Mechanical hand device for composite insulators and method thereof

Abstract

The application belongs to the technical field of manipulators, and particularly relates to a manipulator device for composite insulators and a method thereof. In view of the fact that a traditional manipulator device has a single function and cannot meet the requirement of rapid production, the following scheme is proposed, which comprises a main table, two symmetrical sleeve frames fixedly connected to the upper side of the main table, two symmetrical floating tables arranged below the main table, two symmetrical supports fixedly connected to the upper side of each floating table, and an adjustable grabbing assembly arranged on each floating table. The disclosed manipulator device for composite insulators and the method thereof are characterized in that, through the cooperative work of the adjustable grabbing assembly and the double detection modules, the appearance and flatness detection are simultaneously completed when the composite insulator is grabbed and conveyed, the appearance defects and flatness defects of the insulator are excluded, and compared with the traditional manipulator, the integrated design reduces the separate detection link, shortens the production cycle, and reduces the labor cost.

Description

[0001] This invention relates to the field of robotic arm technology, and in particular to a robotic arm device and method for composite insulators. Background Technology

[0002] Composite insulators are a special type of insulation control, mainly used to increase creepage distance, support conductors, and prevent current from returning to ground. They are divided into line composite insulators and substation / electrical equipment composite insulators. To improve production efficiency, the production and processing of composite insulators are often assisted by robotic arms.

[0003] Currently, the robotic arms used for processing composite insulators only have simple gripping functions. However, the processing of insulators is complex, and multiple assembly steps require repeated transport and testing. Traditional robotic arms would seriously affect production efficiency. Summary of the Invention

[0004] content

[0005] This invention discloses a robotic arm device and method for composite insulators, aiming to solve the technical problem in the background art that traditional robotic arm devices have limited functions and cannot meet the needs of rapid production.

[0006] This invention proposes a robotic arm device for composite insulators, comprising a main platform. Two symmetrical sleeves are fixedly connected to the upper side of the main platform. Two symmetrical floating platforms are arranged below the main platform. Two symmetrical supports are fixedly connected to the upper side of each floating platform, and the supports are slidably connected to the sleeves. Adjustable gripping components are arranged on both floating platforms. A main rail is arranged below the main platform, and multiple dual-detection modules are arranged on the main rail. Each dual-detection module includes a shifting seat and a detection seat. The detection seat is located below the shifting seat, and a sleeve frame is fixedly connected to the lower end of the detection seat. Two symmetrical optical scanners are fixedly connected to the sleeve frame, and a wheel seat is arranged at the sleeve frame. A pressure sensor is arranged on the detection seat.

[0007] In a preferred embodiment, an L-shaped hanger is fixedly connected to the lower side of the shifting seat, and a lifting and adjusting hydraulic cylinder is fixedly connected to the L-shaped hanger. The telescopic end of the lifting and adjusting hydraulic cylinder is fixedly connected downward to the detection seat, and a middle plate is fixedly connected to the detection seat. The middle plate is located above the arc frame and has a circular hole. A roller is rotatably connected to the wheel seat through a bearing. A top rod is fixedly connected above the wheel seat. A gasket is fixedly connected to the upper end of the top rod through the circular hole of the middle plate. A return spring is fixedly connected between the gasket and the pressure sensor. Each of the multiple shifting seats has two staggered shifting holes. Two staggered lead screws are inserted into the two staggered shifting holes of the multiple shifting seats. The threaded sections of the staggered lead screws are symmetrically distributed. Two shifting motors are fixedly connected to one side of the main platform. The output ends of the two shifting motors are respectively connected to one end of the two staggered lead screws through couplings.

[0008] In a preferred embodiment, the adjustable gripping assembly includes two adjusting seats, each with a base platform fixedly connected to its lower side. Each base platform has a vertical plate and a turntable fixedly connected to its lower side. Each vertical plate has two vertically distributed grippers fixedly connected to it, each gripper having a gripper handle, and each gripper handle having a spherical wheel at its notch. Each turntable has a deflection frame rotatably connected via bearings. Each deflection frame has a push platform fixedly connected to its lower end. The push platform has a through hole, and a tilting motor is fixedly connected to one side of the push platform. The output end of the tilting motor is connected to a rotating shaft via a coupling. The other end of the rotating shaft passes through the through hole in the push platform and is fixedly connected to a tilting wheel. A push rod is fixedly connected to the deflection frame. A deflecting hydraulic cylinder is rotatably connected to the lower side of the base platform via bearings. A rod sleeve is fixedly connected downwards to the telescopic end of the deflecting hydraulic cylinder. The rod sleeve is fitted over the push rod, and the rod sleeve and push rod are rotatably connected via bearings.

[0009] In a preferred embodiment, each of the adjusting seats has adjusting holes, each of the floating platforms has a support rail on its lower side, and an adjusting motor is fixedly connected to one side of the floating platform. The output end of the adjusting motor is connected to an adjusting screw through a coupling. The adjusting screw passes through the adjusting holes of the two adjusting seats on the same side and is rotatably connected by the inner wall thread.

[0010] In a preferred embodiment, two symmetrical mounting brackets are fixedly connected to the upper side of the main unit.

[0011] In a preferred embodiment, each of the brackets has a groove at its upper end, and a movable rod is fixedly connected between the inner walls of both sides of the groove. The movable rods on two symmetrical brackets are rotatably connected to movable plates via bearings, and the other ends of the two movable plates are staggered and adjacent. The middle of the four movable plates is rotatably connected to the same traction rod via bearings. The traction rod is rotatably connected to two symmetrical triangular seats via bearings. The two triangular seats are respectively close to the two sleeves, and a traction hydraulic cylinder is fixedly connected to the upper side of each sleeve. The telescopic end of the traction hydraulic cylinder is fixedly connected upward to the bottom of the triangular seat.

[0012] A method for using a robotic arm for composite insulators, comprising the following steps, using the robotic arm device for composite insulators as described above:

[0013] Step 1: Move the device to the position of the composite insulator and place the composite insulator between the two floating platforms;

[0014] Step 2: Activate the adjustable gripping assembly to grip and fix the composite insulator;

[0015] Step 3: After the insulator is picked up, adjust the height of the dual detection module so that it enters the detection position;

[0016] Step 4: The insulators are transported. During the transport process, the adjustable gripping components work together with the dual detection modules to detect the appearance and straightness of the composite insulator skirts.

[0017] As can be seen from the above, the robotic arm device for composite insulators provided by the present invention can simultaneously perform appearance and straightness inspections when gripping and transporting composite insulators through the coordinated work of adjustable gripping components and dual detection modules, eliminating appearance and straightness defects of the insulator skirts. Compared with traditional robotic arms, this integrated design reduces individual inspection steps, shortens the production cycle, and reduces labor costs. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a robotic arm device for composite insulators proposed in this invention.

[0019] Figure 2 This is a schematic diagram of the main platform structure of a robotic arm device for composite insulators proposed in this invention;

[0020] Figure 3 This is a schematic diagram of the main platform disassembled structure of a robotic arm device for composite insulators proposed in this invention;

[0021] Figure 4 This is a schematic diagram of the dual-detection module structure of a robotic arm device for composite insulators proposed in this invention;

[0022] Figure 5 This is a schematic diagram of the detection base and sleeve frame structure of a robotic arm device for composite insulators proposed in this invention;

[0023] Figure 6 This is a schematic diagram of the frame and floating platform structure of a robotic arm device for composite insulators proposed in this invention;

[0024] Figure 7 This is a schematic diagram of the floating platform disassembly structure of a robotic arm device for composite insulators proposed in this invention;

[0025] Figure 8 This is a schematic diagram of the adjustable gripping component structure of a robotic arm device for composite insulators proposed in this invention;

[0026] Figure 9 This is a partial side view of a robotic arm device for composite insulators proposed in this invention.

[0027] Figure 10 This is a schematic diagram of the sleeve position structure of a robotic arm device for composite insulators proposed in this invention.

[0028] In the diagram: 1. Main platform; 2. Sleeve frame; 3. Floating platform; 4. Support frame; 5. Adjustable gripping assembly; 501. Adjustment seat; 502. Base platform; 503. Vertical plate; 504. Turntable; 505. Grip seat; 506. Gripper; 507. Spherical wheel; 508. Deflection frame; 509. Push platform; 510. Tilting motor; 511. Rotating shaft; 512. Tilting wheel; 513. Push rod; 514. Deflection hydraulic cylinder; 515. Rod sleeve; 6. Main rail; 7. Dual detection module; 701. Shift seat; 702. Detection seat; 703. Sleeve arc frame; 7 04. Optical scanner; 705. Wheel seat; 706. Pressure sensor; 707. L-shaped hanger; 708. Lifting and adjusting hydraulic cylinder; 709. Middle layer plate; 710. Roller; 711. Top rod; 712. Shim; 713. Return spring; 8. Offset displacement hole; 9. Offset lead screw; 10. Shifting motor; 11. Mounting bracket; 12. Adjustment hole; 13. Support rail; 14. Adjustment motor; 15. Adjustment lead screw; 16. Live position rod; 17. Live position plate; 18. Traction rod; 19. Triangular seat; 20. Traction hydraulic cylinder. Detailed Implementation

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0030] The robotic arm device for composite insulators disclosed in this invention is mainly applied to scenarios where traditional robotic arm devices have limited functions and cannot meet the needs of rapid production.

[0031] Reference Figures 1-10 A robotic arm device for composite insulators includes a main platform 1. Two symmetrical sleeves 2 are fixedly connected to the upper side of the main platform 1. Two symmetrical floating platforms 3 are arranged below the main platform 1. Two symmetrical supports 4 are fixedly connected to the upper side of each floating platform 3. The supports 4 are slidably connected to the sleeves 2. Adjustable gripping components 5 are arranged on each of the two floating platforms 3. A main rail 6 is arranged below the main platform 1. Multiple dual detection modules 7 are arranged on the main rail 6. The dual detection modules 7 include a shift seat 701 and a detection seat 702. The detection seat 702 is located below the shift seat 701. A sleeve frame 703 is fixedly connected to the lower end of the detection seat 702. Two symmetrical optical scanners 704 are fixedly connected to the sleeve frame 703. A wheel seat 705 is arranged at the sleeve frame 703. A pressure sensor 706 is arranged on the detection seat 702.

[0032] Specifically, through the coordinated operation of the adjustable gripping component 5 and the dual detection module 7, appearance and straightness inspections are completed simultaneously when gripping and transporting composite insulators, eliminating appearance and straightness defects of the insulator skirts. Compared with traditional robotic arms, this integrated design reduces individual inspection steps, shortens the production cycle, and reduces labor costs.

[0033] Reference Figure 1 , Figure 3 , Figure 4 and Figure 5 In a preferred embodiment, an L-shaped hanger 707 is fixedly connected to the lower side of the shifting seat 701. A lifting and adjusting hydraulic cylinder 708 is fixedly connected to the L-shaped hanger 707. The telescopic end of the lifting and adjusting hydraulic cylinder 708 is fixedly connected downward to the detection seat 702. A middle plate 709 is fixedly connected to the detection seat 702. The middle plate 709 is located above the sleeve arc frame 703. A round hole is opened on the middle plate 709. A roller 710 is rotatably connected to the wheel seat 705 through a bearing. A push rod 711 is fixedly connected above the wheel seat 705. A gasket 712 is fixedly connected to the upper end of the middle plate 709 through the round hole. A reset spring 713 is fixedly connected between the gasket 712 and the pressure sensor 706. Two staggered displacement holes 8 are opened on each of the multiple displacement seats 701. Two staggered lead screws 9 are inserted in the two staggered displacement holes 8 of the multiple displacement seats 701. The threaded sections of the staggered lead screws 9 are symmetrically distributed. Two displacement motors 10 are fixedly connected to one side of the main platform 1. The output ends of the two displacement motors 10 are respectively connected to one end of the two staggered lead screws 9 through couplings.

[0034] Specifically, in the position adjustment stage of the position adjustment seat 501 before the grabbing operation, the positions of multiple dual detection modules 7 will be adjusted synchronously. The process is as follows: according to the actual position of the insulator skirt, the shifting motor 10 is started to drive the staggered lead screw 9 to rotate, and the position of the shifting seat 701 changes. In the entire adjustment process, the position of the middle shifting seat 701 remains unchanged, the two shifting seats 701 adjacent to the middle shifting seat 701 change synchronously, and the two outermost shifting seats 701 change synchronously.

[0035] During the gripping operation, the lifting and adjusting hydraulic cylinder 708 extends and drives the detection seat 702 to move down, the arc frame 703 moves to the outside of the insulator skirt, and the wheel seat 705 moves down synchronously until the roller 710 contacts the outside of the insulator skirt and a slight compression occurs. At this time, the return spring 713 undergoes elastic deformation and transmits the pressure to the pressure sensor 706, which then feeds back the value.

[0036] During the inspection process, the umbrella skirt is inspected for appearance: the optical scanner 704 scans the umbrella skirt from both sides to check the external flatness of the umbrella skirt and avoid the presence of pits or protrusions; the straightness is checked: during the rotation of the insulator, the roller 710 is always in contact with the outside of the umbrella skirt under the elastic force of the return spring 713. When the insulator is partially bent, the load value of the pressure sensor 706 will change significantly during one rotation of the insulator.

[0037] In specific application scenarios, the lifting and adjusting hydraulic cylinder 708 drives the detection seat 702 to descend, so that the sleeve frame 703 and roller 710 can adapt to different skirt heights; at the same time, the shifting motor 10 drives the misaligned screw 9 to adjust the position of the shifting seat 701, so that the dual detection module 7 can correspond to different skirt distances of the insulator. This adjustability ensures that the detection module can accurately cover all parts of the insulator, improving detection accuracy and flexibility.

[0038] The optical scanner 704 scans from both sides of the umbrella skirt to detect appearance defects (such as dents or protrusions); the roller 710 contacts the umbrella skirt under the action of the return spring 713; when the insulator rotates, the pressure sensor 706 detects the straightness through pressure changes. This dual detection method is completed synchronously during the gripping and conveying process, avoiding additional detection steps, improving production efficiency, and enabling timely removal of defective products.

[0039] The roller 710 achieves elastic contact through the return spring 713 and the pressure sensor 706, ensuring that it continuously adheres to the surface of the shed when the insulator rotates, thus avoiding missed detection. The pressure sensor 706 provides feedback on numerical changes, which can accurately identify local bending or deformation and enhance the reliability of detection.

[0040] Reference Figure 1 , Figure 6 , Figure 7 and Figure 8In a preferred embodiment, the adjustable gripping assembly 5 includes two adjusting seats 501. A base platform 502 is fixedly connected to the lower side of each adjusting seat 501. A vertical plate 503 and a turntable 504 are fixedly connected to the lower side of each base platform 502. Two vertically distributed grippers 505 are fixedly connected to each vertical plate 503. Each gripper 505 is equipped with a gripper 506, and a spherical wheel 507 is provided in the notch of each gripper 506. A deflector frame 508 is rotatably connected to each turntable 504 via bearings. A pusher 509 is fixedly connected to the lower end of each deflector frame 508, and the pusher 509 has an opening... The push table 509 has a perforation. A tilting motor 510 is fixedly connected to one side of the push table 509. The output end of the tilting motor 510 is connected to a rotating shaft 511 via a coupling. The other end of the rotating shaft 511 passes through the perforation of the push table 509 and is fixedly connected to a tilting wheel 512. A push rod 513 is fixedly connected to the deflection frame 508. A deflection hydraulic cylinder 514 is rotatably connected to the lower side of the base 502 via a bearing. A rod sleeve 515 is fixedly connected downward to the telescopic end of the deflection hydraulic cylinder 514. The rod sleeve 515 is sleeved on the outside of the push rod 513. The rod sleeve 515 and the push rod 513 are rotatably connected via a bearing.

[0041] Specifically, during the grabbing operation, the traction hydraulic cylinder 20 extends and drives the triangular seat 19 to move upward. The traction rod 18 moves upward synchronously, causing the two movable plates 17 on the same side to deflect and lift each other. The two supports 4 on the same side are pulled together by the movable plates 17 and move closer to each other. The two floating platforms 3 move closer to the insulator in the middle, and the grabber 506 clamps and fixes it from both sides of the insulator skirt.

[0042] During the testing process, the deflecting hydraulic cylinder 514 extends and pushes the push rod 513 forward, the deflecting frame 508 deflects towards the insulator skirt, the flipping wheel 512 contacts and presses against the outer wall of the skirt, and then the flipping motor 510 starts synchronously, and the insulator skirt is subjected to force and rotates.

[0043] In specific application scenarios, the position of the adjusting seat 501 is adjusted by driving the adjusting screw 15 through the adjusting motor 14, so that the gripper 506 can adaptively clamp according to the actual specifications of the composite insulator (such as the shed spacing), which improves the applicability of the robot and can handle insulators of different sizes and shapes, avoiding the limitations caused by the fixed gripping position of traditional robots.

[0044] After being grasped, the deflecting hydraulic cylinder 514 pushes the push rod 513 to deflect the deflecting frame 508. At the same time, the flipping motor 510 drives the flipping wheel 512 to contact the insulator skirt, causing the insulator to rotate. The ball wheel 507 reduces friction and ensures that the insulator rotates smoothly during the inspection process, providing conditions for comprehensive inspection.

[0045] The traction hydraulic cylinder 20 controls the triangular seat 19 and the traction rod 18, which drives the movable plate 17 to deflect, so that the bracket 4 and the floating platform 3 move closer to each other or separate. This design allows the robot to automatically adjust the position of the floating platform 3 when gripping, which enhances the coverage and stability of the insulator and prevents slippage or damage during transportation.

[0046] Reference Figure 6 , Figure 7 and Figure 8 In a preferred embodiment, each of the adjusting seats 501 has adjusting holes 12, each of the floating platforms 3 has a support rail 13 on its lower side, and an adjusting motor 14 is fixedly connected to one side of the floating platform 3. The output end of the adjusting motor 14 is connected to an adjusting screw 15 through a coupling. The adjusting screw 15 passes through the adjusting holes 12 of the two adjusting seats 501 on the same side and is rotatably connected by the inner wall thread.

[0047] Specifically, before the grabbing operation, the position of the adjusting seat 501 is adjusted according to the specifications of the insulator. The process is as follows: determine the positions of the two insulator skirts that are furthest apart, start the adjusting motor 14 to drive the adjusting screw 15 to rotate, and the two adjusting seats 501 located under the same floating platform 3 move away from or closer to each other; the main platform 1 and the floating platform 3 form a stable support through the bracket 4 and the sleeve 2 to ensure the accurate position of the insulator during the grabbing and testing process.

[0048] Reference Figure 1 and Figure 2 In a preferred embodiment, two symmetrical mounting brackets 11 are fixedly connected to the upper side of the main unit 1.

[0049] Specifically, the device is mounted on the conveying equipment via the mounting bracket 11, which facilitates the integration of the device into the conveying equipment and enables automated operation.

[0050] Reference Figure 1 , Figure 6 , Figure 9 and Figure 10 In a preferred embodiment, the upper end of each bracket 4 is provided with a groove, and a movable rod 16 is fixedly connected between the inner walls of both sides of the groove. The movable rod 16 on the two symmetrical brackets 4 is rotatably connected to a movable plate 17 through a bearing. The other ends of the two movable plates 17 are staggered and adjacent. The middle of the four movable plates 17 is rotatably connected to the same traction rod 18 through a bearing. The outside of the traction rod 18 is rotatably connected to two symmetrical triangular seats 19 through a bearing. The two triangular seats 19 are close to the two sleeves 2 respectively. The upper side of each sleeve 2 is fixedly connected to a traction hydraulic cylinder 20. The telescopic end of the traction hydraulic cylinder 20 is fixedly connected upward to the bottom of the triangular seat 19.

[0051] A method for using a robotic arm for composite insulators, comprising the following steps, using the robotic arm device for composite insulators as described above:

[0052] Step 1: Move the device to the position of the composite insulator (the device is installed on the conveying equipment via the mounting frame 11) and place the composite insulator between the two floating platforms 3;

[0053] Step 2: Activate the adjustable gripping assembly 5 to grip and fix the composite insulator (the traction hydraulic cylinder 20 extends, causing the triangular seat 19 to move upward, and the traction rod 18 moves upward simultaneously, causing the two movable plates 17 on the same side to deflect and lift each other. The two supports 4 on the same side are pulled together by the movable plates 17, and the two floating platforms 3 move closer to the insulator in the middle. The gripper 506 clamps and fixes the insulator from both sides of the insulator skirt. Before the gripping operation, adjust the position of the adjusting seat 501 according to the specifications of the insulator. The process is as follows: determine the position of the two skirts that are furthest apart from the insulator, start the adjusting motor 14 to drive the adjusting screw 15 to rotate, and the two adjusting seats 501 located under the same floating platform 3 move away from or closer to each other).

[0054] Step 3: After the insulator is grasped, adjust the height of the dual detection module 7 (the lifting and adjusting hydraulic cylinder 708 extends, causing the detection seat 702 to move down, the arc frame 703 moves to the outside of the insulator skirt, and the wheel seat 705 moves down synchronously until the roller 710 contacts the outside of the insulator skirt and causes slight compression. At this time, the return spring 713 undergoes elastic deformation and transmits the pressure to the pressure sensor 706, which feeds back the value; in the position adjustment stage of the adjusting seat 501 before the grasping operation, the positions of multiple dual detection modules 7 will be adjusted synchronously. The process is as follows: according to the actual position of the insulator skirt, the shifting motor 10 is started to drive the staggered screw 9 to rotate, and the position of the shifting seat 701 changes. During the entire adjustment process, the position of the middle shifting seat 701 remains unchanged, the two shifting seats 701 adjacent to the middle shifting seat 701 change synchronously, and the two outermost shifting seats 701 change synchronously), so that it enters the detection position;

[0055] Step 4: The insulator is conveyed. During the conveying process, the adjustable gripping component 5 is used in conjunction with the insulator. The deflecting hydraulic cylinder 514 extends to push the push rod 513 forward, the deflecting frame 508 deflects towards the insulator skirt, the flipping wheel 512 contacts and squeezes the outer wall of the skirt, and then the flipping motor 510 starts synchronously. The insulator skirt is subjected to force and rotates. The spherical wheel 507 can meet the conditions for movement when the insulator rotates. The dual detection module 7 realizes the appearance and straightness detection of the composite insulator skirt (skirt appearance detection: the optical scanner 704 scans the skirt from both sides to detect the external flatness of the skirt and avoid the presence of pits or protrusions; straightness detection: during the rotation of the insulator, the roller 710 is always in contact with the outside of the skirt under the elastic force of the return spring 713. When the insulator is partially bent, the bearing value of the pressure sensor 706 will change significantly when the insulator rotates one revolution.

[0056] Working principle: The device is integrated into the conveying equipment via the mounting frame 11. After moving to the position of the composite insulator, the insulator is placed between the two floating platforms 3. According to the actual specifications of the insulator (such as the skirt spacing), the position adjustment seat 501 is adjusted by driving the adjustment screw 15 through the adjustment motor 14, so that the two adjustment seats 501 on the same side move away from or closer to each other, thereby adapting to the gripping requirements of insulators of different sizes. The position adjustment seat 701 is changed by driving the offset screw 9 through the shifting motor 10. The position of the shifting seat 701 in the middle is fixed, and the two shifting seats 701 adjacent to the middle move synchronously. The two shifting seats 701 on the outermost side also move synchronously, so that the multiple dual detection modules 7 accurately correspond to the different skirt spacings of the insulator, ensuring full coverage.

[0057] Start the traction hydraulic cylinder 20, drive the triangular seat 19 to move upward, and make the traction rod 18 move upward synchronously, driving the two movable plates 17 on the same side to deflect and lift. The movable plates 17 pull the bracket 4 through the movable rod 16, so that the two floating platforms 3 move closer to the insulator in the middle. At this time, the gripper 506 of the adjustable gripping component 5 clamps and fixes the insulator from both sides of the insulator skirt.

[0058] The lifting and adjusting hydraulic cylinder 708 extends, driving the detection seat 702 to move downwards, causing the sleeve frame 703 to move to the outside of the insulator skirt. At the same time, the wheel seat 705 moves downwards until the roller 710 contacts the skirt surface and applies slight pressure. At this time, the return spring 713 undergoes elastic deformation, transmitting the pressure to the pressure sensor 706, which then feeds back the initial pressure value.

[0059] During the conveying process, the adjustable gripping assembly 5 drives the insulator to rotate: the deflecting hydraulic cylinder 514 extends and pushes the push rod 513 forward, causing the deflecting frame 508 to deflect towards the umbrella skirt. At the same time, the flipping motor 510 drives the flipping wheel 512 to contact and press against the outer wall of the umbrella skirt, forcing the insulator to rotate.

[0060] Umbrella skirt appearance inspection: The optical scanner 704 scans from both sides of the umbrella skirt to detect the flatness of the umbrella skirt surface and identify appearance defects such as dents and bumps;

[0061] Straightness detection: Roller 710 remains in contact with the shed surface under the elastic force of return spring 713. When the insulator experiences localized bending, the pressure value detected by pressure sensor 706 will change periodically during one rotation. Straightness defects are determined by analyzing the pressure value fluctuations.

[0062] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robotic arm device for composite insulators, comprising a main platform (1), characterized in that, Two symmetrical sleeves (2) are fixedly connected to the upper side of the main platform (1). Two symmetrical floating platforms (3) are arranged below the main platform (1). Two symmetrical supports (4) are fixedly connected to the upper side of each of the two floating platforms (3). The supports (4) are slidably connected on the sleeves (2). Adjustable gripping components (5) are arranged on each of the two floating platforms (3). A main rail (6) is arranged below the main platform (1). Multiple dual detection modules (7) are arranged on the main rail (6). The dual detection modules (7) include a shift seat (701) and a detection... The detection seat (702) is located below the shift seat (701). A sleeve frame (703) is fixedly connected to the lower end of the detection seat (702). Two symmetrical optical scanners (704) are fixedly connected to the sleeve frame (703), and a wheel seat (705) is provided at the sleeve frame (703). A pressure sensor (706) is provided on the detection seat (702). An L-shaped hanger (707) is fixedly connected to the lower side of the shift seat (701), and a lifting and adjusting hydraulic cylinder (706) is fixedly connected to the L-shaped hanger (707). 8) The telescopic end of the lifting and adjusting hydraulic cylinder (708) is fixedly connected downward to the detection seat (702), and a middle plate (709) is fixedly connected to the detection seat (702). The middle plate (709) is located above the sleeve frame (703). A round hole is opened on the middle plate (709). A roller (710) is rotatably connected to the wheel seat (705) through a bearing. A push rod (711) is fixedly connected above the wheel seat (705). A gasket (712) is fixedly connected to the upper end of the push rod (711) through the round hole of the middle plate (709). (712) A reset spring (713) is fixedly connected to the pressure sensor (706); two staggered shift holes (8) are opened on each of the multiple shift seats (701), and two staggered lead screws (9) are inserted in the two staggered shift holes (8) of the multiple shift seats (701). The threaded sections of the staggered lead screws (9) are symmetrically distributed, and two shift motors (10) are fixedly connected to one side of the main platform (1). The output ends of the two shift motors (10) are respectively connected to one end of the two staggered lead screws (9) through couplings.

2. The robotic arm device for composite insulators according to claim 1, characterized in that, The adjustable gripping assembly (5) includes two adjustment seats (501). A base platform (502) is fixedly connected to the lower side of each adjustment seat (501). A vertical plate (503) and a turntable (504) are fixedly connected to the lower side of each base platform (502). Two gripping seats (505) distributed vertically are fixedly connected to each vertical plate (503). A gripper (506) is provided on each gripper (505). A spherical wheel (507) is provided at the notch of each gripper (506).

3. The robotic arm device for composite insulators according to claim 2, characterized in that, Each turntable (504) is rotatably connected to a deflection frame (508) via bearings. Each deflection frame (508) is fixedly connected to a push table (509) at its lower end. The push table (509) has a through hole. A flip motor (510) is fixedly connected to one side of the push table (509). The output end of the flip motor (510) is connected to a rotating shaft (511) via a coupling. The other end of the rotating shaft (511) passes through the through hole of the push table (509) and is fixedly connected to a flip wheel (512). A push rod (513) is fixedly connected to the deflection frame (508). A deflection hydraulic cylinder (514) is rotatably connected to the lower side of the base (502) via bearings. A rod sleeve (515) is fixedly connected downward to the telescopic end of the deflection hydraulic cylinder (514). The rod sleeve (515) is sleeved outside the push rod (513). The rod sleeve (515) and the push rod (513) are rotatably connected via bearings.

4. The robotic arm device for composite insulators according to claim 3, characterized in that, Each of the adjustment seats (501) has an adjustment hole (12), and each of the floating platforms (3) has a support rail (13) on its lower side. An adjustment motor (14) is fixedly connected to one side of the floating platform (3). The output end of the adjustment motor (14) is connected to an adjustment screw (15) through a coupling. The adjustment screw (15) passes through the adjustment holes (12) of the two adjustment seats (501) on the same side and is rotated through the inner wall thread.

5. A robotic arm device for composite insulators according to claim 4, characterized in that, The main platform (1) has two symmetrical mounting brackets (11) fixedly connected to its upper side.

6. A robotic arm device for composite insulators according to claim 5, characterized in that, The upper end of each bracket (4) is provided with a groove, and a movable rod (16) is fixedly connected between the inner walls of the two sides of the groove. The movable rod (16) on the two symmetrical brackets (4) is rotatably connected to a movable plate (17) through a bearing. The other ends of the two movable plates (17) are staggered and adjacent.

7. A robotic arm device for composite insulators according to claim 6, characterized in that, The four movable plates (17) are rotatably connected to the same traction rod (18) through bearings. The outside of the traction rod (18) is rotatably connected to two symmetrical triangular seats (19) through bearings. The two triangular seats (19) are close to the two sleeves (2) respectively, and the upper side of the sleeves (2) is fixedly connected to a traction hydraulic cylinder (20). The telescopic end of the traction hydraulic cylinder (20) is fixedly connected to the bottom of the triangular seat (19) upwards.

8. A method of using a robotic arm for composite insulators, comprising using a robotic arm device for composite insulators as described in claim 7, characterized in that... Includes the following steps: Step 1: Move the device to the position of the composite insulator and place the composite insulator between the two floating platforms (3); Step 2: Activate the adjustable gripping component (5) to grip and fix the composite insulator; Step 3: After the insulator is picked up, adjust the height of the dual detection module (7) so that it enters the detection position; Step 4: Transport the insulator. During the transport process, the adjustable gripping component (5) is used in conjunction with the dual detection module (7) to detect the appearance and straightness of the composite insulator skirt.

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