Suspension insulator operation anti-falling method and hanging buckle device

Abstract

The invention discloses a suspension insulator operation anti-falling method and a hanging buckle device, and relates to the technical field of suspension insulator operation, the suspension insulator operation anti-falling device comprises a frame body, the frame body is provided with a lifting mechanism, a first slide block and a second slide block connected with the lifting mechanism, and a recovery tension spring mechanism connected with the first slide block and the second slide block; when the hanging buckle device is lifted, the lifting mechanism moves upwards to drive the first sliding block and the second sliding block to move to the two ends of the frame body respectively, and meanwhile the tension spring mechanism is stretched and recycled. When the hanging buckle device is arranged on the cross arm, the lifting mechanism is reset, and the first sliding block and the second sliding block are driven to move to the position of the angle steel through contraction of the recovery tension spring mechanism so as to complete buckling; the operation robot is hung on the frame body so as to carry out operation on the suspension insulator. Buckling with double angle steel of a tower is achieved, and the high-altitude operation difficulty and the falling risk are reduced.

Description

Technical Field

[0001] This invention relates to the field of suspension insulator operation technology, and in particular to a method and hook device for preventing falls during suspension insulator operation. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Suspension insulators are key components in power systems, used to support conductors and provide electrical insulation. However, suspension insulators are exposed to the elements for extended periods, making their skirts susceptible to contamination and dirt accumulation. While dry dirt has high resistance, in humid weather (such as fog, dew, and rain), the dirt absorbs moisture, forming a conductive film that dramatically increases leakage current on the insulator surface. The heat generated by the current causes localized evaporation of the moisture, creating a "dry zone," where voltage is concentrated. When the electric field strength is sufficiently high, the dry zone breaks down, generating a localized arc. This arc can continue to develop, eventually bridging the entire insulator string and causing a complete flashover, known as pollution flashover. Its hazards primarily include line tripping and flashover arcing. Pollution flashover is usually regional, but can simultaneously cause multiple lines to trip, and in severe cases, it can lead to grid disconnection and catastrophic large-scale power outages.

[0004] In winter, suspension insulators are prone to icing. Icing not only increases the weight of the insulators, but may also cause them to shift and collide with towers, resulting in insulation failure or structural damage, and even the risk of tower collapse. At the same time, icing also significantly reduces the insulation strength of the insulators, which can easily lead to flashover accidents and seriously threaten the safe and stable operation of the power system.

[0005] Therefore, when the above phenomena occur, a work robot can be used to climb the tower to perform tasks such as cleaning and de-icing. However, due to working at height, there is a risk of falling.

[0006] Current fall protection solutions include single-angle steel fastening, L-shaped fastening, and spring slider fastening, but these are all only for single-angle steel fastening and can only bear force in the vertical direction, and cannot achieve lateral force bearing or lateral attachment of the working robot. Summary of the Invention

[0007] To address the aforementioned issues, this invention proposes a method and hook device for preventing falls during suspended insulator operations. The device completes the hooking with the double angle steel of the tower through an automated process of lifting, resetting, and spring retraction, reducing the difficulty of high-altitude operations and the risk of falls. At the same time, it provides reliable hooking points for robots, ensuring the stability of the robot's operation.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a method for preventing falls during operation of suspension insulators, which utilizes a hook device including a frame body, wherein the frame body is provided with a lifting mechanism, a first slider and a second slider connected to the lifting mechanism, and a retraction spring mechanism respectively connected to the first slider and the second slider. When the hook device is lifted, the lifting mechanism moves upward, causing the first slider and the second slider to move to both ends of the frame body respectively, while simultaneously stretching the retraction spring mechanism; When the hook device is placed on the crossbeam, the lifting mechanism resets, and the first slider and the second slider move to the angle steel position to complete the fastening by the contraction of the retractable tension spring mechanism; The operation of suspension insulators is carried out by mounting a working robot on the frame body.

[0009] As an alternative implementation, the first slider and the second slider move in opposite directions; When the hook-and-loop device is lifted, it moves in opposite directions until it reaches both ends of the frame body. Once the hook-and-loop device is placed on the crossbeam, move it toward each other until it reaches the position of the angle steel.

[0010] As an alternative implementation, the frame body is also equipped with a DC motor. When the hook device is placed on the crossbeam, the DC motor is controlled to push the first slider and the second slider to move towards each other until they move to the position of the angle steel.

[0011] As an alternative implementation, after the working robot is mounted on the frame body, the first slider and the second slider both abut against the angle steel on the corresponding side under the gravity of the working robot.

[0012] As an alternative implementation, an angle sensor installed on the frame body is used to detect the tilt angle of the hook device, and the tilt angle of the robot when it is mounted on the frame body is adjusted according to the tilt angle.

[0013] As an alternative implementation, the tilt angle is adjusted electrically; wherein, the tilt angle is adjusted by controlling the rotation of an angle adjustment motor mounted on the frame body.

[0014] Secondly, the present invention provides a suspension insulator operation anti-fall hook device, comprising: a frame body, a lifting mechanism provided at the middle position of the frame body, a first slider and its corresponding retraction spring mechanism provided on one side of the lifting mechanism, and a second slider and its corresponding retraction spring mechanism provided on the other side. The frame body has guide grooves on both sides, and both ends of each slider are set in the guide grooves. One end of the frame body is also provided with a robot guide plate for mounting the working robot. The lifting mechanism and the two retraction spring mechanisms are used to drive the first slider and the second slider to move in the guide groove in a direction that moves away from or towards each other.

[0015] As an alternative implementation, the first slider and the second slider have the same structure. Each slider includes a vertical plate and a horizontal plate at one end of the vertical plate, thereby forming an L-shaped structure. The vertical plate is provided with a number of connecting holes along the vertical direction for adjusting the fixed position of the horizontal plate on the vertical plate.

[0016] As an alternative implementation, the lifting mechanism includes a housing, a sliding column disposed within the housing, and a rope pulling mechanism connected to one end of the sliding column. The rope pulling mechanism includes a first steel wire rope connecting a first slider and a second steel wire rope connecting a second slider. The upward movement of the sliding column causes the first steel wire rope and the second steel wire rope to move upward. The first wire rope is connected to the top of the first slider through a rolling shaft assembly, so that the upward movement of the first wire rope drives the first slider to move away from the lifting mechanism. The second wire rope is connected to the top of the second slider via a rolling shaft assembly, so that the upward movement of the second wire rope drives the second slider to move away from the lifting mechanism.

[0017] As an alternative implementation, the two retraction spring mechanisms have identical structures, each including a crossbar, a connector on the crossbar, and a spring on the connector. The other end of the spring is connected to the top of the corresponding slider. When the two springs contract, they respectively drive the first slider and the second slider to move towards each other to the target engagement position.

[0018] As an alternative implementation, a DC motor is provided on both sides of the frame body. The output shaft of the DC motor is connected to a push rod. The push rod is aligned with the slider on the corresponding side. The DC motor drives the push rod to push the slider on the corresponding side, so that the first slider and the second slider move in a direction closer to each other.

[0019] As an alternative implementation, the robot guide plate is provided with a number of attachment points for mounting the working robot. The two ends of the robot guide plate are located on both sides of the frame body, and each end of the robot guide plate can rotate around the connection point with the frame body to adjust the tilt angle of the attachment point.

[0020] As an alternative implementation, an angle sensor for measuring the tilt angle of the hook device is provided on one side of the frame body, and an angle adjustment motor is provided on the robot guide plate to adjust the tilt angle of the hook point by controlling the rotation of the angle adjustment motor according to the measured tilt angle.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention innovatively proposes a method for preventing falls during suspended insulator operations, develops a fall-prevention hook device for suspended insulator operations, and designs a hooking technology adapted to the double angle steel of the tower. Through the synergy of double sliders, lifting mechanism, and retractable tension spring, the hook device and the double angle steel are automatically and securely hooked together, and stable protection is achieved during the operation process. This overcomes the limitations of existing technologies that only hook together single angle steel, significantly improves the safety and stability of robots in high-altitude operations, greatly reduces the risk of falls during high-altitude operations, and ensures the stability of the robot's operation process.

[0022] This invention innovatively proposes a hoisting hook device adapted for high-altitude robot operations and an automated robot loading and unloading operation technology. The hooking is completed through an automated process of lifting, resetting, and spring retraction, which solves the problems of complex loading and unloading operations, high difficulty of high-altitude operations, and insufficient flexibility of traditional hooking devices that can only bear vertical force. It enables stable hooking of robots in multiple directions, reduces the difficulty of high-altitude operations and the cost of manual operation, and improves the environmental adaptability of the hook device, the reliability of robot hooking, and the flexibility of lateral operation.

[0023] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the suspension insulator anti-fall hook device provided in an embodiment of the present invention; Figure 2 Side view of the structure of the suspension insulator anti-fall hook device provided in the embodiment of the present invention. Figure 1 ; Figure 3 This is a schematic diagram of the installation of the lifting mechanism and the retraction spring mechanism provided in an embodiment of the present invention; Figure 4 A schematic diagram of the retraction spring mechanism provided in an embodiment of the present invention; Figure 5 Side view of the structure of the suspension insulator anti-fall hook device provided in the embodiment of the present invention. Figure 2 ; Figure 6 This is a schematic diagram of DC motor installation provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the lifting mechanism provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the hook-and-loop device provided in an embodiment of the present invention being lifted to a tower; Figure 9 This is a schematic diagram of the robot mounting provided in an embodiment of the present invention; The components include: 1. Hook device; 2. UAV; 3. Pole tower; 4. Lifting equipment; 5. Operation robot; 6. Angle steel; 7. Frame body; 8. First slider; 9. Second slider; 10. Lifting mechanism; 11. Retraction spring mechanism; 12. Sliding column; 13. Shell; 14. First wire rope; 15. Second wire rope; 16. DC motor; 17. Lifting ring; 18. Robot guide plate; 19. Hook point; 20. Crossbeam guide plate; 21. Tilt sensor; 22. Angle adjustment motor; 23. Guide groove; 24. Side plate; 25. Vertical plate; 26. Horizontal plate; 27. Connecting hole; 28. Lifting ring bracket; 29. ​​Horizontal bar; 30. Connector; 31. Motor bracket; 32. Push rod; 33. Suspension insulator; 34. Rolling shaft; 35. First tension spring; 36. Second tension spring. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0027] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0028] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well. Furthermore, it should be understood that the terms “comprising” and “including”, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0030] As described in the background section, current fall protection solutions are only designed for single angle steel fastening and can only withstand forces in the vertical direction, failing to achieve lateral force application and lateral attachment of the working robot.

[0031] Therefore, this embodiment provides a suspension insulator anti-fall hook device (hereinafter referred to as "hook device") for use on transmission lines, which securely fastens the double angle steel above the tower, and provides a reliable hook point for the working robot when it is working on one side of the insulator, so as to provide stable support for the working robot.

[0032] like Figures 1-2 As shown, it includes: a frame body 7, a lifting mechanism 10 at the middle position of the frame body 7, a first slider 8 and its corresponding retraction spring mechanism 11 on one side of the lifting mechanism 10, and a second slider 9 and its corresponding retraction spring mechanism 11 on the other side. The frame body 7 has guide grooves 23 on both sides, and both ends of each slider are set in the guide grooves 23. One end of the frame body 7 is also provided with a robot guide plate 18 for mounting the working robot 5. The lifting mechanism 10 and the two retraction spring mechanisms 11 are used to drive the first slider 8 and the second slider 9 to move in the guide groove 23 in a direction that moves away from or towards each other.

[0033] In this embodiment, side plates 24 are provided on both sides of the frame body 7. At least one row of guide grooves 23 are provided at both ends of the side plates 24. Each slider has a protrusion at both ends that matches the size of the guide groove 23. The protrusion is placed in the guide groove 23 so that the first slider 8 and the second slider 9 can move along the guide groove 23.

[0034] As another implementation, two rows of guide grooves 23 can be provided at each end of the side plate 24; correspondingly, two matching protrusions are provided at both ends of each slider, and each protrusion is provided in one of the rows of guide grooves 23.

[0035] It is understandable that the guide grooves 23 at both ends of the side plate 24 are symmetrically arranged along the axis of the side plate 24 and have equal lengths, so that the strokes of the first slider 8 and the second slider 9 are consistent.

[0036] In this embodiment, the first slider 8 and the second slider 9 have the same structure, are located on both sides of the lifting mechanism 10 and are symmetrically arranged so that the strokes of the first slider 8 and the second slider 9 are the same.

[0037] Each slider includes a vertical plate 25 and a horizontal plate 26, with one end of the vertical plate 25 and one end of the horizontal plate 26 fixedly connected to form an L-shaped structure.

[0038] Multiple connecting holes 27 are provided on the vertical plate 25 along the vertical direction. By adjusting the fixed position of the horizontal plate 26 on the vertical plate 25, it can adapt to the different sizes of angle steel 6 on the tower 3, thereby improving the versatility and applicability of the hook device 1. Moreover, the double slider design is suitable for the structure of double angle steel on the tower 3.

[0039] Understandably, fixed connections can be made using threaded connections, pin connections, snap-fit ​​connections, etc., as long as they can achieve the assembly of an L-shaped structure. No specific limitations are made here.

[0040] In this embodiment, a lifting mechanism 10 is provided at the upper part of the middle position of the frame body 7. The lifting mechanism 10 includes a housing 13, and a sliding column 12 is provided inside the housing 13. One end of the sliding column 12 is connected to the hanging ring bracket 28, and the other end is connected to the first slider 8 and the second slider 9 respectively through the pull rope mechanism. The rope pulling mechanism includes a first wire rope 14 connecting the first slider 8 and a second wire rope 15 connecting the second slider 9. The up and down movement of the sliding column 12 drives the first wire rope 14 and the second wire rope 15 to move synchronously.

[0041] Among them, such as Figure 3 As shown, the first wire rope 14 is fixedly connected to the top of the first slider 8 by a rolling shaft group consisting of two rolling shafts 34, so that the upward movement of the first wire rope 14 drives the first slider 8 to move away from the lifting mechanism 10. The second wire rope 15 is fixedly connected to the top of the second slider 9 by a rolling shaft assembly consisting of two rolling shafts 34, so that the upward movement of the second wire rope 15 drives the second slider 9 to move away from the lifting mechanism 10.

[0042] Therefore, when the sliding column 12 moves upward, it drives the first wire rope 14 and the second wire rope 15 to move upward synchronously. The first slider 8 and the second slider 9 are arranged on both sides of the lifting mechanism 10. The first wire rope 14 and the second wire rope 15 are connected to the first slider 8 and the second slider 9 in opposite directions, respectively.

[0043] Then, the upward movement of the first wire rope 14 causes the first slider 8 to move away from the lifting mechanism 10, that is, to move towards one end of the frame body 7, and the upward movement of the second wire rope 15 causes the second slider 9 to move away from the lifting mechanism 10, that is, to move towards the other end of the frame body 7.

[0044] At this time, the first slider 8 and the second slider 9 move in opposite directions, moving away from each other, and move to the two ends of the frame body 7 respectively.

[0045] As an alternative implementation, in the rolling shaft assembly, one rolling shaft 34 is located at the bottom end of the lifting mechanism 10, and the other rolling shaft 34 is located at one end of the frame body 7.

[0046] Understandably, the rolling shaft 34 is mounted on the frame body 7. When the sliding column 12 moves, it drives the first steel wire rope 14 and the second steel wire rope 15 to move, and at the same time drives the rolling shaft 34 to rotate. The first steel wire rope 14 and the second steel wire rope 15 move around the rolling shaft 34.

[0047] As an alternative implementation, the housing 13 may be provided with a guide rail for guiding the sliding column 12 to move up and down.

[0048] Understandably, the above connections can be made using threaded connections, pin connections, snap-fit ​​connections, etc., as long as a fixed connection can be achieved; no specific limitations are made here.

[0049] In this embodiment, a lifting ring 17 is connected to the lifting ring bracket 28 for hoisting the hook device 1 using a drone 2. The drone 2 is hung in the lifting ring 17 by the hoisting device 4. After the drone 2 takes off, the sliding column 12 of the lifting mechanism 10 moves upward, and then drives the first slider 8 and the second slider 9 to move to both ends of the frame body 7 respectively through the rope pulling mechanism.

[0050] It is understood that the drone 2 used in this embodiment is a type of aircraft, but other types of aircraft, such as manned fixed-wing aircraft, helicopters, airships, etc., can also be used, as long as they can achieve stable hoisting of the hook device 1, without specific limitations.

[0051] It is understandable that the lifting equipment 4 can use high-strength ropes (such as nylon), carbon fiber telescopic rods or hooks, as long as it can achieve stable lifting of the hook device 1, without specific limitations.

[0052] In this embodiment, two retractable tension spring mechanisms 11 are symmetrically arranged at the middle position of the frame body 7; wherein, the first retractable tension spring mechanism is connected to the first slider 8, and the second retractable tension spring mechanism is connected to the second slider 9; like Figures 3-4 As shown, specifically: The two spring recovery mechanisms 11 have the same structure, both including a crossbar 29, a connecting piece 30 on the crossbar 29, and a spring; The two ends of the crossbar 29 are respectively located on the side plates 24 on both sides of the frame body 7, and the connector 30 is preferably located in the middle of the crossbar 29. One end of the tension spring is located on the connector 30, and the other end is directly connected to the top of the slider; that is, the first tension spring 35 of the first recovery tension spring mechanism is connected to the first slider 8, and the second tension spring 36 of the second recovery tension spring mechanism is connected to the second slider 9. Thus, the extension and retraction of the first tension spring 35 and the second tension spring 36 respectively drive the movement of the first slider 8 and the second slider 9.

[0053] Understandably, the above connections can be made using threaded connections, pin connections, snap-fit ​​connections, etc., as long as a fixed connection can be achieved; no specific limitations are made here.

[0054] It should be noted that the load-bearing capacity (tensile force that can be withstood) of the wire rope in the lifting mechanism 10 is greater than that of the tension spring. For example, the wire rope can bear tens or even hundreds of kilograms, while the tension spring can only bear a maximum of 1 kg.

[0055] Based on this characteristic, the drone 2 is suspended in the lifting ring 17 by the hoisting device 4. After the drone 2 takes off, the hook device 1 is lifted and the sliding column 12 of the lifting mechanism 10 moves upward. At this time, the first steel wire rope 14 and the second steel wire rope 15 move upward synchronously. The overall weight of the hook device 1 far exceeds the maximum bearing capacity of the tension spring. Therefore, while the first steel wire rope 14 and the second steel wire rope 15 drive the first slider 8 and the second slider 9 to move away from the lifting mechanism 10, they also drive the first tension spring 35 and the second tension spring 36 to stretch until the first slider 8 and the second slider 9 move to the end of their stroke and reach both ends of the frame body 7.

[0056] When the hook device 1 reaches the position of the crossarm above the tower 3, the drone 2 places the hook device 1 on the angle iron 6 above the crossarm. The drone 2 flies away. At this time, the tension spring only needs to bear the weight of the slider. As a result, the first tension spring 35 and the second tension spring 36 contract. At the same time, under the action of gravity, the sliding column 12 falls back to its original position, which in turn drives the first slider 8 and the second slider 9 to move towards the lifting mechanism 10 respectively. That is, when they move to the position of the angle iron 6, the hook is engaged.

[0057] The above-mentioned fastening method uses a combination of a retractable tension spring mechanism 11 and gravity self-locking. In another embodiment, motor control can also be used to move the two sliders left and right by rotating the motor in both directions, thereby achieving fastening.

[0058] The purpose of this design is that if there are ice crystals on the angle steel 6, which restrict the retraction of the first slider 8 and the second slider 9, that is, when the hook device 1 is placed on the angle steel 6 above the crossbeam, the tension spring cannot be effectively contracted due to the obstruction of the ice crystals, so the first slider 8 and the second slider 9 cannot move to the position of the angle steel 6.

[0059] Based on this, the motor control method designed in this embodiment is as follows: Figures 5-6 As shown, specifically: On both sides of the frame body 7, there are motor brackets 31 for supporting DC motors 16 on the side plates 24. On each side, the output shaft of DC motor 16 is connected to a push rod 32. The push rod 32 is aligned with the slider on that side. After DC motor 16 is started, it pushes the first slider 8 and the second slider 9 to move towards each other through the push rod 32 until they move to the position of angle steel 6.

[0060] As an alternative implementation, the DC motor 16 can be started remotely. By controlling the forward and reverse rotation of the DC motor 16, the two sliders can be moved to the left or right, that is, the first slider 8 and the second slider 9 move in opposite directions.

[0061] In this embodiment, a robot guide plate 18 for mounting the working robot 5 is also provided at one end of the frame body 7. The robot guide plate 18 is provided with a number of attachment points 19 for mounting the working robot 5. When the hook device 1 is stably hooked onto the crossarm above the tower 3, the drone 2 will load the work robot 5 onto the attachment point 19 to carry out cleaning or de-icing operations on the suspension insulator 33.

[0062] When the robot 5 is attached to the attachment point 19, the first slider 8 and the second slider 9 will come into contact with the angle steel 6 under the action of gravity of the robot 5, and will abut against the angle steel 6, thereby providing stable support.

[0063] As an alternative implementation, the robot guide plate 18 is located on both sides of the frame body 7, and each end of the robot guide plate 18 can rotate around the connection point with the frame body 7 to adjust the tilt angle of the attachment point 19.

[0064] As an alternative implementation, an inclination sensor 21 is provided on one side of the frame body 7 to measure the inclination angle of the hook device 1, so as to characterize the posture of the hook device 1 hooking on the crossbeam, thereby adjusting the inclination angle of the hook point 19 according to the posture.

[0065] As an alternative implementation method, an electric adjustment method is used to adjust the rotation angle of the attachment point 19; wherein, an angle adjustment motor 22 is provided on the robot guide plate 18, and the angle is adjusted by remotely controlling the rotation of the angle adjustment motor 22.

[0066] It is understandable that, in addition to electric adjustment, manual adjustment can also be used to adjust the rotation angle of the attachment point 19, which will not be elaborated here.

[0067] In this embodiment, a crossbeam guide plate 20 is provided below the frame body 7 to guide the hook device 1 to be placed at the crossbeam position above the tower 3.

[0068] In this embodiment, the working principle of the above-mentioned suspension insulator anti-fall hook device includes: (1) The UAV 2 is suspended in the lifting ring 17 by the hoisting device 4. After the UAV 2 takes off, the hook device 1 is lifted, and the sliding column 12 of the lifting mechanism 10 moves upward. At this time, the first steel wire rope 14 and the second steel wire rope 15 move upward synchronously. The first steel wire rope 14 and the second steel wire rope 15 respectively drive the first slider 8 and the second slider 9 to move away from the lifting mechanism 10, while stretching the first tension spring 35 and the second tension spring 36, until the first slider 8 and the second slider 9 move to both ends of the frame body 7, such as Figure 7 As shown.

[0069] (2) When the hook device 1 reaches the position of the crossarm above the tower 3, the drone places the hook device 1 on the angle steel 6 above the crossarm, and the drone 2 flies away. At this time, the first tension spring 35 and the second tension spring 36 contract, and under the action of gravity, the sliding column 12 falls back to its original position, which then drives the first slider 8 and the second slider 9 to move towards the lifting mechanism 10 respectively, that is, when they move to the position of the angle steel 6, the hooking is completed. Figure 8 As shown.

[0070] (3) When the hooking device 1 is stably hooked at the crossarm position above the tower 3, the drone 2 loads the work robot 5 onto the attachment point 19 to perform cleaning or de-icing operations on the suspension insulator 33; at this time, under the gravity of the work robot 5, the first slider 8 and the second slider 9 will also contact the angle steel 6, thereby providing stable support, such as Figure 9 As shown.

[0071] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A method for preventing falling during work on a suspension insulator, characterized by, The hanging device comprises a frame body, a lifting mechanism arranged on the frame body, a first sliding block and a second sliding block connected with the lifting mechanism, and a recovery tension spring mechanism connected with the first sliding block and the second sliding block respectively. When the hanging device is lifted, the first sliding block and the second sliding block are moved to the two ends of the frame body by the lifting mechanism, and the recovery tension spring mechanism is stretched. When the hanging device is placed on the cross arm, the lifting mechanism is reset, and the first sliding block and the second sliding block are moved to the angle steel position by the contraction of the recovery tension spring mechanism to complete the buckling. The working robot is hung on the frame body to work on the suspension insulator.

2. The suspension insulator working anti-falling method according to claim 1, characterized in that: the moving directions of the first sliding block and the second sliding block are opposite; when the hanging device is lifted, the first sliding block and the second sliding block move away from each other until they are moved to the two ends of the frame body; when the hanging device is placed on the cross arm, the first sliding block and the second sliding block move towards each other until they are moved to the angle steel position.

3. The method of claim 1, wherein the method further comprises: The frame body is further provided with a DC motor, and when the hanging device is placed on the cross arm, the DC motor is controlled to push the first sliding block and the second sliding block to move towards each other until they are moved to the angle steel position.

4. The method of claim 1, wherein the method further comprises: After the working robot is hung on the frame body, the first sliding block and the second sliding block are in contact with the corresponding angle steel under the gravity of the working robot.

5. The method of claim 1, wherein the method further comprises: An inclination sensor arranged on the frame body is used to detect the inclination angle of the hanging device, and the inclination angle of the working robot when hung on the frame body is adjusted according to the inclination angle.

6. A method of working on a suspension insulator according to claim 5, characterized in that The inclination angle is adjusted by an electric adjustment mode, and the inclination angle is adjusted by controlling the rotation of an angle adjustment motor arranged on the frame body.

7. A hanging insulator operation anti-falling hanging buckle device, characterized in that, The frame body is provided with a lifting mechanism at the middle position, a first sliding block and a corresponding recovery tension spring mechanism on one side of the lifting mechanism, and a second sliding block and a corresponding recovery tension spring mechanism on the other side of the lifting mechanism. Both sides of the frame body are provided with guide grooves, and both ends of each sliding block are arranged in the guide grooves. One end of the frame body is further provided with a robot guide plate for hanging a working robot. The lifting mechanism and the two recovery tension spring mechanisms are used to drive the first sliding block and the second sliding block to move in the guide grooves towards each other or away from each other. The first sliding block and the second sliding block are consistent in structure, each sliding block comprises a vertical plate and a horizontal plate arranged at one end of the vertical plate, thereby forming an L-shaped structure, and a plurality of connecting holes are arranged on the vertical plate in the vertical direction for adjusting the fixed position of the horizontal plate on the vertical plate.

8. A fall arrest hanging hitching device for working on a suspension insulator according to claim 7, characterized in that The lifting mechanism comprises a shell, a sliding column arranged in the shell, and a pull rope mechanism connected to one end of the sliding column. The pull rope mechanism comprises a first steel wire rope connected to the first sliding block and a second steel wire rope connected to the second sliding block. The upward movement of the sliding column drives the upward movement of the first steel wire rope and the second steel wire rope.

9. The anti-falling hanging device for suspension insulator operation according to claim 7, characterized in that, The first steel wire rope is connected to the top end of the first sliding block through a rolling shaft group, so that the upward movement of the first steel wire rope drives the first sliding block to move away from the lifting mechanism. ​ The second steel wire rope is connected to the top end of the second sliding block through the rolling shaft group, so that the upward movement of the second steel wire rope drives the second sliding block to move away from the lifting mechanism.

10. The anti-falling hanging device for suspension insulator operation according to claim 7, characterized in that, The two recovery spring mechanisms are consistent in structure and each include a cross rod, a connecting piece arranged on the cross rod, and a spring arranged on the connecting piece, with the other end of the spring being connected to the top end of the sliding block on the corresponding side; the contraction of the two springs respectively drives the first sliding block and the second sliding block to move toward each other to the target buckling position.

11. A fall arrest hanging hitching device for working on a suspension insulator according to claim 7, characterized in that, The frame body is provided with a DC motor on each side, the output shaft of the DC motor is connected to a push rod, the push rod is aligned with the sliding block on the corresponding side, and the DC motor drives the push rod to push the sliding block on the corresponding side, so that the first sliding block and the second sliding block move toward each other.

12. A fall arrest hanging hitching device for working on a suspension insulator according to claim 7, characterized in that, The robot guide plate is provided with a plurality of hanging points for mounting the work robot, the two ends of the robot guide plate are arranged on the two sides of the frame body, and each end of the robot guide plate can rotate around the connection with the frame body to adjust the inclination angle of the hanging points.

13. A fall arrest hanging hitching device for working on a suspension insulator according to claim 12, characterized in that The frame body is provided with an inclination sensor on one side for measuring the inclination angle of the hanging device, and the robot guide plate is provided with an angle adjusting motor, so that the inclination angle of the hanging points can be adjusted by controlling the rotation of the angle adjusting motor according to the measured inclination angle.

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