drill motor is also fixedly connected to the impact carrier plate. A column is fixedly connected to one end of the impact ball located on the center line. The column is drivenly connected to the output end of the impact drill motor. The impact ball has an annular groove one, and a small ball is fixedly connected in the annular groove one. The impact ring has an annular groove two, and the small ball is located in the annular groove two. A connecting post is fixedly connected to the top of the impact ring. The connecting post is inserted into the circular through hole of the movable post. The movable post is rotatably connected to both sides of the impact frame. One end of the impact frame is horizontally slidably connected to the impact fixing seat. The impact fixing seat is fixedly connected to the impact carrier plate. An impact post is fixedly connected to the front end of the impact frame. The annular groove one is inclinedly arranged on the impact ball, and the central plane of the annular groove one passes through the center of the impact ball.

7. A high-voltage cable insulator inspection and maintenance robot based on unmanned aerial vehicle (UAV) deployment as described in claim 6, characterized in that: The pin clamping mechanism includes a pin clamping carrier plate, which is fixedly connected to the top of the impact frame. A motor is fixedly connected to the pin clamping carrier plate, and the output end of the motor is driven by a pin clamping screw. A moving part is threadedly connected to the pin clamping screw. Both sides of the moving part are hinged to one end of a hinged connecting rod. The other end of the hinged connecting rod is hinged to a clamping connecting rod and a hinged connecting rod 2. The other end of the hinged connecting rod 2 is hinged to the top of the column.

8. A high-voltage cable insulator inspection and maintenance robot based on unmanned aerial vehicle (UAV) deployment as described in claim 4, characterized in that: The defective insulator detection mechanism includes a broken insulator camera recognition component, a resistance-type low-value and zero-value detection probe, a servo motor three, and a U-shaped bracket two. The servo motor three is fixedly connected to a horizontal panel of the workbench. The output end of the servo motor three is drivenly connected to the U-shaped bracket two. The resistance-type low-value and zero-value detection probe is fixedly connected to the U-shaped bracket two. The broken insulator camera recognition component is fixedly connected to one side wall of the servo motor three near the middle of the workbench.

9. A high-voltage cable insulator inspection and maintenance robot based on unmanned aerial vehicle (UAV) deployment as described in claim 4, characterized in that: The clamping mechanism includes a hydraulic cylinder with two piston rods that move toward or away from each other. The distal ends of the two piston rods are fixedly connected to the fixed rod of the telescopic sleeve. An arc-shaped semi-clamping body is fixedly connected to the end of the movable rod of the telescopic sleeve. The movable rod is embedded inside the fixed rod. A cylinder is fixedly connected to the bottom side wall of the fixed rod of the telescopic sleeve. The cylinder outputs a pneumatic rod, and the distal end of the pneumatic rod is fixedly connected to the arc-shaped semi-clamping body. A clamping rotating assembly is also provided at the location of the hydraulic cylinder. The clamping rotating assembly includes a motor six. The outer surface of the hydraulic cylinder is circular. A bearing bracket is rotatably connected to the outer surface of the hydraulic cylinder. A gear five is also fixedly connected to the outer surface of the hydraulic cylinder. The motor six is ​​fixedly connected to the horizontal panel of the workbench. A gear four is driven to the output end of the motor six. The gear four meshes with the gear five.

10. A high-voltage cable insulator inspection and maintenance robot based on unmanned aerial vehicle (UAV) deployment as described in claim 4, characterized in that: The robotic arm mechanism includes a base, a first servo motor, a first U-shaped bracket, and a second servo motor. Two robotic arm mechanisms are set on the worktable. The base is fixedly connected to the horizontal surface of the worktable. The first servo motor is fixedly connected to the base. The output end of the first servo motor is drivenly connected to the first U-shaped bracket. The second servo motor is fixedly connected to the upper wall of the first U-shaped bracket located at the top. The output end of the second servo motor is drivenly connected to one end of the long bracket. The other end of the long bracket is fixedly connected to a gripper carrier plate. The holder carrier plate is L-shaped. An air pump is fixedly connected to one wall of the holder. The output end of the air pump is hinged to one end of two holder connecting rods. The other end of the holder connecting rods is hinged to a clamping link. The middle part of the clamping link is hinged to one wall of the holder carrier plate.

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