On-off line hoisting method and on-off line hoisting system

Abstract

The application provides an online-offline hoisting method and an online-offline hoisting system, and relates to the technical field of insulator detection. The online-offline hoisting method is used for realizing the online or offline action of an insulator detection robot. The insulator detection robot is provided with at least one hoisting frame and a plurality of mechanical arm claws. The at least one hoisting frame and at least one of the mechanical arm claws are offset from the gravity center of the insulator detection robot. The asymmetric structure of the robot and the gravity self-guiding mechanism are used. When online, a single point is hoisted to trigger natural inclination, so that the anchoring clamps approach the insulator steel cap in a non-coplanar posture. When offline, the hooking is smooth and there is no shielding. Without external precise positioning or manual intervention, the reliability, safety and universality of the online-offline operation of the insulator detection robot are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of insulator testing technology, and in particular to a method and system for hoisting upper and lower conductors. Background Technology

[0002] Zero-value detection of insulators is a crucial step in the condition-based maintenance of transmission lines. To achieve unmanned operation of high-risk, high-altitude work, flip-type insulator zero-value detection robots (hereinafter referred to as detection robots) are gradually being applied in the field. This type of robot needs to complete two core non-detection actions: attaching to the insulator and removing from the insulator after detection. The attaching and removing processes are collectively referred to as "attaching and removing," and their reliability and efficiency directly affect the overall operational safety and engineering applicability.

[0003] In the existing technology, the loading and unloading mainly rely on two types of methods: (1) manual tower climbing with pulley hoisting: the operator climbs to the height of the insulator string and lifts or lowers the robot by manually pulling the rope. This method has significant safety hazards and is limited by weather, tower type and personnel physical strength, making it difficult to meet the needs of rapid inspection of UHV lines; (2) UAV hoisting: using multi-rotor UAVs to carry hoisting tools and carry out hoisting by hovering in the air. However, for the flip-type inspection robot (whose typical configuration is that the two mechanical arms are symmetrically arranged on both sides of the body, and the steel caps at both ends of the insulator need to be clamped simultaneously to achieve flip positioning), the existing UAV hoisting tools generally adopt a horizontal hoisting posture - that is, the UAV hoisting rope is vertically downward, and the hoisting tool lifts or wraps the robot as a whole, so that it is kept in a horizontal state and close to the insulator string. This method requires the two robotic arms to align simultaneously and with the same precision with the centers of two steel caps spaced approximately 10–20 cm apart. However, in actual operation, the success rate of simultaneous alignment is low due to multiple factors such as wind disturbance, drone hovering accuracy (usually ±15 cm), rope swaying, and slight swaying of the insulator string. It often requires repeated adjustments, and a single online operation can take as long as 8–15 minutes, which severely restricts the efficiency of the operation.

[0004] The root cause of the above problems lies in the fact that existing hoisting solutions have not established a controllable coupling relationship between the hoisting force direction, the robot's gravity response, and the spatial pose of the gripper. Horizontal hoisting makes the robot's center of gravity coplanar with the hoisting point, and gravity does not produce a guiding tilt angle. The gripper opening plane is always parallel to the insulator axis, and it cannot actively adapt to the spatial distribution of the steel cap. While manual hoisting can fine-tune the angle based on experience, it lacks a reproducible mechanical path and is difficult to adapt to automated operation processes. Summary of the Invention

[0005] The purpose of this invention is to provide a method and system for hoisting upper and lower lines, so as to alleviate the technical problems in the prior art, such as difficulty in hoisting and positioning, poor wind resistance, easy disengagement, and low operational error tolerance, which are caused by the need for simultaneous and precise alignment of the insulator steel cap with dual grippers.

[0006] In a first aspect, the lifting method provided by the present invention is used to realize the lifting or lowering action of the insulator inspection robot. The insulator inspection robot is provided with at least one lifting frame and several mechanical claws. At least one of the lifting frames and at least one of the mechanical claws are offset from the center of gravity of the insulator inspection robot. The method for hoisting the upper and lower lines includes: The robotic arm claw is selected as the anchoring element, and the selection criteria for the anchoring element include: when the insulator under test is clamped by the anchoring element alone and the insulator testing robot hangs naturally under gravity, the insulator under test is misaligned with the projection of at least one of the lifting frames on the horizontal plane; The hoisting frame is selected as the hoisting target, and the selection criteria for the hoisting target include: when the hoisting target is hoisted and the insulator inspection robot hangs naturally under gravity, at least one of its robotic arm claws extends obliquely relative to the vertical line and has an upwardly inclined gripping jaw. Control the hoisting equipment to lift the hoisting target and engage or disengage the anchoring element relative to the insulator under test.

[0007] In conjunction with the first aspect, the present invention provides a first possible implementation of the first aspect, wherein the step of controlling the lifting equipment to lift the lifting target and engaging the anchoring member relative to the insulator under test includes: Control the hoisting equipment to lift the hoisting target until the anchoring component moves to the docking position with the insulator being tested; The anchoring element is controlled to tighten the clamp to secure the insulator under test.

[0008] In conjunction with the first aspect, the present invention provides a second possible implementation of the first aspect, wherein the step of controlling the lifting equipment to lift the lifting target and disengaging the anchor relative to the insulator under test includes: The anchoring member is kept clamping the insulator under test, and the remaining robotic arm claws are controlled to release the insulator under test, so that the insulator inspection robot hangs down naturally under gravity. Control the lifting equipment to lift the target until the lifting equipment hooks and engages with the target; The anchoring element is controlled to open the clamp, thereby detaching from the insulator under test.

[0009] In conjunction with the second possible implementation of the first aspect, the present invention provides a third possible implementation of the first aspect, wherein the upper and lower line hoisting method further includes: Before the step of controlling the hoisting equipment to lift the hoisting target and engaging or disengaging the anchor relative to the insulator under test, the anchor is controlled to extend and unfold in the length direction relative to the insulator inspection robot.

[0010] Secondly, the lifting system provided by the present invention is used to lift an insulator inspection robot to achieve the lifting or lowering of the robot. The lifting system is equipped with the lifting device described in the first aspect and includes: a computer-readable medium and a controller connecting the insulator inspection robot and the lifting device. The computer-readable medium stores a computer program, and when the controller executes the computer program, it implements the steps of the upper and lower line hoisting method.

[0011] In conjunction with the second aspect, the present invention provides a first possible implementation of the second aspect, wherein the lifting equipment includes: a carrier, a suspension component, and a hook; The upper end of the suspension component is connected to the lower part of the vehicle, and the lower end of the suspension component is connected to the hook.

[0012] In conjunction with the first possible implementation of the second aspect, the present invention provides a second possible implementation of the second aspect, wherein the hook includes: an upper hook and a lower hook; Both the upper hook and the lower hook are adapted to the hoisting frame, and one of the upper hook and the lower hook can be detachably connected to the suspension component.

[0013] In conjunction with the second possible implementation of the second aspect, the present invention provides a third possible implementation of the second aspect, wherein the hoisting frame includes a hollow frame, the hollow frame enclosing a hoisting ring space, and the hoisting ring space includes: an upper hook groove adapted to the upper hook and a lower hook groove adapted to the lower hook. When the hoisting frame is lifted from bottom to top, the upper hook groove and the lower hook groove are connected sequentially from bottom to top; The width of the upper hook groove is greater than the width of the lower hook groove.

[0014] In conjunction with the third possible implementation of the second aspect, the present invention provides a fourth possible implementation of the second aspect, wherein the upper hook has a limiting groove formed by bending a hook plate, and the hollow frame has a folded plate portion adapted to the limiting groove; When the upper hook is hooked into the upper hook groove, the folded plate portion is fitted with a clearance within the limiting groove.

[0015] In conjunction with the third possible implementation of the second aspect, the present invention provides a fifth possible implementation of the second aspect, wherein the upper hook and the lower hook are respectively provided with outwardly inclined flared portions at the free ends of the hooks.

[0016] The embodiments of this invention bring the following beneficial effects: By cleverly utilizing the asymmetric mass distribution of the robot's body structure (i.e., the lifting frame and at least one robotic arm claw are off-center from the center of gravity) and the gravity self-guiding mechanism, an integrated operation process of single-arm anchoring, vertical lifting, natural posture adjustment, and controllable engagement / disengagement is achieved, significantly improving the reliability and operability of the flip-type insulator zero-value detection robot in complex high-altitude environments during loading and unloading. Specifically, in the loading stage, the UAV only needs to hook the lifting frame at a single point, and the robot automatically tilts under the action of gravity, so that the jaws of a single gripper approach the steel cap in a non-coplanar posture; then, with the help of the free swing caused by a slight descent, the gripper achieves a progressive clamping from light touch positioning to vertical locking, avoiding the high-precision posture control problem faced by the simultaneous alignment of two grippers with the steel cap in traditional horizontal lifting; in the unloading stage, through the cooperation of a dedicated unloading hook and a matching narrow lifting position, the robot body can be stably supported and swayed after the gripper is completely released, ensuring safe recovery.

[0017] This method decouples the hoisting function into three stages: attitude guidance, anchoring triggering, and state transition. It eliminates reliance on external precision positioning systems or manual intervention, significantly reducing sensitivity to UAV flight control accuracy, operating wind speed windows, and operator experience. Furthermore, the differentiated structural design of the upper and lower hooks (wide-mouth anti-sway and narrow-arc anti-detachment), combined with the physical coding of dual positioning points on the hoisting ring, ensures the uniqueness of the direction of the upper and lower hook movements from a mechanical perspective, effectively preventing the risk of crashes or jamming due to misoperation. Overall, this solution replaces complex collaborative control with a simplified mechanical interface and deterministic physical laws, combining engineering reliability, operational safety, and deployment versatility. It provides a replicable and verifiable technical paradigm for unmanned upper and lower hook operations of intelligent inspection equipment for high-voltage transmission lines.

[0018] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of the present invention, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1This is a flowchart illustrating the upper and lower line hoisting method provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of an insulator inspection robot in an online hoisting system provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the online hoisting system provided in an embodiment of the present invention during the online process; Figure 4 This is a schematic diagram of the online hoisting system provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of an insulator testing robot provided in an embodiment of the present invention, in which only one of its robotic arms grips the insulator being tested. Figure 6 This is a schematic diagram of the hoisting frame of the insulator inspection robot provided in an embodiment of the present invention; Figure 7 A schematic diagram of the upper hook of the hoisting equipment provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the lower hook of the hoisting equipment provided in an embodiment of the present invention.

[0021] Icons: 100-Insulator inspection robot; 101-Clamping jaw; 102-Folding plate section; 110-Lifting frame; 111-Upper line hook groove; 112-Lower line hook groove; 120-Mechanical arm claw; 200-Lifting equipment; 201-Limiting groove; 202-Flanged section; 210-Carrier; 220-Suspension component; 230-Hook; 231-Upper line hook component; 232-Lower line hook component; 300-Insulator under test. Detailed Implementation

[0022] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used only to describe differences in name and should not be construed as indicating or implying relative importance. Physical quantities in formulas, unless otherwise specified, should be understood as basic quantities in the International System of Units (SI), or derived quantities derived from basic quantities through mathematical operations such as multiplication, division, differentiation, or integration.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown in the figure, this embodiment of the invention provides a method for hoisting an insulator inspection robot 100 to perform on-line or off-line actions. The insulator inspection robot 100 has a flip-type structure, with its main body in a cuboid shape, and integrates an attitude sensor, a servo drive module, and a zero-value detection unit. The insulator inspection robot 100 is provided with at least one hoisting frame 110 and several robotic arm claws 120, with at least one hoisting frame 110 and at least one robotic arm claw 120 offset from the center of gravity of the insulator inspection robot 100.

[0026] The lifting method described in this embodiment is used to overcome the main defects in the prior art and can meet the following requirements: During the lifting process, only single-point anchoring is required (i.e., a single robotic arm gripper 120 first contacts and temporarily fixes itself to a steel cap), reducing the difficulty of alignment; Through the offset design between the lifting point position and the robot's center of mass, the robot automatically forms a controllable tilting posture under the action of gravity in the lifting state, driving the single-arm gripper opening to face the target steel cap; It supports the decoupling of the mechanical paths of the upper and lower line actions - the upper line needs to suppress swaying to ensure accurate grasping, and the lower line needs to ensure reliable hooking and anti-disengagement; The entire process requires no manual intervention, is compatible with the autonomous control logic of UAVs, and has engineering deployability.

[0027] The hoisting method for both upper and lower lines includes: Step S01: Select one of its robotic arm claws 120 as the anchor. The selection criteria for the anchor include: when the insulator 300 under test is clamped only by the anchor and the insulator testing robot 100 hangs down naturally under gravity, the projection of the insulator 300 under test and at least one of its lifting frames 110 on the horizontal plane is misaligned. Step S02: Select one of its lifting frames 110 as the lifting target. The selection criteria for the lifting target include: when the lifting target is lifted and the insulator inspection robot 100 hangs down naturally under gravity, at least one of its mechanical arm claws 120 extends obliquely relative to the vertical line and has an upwardly inclined clamping jaw 101. Step S03: Control the hoisting equipment 200 to hoist the target and make the anchoring component engage or disengage relative to the insulator 300 being tested.

[0028] By employing a structural centroid offset design, the robotic arm claw 120, selected as an anchor, and the lifting frame 110, selected as a lifting target, automatically form a spatial configuration conducive to single-arm docking under the influence of gravity, fundamentally solving the problem of difficult synchronous alignment of the two arms in a flipping robot. When either robotic arm claw 120 serves as an anchor and the lifting frame 110 serves as the lifting target, the insulator inspection robot 100 will automatically rotate around its centroid to a stable equilibrium position under the influence of gravity. During online operations, one robotic arm claw 120 can easily achieve alignment and engagement with the insulator 300 being tested; during offline operations, the lifting frame 110 avoids obstruction by the insulator 300 being tested, making it easier to hook and lift.

[0029] Specifically, step S01 is used to select an anchoring component, choosing a robotic arm gripper 120 as the anchoring component. When only the robotic arm gripper 120 is clamped to the insulator 300 under test (i.e., the other components are freely suspended), the projection of the lifting frame 110 on the horizontal plane is laterally offset by a certain distance from the projection of the center of the steel cap of the insulator 300 under test. This offset ensures that the lifting device 200 will not interfere with the insulator 300 under test during subsequent lifting. Step S02 is used to select a lifting target, choosing a lifting frame 110 as the lifting target. When the UAV-driven lifting device 200 hooks onto the lifting frame 110 and lifts it, the insulator inspection robot 100 hangs naturally under gravity. The gripping jaw 101 of the robotic arm gripper 120 extends upwards relative to the vertical line, with its opening facing the lower side of the steel cap of the insulator 300 under test, forming a spatial configuration that facilitates single-point contact and gradual engagement. Step S03 is used to control engagement / disengagement.

[0030] Online Phase: The hoisting device 200 is slowly raised, driving the insulator inspection robot 100 to rise; the robotic arm claw 120 gradually approaches and clamps the steel cap of the insulator 300 under the coupling of gravity and inertia, and then executes the tightening command to complete the initial clamping; then the hoisting device 200 is slightly lowered, and the hook 230 separates from the hoisting frame 110 under the action of gravity. The insulator inspection robot 100 starts the flipping motor, causing the next robotic arm claw 120 to flip and clamp onto the insulator 300 under test, completing the online locking of both arms.

[0031] Offline phase: The insulator inspection robot 100 actively releases the excess robotic arm claws 120, with only one robotic arm claw 120 maintaining single-arm clamping; after the hoisting device 200 hooks onto the hoisting frame 110, the robotic arm claw 120 executes the release command to open the clamping jaws 101 and detach from the steel cap, and the hoisting device 200 carries the insulator inspection robot 100 back or hoists it to the next insulator.

[0032] This embodiment uses a coordinated offset design between the center of mass and the lifting frame 110 and the robotic arm gripper 120 to automatically induce the required spatial posture by the gravitational torque in the single-arm clamping state. This completely avoids the high-precision visual servoing and complex path planning that traditional dual-arm synchronous alignment relies on, which helps to reduce the difficulty of online operation and the accuracy requirements.

[0033] Furthermore, the steps of controlling the lifting equipment 200 to lift the target and engaging the anchoring element with the insulator 300 under test include: Step S311: Control the hoisting equipment 200 to hoist the target until the anchoring part moves to the docking position with the insulator 300 under test; Step S312: Control the anchor to tighten the clamp 101 to secure the insulator 300 under test.

[0034] In step S311, the determination of the docking position can rely on multi-source fusion positioning: the hoisting machine 200 is equipped with an RTK-GNSS module and a vision assistance system to calculate the coordinates of the tip of the hook 230 in real time; the insulator inspection robot 100 feeds back its own pitch angle θ and the end pose of the robotic arm claw 120 through an IMU and encoder; the controller solves the theoretical suspension point coordinates of the hoisting frame 110 according to the preset kinematic model and dynamically compensates for wind-induced offset (the measured maximum drift is ≤6cm); when the horizontal and vertical distances between the hook 230 and the hoisting frame 110 reach the preset range, the docking position is determined.

[0035] In step S312, the tightening clamp 101 can be controlled by a graded closed loop: in the first stage, a constant force is used to lightly clamp (to avoid scratching the surface of the steel cap), and after a preset duration, the pressure-displacement composite feedback is activated until the clamping reaches the preset pressure to complete the clamping action.

[0036] Furthermore, the steps of controlling the lifting equipment 200 to lift the target and disengaging the anchoring element relative to the insulator 300 being tested include: Step S321: Keep the anchor clamped to secure the insulator 300 under test, and control the remaining robotic arm claws 120 to release the insulator 300 under test (see...). Figure 5 This causes the insulator inspection robot 100 to hang naturally under gravity. Step S322: Control the lifting equipment 200 to lift the target until the lifting equipment 200 hooks and engages with the target; Step S323: Control the anchor to open the clamp 101, thereby detaching from the insulator 300 being tested.

[0037] This embodiment optimizes the safety and reliability of hook release in the offline scenario: In step S321, keeping the anchor clamped means that the corresponding robotic arm claw 120 maintains a constant clamping force, while the controller sends a release command to the other robotic arm claws 120, whose jaws 101 open to their maximum stroke, releasing the constraint on the tested insulator 300; at this time, the insulator inspection robot 100 is suspended by only one arm, and the center of gravity shifts downward, causing the overall posture to tilt slightly, creating a favorable angle for the hook 230 to enter the ring. In step S322, the lifting device 200 can adopt a dual-modal control of hovering approach + tactile guidance: first, it descends at a uniform speed of 0.3m / s to hover near the lifting frame 110; then, the micro tactile array (containing multi-point PVDF piezoelectric film) at the end of the hook 230 is activated, and after sensing the contact signal at the edge of the frame, it automatically fine-tunes its posture, so that the hook 230 slides into the inclined surface of the offline hook groove 112. In step S323, before opening the clamp 101, the controller verifies whether the hook 230 is fully embedded in the lower hook groove 112 (the closing state of the magnetic ring can be detected by the Hall sensor). Only after confirmation is the release action triggered to prevent the risk of accidental hook detachment.

[0038] Furthermore, before step S003 is executed, the controller sends a length-direction extension command to the selected anchor, driving its linkage mechanism to move to the limit extension position and locking the joint brake. This extension action increases the effective length of the anchor, significantly improving the space accessibility of the clamp 101 during the hoisting process.

[0039] The present invention provides a hoisting system for hoisting an insulator inspection robot 100 to perform hoisting or de-line actions. The hoisting system is equipped with the hoisting device 200 described in the above embodiments and includes: a computer-readable medium and a controller connecting the insulator inspection robot 100 and the hoisting device 200; the computer-readable medium stores a computer program, and the controller executes the computer program to implement the steps of the hoisting method.

[0040] The controller is an embedded ARM+FPGA heterogeneous platform running ROS2 middleware; the computer-readable medium is eMMC 5.1 memory. Additionally, embedded firmware programs can be added, including: a centroid offset modeling module (real-time calculation of the equivalent centroid under the current load); a hoisting configuration prediction module (based on the equivalent centroid, hoisting frame 110 pose, and wind speed input, outputting optimal anchor selection and hook type suggestions); a multimodal fusion positioning engine (integrating GNSS / visual / IMU / tactile data to improve positioning accuracy); and safety interlocking logic (forcing the sequential execution of three actions: robotic arm gripper 120 release, hook 230 positioning, and clamp 101 opening).

[0041] like Figure 3 , Figure 4 , Figure 7 and Figure 8 As shown, the lifting equipment 200 includes: a carrier 210, a suspension component 220, and a hook 230; the upper end of the suspension component 220 is connected to the lower part of the carrier 210, and the lower end of the suspension component 220 is connected to the hook 230. The carrier 210 is a quadcopter or hexcopter industrial-grade drone; the suspension component 220 can be a carbon fiber telescopic rod, rope, or climbing frame, etc., and can have a built-in strain sensor to monitor the lifting tension in real time; the hook 230 is connected to the lower end of the suspension component 220 via a quick-release buckle, facilitating the rapid replacement of the upper hook 231 and the lower hook 232.

[0042] In an optional embodiment, both the upper hook 231 and the lower hook 232 are integrally milled from aluminum alloy and have a hard anodized surface treatment; when replacing them, the operator only needs to loosen the locking nut or remove the hook.

[0043] like Figure 2 , Figure 3 , Figure 4 , Figure 6 , Figure 7 and Figure 8 As shown, the lifting frame 110 includes a hollow frame that encloses a lifting ring space. The lifting ring space includes an upper hook groove 111 adapted to the upper hook 231 and a lower hook groove 112 adapted to the lower hook 232. When the lifting frame 110 is lifted from bottom to top, the upper hook groove 111 and the lower hook groove 112 are connected sequentially from bottom to top. The width of the upper hook groove 111 is greater than the width of the lower hook groove 112. The two hook grooves are connected vertically to ensure that the hook 230 can automatically slide into the corresponding groove when it is inserted from below, and as it slides upward, the hook 230 and the lifting frame 110 are gradually locked together.

[0044] Furthermore, the upper hook 231 has a limiting groove 201 formed by bending the hook plate, and the hollow frame has a folded plate portion 102 adapted to the limiting groove 201; when the upper hook 231 is hooked into the upper hook groove 111, the folded plate portion 102 is in clearance fit within the limiting groove 201. The folded plate portion 102 of the hoisting frame 110 can be configured as a wedge-shaped rib protruding outward from the side wall of the frame, which forms a clearance fit after being inserted into the limiting groove 201; this fit can suppress the swing of the hoisting frame 110 relative to the upper hook 231 around an axis parallel to the insulator 300 under test under wind load, thereby making it more conducive to the alignment of the insulator inspection robot 100 with the insulator 300 under test to achieve the upper hook action.

[0045] In addition, both the upper hook 231 and the lower hook 232 have outwardly inclined flared portions 202 at their free ends. The flared portions 202 of both the upper hook 231 and the lower hook 232 are equipped with outwardly turned conical surfaces, with the opening width gradually widening from the root to the end. The inner surface of the flared portion 202 is polished, significantly reducing frictional resistance when entering the ring and improving the success rate of hooking and the smoothness of unhooking operations.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for hoisting equipment on both upper and lower lines, characterized in that, The above-ground lifting method is used to realize the above-ground or below-ground movement of the insulator inspection robot (100). The insulator inspection robot (100) is provided with at least one lifting frame (110) and a number of mechanical arm claws (120). At least one of the lifting frames (110) and at least one of the mechanical arm claws (120) are offset from the center of gravity of the insulator inspection robot (100). The method for hoisting the upper and lower lines includes: One of the robotic arm claws (120) is selected as the anchor, and the selection criteria for the anchor include: when the anchor is clamped only on the insulator under test (300) and the insulator testing robot (100) hangs naturally under gravity, the projection of the insulator under test (300) and at least one of the lifting frames (110) on the horizontal plane is misaligned; The hoisting frame (110) is selected as the hoisting target, and the selection criteria for the hoisting target include: when the hoisting target is hoisted and the insulator inspection robot (100) hangs down naturally under gravity, at least one of its robotic arm claws (120) extends obliquely relative to the vertical line and has an upwardly inclined clamping jaw (101). Control the hoisting equipment (200) to hoist the hoisting target and engage or disengage the anchor relative to the insulator under test (300).

2. The method for hoisting upper and lower lines according to claim 1, characterized in that, The steps of controlling the hoisting device (200) to hoist the hoisting target and engaging the anchor relative to the insulator under test (300) include: Control the hoisting equipment (200) to hoist the hoisting target until the anchoring component moves to the docking position with the insulator under test (300); The anchor is controlled to tighten the clamp (101) to secure the insulator under test (300).

3. The method for hoisting upper and lower lines according to claim 1, characterized in that, The steps of controlling the hoisting device (200) to hoist the hoisting target and disengaging the anchor relative to the insulator under test (300) include: The anchoring member is kept clamping the insulator under test (300), and the remaining robotic arm claws (120) are controlled to release the insulator under test (300), so that the insulator testing robot (100) hangs down naturally under gravity; Control the lifting equipment (200) to lift the target until the lifting equipment (200) hooks and engages with the target; The anchor is controlled to open the clamp (101), thereby disengaging from the insulator under test (300).

4. The hoisting method for upper and lower lines according to claim 3, characterized in that, Also includes: Before the step of controlling the hoisting device (200) to hoist the hoisting target and engaging or disengaging the anchor relative to the insulator under test (300), the anchor is controlled to extend and unfold in the length direction relative to the insulator inspection robot (100).

5. A hoisting system for both upper and lower lines, characterized in that, The lifting system is used to lift the insulator inspection robot (100) to achieve the lifting or lowering action. The lifting system is equipped with the lifting device (200) according to any one of claims 1 to 4 and includes: a computer-readable medium and a controller connecting the insulator inspection robot (100) and the lifting device (200). The computer-readable medium stores a computer program, and when the controller executes the computer program, it implements the steps of the upper and lower line hoisting method.

6. The hoisting system according to claim 5, characterized in that, The lifting equipment (200) includes: a carrier (210), a suspension component (220), and a hook (230); The upper end of the suspension member (220) is connected to the lower part of the vehicle (210), and the lower end of the suspension member (220) is connected to the hook (230).

7. The hoisting system according to claim 6, characterized in that, The hook (230) includes: an upper hook (231) and a lower hook (232); Both the upper hook (231) and the lower hook (232) are adapted to the hoisting frame (110), and one of the upper hook (231) and the lower hook (232) can be detachably connected to the suspension member (220).

8. The hoisting system according to claim 7, characterized in that, The hoisting frame (110) includes a hollow frame that encloses a hoisting ring space. The hoisting ring space includes an upper hook groove (111) that is adapted to the upper hook (231) and a lower hook groove (112) that is adapted to the lower hook (232). When the hoisting frame (110) is hoisted from bottom to top, the upper hook groove (111) and the lower hook groove (112) are connected sequentially from bottom to top; The width of the upper hook groove (111) is greater than the width of the lower hook groove (112).

9. The hoisting system according to claim 8, characterized in that, The upper hook (231) has a limiting groove (201) formed by bending the hook plate, and the hollow frame has a folded plate portion (102) adapted to the limiting groove (201). When the upper hook (231) is hooked into the upper hook groove (111), the folding plate (102) is fitted into the limiting groove (201) with a clearance.

10. The hoisting system according to claim 8, characterized in that, The upper hook (231) and the lower hook (232) are respectively provided with an outwardly inclined flared part (202) at the free end of the hook.

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