Insulator detection robot and equipotential operation method thereof

Abstract

The invention relates to a detection robot, and discloses an insulator detection robot and an operation method thereof. The insulator detection robot comprises a robot main body, wherein the robot main body comprises a bottom mounting seat and a metal clamping jaw which can be clamped at a metal connecting section of an insulator; a zero value detector and a quick short circuit device are further arranged on the bottom mounting base, the quick short circuit device comprises a double-swing-arm assembly and a single-swing-arm assembly which are arranged on the two sides of the bottom mounting base respectively, and each of the double-swing-arm assembly and the single-swing-arm assembly comprises a metal short circuit rod which can swing to make contact with the metal connecting section of the insulator. According to the invention, air breakdown discharge possibly generated between the robot and the steel foot and the steel cap of the to-be-tested porcelain insulator can be avoided, the robot is in an equipotential operation state in the operation process, no current introduced due to a voltage difference between the robot and the to-be-tested insulator passes through the robot, and the safety of the robot body is protected.

Description

Technical Field

[0001] This invention relates to inspection robots, and more particularly to an insulator inspection robot and its operating method. Background Technology

[0002] Insulators, as one of the three commonly used types of insulators in power transmission lines, have been installed and used on more than 300 million pieces on power transmission lines already in operation in China. During the installation and use of insulators, collisions during transportation and installation, as well as the effects of mechanical and electromagnetic stress after installation, may cause micro-cracks to form inside the insulator. This leads to a decrease in the overall insulation performance of the insulator, resulting in insulators with internal insulation deterioration. The presence of deteriorated insulators reduces the insulation strength of power transmission lines and affects the safe operation of the lines. Therefore, identifying and inspecting deteriorated insulators is one of the important tasks of power transmission line operation and maintenance departments.

[0003] To identify and troubleshoot deteriorated insulators, two main technical approaches are employed: The first is de-energized testing, which involves de-energizing the transmission line and inspecting the insulator strings while they are de-energized (and thus the insulator strings are not energized) to identify and troubleshoot insulators with internal insulation deterioration. The primary equipment used is portable devices such as megohmmeters. The second approach is live-line testing, which involves inspecting deteriorated insulator strings while the transmission line is operating normally (and thus the insulator strings are energized). Currently, power grid companies primarily use the first approach, de-energized testing. However, this method requires a power outage and cannot meet the continuous monitoring and maintenance needs of power grid companies. Therefore, the industry is gradually developing live-line testing technology. Among live-line testing technologies, the most promising approach is undoubtedly the use of insulator inspection robots.

[0004] When power workers perform live-line work, the appropriate method (equipotential work, intermediate potential work, floating potential work, etc.) is a crucial consideration. Similarly, when using insulator robots for live-line insulator inspection, the method chosen is equally important and will directly determine the appropriate insulation configuration and whether the robot should be constructed of metallic or non-metallic materials.

[0005] Existing technologies for insulator inspection robots mainly focus on the design of the robot's body structure. The question of what kind of operation mode the robot should adopt to carry out operations more safely is an urgent problem to be solved. Summary of the Invention

[0006] This invention addresses the question in the prior art regarding the safest operating methods for insulator inspection robots by providing an insulator inspection robot and its equipotential operation method.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: An insulator inspection robot includes a robot body capable of moving in the horizontal direction. The robot body includes a bottom mounting base and two metal grippers, both capable of moving horizontally along the length of the bottom mounting base. The metal grippers can clamp onto the metal connection section of the insulator. The bottom mounting base is also equipped with a zero-value detector and a quick short-circuit device. The two detection output terminals of the zero-value detector are respectively connected to two metal claws to apply a preset voltage to the insulator under test through the metal claws. The quick short-circuit device includes a double-swing arm assembly and a single-swing arm assembly respectively disposed on both sides of the bottom mounting base. Both the double-swing arm assembly and the single-swing arm assembly include a metal short-circuit rod. The lower end of the metal short-circuit rod is a connecting end that is rotatably connected to the bottom mounting base, and the upper end is a free end that can swing to contact the metal connecting section of the insulator. The metal short-circuit rod can move horizontally along the length direction of the bottom mounting base.

[0008] By combining a zero-value detector and a quick short-circuit device, it is possible to avoid air breakdown discharge between the robot and the steel feet and caps of the insulator string, and also to ensure the safety of the robot itself.

[0009] Preferably, both the double swing arm assembly and the single swing arm assembly include a horizontal drive module and a swing drive module. The horizontal drive module includes a first lead screw mounted on the bottom mounting base and arranged along the length direction of the bottom mounting base. A first slider capable of moving along the axial direction of the first lead screw is threaded onto the first lead screw. The swing drive module includes a motor mounting base fixed on the first slider. The motor mounting base is provided with a swing motor for driving the metal shorting rod to swing.

[0010] Preferably, the double swing arm assembly includes two axially parallel metal short rods with the same free end extension direction, and also includes a horizontally arranged rotating rod connected to the output shaft of the swing motor, with the lower ends of the two metal short rods respectively connected to the two ends of the rotating rod.

[0011] Preferably, the single swing arm assembly includes a metal short rod, and the connecting end of the metal short rod is connected to the output shaft of the swing motor.

[0012] Preferably, the bottom mounting base has two side-by-side gripper mounting bases, each capable of moving along the length of the bottom mounting base, and the gripper mounting base is equipped with a lifting mechanism for driving the metal grippers to move in the vertical direction.

[0013] An equipotential operation method for an insulator inspection robot, which is based on the aforementioned insulator inspection robot.

[0014] As a preferred option, it specifically includes the following steps: Step S1: First, transport the robot body to the underside of the insulator string to be tested. At this time, the robot's gripper and swing arm are not in contact with the metal connection section of the insulator. The insulator string to be tested includes insulators connected in sequence along the detection direction. ,insulator To insulator ; Step S2: The metal shorting rods in the double swing arm assembly swing synchronously, and are respectively connected to the insulators. and insulators The steel cap contacts; Step S3: The two metal jaws clamp the insulator respectively. and insulators A steel cap; Step S4: The metal shorting rod in the single swing arm assembly swings to the insulator. The steel cap contacts; Step S5: Start the zero-value detector and simultaneously test the insulator between the two metal grippers.

[0015] Preferably, the following steps are also included: Step S6: After the test is completed, the single swing arm assembly detaches from the insulator. A steel cap; Step S7: Detect the metal gripper and insulator behind the moving direction. The steel cap separates, and after separation, it moves horizontally to the insulator. The steel cap is clamped and the insulator is tightened. A steel cap; Step S8: The metal shorting rod in the double swing arm assembly swings away from the insulator synchronously. and insulators A steel cap; Step S9: The metal shorting rods in both the double-swing arm assembly and the single-swing arm assembly move synchronously in the detection forward direction by the distance of one insulator. Step S10: The metal shorting rod in the double swing arm assembly swings synchronously to the insulator. and insulators The steel cap contacts; Step S11: Detect the metal gripper insulator in the forward direction. The steel cap separates, and after separation, it moves horizontally to the insulator. The steel cap is clamped and the insulator is tightened. A steel cap; Step S12: The metal shorting rod in the single swing arm assembly swings to the insulator. The steel cap contacts; Step S13: Start the zero-value detector and simultaneously test the insulator between the two metal jaws; Step S14: After the test is completed, the single swing arm assembly is detached from the insulator. A steel cap; Step S15: Repeat steps S7-S14 until all target insulators on the insulator string have been inspected.

[0016] Preferably, in step S1, the insulator inspection robot is transported from the ground area to the bottom of the porcelain insulator string to be tested by a drone or elevator, keeping the bottom of the metal grippers at least 50cm away from the steel cap of the porcelain insulator sheet to be tested.

[0017] Preferably, step S16 is also included, where the drone or elevator secures the insulator inspection robot, the metal grippers and the quick short-circuit device are separated from the insulator string, and the drone or elevator drives the insulator inspection robot back to the ground area.

[0018] This invention, by adopting the above technical solutions, has significant technical effects: This invention, by equipping an insulator inspection robot with a quick short-circuit device that can connect or disconnect the steel feet and caps of the insulators, enables rapid short-circuiting between the robot and the steel feet and caps of the porcelain insulators under test during robot loading and unloading, as well as rapid short-circuiting between the two porcelain insulators under test during robot operation. This avoids potential air breakdown discharge between the robot and the steel feet and caps of the porcelain insulators under test, and ensures that the robot operates in an equipotential state, eliminating the current flow introduced by the voltage difference between the robot and the insulators under test, thus protecting the safety of the robot itself. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention.

[0020] Figure 2 yes Figure 1 Installation diagram of the medium-speed short-circuit device.

[0021] Figure 3 yes Figure 1 A schematic diagram of the structure of the bottom mounting base.

[0022] Figure 4 yes Figure 1 A schematic diagram of the structure of the metal gripper.

[0023] Figure 5 yes Figure 4 Schematic diagram of the metal gripper in the open state.

[0024] Figure 6This is a schematic diagram of the robot detection status in step S5 of embodiment 2 of the present invention.

[0025] Figure 7 This is a schematic diagram of the movement of the single swing arm assembly in step S4 of embodiment 2 of the present invention.

[0026] Figure 8 This is a schematic diagram of the state after the metal grippers separate the steel cap and move it in step S7 of embodiment 2 of the present invention.

[0027] Figure 9 This is a schematic diagram of the movement of the double swing arm assembly swinging away from the insulator steel cap in step S8 of embodiment 2 of the present invention.

[0028] Figure 10 This is a schematic diagram of the state after the metal grippers separate the steel cap and move it in step S11 of embodiment 2 of the present invention. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0030] Example 1 This embodiment provides an insulator inspection robot, such as Figures 1-5 As shown, the system includes a robot body 1 capable of moving in the horizontal direction, and a main body base (not shown) for mounting the robot body 1. The robot body 1 is capable of moving horizontally on the main body base.

[0031] The robot body 1 includes a bottom mounting base 101 and two robotic arms 104, both capable of horizontal movement along the length of the bottom mounting base 101. In this embodiment, the bottom mounting base 101 is constructed as a long strip plate, with a through hole in the middle for the robotic arms 104 to move up and down. The ends of the robotic arms 104 are provided with metal grippers 102 that can open and close, which can clamp onto the insulator metal connection section 2. In this embodiment, the insulator metal connection section 2 is an insulator steel cap. The metal gripper 102 and its driving structure in this embodiment include, but are not limited to, the following forms: The metal gripper 102 includes two gripper bodies 108 capable of moving towards or away from each other. When the two gripper bodies 108 move towards each other, they can clamp the insulator steel cap. An arc-shaped connecting rod 109 is hinged to each of the two gripper bodies 108. The bottoms of the two arc-shaped connecting rods 109 are connected by a lead screw slider 110. Both ends of the arc-shaped connecting rods 109 and the lead screw slider 110 are hinged. The gripper also includes a gripper drive lead screw 112 that drives the lead screw slider 110 to move axially, and a gripper drive motor 111 that drives the gripper drive lead screw 112 to rotate. During the clamping process, when the gripper drive lead screw 112 rotates, it drives the lead screw slider 110 to move upward. The lead screw slider 110 drives the two arc-shaped connecting rods 109 to move upward and inward. The two arc-shaped connecting rods 109 drive the two gripper bodies 108 to move towards each other, thereby clamping the steel cap. The opening process is achieved by reversing the movement.

[0032] In this embodiment, a zero-value detector 3 is also provided on the bottom mounting base 101. The two detection output terminals of the zero-value detector are respectively connected to two metal claws to apply a preset voltage to the insulator under test through the metal claws to achieve zero-value detection.

[0033] Specifically, in this embodiment, the zero-value detector 3 is located between two metal jaws 102. It is an impulse high-voltage zero-value detector 3 that can output impulse high voltage of 60kV or more. The zero-value detector 3 can provide a preset voltage for the detection of insulators. Specifically, the preset voltage is applied to the metal connection section 2 of the insulator through the metal jaws 102. By adjusting the movement of the metal jaws 102 on the bottom mounting base 101, the internal insulation fault detection of different insulators arranged in the detection direction can be realized.

[0034] Specifically, the clamping part of the metal gripper 102 is provided with a high voltage output port, and the zero-value detector 3 is connected to two high voltage cables. The two high voltage cables are respectively threaded through different robotic arms 104 and extend to the corresponding high voltage output ports. The energized part of the high voltage cable can contact the insulator metal connection section 2 to apply a preset voltage to the insulator metal connection section 2.

[0035] The robot body 1 also includes a quick-connect device 4, which includes a double swing arm assembly 401 and a single swing arm assembly 402 respectively disposed on both sides of the bottom mounting base 101. Both the double swing arm assembly 401 and the single swing arm assembly 402 include a metal shorting rod 403. The lower end of the metal shorting rod 403 forms a connecting end 404 rotatably connected to the bottom mounting base 101, and the upper end forms a free end 405 that can swing to contact the metal connecting section 2 of the insulator. The metal shorting rod 403 can move horizontally along the length direction of the bottom mounting base 101.

[0036] In this embodiment, two gripper mounting seats 103 are installed on the bottom mounting seat 101, which are arranged side by side and can move along the length direction of the bottom mounting seat 101. The gripper mounting seats 103 are equipped with a lifting mechanism for driving the metal gripper 102 to move in the vertical direction.

[0037] The horizontal movement of the robot body 1, the horizontal movement of the robotic arm 104, and the lifting movement of the robotic arm 104 can all be achieved through a conventional motor screw transmission mechanism, or through other conventional linear motion methods. The specific implementation method given in this embodiment is as follows: A drive motor and a lead screw are mounted on the main body. A lead screw slider is threaded onto the lead screw, and the lead screw slider is fixed to the bottom mounting base 101. The movement of the entire robot body 1 is achieved through the drive motor and the lead screw slider structure. Similarly, the horizontal movement of the robotic arm 104 is achieved by mounting two second drive motors 105 and second lead screws 106 connected to the two second drive motors 105 on the bottom mounting base 101. A second lead screw slider 107 is mounted on the second lead screw 106. The second lead screw slider 107 passes through the bottom mounting base 101 and connects to the gripper mounting base 103. The robotic arm 104 is fixed to the gripper mounting base 103. The lead screw slider passes through a through hole in the bottom mounting base 101. The two drive motors can control the horizontal movement of the two robotic arms 104 individually or synchronously. In addition, slide rails and slider structures can be set between the main body and the bottom mounting base 101, and between the bottom mounting base 101 and the gripper mounting base 103, to increase the stability of the horizontal movement of the robot body 1 and the robotic arm 104.

[0038] The lifting and lowering motion of the robotic arm 104 includes a lead screw fixed to the robotic arm 104 and arranged vertically, and a motor that drives the lead screw to rotate. A lead screw slider is set on the bottom mounting base 101, which is threadedly connected to the lead screw and fixed relative to the bottom mounting base 101. When the motor drives the lead screw to rotate, it can drive the lead screw to move up and down relative to the lead screw slider. The up and down movement of the lead screw will drive the entire robotic arm 104 to move up and down. Of course, the lifting and lowering motion of the robotic arm 104 can also be achieved by conventional drive methods such as hydraulic cylinders, pneumatic cylinders, and electric push rods.

[0039] In this embodiment, both the double swing arm assembly 401 and the single swing arm assembly 402 include a horizontal drive module and a swing drive module. The horizontal drive module includes a first lead screw 406 mounted on the bottom mounting base 101 and arranged along the length direction of the bottom mounting base 101. A first slider 407 capable of moving along the axial direction of the first lead screw 406 is threaded onto the first lead screw 406. The swing drive module includes a motor mounting base 408 fixed on the first slider 407. The motor mounting base 408 is provided with a swing motor 409 for driving the metal short connecting rod 403 to swing.

[0040] The double swing arm assembly 401 includes two axially parallel metal short rods 403 with their free ends 405 extending in the same direction, and a horizontally arranged rotating rod 410 connected to the output shaft of the swing motor 409. The lower ends of the two metal short rods 403 are respectively connected to the two ends of the rotating rod 410. The single swing arm assembly 402 includes one metal short rod 403, and the connecting end 404 of the metal short rod 403 is connected to the output shaft of the swing motor 409.

[0041] In this embodiment, both the bottom mounting base 101 and the gripper mounting base 103 are made of metal. When the robot is transported to the vicinity of the insulator string to be tested, the metal double swing arm of the quick short-circuit device 4 can quickly swing to the steel foot or steel cap of the two insulators, thereby avoiding the air breakdown discharge phenomenon that may occur between the robot and the steel foot or steel cap of the insulator string. It also allows the robot to quickly enter the equipotential state, and there is no current flowing through it due to the voltage difference between the robot and the insulator to be tested, thus ensuring the safety of the robot body.

[0042] Example 2 This embodiment presents an equipotential operation method for an insulator inspection robot, which is based on an insulator inspection robot described in Embodiment 1, and specifically includes the following steps: Step S1: Using a transport device, transport the porcelain insulator testing robot to the vicinity of the transmission line to be tested and unload it to the ground area. Then, using a drone or elevator, transport the insulator testing robot from the ground area to below the porcelain insulator string to be tested, keeping the bottom of the metal gripper 102 at least 50cm away from the steel cap of the porcelain insulator sheet. At this point, the robot's gripper and swing arm are not in contact with the insulator's metal connection section 2. The insulator string to be tested includes insulators connected sequentially along the testing direction. ,insulator To insulator ; In step S2, the two metal shorting rods 403 in the double swing arm assembly 401 swing synchronously, rapidly contacting the insulators respectively. and insulators The steel caps of the two insulators are made into contact, which allows the two insulators to be quickly short-circuited by the double swing arms. This avoids the air breakdown discharge phenomenon that may occur between the robot gripper and the steel feet and steel caps of the porcelain insulators under test. At the same time, the entire robot quickly enters an equipotential state, with no voltage difference between the two ends of the robot. Therefore, it does not have to bear the current generated by the voltage difference, and there is no risk of insulation breakdown, ensuring the safety of the robot body. Step S3: The two metal jaws 102 clamp the insulator respectively. and insulators The steel cap is attached, and at this time, the two metal grippers 102 are respectively located at both ends of the bottom mounting base 101; during the clamping process, the robotic arm 104 first controls the metal grippers 102 to rise and approach the insulator respectively. and insulators The steel cap of the insulator is then clamped by the metal gripper 102. After the drone unloads the robot, it flies away from the insulator string. Step S4: The metal shorting rod 403 in the single swing arm assembly 402 swings to the insulator. The steel cap contacts, such as Figure 7 As shown; Step S5: Start the zero-value detector 3 to simultaneously test the insulator between the two metal grippers 102. Figure 6 As shown.

[0043] Step S6: After the test is completed, the single swing arm assembly 402 is detached from the insulator. A steel cap; Step S7, as follows Figure 8 As shown, the metal gripper 102 behind the insulator in the forward direction is detected. The steel cap separates, and after separation, it moves horizontally to the insulator. The steel cap is clamped and the insulator is tightened. During the separation process, the metal gripper 102 is first released from the steel cap, and then the robotic arm 104 descends, driving the metal gripper 102 to descend. The clamping process is reversed. During the horizontal movement of the metal gripper 102, the end of the bottom mounting base 101 also moves half the distance of the insulator. At this time, the two metal grippers 102 are in the middle of the bottom mounting base 101. Step S8, as follows Figure 9 As shown, the metal shorting rod 403 in the double swing arm assembly 401 swings away from the insulator synchronously. and insulators A steel cap; In step S9, the metal shorting rods 403 in both the double swing arm assembly 401 and the single swing arm assembly 402 move synchronously in the detection forward direction by the distance of one insulator. In step S10, the metal shorting rod 403 in the double swing arm assembly 401 swings synchronously to the insulator. and insulators The steel cap contacts; Step S11, as follows Figure 10 As shown, the insulator with metal gripper 102 in the forward direction is being detected. The steel cap separates, and after separation, it moves horizontally to the insulator. The steel cap is clamped and the insulator is tightened. The steel cap, during the horizontal movement of the metal claw 102, the bottom mounting base 101 moves in the same direction for half the distance of the insulator, and returns to the initial state of the relative position of the metal claw 102 and the bottom mounting base 101, that is, the two metal claws 102 are at both ends of the bottom mounting base 101. Step S12: The metal shorting rod 403 in the single swing arm assembly 402 swings to the insulator. The steel cap contacts; Step S13: Start the zero-value detector 3 to simultaneously test the insulator between the two metal grippers 102; Step S14: After the test is completed, the single swing arm assembly 402 is detached from the insulator. A steel cap; Step S15: Repeat steps S7-S14 until all target insulators on the insulator string have been inspected.

[0044] Step S16: The drone or elevator moves to the vicinity of the robot, and the drone or elevator fixes the insulator inspection robot. The metal gripper 102 and the quick short-circuit device 4 are separated from the insulator string. The drone or elevator drives the insulator inspection robot back to the ground area.

[0045] In this embodiment, when the robot is transported to the vicinity of the insulator string, the double swing arm of the quick short-circuit device 4 on the robot quickly connects to the steel foot and steel cap of the insulator string to be tested before the robot gripper, realizing the quick short-circuit between the robot and the steel foot and steel cap of the porcelain insulator to be tested during the robot's loading and unloading process. Therefore, the air breakdown discharge phenomenon that may occur between the robot gripper and the steel foot and steel cap of the porcelain insulator to be tested is avoided, ensuring the safety of the robot body. On the other hand, during the robot's operation, the double swing arms of the quick short-circuit device 4 are connected to the steel feet and steel caps of the two insulators spanned by the robot's grippers, realizing a quick short circuit between the two porcelain insulators to be tested. Therefore, the robot is in an equipotential state during operation, and no current flows through it due to the voltage difference between the robot and the insulators to be tested, ensuring the safety of the robot body.

[0046] Furthermore, this application employs a bimetallic gripper combined with a double-swing arm and a single-swing arm, enabling the two grippers to work alternately and continuously during operation. The coordinated movements of the double and single swing arms ensure that, whether in the initial state or during alternating operation, both grippers quickly short-circuit the robot to the metal connection segment before clamping it. Simultaneously, it ensures that the two grippers are at the same potential during zero-value detection, providing excellent protection. This robot layout and its operational sequence enable it to work alternately and continuously on the insulator string, resulting in high work efficiency.

[0047] It is readily understood that those skilled in the art can combine, split, or reorganize the embodiments provided in this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0048] In summary, the above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.

Claims

1. An insulator detection robot comprising a robot body (1) capable of moving in a horizontal direction, characterized by, The robot body (1) comprises a bottom mounting base (101) and two metal clamping jaws (102) capable of moving horizontally along the length direction of the bottom mounting base (101), and the metal clamping jaws (102) can be clamped to the metal connecting section (2) of the insulator; The bottom mounting base (101) is further provided with a zero value detector (3) and a rapid short circuit device (4), two detection output ends of the zero value detector are connected with the two metal clamping jaws respectively to apply a preset voltage to the insulator to be detected through the metal clamping jaws; The rapid short circuit device (4) comprises a double swing arm assembly (401) and a single swing arm assembly (402) arranged on both sides of the bottom mounting base (101) respectively, the double swing arm assembly (401) and the single swing arm assembly (402) each comprise a metal short circuit rod (403), the lower end of the metal short circuit rod (403) constitutes a connecting end (404) rotatably connected to the bottom mounting base (101), and the upper end constitutes a free end (405) capable of swinging to contact the metal connecting section (2) of the insulator, and the metal short circuit rod (403) is capable of moving horizontally along the length direction of the bottom mounting base (101).

2. The insulator detection robot according to claim 1, characterized in that: The double swing arm assembly (401) and the single swing arm assembly (402) each comprise a horizontal drive module and a swing drive module, the horizontal drive module comprises a first screw rod (406) arranged on the bottom mounting base (101) and along the length direction of the bottom mounting base (101), a first sliding block (407) capable of moving axially along the first screw rod (406) is threadedly connected to the first screw rod (406), and the swing drive module comprises a motor fixing seat (408) fixed on the first sliding block (407), and a swing motor (409) for driving the metal short circuit rod (403) to swing is arranged on the motor fixing seat (408).

3. The insulator detection robot according to claim 2, characterized in that: The double swing arm assembly (401) comprises two metal short circuit rods (403) which are axially parallel and have the same extension direction of the free end (405), further comprises a rotating rod (410) connected to the output shaft of the swing motor (409) and arranged horizontally, and the lower ends of the two metal short circuit rods (403) are connected to the two ends of the rotating rod (410) respectively.

4. The insulator detection robot according to claim 2, characterized in that: The single swing arm assembly (402) comprises one metal short circuit rod (403), and the connecting end (404) of the metal short circuit rod (403) is connected to the output shaft of the swing motor (409).

5. The insulator detection robot according to claim 2, characterized in that: The bottom mounting base (101) is provided with two clamping jaw mounting bases (103) arranged side by side and capable of moving along the length direction of the bottom mounting base (101), and the clamping jaw mounting bases (103) are provided with lifting mechanisms for driving the metal clamping jaws (102) to move in the vertical direction.

6. A method for equal potential work of an insulator detection robot, characterized by, The insulator detection robot is based on any one of claims 1-5.

7. The method according to claim 6, wherein the method is characterized by, The method specifically comprises the following steps: Step S1, first transport the robot body (1) to below the insulator string to be measured, at this time the robot's gripper and swing arm are in a state of not contacting the insulator metal connecting section (2), the insulator string to be measured includes in turn connected insulators in the detection forward direction , insulator to insulator ; Step S2, the metal short connecting rod (403) in the double swing arm assembly (401) swings synchronously, and respectively contacts with the insulator and the steel cap of the insulator ​ Step S3, two metal clamping jaws (102) clamp the insulator and the steel cap of the insulator respectively Step S4, the metal shorting rod (403) in the single pendulum arm assembly (402) swings to contact the steel cap of the insulator ​ Step S5, starting the zero value detector (3) to detect the insulator between the two metal clamping jaws (102) at the same time.

8. The equal potential bonding method of the insulator detection robot according to claim 7, further comprising the following steps: ​ Step S6, after detection, the single pendulum arm assembly (402) is separated from the insulator steel cap; Step S7, detecting the separation of the metal clamp jaw (102) from the steel cap of the insulator behind the advancing direction, moving horizontally to the steel cap of the insulator after the separation, and clamping the steel cap of the insulator ; Step S8, the metal short connecting rod (403) in the double swing arm assembly (401) swings away from the insulator synchronously and the steel cap of the insulator ​ Step S9, the metal shorting rod (403) in the double swing arm assembly (401) and the single swing arm assembly (402) are synchronously moved by a distance of an insulator towards the detection advancing direction; Step S10, the metal short connecting rod (403) in the double swing arm assembly (401) swings synchronously to contact with the steel cap of the insulator and the insulator ​ Step S11, detecting the metal clamp jaw (102) insulator in front of the advancing direction separating the steel cap, moving horizontally to the insulator steel cap after separation and clamping the insulator steel cap; Step S12, the metal shorting rod (403) in the single-pendulum arm assembly (402) swings to contact the steel cap of the insulator ​ Step S13, the zero value detector (3) is started, and the insulator between the two metal clamps (102) is simultaneously detected; Step S14, after detection, the single pendulum arm assembly (402) is separated from the insulator steel cap; Step S15, steps S7-S14 are repeated until all target insulators on the insulator string are detected.

9. The method of equalizing a robot for insulator detection according to claim 7, wherein In step S1, the insulator detection robot is transported to below the porcelain insulator string to be detected from the ground area by a drone or an elevator, and the bottom of the metal clamp (102) is kept above 50 cm from the steel cap of the porcelain insulator to be detected.

10. The method of equalizing a robot for insulator detection according to claim 8, wherein Further comprising step S16, the drone or the elevator fixes the insulator detection robot, the metal clamp (102) and the quick shorting device (4) are separated from the insulator string, and the drone or the elevator drives the insulator detection robot to return to the ground area.

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